Endoscope system, endoscope, and driving method

An endoscope (10) includes an elongated tube (13). An objective lens system (30) is disposed in the elongated tube, for passing image light from an object (80). A fiber optic image guide (31) includes plural optical fibers (52) bundled together, has a distal tip (48), is inserted through the elongated tube, for transmitting the image light focused on the distal tip by the objective lens system in a proximal direction. A displacing device (32, 90, 100) displaces the distal tip laterally and periodically upon receiving entry of the image light being focused by use of a piezoelectric actuator (35, 92) positioned outside the distal tip. Plural shifted images are created by the fine displacement, and registered together by image registration, and combined as a synthesized image of up-sampling. Preferably, an evaluator retrieves information of relative position, which is used for error correction of the shifted images.