“…However, the color of translucent images may either be unclear or interfere with the background endoscopic images. There have also been several studies of systems that use 3-D endoscopes to provide 3-D depth information (Mitchell et al 2002;Mountney et al 2006;Mourgues, Devernay, and CosteManiere 2001;Mueller-Richter et al 2003). Moreover, there are several commercial systems, such as 3-D=2-D endoscopic imaging systems for the da Vinci surgical NOMENCLATURE CM T C transformation matrix of the endoscopic camera from the marker attached to the endoscopic camera CP T C transformation matrix of the endoscopic camera from the calibration pattern P T C transformation matrix of the endoscopic camera from the position sensor P T CM transformation matrix of the marker attached to the endoscopic camera from the position sensor P T CP transformation matrix of the position sensor to the calibration pattern system (Olympus Co. Ltd, Tokyo, Japan), wedge prism 3-D endoscope (Shinko Optical Co. Ltd, Tokyo, Japan), and Wasol's 3-D endoscope (Wasol, Seoul, Korea).…”