Therapeutic device system and manipulator system

摘要

A therapeutic device system is provided with a control parameter section (8) for calculating a control parameter for adjusting a drive amount of a manipulator (2) with respect to a manipulation signal on the basis of curved state information on an endoscope insertion section (27), and changing the old control parameter, and when a state of a curve of the endoscope insertion section (27) has changed, a control parameter conforming to the change is calculated to change the old one, whereby the same manipulation operation of the operator enables the same operation of the manipulator (2) to be performed at all times.