| 摘要 |
An electric endoscope includes a driving section that rotationally drives a drive object, a transmission member that transmits a rotational driving force from a proximal end portion to a distal end portion, an input section that inputs a command value for instructing a target rotation amount, a detecting section that detects rotation information of the driving section in a rotating state thereof, an estimating section that estimates a rotation state of the driving section based on rotation information and a physical model representing a rotation state of the distal end portion with respect to a rotation input to the proximal end portion, and a control section that performs control so that the rotation state of the distal end portion matches with a rotation state of the target rotation amount based on the estimated rotation state of the driving section in the physical model. |
