Patent ID: 11931007
Assignee: OLYMPUS CORPORATION
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 0:
1. An endoscope system comprising:
an insertion section extending in a longitudinal direction from a distal end to a proximal end, the insertion section being configured to be inserted distally into a lumen of a subject from an inlet of the lumen, the insertion section comprising:
a first active bending section including a first tubular section having flexibility, the first active bending section having a first distal end portion;
a second active bending section provided distally relative to the first tubular section, the second active bending section including a second tubular section having flexibility, the second tubular section having a second distal end portion;

a first driving section including a first motor configured to bend the first tubular section;
a second driving section including a second motor configured to bend the second tubular section; and
a processor comprising hardware, the processor is configured to determine whether the distal end of the insertion section is located deeper into the lumen than a center of a predetermined curve in a center axis direction of the lumen, and
when the distal end is determined to be located deeper than the center, the processor is configured to:
control the first driving section to move the first distal end portion in a first direction away from a radial center point of the predetermined curve,
subsequent to controlling the first driving section, control the second driving section to move the second distal end portion toward the radial center point, and
concurrently with the controlling of the second driving section, control the first driving section such that a force, in the first direction, acts on the first distal end portion.