An endoscope holding apparatus includes: a base section a support column a first link and a second link that rotate around a first linking portion a third link that rotates around a second linking portion a fourth link capable of holding an endoscope a fifth link including a first counter weight a second counterweight linked to the second linking portion a sixth link including one arm linked to the fifth link and a seventh link including a first end configured to rotate around a fifth linking portion and a second end configured to rotate around a sixth linking portion, wherein the first, fifth, sixth, and third linking portions form a parallelogram.
