Procedure for determining the position of an object, preferably a medical device, the method comprising the following steps: a) providing an object (1), preferably a medical device, comprising at least one visual identification element (4a, 4b , 4c) and an orientation sensor (5) to determine an absolute orientation and / or angular velocity of the object； b) providing at least two cameras (7a, 7b) adapted to visually track the at least one visual identification element, each camera has a field of view and remains stationary during the procedure, the cameras define a camera coordinate system； c) acquiring image data from the field of view of the at least two cameras while moving the object； d) acquiring orientation data provided by the orientation sensor while the object is moving； e) calibrating the orientation sensor with respect to the camera coordinate system； and f) analyzing the image data and orientation data to determine the posture of the object during its movement； wherein: f1) the orientation of the object is determined on the basis of the orientation data and / or the image data when at least a portion of the visual identification element is sufficiently visible to both cameras to allow the orientation of the object； f2) the orientation of the object is determined on the basis of the orientation data alone when the visual identification element is not sufficiently visible to both cameras to allow the orientation of the object to be determined； f3) the position of the object is determined on the basis of the image data alone when at least a portion of the visual identification element is sufficiently visible to both cameras to allow the position of the object to be determined； and f4) the position of the object is determined on the basis of a combination of the image data and the orientation data determined in accordance with step f1) or f2) when at least a portion of the visual identification element is sufficiently visible to both cameras so as to allow
