The first attempt to visualise the fetus with a panendoscope was performed in 1954. Embryoscopy and fetoscopy were developed in the 1970's. They were introduced as a diagnostic tool to visualise external malformations of the fetus in the first, second and third trimesters of pregnancy as well as to obtain fetal tissue for diagnostic purposes and perform fetal intravascular transfusion.

Diagnostic fetoscopy during the second and third trimester was abandoned in the late 80's due to the invasive nature of the technique and the development of high resolution ultrasound imaging. Percutaneous access to fetal blood and tissue sampling under continuous ultrasound guidance also became possible in the late eighties. Recently there has been renewed interest in embryo-fetoscopy due to the increasing use of ultrasound in the first trimester together with the development of new equipment, especially miniature fiberscopes. These have improved image resolution while being less invasive. Anomalies suspected in the first trimester often call for a rapid and complete fetal evaluation and microendoscopy allows for a sono-endoscopic assessment of fetal anatomy. This may help a couple to decide whether to carry on with the pregnancy or to opt for early termination of pregnancy (TOP). More recently, embryoscopy and fetoscopy have been used to operate on the placenta and membranes and also on the fetus itself.