Robotic Surgical System With End Effector Marker Diffusers

A surgical system includes a tool for engaging a target site, a navigation system including a localizer to track states of trackers, a patient tracker for attachment relative to the target site, a robotic arm to maintain alignment of the tool, and an end effector attached to the robotic arm to support the tool. The end effector includes an end effector tracker having markers each including a body having an inner bore surface defining a bore between an inlet and an outlet, a light module supported adjacent to the inlet and arranged to emit light into reflection with the inner bore surface, and a diffuser supported adjacent to the outlet to diffuse light reflected by the inner bore surface, the diffuser having an output surface arranged to present diffused light across the output surface detectable by the localizer of the navigation system to enable tracking states of the end effector.