The invention provides an endoscope which comprises a connecting optical fiber, a self-focusing lens, a slant reflection mirror and a motor. The connecting optical fiber is connected with the tail portion of the self-focusing lens, the slant reflection mirror is opposite to the self-focusing lens, the rear end of the slant reflection mirror is fixed with one end of a rotary shaft, the other end of the rotary shaft is fixed with one end of a column magnet, a supporting sleeve is arranged outside of the rotary shaft, the column magnet, the rotary shaft, the slant reflection mirror and the self-focusing lens are coaxial, and a transparent sleeve is arranged outside the column magnet, the rotary shaft, the slant reflection mirror and the self-focusing lens, and the supporting sleeve and the self-focusing lens are both fixed with the transparent sleeve. A pair of plate magnets with opposite S poles and N poles is arranged on the power output end of the motor in the circumferential direction, a power output shaft of the motor is coaxial with the rotary shaft, and the plate magnets are adjacent to the column magnet. The endoscope is high in flexibility, the outer diameter of the transparent sleeve can be less than 1mm and even can reach micron dimension, and a use range is wide. The endoscope is applicable to an OCT system and imaging systems of optical scanning imaging, scanning fluorence imaging, B ultrasonic imaging and the like.