A system for producing an image of a surgical scene comprising: a quantitative three-dimensional, Q3D, endoscope having an imaging sensor array, comprising a plurality of imaging sensors (S 11 -S 33) wherein each imaging sensor includes a corresponding lens stack and a two-dimensional arrangement of pixels including at least two pixels in each dimension arranged in a focal plane of the lens stack, wherein each imaging sensor (S 11 -S 33) and each corresponding focal plane occupies a region of the imaging sensor array different from regions of the imaging sensor array occupied by other imaging sensors (S 11, S 12, S 13) and other corresponding focal planes, and wherein at least three of the imaging sensors (S 11 -S 33) of the imaging sensor array are disposed to have coplanar fields of view (FOV 1, FOV 2, FOV 3) that overlap, wherein the corresponding lens stack of each imaging sensor creates a separate optical channel that resolves an image of a scene within a surgical field of view onto a corresponding arrangement of pixels disposed in a focal plane of the corresponding lens stack; at least one processor configured to: determine a Q3D model of an external surface contour of a tissue structure imaged by three or more different imaging sensors (S 11 -S 33) of the Q3D endoscope; input a 3D visual representation of the tissue structure; determine a geometric transformation that aligns an external surface contour of the 3D visual representation of the tissue structure with the Q3D model of the external surface contour of said tissue structure; and produce, based at least in part upon said geometric transformation, a visual output representing the combined Q3D model of the external surface contour of the tissue structure and a sub-surface of the 3D visual representation of the tissue structure. a quantitative three-dimensional, Q3D, endoscope having an imaging sensor array, comprising a plurality of imaging sensors (S 11 -S 33) wherein each imaging sensor includes a corresponding lens stack and a two-dimensional arrangement of pixels including at least two pixels in each dimension arranged in a focal plane of the lens stack, wherein each imaging sensor (S 11 -S 33) and each corresponding focal plane occupies a region of the imaging sensor array different from regions of the imaging sensor array occupied by other imaging sensors (S 11, S 12, S 13) and other corresponding focal planes, and wherein at least three of the imaging sensors (S 11 -S 33) of the imaging sensor array are disposed to have coplanar fields of view (FOV 1, FOV 2, FOV 3) that overlap, wherein the corresponding lens stack of each imaging sensor creates a separate optical channel that resolves an image of a scene within a surgical field of view onto a corresponding arrangement of pixels disposed in a focal plane of the corresponding lens stack; at least one processor configured to: determine a Q3D model of an external surface contour of a tissue structure imaged by three or more different imaging sensors (S 11 -S 33) of the Q3D endoscope; input a 3D visual representation of the tissue structure; determine a geometric transformation that aligns an external surface contour of the 3D visual representation of the tissue structure with the Q3D model of the external surface contour of said tissue structure; and produce, based at least in part upon said geometric transformation, a visual output representing the combined Q3D model of the external surface contour of the tissue structure and a sub-surface of the 3D visual representation of the tissue structure. determine a Q3D model of an external surface contour of a tissue structure imaged by three or more different imaging sensors (S 11 -S 33) of the Q3D endoscope; input a 3D visual representation of the tissue structure; determine a geometric transformation that aligns an external surface contour of the 3D visual representation of the tissue structure with the Q3D model of the external surface contour of said tissue structure; and produce, based at least in part upon said geometric transformation, a visual output representing the combined Q3D model of the external surface contour of the tissue structure and a sub-surface of the 3D visual representation of the tissue structure.