An imaging device comprising: a base defining a rotation axis; a scanning and focusing assembly coupled to the base for rotation about the rotation axis; and a drive unit for rotationally driving the scanning and focusing assembly about the rotation axis; wherein the scanning and focusing assembly includes: a focusing device for focusing a beam (36, 36a, 36b) of imaging radiation to produce a focused beam (44, 44a, 44b) of imaging radiation having a focus (42, 42a, 42b), wherein the focusing device comprises at least one radially asymmetric mirror and/or at least one radially asymmetric lens; a scanning member for scanning the beam (36, 36a, 36b) of imaging radiation; and a controller coupled to the drive unit and the scanning member and configured to control the scanning member to cause movement of the focus along a predetermined trajectory with respect to the scanning and focusing assembly; wherein the predetermined trajectory comprises a plurality of trajectory sections (46a, 46b), wherein for at least one first section of the plurality of trajectory sections (46a, 46b) a direction of propagation of the focused beam of imaging radiation is independent of a position of exit of the focused beam of imaging radiation from the focusing device, whereas for at least one second section of the plurality of trajectory sections (46a, 46b) a beam axis of the focused beam of imaging radiation is oriented perpendicularly or orthogonal to the trajectory. a base defining a rotation axis; a scanning and focusing assembly coupled to the base for rotation about the rotation axis; and a drive unit for rotationally driving the scanning and focusing assembly about the rotation axis; wherein the scanning and focusing assembly includes: a focusing device for focusing a beam (36, 36a, 36b) of imaging radiation to produce a focused beam (44, 44a, 44b) of imaging radiation having a focus (42, 42a, 42b), wherein the focusing device comprises at least one radially asymmetric mirror and/or at least one radially asymmetric lens; a scanning member for scanning the beam (36, 36a, 36b) of imaging radiation; and a controller coupled to the drive unit and the scanning member and configured to control the scanning member to cause movement of the focus along a predetermined trajectory with respect to the scanning and focusing assembly; wherein the predetermined trajectory comprises a plurality of trajectory sections (46a, 46b), wherein for at least one first section of the plurality of trajectory sections (46a, 46b) a direction of propagation of the focused beam of imaging radiation is independent of a position of exit of the focused beam of imaging radiation from the focusing device, whereas for at least one second section of the plurality of trajectory sections (46a, 46b) a beam axis of the focused beam of imaging radiation is oriented perpendicularly or orthogonal to the trajectory. a focusing device for focusing a beam (36, 36a, 36b) of imaging radiation to produce a focused beam (44, 44a, 44b) of imaging radiation having a focus (42, 42a, 42b), wherein the focusing device comprises at least one radially asymmetric mirror and/or at least one radially asymmetric lens; a scanning member for scanning the beam (36, 36a, 36b) of imaging radiation; and a controller coupled to the drive unit and the scanning member and configured to control the scanning member to cause movement of the focus along a predetermined trajectory with respect to the scanning and focusing assembly; wherein the predetermined trajectory comprises a plurality of trajectory sections (46a, 46b), wherein for at least one first section of the plurality of trajectory sections (46a, 46b) a direction of propagation of the focused beam of imaging radiation is independent of a position of exit of the focused beam of imaging radiation from the focusing device, whereas for at least one second section of the plurality of trajectory sections (46a, 46b) a beam axis of the focused beam of imaging radiation is oriented perpendicularly or orthogonal to the trajectory.