A system and method for endoscopic optical imaging using an endo-robot is provided. The method for performing endoscopic optical imaging using a capsule endoscope comprises: navigating the capsule endoscope through a lumen of a patient that has been introduced with an optical contrast agent; illuminating a portion of the lumen that is not penetrable by an external light source with light emitted from the capsule endoscope to enhance an image intensity of the portion of the lumen; and powering the capsule endoscope with an externally applied magnetic field.