The present application is directed to a medical system comprising: an image capture device； one or more optical sensors coupled to the image capture device； and a controller configured to determine one or more position and/or orientation variables of the image capture device based on signals received from the one or more optical sensors. Further, the present application is directed to a corresponding method for determining one or more position and/or orientation variables of an image capture device, the method comprising the following steps: coupling one or more optical sensors to the image capture device； and determining, using a processor, one or more position and/or orientation variables of the image capture device based on signals received from the one or more optical sensors.
