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 of imaging radiation to produce a focused beam of imaging radiation having a focus , 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 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 , wherein for at least one first section of the plurality of trajectory sections 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 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 of imaging radiation to produce a focused beam of imaging radiation having a focus , 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 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 , wherein for at least one first section of the plurality of trajectory sections 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 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 of imaging radiation to produce a focused beam of imaging radiation having a focus , 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 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 , wherein for at least one first section of the plurality of trajectory sections 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 a beam axis of the focused beam of imaging radiation is oriented perpendicularly or orthogonal to the trajectory. <EOS>