Abstract: Plural predetermined examination parts of a patient are imaged sequentially and still images of the respective examination parts are thereby acquired by inserting an endoscope insertion unit having an imaging optical system in its tip portion into the body cavity of the patient. To this end, the number of still images taken is counted every time one of the predetermined examination parts. The counted number of still images taken is compared with a preset number of images which corresponds to the number of the plural predetermined examination parts. An alert is generated when non-coincidence is detected between the counted number of still images taken and the preset number. The operator is thus notified of occurrence of a failure to image.

Abstract: In an imaging method for medical diagnostics and a device operating according to this method, during an endoscopic examination of a body region of a patient with an endoscope, an image is generated with a non-endoscopic imaging method and the image field of the endoscope is determined and rendered in the image (28) with accurate position and orientation.

Abstract: In the present invention, an ultrasound observation apparatus includes an information reposition portion; the information reposition portion is a storage portion for storing various state information in an endoscope processor inputted from a keyboard and is configured to include a memory controller and a data memory portion. Moreover, the keyboard is configured to include a key matrix, a keyboard controller, an ultrasound key processing portion and an endoscope key processing portion. This configuration allows the ultrasound observation apparatus to easily share various state information of a plurality of apparatuses making up the system.

Abstract: A lighting device includes first and second light sources, a wavelength converting member and a light quantity ratio changing unit. A first light source uses a semiconductor light emitting device as an emission source. A second light source uses, as an emission source, a semiconductor light emitting device of a different emission wavelength from the first light source. A wavelength converting member is excited for light emission by light emitted from at least one of the first light source and the second light source. The light quantity ratio changing unit changing a light quantity ratio between the light emitted from the first light source and the light emitted from the second light source.

Abstract: Systems and methods permit remote control of the operation of an endoscope. The system includes a control housing that removably attaches to an endoscope, with the housing including actuators and manipulators that engage with a control device of the endoscope in order to operate the control device. The system includes an axial roller that may be used to control the depth of the endoscope shaft within a patient's body.

Abstract: An endoscope apparatus is provided. An endoscope apparatus includes a slave device including a plurality of drive motors configured to adjust insertion and insertion direction of an insertion tube of an endoscope, and a plurality of load sensors provided on the plurality of drive motors; and a master device including displacement sensors configured to generate signals for driving the drive motors according to an operator manipulation, and resistive motors configured to operate based on loads detected by the load sensors. The drive motors produce drive forces according to the signals generated by the displacement sensors and the resistive motors produce resistive forces corresponding to the operator manipulation based on the loads detected by the load sensors.

Abstract: A method of manipulating an untethered magnetic device, such as a magnetic capsule endoscope, can include positioning a magnet actuator and an untethered magnetic device proximate one another such that the untethered magnetic device is within a constant magnetic field of the magnet actuator. A position of the untethered magnetic device can be determined relative to the magnet actuator. A desired heading, position, and/or velocity of the untethered magnetic device can be identified. The method can include calculating a magnetic field heading and/or a magnetic force to be applied to the untethered magnetic device to achieve the desired device heading, position, and/or velocity. The magnetic actuator can be moved to apply the calculated magnetic field heading and/or magnetic force to the untethered magnetic device via the magnetic field.

Abstract: An endoscope apparatus includes: a light source apparatus that emits light in a wavelength band including a first wavelength band for exciting a first fluorescent substance and a second wavelength band; an image pickup section that picks up an image of first fluorescence emitted when the first fluorescent substance is excited and an image of second fluorescence emitted when a second fluorescent substance provided on a treatment instrument is excited, to generate a fluorescence image; an information storing section that stores shape information including information on a shape of the second fluorescent substance; and an operation section that performs an operation to estimate an actual size of a region in which the first fluorescence is generated, based on a scaling factor calculated based on the shape information and a size of a draw region of the second fluorescence, and a size of a draw region of the first fluorescence.

Abstract: An apparatus comprises an implantable cardiac signal sensing circuit and a controller circuit. The implantable cardiac signal sensing circuit provides a sensed depolarization signal from a ventricle and a sensed depolarization signal from an atrium. The controller circuit includes a one-to-one detector circuit and a tachyarrhythmia discrimination circuit. The one-to-one detector circuit measures cardiac depolarization intervals of the atrium and the ventricle and determines whether a relationship of atrial depolarizations to ventricular depolarizations is substantially one-to-one. The tachyarrhythmia discrimination circuit classifies the episode as VT when detecting a shortening or prolonging of a V-V interval that immediately precedes the same shortening or prolonging of an A-A interval.

Abstract: A micro robot system movable on three dimensional space includes a micro robot unit including a magnet module having a certain magnetization direction and configured to rotate and proceed along a wall by a processional rotating magnetic field, and an electromagnetic field generation unit configured to set an alignment direction of the micro robot unit to have a certain angle with respect to the magnetization direction and configured to generate a magnetic field in the alignment direction to drive the micro robot unit.

Abstract: A system includes a capsule body having a casing introduced into a subject to perform, in liquid, examination of or treatment on the interior of the subject, the casing containing a permanent magnet, a mass of the casing excluding the magnet being set to be less than a product of a volume of the casing and a density of the liquid; a magnetic field generator that generates a magnetic attraction for the magnet to guide the capsule body; and a magnetic field generation device that controls the magnetic field generator to generate the magnetic attraction by setting a maximum value of the generated magnetic attraction vertically upward to the capsule body, to be equal to a maximum value of the generated magnetic attraction vertically downward to the capsule body, and by setting the maximum values to be less than a value obtained by multiplying a mass of the magnet by a gravitational acceleration.

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

Abstract: A lighting device includes first and second light sources, a wavelength converting member and a light quantity ratio changing unit. A first light source uses a semiconductor light emitting device as an emission source. A second light source uses, as an emission source, a semiconductor light emitting device of a different emission wavelength from the first light source. A wavelength converting member is excited for light emission by light emitted from at least one of the first light source and the second light source. The light quantity ratio changing unit changing a light quantity ratio between the light emitted from the first light source and the light emitted from the second light source.

Abstract: In one embodiment of the invention, a method for controlling a robotic surgical tool is disclosed. The method for controlling a robotic surgical tool includes moving a monitor displaying an image of a robotic surgical tool; sensing motion of the monitor; and translating the sensed motion of the monitor into motion of the robotic surgical tool.

Abstract: A light source device includes a first semiconductor light source, a second semiconductor light source, and a wavelength converter. The first semiconductor light source emits light in a first wavelength range. The second semiconductor light source emits light in a second wavelength range different from the first wavelength range. The wavelength converter absorbs the light in the first wavelength range to emit light in a third wavelength range different from either of the first wavelength range and the second wavelength range, and transmits the light in the second wavelength range substantially entirely.

Abstract: Method for advancing a colonoscope within a colon of the body of a patient, the method including the procedures of acquiring a stereoscopic image pair of a region of the interior of the colon, identifying topographical features in the stereoscopic image pair, determining the depth of each of the topographical features in the stereoscopic image pair, and indicating the appropriate direction to advance the colonoscope, the direction being toward at least a selected one of the topographical features with greater depth than others of the topographical features.

Abstract: An indwelling apparatus (5) for holding a capsule endoscope (3) is arranged with a control device (57) including an optical sensor (73), a control board (66) configuring a controller and a reset circuit, a driver board (68) configuring an electromagnet driver, and an electromagnet (70), where when the optical sensor (73) detects the light, the controller performs the drive control of the electromagnet (70) at every constant time interval to turn ON the reed switch (14) and supply power to the capsule endoscope (3) thereby operating the capsule endoscope (3) only when observation is necessary, and thus the battery drain of the capsule endoscope is reduced.

Abstract: In a special light mode, first to fourth special images are captured under first to fourth special light being narrow band light. A brightness ratio calculator extracts a blood vessel area containing a blood vessel from each special image. The brightness ratio calculator calculates first to fourth brightness ratios from the special images on every pixel within the blood vessel area. A depth and hemoglobin index calculator calculates the depth of the blood vessel and a hemoglobin index corresponding to the first and second brightness ratios, based on a correlation between the depth of the blood vessel and the hemoglobin index stored in advance. A depth and oxygen saturation calculator calculates an oxygen saturation level corresponding to the third and fourth brightness ratios, based on a correlation between the depth of the blood vessel and the oxygen saturation level stored in advance.

Abstract: An object of the present invention is to actively control at least one of the position and direction of the imaging field in a subject and to observe a desired observed region in the subject certainly in a short period of time. A body-insertable device system according to the present invention includes a capsule endoscope 1 introduced into a subject and a permanent magnet 3. An imaging unit of the capsule endoscope 1 for taking an image inside the subject is fixed in a casing. The capsule endoscope 1 includes a drive unit for changing at least one of the position and posture of the casing in the liquid 2a which is also introduced in the subject 100. The permanent magnet 3 controls the operation of the drive unit for changing at least one of the position and posture of the casing in the liquid 2a.

Abstract: An endoscope assembly communicates with a data processing unit by radio waves. The endoscope assembly includes operation switches, which is configured to be operated by an operator, and a control unit. The control unit is configured to enable the operation switches to function as switches for setting wireless communication when connection for wireless communication with the data processing unit is not established. Further, the control unit is configured to enable the operation switches to function as switches for inherent operations including at least an image acquisition operation when connection for wireless communication with the data processing unit is established.

Abstract: An endoscope apparatus includes an objective optical system mounted at a distal end portion of an endoscope, which is inserted into a tube cavity, and configured to form an image of an object in the tube cavity, the objective optical system including a focusing lens movable in an optical axis direction, a solid-state image pickup device for color image pickup configured to pick up the image formed by the objective optical system, a color separation filter being arranged for each pixel in the solid-state image pickup device, a focus adjusting mechanism configured to move the focusing lens and automatically adjust the objective optical system to a focus position in a focused state, a moving range switching section configured to perform switching of a moving range of the focusing lens, a moving range limiting section configured to limit the moving range in association with the switching by the moving range switching section, and the like.

Abstract: The present invention discloses a magnet driven capsule type endoscope comprising an image recording unit as well as an image data processing unit, a position sensor for providing data about the position of the capsule type endoscope with respect to the direction of gravitation, a data transmitting unit, an energy source for supplying the units and the sensor with energy and a permanent magnet. In accordance with the invention, the permanent magnet is arranged offset with respect to the center of gravity and to the geometrical center of the capsule type endoscope.

Abstract: A light source device includes a first semiconductor light source, a second semiconductor light source, and a wavelength converter. The first semiconductor light source emits light in a first wavelength range. The second semiconductor light source emits light in a second wavelength range different from the first wavelength range. The wavelength converter absorbs the light in the first wavelength range to emit light in a third wavelength range different from either of the first wavelength range and the second wavelength range, and transmits the light in the second wavelength range substantially entirely.

Abstract: Provided is a medical device including a self-propelled capsule endoscope that is propelled through the inside of a body by vibration of a fin portion and a capsule controller that controls self-propulsion of the capsule endoscope from the outside of the body, the medical device being capable of precisely controlling the moving direction of the capsule endoscope easily. This medical device (1) includes: a capsule endoscope (2) in which a magnet (21) having a magnetization direction in an axial direction is mounted and a fin portion (2b) is provided at a rear end in the axial direction of an endoscope main body (2a), and which can be self-propelled through the inside of a body; and a capsule controller (3) which controls self-propulsion of the capsule endoscope (2) from the outside of the body by generating a static magnetic field whose direction is controlled three-dimensionally, and an alternating magnetic field orthogonal to the static magnetic field.

Abstract: A living-body observation system is provided with: an in-vivo observation apparatus including: an in-vivo information acquiring section; a power source section; a magnetic field detection section that detects a magnetic field from outside and outputs a detected result as an electric signal; and a power supply section that controls a supply state of driving power supplied to the in-vivo information acquiring section, and the operation of the in-vivo information acquiring section, based on the electric signal; and a magnetic field generating section that is disposed outside the in-vivo observation apparatus and generates the magnetic field, wherein the power supply section includes a control section that controls the operation of the in-vivo information acquiring section of the in-vivo observation apparatus.

Abstract: An endoscope system 100 is provided with an optical fiber cable 31 and an electrical cable 32a that transmit pixel information output by a light receiving part 28, an image processor 42 that generates an image based on the pixel information transmitted from the optical fiber cable 31 or the pixel information transmitted from the electrical cable 32a, and a control unit 55 that controls a display unit 71 to display the image generated by the image processor 42, determines whether or not a transmission abnormality is present in the optical fiber cable 31, and selects, as pixel information as a target to be processed by the image processor 42, one of the pixel information transmitted from the optical fiber cable 31 and the pixel information transmitted from the electrical cable 32a depending on a presence of the transmission abnormality in the optical fiber cable 31.

Abstract: Provided is a capsule medical apparatus including a capsule body, a control member, and an observing member. The capsule body is to be introduced into a lumen of a subject. The control member controls a movement of the capsule body in the lumen by a flow of a fluid introduced in the lumen. The observing member is fixed inside the capsule body and observes a direction of the flow of the fluid and a direction different from the flow of the fluid according to the movement of the capsule body.

Abstract: An electronic endoscopic apparatus of the present invention can improve the usage efficiency of a circuit of a control section therein and can improve the reliability of operations of the circuit. The electronic endoscopic apparatus is an electronic endoscopic apparatus having multiple operation modes to be executed exclusively, the apparatus internally including an FPGA 1 that internally includes a CPU 10 and peripheral circuits and controls the execution of the operation modes and a switching request detecting section that detects a request for switching to the operation mode to be executed, wherein the internal configuration of the FPGA 1 is changed based on the detection result by the switching request detecting section.

Abstract: An endoscope system includes an overtube (2) and an endoscope (1), where the overtube (2) is equipped with a shape-holding section (2b) capable of shape-holding and relaxing, a balloon (2a) provided at the distal end of the shape-holding section (2b) to fix the overtube (2) to a body cavity, and an endoscope passage hole (13) serving as a conduit through which the endoscope (1) is passed and the endoscope (1) is equipped with a shape-holding section (1b) capable of shape-holding and relaxing and a balloon (1a) provided at the distal end of the shape-holding section (1b) to fix the endoscope (1) to the body cavity. When one of the endoscope (1) and overtube (2) is inserted, the shape-holding section of the other shape-holds, and the body cavity is pulled with the balloon (1a) inflated, making it possible to reduce insertion length.

Abstract: An image sensor for a capsule type endoscope in which an image data is processed in frame units, the image sensor having analog and digital circuits, the image sensor includes a frame-puncturing unit for interrupting a power supply to the analog circuit at a predetermined frame among a plurality of frames. The image sensor may include a start delay unit for delaying a power supply to the analog circuit for a desired time.

Abstract: A position information estimation system includes: a body-insertable apparatus that is inserted into a subject and moves through an inside of the subject; a receiving unit that receives information from the body-insertable apparatus; and an information processor that performs processes on the information acquired from the receiving unit. The receiving unit includes an acquisition antenna that includes a plurality of receiving antennas and acquires information from the body-insertable apparatus.

Abstract: A guiding system includes a capsule medical device including a permanent magnet; a magnetic field generating unit to generate a magnetic field to the magnet to guide the capsule, and change a direction of the magnetic field in a three-dimensional space; and a control unit to control the magnetic field generated by the generating unit. Where the capsule is located on a liquid surface, the control unit generates a first magnetic field such that a plane, which is parallel to a vertical axis and in which a magnetic field including a rotating magnetic field where a magnetic field is rotated on the plane is generated, pivots about the vertical axis at a predetermined period and a second magnetic field for generating a magnetic attracting force for moving the magnet vertically downward to submerge the capsule in the liquid, the first and second magnetic fields being applied at a same time.

Abstract: Unintended motion of a displayed object is prevented by rapidly detecting a state in which an operator becomes unable to operate an operating unit. Provided is an operation input unit including a display; a head-mounted unit; an operating unit to which an operating signal for a displayed object displayed on the display is input; a relative-position detecting section that detects the relative position between the head-mounted unit and the operating unit; and a control unit that controls the displayed object by switching between a first control mode in which the motion of the displayed object is controlled in accordance with an operating signal input to the operating unit and a second control mode in which the motion of the displayed object is controlled by limiting an operating signal input to the operating unit on the basis of the relative position detected by the relative-position detecting section.

Abstract: Provided is an intra-subject medical system which includes a body-insertable device and a physical quantity generator. The body-insertable device is to be introduced into a subject, is covered by a capsule-shaped exterior member, and includes a physical quantity detecting member which has a directivity to detect a predetermined physical quantity; at least one functional member which has a necessary function for examining or treating inside the subject; and a switch control unit which controls an on/off state or operation mode of the at least one functional member when the physical quantity detecting member detects a physical quantity. The physical quantity generator has a physical quantity emitting unit which emits a temporary physical quantity inside the subject; and a physical quantity direction changing unit which changes an emission direction of the physical quantity.

Abstract: Endoscopic instrument with a control element, an instrument shaft, an adjustment element, a pull element and an actuator, and also with an intermediate element which is operatively connected to the control element and to the adjustment element, wherein the intermediate element has a first portion and a second portion, the first portion is connected to the second portion, the second portion has a greater bending resistance than the first portion, and the first portion has a measurement element for measuring a flexion of the first portion, wherein the adjustment element has a first abutment device, which defines a first movement range of the first portion relative to the adjustment element, and a second abutment device, which defines a second movement range of the second portion relative to the adjustment element, and the first movement range is smaller than the second movement range.

Abstract: An endoscope including: two bending portions, a bending amount calculator, a setting portion, a determination portion, and a controller, configured as such: Upon bending of the distal bending portion, the bending amount calculator calculates the bending amount of the distal bending portion. If the determination portion finds if the bending calculated exceeds a first set threshold set by the setting portion, the controller continuously outputs a signal to drive the proximal bending portion to bend in the same direction as the distal bending portion. When subsequently the determination portion finds that the bending calculated is less than a second threshold less than the absolute value of the first threshold, and which is also set by the setting portion, the controller outputs a signal to return the proximal bending section to its initial predetermined position.

Abstract: A curving control device to which an electrically-controlled endoscope is connected has a main CPU for primarily performing curving driving control, and a monitoring CPU for monitoring whether the operating state relating to curving actions is normal or abnormal. In the event of detecting an abnormality from the monitoring CPU, the curving control device also performs processing for handling the occurrence of the abnormality, such as outputting an emergency stop through an interlock via the main CPU, turning the main power and the like of a servo driver OFF.

Abstract: This group of inventions provides means and methods for preventing the damaging portions of surgical tools, such as laparoscopic devices, from adversely contacting tissues and organs that are not in the desired field of surgery. As such, the present disclosure pertains to any form of a warning or positioning device or methods, including those that are facilitated via software that are adapted and arranged for use in tracking portions of surgical instruments during laparoscopic surgery or other medical procedures. Such systems include those that are adapted and arranged to provide a warning to the surgeon or other medical personnel regarding the positional status of an instrument, and those that are adapted and arranged for disabling or attenuating the portions of those instruments that might be dangerous to a patient when a dangerous portion of the instrument is near or outside the desired, or denominated, field of surgery.

Abstract: A capsule medical apparatus includes a capsule housing 3 having a protruded portion on a long axis at one end. The protruded portion is on a straight line lvm connecting a center of buoyancy Pv and a center of gravity Pm when the capsule housing is in liquid 7 in a body cavity, and the protruded portion is formed so that at least one straight line is present which passes a point Pf at which buoyant moment produced by buoyancy acting on the center of buoyancy Pv and gravitational moment produced by gravity acting on the center of gravity Pm are balanced and which intersects perpendicularly with an outer surface of the protruded portion. The inclined posture allows the capsule housing to receive a large fluid resistance against the liquid 7. Moreover, the capsule endoscope 1 can easily move along the flow of the liquid 7 because the capsule endoscope 1 is in the point contact state with the inner wall surface 2a.

Abstract: Disclosed herein is a maneuverable capsule endoscope. A capsule body is input into an internal organ to take images of the inside of the internal organ. A fan unit is mounted on the body. A fan position-changing device changes a direction in which the fan unit discharges fluid. The fan unit is mounted inside a duct without damaging the inner wall of the internal organ. When input into the internal organ, the capsule endoscope can concentrically take images of a specific portion inside the internal organ, and can freely take images of a portion that is intended to be photographed.

Abstract: A switch cover is configured by having a first deformation portion that is connectively provided at a flat surface portion of a cylindrical portion placed to surround a periphery of a switch portion, and deforms by an external stress, a second deformation portion that is connectively provided at a curved surface portion of the cylindrical portion, and deforms by the external stress, and a stress transmitting portion that is connectively provided at the first and the second deformation portions, and transmits a stress having a component in a perpendicular direction to an outer surface of an operation portion main body to the switch portion when the first deformation portion is deformed inward of the cylindrical portion by the external stress.

Abstract: Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region.

Abstract: Illumination light projected into a body cavity includes first to third narrowband rays of different wavelength ranges, at least one of these narrowband rays has a central wavelength of not more than 450 nm. Under these narrowband rays, first to third narrowband image signals are respectively obtained through an endoscope. Based on the first to third narrowband image signals, vascular areas containing blood vessels are determined, and a first luminance ratio between the first and third narrowband signals and a second luminance ratio between the second and third narrowband signals are calculated at every pixel of the vascular areas. From the calculated first and second luminance ratios, information about both the depth and oxygen saturation of the blood vessels is acquired with reference to correlation data that correlates the first and second luminance ratios to the vessel depth and the oxygen saturation.

Abstract: An endoscopic image pickup device includes a sheath functioning as insertion section which is inserted in a body cavity, a camera head body which is coupled to a proximal end portion of the sheath in a direction perpendicular to an axis of the sheath, is rotatable about the axis of the sheath as a rotational axis, and has a center of gravity below the rotational axis, and a remote control section which is provided at a position with an extension below the camera head body. With this structure, even if an endoscope is rotated about the axis of the sheath of the endoscope, the camera head body is always kept in a constant attitude by its own weight. In addition, blurring of an image can be prevented at a time of capturing a still image by the operation of the remote control section.

Abstract: An in-vivo observation system provided with a capsule endoscope including an in-vivo observation section, a battery, a magnetic field detection section, a power supply switch that controls a power supply and a power supply control section that causes the power supply switch to operate according to an internal signal from the magnetic field detection section, and a magnetic field generating apparatus including a magnetic field generating section, an operation section that outputs an operation signal according to an operation by a user and a masking section that masks an operation signal inputted to the magnetic field generating section for a predetermined period.

Abstract: A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide, and a controller configured to limit joint velocities in the entry guide manipulator so as to prevent movement of tips of the articulatable instruments from exceeding a maximum allowable linear velocity when the entry guide manipulator is being used to move the entry guide.

Abstract: An in-vivo imaging device, typically an autonomous capsule, having a housing, the housing comprising a window; an illumination source located within the housing to illuminate a body lumen through the window; an imager to receive light reflected from the body lumen through the window; and a transmitter to transmit image data to a receiving system. The window is coated with liposomes containing a marker such that the imager may acquire images which include the marking.

Abstract: A device, system and method for capturing in-vivo images allows for size or distance estimations for objects within the images. According to one embodiment of the present invention there may be provided, in an in-vivo device at least an imager, an illumination source to provide illumination for the imager, an energy source to emit for example a light beam or a laser beam in a body lumen and a processor to, based on the light beam or laser beam image, estimate, for example the size of objects in a body lumen.

Abstract: A medical instrument having a lighting system for illuminating a target area, the system comprising a light source and associated power controller, the system being configured to move from a first illumination mode to a second illumination mode based on a sensed or determined changed condition, such as predetermined temperature and/or change in a scene or brightness signal, or lack of change, from an image sensor that may be associated with the instrument.

Abstract: A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide, and a controller configured to limit joint velocities in the entry guide manipulator so as to prevent movement of tips of the articulatable instruments from exceeding a maximum allowable linear velocity when the entry guide manipulator is being used to move the entry guide.