Minimally invasive surgery became popular as it benefits the patient, reducing pain and allowing better recovery. However, during endoscopy, surgeons face significant technical challenges such as indirect 2-D visualization, restricted field-of-view, lack of brightness, insufficient depth-of-field, distortions, etc. In this paper, we propose a new vision system for laparoscopy. This system consists of two pairs of cameras in stereoscopic conditions directly inserted into the patient through a single standard 10 millimeters diameter trocar and be deployed and fixed into the patient's abdominal cavity. It answers several problems raised by standard endoscopic systems as well as a 3-D virtual environment.