According to some embodiments of the invention, a near-infrared fluorescence endoscopic dental imaging system includes an endoscope forming a plurality of lumens therein; a spectrometer optically coupled to a first lumen of the endoscope; a near-infrared camera optically coupled to a second lumen of the endoscope; a data processor in communication with the spectrometer and the near-infrared camera; and a display system in communication with the data processor. The near-infrared camera is configured to capture a near-infrared two-dimensional dental image of a specimen and transmit the near-infrared two-dimensional dental image to the data processor. The spectrometer is configured to capture fluorescent light from the specimen and provide a spectroscopic signal to the data processor. The display system is configured to communicate with the data processor to receive the near-infrared two-dimensional dental image and the spectroscopic signal and to display a two-dimensional dental image of the specimen.