Abstract: An endoscope securement device for coupling an endoscope to the body of a practitioner. The endoscope securement device includes a base capable of being coupled to a practitioner and an articulable arm extending from the base configured to be coupled to an endoscope. The device allows a practitioner to manipulate the endoscope through his or her body movements, leaving his or her hands free to manipulate accessories to the device or other tools.

Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

Abstract: There is disclosed an operation microscope in which an observing and displaying system of an operating instrument are selected, and an endoscope image for observing a dead angle of the microscope and a navigation image are selectively displayed in a microscope observation field, so that a tomographic image, three-dimensionally constructed image, and the like can be selectively displayed in a display screen in accordance with a treatment position displayed in a monitor or an observation position of the operation microscope.

Abstract: An electronic endoscope (2) of the type including: a distal end (14) including an illumination element and an electronic image acquisition member; a probe (12), one of the ends of which is connected to the distal end; and control elements (10) connected to the other end of the probe, characterized in that the probe includes a plastically malleable portion (20) suitable for preserving, under the effect of its own weight when the endoscope is in use, the shape which has been conferred on it by an operator, the malleable portion carrying the distal end of the endoscope.

Abstract: A laparoscopic instrument holder for positioning a laparoscopic device includes a central portion having a first member operatively associated with a second member, the members selectively movable with respect to one another along a central axis, with the central portion having a proximal end defined by the first member and a distal end defined by the second member. The holder also includes at least three proximal rotational joints coupled to the first member proximate the proximal end, at least two distal rotational joints coupled to the second member proximate the distal end, a first ball and socket joint coupled to a distal rotational joint, and a second ball and socket joint coupled to the first ball and socket joint. In addition, the holder includes a clamp configured and dimensioned for retaining a laparoscopic device, with the clamp coupled to the second ball and socket joint, and a coupling portion proximate a first of the proximal rotational joints.

Abstract: A sterile adaptor, a sterile drape with the integrated sterile adaptor, and a telerobotic surgical system including the sterile drape are provided. The adaptor, drape, and system allow for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals between a robotic arm and a surgical instrument in the sterile field.

Abstract: A sterile drape, system, and method for draping portions of a telerobotic surgical system are provided. In one embodiment, a sterile drape includes an exterior surface adjacent to a sterile field for performing a surgical procedure, and an interior surface forming a cavity for receiving the non-sterile portion of a robotic surgical system, such as a manipulator. The drape further includes an integral cuff including a permanently turned-up fold of the exterior and interior surfaces at an open end of the cavity and a marker on the permanently turned-up fold designating a sterile side and a non-sterile side of the drape.

Abstract: A holding system for medical instruments with at least one bracket for fastening a medical instrument and at least one joint for positioning the one bracket and/or instrument. The holding system is configured to integrate in the bracket at least one of: light source, image recording unit, image display unit, control unit for the holding system, control unit for external components, sensor for distance, surface scanning and/or recording conditions of the environment, medical device for minimally invasive surgery, cooling unit, and/or wireless data communication unit. Accordingly, fewer or shorter feeder lines are required, gaining degrees of freedom of movement for the surgeon, reducing the possibility of stumbling in the operating room.

Abstract: A surgical accessory clamp, method of use, and a robotic surgical system including the clamp are disclosed. A surgical accessory may be attached and removed from a manipulator arm during a surgical procedure without requiring the use of an intermediate sterile accessory clamp, thus removing the need for a detachable accessory mount or adaptor that needs cleaning and sterilization and allowing for greater efficiency and cost-effectiveness. The accessory clamp further allows for easy removal and attachment of instruments, tools, or accessories to the robotic surgical system without breach of sterility. In one embodiment, an accessory clamp includes a base for coupling to a distal end of a manipulator arm; two clamp jaws adapted to receive a surgical accessory, each of the clamp jaws rotatably coupled to the base and configured to pivot relative to one another; a sterile drape portion over the two clamp jaws; and a lever portion capable of actuating the two clamp jaws into an open position or a closed position.

Abstract: An endoscope system having a first image pickup device including at least one image pickup unit that is capable of picking up an image of an object, a second image pickup device including at least one image pickup unit, the second image pickup device being different from the first image pickup device, a retaining member being provided for retaining the second image pickup device in a body cavity, and including a camera cable that is connected to the second image pickup device and transmits an image pickup signal obtained by the second image pickup device, and a wire connected to the second image pickup device, a signal processing device that is provided outside the body cavity and processes image pickup signals obtained by the first image pickup device and the second image pickup device, and a display device that displays an image signal outputted from the signal processing device.

Abstract: To provide a capsule endoscope in which a degree of appearance of a sting-like member in a captured image is reduced, a capsule endoscope (2) includes an optical system (18) having a predetermined principal point, an imaging unit (19) which captures light focused by the optical system (18), and an attachment member (28) which is arranged at a predetermined position on a window portion (17a) having optical transparency and forming a portion of an outer casing member (17) housing the optical system (18) and the imaging unit (19). The capsule endoscope (2) further includes a traction member (29) having one end secured to the attachment member (28) and extending by a predetermined distance in a direction from the optical system (18) toward a position of the attachment member (28). Since the traction member (29) has such a structure, an appearance of an image of the traction member (29) can be reduced at the imaging unit (19).

Abstract: An endoscope apparatus according to the present invention includes an apparatus main body having a protector which is provided so as to project from the outer surface of a box-shaped housing, and an endoscope unit including a connector portion detachably attached to the housing, thereby reducing a shock applied to the housing and preventing damage of the housing.

Abstract: A treatment tool for an endoscope includes: a treatment portion that is positioned on a distal end side and of which at least a portion is formed from an electroconductive material; an operating wire that is formed from an electroconductive material and is connected to the treatment portion; a sheath that is formed from an electrically non-conductive material through which the operating wire is inserted; a base that is fixed to a base end side of the sheath; an operating section that is rotatably mounted on the base and is connected to a base end side of the operating wire, and that causes the treatment portion to move forwards and backwards and to rotate via the operating wire; and a plug that is provided on the base and is electrically connected to the operating wire.

Abstract: A distal arm that holds a rigid endoscope includes a multi-joint articulated arm including first to fourth distal arm portions sequentially connected from a base portion side, and these first to fourth distal arm portions are configured so as to move on a vertical plane with horizontal rotational shafts as supports. In addition, behaviors of the respective distal arm portions are linked by a linking mechanism so that the first distal arm portion and the third distal arm portion behave in parallel to each other, and the second distal arm portion and the fourth distal arm portion behave in parallel to each other.

Abstract: An acoustic speaker module of a portable electronic device includes an acoustic housing, an acoustic speaker, a chip card and an elastic member. The acoustic housing has an accommodation space, a first opening and a second opening. The acoustic speaker is seamlessly connected with the first opening. The chip card is disposed at the second opening. The elastic member and the chip card are disposed at the second opening to make the accommodation space to form a hermetical space.

Abstract: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.

Abstract: A wireless endoscope apparatus mainly comprises an endoscope main body, a receiving host, a supporting stand and a power connecting wire. The receiving host is electrically connected to the endoscope main body through the power connecting wire. The receiving host can be supported and positioned on an application surface through the supporting stand. Moreover, a captured image is wirelessly transmitted by the signal transmitter of the endoscope main body to the receiving host. The image captured by the image pickup lens then is displayed by a display of the receiving host to avoid the restriction of transmission wires so that fields and explorations, such as medical care, house remodeling, transportation and maintenance, mechanical maintaining and research observation and so on, applied by the invention can be fast and convenient.

Abstract: A capsule endoscope includes a string that has one end attached to a main body of the capsule endoscope and another end secured at a predetermined position, and a wind-up unit that is provided in the main body of the capsule endoscope to bring out and wind up the string.

Abstract: The present invention relates generally to medical devices and methods. The present medical devices comprises a platform comprising a magnetically-attractive material, and a camera coupled to the platform and configured to be moved in at least three degrees of freedom relative to the platform, where the camera's movement in each respective degree of freedom is controlled by a separate actuator coupled to the platform. The medical devices further comprise a housing disposed around at least a portion of the camera, the housing being at least partially transparent, and a wiper arm configured to move relative to the housing.

Abstract: A collet comprising a cylindrical body comprising a first end and a second end and an aperture coaxial within the cylindrical body. The aperture is configured for receiving a medical device and for securing the medical device by decreasing in diameter when pressure is applied to at least one of the first end and the second end of the cylindrical body.

Abstract: An improved interface between the surgeon and an endoscope system for laparoscopic surgery, holding a laparoscopic came and/or controlling an automated endoscope assistant includes at least one wireless transmitter with at least one operating key (12a). at least one wireless receiver (11), at least one conventional laparoscopy computerized system (15) loaded with conventional surgical instrument spatial location software, and conventional automated assistant maneuvering software, software loaded onto to the conventional laparoscopy system that enables a visual response to the depression of at least one key on the wireless transmitter as well as an interface with the conventional automated assistant maneuvering software so as to achieve movement of the endoscope, and at least one video screen (30).

Abstract: The present invention provides a system and single or multi-functional element device that can be inserted and temporarily placed or implanted into a structure having a lumen or hollow space, such as a subject's abdominal cavity to provide therewith access to the site of interest in connection with minimally invasive surgical procedures. The insertable device may be configured such that the functional elements have various degrees of freedom of movement with respect to orienting the functional elements or elements to provide access to the site from multiple and different orientations/perspectives as the procedure dictates, e.g., to provide multiple selectable views of the site, and may provide a stereoscopic view of the site of interest.

Abstract: An ergonomic holding assist device for endoscopes comprises an attachment mechanism to removably secure the hand assist device to an endoscope. An ergonomic component comfortably fills a space made between a naturally extended palm and the grip portion of the endoscope. A center plate sandwiched between the attachment mechanism and the ergonomic component provides an approximate ½-inch clearance to a top of the device so that the ergonomic component reaches a thenar crease of the palm more comfortably. The flexor tendon of the thumb is comfortably supported by the ergonomic component so that endoscope-work-related injuries are avoided.

Abstract: Disclosed herein are various systems and methods for facilitating control of a tool or tools. The systems can allow a user to control multiple degrees of freedom. One such system allows a user to control multiple degrees of freedom of two tools simultaneously. Another such system allows a user to control multiple degrees of freedom with a single hand. Frames and rails for supporting and/or constraining movement of a tool or tools are also described herein.

Abstract: The invention relates to a holding and resting device for medical instruments having essentially cylindrical instrument bodies, in particular endoscopic instruments, with a base body that can be secured for instance to an operating table and an instrument input to be inserted into the base body and in which the instrument body can be secured by clamping. To create a holding and resting device for medical instruments having essentially cylindrical instrument bodies, which is of simple construction and can be activated quickly and safely, it is proposed with the invention that the instrument input includes a ring-shaped tension casing with at least two holder arms as well as a tension nut that works together with the tension casing.

Abstract: Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.

Abstract: The present invention relates to a system for positioning with respect to a patient's body an observation and/or intervention device having a portion penetrating into the patient's body comprising a base laid on the patient's body; a means for supporting the device formed of a first portion movably assembled on the base according to a connection with one degree of freedom, and of a second portion movably assembled on the first portion according to a connection with one degree of freedom and connected to the device; and means for actuating the first portion with respect to the base, and the second portion with respect to the first portion, in which the base surrounds at a distance at least partially the device, said device being detachably connected to the second portion to enable removal of the positioning system while leaving in place the device.

Abstract: The instrument for an endoscope is an instrument for an endoscope is able to move reciprocally in the channel of the endoscope along a guide wire, and includes: a sheath portion having a guide lumen into which the guide wire is inserted and another lumen disposed along the guide lumen. The proximal end of the sheath portion is bifurcated into the first sheath portion having the guide lumen and the second sheath portion having the other lumen.

Abstract: The invention relates to a joint for movably connecting two stabilizing elements. The joint includes at least two joint segments, which can be rotated relative to each other. Each joint segment is connected to a respective stabilizing element. The joint can be releasably locked by locking means, and the locking means can be locked and/or unlocked by a fluid that is supplied and/or discharged via conduits.

Abstract: The present invention provides a method for collecting/transporting a medical capsule by holding the medical capsule using an endoscopic apparatus comprising: an endoscope having an inserting section to be inserted in a body cavity with a distal end including an observation section to observe a subject and an suction opening; a sucking device in communicated with the suction opening; and a generally cylindrical hood member which is attached to the distal end of the inserting section, the method comprising: a sucking step of making an inside of the hood member vacuum by actuating the sucking device to suck the inside of the hood member through the suction opening; and a holding step of attracting and holding the medical capsule to the hood member sucked by the sucking step.

Abstract: A robot system for use in surgical procedures has two movable arms each carried on a wheeled base with each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to be supported by the effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. A microscope is located at a position for viewing the part of the patient. The position of the tool tip can be digitized relative to fiducial markers visible in an MRI experiment. The workstation and control system has a pair of hand-controllers simultaneously manipulated by an operator to control movement of a respective one or both of the arms. The image from the microscope is displayed on a monitor in 2D and stereoscopically on a microscope viewer. A second MRI display shows an image of the part of the patient the real-time location of the tool.

Abstract: In a robotic endoscope system, the orientation of a captured camera view at a distal tip of a robotic endoscope and displayed on a screen viewable by an operator of the endoscope is automatically maintained at a roll orientation associated with a setpoint so as not to disorient the operator as the endoscope is moved, flexed and its tip turned in different orientations. A processor generates a current commanded state of the tip from operator input and modifies it to maintain the setpoint roll orientation. To generate the modified current commanded state, the current commanded roll position and velocity are constrained to be a modified current commanded roll position and velocity that have been modified according to a roll angular adjustment indicated by a prior process period commanded state of the tip and the setpoint. The processor then commands the robotic endoscope to be driven to the modified commanded state.

Abstract: A medical procedure drape, for use during a diagnostic and therapeutic procedures performed on a patient supported by a patient cart, including a cover and a holder for the endoscope. The cover superimposes a portion of the patient and a portion of the patient cart. The endoscope holder is fixed to a boundary of the cover and extends above the level of the patient support surface on the patient cart. The endoscope holder retains and supports the endoscope during insertion and at other such times that the endoscopist may wish to set the endoscope aside to perform other tasks.

Abstract: An insertion portion holder includes a plane portion formed in a flat shape with an elastic member, the plane portion including: a first through hole formed on the plane portion, for passing therethrough an insertion portion having flexibility extended from an endoscope operation portion; and a second through hole formed on the plane portion adjacently to the first through hole, for holding a distal end side part of the insertion portion.

Abstract: Various exemplary methods and devices are provided for manipulating and/or anchoring devices and body parts during surgical procedures. In one embodiment, an anchor member is provided for anchoring a device or body part to tissue, such as an internal wall of a body cavity. The device can be, for example, an endoscopic device, an accessory channel coupled to an endoscopic device, or a support member adapted to support or manipulate an organ. The anchor member can include or form an opening through which the device can be inserted. The anchor member or device can thus be manipulated relative to the tissue to control movement of and/or provide support to the device, tools inserted through the device, and/or organs grasped by the device or tools.

Abstract: An interface system for interfacing between at least one endoscopic surgical instrument and a cable-controlled guide tube system. Various embodiments may include a tool docking assembly that is supportable relative to the cable-controlled guide system. The tool docking assembly may comprise one or more tool docking stations for retainingly supporting at least one endoscopic surgical instrument for selective pivotal travel about transverse axes. The system may further include cable attachment arrangements for coupling steering cables from the guide tube assembly to the various tool docking stations.

Abstract: A method of performing a medical procedure on a patient comprises introducing a medical instrument into a patient (e.g., percutaneously), conveying control signals from a remote controller to a drive unit, and operating the drive unit in accordance with the control signals to actuate the tool located on the medical instrument to secure a stent to an anatomical vessel (e.g., a blood vessel, such as an abdominal aorta). The tool may be a sewing tool that is controlled to stitch the stent to the anatomical vessel. In one method, the control signals are conveyed from the remote controller to the drive unit in response to user commands. The user commands may be movements made at a user interface that correspond to movements of the medical instrument.

Abstract: The invention relates to a poisoning apparatus (1) for laboratory and medical devices, with a support (2) having a positioning field and an actuator coupled with the support (2) and with the laboratory and medical device. The actuator includes a positioning element arranged on the support (2) for rotation or pivoting and having a rotation or pivot axis. For generating a restoring torque acting on the actuator, a bar-shaped or helical spring (6) is provided, which divergent from its helical axis is subjected to both torsion and bending, with the spring extending between the support (2) and the rotatable or pivotable actuator and eliminating or at least reducing the play of the actuator when the medical-technical device is positioned.

Abstract: A face mask assembly according to the present invention, includes a mask body. The inside of the mask body is of a size and shape to substantially conformally fit over the oral and nasal region of a patient's face. The mask body forms a receptacle and an opening above the receptacle. The face mask assembly also includes an inlet connection device connected to the receptacle and a hose connected to the inlet connection device. The hose is in open communication with the inside of the mask body to supply gas, normally oxygen. The opening formed above the receptacle is of sufficient size and shape to allow use of a medical scope such as an endoscope or a bronchoscope or a transesophogeal echocardiography scope or similar device. A closure flap substantially closes the opening when the opening is not being used for a medical scope. A port, also connected to the receptacle, is used to sample end of tidal carbon dioxide.

Abstract: A catheter winder/unwinder comprising at least a first system and a second system is disclosed wherein, the first system comprises a first receptacle that receives a catheter and a first drive mechanism that applies movement to the catheter, the second system comprising a second receptacle that receives a guide and including an outlet, said second receptacle being rotatable relative to the first receptacle, and a second drive mechanism that applies movement to the guide. The outlet includes a fastener device for fastening to the catheter.

Abstract: A robotic medical system comprises a medical instrument assembly having a retainer, a serial array of instruments disposed in the retainer, a chamber, and an instrument driver. The robotic medical system further comprises a user interface configured for generating at least one command signal, a drive unit coupled to the first mechanism, second mechanism, and instrument driver, and an electric controller configured, in response to the command signal(s), for directing the drive unit to linearly displace the array of instruments within the retainer, to displace a selected one of the instruments from the retainer into the chamber, and to distally advance the instrument driver within the chamber to engage the selected instrument.

Abstract: When an observation target in a membranous tissue such as an amniotic membrane filled with a liquid such as an amniotic fluid is observed, the observation is performed without leaking the liquid. There is provided an observation method of an observation target arranged in a membranous tissue filled with a body fluid, comprising: a step for coating a gel-like adhesive on the outer surface of the membranous tissue; a step for cutting the membranous tissue through the coated adhesive; a step for inserting the distal end of the objective unit through the adhesive and the open cut in the membranous tissue; and a step for observing the observation target through the inserted distal end of the objective unit.

Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

Abstract: A holding apparatus is provided for holding a device to be used under sterile conditions. The apparatus includes a holder unit (1) to which the device (3) is to be fixed. The holder unit (1) has a holder portion for fixing a drape (9) so that a held device (3) and the holder portion are substantially air-tightly enclosed. A cavity (2) in the holder unit (1) has a cavity portion (10) for communicating with an intermediate space between a fixed drape (9) and the device (3). A pumping-out device (15) is in the cavity (2) for pumping air out of the cavity portion and the intermediate space. The cavity portion (10) is sealed in the pumping-out operation to prevent the make-up flow of air out of other regions than the intermediate space between a fixed drape (9) and the device (3) or the holder portion.

Abstract: An observation system includes an observation device, an image pickup device, a display device, and at least one holding device. The observation device includes an optical objective system for observing an object. The image pickup device is capable of picking up an optical image incident upon the optical objective system of the observation device. The display device is capable of displaying the image picked up by the image pickup device. The holding device includes a moving mechanism which holds the observation device and the display device and which moves one of the observation device and the display device in conjunction with movement of the other device, and a switching mechanism capable of switching the observation device and the display device to a state in which the devices are movable by the moving mechanism and a state in which the devices are fixable in positions moved by the moving mechanism.

Abstract: A manipulator includes a proximal end, a distal end with a manipulation device, a shaft between the proximal end and the distal end, and a transmission element for transmitting at least either a force or a motion between the proximal end and the distal end. Provided in the shaft is a guide insert for guiding the transmission element, such that the transmission element can slide with respect to the guide insert in the longitudinal direction of the shaft.

Abstract: A hand operation portion of an endoscope is held by an endoscope holder of a holding device, and an insertion auxiliary member is held by an auxiliary member holder. The endoscope holder and the auxiliary member holder are slidably supported along a guide rail on a stage, and linearly moved toward a mouth of a patient.

Abstract: A surgical system is provided that includes a device body that has a working channel providing a pathway for an instrument, an extension adjuster engaged with the device body, the extension adjuster also including a stop. The stop is disposed a predetermined distance from the working channel such that the stop and the distal end of the working channel cooperate to define an effective working channel length. The instrument may be inserted through the working channel and protrude outwardly from the distal end of the working channel. The extent of the protrusion is limited by the effective working channel length whereby the stop prevents further insertion of the instrument.

Abstract: According to endoscope manipulator for MIS capable of overcoming disadvantages of multiaxial endoscope manipulator including conventional robot arm and providing compact and light-weight structure to obtain maximum activity space for medical staff, multi-joint arm is configured so that movement of all joints from base link to tip link is manually locked-unlocked by user and not controlled by motors. Endoscope mounted on end of multi-joint arm is manipulated using motors to enable movement of three-degrees of freedom, thereby accomplishing compact and light-weight endoscope manipulator. Tube of endoscope can be press-fitted onto tip of multi-joint arm, and three-axis movement function for vertical, lateral and forward/backward conveyance of endoscope is implemented in tip of multi-joint arm. Since external manual joints are not moved during operation, disturbance or restriction to activities of medical staff can be minimized.

Abstract: Endoscope manipulator for MIS can overcome disadvantages of multiaxial endoscope manipulator including conventional robot arm and provide compact and lightweight structure to obtain maximum activity space for medical staff. According to the endoscope manipulator for MIS, multi-joint arm is configured so that movement of all of the joints from base link to tip link is manually locked and unlocked by user and not controlled by motors. Additionally, endoscope mounted on an end of multi-joint arm is manipulated using motors to enable movement of three degrees of freedom, thereby accomplishing compact and lightweight endoscope manipulator. Additionally, tube of endoscope can be press-fitted onto tip part of multi-joint arm, and triaxial movement function for vertical, horizontal and forward/backward conveyance of endoscope is implemented in the tip part of multi-joint arm.