An endoscope device having one or more processors configured to perform a control process including: processing an imaging signal to generate image data of a display image of a subject, wherein the image signal is generated by an image sensor, wherein the image sensor is arranged at a distal end of an insertion portion, and wherein a bending actuator is configured to bend the distal end； setting a first measurement point and a second measurement point on the display image； calculating a first subject distance from the first measurement point to a reference point of the image sensor, and a second subject distance from the second measurement point to the reference point； calculating a difference value between the first subject distance and the second subject distance； and controlling the bending actuator to bend the distal end of the insertion portion such that the difference value is decreased.
