1. A robotic surgical method comprising: capturing a first image of a surgical tool, the surgical tool including a plurality of features defining a first marker, at least one of the features of the first marker comprising an identification feature; determining a position for the first marker by processing the captured first image; determining an identification of the first marker by using the at least one identification feature by processing the first image; and determining a tool state for the imaged tool by using said position for the first marker and said identification of the first marker.