Endoscopic 3D data collection, including generating modulated measuring radiation, transmitting the measuring radiation to at least one partial area of a surface of an internal bodily cavity, receiving a signal radiation from the partial area of the surface of the cavity, transmitting the signal radiation from the distal to a proximal end portion of the shaft for reception by a time-of-flight (TOF) image sensor, and a controller to control the generation of the measuring radiation, to control the TOF image sensor and to evaluate the data supplied by the TOF image sensor to generate 3D data, also including a position sensor to record a position and an orientation of the shaft. The invention also relates to a method for endoscopic 3D data collection.
