| 摘要 |
Disclosed is an endoscope system having a long thin flexible inserting unit (100). The inserting unit is provided with bending portions (140, 142, 144). The bending portions bend by traction and loosening of a plurality of wires (180, 180a, 180b, 382, 384). Shape acquiring units (270, 350, 550, 650) acquire the shape of the long thin flexible inserting unit (100). On the basis of the inserting unit shape acquired by the shape acquiring units, and information stored in a storage unit (260), a control unit (250) determines adjustment values for adjustment units (230, 240, 238, 330) that adjust tensile forces applied to the wires, and controls the adjustment units on the basis of the adjustment values. |
