Abstract: Methods and systems for tracking surgical tools in a three-dimensional (3D) space are described. An example method includes receiving image data captured by a single camera of a first surgical instrument, wherein the image data comprises a two-dimensional (2D) image of a second surgical instrument. Using a machine learning model, a three-dimensional (3D) position of the second surgical instrument is determined. The example method further includes determining a feature of the image data based on the 3D position of the second surgical instrument, and outputting an indication of the feature using a user interface.