A system and method for tracking an interventional tool (50) based on a spatial alignment of two or more acoustic sensors (20, 21) relative to the interventional tool (50) (e.g., acoustic sensors attached to or embedded in a distal tip of a needle or a catheter). The method can include operating an acoustic imaging device (10) (e.g., a 2D ultrasound probe having a 1D array, linear or curved) to generate an acoustic image plane (11) and operating each acoustic sensor (20, 21) to output an composite acoustic sensing waveform (40, 41) derived from an acoustic sensing of the acoustic beam array. Each composite acoustic sensing waveform (40, 41) can include an array of acoustic beam sensing waveforms (30, 31, 32). The method can further include operating a tracking workstation (70) to track a position of the interventional tool (50) relative to the acoustic image plane (11) derived from a waveform profile analysis of the composite acoustic sensing waveforms (40, 41).
