An optical scanning and imaging system and related method for scanning and imaging an object is disclosed. The scanning and imaging system does not use mechanically moving components to achieve lateral scanning of an object. Instead, the system includes a deflecting prism comprised of a material having an index of refraction that varies with changes in an applied electromagnetic field and that remains substantially constant with changes in wavelength of incident light within a predetermined wavelength range. An optical fiber transmits light within a predetermined wavelength from a light source through a gradient index lens which sends a collimated beam of light to the prism. Due to the unique properties of the prism, the light is deflected at a substantially constant angle within a lateral scanning plane. An objective lens can be used to further focus the light exiting the prism prior to directing it on the object being imaged. A scan controller and electrodes control and modify the electromagnetic field applied to the prism such that said index of refraction also is controlled and modified. The scanning system is adapted to be used for medical imaging by disposing it within a distal end of a catheter.