Miniaturized endoscopic scanners have had a significant impact on high-resolution optical imaging. Technological advancements in micro-electromechanical systems and optical fiber technology have resulted in various optical-mechanical configurations designed to fulfill specific requirements. However, it is still challenging to provide comprehensive, undistorted images with high-resolution images of target samples. This paper reviews the optical imaging techniques utilized in cantilever-based endoscopic scanners by analyzing and comparing their key performances, pros and cons, and corresponding optical components needed to develop the system. The concept of multimodal imaging is then highlighted by discussing its principle and current status in endoscopic scanners. We also reviewed the scanning configurations concerning their mechanical components, general structures, and drive signals for different scanning patterns. The feedback control aspect in endoscopic scanners is then addressed, with a discussion of its role in mitigating undesired nonlinear vibration effects and a survey of current implementations. Finally, we discuss the current and potential applications of endoscopic scanners, artificial intelligence techniques in image reconstruction, and disease detection and provide recommendations on endoscopic scanner system design for future reference.