| 摘要 |
An endoscope system is provided with an insertion portion having a rigid portion disposed at a distal end portion of the insertion portion, an ultrasound probe that has a first sensor for detecting a position and a direction at a probe distal end portion, is inserted from an insertion port from a proximal end portion side of a channel and projects from a projection port of the rigid portion, a channel that passes through the rigid portion and can linearly support the medical instrument distal end portion, a position calculation section that calculates a position and a direction of the first sensor, and a direction calculation section that calculates a direction of the probe distal end portion based on a positional information variation of the first sensor before and after linear movement in the channel in the rigid portion of the probe distal end portion. |
