This work discusses the design and implementation of a compact forward-looking OCT probe with clinical grade encapsulation that can be readily incorporated into endoscopic systems. Its optical performance makes it particularly attractive for outpatient care use in the optical detection of tissue pathologies inside of the bladder. The use of a tubular piezoelectric-based fiber scanner allows for forward-looking 3D imaging with a single fiber, which can be operated in a quasi-resonant regime to provide a large scanning range with relatively low driving voltages, while maintaining a small outer diameter. This configuration and the adjustable scanning rate of the fiber allow for not only high-resolution OCT images, but also the potential implementation of functional extensions like OCT Angiography. Commercially available focusing optics are used at the tip of the probe, which is designed for telecentric operation in contact with the tissue. The coupling parts, as well as the probe housing, are produced using selective laser-induced etching of fused silica, a 3D structuring approach that enables the creation of alignment and pinning features with micrometer precision. The use of this technology allows for finely tuned optical and mechanical designs, while facilitating the mounting and interconnection of components, providing a reliable assembly process.