An endoscope for imaging of an object in a body cavity by receiving image light on an image sensor is provided. In an elongated tube for entry in the body cavity, an objective lens system is incorporated for receiving the image light from the object. A fiber optic image guide includes plural bundled optical fibers and a distal tip, is inserted in the elongated tube, for transmitting the image light focused on the distal tip by the objective lens system. A piezoelectric actuator is positioned on the distal tip, for displacing the distal tip periodically. The image sensor detects the image light from the fiber optic image guide for plural times in synchronism with the displacement for forming a synthesized image. An anchoring device anchors the elongated tube partially on a wall of the body cavity, to stabilize the elongated tube relative to the image light.