A fiber optics rotary joint (FORJ) connects a system console to a probe having a rotatable core, and transfers rotational motion to the probe core. The FORJ comprises a stationary optical fiber in optical communication with a rotatable optical fiber, a motor having a hollow shaft, and a fiber connector attached to a distal end of the hollow shaft. The motor is configured to rotate the rotatable optical fiber relative to the stationary optical fiber. The rotatable fiber is attached to the proximal end of the hallow shaft and connected to the fiber connector. The distal end of the stationary optical fiber is directly opposed to and aligned with the proximal end of the rotatable optical fiber such that optical axes of the stationary and rotatable optical fibers are substantially collinear with the rotational axis of the motor. The fiber connector transfers optical power and torque to the probe core.