The present invention relates to a medical tracking method for tracking a spatial position of at least one medical instrument within a medical workspace including an anatomical structure of a patient, the method comprising executing, on a processor of a computer, the steps of: - acquiring, at the processor, instrument position data describing a spatial position of the at least one medical instrument with respect to a first camera, using the first camera which is targeted on the medical workspace； - acquiring, at the processor, camera position data describing a spatial position of the first camera with respect to the anatomical structure, using a second camera and at least one optical tracking marker adapted to be recognized by the second camera； - determining, by the processor and based on the instrument position data and the camera position data, tracking data describing the spatial position of the at least one medical instrument with respect to the anatomical structure. The present invention further relates to a corresponding tracking system, a corresponding non-transitory computer-readable storage medium and a corresponding computer.
