This endoscope system is provided with: a first endoscope having a first imaging unit； a second endoscope having a second imaging unit； an arm which is attached to the first endoscope which can be operated to move the first endoscope； a first position/orientation detection means which detects the position and orientation of the first endoscope in a predetermined coordinate system； a second position/orientation detection means which detects the position and orientation of the second endoscope in the predetermined coordinate system； and a control device which controls movement of the arm. The control device controls movement of the arm according to a control procedure for operating the arm which includes: a first calculation step of acquiring the position and orientation of the second endoscope in the predetermined coordinate system from the second position/orientation detection means and calculating the position and direction of the optical axis of the second imaging unit； a movement amount calculation step of acquiring the position and orientation of the first endoscope in the predetermined coordinate system from the first position/orientation detection means and calculating a movement amount of the arm to operate the arm so that the first imaging unit moves in such a direction that the optical axis of the first imaging unit coincides with the optical axis of the second imaging unit； and a command step of outputting an operation command to operate the arm on the basis of the movement amount.Le système d'endoscope de l'invention comporte : un premier endoscope comportant une première unité d'imagerie ； un second endoscope comportant une seconde unité d'imagerie ； un bras, fixé au premier endoscope et qui peut être actionné pour déplacer le premier endoscope ； un premier moyen de détection de position/orientation, qui détecte la position et l'orientation du premier endoscope dans un système de coordonnées prédéfini ； un second moyen de détection de position/orientatio
