A laparoscopic tool system for minimally invasive surgery, said laparoscopic tool system comprises • a laparoscopic tool comprising a proximal portion and a distal portion, • a spatial position tracking means , • a time-of-flight camera set, comprising a time-of-flight light emitter and a time-of-flight image sensor , and • a computer system , said time-of-flight image sensor is fixed to said distal portion of said laparoscopic tool , said spatial position tracking means being adapted for tracking the spatial position of the time-of-flight image sensor and generating real time spatial position data of said time-of-flight image sensor , said time-of-flight light emitter being configured for emitting light and said time-of-flight image sensor is configured for sensing light from said time-of-flight emitter and generating sensed light data when said emitted light is reflected from a surface area within a preselected distance from said time-of-flight image sensor , said computer system being in data communication with said spatial position tracking means and being configured for receiving real time spatial position data of said time-of-flight image sensor , said computer system being in data communication with said time-of-flight camera set and being configured for receiving said sensed light data timely corresponding to said real time spatial position data of said time-of-flight image sensor , and said computer system being configured for calculating a 3D image based on said sensed light data and real time spatial position data of said time-of-flight image sensor , characterized in that wherein the spatial position tracking means is adapted to tracking the spatial position of the time-of-flight image sensor relative to the time-of-flight light emitter . • a laparoscopic tool comprising a proximal portion and a distal portion, • a spatial position tracking means , • a time-of-flight camera set, comprising a time-of-flight light emitter and a time-of-flight image sensor , and • a computer system , said time-of-flight image sensor is fixed to said distal portion of said laparoscopic tool , said spatial position tracking means being adapted for tracking the spatial position of the time-of-flight image sensor and generating real time spatial position data of said time-of-flight image sensor , said time-of-flight light emitter being configured for emitting light and said time-of-flight image sensor is configured for sensing light from said time-of-flight emitter and generating sensed light data when said emitted light is reflected from a surface area within a preselected distance from said time-of-flight image sensor , said computer system being in data communication with said spatial position tracking means and being configured for receiving real time spatial position data of said time-of-flight image sensor , said computer system being in data communication with said time-of-flight camera set and being configured for receiving said sensed light data timely corresponding to said real time spatial position data of said time-of-flight image sensor , and said computer system being configured for calculating a 3D image based on said sensed light data and real time spatial position data of said time-of-flight image sensor , characterized in that wherein the spatial position tracking means is adapted to tracking the spatial position of the time-of-flight image sensor relative to the time-of-flight light emitter . <EOS>