As for the endoscope device, the crookedness plane surface to which Tip side of the interposition section of a state where it is interposed into the tubular coelom which is crooked on the basis of the information of crookedness of Tip side of the interposition form sensing station and the interposition section which detect the interposition form of Tip side of the buckling Drive section and the interposition section electrically it buckles Drive the interposition section and the bend where it can provide the bend on Tip side, is included and is crooked is presumed, the bulge control section which does the control it buckles Drive the bend and, is possessed making use of the information of the crookedness plane surface which is presumed.内視鏡装置は、先端側に湾曲部が設けられた挿入部と、湾曲部を電気的に湾曲駆動する湾曲駆動部と、挿入部の先端側の挿入形状を検出する挿入形状検出部と、挿入部の先端側の屈曲情報に基づいて、屈曲した管状の体腔内に挿入された状態の挿入部の先端側が含まれる屈曲した屈曲平面を推定し、推定した屈曲平面の情報を利用して湾曲部を湾曲駆動する制御を行う湾曲制御部と、を具備する。
