An object of the embodiment is to provide an endoscope system capable of controlling an endoscope such that even when there are changes in an environment in the body cavity, the area of interest remains within the field. The endoscope system 10 includes an endoscope 1 including an imaging unit 1a that is capable of taking an image of a imaging target Pt, a field-of-view adjustment mechanism 1b for varying an orientation of the imaging unit 1b and a driver unit for driving the field-of-view adjustment mechanism 1b, an endoscopic position sensor 5 for detecting a position of the endoscope 1 in the body cavity B, a distance measurement unit 1c for measuring a distance from a distal end of the endoscope 1 to the imaging target Pt, a position computation unit 71 for computing the positions of the distal end of the endoscope and the imaging target on the basis of information from the endoscopic position sensor 5 and the distance measurement unit 1c, a position storage unit 72 for storing a position of the subjected of interest computed by the position computation unit 71, a first driving-amount computation unit 73 for computing a driving amount for the field-of-view adjustment mechanism using the position stored in the position storage unit 72 and the position of the distal end of the endoscope, an image storage unit 74 for storing the image of the imaging target Pt taken by the imaging unit 1a, a comparison unit 75 for comparing the image Pt 0 of the imaging target Pt stored in the image storage unit 74 with a newly taken image Pt 1 of the imaging target Pt, a second driving-amount computation unit 76 for computing a driving amount for the field-of-view adjustment mechanism 1b depending on the result of comparison by the comparison unit 75, and a determination unit 77 for determining which is used, a first driving amount computed by the first driving-amount computation unit 73 or a second driving amount computed by the second driving-amount computation unit 76, to dri
