Patent ID: 8915841
Filing Date: 2014-12-23
Classification: A61B

Abstract:
1. An endoscopic system comprising: a flexible elongated endoscope insertion section; a manipulator wire configured to be pulled and loosened; a manipulator which is inserted in the endoscope insertion section along a longitudinal direction of the endoscope insertion section to protrude from a distal end of the endoscope insertion section, and includes a manipulator bending section which is bent by the manipulator wire being pulled and loosened and a flexible elongated manipulator tubular section which is connected to a proximal end of the manipulator bending section, the manipulator wire being inserted in the manipulator tubular section; a pulley configured to pull and loosen the manipulator wire so as to bend the manipulator bending section; a manipulator adjustment unit comprising a movable member configured to move toward the manipulator wire and away from the manipulator wire, such that engagement of the movable member changes a length of a path of the manipulator wire so as to adjust a tensile force applied to the manipulator wire, the manipulator adjustment unit being separately provided from the pulley; a manipulator shape information acquiring unit configured to acquire shape information indicating a shape of the manipulator tubular section, the shape of the manipulator tubular section including a bending angle or a curvature of the manipulator tubular section; a memory unit which pre-stores correspondent information including a relationship between increase/decrease information and the shape information, the increase/decrease information indicating an increase/decrease in the tensile force due to the shape of the manipulator tubular section, the correspondent information being used to adjust the tensile force with keeping a same operational feeling irrespective of the shape of the manipulator tubular section; and a control unit configured to