| 摘要 |
PROBLEM TO BE SOLVED: To improve safety in the driving operation of a bending part in the bending operation of the bending part by making the direction of the operations easier to get the bending part curved as desired, such as curved in straight direction. SOLUTION: This device includes a bendable part 120 provided at an inserting part of the endoscope to be inserted into a prescribed lumen, a bend driving means which drives the bendable part to bend, an imaging means provided at the tip of the inserting part, a center detection circuit 126 which checks a dark portion from an image signal taken by the imaging means to detect the center of the lumen, a bending control means 127 which controls the bend driving means to turn the bendable part to the center of the lumen based on the result of the detection with the center detection circuit 126.
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