Abstract: A method for calibrating an endoscope, the endoscope including a curved portion that can be driven to bend and a flexible portion through which a bending wire that bends the curved portion is inserted, includes: arranging the curved portion and the flexible portion of the endoscope so that they have a predetermined shape; bending the curved portion; measuring first shape information, which is information about a shape of the curved portion; and updating a control parameter for the endoscope to drive the curved portion based on the measured first shape information.

Abstract: A medical instrument includes an insertion section main body extending along a longitudinal axis, a rotation supporter attached to the insertion section main body, a power transmission member rotatably supported by the rotation supporter and having a blade to which a fluid is supplied, external teeth arranged on an outer circumferential surface of the power transmission member in a circumferential direction, a tubular rotation member disposed outside the power transmission member in a radial direction, internal teeth arranged on an inner circumferential surface of the rotation member in the circumferential direction, and a fluid duct configured to supply the fluid to the blade. The power transmission member is configured to rotate by receiving power generated in the blade due to supply of the fluid. The rotation member is configured to rotate about the longitudinal axis by receiving the power from the power transmission member as the internal teeth are meshed with the external teeth.