An endoscope, which has an insertion section with a moving part, comprises a stator for generating a surface wave as a combination of a transverse wave and a longitudinal wave; a rotor rotatably disposed facing the stator; an urging mechanism for bringing the rotor intimately into contact with the stator; a coupling member coupled to the rotor and adapted to cause the moving part of the endoscope to operate as the rotor rotates; and a disengaging mechanism for releasing the stator and the rotor from the intimate contact with each other.