A mechanical probe capable of three-dimensional imaging, comprising: a support portion comprising a tension transmission device comprising a driving shaft, a first tension member, and a second tension member and a first guide pulley set comprising a first pulley and a second pulley, wherein the driving shaft has a circular cross-section and defines a first fastening point and a second fastening point, the first fastening point and the second fastening point are located at different diametric planes of the driving shaft, the diametric planes are perpendicular to the central axis of the driving shaft and the first tension member and the second tension member winds around its respective diametric plane, the first tension member is connected to the first fastening point and winds around a circumference of the driving shaft, and the second tension member is connected to the second fastening point and winds around the circumference of the driving shaft; and a probing portion comprising a driven shaft, wherein the first tension member is connected to the driven shaft via the first pulley, and the second tension member is connected to the driven shaft via the second pulley; characterized in that the probing portion further comprises a second guide pulley set arranged near one end of the driven shaft, the second guide pulley set comprises a third pulley and a fourth pulley opposite to the third pulley, both of a rotating axis of the third pulley and a rotating axis of the fourth pulley are parallel to a central axis of the driven shaft, the first tension member is wound around a side surface of the third pulley near the fourth pulley, and the second tension member is wound around a side surface of the fourth pulley near the third pulley; an angle defined between the first tension member and the second tension member which are located between the first guide pulley set and the second guide pulley set is equal to an angle defined between a rotating axis of the first pulley and a rotating axis of the second pulley. a support portion comprising a tension transmission device comprising a driving shaft, a first tension member, and a second tension member and a first guide pulley set comprising a first pulley and a second pulley, wherein the driving shaft has a circular cross-section and defines a first fastening point and a second fastening point, the first fastening point and the second fastening point are located at different diametric planes of the driving shaft, the diametric planes are perpendicular to the central axis of the driving shaft and the first tension member and the second tension member winds around its respective diametric plane, the first tension member is connected to the first fastening point and winds around a circumference of the driving shaft, and the second tension member is connected to the second fastening point and winds around the circumference of the driving shaft; and a probing portion comprising a driven shaft, wherein the first tension member is connected to the driven shaft via the first pulley, and the second tension member is connected to the driven shaft via the second pulley; characterized in that the probing portion further comprises a second guide pulley set arranged near one end of the driven shaft, the second guide pulley set comprises a third pulley and a fourth pulley opposite to the third pulley, both of a rotating axis of the third pulley and a rotating axis of the fourth pulley are parallel to a central axis of the driven shaft, the first tension member is wound around a side surface of the third pulley near the fourth pulley, and the second tension member is wound around a side surface of the fourth pulley near the third pulley; an angle defined between the first tension member and the second tension member which are located between the first guide pulley set and the second guide pulley set is equal to an angle defined between a rotating axis of the first pulley and a rotating axis of the second pulley.