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To address a challenging problem of super-resolution terahertz (THz) endoscopy, in this paper, an antiresonant hollow-core waveguide was coupled with a sapphire solid immersion lens (SIL), aimed at subwavelength confinement of guided mode. The waveguide is formed by a polytetrafluoroethylene (PTFE)-coated sapphire tube, the geometry of which was optimized to ensure high optical performance. SIL was judiciously designed, fabricated of bulk sapphire crystal, and then mounted at the output waveguide end. Study of the field intensity distributions at the shadow side of the waveguide-SIL system revealed the focal spot diameter of ≃0.2λ at the wavelength of λ = 500 μm. It agrees with numerical predictions, overcomes the Abbe diffraction limit, and justifies super-resolution capabilities of our endoscope.