A sensor tracking device, system and method include a sensor (118) configured on a wire (110) and adapted to fit in a working channel (116) of an endoscope (100). An image identifiable feature (120) is formed on a distal end portion of the sensor which is identifiable when the sensor is extended from the endoscope. An image of the image identifiable feature is collected by the endoscope and permits a determination of a pose of the endoscope.
