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.La présente invention concerne un agencement (21, 71) pour une intervention minimalement invasive, l'agencement (21, 71) comprenant un corps rotatif (23, 73), un dispositif de retenue (25, 75) et au moins un capteur de position (27, 77, 79). Le corps rotatif est conçu pour recevoir un instrument médical (3, 5, 7, 9, 33) ou pour former une partie d'un instrument médical (83). L'instrument médical comprend un arbre (31, 81). Au moins une partie d'une surface du corps rotatif comprend un motif (35, 87, 91). Le dispositif de retenue est conçu pour entourer au moins partiellement le corps rotatif, de sorte que le corps rotatif est retenu par le dispositif de retenue d'une manière permettant un mouvement de rotation du corps rotatif par rapport au di
