An endoscope system includes an insertion portion having flexibility in which an instrument channel is formed, a flexible tube portion provided at a proximal end portion of the insertion portion, and a flexible tube portion provided at a distal end portion of the insertion portion and capable of bending A tubular body formed with a bending portion and an insertion portion channel through which the flexible tube portion can be inserted and movable relative to the flexible tube portion along the longitudinal axis of the flexible tube portion A first drive unit which causes the distal end portion of the flexible tube portion to bend, and a second drive portion which is provided at the distal end portion of the tube body and connects the flexible tube portion inserted in the insertion portion channel to the proximal end And a control unit for generating a second drive signal for driving the second drive unit based on a first drive signal for driving the first drive unit.内視鏡システムは、器具用チャンネルが形成されて可撓性を有する挿入部と、挿入部の基端部に設けられた可撓管部と、挿入部の先端部に設けられて湾曲可能な湾曲部と、可撓管部が挿通可能な挿入部用チャンネルが形成されて、可撓管部に対して可撓管部の長手軸に沿って移動自在に設けられたチューブ体と、湾曲部を可撓管部の先端部に対して湾曲動作させる第一の駆動部と、チューブ体の先端部に設けられて挿入部用チャンネルに挿通された可撓管部をチューブ体に対して基端部側に駆動させる第二の駆動部と、第一の駆動部を駆動させる第一の駆動信号に基づいて第二の駆動部を駆動させる第二の駆動信号を生成する制御部とを備える。
