Abstract: A non-destructive testing and inspection (NDT/NDI) system having a communication gateway removably secured to an existing NDT/NDI instrument by a clip-on clasp. The gateway comprises a processor, a network interface, a housing configured to be removably secured onto the NDT/NDI instrument, an interconnect configured to be communicatively coupled with and to carry data to or from the NDT/NDI instrument, and memory storing computer readable code which, when executed on the processor, causes the processor to communicate data with an external network over the network interface. The data includes inspection data which can be any one of the following: ultrasonic scans of A, B, C or S, eddy current strip charts.

Abstract: An eddy current (EC) detection system comprises an EC probe including a plurality of sensors to provide corresponding EC response signals; and processing circuitry to evaluate speed of the EC probe based on a measurement of similarity of the EC response signals; determine whether the speed of the EC probe is too fast or two slow based on quality of the measurement; and generate a command to adjust speed of the EC probe during further EC inspection.

Abstract: An objective optical system includes in order from an object side, a front unit having a positive refractive power and a rear unit. The front unit includes in order from the object side, a first lens having a negative refractive power, a second lens having a positive refractive power, and a third lens having a positive refractive power. The rear unit includes one lens or a plurality of lenses and the following conditional expression is satisfied: |(FLag?FLaC)/FLad|<0.05??(1) where, FLad denotes a focal length for a d-line of the front unit, FLag denotes a focal length for a g-line of the front unit, and FLaC denotes a focal length for a C-line of the front unit.

Abstract: An endoscope connecting tube includes a liquid feeding index including: an exterior; an exposure hole provided on the exterior; and a flow path; and a movable member that is brought into a convex warp state toward a surface direction of the exterior when an inner pressure of a flow path reaches a predetermined value or higher, and remains in the convex warp state even when the inner pressure of the flow path reaches less than the predetermined value; and a marker that projects from the exposure hole by the movable member being brought into the convex warp state; a releasing portion that releases the convex warp state of the movable member by causing the marker to slide and push the movable member; and an insertion path into which the releasing portion is inserted.

Abstract: An endoscope includes an insertion portion, a raising base, an operation portion, a long member configured to cause the raising base to operate, a moving mechanism configured to allow the long member to be inserted through an inside, and move in an axial direction along the long member, a fixing tool that is attachable and detachable to and from the moving mechanism, and is configured to fix the moving mechanism and the long member by being attached to the moving mechanism, and an urging member that is disposed to contact the moving mechanism and the fixing tool, is set in a direction to separate the moving mechanism and the fixing tool from each other, is configured to push the moving mechanism by bringing the fixing tool close to the moving mechanism, and has an urging force with a strength that moves the moving mechanism to a predetermined position.

Abstract: A vibration transmitter includes: a proximal end extending portion; a supported portion; a distal end extending portion; a first relay unit provided between the supported portion and the proximal end extending portion; and a second relay unit provided between the supported portion and the distal end extending portion. The second relay unit includes a horn that is constructed such that an outer diameter at a position continuously adjacent to the supported portion is larger than: (i) an outer diameter of the first relay unit at a position continuously adjacent to the supported portion, and (ii) the outer diameter of the distal end extending portion. The horn expands amplitude of vibration output from a distal end of the distal end extending portion to be larger than a maximum amplitude at an antinode of vibration in the first relay unit or the proximal end extending portion.

Abstract: In order to apply, with a simple and easy means, proper pressure between bone segments spaced apart as a result of osteotomy or a bone fracture, without lowering the fixing force at the screw meshing portion, without increasing a dead space, and without increasing the thickness of the plate, the present invention provides a bone plate having an upper face, which is to be in contact with bone, a lower face, which is to be in contact with the bone, and a plurality of holes arranged to receive bone screws and connecting the upper face and the lower face. In at least one of the holes, a portion of an edge, on the upper face, of the hole is formed so as to be raised in the form of a protrusion higher than the upper face around the hole.

Abstract: A medical system includes: an endoscope and at least one treatment tool; a treatment-tool coordinate calculating unit that extracts the treatment tool by processing two or more images acquired at different times by the endoscope, that determines directions of longitudinal axes of the extracted treatment tool, and that calculates a coordinate of an intersection of the determined two or more longitudinal axes; and a judgment unit that judges whether the treatment tool serves as a follow target, on the basis of the coordinate of the intersection calculated by the treatment-tool coordinate calculating unit.

Abstract: An imaging system includes a camera unit and a main body. A clock detection circuit is configured to detect a first clock signal of the camera unit from first digital data transmitted from the camera unit. A phase comparator is configured to generate second digital data that represent a difference between a phase of the first clock signal and a phase of a second clock signal of the main body. A second communicator is configured to perform communication in a second direction in which the second digital data are transmitted to the camera unit in a blanking period. A first clock generation circuit is configured to generate the first clock signal synchronized with the second clock signal on the basis of the second digital data.

Abstract: An endoscope system includes a mother endoscope, a baby endoscope and a fixing member. The mother endoscope includes a first insertion section, a first operation section, a treatment instrument insertion channel and an opening. The baby endoscope includes a second insertion section and a second operation section. The first operation section includes a projection portion. The second operation section includes a recess portion that is a recessed face formed such that at least part of the recessed face comes into face contact with a surface of the projection portion. The second operation section is fixed to the first operation section in a state where the recess portion is in contact with the surface of the projection portion.

Abstract: A treatment instrument including a heat transmitter that includes a treating surface and an installation surface, a substrate attached to the installation surface, and a heat generator formed on a surface of the substrate. The substrate surface and heat generator together form an uneven surface. First and second adhesion layers formed of a material having thermal conductivity and electrical insulation are provided between the installation surface and the substrate. The first adhesion layer is in close contact with the installation surface, and the second adhesion layer is in close contact with the heat generator and the substrate surface. The second adhesion layer is inserted into a recess in the uneven surface formed by the heat generator on substrate surface so as to increase the contact area between the second adhesion layer and the uneven surface.

Abstract: An endoscope observation method includes irradiating first and second narrowband light to an observation object. The first and second narrowband light have wavelengths at which absorbances of first and second characteristic substances related to a predetermined state of the observation object and contained in the observation object are mutually different. The method also includes performing imaging by use of reflected light of the first and second narrowband light from the observation object to obtain first and second image data, and forming a characteristic substance presence image regarding the presence of the first and second characteristic substance, on the basis of characteristic amounts of the first and second characteristic substances contained in the first and second image data.

Abstract: A flexible tube insertion apparatus includes a flexible tube having flexibility and configured to be inserted into an object to be inserted, one or more external force detectors disposed on the flexible tube and configured to detect a force of an external force applied to the flexible tube when the flexible tube is twisted in at least one direction, and a providing device configured to provide twisting information regarding a twisting direction of the flexible tube for releasing a loop section formed in the flexible tube, according to a direction in which the flexible tube is twisted and the detected force of the external force.

Abstract: A treatment system includes a treatment tool having a heater and bipolar electrodes to grip a treatment target. An energy source apparatus is used to electrically communicate with the treatment tool. The energy output source is configured to output high-frequency electric power to the bipolar electrodes through a first circuit. A high-frequency current flows through the treatment target between the bipolar electrodes. The energy output source is configured to output heater electric power to the heater for generating heat through a second circuit. At least one processor is used to control the energy output source.

Abstract: An endoscope treatment tool includes: a sheath; an operating wire in the sheath; a gripping portion provided at a distal end of the operating wire and having one or more wires; a tip attached to a distal end of the sheath; and a resin member disposed at a position adjacent to the tip on a radially inner or outer side thereof, wherein the tip includes clearance grooves extending toward a proximal end of the tip from a distal end of the tip, passing therethrough from an inner circumferential surface of the tip to an outer circumferential surface of the tip, and having sizes enabling the wires to pass therethrough, and at least proximal-end sides of the grooves overlap with the member in a radial direction of the tip and a distal end of the member is disposed farther on a distal-end side than proximal ends of the grooves are.

Abstract: An image processing apparatus includes a processor including hardware. The processor is configured to: calculate a motion evaluation value on a motion of a subject in a determination target frame; acquire a difference evaluation value of the determination target frame; determine whether to perform defective pixel detection on an image of the determination target frame by using the motion evaluation value and the difference evaluation value; and when it is determined that the defective pixel detection is to be performed, detect a defective pixel by determining whether a pixel of interest that is a determination target is a defective pixel with respect to the image of the determination target frame, based on a pixel value of the pixel of interest and pixel values of neighboring pixels that are located in a vicinity of the pixel of interest.

Abstract: A medical manipulator including an insertion portion, where the insertion section including a bending portion and an end effector disposed on a distal end side of the insertion portion. The medical manipulator further including an actuator configured to generate a first drive force for moving the bending portion; a lever configured to generate a second drive force for moving the bending portion, the lever being used to move the bending portion instead of the actuator; a wire configured to transmit the first drive force or the second drive force to the bending portion; and a transmission blocking device configured to switch from the first drive force to the second drive force.

Abstract: An imaging system includes: a light source configured to emit illumination light; an imager configured to store an electric charge corresponding to an amount of received light and read out the stored electric charge as a signal value by using a rolling shutter method; a frequency detector configured to detect a vibrational frequency of a predetermined site of a subject; and an illumination controller configured to control emission of the illumination light during a readout period of the signal value. The illumination controller is configured to set a phase for an emission timing of the illumination light in an exposure period during which the imager stores the electric charge to be an identical phase at the frequency in each frame, and refer to respective phases set in exposure periods of chronologically adjacent frames to set an emission timing of the illumination light in the readout period.

Abstract: A method for anastomosing an alimentary tract according to a first aspect of the invention includes a first step of inserting an endoscope into an alimentary tract through a natural opening in a state where a distal end part of a tube body is coupled to an outer periphery of a distal end part of the endoscope; a second step of making a hole in a tract wall of the alimentary tract; a third step of inserting the tube body through the hole; a fourth step of grasping the distal end part of the tube body disposed through the hole; a fifth step of separating the tube body from an outer periphery of the distal end part of the endoscope; and a sixth step of delivering the treatment part up to the hole after the fifth step.

Abstract: A medical device includes a thermal source that generates heat, a base that has an outer surface and to which the heat from the thermal source is transferred, a first coating that contacts one part of the outer surface of the base and a second coating that is provided on the outer surface of the base, and is exposed and electrically conductive. The second coating supplies, a high-frequency current to an object to be treated. The medical device also includes a laminated portion that includes the first coating in the outer surface of the base extends and a portion of the second coating that is laminated on the first coating.

Abstract: An image processing apparatus includes: a dividing processing circuit configured to divide an imaging signal that is obtained by capturing an image of inside of a subject into a first base component and a detail component, the first base component corresponding to an illumination component of an object, the detail component corresponding to a reflectance component of the object; a color enhancement processing circuit configured to generate a second base component by performing a color enhancement process on the first base component, the color enhancement process being a process of increasing color gradation of a mucosa color in a predetermined color space; and a synthesizing circuit configured to synthesize the second base component and the detail component to output a synthesized signal.

Abstract: An endoscope apparatus includes a color image pickup device, a light source device configured to simultaneously illuminate the subject with light in a first wavelength band having a spectral characteristic of a narrow band having a peak in a range from a wavelength of 585 nm to a wavelength of 615 nm and light in a second wavelength band having a spectral characteristic for making, among a red signal, a green signal, and a blue signal, a pixel value of the red signal smallest, and a processor configured to assign either one of the red signal generated by return light from the subject illuminated with the light in the first wavelength band and the green signal or the blue signal generated by return light from the subject illuminated with the light in the second wavelength band to each of output channels corresponding to the respective colors in a display device.

Abstract: A manipulator including joint mechanisms each including: first and second members extending along a central axis; the second member disposed at a distal end of the first member and being swivelable relative to the first member about a swivel axis; a guide sheath extending near the central axis, a distal end of the guide sheath being fixed to the second member; a manipulation wire introduced toward the distal end of the guide sheath; and a pulley provided in the second member such that the manipulation wire is wound at least partially around the pulley to cause a distal end of the wire to change direction towards the first member, the pulley being rotatable about an axis parallel to the swivel axis; wherein the distal end of the manipulation wire is fixed to the first member near the inner surface of the through hole.

Abstract: A reversal system for an endoscope, the reversal system including: first and second outer achromats each comprising at least two lenses, wherein the first and second outer achromats have an outer diameter; first and second inner achromats arranged between the first and second outer achromats, wherein each of the first and second inner achromats comprises at least two lenses; and a holding sleeve for accommodating the at least two lenses of one or more of the first and second inner achromats, wherein the holding sleeve with the at least one of the first and second inner achromats is arranged between the first and second outer achromats.

Abstract: A connection device includes a tube that is branched to two passages from a branch portion and includes a first and second branch tubes provided on one end side as a liquid-feeding destination, a first protruding plate that includes, on another end side, first another end edge provided in a direction orthogonal to an axis line of the first branch tube and that is provided so as to protrude from an outer circumference portion of the tube, and a second protruding plate that is provided so as to face the first protruding plate across the tube and protrude in a diameter direction of the tube and that includes, on the other end side, second another end edge provided so as to be orthogonal to an axis line of the second branch tube.

Abstract: An ultrasonic observation device is disclosed that has an input device having a touch pad connected, and that displays on a display an ultrasound image generated based on an ultrasonic signal received from an ultrasound transducer that transmits an ultrasonic wave to an object to be observed and receives a reflected ultrasonic wave reflected by the object, the touch pad detecting a contact object that is brought in contact by an operator. The ultrasonic observation device includes a display controller that displays a rotation indicator that indicates a rotation direction when the ultrasound image is rotated about a predetermined rotation reference as a center, such that the rotation indicator is superimposed on the ultrasound image displayed on the display, according to a contact position of the contact object on the touch pad.

Abstract: A laryngopharyngoscope retractor system including: a plurality of components including: a base frame with a coupling region and a spatula holder that is adjustable in terms of position and orientation by way of adjusting screws; a spatula that is releasably fastenable in the spatula holder; two cheek holder adapters that are releasably fastenable to the base frame; and two cheek holders, each of which is releasably fastenable to a respective cheek holder adapter, wherein one or more of the base frame, the spatula holder, the spatula, the cheek holder adapter and the cheek holder, in the respective regions provided for the releasable connection to another one of the plurality of components have a visible unique code that corresponds to the corresponding regions on the other of the plurality of components.

Abstract: An endoscope apparatus includes a processor configured to carry out a reversal process on a side image of a subject picked up with an image pickup device, the reversal process reversing an order of a plurality of pixels located in the side image and arranged from a predetermined position in a radial direction, and cause a display apparatus to display a front image and the side image of the subject picked up with the image pickup device as a display image. The processor adjusts the timing at which the front image is displayed in such a way that the front image acquired simultaneously with the side image is displayed at a timing that accords with the timing at which the side image having undergone the reversal process is displayed on the display apparatus.

Abstract: An optical unit includes a movable section that holds a movable lens group and includes a rotation restricting section, a fixed section that holds a fixed lens group and has specific permeability larger than 1.0, n thinned-down sections being provided in the fixed section, and a voice coil motor including an n magnet sections disposed at every (360/n)° around a center axis of the movable section and a coil section disposed in the fixed section. The n magnet sections are respectively housed in n thinned-down sections in a noncontact manner. The n thinned-down sections are formed in asymmetrical positions different from every (360/n)° around the center axis.

Abstract: An insertion assist system includes a guide member and a shift member. The guide member brings an outside bend of a peripheral surface of an insertion body into contact with a guide surface of the guide member. The shift member shifts a direction of the distal end of the insertion body. The shift member comes into contact with an inside bend of the peripheral surface of the insertion body when the insertion body is bent. The shift member bends the insertion body toward the guide surface about the guide surface as a fulcrum when the shift member comes into contact with the inside bend and bends the insertion body.

Abstract: The disclosed technology is directed to a treatment tool having a blade. The blade includes a treatment surface configured to engage with a treatment target. A heater is configured to be coupled to the blade. The heater includes respective first and second heat generating surfaces each of which extending in a direction transverse to the treatment surface. Respective first and second thermally conductive members each of which is interposed between the respective first and second heat generating surfaces and the blade so as to thermally engage the respective first and second heat generating surfaces and the blade to one another. The respective first and second thermally conductive members includes respective first and second thermal conductivity anisotropies each of which being higher in longitudinal directions of the blade and each of which being lower in widthwise directions of the blade that are transverse to the longitudinal directions.

Abstract: An endoscope system includes a light source configured to generate violet light, blue light, green light, and red light, a filter switching mechanism configured to change a spectrum of the green light emitted from the light source, a light amount adjustment circuit configured to respectively adjust light amounts of lights in three colors, that is, the violet light, the blue light, and the red light, an image sensor configured to pick up an image of an object illuminated with the green light including the spectrum changed by the filter switching mechanism and the lights in the three colors respectively including the light amounts adjusted by the light amount adjustment circuit, and a highlighting processing circuit configured to subject an image obtained by image pickup of the object illuminated with the green light including the spectrum changed by the filter switching mechanism to highlighting processing.

Abstract: A connector apparatus of the present invention includes a receptacle into which a plug is inserted, a moving member configured to move in conjunction with insertion of the plug, and a sensor provided below the receptacle and configured to detect presence or absence of the plug in the receptacle, in which the moving member includes a first portion extending downward, a second portion, one end of which is connected to the first portion and another end of which is located above the one end, and a third portion, one end of which is connected to the second portion and configured to move in conjunction with the insertion of the plug to thereby switch between a first state in which the plug is disposed in a predetermined region and a second state in which the plug is not disposed in the predetermined region.

Abstract: A vibration transmitting member transmits ultrasonic vibration generated by an ultrasonic transducer from a proximal side toward a distal side. The vibration transmitting member includes a connection connected to the ultrasonic transducer. When a reference vibration node, which is located most proximally among vibration nodes occurring on the distal side relative to the connection, is defined, while the vibration transmitting member vibrates at a resonance frequency in a predetermined frequency range, a cross-sectional area decreasing part is provided between the connection and the reference vibration node. In the cross-sectional area decreasing part, a cross-sectional area perpendicular to a longitudinal direction gradually decreases from the distal side toward the proximal side.

Abstract: A cleaning tool for insertion device includes a first fluid supply conduit, a second fluid supply conduit, a first cap component, and a second cap component, wherein a first discharge port and a third discharge port are disposed at positions where a discharging direction of fluid discharged from the first discharge port and a discharging direction of fluid discharged from the third discharge port are parallel or coaxial to each other in a vertical direction of a distal end portion of an insertion device, and a second discharge port and a fourth discharge port are disposed at positions where a discharging direction of fluid discharged from the second discharge port and a discharging direction of fluid discharged from the fourth discharge port are parallel or coaxial to each other in a lateral direction of the distal end portion of the insertion device.

Abstract: An endoscope system includes a processor that performs image processing on endoscope image data acquired by an endoscope, which is inserted in a subject and observes an inside of the subject. The processor communicate with a terminal device including a transceiver configured to transmit identification information identifying the terminal device, and a controller configured to: determine whether the processor is a connection destination configured to perform two-way communication, based on the received processor identification information, authenticate whether a user of the terminal device is a predetermined registered user by analyzing data obtained by the terminal device from the user, and allow two-way communication between the processor and the terminal device in response to the processor being determined as the connection designation to perform two-way communication and in response to authenticating the user of the terminal device.

Abstract: An optical-scanning-type observation probe is provided with: an imaging optical system that illumination light scanned by an optical scanner enters and that focuses the illumination light in the form of a spot, multiple times; a projection optical system that emits illumination light coming from a focus position focused by the imaging optical system, toward a subject in the form of a spot; and a light-receiver that is provided independently of the imaging optical system and the projection optical system and that receives reflected light of the illumination light, the reflected light coming from the subject, via a light path different from that of the imaging optical system and the projection optical system.

Abstract: A high frequency treatment instrument can be opened and closed between a first grasping jaw and a second grasping jaw. A lumen is formed inside the first grasping jaw. The first grasping jaw includes an electrode disposed on a side toward which the first gasping jaw is closed, with respect to the lumen. The electrode has an electrode surface arranged opposite the second grasping jaw and extending from a proximal end portion to a distal end portion of the first grasping jaw. The first grasping jaw has a distal end wall disposed opposing from a distal end side of the first grasping jaw toward a distal end edge of the electrode surface, and a clearance between the distal end edge of the electrode surface and the distal end wall communicates to the lumen and opens toward the side toward which the first grasping jaw is closed.

Abstract: A diagnostic imaging support system includes: an image input unit that receives an input of an image; a first processing unit that detects a region of interest including a subject of interest from the image, classifies the detected region of interest, and outputs a first classification result; and a second processing unit that subjects the region of interest to semantic segmentation, classifies the region of interest based on a result of the semantic segmentation, and outputs a second classification result. When a predetermined condition related to the region of interest is met, the first classification result is employed as indicating a class of the region of interest, and, when the condition is not met, the second classification result is employed as indicating the class of the region of interest.

Abstract: An image processing apparatus includes one or more processors including hardware. The one or more processors are configured to: divide, regarding a plurality of images acquired by capturing images of an imaging subject over time, the respective images into a plurality of regions; calculate, for the respective divided regions, motion vectors by detecting movements of the imaging subject; detect luminances and contrasts of the respective regions and detect specific regions where the detected luminances and contrasts satisfy determination conditions, the determination conditions being that the luminances are equal to or greater than a first threshold and that the contrasts are equal to or less than a second threshold; select the motion vectors to be used by excluding the motion vectors of the detected specific regions from the calculated motion vectors; and generate a combined image by performing position alignment of the plurality of images by using the selected motion vectors.

Abstract: A measuring apparatus includes: a light source device that projects light or light of which intensity is periodically modulated onto a measurement object; a light receiver that receives backscattered light of light projected by the light source device from the measurement object; and a processor comprising hardware, the processor being configured to: measure TOF information of the light projected by the light source device and the backscattered light received by the light receiver; acquire distances from a surface of the measurement object to the light source device and the light receiver; and calculate an internal propagation distance in the measurement object according to the measured TOF information and the acquired distances.

Abstract: The endoscope objective optical system includes in order from an object side, a first lens group having a positive refractive power, a second lens group having a negative refractive power, and a third lens group having a positive refractive power. A lens surface positioned nearest to an image side in the second lens group is a concave surface which is directed toward the image side. The second lens group moves along an optical axis.

Abstract: A bend information computation apparatus includes a generation unit and a bend information arithmetic operator. The generation unit generates suppression information that suppresses first information representing a variation in spectrum not derived from a bend of a detection target provided in a light guide on the basis of light source spectrum information. The bend information arithmetic operator operates second information representing a variation in spectrum derived from the bend on the basis of a spectrum of light guided by the light guide, operates third information representing a variation in spectrum derived only from the bend on the basis of the second information and the suppression information, and operates bend information on the basis of the third information.

Abstract: An image recording and reproduction apparatus includes: a record data generation circuit configured to generate record data based on an inputted video signal; an operation input device configured to receive a signal generated based on an operation of one or more persons, for one or more operation instructors that accept an operation for adding chapter information to the video signal; an operation system determination circuit configured to determine at least one of the operation instructor generating the signal received by the operation input device, and a person performing the operation, and output a determination result; and a first processor configured to cause the record data generation circuit to generate the record data that associates the chapter information with the video signal, by generating chapter information of a chapter type based on the determination result of the operation system determination circuit, and supplying the information to the record data generation circuit.

Abstract: An electrosurgical generator having connectors for an electrosurgical instrument including a high-voltage generator electrically connected to the connectors and produces a high-frequency alternating current in its activated state and output said high-frequency alternating current via the connectors. The electrosurgical generator has an effective power determination unit including a phase shift determination unit that supplies an output signal representing a phase shift between the current and the voltage of an alternating current output during operation. The phase shift determination unit produces a pulsed DC voltage signal, in which the pulse width reflects a time difference between the zero crossings of the current and the voltage—and consequently the phase shift—and to process the pulsed DC voltage signal by way of a low-pass filter to form a low-pass filter output signal, the magnitude of which depends on the pulse width of the pulses of the pulsed DC voltage signal.

Abstract: An examination image storage stores a plurality of examination images having image-capturing time information. A voice processing unit extracts information regarding a finding by recognizing voice that is input to a microphone, and an extracted information storage stores the extracted information regarding the finding and voice time information in association with each other. A grouping processing unit groups a plurality of examination images into one or more image groups based on the image-capturing time information. An association processing unit associates the information regarding the finding stored in the extracted information storage with an image group based on the voice time information. When one examination image is selected by a user, a finding selection screen generation unit generates a screen that displays information regarding a finding associated with an image group including the examination image that is selected.

Abstract: A catheter can include a catheter main body and a sheath that covers the catheter main body and can move along the longitudinal axis with respect to the catheter main body. An operating unit can be disposed at a proximal end portion of the sheath and can move the sheath and the catheter main body with respect to one another. The catheter main body can include a slit on an outer peripheral surface of a distal end portion and can extend along the longitudinal axis from a slit distal end to a slit proximal end side. An outside diameter of the distal end portion of the catheter main body is larger than an inside diameter of a distal end portion of the sheath when the distal end portion of the catheter main body is housed in the sheath.

Abstract: A medical manipulator system according to the present invention is provided with: a manipulator; a manipulator channel; a route that extends along the manipulator channel; a shape sensor that detects shape information of the manipulator channel; a shape-sensor driving portion that causes the shape sensor to be driven; a manipulator driving portion that causes the manipulator to be driven; a positional-information calculating portion that calculates positional information of the shape sensor on the basis of a driven amount of the shape-sensor driving portion; a shape estimating portion that estimates a bent shape of the manipulator on the basis of the shape information of the manipulator channel and the positional information; a control-parameter calculating portion that calculates a control parameter of the manipulator from the bent-shape information; and a manipulator controller that controls the manipulator on the basis of the control parameter.