The present disclosure relates to an arrangement (21, 71) for minimal invasive intervention, the arrangement (21, 71) comprising a rotation body (23, 73), a retaining device (25, 75) and at least one position sensor (27, 77, 79). The rotation body is adapted to receive a medical instrument (3, 5, 7, 9, 33), or the rotation body forms a part of a medical instrument (83). The medical instrument comprises a shaft (31, 81). At least a portion of a surface of the rotation body comprises a pattern (35, 87, 91). The retaining device is adapted to at least partly surround the rotation body, such that the rotation body is retained by the retaining device in a manner allowing rotational movement of the rotation body in relation to the retaining device. The at least one position sensor is adapted for determining a position in at least two coordinates of the pattern of the rotation body. The at least one position sensor is located at, in or on the retaining device. The disclosure further relates to a medical instrument (3, 5, 7, 9, 33, 83), a kit (63) comprising the arrangement, a system (65) for follow-up of a minimal invasive intervention and a method for determining a position of a medical instrument by means of the arrangement or kit.
