PROBLEM TO BE SOLVED: To provide an endoscope capable of reducing an operator's sense of incongruity.SOLUTION: A manipulator 1 comprises: an insertion portion 2 capable of being inserted into a body cavity； a pivoting portion 3 for causing the insertion portion 2 to pivot； an operational portion 5 for operating the insertion portion 2 and the pivoting portion 3； a drive portion 4 for driving the insertion portion 2 and the pivoting portion 3； and a control portion 6 for controlling the drive portion 4 in response to operation of the operational portion 5. The insertion portion 2 has a bendable tip movement portion 23. The pivoting portion 3 has a pivoting movement portion 34 for causing the insertion portion 2 to pivot, and a passive portion 32 moving passively in response to pivoting movement of the pivoting movement portion 34. The drive portion 4 has a tip driving portion 41 for generating a driving force which bends the tip movement portion 23, and a pivoting drive portion 42 for generating a driving force which causes the pivoting movement portion 34 to pivot. The control portion 6 controls the tip driving portion 41 and the pivoting drive portion 42 in response to operation of the operational portion 5.【課題】操作者の違和感を低減することが可能な内視鏡を提供する。【解決手段】マニピュレータ１は、体腔内に挿入可能な挿入部２と、挿入部２を旋回させる旋回部３と、挿入部２及び旋回部３を操作する操作部５と、挿入部２及び旋回部３を駆動する駆動部４と、操作部３の操作に応じて駆動部４を制御する制御部６と、を備え、挿入部２は、屈曲可能な先端動作２３を有し、旋回部３は、挿入部２を旋回させる旋回動作部３４と、旋回動作部３４の旋回動作に対して受動的に動作する受動部３２と、を有し、駆動部６は、先端動作部２３を屈曲させる駆動力を発生する先端駆動部と、旋回動作部を旋回動作させる駆動力を発生する旋回駆動部と、を有し、制御部６は、操作部５の操作に応じて先端駆動部及び旋回駆動部を制御することを特徴とする。【選択図】図１
