An endoscope device includes a flexible insertion portion; a flexible tube portion; a first bending portion; a second bending portion; an observation portion; a first drive portion bending the first bending portion; a second drive portion bending the second bending portion; a position detection portion detecting a position of a rigid distal end portion of a medical instrument; first and second bending detection portions detecting radii of curvature of axes of channels formed in the first and second bending portions and directions in which the channels are bent when an input signal generated by the position detection portion is received, respectively; and a control portion configured to control generating a second drive signal driving the second drive portion based on a first drive signal driving the first drive portion, and sending the second drive signal to the second drive portion while sending the first drive signal.