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One in five people worldwide undergoes a minimally invasive procedure using endoscopes. Rigid devices offer stability and precision but lead to more invasive surgeries and longer recovery times. Soft devices improve visualization and access but lack stability. We tackle this challenge with variable stiffness endoscopes that reversibly switch between rigid and soft states on command. In the soft state, they navigate safely to hard-to-reach areas with a bendable tip. When stability or force is needed, such as for dissecting cancer tumors, the doctor can make the device rigid in one second with the press of a button. Our variable stiffness endoscope enables sinus and larynx surgeries 3x faster, reduces recovery time by 60%, and saves up to 13K CHF in hospital profits per procedure.