The ultrasonic motor is used to drive the circular scanning of an optical coherence tomography (OCT) vascular endoscope. We have studied various kinds of ultrasonic motors, including: piezoelectric cylindrical ultrasonic motor, ultrasonic motor of piezoelectric cubic column type with truncated edges; piezoelectric tube ultrasonic motor with 1mm outer diameter and 0.6mm inner diameter, and the latest used ultrasonic tiny motor with ahollow metal square column (side length 0.6mm) and piezoelectric plates composite. These motors are used to drive the OCT endoscopic probe respectively and the scanning images of different resolution of biological tissue are obtained. The highest axial resolution is 7μm and the lateral resolution is 6.5μm. The design and simulation of the ultrasonic motors, experimental methods and main performance are briefly introduced.