In this paper, we study an inverse scattering problem at fixed energy on three-dimensional asymptotically hyperbolic Stäckel manifolds having the topology of toric cylinders and satisfying the Robertson condition. On these manifolds the Helmholtz equation can be separated into a system of a radial ODE and two angular ODEs. We can thus decompose the full scattering operator onto generalized harmonics and the resulting partial scattering matrices consist in a countable set of 2 × 2 matrices whose coefficients are the so-called transmission and reflection coefficients. It is shown that the reflection coefficients are nothing but generalized Weyl-Titchmarsh functions associated with the radial ODE. Using a novel multivariable version of the Complex Angular Momentum method, we show that the knowledge of the scattering operator at a fixed non-zero energy is enough to determine uniquely the metric of the three-dimensional Stäckel manifold up to natural obstructions.R ij = 0, ∀i = j.Remark 1.4. We note that the Robertson condition is satisfied for Einstein manifolds. Indeed, an Einstein manifold is a riemannian manifold whose Ricci tensor is proportional to the metric which is diagonal in the orthogonal case we study.As shown by Eisenhart in [29,30] and by Kalnins and Miller in [44] the separation of the Hamilton-Jacobi equation for the geodesic flow is related to the existence of Killing tensors of order two (whose presence highlights the presence of hidden symmetries). We thus follow [3,44] in order to study this relation. We use the natural symplectic structure on the cotangent bundle T M of the manifold (M, g). Let {x i } be local coordinates on M and {x i , p i } the associated coordinates on T M. Let