Patent ID: 8622895

Claim:
An electric bending endo scope comprising: a bending portion provided in an insertion portion; a bending drive unit having a plurality of components for effecting a bending operation of the bending portion; a bending power unit configured to drive the bending drive unit; a bending state detecting unit configured to detect operation information of the bending drive unit, and to detect bending state information of the bending portion; an instruction unit configured to output bending instruction information for bending the bending portion; a bending operation control unit configured by a plurality of independent logical blocks to output a control signal for controlling a bending state of the bending portion to the bending power unit based on the bending instruction information of the instruction unit; a block monitoring unit configured to monitor a control state of the plurality of independent logical blocks configuring the bending operation control unit; and a logical block selecting unit configured, based on a monitoring result of the block monitoring unit, when at least one of a speed control block, a torque control block, and a position control block among the plurality of independent logical blocks becomes inoperable, to switch a switch portion provided in a circuit which electrically connects the speed control block, the torque control block, and the position control block, and set a gain setting value, to thereby make a closed loop characteristic remain the same, wherein, when it is determined that a control state of the speed control block is abnormal by the block monitoring unit, the switch portion removes only the speed control block from the circuit, and sets the gain setting value by the position control block, to thereby make the closed loop characteristic remain the same.