A forward-imaging optical coherence tomography probe is provided, comprising: a substantially cylindrical housing comprising: a longitudinal axis an interior side a distal end that is optically transparent and a mirror located at the interior side, adjacent the distal end an optical fiber located inside the cylindrical housing along the longitudinal axis a wedge lens located inside the cylindrical housing, adjacent the distal end, the wedge lens configured to receive light from the fiber, and direct the light towards the mirror and, at least one motor configured to both: rotate the fiber and the wedge lens about the longitudinal axis and inside the cylindrical housing and, linearly displace the fiber and the wedge lens along the longitudinal axis and inside the cylindrical housing the mirror configured to: receive light from the wedge lens and reflect the light out of the distal end as the wedge lens moves linearly and rotationally.
