Navigational and/or robotic tracking systems include one or more wireless tracking device attached to an object or to a bone of a patient. The wireless tracking device may include a camera, a pair of cameras, and/or a probe, and a wireless transmitter. Surgical methods may include wirelessly obtaining reference data, the reference data based on the camera of the wireless tracking device operably attached to the bone of the patient, the reference data is associated with a plurality of markers and using the reference data in a surgical navigation system. Surgical methods may also include wirelessly obtaining positional and orientation data, and/or surface or structural data, and using the positional and orientation data, and/or surface or structural data in the surgical navigation system.