A system for providing a full-field, three-dimensional representation of a target surface inside a human body, the system comprising: a catheter (401, 701), the catheter having a proximal end and a distal end adapted to be inserted into the human body and guided to the target surface inside the human body; projection components for projecting a pattern of bands of electromagnetic radiation onto the target surface, the projection components comprising an electromagnetic radiation emitter (403, 702) connected to the proximal end of the catheter, a projection lens (412, 712) located at the distal end of the catheter, fiber optics (411, 711) capable of transmitting the electromagnetic radiation from the electromagnetic radiation emitter to the projection lens, and a grating positioned between the radiation emitter and the projection lens, wherein electromagnetic radiation that is emitted from the electromagnetic radiation emitter and that passes through the grating and the projection lens is projected as the pattern of bands of electromagnetic radiation onto the target surface, whereby the pattern of bands of electromagnetic radiation is modulated by the target surface; imaging components for capturing a plurality of successive images of the pattern of bands of electromagnetic radiation modulated by and reflected from the target surface, the imaging components comprising an imaging lens (413, 713) located at the distal end of the catheter, an image sensor (404, 703) connected to the proximal end of the catheter and configured to capture image data corresponding to the plurality of successive images of the pattern of bands of electromagnetic radiation modulated by and reflected from the target surface, and fiber optics (411, 711) capable of transmitting electromagnetic radiation from the imaging lens to the electromagnetic image sensor; an image processing module configured to receive the captured image data from the image sensor and to calculate a full-field, three-dimensional representation of the target surface for each image of the plurality of successive images using the captured image data and a spatial signal modulation algorithm, wherein the images comprise successive reflections of the projected pattern of bands of electromagnetic radiation modulated by the target surface, and wherein the images differ from each other due to relative movement between the catheter and the target surface, resulting in a plurality of successive full-field, three-dimensional representations of the target surface; and a display device configured to display the plurality of successive full-field, three-dimensional representations of the target surface. a catheter (401, 701), the catheter having a proximal end and a distal end adapted to be inserted into the human body and guided to the target surface inside the human body; projection components for projecting a pattern of bands of electromagnetic radiation onto the target surface, the projection components comprising an electromagnetic radiation emitter (403, 702) connected to the proximal end of the catheter, a projection lens (412, 712) located at the distal end of the catheter, fiber optics (411, 711) capable of transmitting the electromagnetic radiation from the electromagnetic radiation emitter to the projection lens, and a grating positioned between the radiation emitter and the projection lens, wherein electromagnetic radiation that is emitted from the electromagnetic radiation emitter and that passes through the grating and the projection lens is projected as the pattern of bands of electromagnetic radiation onto the target surface, whereby the pattern of bands of electromagnetic radiation is modulated by the target surface; imaging components for capturing a plurality of successive images of the pattern of bands of electromagnetic radiation modulated by and reflected from the target surface, the imaging components comprising an imaging lens (413, 713) located at the distal end of the catheter, an image sensor (404, 703) connected to the proximal end of the catheter and configured to capture image data corresponding to the plurality of successive images of the pattern of bands of electromagnetic radiation modulated by and reflected from the target surface, and fiber optics (411, 711) capable of transmitting electromagnetic radiation from the imaging lens to the electromagnetic image sensor; an image processing module configured to receive the captured image data from the image sensor and to calculate a full-field, three-dimensional representation of the target surface for each image of the plurality of successive images using the captured image data and a spatial signal modulation algorithm, wherein the images comprise successive reflections of the projected pattern of bands of electromagnetic radiation modulated by the target surface, and wherein the images differ from each other due to relative movement between the catheter and the target surface, resulting in a plurality of successive full-field, three-dimensional representations of the target surface; and a display device configured to display the plurality of successive full-field, three-dimensional representations of the target surface.