An integrated system for optical topology detection and illumination, comprising: an illumination system configured to illuminate a region of interest with illumination light; an optical topology detection system configured to project optical topology detection light onto the region of interest and to detect optical topology detection light scattered or reflected from the region of interest to detect the topology at the region of interest, wherein at least a portion of the spectral content of the illumination light is within an optical detection bandwidth of said optical topology detection system; an optical tracking system, wherein at least a portion of the spectral content of light emitted by said optical tracking system is within an optical detection bandwidth of said optical topology detection system; and one or more processors configured to: provide one or more control signals for repeatedly triggering interleaved operation of said optical topology detection system, said optical tracking system and said illumination system; and control the operation of said optical topology detection system, said optical tracking system and said illumination system according to the one or more control signals, such that the optical topology detection system detects the optical topology detection light when said illumination system is not emitting illumination light and when said optical tracking system is not emitting light. an illumination system configured to illuminate a region of interest with illumination light; an optical topology detection system configured to project optical topology detection light onto the region of interest and to detect optical topology detection light scattered or reflected from the region of interest to detect the topology at the region of interest, wherein at least a portion of the spectral content of the illumination light is within an optical detection bandwidth of said optical topology detection system; an optical tracking system, wherein at least a portion of the spectral content of light emitted by said optical tracking system is within an optical detection bandwidth of said optical topology detection system; and wherein at least a portion of the spectral content of the illumination light is within an optical detection bandwidth of said optical topology detection system; an optical tracking system, wherein at least a portion of the spectral content of light emitted by said optical tracking system is within an optical detection bandwidth of said optical topology detection system; and one or more processors configured to: provide one or more control signals for repeatedly triggering interleaved operation of said optical topology detection system, said optical tracking system and said illumination system; and control the operation of said optical topology detection system, said optical tracking system and said illumination system according to the one or more control signals, such that the optical topology detection system detects the optical topology detection light when said illumination system is not emitting illumination light and when said optical tracking system is not emitting light. provide one or more control signals for repeatedly triggering interleaved operation of said optical topology detection system, said optical tracking system and said illumination system; and control the operation of said optical topology detection system, said optical tracking system and said illumination system according to the one or more control signals, such that the optical topology detection system detects the optical topology detection light when said illumination system is not emitting illumination light and when said optical tracking system is not emitting light.