An optical probe includes an optical housing, a transmitting lens and a receiving lens. The optical housing extends from a proximate end to an opposing distal end. The transmitting lens is disposed at the distal end and is configured to output a first transmitted signal beams having a first transmission axis and a second transmitted beam having a second transmission axis that is different from the first transmission axis. The receiving lens is disposed at the distal end and configured to receive the first and second reflected signal beams corresponding respectively to the first and second transmitted signal beams. The optical housing has formed therein a transmitting optical channel configured to communicate an input optical signal from the proximate end to the transmitting lens. A receiving optical channel separated from the transmitting optical channel communicates the first and second reflected signal beams to the proximate end.