The invention relates to a method for locating a second medical object with respect to a first medical object. The method is remarkable in that a medical object (O1, O2) is represented in a previous step by a plurality of views of a three-dimensional descriptive model (MD1, MD2) comprising at least shape information. geometric and color information, it comprises the following steps: - obtaining (a) at least one color image and a depth map acquired by at least one acquisition module, the first object and the second object being placed in the field of said at least one acquisition module； determining (b) a position (RP (tk)) and an orientation (RO (tk)) of said first object in a repository (REF1) of said at least one acquisition module (MA1), starting from the color image (IC1 (tk)), the depth map (CP1 (tk)) and the geometric shape and color information of the plurality of views (Vj) of its descriptive model (MD1, MD2)； determining (b ') a position and an orientation of said second object in the repository of said at least one acquisition module, from the color image, the depth map and geometrically shaped information and color of the plurality of views of his descriptive model； determining (c) a relative position (RP (tk)) and orientation (RO (tk)) of the second object with respect to the first object from the positions and orientations obtained； - constructing and restoring (d) a graphical representation ((RG (tk)) comprising at least the relative position and orientation of the first second medical object with respect to the second first medical object. L'invention concerne un procédé de localisation d'un deuxième objet médical par rapport un premier objet médical. Ledit procédé est remarquable en ce que, un objet médical (O1, O2) étant représenté au cours d'une étape préalable par une pluralité de vues d'un modèle descriptif (MD1, MD2) en trois dimensions comprenant au moins des informations de forme géométrique et des informations de couleur, il
