1. A method for tracking a needle in a fluoroscopic image sequence of at least at least a portion of a body of a patient, comprising: independently detecting needle segments in each of a plurality of frames of the fluoroscopic image sequence; and detecting the needle in a current frame of the fluoroscopic image sequence by tracking the detected needle from a previous frame of the fluoroscopic image sequence based on a position of the needle in the previous frame and the detected needle segments in the current frame, wherein the detected needle segments are used as primitive features to detect motion between the needle in the previous frame and the needle in the current frame due to breathing motion in the body of the patient.