Here we present a new microfabricated optical endoscope using a fully integrated optical waveguide with a push-pull piezoelectric actuator design. This new scanning probe was constructed using SU-8 epoxy-based photoresist as a resonant cantilever. The scanner was driven with a frequency of 25 Hz in the horizontal direction and a frequency of 4.71 kHz in the vertical direction. The best resolution obtained by the scanner is ~4 μm. A specific application for the design is in the area of endoscopy, where there is a need for a minimally invasive device that reduces the discomfort experienced by the patient by reduces the overall geometry of the endoscope.