Patent ID: 8858424

Claim:
An endoscopic system for surgical instrument position control, the endoscopic system comprising: an endoscope comprising a curvable distal portion to observe a biomedical tissue in a body cavity; a curving driver unit which generates driving force to curve the distal portion; a surgical unit comprising: a first surgical instrument which movably extends from the distal portion of the endoscope through the endoscope and which is configured to be operated to treat the biomedical tissue; and a second surgical instrument which movably extends from the distal portion of the endoscope through the endoscope and which is configured to hold a part of the biomedical tissue treated by the first surgical instrument; a motion detector configured to detect a motion direction and a motion amount of the distal portion of the endoscope between a time before movement and a time after the movement of the distal portion depending on an amount of force generated by the hold of the second surgical instrument; and a control unit configured to: determine that an operation of the surgical unit is performed, control, after determining that an operation of the surgical unit is performed, the motion detector to detect the motion direction and the motion amount of the distal portion of the endoscope, calculate, based on the detected motion direction and the detected motion amount, an amount of control to return the first surgical instrument to a treatment position where the first surgical instrument had been located immediately before moving, and control the curving driver unit based on the calculated amount of control to generate driving force to curve the distal portion of the endoscope to return the first surgical instrument to the treatment position where the first surgical instrument had been located immediately before moving.