| 摘要 |
PROBLEM TO BE SOLVED: To provide a medical system and a calibration method of an operational tool capable of performing calibration even when there is variation in characteristics of a wire.SOLUTION: The medical system includes: an operational tool 21 having an operation section, a joint section, a flexible tube section, and a drive section; and an endoscope device having a jacket tube for holding the operational tool 21, an imaging section capable of obtaining an image containing at least the joint section, and a control section 50 for controlling operation of the drive section. The control section 50 has: a table 57 including parameters for operating the joint section; a controller 7 for, on the basis of the parameters, transmitting commands for controlling the drive section, to the drive section; an image processing section 54 for calculating at least one of a position and an attitude of the joint section, on the basis of the image; and a section 55 for calculating the amount of compensation, for detecting the displacement of the joint section, on the basis of the at least one of the position and the attitude of the joint section calculated by the image processing section 54, creating a compensation value for compensating the difference between the command and the displacement of the joint section, and adding the compensation value to the parameters. |
