A system and method for tracking an interventional tool based on a spatial alignment of two or more acoustic sensors relative to the interventional tool include operating an acoustic imaging device to generate an acoustic image plane, and operating each acoustic sensor to output a composite acoustic sensing waveform derived from an acoustic sensing of the acoustic beam array. Each composite acoustic sensing waveform can include a plurality of acoustic beam sensing waveforms. The system and method can further include operating a tracking workstation to track a position of the interventional tool relative to the acoustic image plane derived from a waveform profile analysis of the composite acoustic sensing waveforms.