The purpose of this study was to develop and evaluate a novel elbow arthroscopy system with superimposed bone and nerve visualization using preoperative computed tomography (CT) and magnetic resonance imaging (MRI) data. We obtained bone and nerve segmentation data by CT and MRI, respectively, of the elbow of a healthy human volunteer and cadaveric Japanese monkey. A life size 3-dimensional (3D) model of human organs and frame was constructed using a stereo-lithographic 3D printer. Elbow arthroscopy was performed using the elbow of a cadaveric Japanese monkey. The augmented reality (AR) range of error during rotation of arthroscopy was examined at 20 mm scope-object distances. We successfully performed AR arthroscopy using the life-size 3D elbow model and the elbow of the cadaveric Japanese monkey by making anteromedial and posterior portals. The target registration error was 1.63 ± 0.49 mm (range 1-2.7 mm) with respect to the rotation angle of the lens cylinder from 40° to - 40°. We attained reasonable accuracy and demonstrated the operation of the designed system. Given the multiple applications of AR-enhanced arthroscopic visualization, it has the potential to be a next-generation technology for arthroscopy. This technique will contribute to the reduction of serious complications associated with elbow arthroscopy.