In this paper, a marching cubes (MC) algorithm is presented for the three-dimensional (3-D) surface reconstruction based on endoscope images. In general, the classical MC algorithm processes the 3-D medical images obtained from computed tomography (CT) or magnetic resonance (MR), while the volumetric data described in this work are not. Therefore, the purpose of this study mainly focuses on: (1) An active endoscope scanning system that equips an endoscope and optical fiber using for profile measurement of the object, is described in detail; (2) A novel method is also presented to create the regular 3-D grid, which is suitable specifically for the data type of endoscope images. The average errors of the endoscope system on depth detection and surface recover were about 0.50 mm (standard deviation, 0.991) and 2.39 mm (standard deviation, 0.759), respectively. Experimental results on several realistic reconstruction demonstrate the feasibility and good performance of the proposed approach.