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A surface topology and motion compensation system for microsurgery guidance and intervention is developed based on common-path optical coherence tomography. A 1-D erosion-based edge-searching method and autoregressive predictor are applied to A-scan data for real-time depth tracking. Images using the topology and motion compensation technique are obtained. In addition, the motion compensation properties are studied. The system can be easily integrated with microsurgery tools and can be used for various clinical applications.