Imaging device and endoscope system

An imaging device comprising:

• an optical lens configured to transmit light;
• a movable frame configured to support and move the optical lens in a predetermined direction;
• a supporting frame configured to support the movable frame;
• a voice coil motor including a magnet and a coil, the voice coil motor being configured to move the movable frame relative to the supporting frame in the predetermined direction:
• a position detecting sensor configured to detect information about a position of the movable frame relative to the supporting frame and generate a position signal;
• an imaging sensor configured to conduct photoelectric conversion on light passed through the optical lens to generate an imaging signal;
• and
• a controller comprising hardware, the controller being configured to:
• generate a drive signal including information about a movement distance and a moving direction of the movable frame relative to the supporting frame in accordance with the position signal generated by the position detecting sensor and determine whether the position signal is normal;
• generate an image signal based on the imaging signal;
• drive the movable frame with a first drive control by controlling a current flowing through the coil in accordance with the generated drive signal;
• drive the movable frame with a second drive control by controlling a current flowing through the coil in accordance with the generated image signal;
• and
• select a drive control that controls driving of the movable frame from the first drive control and the second drive control in accordance with a determination result of the signal processing unit;
• wherein the second drive control controls a current flowing through the coil so as to move the movable frame to a position where a representative signal value of the generated image signal becomes a predetermined value;
• and
• the predetermined value is a representative signal value of the image signal immediately before it is determined that the position signal is not normal.