Abstract: A control handle includes a housing and at least one control wire that extends from the housing to terminate at a distal tip. A steering assembly is coupled with the at least one control wire for selectively tensioning the at least one control wire to effectuate movement of the distal tip. The steering assembly includes at least one cam that is rotatable about an axis and presents a winding surface that extends circumferentially. The at least one control wire is connected to the at least one cam. An actuator dial is rotatable about the axis and coupled with the at least one cam for rotatably driving the at least one cam from a neutral position to an actuated position to at least partially wind the control wire about the winding surface and to tension the at least one control wire for deflecting the distal tip.

Abstract: A medical manipulation assembly comprises a sheath steerable in response to rotational movement of a sheath steering mechanism. The assembly also comprises a catheter extendable through the sheath. The catheter is steerable in response to rotational movement of a catheter steering mechanism. The sheath and catheter are independently steerable. The assembly also comprises a set of control wires. At least one of the sheath or the catheter includes a plurality of lumens with at least two of the plurality of lumens each sized for passage of one of the control wires of the set of control wires. The steerable catheter includes a working channel sized to receive a visualization instrument therethrough.

Abstract: The present invention relates to an endoscope including a connector configured to be coupled to an external device and receive power from the external device, wherein the connector includes: a power transmission means configured to transmit power to a bendable section; a power receiving part configured to receive power from the external device; a power transmission part configured to receive power from the power receiving part and transmit the same to the power transmission means; and a tension control part configured to control a tension of the power transmission means.

Abstract: A bending tube is constructed of a first bending piece including a first upper-side opening and a first lower-side opening formed on an outer surface in a longitudinal axis direction, and a first upper-side wire accommodating groove and a first lower-side wire accommodating groove continuous with a first upper-side opening and a first lower-side opening respectively and formed in a direction crossing two up and down bending directions at an angle of 90 degrees, and a second bending piece including a second upper-side opening and a second lower-side opening formed on an outer surface in the longitudinal axis direction, and a second upper-side wire accommodating groove and a second lower-side wire accommodating groove continuous with a second upper-side opening and a second lower-side opening respectively and formed in a direction crossing the two up and down bending directions at an angle of 270 degrees.

Abstract: An endoscopic device includes a flexible shaft extending distally from a handle which, during use remains outside a living body, the shaft comprising a pull wire extending therethrough from the handle and a distal tip rotatably coupled to a distal end of the shaft, the distal tip comprising an imager directed distally from a distal face of the distal tip, the imager including a chip and a lens, a distal end of the pull wire being coupled to the distal tip in combination with an actuation mechanism coupled to a proximal end of the pull wire so that, actuation of the actuation mechanism, pulls the pull wire proximally through the shaft rotating the distal tip relative to the shaft to alter a field of view of the imager.

Abstract: Catheter device and driving system configured to navigate the catheter through complex narrow tissue openings such as lung bronchi pathway openings of 3 millimeters or less. The device comprises a proximal catheter portion containing a hollow torque shaft, with a distal catheter portion connected to the proximal portion connected to this torque shaft. The distal position of the catheter is controlled by at least one steering cable/tensioning cable arrangement. The system uses processor-controlled actuators that simultaneously rotate the torque shaft and the at least one steering cable/tensioning cable in a 1:1 relationship, while also actuating the steering cable. The catheter is tipped by a tool plate, which can be equipped with various sensors and other instruments and connected to the outside via other conduits.

Abstract: A manipulator system, has an elongated portion having a bending portion and a wire configured to bend the bending portion; an operation portion configured to generate a first force for pulling the wire by an operator; a motor configured to generate a second force for pulling the wire; a clutch mechanism configured to switch a pulling force to pull the wire between to at least one of the first force or the second force; a grasping-state detector configured to determine a grasping state of the operation portion by the operator; and a controller configured to control the motor and the clutch mechanism, wherein the controller is configured to obtain the grasping state from the grasping-state detector, generate a control signal for controlling the clutch mechanism according to the obtained grasping state, and transmit the control signal to the clutch mechanism.

Abstract: A delivery device includes a handle, a sheath distally extending from the handle, a capsule distally extending from the sheath, and a pull wire having a proximal end attached to the handle and a distal end attached to the capsule. The sheath defines a central lumen there-through and has a longitudinally-extending lumen formed within a wall of the sheath. The capsule has a tubular body with an intermediate region having a plurality of ribs and a plurality of slots defined therein. The capsule includes an indented segment defined on the tubular body, the indented segment being disposed radially inward relative to the tubular body. The pull wire is tensioned to bend the capsule. The pull wire is slidably disposed within the longitudinally-extending lumen of the sheath and along an inner surface of the tubular body of the capsule with a portion of the pull wire crossing over an outer surface of the indented segment.

Abstract: A medical instrument may comprise a first articulatable segment having a first diameter, and a second articulatable segment having a second diameter smaller than the first diameter, wherein the second articulatable segment is coupled to the first articulatable segment and extends in a distal direction past the first articulatable segment. The instrument may also comprise a first force transmission element coupled to the first articulatable segment and extending in a proximal direction from the first articulatable segment to a first connector portion, the first connector portion being configured to be releasably coupled with a first actuator, and a second force transmission element coupled to the second articulatable segment and extending in a proximal direction from the second articulatable segment to a second connector portion, the second connector portion being configured to be releasably coupled with a second actuator.

Abstract: A medical system includes a first medical device and a second medical device. The first medical device includes a handle and a shaft. The shaft includes a lumen. A distal portion of the shaft includes an articulation joint, and the lumen extends through at least a portion of the articulation joint. The second medical includes a control device and a rod. The rod is configured to be positioned within at least a portion of the lumen of the shaft within the articulation joint. The control device is configured to control a position of the rod within the shaft. The position of the rod within the shaft controls an articulation angle of the articulation joint.

Abstract: A system and method of controlling an end effector includes a drive unit having a first actuator and a second actuator, a moveable platform drivably coupled to the first actuator, first and second engagement members drivably coupled to the second actuator; and a control unit. The control unit is configured to actuate the first actuator to drive the platform, detect engagement of the first engagement member with a third engagement member of an instrument, detect engagement of the second engagement member with a fourth engagement member of the instrument, and actuate the second actuator to drive the first and second engagement members. Movement of the third and engagement member causes movement of a degree of freedom of an end effector of the instrument in a first direction. Movement of the fourth engagement member causes movement of the degree of freedom in a second direction opposite the first direction.

Abstract: Techniques for multi-mode imaging device control include determining, by a controller, if an orientational mode command or a translational mode command is entered; in response to determining that the orientational mode command is entered, constraining, by the controller, movement of an imaging device so that a focal point of the imaging device moves along a concave virtual surface in response to translational movement of one or more input devices; and in response to determining that the translational mode command is entered, causing, by the controller, translational movement of the imaging device in a three-dimensional space in response to the translational movement of the one or more input devices.

Abstract: Methods of assisting an operator to perform a surgical procedure include inserting at least one surgical tool into a surgical environment of a human body. The 3D spatial position of the surgical tool within the surgical environment is estimated in real time, and movement of the surgical tool is detected. The spatial position of the surgical tool within the surgical environment is controlled using a controller, including by determining using image processing whether each of the detected movements is an ALLOWED movement or a RESTRICTED movement based on a predetermined rule stored in a database in communication with the controller.

Abstract: A wire fixing structure includes: a first hole portion through which a wire passes; and a second hole portion which is formed in a direction orthogonal to the first hole portion and communicates with the first hole portion. The wire includes: a first portion which is inserted into and is disposed in the first hole portion; a second portion which is extended from the first hole portion and wound around the outer peripheral portion of a wire fixing member; and a third portion which is inserted into and is disposed in the first hole portion again after the second portion is wound around the outer peripheral portion. The fastening member is inserted into the second hole portion and fixes the first portion and the third portion by pressing in the first hole portion.

Abstract: An endoscope includes an insertion portion, an operation portion, a power transmission unit, a power relay unit, a power generation unit configured to apply power to the power relay unit in a second power transmission shaft direction which is non-parallel to a first power transmission shaft direction, an elastic member configured to perform either one of urging the power relay unit against the power generation unit or urging the power generation unit against the power relay unit, and a cable configured to extend from the operation portion in the second power transmission shaft direction which is a direction different from a longitudinal direction, wherein the power generation device is attached such that the power generation device is disposed to extend in an extending direction of the cable after being mounted.

Abstract: A method and system for controlling at least one robotically controlled surgical tool via vocal activation include detecting a vocal command generated by a surgeon, converting said at least one surgeon in said surgical setting via said voice sensor. The vocal command is converted to operative instructions associated with a robotically controlled surgical tool to generate instructions according to a predetermined set of rules including at least one of a no fly zone rule and collision prevention rule.

Abstract: An apparatus for correction of a direction to which a tool channel or a camera moves or is bent in a case where a displayed image is rotated. The apparatus includes at least one memory and at least one processor that executes instructions stored in the memory to receive a directional command of a capturing direction of a camera, move the capturing direction of the camera according to the received directional command, detect a rotation amount of a captured image displayed on a monitor, wherein the captured image is captured by the camera, and correct, based on the detected rotation amount, directional information corresponding to a particular directional command or directional coordinate for moving the camera, wherein the directional information is used for moving the capturing direction of the camera.

Abstract: A lens base, a distal module, an endoscope, and an assembly method for the distal module are provided. The lens base includes a lens base body, where the lens base body is axially provided with a camera module accommodating portion that includes a camera channel and an illumination channel. A side wall of the lens base body is provided with a camera module opening portion. The camera module opening portion includes a first opening portion and a second opening portion that are adjacent to each other. The first opening portion is communicated with the camera channel, and the second opening portion is communicated with the illumination channel. The first opening portion is configured to mount a camera unit, and the second opening portion is configured to mount an illumination unit.

Abstract: An endoscope has a configuration in which a wire guide tube is configured as a tube consecutively formed of polyetheretherketone from one end side to another end side, an opening penetrating is provided in a radial direction at part of a wall portion of a second coupling member into which an end part of the wire guide tube is inserted, a concave portion corresponding to the opening is provided at an outer peripheral surface of the end part of the wire guide tube, and a bonding agent integrally fills the opening and the concave portion to connect the wire guide tube and a coupling portion (the second coupling member).

Abstract: There is provided herein an integrated manifold for the tip of a multiple viewing elements endoscope which combines the functionalities of the front holder, side holder/cage and fluid channeling components into a single part. The manifold includes square slots that are equipped with tracks. Square shaped lens assemblies having protrusions are used in the endoscope tip, such that the protrusions allow the optical assemblies to slide into the tracks of the square slots. This ensures gapless placement of viewing elements with no deviation in their position and field of view.

Abstract: A method and apparatus for improving a heat dissipation capacity. An apparatus comprises an elongate member, a housing, and a heat pump device. The elongate member has a distal end and a proximal end. The housing is coupled to the proximal end of the elongate member. The heat pump device is disposed between the proximal end of the elongate member and the housing. The heat pump device is disposed at least partially outside the housing and is configured to transfer thermal energy between the elongate member and the housing. The heat pump device has a maximum outer diameter that is greater than a maximum outer diameter of the elongate member.

Abstract: An actuator is provided with a tubular actuator element and a supporting body which supports an inner peripheral surface of the actuator element. An internal pressure of the actuator element is higher than an external pressure of the actuator element.

Abstract: The subject disclosure is directed to an articulated medical device having a sensor for detecting outside movements applied upon the medical device while in a subject or patient, wherein the device is capable of maneuvering within the subject or patient while taking the outsides movements into consideration.

Abstract: The following invention is a vocally activated control system for controlling an apparatus in a surgical setting, the system comprises: a. a voice sensor configured to detect vocal commands generated by surgeons during surgery; b. a signal transmitter connected to the voice sensor, the transmitter is configured to convert a vocal command into a transmittable signal and transmit it; c. a processor connected to a signal transmitter configured to receive a transmittable vocal signal, the processor is configured to convert a vocal signal to a predetermined set of operative instructions associated with the apparatus, the predetermined set of operative instructions comprising at least one instruction; and d. control means connected to the processor and apparatus; the control means is configured to receive a predetermined set of operative instructions and to cause the apparatus to operate accordingly; Said voice sensor and said transmitter are integrated within a wearable element.

Abstract: A rigidizing device includes an elongate flexible tube, a braid layer positioned over the elongate flexible tube, an outer layer over the flexible tube and the braid layer, and an inlet between the elongate flexible tube and the outer layer and configured to attach to a source of vacuum or pressure. The braid layer has a plurality of strands braided together at a braid angle of 5-40 degrees relative to a longitudinal axis of the elongate flexible tube when the elongate flexible tube is straight. The rigidizing device is configured to have a rigid configuration when vacuum or pressure is applied through the inlet and a flexible configuration when vacuum or pressure is not applied through the inlet. The braid angle is configured to change as the rigidizing device bends when the rigidizing device is in the flexible configuration.

Abstract: A bending operation mechanism of an endoscope includes a bending operation lever, a seal unit having a tubular member and an elastic member. The elastic member has a fixed part attached to an outer circumference of the tubular member in a circumferential manner along a longitudinal axis direction N of the tubular member. An extending part that extends from an outer circumference of the fixed part to the outside of the fixed part in a radial direction K into a shape of a circle substantially concentric with the fixed part. A region extends from the outer circumference of the fixed part would extend with a predetermined angle.

Abstract: A control for an endoscope includes a housing defining an interior volume. A lever external to the housing extends through the housing into the interior volume. A gear system positioned in the interior volume is operatively coupled to the lever. The gear system includes a first quadrant and a second quadrant each configured to pivot about a corresponding axis to deflect a flexible distal tip portion of the endoscope in a corresponding direction.

Abstract: A surgical system includes a surgical instrument having a shaft and an end effector extending distally from the shaft. The end effector includes a plurality of ultrasound sensors supported about a support ring. The ultrasonic sensors are rotatable between an imaging orientation, wherein, the ultrasound sensors are directed in generally parallel orientations relative to one another for imaging tissue in an imaging mode, and at least one treatment orientation, wherein the ultrasound sensors are directed towards a common focus point for treating tissue in a treatment mode.

Abstract: A hydraulically driven surgical apparatus may be a tube enclosing a first channel filled with a first fluid. Changing a fluid pressure in the first channel may trigger a deformation of the tube. The deformation of the tube may perform an action associated with a surgical procedure. Related methods for steering a hydraulically driven surgical apparatus are also provided.

Abstract: A kinematic model arithmetic portion calculates a coordinate value (ze1 (?e)) as distance information indicating the distance between a member that serves as a reference surface for the curve shape of a curvable portion and a member in the curvable portion that is closest to the reference surface. A switch determination unit determines based on the coordinate value whether to drive a wire for driving the curvable portion by a drive displacement calculated for the wire along with the coordinate value by the kinematic model arithmetic portion.

Abstract: An endoscope includes an insertion portion that has a tip portion to be inserted into an examination target from a tip side of the tip portion. The endoscope includes a lens unit that is disposed at the tip portion. The endoscope includes an image sensor that is disposed on an opposite side to the tip side of tip portion with respect to the lens unit. The endoscope includes a linear conductor that has a tip disposed at the tip side with respect to the image sensor and has a proximal end which is extended from the tip through inside the insertion portion.

Abstract: A surgical instrument, such as an endoscopic or laparoscopic instrument. The surgical instrument may comprise an end effector comprising at least one sensor. The surgical instrument may also comprise an electrically conductive shaft having a distal end connected to the end effector wherein the sensor is electrically insulated from the shaft. The surgical instrument may also comprise a handle connected to a proximate end of the shaft. The handle may comprise a control unit electrically coupled to the shaft such that the shaft radiates signals as an antenna from the control unit to the sensor and receives radiated signals from the sensor. Other components electrically coupled to the shaft may also radiate the signals.

Abstract: A surgical stapling instrument comprising a handle, an elongate shaft, an end effector, a motor couplable with a supply of current, a firing member operably responsive to the motor, a current sensor, and a control circuit is disclosed. The firing member is movable from a proximal position to a distal position during a firing stroke. The control circuit comprises a processor and a memory configured to store instructions which, when executed from the memory cause the processor to activate the motor in response to an actuation input, receive an input from the current sensor regarding the current draw of the motor, deactivate the motor when the current draw of the motor exceeds a threshold current when the firing member is within a threshold distance relative to the proximal position, and retract the firing member to the proximal position.

Abstract: A system for controlling movement of a remotely controlled steerable instrument comprises a flexible instrument. The flexible instrument comprises a steerable distal portion and a passive proximal portion. The steerable distal portion is configured to articulate to change a shape of the steerable distal portion. The system further comprises a shape sensing device comprising an optical fiber that spirals around the steerable distal portion. The optical fiber is configured to provide a signal indicative of the shape of the steerable distal portion. The system further comprises a controller in signal communication with the optical fiber. The controller is logically coupled to the flexible instrument and is configured to output a control signal to articulate the steerable distal portion of the flexible instrument in response to receiving at least the signal from the optical fiber.

Abstract: User interface devices, systems, and methods can be used for selectively bending of, altering the bend characteristics of, and/or altering the lengths of catheter bodies, guidewires, steerable trocars, and other flexible structures inserted into a patient during use. Optionally, a housing is coupled to a proximal end of a catheter, and movement of the housing by a hand of a system user is sensed and used as a movement command for articulation of the catheter. Alternatively, a sensor can be coupled to an elongate flexible body flexing outside of the patient so as to alter bending of a catheter within the patient. Movements generated through a combination of manual manipulation and powered articulations are facilitated.

Abstract: Example embodiments relate generally to endoscopic systems, devices, and methods. The system may include a main body, actuation control members, navigation section, and anchor assembly. Navigation section includes distal termination points for receiving actuation control members. Navigation section is selectively controllable to bend. Anchor assembly includes first expandable member, second expandable member, and pressure openings. First expandable member transitions between an expanded and non-expanded configuration. Distal side wall of first expandable member includes first protrusions. Second expandable member transitions between an expanded and non-expanded configuration. Proximal side wall of second expandable member includes second protrusions. First and second protrusions are configurable to cooperatively form a sieve portion. Connector assembly includes connector assembly body and connector interface portion.

Abstract: Systems and methods for articulation calibration of a surgical tool configured to be coupled to a robotic surgical system are provided. The tool including a tool shaft with an end effector has at least one linkage member extending along the shaft and operably coupled to the end effector such that force selectively applied to the linkage member is able to cause articulation of the end effector. The tool can also include a homing mechanism. To perform articulation calibration of the end effector, it can be constrained, force can be applied to the linkage member to attempt articulation of the end effector until a resistance against further articulation exceeds a threshold, and a home position of the end effector can be determined based on a force at which the resistance has exceeded the threshold.

Abstract: Featured are systems, devices and apparatuses for use in minimally invasive surgical, diagnostic or therapeutic methods and/or techniques, in particular methods and/or techniques for a mammalian throat. In particular embodiments, a dexterity apparatus including one or more dexterity devices is featured, where each of the dexterity devices comprises surgical tools and each is configured and arranged with end-tip dexterity for enhanced manipulation. A portion of the dexterity devices is snake like, which is re-configurable (i.e., can be bent) so as to in effect maneuver the surgical tool and put the tool in a desired position with respect to the surgical site. Another portion of the dexterity device includes the surgical tool thereby providing the capability of performing surgical actions such as sewing, gripping, soft tissue manipulation, cutting and suction of saliva, blood and other materials from the surgical site.

Abstract: A device for controlling an endoscope system for laparoscopic surgery. The device includes a wearable interface and an automated assistant for maneuvering an endoscope to a desired location, and at least one wearable operator. The wearable operator includes a transmitter that is in communication with at least one instrument. The system also includes a wireless receiver to receive signals from the transmitter and a computerized laparoscopy system that is in communication with the wireless receiver and that provides a visual depiction of a selected instrument.

Abstract: A bending operation system includes an elongated tubular portion including a bending portion, a first linear member and a second linear member which cause the bending portion to bend, and a drive portion which displaces the first linear member and the second linear member. The bending operation system further includes a first displacement detector which acquires a displacement of the first linear member as a first displacement, a second displacement detector which acquires a displacement of the second linear member as a second displacement, and a calculator which calculates operation assist information by use of one or both of the first displacement and the second displacement.

Abstract: A system for inspecting a dynamoelectric machine is provided. The dynamoelectric machine includes a rotor, a stator and a radial gap existing between the rotor and the stator. The system includes a sled configured for insertion into the radial gap between the rotor and the stator. The sled is configured to transport an optical device along the radial gap. The optical device obtains an image of the radial gap, a portion of the rotor and a portion of the stator. The sled is configured for attachment to a push rod and the push rod is used to move the sled and optical device along the radial gap. The system is configured for entry into a single end of the dynamoelectric machine.

Abstract: A steering mechanism for a medical device that is configured for passing through the body cavities of a patient and for passage through an endoscope working channel is described. The mechanism comprises at least one spool having a central hole through which a central axle passes, the spool being rotatable about the axle, and the spool having at least one retaining tube having a lumen therethrough and configured to contain a portion of a drive cable. The drive cables, which may include UHMWPE, are capable of and are effective for deflecting the distal end of a catheter or endoscopic device, while preferably each being at least partially disposed through a retaining tube that is effective to prevent tangling or other binding of the cable(s).

Abstract: An apparatus for targeting a desired target site on a body tissue comprising a wall of a first body cavity of a patient includes a target catheter. A framing member has a collapsed condition and an expanded condition. The framing member has a framing member body which includes a bulbous portion defining a maximum body footprint having proximal and distal body ends which are both longitudinally spaced from the maximum body footprint. The framing member is comprised of a plurality of framing member beams. At least three framing member beam arrays of framing member beams are arranged in non-overlapping longitudinal sequence to form at least a portion of the framing member. The framing member beams that make up the framing member substantially each have a width-to-thickness fractional ratio in the range of 0.6-3.0.

Abstract: An electric connector includes a male connector and a female connector, the male connector including a cylindrical main portion, and a male contact terminal formed at the main portion. The female connector includes a hole into which the main portion is fit, and a female contact terminal formed at the hole for making electrical contact with the male contact terminal when the main portion is fit into the hole. One of the male connector and the female connector includes a guide shaft axially extending in a direction in which the male connector is fit into the female connector, and the other of the male connector and the female connector includes a guide hole for allowing the guide shaft to be inserted thereinto to guide the guide shaft in the direction.

Abstract: Devices and systems for ultrasonically imaging anatomical structures and performing ablation therapy within the body are disclosed. A combined ablation and ultrasound imaging probe includes an ablation electrode tip including an ablation electrode configured for delivering ablation energy, and a number of ultrasonic imaging sensors configured for imaging the tissue surrounding the probe. The ultrasonic imaging sensors are supported within the interior of the tip via a tip insert, and deliver ultrasonic waves through acoustic openings formed through the tip. The tip insert separates an interior lumen within the tip into a proximal fluid chamber and a distal fluid chamber. During an ablation procedure, the ultrasonic imaging sensors can be tasked to generate a number of ultrasonic images that can be displayed on a user interface.

Abstract: Provided is an endoscope apparatus that includes: a bending portion that bends in at least one direction; bending wires that are each connected to the bending portion; actuators that are connected to proximal ends of the bending wires, respectively, and that contract or expand by means of air pressure; electromagnetic valves that are provided between the actuators and a gas supply source that supplies air, respectively, and that adjust pressures applied to the actuators; and a control section that controls the electromagnetic valves. Each bending wire has slack therein when the actuators are in an atmospheric pressure state. The control section controls the electromagnetic valves so as to subject the actuators to initial pressurization until the slack of each bending wire disappears.

Abstract: Contact between a face to be pressed and a cam face in an interaxial direction T of two inner guide sheaths is set so that a contact width H therebetween is shorter than an interaxial distance L, and so that the contact position is located between axes of the two inner guide sheaths. As a result, even in a case where external diameters of two inner guide sheaths that form a pair are slightly different to each other, a braking member can be tilted to cause a contact face to simultaneously come in contact with the respective inner guide sheaths, and a pressing force from an eccentric cam can be transmitted equally to the respective inner guide sheaths.

Abstract: The endoscope apparatus includes a heat exchanger, a first tube, and a second tube. The front-end portion is cooled down by repeating alternately, the other operation which is opposite an one operation, which is an operation of generating a flow of the cooling liquid from the other end of the first tube to the one end of the first tube, and a flow of the cooling liquid from the one end of the second tube to the other end of the second tube, and the one operation which is an operation of generating a flow of the cooling liquid from the other end of the second tube to the one end of the second tube, and a flow of the cooling liquid from the one end of the first tube to the other end of the first tube.

Abstract: Provided is an endoscope device and a method of operating the endoscope device. The endoscope device includes: a knob driving part configured to be driven in a mode selected by an operator from either of an automatic mode and a manual mode; a bending part connected to the knob driving part and configured to change a position of a distal end of the endoscope device by driving of the knob driving part, a power generating part configured to provide power to the knob driving part; and a power transmitting part configured to drive the power generating part according to a manipulation of the knob driving part.

Abstract: An introducing device system includes: an insertion portion; a bending portion which is provided at the insertion portion; an operation portion through which an input operation is performed for bending the bending portion; a pulling member connected to the bending portion and pulled in accordance with the operation through the operation portion; a detection section that detects a moving state of the pulling member; a driving unit that rotationally drives; a driving force transmitting unit including an inner circumferential surface configured to be able to contact an outer circumferential surface of the driving unit, and an outer circumference on which the pulling member is wound, the driving force transmitting unit being reduced in diameter in accordance with pulling of the pulling member; and a driving unit control section controls the driving unit when the moving state detected by the detection section is different from a state determined in advance.