The aim of this paper is to integrate of the collaborative robotic arm UR5e and the Polaris Vega ST stereovision optical tracking system into the ROS2 operating system, establish their connection, and prepare them for tracking a body part during a medical procedure. Stereovision optical systems enable continuous tracking of the position and orientation of objects in space by using feedback from markers that reflect infrared light from the stereovision system itself. The study will explore how a collaborative robotic arm, in combination with such a system, can precisely track anatomical structures such as the tibia and femur during knee surgery. During surgery on these bones, the knee is never fully immobilized, so it is necessary to compensate for all movements, even those that are invisible to the human eye. The main characteristics of the robotic arm and the stereovision optical system are described. A simulation of the robotic arm was created in the RoboDK environment to test the optical tracking system. An overview of the connection between the robotic arm, the optical system, and the computer was made. The experimental environment used for testing at the Regional Center of Excellence for Robotic Technologies is presented. Furthermore, the system integration in ROS2 and MoveIt2 is shown, as well as a review of all the necessary packages for smooth operation. All scripts and algorithms that drive the system are presented, enabling the robot to be operated via a servomechanism. The capabilities of stereovision tracking systems, which are still a relatively new development in the field of medical robotics, are demonstrated.