The invention generally relates to devices and methods that allow an operator to obtain real-time images of a luminal surface prior to, during, and after an intraluminal procedure, including while an intraluminal tool is engaged with the luminal surface. In one embodiment, an imaging system of the invention includes a first elongate member that includes at least one first imaging element and a second member that includes at least one second imaging element. The first imaging element is an optical-to-acoustic transducer, and the second imaging element is an optical-to-acoustic transducer. The second member also defines a lumen. The second member is configured to receive at least a portion of the first elongate member within the lumen and is configured to move along a path of the first elongate member to obtain real-time images within the lumen and of the luminal surface.
