The invention relates to an endoscopic device, in particular for medical applications, comprising an endoscope with a shaft that is introducible into a subject under examination, and a data processing unit, three or more optical imaging units having respective imaging elements arranged distally on the shaft and image sensors associated therewith for providing image data sets for the data processing unit, wherein the data processing unit is configured and programmed such that it uses the image data sets to determine corresponding image points therein and generates a 3D surface data set of an object imaged by the imaging units in the subject under examination. Moreover, the invention relates to a method for endoscopic examination.