A method for a medical procedure is provided and includes obtaining data from sensors disposed in a medical instrument. The sensors include at least one first sensor configured to measure acceleration, at least one second sensor configured to measure rotation, and at least one third sensor configured to measure direction of movement. The method further includes correlating the data from the sensors with time and storing the correlated data and time. A medical system, a method for imaging a medical procedure, and a method of processing sensor measurements are also disclosed.
