We present a miniaturized actuator for volumetric tissue imaging. The device consists of a hydraulically actuated accordion-like part for axial scanning (focus adjustment), and an electromagnetically actuated 2D scanner for lateral scanning. The device is manufactured using selective laser sintering, allowing for very low cost and rapid production. We demonstrate 3D scanning capability through observing the lateral scan pattern at different axial locations with a CMOS camera, and through scanning of a multi-layered phantom. We further investigate reliability of the electromagnetically actuated lateral scanner, as well as the hysteresis behavior of the hydraulic scanner.