Abstract: A method and apparatus for invasive medical procedures uses a tool that includes an operative portion and a stem having a distal end attached to a proximal end of the operative portion and a proximal end configured to be held outside a subject during the invasive medical action. The tool can include a recess along the stem and a viewport. The recess is configured to removably engage an electromagnetic tracking system component comprising an electromagnetic sensor and an insulated electrical wire connected to the electromagnetic sensor. The viewport is configured to reveal a portion of the recess where the electromagnetic sensor is to be disposed. Alternatively, a frame is rigidly and removably attached to a proximal portion of the tool. The frame is also rigidly attached to electromagnetic tracking sensor suite that provides position and orientation of the frame with six degrees of freedom.