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Herein, a flexible endomicroscopic scanning instrument based on a 3\u2010degree\u2010of\u2010freedom flexible hinge structure and visual servoing control is presented. The instrument integrates OCT and pCLE. OCT information compensates for the imaging distance of pCLE, which can combine the advantages of the two technologies. The mechanism allows for tissue surface scanning with a wire\u2010driven active bending part and dynamic adjustment of the probe\u2010tissue distance using a combination of wire and spring\u2010driven, which satisfy large\u2010area scanning while maintaining consistence tissue contacts. Local optimization\u2010based visual servoing control is proposed to optimize the tissue scanning. Through the scanning experiments, high\u2010quality mosaics of uneven surfaces are obtained with an effective area that is larger than 4\u2009mm<jats:sup>2<\/jats:sup>. 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