Abstract: An endoscope system includes an endoscope including an insertion portion, an imaging sensor disposed at a proximal end thereof so as to be rotatable about a longitudinal axis, and an optical element that tilts an optical axis, a robotic arm, and at least one processor. The processor transmits a first signal to the moving device, detects a first moving direction of an object, estimates a first amount of rotation of the optical element by using first two images before and after the transmission with respect to the imaging sensor based on the first movement direction, transmits a second signal to the robotic arm, detects a second moving direction of the object by using second two images before and after the transmission, and estimates a second amount of rotation between the robotic arm and the endoscope based on the second moving direction and the first amount of rotation.

Abstract: A learning support device includes a processor. The processor is configured to: form a foreground image containing at least one treatment instrument by placing an image of the at least one treatment instrument within an image region based on placement data; and form a training image by superimposing the foreground image on a background image. The placement data are data showing a three-dimensional placement of the at least one treatment instrument as viewed through an endoscope.

Abstract: A learning support device includes a processor. The processor is configured to: form a foreground image containing at least one treatment instrument by placing an image of the at least one treatment instrument within an image region; form a superimposed image by superimposing the foreground image on a background image; and form a training image by adjusting at least one of hue, saturation, or brightness of the superimposed image.

Abstract: An endoscope system includes an endoscope, a robot arm that moves the endoscope, and a controller that controls the endoscope and the robot arm. The controller is configured to receive an image acquired by the endoscope, calculate a first orientation of a first treatment tool in a first image, which is the image received at a given point in time, calculate a second orientation of a second treatment tool in a second image, which is the image received a predetermined time before the first image, calculate a difference between the first orientation and the second orientation, determine whether or not the endoscope follows movement of the first treatment tool by comparing the difference with a threshold value, and in response to determining that the endoscope follows the movement of the first treatment tool, generate a command for the robot arm for making the endoscope follow the first treatment tool.

Abstract: A holding device is a holding device that holds the medical device, and includes an arm configured to have a holder, which holds the medical device, at a distal end, a base configured to rotatably support the arm by a first joint, a disk attached to the arm, and a brake attached to the base and configured to press the disk, in which a distance between a center of rotation of the disk and a region where the brake presses the disk is changed depending on a rotation angle of the first joint.

Abstract: An endoscope system includes: an endoscope; a moving device that holds and moves the endoscope; and at least one processor. The at least one processor is configured to: detect a movement direction of the endoscope moved by the moving device in a coordinate system of the moving device; estimate an area of a moving body in an image captured by the endoscope; detect a movement direction of an object in the image on the basis of another area in the image excluding the area of the moving body; calculate a deviation between a coordinate system of the endoscope and the coordinate system of the moving device on the basis of the movement direction of the endoscope and the movement direction of the object; and correct the coordinate system of the moving device on the basis of the deviation.

Abstract: A surgery system includes: an imager capturing an image of a treatment target; a display having a screen displaying the image of the treatment target captured by the imager; and a processor configured to control a display area of the treatment target on the screen, wherein the processor is configure to: calculate a position of a resection end section of the treatment target on the basis of the image of the treatment target acquired by the imager; cause the display area of the treatment target to be moved to a position at which the resection end section is disposed at a prescribed reference position on the screen; calculate an orientation of a marking added to the treatment target on the screen; and cause the display area of the treatment target to be rotated to an orientation in which the marking is disposed in a prescribed reference orientation on the screen.

Abstract: A controller controls an image that is captured by an image sensor of an endoscope and is displayed on the display screen of a display device. The controller includes a processor. The processor acquires a first image that is an image captured by the image sensor, detects a first angle of a surgical instrument, and generates a second image rotated with respect to the first image on the basis of the first angle and a predetermined target angle. The first angle is an angle formed by the surgical instrument in the first image with respect to a predetermined reference line that is set with respect to a plane of the first image. A second angle formed by the surgical instrument in the second image with respect to the predetermined reference line is equal to the predetermined target angle.

Abstract: A medical system includes an endoscope that captures an image including an object, a moving device that includes a robot arm and that moves the endoscope in a body, and a controller that controls the moving device on the basis of the position of the object. The controller is configured to control the moving device in a first control mode in which the endoscope is caused to follow the object at a first speed and a second control mode in which the endoscope is caused to follow the object at a second speed lower than the first speed. The controller controls the moving device in the first control mode when the object is located outside a predetermined three-dimensional region set in a field of view of the endoscope. The controller controls the moving device in the second control mode when the object is located in the predetermined three-dimensional region.

Abstract: A controller controls a movement of an endoscope to cause the endoscope to follow a surgical instrument. The controller includes a processor. The processor acquires position information including the position of the surgical instrument, acquires scene information associated with a procedure scene to be observed through the endoscope, determines an offset parameter, which determines the position of the target point with respect to a predetermined fiducial point in the field of view of the endoscope, of a target point on the basis of the scene information, sets the position of the target point with respect to the fiducial point on the basis of the offset parameter, and causes the endoscope to follow the surgical instrument such that the surgical instrument is disposed at the target point, by controlling a movement of the endoscope on the basis of the position of the target point and the position of the surgical instrument.

Abstract: A medical system includes: an endoscope; an ultrasonic probe; and a control device that is connected to the endoscope and the ultrasonic probe, generates a display image from a captured image acquired by the endoscope, and generates an echo image from an ultrasonic wave acquired by the ultrasonic probe, wherein the control device acquires a first echo image in which a target tissue is displayed on a central axis, acquires a second echo image obtained by scanning a cross section different from the first echo image at a reference position of the ultrasonic probe from which the first echo image was acquired, and compares a central axis of the second echo image with a position of the target tissue in the second echo image.

Abstract: A holding device is a holding device that holds the medical device, and includes an arm configured to have a holder, which holds the medical device, at a distal end, a base configured to rotatably support the arm by a first joint, a disk attached to the arm, and a brake attached to the base and configured to press the disk, in which a distance between a center of rotation of the disk and a region where the brake presses the disk is changed depending on a rotation angle of the first joint.

Abstract: A medical instrument holder for holding a medical instrument comprising: an adapter connected to a base portion via an arm; and an instrument holding portion configured to be capable of holding the medical instrument and connected to the adapter. The instrument holding portion includes: a positioning portion configured to perform positioning with respect to the adapter when mounted on the adapter; and a rod configured to be connected to the positioning portion and to be inserted into the adapter. The adapter includes: a contact portion to which an upper surface of the positioning portion contacts and which has an opening; a fitting hole configured to communicate with the opening of the contact portion and to extend in an insertion direction of the rod; and a window portion that is open to the fitting hole and is configured so that an insertion state of the rod can be visually recognized through the window portion when the positioning portion contacts to the contact portion.