The present invention relates to tracking an interventional device. In order to provide a facilitated and simplified real-time tracking of an interventional device, a medical imaging system (10) for tracking an interventional device is provided, that comprises an interface unit (12), and a processing unit (14). The interface unit is configured to provide first image data (18) of a first part of an interventional device, which first part is arranged outside an object. The first image data comprises 3D image data. The interface unit is configured to provide second image data (20) of a second part of the interventional device, which second part is a continuation of the first part, and which second part is arranged inside the object. The second image data comprises 2D image data. The processing unit is configured to compute a first 3D model portion of the interventional device based on the first image data, and to compute a second 3D model portion of the interventional device based on the second image data and the first model portion. The interface unit is configured to provide data of a graphical representation (22) of the interventional device based on the first and second 3D model portions.