A probe compensated near-field-far-field (NF-FF) transformation technique with helicoidal scanning, which makes use of a minimum number of probe output voltage samples, is developed in this paper. This target is achieved by using a nonuniform helix as scanning curve, i.e., a circular helix with a constant angular elevation step, and by developing an efficient sampling representation over it. Then, by choosing the step coincident with the spacing needed to interpolate the probe voltage along a generatrix, it is possible to reconstruct such a voltage at any point over the cylinder. This allows the recovering of the data required by the standard probe compensated NF-FF transformation technique with cylindrical scanning. As compared with the pr...