| 摘要 |
PROBLEM TO BE SOLVED: To perform the curving operation of a curving part always accurately with a desired sense of operation by generating operation assisting force to assist the curving operation according to desired curving features even if curving rigidity of the curving part varies. SOLUTION: The endoscope apparatus includes: an endoscope body including a curving operation part 37 for curving the curving part 33 and a curving drive part for driving the curving part 33 according to the operation force; an assisting drive means for generating the drive force to assist the curving drive of the curving drive part; storage means 75 and 11 for storing information on the curving features defining the operation force required for the curving motion of the curving part 33; and control means 73 and 77 for determining the drive force to be generated by the assisting drive means based on the curving features and curving the curving part 33 with desired force features. If correction to the curving features is requested, relations between the curving angle of the curving part and the manual operation force to the curving operation part are found to determine real curving features, and the curving features stored in the storage means 75 and 111 are corrected based on the determined real curving features. COPYRIGHT: (C)2011,JPO&INPIT
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