A multi-mode medical device system and method of performing an interventional procedure. The multi-mode medical device system can be capable of MR internal imaging and of being tracked using an MRI system. The multi-mode medical device system can include a medical device, and an electrical circuit coupled to the medical device and electrically coupled to the MRI system. The electrical circuit can include a tracking device configured to transmit a signal to the MRI system indicative of the position of the tracking device relative to a roadmap image, and an imaging device electrically coupled to the tracking device and configured to internally image anatomical structures from the point of view of the medical device. The imaging device can be further configured to be visualized using MR imaging. Tracking the tracking device and internally imaging with the imaging device can be performed in a single pass of the multi-mode medical device system.