A rotating self-traveling endoscope system of the invention comprising an insertion portion having an image pickup unit at its distal end portion and a helical structure formed on the outer surface, a rotating driving device for rotating the insertion portion around a long axis, and a rotating self-traveling insertion assisting tool through which the insertion portion can be freely inserted and which is provided with a flexible tube having a bending portion disposed therein is capable of passage of the insertion portion through a space in a body cavity and passage through a valve in the body cavity, which improves insertion performance into a small intestine.
