| 摘要 |
A manipulator operation system includes a treatment instrument distal end movement control section having an endoscope treatment instrument having a bending portion and a distal end portion, a bending driving section and a bending operating section. The manipulator operation system includes imaging mechanism having an imaging section that includes an optical system having a field curvature, images, observing mechanism having a display section that displays a taken image, detecting mechanism having a detecting section that detects an arrangement position of the distal end portion, field curvature information acquiring mechanism having a field curvature information acquiring section that acquires field curvature information of the taken image, and adjusting mechanism having an adjustment section that adjusts a ratio of an operation amount of the bending operating section and a driving amount of the bending driving section based on the arrangement position and the field curvature information. |
