An example multimode fiber endoscope may include an elongated body having a proximal end and a distal end; a multimode fiber disposed within the elongated body and extending from the proximal end to the distal end of the elongated body; a light source disposed relative to the proximal end of the elongated body; a light detector disposed relative to the proximal end of the elongated body; and multiple optical elements disposed between the light source and the multimode fiber. One or more of the optical elements are configured to direct light from the light source into the multimode fiber. One or more of the optical elements are configured to direct light from the multimode fiber to the detector. In some embodiments, the multimode fiber may be a single multimode fiber.