Method of size measurement in mono-vision scope image

A system for determining an actual size of an object in an image comprising:

• a scope, wherein the scope is configured to transmit image data;
• an instrument configured to be advanced to the object, such that a distance between the object and the scope can be determined, and wherein the instrument is advanceable to the object even after the scope is stationary;
• a processing device configured with processor executable instructions to perform operation comprising:
• receiving data from the scope wherein the data comprises the image;
• receiving data related to a distance between the instrument and the object;
• determining the distance between the object and the scope from the data related to the distance between the instrument and the object;
• determining a calibration coefficient for measuring the actual size of the object in the image from the image data and the distance between the object and the scope;
• measuring a perceived size of the object and a depth of the object in the image;
• dewarping the image to create dewarped image data and a dewarped image;
• calculating the actual size of the object in the dewarped image using the calibration coefficient;
• and
• providing and displaying, in real-time, the actual size of the object and feedback regarding manipulation of and/or removal of the object.