The present invention involves a surgical site monitoring system and associated method of use employing passive vectorized tracking markers attached to a surgical implement, an intra-oral mapping device and/or a scan-visible passive vectorized fiducial reference fixed to a surgical site. A non-stereo optical tracker obtains image information about the tracking markers and uses either markings on or shapes of the tracking markers to determine from the image information the relative 3D locations and orientations of the surgical implement, mapping device and/or fiducial reference. A scan of the surgical site prior to a surgical procedure with the fiducial reference attached is used to obtain scan data. The system and method allow the scan data and intra-oral maps of the surgery site by the mapping device to be three-dimensionally superimposed and, in some embodiments, allows surgery to be tracked. In some embodiments, the superimposition may be done in real time during surgery.
