Provided is a tracking system, including a motor coupled to a medical instrument and configured to generate at least one magnetic field, and at least one receiver coil configured to sense the magnetic field. Also provided is a method of tracking, including rotating a rotor of a motor, wherein the rotor comprises a permanent magnet that generates a rotating magnetic field when the rotor is rotated, sensing the rotating magnetic field with at least one receiver, transmitting to a processor a signal indicative of the rotating magnetic field, and processing the signal to determine a position of the motor. Further provided is a method of tracking, comprising energizing a stator coil of a motor to generate at least one magnetic field, sensing the at least one magnetic field with at least one receiver, transmitting to a processor a signal indicative of the at least one magnetic field, and processing the signal to determine a position of the motor.