| 摘要 |
A treatment system 1 includes a first trocar 2, which is used when a forceps 4 are inserted into an abdominal cavity, and the first trocar 2 includes a tilt sensor 33, which detects the angle of inclination for the forceps 4, and an insertion quantity sensor t 32 which detects an insertion amount of forceps 4. An endoscope 5 is inserted into a second trocar 3, images of forceps 4 are picked up by pickup device 65 of the endoscope 5, a system control unit 6 drives a bending portion 64 of the endoscope 5 or the like based on information such as angle of inclination and insertion amount for the forceps 4, tracks movement of a distal end of the forceps 4. According to the invention, when securing field of view of an operator by imaging the treatment tool inserted into a body by the endoscope, it is possible to reliably track the treatment tool by displaying and appropriately switching images picked up by the endoscope by following movement of the treatment tool. |
