© 2014 IEEE. We present the evaluation of an electromagnetic position tracking system for use with virtual bronchoscopy systems. Our system utilises a planar magnetic coil array and commercially available search coil sensors. Experimental results show the EM tracking accuracy to be in the range of 11.5mm, which is comparable to both commercial and research systems. The use of a bench-top breathing lung model is used to verify system operation in the in vitro setting. A novel fiducial-free registration method is implemented to reduce errors resulting from inaccurate landmark identification commonly associated with point-based registration. After registration, there is good agreement between the measured position of the sensor probe during endoscopic navigation and the lung airways as visualised in a 3D model of the phantom.