| 摘要 |
PROBLEM TO BE SOLVED: To provide an endoscope system capable of highly accurately controlling the bending using three-dimensional bending information generated by previously bending a bending portion at the distal end side of an insertion section. SOLUTION: This endoscope system is formed with a map 58 formed by digitizing a proximal-side pulley angle when bending the bending portion, a three-dimensional position at an endoscope distal end and its direction, with the rear end of the bending portion being designated as a reference position; and a main processing section 55 can calculate the bending state of the present endoscope distal end from the information of the position and the direction at the endoscope distal end using the information of the map 58, and calculate the value of a target pulley angle for bending the bending portion from the state in the direction of the target position using the map information. COPYRIGHT: (C)2009,JPO&INPIT
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