The image-based feedback endoscopy system includes a steering apparatus having a base platform, a pair of servomotors, a rigid tube, and a biasing member. A flexion member has a tether member and a ball screw, the tether member being in communication with the biasing member. The image-based feedback endoscopy system further includes an endoscope having a tip. The endoscope is positioned through the concentric spring such that the tip extends from the biasing member. The endoscope is in communication with the flexion member such that the endoscope is selectively movable by the pair of servomotors selectively controlling the flexion member. The endoscope includes a piezo actuator, a scanning fiber, a lens assembly, and collection fibers. The image-based feedback endoscopy system also includes an image based feedback algorithm, which selectively controls the operation of the pair of servo motors.