Minimally invasive surgery continues to prioritize patient safety by improving imaging techniques and tumor detection methods. In this work, an all-optical alternative to the current image based techniques for in vitro minimally invasive procedures has been explored. The technique uses a highly fluorescent marker for the surgical needle to be tracked inside simulated tissues. A series of markers were explored including inorganic (Perovskite and PbS) and organic (carbon dots) nanoparticles and organic dye (Rhodamine 6G) to identify layers of different stiffnesses within a tissue. Rhodamine 6G was chosen based on its high fluorescence signal to track 3D position of a surgical needle in a tissue. The needle was tracked inside homogeneous and inhomogeneous gelatin tissues successfully. This exploratory study of tissue characterization and needle tip tracking using fluorescent markers or photoluminescence technique show potential for real-time application of robot-assisted needle insertions during in vivo procedures.