In this paper, development of a miniature size range image sensor is presented. The sensor is designed for a robot hand by using an endoscopy camera and a multi-slit laser projector, which can obtain range images. The improvements over the previous sensor are size, accessibility and measurement range in close distance. The dimension of the sensor is 16×40×53 mm and its weight is about 28 g. By using a universal webcam chip, the computer can capture the image data without the driver. The sensor can measure the distance from 50-150 mm. The effectiveness of the sensor is verified by experiments.