Patent ID: 8308633
Filing Date: 2012-11-13
Classification: A61B

Abstract:
1. A manipulator operation system comprising: a treatment instrument distal end movement control section having: an endoscope treatment instrument having a bending portion bendable in a desired direction and a distal end portion that is directly or indirectly coupled with the bending portion and has a treatment instrument that gives a diseased part a treatment; a bending driving section that drives the bending portion to bend; and a bending operating section that operates the bending driving section to bend the bending portion; imaging mechanism having an imaging section that includes an optical system having a field curvature, images the distal end portion and the bending portion by using the optical system, and provided separately from the endoscope treatment instrument; observing mechanism having a display section that displays as an observation image a taken image that is taken by the imaging section and has the field curvature; detecting mechanism having a detecting section that detects an arrangement position of the distal end portion that is imaged by the imaging section to be displayed in the display section; field curvature information acquiring mechanism having a field curvature information acquiring section that acquires field curvature information of the taken image; and adjusting mechanism having an adjustment section that adjusts a ratio of an operation amount of the bending operating section and a driving amount of the bending driving section based on the arrangement position detected by the detecting section and the field curvature information acquired by the field curvature information acquiring section.