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Accurate medical Augmented Reality (AR) rendering requires two calibrations, a camera intrinsic matrix estimation and a hand‐eye transformation. We present a unified, practical, marker‐less, real‐time system to estimate both these transformations during surgery. For camera calibration we perform calibrations at multiple distances from the endoscope, pre‐operatively, to parametrize the camera intrinsic matrix as a function of distance from the endoscope. Then, we retrieve the camera parameters intra‐operatively by estimating the distance of the surgical site from the endoscope in less than 1 s. Unlike in prior work, our method does not require the endoscope to be taken out of the patient; for the hand‐eye calibration, as opposed to conventional methods that require the identification of a marker, we make use of a rendered tool‐tip in 3D. As the surgeon moves the instrument and observes the offset between the …