An arc-shaped flexible printed circuit film-type endoscope using an imaging device with driving holes. The endoscope has an image photographing device and an object insertion device and further includes a plurality of driving holes which are formed at regular intervals in a longitudinal direction of the object insertion device, and a driving device which rotates while being sequentially inserted into the driving holes, thus moving the object insertion device. The endoscope controls movement into a small space, makes it easy to inspect a narrow heat transfer tube or gaps formed between heat transfer tubes, achieves high economic efficiency, increases the reliability of endoscopy, and increases life-span.