Constrained minimally-invasive surgical environments create a number of challenges for the surgeon and for automated tools designed to aid in the performance and analysis of complex procedures. The 3D reconstruction of the operative field opens up a number of possibilities for immersive presentation, automated analysis, and post-operative evaluation of su gical procedures.

This paper presents a method for estimating complete 3D information about scope and instrument positioning from monocular imagery. These measurements can be used as the basis for deriving and presenting additional cues during procedures, and can also be used for post-procedure analysis such as objective estimates of high-level performance measures like economy of motion and ergonomic metrics.