Abstract: Techniques for multi-mode imaging device control include determining, by a controller, if an orientational mode command or a translational mode command is entered; in response to determining that the orientational mode command is entered, constraining, by the controller, movement of an imaging device so that a focal point of the imaging device moves along a concave virtual surface in response to translational movement of one or more input devices; and in response to determining that the translational mode command is entered, causing, by the controller, translational movement of the imaging device in a three-dimensional space in response to the translational movement of the one or more input devices.

Abstract: Methods of assisting an operator to perform a surgical procedure include inserting at least one surgical tool into a surgical environment of a human body. The 3D spatial position of the surgical tool within the surgical environment is estimated in real time, and movement of the surgical tool is detected. The spatial position of the surgical tool within the surgical environment is controlled using a controller, including by determining using image processing whether each of the detected movements is an ALLOWED movement or a RESTRICTED movement based on a predetermined rule stored in a database in communication with the controller.

Abstract: A wire fixing structure includes: a first hole portion through which a wire passes; and a second hole portion which is formed in a direction orthogonal to the first hole portion and communicates with the first hole portion. The wire includes: a first portion which is inserted into and is disposed in the first hole portion; a second portion which is extended from the first hole portion and wound around the outer peripheral portion of a wire fixing member; and a third portion which is inserted into and is disposed in the first hole portion again after the second portion is wound around the outer peripheral portion. The fastening member is inserted into the second hole portion and fixes the first portion and the third portion by pressing in the first hole portion.

Abstract: An endoscope includes an insertion portion, an operation portion, a power transmission unit, a power relay unit, a power generation unit configured to apply power to the power relay unit in a second power transmission shaft direction which is non-parallel to a first power transmission shaft direction, an elastic member configured to perform either one of urging the power relay unit against the power generation unit or urging the power generation unit against the power relay unit, and a cable configured to extend from the operation portion in the second power transmission shaft direction which is a direction different from a longitudinal direction, wherein the power generation device is attached such that the power generation device is disposed to extend in an extending direction of the cable after being mounted.

Abstract: A method and system for controlling at least one robotically controlled surgical tool via vocal activation include detecting a vocal command generated by a surgeon, converting said at least one surgeon in said surgical setting via said voice sensor. The vocal command is converted to operative instructions associated with a robotically controlled surgical tool to generate instructions according to a predetermined set of rules including at least one of a no fly zone rule and collision prevention rule.

Abstract: An apparatus for correction of a direction to which a tool channel or a camera moves or is bent in a case where a displayed image is rotated. The apparatus includes at least one memory and at least one processor that executes instructions stored in the memory to receive a directional command of a capturing direction of a camera, move the capturing direction of the camera according to the received directional command, detect a rotation amount of a captured image displayed on a monitor, wherein the captured image is captured by the camera, and correct, based on the detected rotation amount, directional information corresponding to a particular directional command or directional coordinate for moving the camera, wherein the directional information is used for moving the capturing direction of the camera.

Abstract: A lens base, a distal module, an endoscope, and an assembly method for the distal module are provided. The lens base includes a lens base body, where the lens base body is axially provided with a camera module accommodating portion that includes a camera channel and an illumination channel. A side wall of the lens base body is provided with a camera module opening portion. The camera module opening portion includes a first opening portion and a second opening portion that are adjacent to each other. The first opening portion is communicated with the camera channel, and the second opening portion is communicated with the illumination channel. The first opening portion is configured to mount a camera unit, and the second opening portion is configured to mount an illumination unit.

Abstract: An endoscope has a configuration in which a wire guide tube is configured as a tube consecutively formed of polyetheretherketone from one end side to another end side, an opening penetrating is provided in a radial direction at part of a wall portion of a second coupling member into which an end part of the wire guide tube is inserted, a concave portion corresponding to the opening is provided at an outer peripheral surface of the end part of the wire guide tube, and a bonding agent integrally fills the opening and the concave portion to connect the wire guide tube and a coupling portion (the second coupling member).

Abstract: There is provided herein an integrated manifold for the tip of a multiple viewing elements endoscope which combines the functionalities of the front holder, side holder/cage and fluid channeling components into a single part. The manifold includes square slots that are equipped with tracks. Square shaped lens assemblies having protrusions are used in the endoscope tip, such that the protrusions allow the optical assemblies to slide into the tracks of the square slots. This ensures gapless placement of viewing elements with no deviation in their position and field of view.

Abstract: A method and apparatus for improving a heat dissipation capacity. An apparatus comprises an elongate member, a housing, and a heat pump device. The elongate member has a distal end and a proximal end. The housing is coupled to the proximal end of the elongate member. The heat pump device is disposed between the proximal end of the elongate member and the housing. The heat pump device is disposed at least partially outside the housing and is configured to transfer thermal energy between the elongate member and the housing. The heat pump device has a maximum outer diameter that is greater than a maximum outer diameter of the elongate member.

Abstract: An actuator is provided with a tubular actuator element and a supporting body which supports an inner peripheral surface of the actuator element. An internal pressure of the actuator element is higher than an external pressure of the actuator element.

Abstract: The subject disclosure is directed to an articulated medical device having a sensor for detecting outside movements applied upon the medical device while in a subject or patient, wherein the device is capable of maneuvering within the subject or patient while taking the outsides movements into consideration.

Abstract: The following invention is a vocally activated control system for controlling an apparatus in a surgical setting, the system comprises: a. a voice sensor configured to detect vocal commands generated by surgeons during surgery; b. a signal transmitter connected to the voice sensor, the transmitter is configured to convert a vocal command into a transmittable signal and transmit it; c. a processor connected to a signal transmitter configured to receive a transmittable vocal signal, the processor is configured to convert a vocal signal to a predetermined set of operative instructions associated with the apparatus, the predetermined set of operative instructions comprising at least one instruction; and d. control means connected to the processor and apparatus; the control means is configured to receive a predetermined set of operative instructions and to cause the apparatus to operate accordingly; Said voice sensor and said transmitter are integrated within a wearable element.

Abstract: A rigidizing device includes an elongate flexible tube, a braid layer positioned over the elongate flexible tube, an outer layer over the flexible tube and the braid layer, and an inlet between the elongate flexible tube and the outer layer and configured to attach to a source of vacuum or pressure. The braid layer has a plurality of strands braided together at a braid angle of 5-40 degrees relative to a longitudinal axis of the elongate flexible tube when the elongate flexible tube is straight. The rigidizing device is configured to have a rigid configuration when vacuum or pressure is applied through the inlet and a flexible configuration when vacuum or pressure is not applied through the inlet. The braid angle is configured to change as the rigidizing device bends when the rigidizing device is in the flexible configuration.

Abstract: A bending operation mechanism of an endoscope includes a bending operation lever, a seal unit having a tubular member and an elastic member. The elastic member has a fixed part attached to an outer circumference of the tubular member in a circumferential manner along a longitudinal axis direction N of the tubular member. An extending part that extends from an outer circumference of the fixed part to the outside of the fixed part in a radial direction K into a shape of a circle substantially concentric with the fixed part. A region extends from the outer circumference of the fixed part would extend with a predetermined angle.

Abstract: A control for an endoscope includes a housing defining an interior volume. A lever external to the housing extends through the housing into the interior volume. A gear system positioned in the interior volume is operatively coupled to the lever. The gear system includes a first quadrant and a second quadrant each configured to pivot about a corresponding axis to deflect a flexible distal tip portion of the endoscope in a corresponding direction.

Abstract: A surgical system includes a surgical instrument having a shaft and an end effector extending distally from the shaft. The end effector includes a plurality of ultrasound sensors supported about a support ring. The ultrasonic sensors are rotatable between an imaging orientation, wherein, the ultrasound sensors are directed in generally parallel orientations relative to one another for imaging tissue in an imaging mode, and at least one treatment orientation, wherein the ultrasound sensors are directed towards a common focus point for treating tissue in a treatment mode.

Abstract: A hydraulically driven surgical apparatus may be a tube enclosing a first channel filled with a first fluid. Changing a fluid pressure in the first channel may trigger a deformation of the tube. The deformation of the tube may perform an action associated with a surgical procedure. Related methods for steering a hydraulically driven surgical apparatus are also provided.

Abstract: A kinematic model arithmetic portion calculates a coordinate value (ze1 (?e)) as distance information indicating the distance between a member that serves as a reference surface for the curve shape of a curvable portion and a member in the curvable portion that is closest to the reference surface. A switch determination unit determines based on the coordinate value whether to drive a wire for driving the curvable portion by a drive displacement calculated for the wire along with the coordinate value by the kinematic model arithmetic portion.

Abstract: An endoscope includes an insertion portion that has a tip portion to be inserted into an examination target from a tip side of the tip portion. The endoscope includes a lens unit that is disposed at the tip portion. The endoscope includes an image sensor that is disposed on an opposite side to the tip side of tip portion with respect to the lens unit. The endoscope includes a linear conductor that has a tip disposed at the tip side with respect to the image sensor and has a proximal end which is extended from the tip through inside the insertion portion.

Abstract: A surgical instrument, such as an endoscopic or laparoscopic instrument. The surgical instrument may comprise an end effector comprising at least one sensor. The surgical instrument may also comprise an electrically conductive shaft having a distal end connected to the end effector wherein the sensor is electrically insulated from the shaft. The surgical instrument may also comprise a handle connected to a proximate end of the shaft. The handle may comprise a control unit electrically coupled to the shaft such that the shaft radiates signals as an antenna from the control unit to the sensor and receives radiated signals from the sensor. Other components electrically coupled to the shaft may also radiate the signals.

Abstract: A surgical stapling instrument comprising a handle, an elongate shaft, an end effector, a motor couplable with a supply of current, a firing member operably responsive to the motor, a current sensor, and a control circuit is disclosed. The firing member is movable from a proximal position to a distal position during a firing stroke. The control circuit comprises a processor and a memory configured to store instructions which, when executed from the memory cause the processor to activate the motor in response to an actuation input, receive an input from the current sensor regarding the current draw of the motor, deactivate the motor when the current draw of the motor exceeds a threshold current when the firing member is within a threshold distance relative to the proximal position, and retract the firing member to the proximal position.

Abstract: A system for controlling movement of a remotely controlled steerable instrument comprises a flexible instrument. The flexible instrument comprises a steerable distal portion and a passive proximal portion. The steerable distal portion is configured to articulate to change a shape of the steerable distal portion. The system further comprises a shape sensing device comprising an optical fiber that spirals around the steerable distal portion. The optical fiber is configured to provide a signal indicative of the shape of the steerable distal portion. The system further comprises a controller in signal communication with the optical fiber. The controller is logically coupled to the flexible instrument and is configured to output a control signal to articulate the steerable distal portion of the flexible instrument in response to receiving at least the signal from the optical fiber.

Abstract: User interface devices, systems, and methods can be used for selectively bending of, altering the bend characteristics of, and/or altering the lengths of catheter bodies, guidewires, steerable trocars, and other flexible structures inserted into a patient during use. Optionally, a housing is coupled to a proximal end of a catheter, and movement of the housing by a hand of a system user is sensed and used as a movement command for articulation of the catheter. Alternatively, a sensor can be coupled to an elongate flexible body flexing outside of the patient so as to alter bending of a catheter within the patient. Movements generated through a combination of manual manipulation and powered articulations are facilitated.

Abstract: Example embodiments relate generally to endoscopic systems, devices, and methods. The system may include a main body, actuation control members, navigation section, and anchor assembly. Navigation section includes distal termination points for receiving actuation control members. Navigation section is selectively controllable to bend. Anchor assembly includes first expandable member, second expandable member, and pressure openings. First expandable member transitions between an expanded and non-expanded configuration. Distal side wall of first expandable member includes first protrusions. Second expandable member transitions between an expanded and non-expanded configuration. Proximal side wall of second expandable member includes second protrusions. First and second protrusions are configurable to cooperatively form a sieve portion. Connector assembly includes connector assembly body and connector interface portion.

Abstract: Systems and methods for articulation calibration of a surgical tool configured to be coupled to a robotic surgical system are provided. The tool including a tool shaft with an end effector has at least one linkage member extending along the shaft and operably coupled to the end effector such that force selectively applied to the linkage member is able to cause articulation of the end effector. The tool can also include a homing mechanism. To perform articulation calibration of the end effector, it can be constrained, force can be applied to the linkage member to attempt articulation of the end effector until a resistance against further articulation exceeds a threshold, and a home position of the end effector can be determined based on a force at which the resistance has exceeded the threshold.

Abstract: Featured are systems, devices and apparatuses for use in minimally invasive surgical, diagnostic or therapeutic methods and/or techniques, in particular methods and/or techniques for a mammalian throat. In particular embodiments, a dexterity apparatus including one or more dexterity devices is featured, where each of the dexterity devices comprises surgical tools and each is configured and arranged with end-tip dexterity for enhanced manipulation. A portion of the dexterity devices is snake like, which is re-configurable (i.e., can be bent) so as to in effect maneuver the surgical tool and put the tool in a desired position with respect to the surgical site. Another portion of the dexterity device includes the surgical tool thereby providing the capability of performing surgical actions such as sewing, gripping, soft tissue manipulation, cutting and suction of saliva, blood and other materials from the surgical site.

Abstract: A device for controlling an endoscope system for laparoscopic surgery. The device includes a wearable interface and an automated assistant for maneuvering an endoscope to a desired location, and at least one wearable operator. The wearable operator includes a transmitter that is in communication with at least one instrument. The system also includes a wireless receiver to receive signals from the transmitter and a computerized laparoscopy system that is in communication with the wireless receiver and that provides a visual depiction of a selected instrument.

Abstract: A bending operation system includes an elongated tubular portion including a bending portion, a first linear member and a second linear member which cause the bending portion to bend, and a drive portion which displaces the first linear member and the second linear member. The bending operation system further includes a first displacement detector which acquires a displacement of the first linear member as a first displacement, a second displacement detector which acquires a displacement of the second linear member as a second displacement, and a calculator which calculates operation assist information by use of one or both of the first displacement and the second displacement.

Abstract: A system for inspecting a dynamoelectric machine is provided. The dynamoelectric machine includes a rotor, a stator and a radial gap existing between the rotor and the stator. The system includes a sled configured for insertion into the radial gap between the rotor and the stator. The sled is configured to transport an optical device along the radial gap. The optical device obtains an image of the radial gap, a portion of the rotor and a portion of the stator. The sled is configured for attachment to a push rod and the push rod is used to move the sled and optical device along the radial gap. The system is configured for entry into a single end of the dynamoelectric machine.

Abstract: A steering mechanism for a medical device that is configured for passing through the body cavities of a patient and for passage through an endoscope working channel is described. The mechanism comprises at least one spool having a central hole through which a central axle passes, the spool being rotatable about the axle, and the spool having at least one retaining tube having a lumen therethrough and configured to contain a portion of a drive cable. The drive cables, which may include UHMWPE, are capable of and are effective for deflecting the distal end of a catheter or endoscopic device, while preferably each being at least partially disposed through a retaining tube that is effective to prevent tangling or other binding of the cable(s).

Abstract: An apparatus for targeting a desired target site on a body tissue comprising a wall of a first body cavity of a patient includes a target catheter. A framing member has a collapsed condition and an expanded condition. The framing member has a framing member body which includes a bulbous portion defining a maximum body footprint having proximal and distal body ends which are both longitudinally spaced from the maximum body footprint. The framing member is comprised of a plurality of framing member beams. At least three framing member beam arrays of framing member beams are arranged in non-overlapping longitudinal sequence to form at least a portion of the framing member. The framing member beams that make up the framing member substantially each have a width-to-thickness fractional ratio in the range of 0.6-3.0.

Abstract: An electric connector includes a male connector and a female connector, the male connector including a cylindrical main portion, and a male contact terminal formed at the main portion. The female connector includes a hole into which the main portion is fit, and a female contact terminal formed at the hole for making electrical contact with the male contact terminal when the main portion is fit into the hole. One of the male connector and the female connector includes a guide shaft axially extending in a direction in which the male connector is fit into the female connector, and the other of the male connector and the female connector includes a guide hole for allowing the guide shaft to be inserted thereinto to guide the guide shaft in the direction.

Abstract: Devices and systems for ultrasonically imaging anatomical structures and performing ablation therapy within the body are disclosed. A combined ablation and ultrasound imaging probe includes an ablation electrode tip including an ablation electrode configured for delivering ablation energy, and a number of ultrasonic imaging sensors configured for imaging the tissue surrounding the probe. The ultrasonic imaging sensors are supported within the interior of the tip via a tip insert, and deliver ultrasonic waves through acoustic openings formed through the tip. The tip insert separates an interior lumen within the tip into a proximal fluid chamber and a distal fluid chamber. During an ablation procedure, the ultrasonic imaging sensors can be tasked to generate a number of ultrasonic images that can be displayed on a user interface.

Abstract: Provided is an endoscope apparatus that includes: a bending portion that bends in at least one direction; bending wires that are each connected to the bending portion; actuators that are connected to proximal ends of the bending wires, respectively, and that contract or expand by means of air pressure; electromagnetic valves that are provided between the actuators and a gas supply source that supplies air, respectively, and that adjust pressures applied to the actuators; and a control section that controls the electromagnetic valves. Each bending wire has slack therein when the actuators are in an atmospheric pressure state. The control section controls the electromagnetic valves so as to subject the actuators to initial pressurization until the slack of each bending wire disappears.

Abstract: Contact between a face to be pressed and a cam face in an interaxial direction T of two inner guide sheaths is set so that a contact width H therebetween is shorter than an interaxial distance L, and so that the contact position is located between axes of the two inner guide sheaths. As a result, even in a case where external diameters of two inner guide sheaths that form a pair are slightly different to each other, a braking member can be tilted to cause a contact face to simultaneously come in contact with the respective inner guide sheaths, and a pressing force from an eccentric cam can be transmitted equally to the respective inner guide sheaths.

Abstract: The endoscope apparatus includes a heat exchanger, a first tube, and a second tube. The front-end portion is cooled down by repeating alternately, the other operation which is opposite an one operation, which is an operation of generating a flow of the cooling liquid from the other end of the first tube to the one end of the first tube, and a flow of the cooling liquid from the one end of the second tube to the other end of the second tube, and the one operation which is an operation of generating a flow of the cooling liquid from the other end of the second tube to the one end of the second tube, and a flow of the cooling liquid from the one end of the first tube to the other end of the first tube.

Abstract: Provided is an endoscope device and a method of operating the endoscope device. The endoscope device includes: a knob driving part configured to be driven in a mode selected by an operator from either of an automatic mode and a manual mode; a bending part connected to the knob driving part and configured to change a position of a distal end of the endoscope device by driving of the knob driving part, a power generating part configured to provide power to the knob driving part; and a power transmitting part configured to drive the power generating part according to a manipulation of the knob driving part.

Abstract: An introducing device system includes: an insertion portion; a bending portion which is provided at the insertion portion; an operation portion through which an input operation is performed for bending the bending portion; a pulling member connected to the bending portion and pulled in accordance with the operation through the operation portion; a detection section that detects a moving state of the pulling member; a driving unit that rotationally drives; a driving force transmitting unit including an inner circumferential surface configured to be able to contact an outer circumferential surface of the driving unit, and an outer circumference on which the pulling member is wound, the driving force transmitting unit being reduced in diameter in accordance with pulling of the pulling member; and a driving unit control section controls the driving unit when the moving state detected by the detection section is different from a state determined in advance.

Abstract: A path-following robot, such as for creating a path to a target surgical site, includes a series of interconnected elements including a lead element at one end thereof, and a plurality of actuators each operably coupled to one of the plurality of elements. Each actuator is capable of effecting rotational and spherical motion of one element with respect to another element. The actuators are arranged to receive commands which individually control the relative position of one element compared with another element, where a position of the lead element determines a path and corresponding positions for all subsequent elements to create a path-following motion.

Abstract: An insertion device includes a first rotating member, and a second rotating member coaxially arranged with a rotational axis of the first rotating member and rotating about the rotational axis to bend a bending section. The insertion device includes a moving member arranged inside the first rotating member and the second rotating member along the rotational axis and being movable between a state where an electrical driving force is transmitted to the second rotating member and a state where the electrical driving force is not transmitted to the second rotating member.

Abstract: A surgical instrument includes a housing and an elongated shaft extending distally therefrom. The elongated shaft includes a proximal portion, a distal portion and a flexible portion supported therebetween. The flexible portion permits pivotal movement of the distal portion of the elongated shaft and an end effector supported thereon. A locking mechanism is operatively associated with the flexible portion of the elongated shaft to selectively impede pivotal motion of the distal portion. The locking mechanism includes a fluid chamber defined within the flexible portion in which a variable viscosity fluid disposed. The variable viscosity fluid is responsive to the application of an electromagnetic field to exhibit increased rigidity in the presence of the electromagnetic field and reduced rigidity in the absence of the electromagnetic field. An electrical coil is arranged such that the electromagnetic field may be selectively induced by the delivery of electrical energy from a power source.

Abstract: A connector assembly for controllable articles is described herein. The connector assembly engages force transmission elements used to transmit force from one or more force generators with the force transmission elements used to manipulate a controllable article. Additionally, the connector assembly provides organization thereby simplifying the process of connecting a plurality of elements, usually with a quick, single movement.

Abstract: A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body allowing it to negotiate tortuous curves along a desired path through or around and between organs within the body.

Abstract: A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body that allows it to negotiate tortuous curves along a desired path through, around, and between organs within the body.

Abstract: A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body that allows it to negotiate tortuous curves along a desired path through, around, and between organs within the body.

Abstract: An endoscopic aspiration device is mounted on a manipulating head of an endoscope, from which an elongated insertion rod member is extended forward, the endoscopic aspiration device being composed of a valve casing which is mounted on the manipulation head in communication with an aspiration passage running through the insertion rod member, and a valve assembly unit including a valve member, a valve guide member and a connector member attached to the valve guide member to communicate same with a proximal aspiration passage on the side of a suction source. The valve member is put in a sliding displacement along the valve guide member to bring the aspiration passage into and out of communication with the proximal aspiration passage on the side of a suction source. The valve guide member is coupled with the valve casing through a coupling mechanism which permits to turn the valve assembly unit on and relative to the manipulating head.

Abstract: Methods and devices are provided for providing suction and/or irrigation to locations within a body cavity. In general, the methods and devices can allow instruments within a body cavity to be cleaned during a surgical procedure without having to remove the instruments from the body cavity. In one embodiment, an end effector is provided that includes an elongate body having a cleaning base formed thereon. The end effector can be configured as a modular element configured to be removably and replaceably attachable to a distal end of an elongate shaft. The cleaning base can have one or more ports formed through a surface thereof. The cleaning base can be configured to provide suction and/or irrigation through the one or more ports to clean a face of a surgical instrument seated in the cleaning base or in close proximity to the cleaning base.

Abstract: An endoscope includes a bending operation knob inputting a bending operation of a bending section in first perpendicular directions, a touch surface which is exposed in an outer surface of a grip casing and on which a bending operation of the bending section in second perpendicular directions is input, and a positional information calculator calculating a positional information of a touched region with time, the touched region being a region that is touched in the touch surface. The endoscope includes a positional change detector detecting a positional change of the touched region when the bending operation of the bending section in the second perpendicular directions is input, and a drive controller controlling a drive state of a drive member in accordance with the positional change of the touched region.

Abstract: The endoscope includes a drive section which bends and drives a bending portion, a C ring-shaped member which frictionally engages with a pulley and has a notch portion at a portion, an operation input member which performs bending operation, an operation input-side pulling member which is wound around the C ring-shaped member and extending toward the operation input member and is coupled to the operation input member such that a wrap distance, over which the operation input-side pulling member wraps around the C ring-shaped member across the notch portion, decreases with increase in the amount of operation of the operation input member, and a bending portion-side pulling member which is wound around the C ring-shaped member and extending toward the bending portion and is coupled to the bending portion so as not to wrap around the C ring-shaped member across the notch portion.