A minimally invasive, medical, image acquisition system outputs a light beam or pulse which illuminates a precise spot size. A plurality of photon detector detect returning photons from the object, including the spot. Pixel resolution is determined by the area of the illumination spot (and thus the lens configuration), rather than an area sensed by the detector. Depth enhancement is determined by correlating images detected by the respective detectors, or alternatively by a range finding method based on phase difference, time of flight, frequency or interferometry.