A tracking system and method using the same is disclosed which is capable of minimizing a restriction of surgical space by achieving a lightweight of the system as well as a reduction of a manufacturing cost through calculating a three-dimensional coordinates for each maker using one image forming unit. In the tracking system and method using the same, lights emitted from each marker are passed through a lens array unit which includes at least a pair of lens, images of the markers corresponding to the number of the lenses of lens array units are formed on an image forming for each marker, and therefore, it is possible to calculate a spatial position and a direction of the markers attached on the target by using only one image forming unit through a trigonometry. Also, since the system is not affected by lens array method and magnification, there is an effect of reducing a manufacturing cost of the tracking system with small and lightweight, and relatively low restriction of surgical space comparing with conventional tracking system.