In certain embodiments, a scanning system includes optical elements and a movement system. The optical elements include an optical fiber and a gradient-index (GRIN) lens. The optical fiber has a fiber axis that extends to an imaginary fiber axis, and is configured to transmit a light ray. The GRIN lens has a GRIN perimeter and a GRIN lens optical axis, and is configured to refract the light ray. The movement system moves a first optical element relative to a second optical element in a closed path such that the GRIN lens optical axis substantially aligns with the imaginary fiber axis at at least one point of the path and the GRIN perimeter intersects the imaginary fiber axis at at least two points of the path.
