Probe-based confocal endomicroscopy (pCLE) is a promising imaging modality but requires precise and controlled scanning over the tissue surface, which is significantly challenging to the operator. The paper presents a 3D-printed origami-inspired miniature delta robot for accurate manipulation of pCLE probe. Kinematics and Finite Element Analysis (FEA) simulation are conducted for a transfer matrix from the applied voltage to the displacement. An open-loop kinematic characterization based on the simulation was performed. The results demonstrate adequate repeatability and precision, allowing the execution of various motions. Further 3D motion control will be achieved by employing visual servoing.