The purpose of the present invention is to provide an endoscope holding device which narrows a displacement area of a counterweight and which ensures smooth operation. To this end, this endoscope holding device comprises: a base 10 a support 9 a first link 11 which pivots about a first connecting part 51 of the support a second link 12 which pivots about the first connecting part a third link 13 which pivots about a second connecting part 52 a fourth link 14 which keeps the first link parallel with the third link, is kept parallel with the second link, and is capable of holding an endoscope a fifth link 15 which is connected to the first link, has a first counterweight 14, and is suspended vertically a second counterweight 42 which is connected to the second connecting part and is suspended vertically a sixth link 16 which pivots about a third connecting part 53, has one arm that is connected to the fifth link at a fourth connecting part, and has another arm that is kept parallel with the first link and a seventh link 17 which has one end that pivots about a fifth connecting part 55 of a first projection 11d, and has a second end that pivots about a sixth connecting part 56 of a second projection 16n. The first, fifth, sixth, and third connecting parts are disposed in positions to form a parallelogram.Linvention a pour objet de fournir un dispositif de support dendoscope tel quune région de déplacement de contrepoids est rendue plus étroite, et un mouvement régulier est garanti. À cet effet, le dispositif de support dendoscope de linvention est équipé : dune partie base (10) dun montant (9) dune première jonction (11) exerçant un mouvement rotationnel à laide dune première partie raccordement (51) du montant dune seconde jonction (12) exerçant un mouvement rotationnel également à laide de la première partie raccordement dune troisième jonction (13) exerçant un mouvement rotationnel à laide dune seconde partie raccordement (52) dune quatrième jonction (14) qui m
