Direct thermal tissue measurements could prove invaluable in laparoscopy and laparo-assisted robotic surgery, where bipolar electrocoagulation or ultrasonic energy are often used to achieve haemostasis to maximise a clear view of the surgical field. We present a novel endoscope prototype for minimal invasive surgery: it integrates full stereoscopic vision and 3D-mapped, direct thermal measurements to evaluate the heat propagation over the surface target tissue during bipolar coagulation. The precise mapping of the multi-spectral images allows clinicians to quickly assess the risk of damage to sensitive tissues intra-operatively.