Methods, devices, and systems for acquiring the volume of a catheter are disclosed. The system may comprise a catheter and a processor. The processor may be configured to receive a voxel grid comprising a plurality of voxels and a plurality three-dimensional coordinates of a location of a catheter. The processor may render the catheter on a display using the three-dimensional coordinates, wherein the catheter rendering comprises a plurality of shaded pixels. The processor may identify coordinates of one or more voxels of the voxel grid which overlap with at least one shaded pixel and mark the voxels of the voxel grid which overlap with at least one shaded pixel. As such, a voxel trail may be created wherever a catheter moves. The voxel trail may be used to define an internal volume within which the catheter is positioned, such as a chamber of a heart, blood vessel, or valve.