An endoscope system includes: an endoscope including an observation optical system in a distal end portion of an endoscope insertion portion a manipulator apparatus including a driving portion with a plurality of joint pieces connected on a distal end side of a manipulator insertion portion, adjacent joint pieces among the plurality of joint pieces being connected by connecting shafts, and configured as a first joint rotating clockwise and counterclockwise around a first shaft and a second joint rotating clockwise and counterclockwise around a second shaft perpendicular to the first shaft, at least one first joint and at least one second joint being provided in order from the distal end side and an overtube including an endoscope insertion portion passing hole through which the endoscope insertion portion of the endoscope is passed, and at least one manipulator passing hole through which the manipulator insertion portion of the manipulator apparatus is passed.
