| 摘要 |
When an operation instruction is input by a first (second) control output instruction input device (25, 26), locus calculation means (70) calculates a locus of movement of a first (second) therapeutic device (6, 7) on the basis of any one of joint sections (A1 to A4), which is instructed to operate. On the basis of a calculation result by the locus calculation means (70), therapeutic device operation control means (69) controls an operation of the first (second) therapeutic device (6, 7) by a first (second) active mechanism (8, 9). Thereby, there is provided an endoscope apparatus which can improve the operational efficiency and positional precision of the therapeutic device. |
