A surgical visualization system is disclosed. The surgical visualization system includes a control circuit communicatively coupled to a straight line laser source, a structured light emitter, and an image sensor； and a memory communicatively coupled to the control circuit. The memory stores instructions which, when executed, cause the control circuit to control the straight line laser source to project a straight laser line reference； control the structured light source to emit a structured light pattern onto a surface of an element of a surgical device； control the image sensor to detect the projected straight laser line and structured light reflected from the surface of the element of the surgical device； and determine a position of the element of the surgical device relative to the projected straight laser line reference.
