A three-dimensional (3D) endoscope is provided. The 3D endoscope comprises a probe; a positioning device to locate a tip of the probe at a first position O and a second position O′; a light guide extending through the probe and configured to guide a light propagating through the probe configured to project on a surface a first light beam from the tip at the first position and a second light beam from the tip at the second position; a detector configured to detect the first light beam reflected from the surface and the second light beam reflected from the surface; and an image processor configured to determine a first distance R between the first position and the surface based on a position difference between the first and second positions, a first deflection angle θ of the first light beam deflected from the probe at the first position and a second deflection angle θ′ of the second light beam deflected from the probe; obtain image data carried by the first and second light beams detected by the detector; and obtain a 3D image based, the first distance R, the first deflection angle θ, and the first rotation angle φ associated with each pixel on the image.