Long range optical coherence tomography (OCT), with its high speed, high resolution, non-ionized properties and cross-sectional imaging capability, is suitable for upper airway lumen imaging. To render 2D OCT datasets to true 3D anatomy, additional tools are usually applied, such as X-ray guidance or a magnetic sensor. X-ray increases ionizing radiation. A magnetic sensor either increases probe size or requires an additional pull-back of the tracking sensor through the body cavity. In order to overcome these limitations, we present a novel tracking method using a 1.5 mm×1.5mm, 90/10-ratio micro-beamsplitter: 10% light through the beam-splitter is used for motion tracking and 90% light is used for regular OCT imaging and motion tracking. Two signals corresponding to these two split-beams that pass through different optical path length delays are obtained by the detector simultaneously. Using the two split beams’ returned signals from the same marker line, the 2D inclination angle of each step is computed. By calculating the 2D inclination angle of each step and then connecting the translational displacements of each step, we can obtain the 2D motion trajectory of the probe. With two marker lines on the probe sheath, 3D inclination angles can be determined and then used for 3D trajectory reconstruction. We tested the accuracy of trajectory reconstruction using the probe and demonstrated the feasibility of the design for structure reconstruction of a biological sample using a porcine trachea specimen. This optical-tracking probe has the potential to be made as small as an outer diameter of 1.0mm, which is ideal for upper airway imaging.