Minimally Invasive Surgery procedures, which were, in the past, usually performed via manual intervention of human beings, are nowadays more often supported by robotic system, enabling to overcome the limitations that surgeons can encounter. Since the safety of these types of procedures strongly depends on their achievable precision, the sensors responsible for the tracking of the robotic system are required to be highly accurate and reliable. The MIRACLE (Minimally Invasive Robot-Assisted Computer-guided LaserosteotomE) project, which is conducted at the University of Basel, aims to develop a surgical platform including a robotic endoscope that allows contact-free bone surgery using laser light. Because state-of-the-art optical tracking systems require line-of-sight, these kinds of sensors are not a feasible option in the frame of the MIRACLE project.