Abstract: A capsule endoscope is swallowed by a patient, to capture images from inner wall surfaces of patient's digestive tract, while detecting imaging positions of the capsule endoscope. A doctor observes the images captured by the capsule endoscope, to select an aimed point image that contains a portion suspected of a lesion, and some images that represent pass points on an insertion route of a balloon endoscope. While a probing tip of the balloon endoscope is being inserted into the patient for the sake of thorough examination of the suspected portion, a degree of similarity between an image captured by the balloon endoscope and an image of a destination point, which is one of the pass points and the aimed point, is detected to judge by the similarity whether the probing tip has reached the destination point or not. So the doctor can get the probing tip to the aimed point easily.

Abstract: An endoscope tracking system includes an endoscope, at least one endoscope tracking transmitter carried by the endoscope, a plurality of anatomy mapping transmitters, a receiver communicating with the at least one endoscope tracking transmitter and the anatomy mapping transmitters and a processor communicating with the receiver. The processor is adapted to generate an anatomical map based on input from the anatomy mapping transmitters and an endoscope tracking image based on input from the at least one endoscope tracking transmitter and superimpose the endoscope tracking image on the anatomical map.

Abstract: In a method to control the movement of an endoscopy capsule in a hollow organ of a patient using a magnet system, a movement signal of the endoscopy capsule in the hollow organ is detected, that represents the time curve of the spatial position. The movement signal is evaluated to identify a periodic signal component thereof, and the frequency of this periodic signal component is identified. The magnet system is operated to exert a force on the endoscopy capsule in the hollow organ that is periodic with the frequency of the periodic signal component, and that is directed opposite to the movement signal.

Abstract: An in-vivo sensing device for capturing sensed data of the gastrointestinal tract, or other body lumens or cavities of a patient, and for transmitting the sensed data to a data recorder external to the patient. The in-vivo sensing device has an identifier code associated with it. The sensed data may be transmitted to the data recorder together with the identifier code so that the received sensed data can be correlated with the in-vivo sensing device.

Abstract: A device for Computer Simulated Marking Targeting Biopsy (CSMTB) has at least a space locator, and a main control module, including a surface model sub-module, a positioning sub-module, a tracking sub-module, a virtual endoscope sub-module, and a marking targeting biopsy sub-module. The device accurately detects minimal gastric lesions, and reduces pain to patients and thus decreases the workload of a doctor.

Abstract: An endoscope apparatus including an insertion portion for insertion into a body cavity; an image-acquisition unit disposed at a tip thereof that acquires an image of the inside of the body cavity; an insertion-length measuring unit disposed at a base end of the insertion portion that measures an insertion length of the insertion portion inside the body cavity; a storage unit that stores the image acquired by the image-acquisition unit in association with the insertion length measured by the insertion-length measuring unit; a following decision unit that determines whether insertion movement at the tip follows insertion movement at the base end; and a correcting unit that corrects the insertion length of the insertion portion associated with the acquired image to cancel a change in the insertion length measured in a non-following period on the basis of the result of that determination.

Abstract: Landmark directional guidance is provided to an operator of an endoscopic device by displaying graphical representations of vectors adjacent a current image captured by an image capturing device disposed at a tip of the endoscopic device and being displayed at the time on a display screen, wherein the graphical representations of the vectors point in directions that the endoscope tip is to be steered in order to move towards associated landmarks such as anatomic structures in a patient.

Abstract: An encapsulated medical device system according to an embodiment of the present invention includes a selector between a receiving device and a plurality of receiving antennas having their respective directionalities. The system selects and disconnects any receiving antenna subjected to the effect of a magnetic field used to guide a capsule endoscope, and captures information about the inside of a body from the appropriate receiving antenna thus selected. The system prevents an overload current caused by induced voltage from being applied to the receiving device. The system includes the function of preventing the overload current, caused by induced voltage arising from a sudden movement of the capsule endoscope or sudden change in magnetic field gradient, from being applied to a transmission circuit of the capsule endoscope and a receiving device.

Abstract: A method for measuring bending is provided. The method includes receiving a reflected signal from a strain sensor provided on an optical fiber; determining a spectral profile of the reflected signal; and determining bending of the optical fiber based on a comparison of the spectral profile of the reflected signal with a predetermined spectral profile.

Abstract: A method and system for determining intestinal dysfunction condition are provided by classifying and analyzing image frames captured in-vivo. The method and system also relate to the detection of contractile activity in intestinal tracts, to automatic detection of video image frames taken in the gastrointestinal tract including contractile activity, and more particularly to measurement and analysis of contractile activity of the GI tract based on image intensity of in vivo image data.

Abstract: An endoscope is provided which comprises an elongated body adapted for insertion into a body lumen, and a plurality of electrically controlled actuators associated with the body which are controllable to impart an orientation to the body that is complimentary to the natural orientation of the lumen into which the endoscope is inserted.

Abstract: The required minimum amount of examination site information is acquired, stored, or transmitted without missing an affected area, thus reducing power consumption, reducing the size of a battery disposed in a capsule, and reducing the size of a casing. Provided is a capsule medical device including a casing having a capsule shape; a light-detecting section, disposed in the casing, for detecting information about the intensity of light from outside the casing; an information-acquiring section for acquiring examination site information from an examination site positioned outside the casing; and a determination section for determining whether or not to acquire, store, or transmit, to the outside, the examination site information acquired by the information-acquiring section on the basis of the information about the intensity of the light detected by the light-detecting section.

Abstract: A magnetic force control system for guiding a medical instrument within a body includes: a controlled magnet coupled to the medical instrument; a controller magnet that exerts a magnetic force on the controlled magnet; a magnetically permeable shield, placed between the controlled magnet and the controller magnet, that selectively modulates the magnetic force by rerouting magnetic field lines; and a control system. A method for guiding a medical instrument within a body with magnetic force control includes: providing a controlled magnet coupled to the medical instrument, inserting the controlled magnet and medical instrument into the body, providing a controller magnet outside the body, placing a magnetically permeable shield between the controlled magnet and the controller magnet, applying magnetic force, and selectively modulating the magnetic force with the shield to vary at least one of amplitude and orientation of the magnetic force, thereby guiding the controlled magnet within the body.

Abstract: A medical device control system improves an inducing stability and operability of a medical device having its direction controlled with magnetism, which is used for the inspection or treatment in a subject's body. The control system is formed of a medical device including an insertion member inserted into the subject's body, and a magnetic field response portion disposed within the insertion member for generating torque in response to the magnetic field applied from outside the subject's body, a direction detection unit that detects an insertion direction of the insertion member, a user interface through which the information with respect to the control of the insertion direction is input and output, a magnetic field generation portion that generates a magnetic field that directs the insertion member to a control direction, and a user interface control unit that controls the user interface based on a discordance between the control direction and the insertion direction.

Abstract: The inventive endoscopy system includes a cannula for arranging an endoscope and forming, between said cannula and endoscope, an irrigation or aspiration channel for transporting an irrigation or aspiration fluid, respectively, a connection ring mounted around the cannula and provided with a connection channel connectable to the irrigation or aspiration channel, respectively and a connector which is mounted on the connection ring and includes a transport channel with the connection channel and a first pressure sensor for detecting pressure in the transport channel. The connection ring is provided with a bypass circuit connectable to the irrigation or aspiration channel, respectively and the connector including a dead channel connectable to the bypass circuit and a second pressure sensor for detecting pressure in the dead channel.

Abstract: A medical system provides navigation assistance to a surgeon so that the surgeon may navigate a flexible medical device through linked passages of an anatomical structure to a target in or adjacent to the anatomical structure. As the medical device moves through the linked passages, images are captured by an image capturing element at its distal end and pose and shape information for the medical device are received from sensors disposed in the medical device. A 4-D computer model of the anatomical structure is registered to the medical device using one or both of 4-D shape registration and virtual camera registration so that the captured image and a virtual image generated from the perspective of a virtual camera are registered to each other and displayed while providing an indication of a navigational path to the target.

Abstract: A medical system provides navigation assistance to a surgeon for navigating a flexible medical device through linked passages of an anatomical structure to a target area. For tracking, navigation, and other purposes, information of extrema is determined during expansion and contraction cycles of an object by receiving time sampled information from sensors distributed along a length of a flexible device so as to indicate the shape of the device over time while the device extends through a lumen of the object so as to conform to and resemble the shape of the lumen, displacements over time of a selected point at a selected insertion length of the flexible device into the lumen of the object relative to a reference point are determined, extrema time points are determined by identifying sign changes of the slope of the determined displacements over time, and extrema types are determined using extrema type characteristics.

Abstract: A manipulator operation system includes a treatment instrument distal end movement control section having an endoscope treatment instrument having a bending portion and a distal end portion, a bending driving section and a bending operating section. The manipulator operation system includes imaging mechanism having an imaging section that includes an optical system having a field curvature, images, observing mechanism having a display section that displays a taken image, detecting mechanism having a detecting section that detects an arrangement position of the distal end portion, field curvature information acquiring mechanism having a field curvature information acquiring section that acquires field curvature information of the taken image, and adjusting mechanism having an adjustment section that adjusts a ratio of an operation amount of the bending operating section and a driving amount of the bending driving section based on the arrangement position and the field curvature information.

Abstract: A magnetically guided endoscope system has a display system wherein the position of the boundary of the examination region of the magnetic field that is used for capsule endoscope guidance is displayed and/or the position of the peak of the magnetic field used for capsule guidance is displayed. The displayed information can be presented in the form of computer-generated graphics superimposed on a camera image of the patient by a computer, or can be a fixed indicator on the display screen of a display at which a computer causes the camera image of the patient to be displayed at a position that is correctly oriented with respect to the fixed information.

Abstract: Some embodiments provide a system for external manipulation of magnetic nanoparticles in vasculature using a remotely placed magnetic field-generating stator. In one aspect, the systems and methods relate to the control of magnetic nanoparticles in a fluid medium using permanent magnet-based or electromagnetic field-generating stator sources. Such a system can be useful for increasing the diffusion of therapeutic agents in a fluid medium, such as a human circulatory system, which can result in substantial clearance of fluid obstructions, such as vascular occlusions, in a circulatory system resulting in increased blood flow.

Abstract: Apparatus for attaching a prosthetic tether between a leaflet of a patient's heart valve and another portion of the patient's heart to help prevent prolapse of the leaflet and/or to otherwise improve leaflet function. The apparatus can be used with relatively low invasiveness of the patient's body. The apparatus releasably clamps the leaflet during attachment of the tether to the leaflet. The apparatus may include an integrated display for indicating how extensively the leaflet is being clamped. The apparatus may include structure for stabilizing the leaflet for better clamping. The apparatus may enter the heart through an aperture in the wall of the heart, and may include structure for helping to reduce blood leakage from that aperture. The apparatus may be able to enter the heart by following a guide wire. The apparatus may include various means for attaching the tether to the leaflet.

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: A magnetically guiding system includes: a capsule medical device that has a magnet provided therein; an information acquiring unit that acquires physical information about magnetic guiding of the capsule medical device; a magnetic field generating unit that generates a magnetic field for magnetically guiding the capsule medical device; and a control unit that sets a magnetic field condition based on the physical information acquired by the information acquiring unit and controls the magnetic field generating unit to generate a magnetic field corresponding to the magnetic field condition.

Abstract: A bend sensor for measuring a deflection of a technical or medical instrument, consisting of an elongated body of electrically insulating polymer material, with a longitudinal axis and with fibers of an electrically conducting polymer material that are embedded in the body. The fibers are disposed essentially parallel to the longitudinal axis and at a distance from one another in the polymer body. A measuring unit is connected with the fibers and is suited for evaluating the modification of the electrical resistances of the fibers as a measurement of the deflection of the body from the longitudinal axis.

Abstract: An in-vivo examination system includes a body-insertable apparatus that moves in a subject; and an external device that acquires information about an inside of the subject. The external device includes a location acquiring unit that acquires a plurality of first locations of the body-insertable apparatus in the subject; a trajectory generating unit that generates a first movement trajectory of the body-insertable apparatus in the subject, based on the plurality of first locations; a trajectory storage unit that stores a second movement trajectory; and a scale adjusting unit that adjusts the first movement trajectory to the second movement trajectory.

Abstract: A medical device for examination or treatment based on a reference point A1, including: a virtual endoscopic image generation section configured to generate a virtual endoscopic image from a plurality of different sight line positions using three-dimensional image data of a bronchus that is obtained in advance; an image retrieving section configured to retrieve a virtual endoscopic image highly similar to a real image; a reference-point setting section configured to set the reference point A1 based on a line-of-sight position A0 of the highly similar virtual endoscopic image; a relative-position calculation section configured to calculate a relative position of a treatment instrument to the reference point A1; a movement detection section configured to detect a movement of the reference point A1 or the bronchus; and a position correction section configured to correct the relative position in response to the movement of the reference point A1 or the bronchus.

Abstract: The present invention provides systems, devices, and methods employing fiber optic shape and position tracking. The systems, devices, and methods permit measurement of and continuous tracking of the shape and position of objects whose shape dynamically changes with time. Applications include tracking and monitoring of endoscopes for diagnostic and surgical procedures.

Abstract: An endoscopic screening system uses an apparatus has an endoscope with an upper/lower wheel and a right/left wheel for controlling bending of an endoscope tip within an organ being imaged; an intelligent mouthpiece adapted to precisely measure inclination of the endoscope using marks in degrees in both the novel mouth piece and in the new shaft; an endoscope shaft having both cross and longitudinal marks along a longitudinal length for digitalization of output to precisely obtain the length of insertion from a reference point to a tip of the endoscope; and an angulation device for measuring rotation of the upper/lower and right/left wheels. Every portion/part/side located within an organ is already assigned an alphanumeric code as part of the new nomenclature. The endoscopic screening system allows for imaging sequentially of an entire interior surface of a portion of the patient's gastrointestinal tract and image reconstruction of the surface with overlapping redundant pictures without image gaps.

Abstract: An endoscope insertion assistant probe is inserted into a body cavity prior to insertion of an insertion portion of an endoscope into the body cavity, to assist the insertion of the endoscope, and includes a flexible, elongated probe; and a distal end guiding element that is arranged at a distal end portion of the probe. The distal end guiding element is made of a thin-film resin member and expandable by fluid.

Abstract: The present disclosure relates to a system for overlaying ultrasound imagery on a laparoscopic camera display. The system may include a laparoscope configured to capture a laparoscopic image of a surgical field and a laparoscopic ultrasound probe configured to capture an ultrasonic image of a structure in the surgical field. The system may further include a tracking system configured to detect a position and orientation of the laparoscope and a position and orientation of the laparoscopic ultrasound probe. The system may further include data associated with the laparoscope wherein the data indicates a distortion in the laparoscopic image. The system may further include a computer configured to receive the laparoscopic image, the ultrasonic image and the distortion data associated with the laparoscope.

Abstract: Described are devices and methods related to the needleless injection of fluid into tissue of the lower urinary tract, such as the urethra and prostate.

Abstract: A guiding system includes a capsule-type apparatus and a position controlling apparatus. The capsule-type apparatus includes a permanent magnet, which is fixed to a capsule-shaped casing, and is introduced into a subject. The position controlling apparatus includes a relative position controlling mechanism that changes a relative position between a predetermined axis and the subject, and a magnetic field generating mechanism that forms, in a space in which the subject is laid, a magnetic field that includes at least one of a component of a trapping magnetic field that attracts the permanent magnet to the predetermined axis and a component of a gradient magnetic field that attracts the permanent magnet in a direction same as or opposite to a direction in which the relative position is changed.

Abstract: A system for endoscope data management of an endoscopic image of a body acquired by an endoscope is provided. An image filing apparatus retrieves the image from the endoscope, and records data of the image and scope ID assigned to the endoscope in association with one another. A washer washes the endoscope. A memory is incorporated in the washer, for storing log information of washing of the endoscope. A data manager retrieves the log information on line with the washer, to record the scope ID and the log information in association with one another. A server device records the data of the image, the scope ID and the log information on line with the image filing apparatus and the data manager. Furthermore, the data manager includes an editor for editing the log information of the washer.

Abstract: An endoscopic apparatus includes a light-generating mechanism for generating at least one modulated measuring beam, a light-transmitting mechanism for conducting the measuring beam onto an area to be observed, where the light-transmitting mechanism includes an illuminating lens, in addition to a light-imaging mechanism for imaging a signal beam from the area to be observed at least onto a phase-sensitive image sensor, which includes a number of pixels, where the light-imaging mechanism includes an imaging lens. At least one additional image sensor is provided and the light-imaging mechanism includes a beam-splitter and/or an optical switch, where at least one adaptive lens is provided for adapting the fields of vision of the image sensors. As a result, an apparatus is created for endoscopic 3D data collection that is suitable for various types of image sensors.

Abstract: An endoscope insertion shape detecting device of the present invention comprises an insertion shape detection portion for detecting an insertion shape of an endoscope insertion portion, an insertion shape image generation portion for generating an insertion shape figure of the endoscope insertion portion according to the insertion shape, a marking processing portion for carrying out a control to add a mark to the insertion shape figure for output as a control for the insertion shape image generation portion in a first observation for the subject, a memory portion for storing subject information, the insertion shape figure, and information on a position to which the mark is added in the insertion shape figure, and a position detection information output portion for outputting position detection information when a distal end portion of the insertion shape figure overlaps the mark position information in second observation made for the same subject.

Abstract: A device for displaying assistance information for surgical operation 1 includes an endoscope 11, a CT device 30, an image pickup device 20, a surface shape calculating unit 43, a coordinate axis matching unit 44 that matches the shape of the patient surface by the CT device 30 and the shape of the patient surface calculated from the image, an endoscope optical axis calculating unit 45 that calculates a ray indicative of an optical axis in the image pickup direction of the endoscope 11, an intersection calculating unit 46 that calculates an intersection of the ray and the plane constituting the internal parts of the patient 60, and an outputting unit 47 that outputs the information indicative of the intersection after overlapping the information on the information indicative of the shape of the patient 60.

Abstract: An endoscope insertion shape analysis system of the present invention includes an insertion state acquisition unit that acquires coordinate values of a plurality of locations in an insertion portion of an endoscope inserted in an examinee, an insertion shape detection unit that detects at least some insertion shapes of the insertion portion inserted in the examinee based on the coordinate values at the plurality of locations, a coordinate plane setting unit that sets a plurality of coordinate planes according to the coordinate values and the insertion shapes at the plurality of predetermined locations, an insertion shape projecting unit that projects the insertion shapes onto the plurality of coordinate planes and an insertion shape judging unit that judges whether or not a predetermined shape exists in the insertion shapes projected onto the plurality of coordinate planes.

Abstract: An endoscopic surgical navigation system comprises a data acquisition subsystem, a tracking subsystem, a registration subsystem, a data processing subsystem and a user interface subsystem. The data acquisition subsystem inputs intra-operative scan data from a medical scanning device during an endoscopic procedure. The tracking subsystem captures data representing positions and orientations of a flexible endoscope during the endoscopic procedure. The registration subsystem determines transformation parameters for coregistering the intra-operative scan data and the data indicative of positions and orientations of the endoscope. The data processing subsystem coregisters the intra-operative scan data and the data indicative of positions and orientations of the endoscope based on the transformation parameters and generates real-time image data representing 3D internal views of a body that are coregistered with live video from an endoscopic video camera.

Abstract: A system for guiding a capsule medical device is provided with a capsule medical device, a magnetic guidance device, and an image display device. The capsule medical device is provided with an imaging unit and a permanent magnet having a known magnetization direction relatively fixed with respect to an upward/downward direction of an imaging surface, and has a center of gravity deviated from a geometric center of the capsule casing in a direction parallel to a plane parallel to a magnetization direction and an imaging direction and different from the magnetization direction, and maintains a specific state in which the magnetization direction and the imaging direction are parallel to a vertical plane in liquid introduced into the subject. The image display device displays the in-vivo image by conforming a direction of intersection line of the imaging surface and the vertical plane to an upward and downward direction of a display screen.

Abstract: Two system-level bronchoscopy guidance solutions are presented. The first incorporates a global-registration algorithm to provide the physician with updated navigational and guidance information during bronchoscopy. The system can handle general navigation to a region of interest (ROI), as well as adverse events, and it requires minimal commands so that it can be directly controlled by the physician. The second solution visualizes the global picture of all the bifurcations and their relative orientations in advance and suggests the maneuvers needed by the bronchoscope to approach the ROI. Guided bronchoscopy results using human airway-tree phantoms demonstrate the potential of the two solutions.

Abstract: A technician-free strategy enables real-time guidance of bronchoscopy. The approach uses measurements of the bronchoscope's movement to predict its position in 3D virtual space. To achieve this, a bronchoscope model, defining the device's shape in the airway tree to a given point p, provides an insertion depth to p. In real time, the invention compares an observed bronchoscope insertion depth and roll angle, measured by an optical sensor, to precalculated insertion depths along a predefined route in the virtual airway tree to predict a bronchoscope's location and orientation.

Abstract: A capsule guiding system includes a magnetic guiding unit, a displaying unit, an operation unit, and a control unit. The magnetic guiding unit guides, using magnetic force, a capsule-shaped medical apparatus introduced inside a subject. The displaying unit displays an image of the subject and an image of the capsule-shaped medical apparatus as an overlapped image, and changes relative position and relative direction between the two images as the capsule-shaped medical apparatus is guided by the magnetic guiding unit. The operation unit inputs coordinate information which specifies movement direction of the capsule-shaped medical apparatus.

Abstract: A system for guiding capsule medical device is provided with a capsule medical device, a magnetic guidance device, an operation input unit, a control device, and an image display device. The capsule medical device is includes therein a first and second imaging units that image images in imaging directions different from each other and a permanent magnet. The magnetic guidance device applies a magnetic field to the permanent magnet to magnetically guide the capsule medical device in a subject. The operation input unit receives operation information to operate magnetic guidance of the capsule medical device. The control device controls the magnetic guidance device to magnetically guide the capsule medical device in response to the operation information input through the operation input unit.

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: A direction of movement, an insertion amount and an insertion force amount at a time when an insertion section of an endoscope is inserted in a large intestine, which is an object of an inspection, are detected by detection unit. The direction of movement, the insertion amount and the insertion force amount of the insertion section are displayed on a display device which is separably disposed. Thereby, a high-precision insertion operation can simply and easily be realized, and a handling operability is improved.

Abstract: A medical system includes an endoscope which is a first medical instrument, a gas supply apparatus which is a second medical instrument that supplies a gas to an insertion site at which an insertion portion of the endoscope is inserted, a biological information acquiring apparatus which is a biological information detection section that detects a blood flow rate at the insertion site as a biological information detected value, a manipulation information acquiring apparatus which is a manipulation information detection section that contacts the insertion portion of the endoscope and is combined with a roller that rotates as the insertion portion moves forward or backward to detect an amount of rotation of the roller as manipulation information, and a system control apparatus provided with a control section that outputs an instruction signal for changing an amount of gas supply to the gas supply apparatus according to the detected value detected by the biological information acquiring apparatus and the manipula

Abstract: The present invention provides systems, devices, and methods employing fiber optic shape and position tracking. The systems, devices, and methods permit measurement of and continuous tracking of the shape and position of objects whose shape dynamically changes with time. Applications include tracking and monitoring of endoscopes for diagnostic and surgical procedures.

Abstract: The invention is a sideways looking video endoscope which offers a rigid endoscope tube. The optical system has one prism, and an image sensor located behind the optical system, provided on the distal end of the endoscope shaft. On the proximal end of the shaft, a knurled wheel is arranged so as to rotate freely. This wheel is provided with permanent magnets that are arranged at identical angular separations, and associated with Hall sensors located on the front face of the tool holder. The angular position of the rotatable wheel can thus be detected by means of the Hall sensors together with an electronic system that evaluates the signals, and displayed on a monitor. By turning the rotating wheel, the image can be rotated, thus correcting the image position when the endoscope is rotated, such that the viewing direction corresponds to the actual position of the object.

Abstract: An endoscopic information processing system in accordance with the present invention comprises: a shape analyzing unit that analyzes an insertional shape acquired by detecting the shape of an insertion unit of an endoscope which is inserted into a body cavity; and an information providing unit that provides information on the situation of handling the endoscope according to the result of the analysis performed by the shape analyzing unit.

Abstract: An endoscope bending control apparatus includes: an image feature value calculating section for calculating, based on an endoscopic image, an image feature value related to a luminal dark part; a bending control section for performing bending control on a bending portion in either one of a first bending operation mode in which a position of the luminal dark part is set as an insertion target and a distal end of the insertion portion is directed to the position and a second bending operation mode in which the distal end of the insertion portion is directed in a direction of the position of the luminal dark part; an operation mode switching section for switching an operation mode from one bending operation mode to the other according to a first switching condition based on the calculated image feature value; and a switching condition changing section for changing the first switching condition.