A device may include a three-dimensional image sensor configured to scan an area including a closed or partially closed container, an output display, and a controller. The controller may be configured to: recognize an instrument that is detected by the three-dimensional image sensor, where a first section of the instrument is located inside of the container and a second section of the instrument is located outside of the container, and represent, on the output display, three-dimensional positions and orientations of the instrument, where a first position and a first orientation of the first section of the instrument is inferred from a second position and a second orientation of the second section of the instrument.
