| 摘要 |
An endoscope operation system includes an endoscope 24, a holding arm unit 10 that supports the tip of the endoscope 24 in such a manner that the tip of the endoscope 24 can be moved in up/down, left/right, and front/back directions, and can be rotated on its own axis, a display unit that displays an image based on an image signal supplied from an image pickup unit of the endoscope 24, a gyroscopic sensor 2 attached to the head of an operator OP, a gyroscopic sensor 3 attached to the torso of the operator OP, and a control unit 40 that controls the moving direction and the speed of the tip of the endoscope 24. The control unit 40 calculates a translational speed of a neck position of the operator OP in the front/back direction from an angular speed calculated based on the inclinational displacement of the upper body of the operator OP detected by the gyroscopic sensor 3, and calculates a target speed vector based on the calculated translational speed of the neck position of the operator OP in the front/back direction and information of a movement of the posture of the head of the operator OP detected by the gyroscopic sensor 2. |
