A method for simultaneously tracking an invasive device disposed within a patient and acquiring an imaging signal of the patient with a magnetic resonance imaging (MRI) system during a single echo acquisition time period (46) of the MRI system. The method includes applying a radio frequency excitation pulse (26) to a patient to start an echo acquisition time period of an MRI system. The method then includes acquiring a tracking signal (54) from the invasive device during the echo acquisition time period and also acquiring an imaging signal (36) of the patient proximate an end of the same echo acquisition time period.