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In this paper, we show the results of a system that detects the surgical instruments applied to minimally invasive surgeries. This system is applied to the insertion of a 5 mm diameter needle inside a testing model; it obtains the 3D position of the needle, the lateral projection of the position and the frontal projection of the position. The system also determines the length of the instrument inside the model. The accuracy and precision of the system have been tested with results of 4% accuracy error and 3% precision error.