Patent ID: 8597174

Claim:
A medical device comprising: a tubular instrument including: an insertion portion including a distal end portion configured to be inserted into a body, and a plurality of active joints configured to change a position and a posture of the distal end portion, a distal electrode provided at the distal end portion, and a treatment unit provided at the distal end portion, wherein when the treatment unit is guided into a body cavity through a treatment instrument channel of an endoscope, the plurality of active joints are configured to change a position and an orientation of the treatment unit with the endoscope being held; a plurality of joint position information detecting sections configured to respectively acquire joint position information of the plurality of active joints; a tubular instrument operating device including: an input section configured to receive an input for specifying a target position and a target posture of the distal electrode, and a contact point acquisition instruction switch configured to receive a contact point acquisition instruction for instructing to apply a predetermined voltage to the distal electrode; a body electrode configured to be disposed on and in contact with a body surface of the body, and to receive an electric current from the distal electrode; and a control device including: a power section configured to apply the predetermined voltage to the distal electrode when the contact point acquisition instruction switch receives the contact point acquisition instruction, and a control section configured to detect return of the electric current from the distal electrode to the body electrode in a state where the predetermined voltage is applied to the distal electrode, and to determine that the distal electrode is in contact with mucosa when detecting return of the electric current from the distal electrode to the body electrode.