PROBLEM TO BE SOLVED: To provide an endoscope system capable of easily achieving appropriate hand-eye coordination.SOLUTION: An endoscope control method related to the present invention is a method for controlling an endoscope in which an insertion part with an imaging part provided at the tip thereof is inserted into a body. The insertion part includes a bending part capable of changing the imaging direction of the imaging part by performing bending action, and performs insertion amount detection processing of detecting an amount of insertion of the insertion part into the body and bending part control processing of determining, on the basis of the insertion amount detected by the bending action insertion, the propriety of bending action of the bending part based on operation of a direction input part.【課題】適切なハンドアイコーディネーションを容易に実現可能な内視鏡システムに関する。【解決手段】本発明に係る内視鏡制御方法は、先端に撮像部が設けられた挿入部を、体内に挿入する内視鏡の制御方法であって、挿入部は、屈曲動作を行うことで撮像部の撮像方向を可変可能とする屈曲部を有し、挿入部の体内への挿入量を検知する挿入量検知処理と、挿入量検知処理で検知された挿入量に基づき、方向入力部の操作に基づく屈曲部の屈曲動作の可否を決定する屈曲部制御処理と、を実行する。【選択図】図２
