| 摘要 |
PROBLEM TO BE SOLVED: To enable a moving speed of an endoscope inside a body to be controlled according to an insertion amount of the endoscope from the viewpoint of safety, without being affected by a strong magnet.SOLUTION: A speed control calculation part 48 performs a calculation on a target speed vector Vxy in order to perform adjustment so as to change the speed of an imaging part according to the insertion amount into the body in the imaging part of an endoscope. Thus, when the insertion amount in an advancing direction into the body in the imaging part of the endoscope increases, the target speed vector V'xy of the imaging part of the endoscope becomes large, whereas, when the insertion amount in the imaging part of the endoscope decreases, that is, when the imaging part of the endoscope is pulled out from the body, the target speed vector V'xy of the imaging part of the endoscope becomes small. |
