A system for three-dimensional, 3D, imaging of a surgical scene, the system comprising: one or more quantitative three-dimensional, Q3D, endoscopes operable to image an illuminated anatomical structure within a body cavity; at least one manipulator (158A, 158B, 158C) configured to insert at least one Q3D endoscope through a first port such that at least one Q3D endoscope has a first field of view (FOV 1) and through at least a second port such that at least one Q3D endoscope has a second field of view (FOV 2), the first port and the second port each providing access to the body cavity; and at least one processor configured to: produce a first Q3D model of the illuminated anatomical structure based upon a first image of the anatomical structure captured from the first field of view (FOV 1) at the at least one endoscope in the first port; produce a second Q3D model of the illuminated anatomical structure based upon a second image of the anatomical structure captured from the second field of view (FOV 2) at the at least one endoscope in the second port; and combine together the first Q3D model and the second Q3D model by aligning the first and second Q3D models and blending together structure information in the first Q3D model that overlaps structure information in the second Q3D model to produce a composite Q3D model of the anatomical structure that includes first structure information that is present in the first Q3D model and is not present in the second Q3D model, that includes second structure information that is present in the second Q3D model and is not present in the first Q3D model, and that includes structure information that includes a blend of the overlapping structure information (2608-1, 2608-2). one or more quantitative three-dimensional, Q3D, endoscopes operable to image an illuminated anatomical structure within a body cavity; at least one manipulator (158A, 158B, 158C) configured to insert at least one Q3D endoscope through a first port such that at least one Q3D endoscope has a first field of view (FOV 1) and through at least a second port such that at least one Q3D endoscope has a second field of view (FOV 2), the first port and the second port each providing access to the body cavity; and at least one processor configured to: produce a first Q3D model of the illuminated anatomical structure based upon a first image of the anatomical structure captured from the first field of view (FOV 1) at the at least one endoscope in the first port; produce a second Q3D model of the illuminated anatomical structure based upon a second image of the anatomical structure captured from the second field of view (FOV 2) at the at least one endoscope in the second port; and combine together the first Q3D model and the second Q3D model by aligning the first and second Q3D models and blending together structure information in the first Q3D model that overlaps structure information in the second Q3D model to produce a composite Q3D model of the anatomical structure that includes first structure information that is present in the first Q3D model and is not present in the second Q3D model, that includes second structure information that is present in the second Q3D model and is not present in the first Q3D model, and that includes structure information that includes a blend of the overlapping structure information (2608-1, 2608-2). produce a first Q3D model of the illuminated anatomical structure based upon a first image of the anatomical structure captured from the first field of view (FOV 1) at the at least one endoscope in the first port; produce a second Q3D model of the illuminated anatomical structure based upon a second image of the anatomical structure captured from the second field of view (FOV 2) at the at least one endoscope in the second port; and combine together the first Q3D model and the second Q3D model by aligning the first and second Q3D models and blending together structure information in the first Q3D model that overlaps structure information in the second Q3D model to produce a composite Q3D model of the anatomical structure that includes first structure information that is present in the first Q3D model and is not present in the second Q3D model, that includes second structure information that is present in the second Q3D model and is not present in the first Q3D model, and that includes structure information that includes a blend of the overlapping structure information (2608-1, 2608-2).