A method and system for three dimensional scanning, imaging and/or therapy are provided. In accordance with one aspect, an exemplary method and system are configured to facilitate controlled scanning within one-degree of freedom. For example, an exemplary method and system can enable multiple two-dimensional image planes to be collected in a manner to provide an accurate and computationally efficient three-dimensional image reconstruction while providing the user with a user-friendly mechanism for acquiring three-dimensional images. In accordance with an exemplary embodiment, an exemplary scanning and imaging system comprises an imaging probe, a control system, a positioning system and a display system. In accordance with an exemplary embodiment, the positioning system comprises a guide assembly and a position sensing system. The guide assembly is configured to provide pure rectilinear or rotational motion of the probe during scanning operation while the position sensing system is configured to detect the direction and position of the probe during scanning.