An auxiliary endoscopic imaging catheter is configured for insertion via a longitudinal working channel of an endoscopic. The endoscopic imaging catheter comprises a longitudinally extending tubular shaft having a proximal end, a distal end, and outer surface, and a longitudinal axis one or more transparent or translucent elements positioned in the outer surface of the distal end of the shaft and an imaging system comprising a reflector/refractor element and an imaging sensor, the imaging system being positioned interior of the distal end of the shaft. The reflector/refractor can be rotated or wobbled to obtain images of up to or over 360°. An illumination system is positioned on or in the distal end of the shaft, the illumination system being capable of illuminating a corporeal lumen or organ adjacent to the distal end.
