Precise measurements of geometry should accompany robotic equipments in operating rooms if their advantages are further pursued. For deforming organs including the liver, intraoperative geometric measurements play an essential role in computer surgery in addition to pre-operative geometric information from CT/MRI. The laser-scan endoscope system acquires and visualizes the shape of the area of interest in a flash of time. Results of in-vivo experiments on the liver of a pig verify the effectiveness of the proposed system. In the next stage, we aim to make a data-fusion in laparoscopy.