ENDOSCOPIC SURGICAL SYSTEM
Endoscope position/attitude information acquisition means which acquires position/attitude information of an endoscope is connected to a control device which controls a motor box which actively actuates a surgical instrument, and the control device utilizes the position/attitude information to adjust a control signal of the motor box so that a position deviation of the surgical instrument within an endoscope image when the position of the endoscope changes is prevented from occurring.
1 . An endoscopic surgical system comprising:
an endoscope;
a surgical instrument which can be inserted into a channel of the endoscope or a channel of an overtube attached to the endoscope and treats an analyte;
surgical instrument position/attitude information acquisition means for acquiring position/attitude information of the surgical instrument;
surgical instrument powering means which actively actuates the surgical instrument;
control means which controls the surgical instrument powering means; and
surgical instrument instruction input means which transmits an instruction input signal to the control means, wherein
endoscope position/attitude information acquisition means which is connected to the control means and acquires position/attitude information of the endoscope is provided, and
the control means includes control signal adjusting means which utilizes the position/attitude information to adjust a control signal of the surgical instrument powering means.
2 . An endoscopic surgical system comprising an endoscopic system and a surgical system, where
the endoscopic system comprises an endoscope,
endoscope position/attitude information acquisition means for acquiring position/attitude information of an insertion portion of the endoscope,
endoscope powering means which straightly moves and rotates the insertion portion of the endoscope,
endoscope control means which controls the endoscope powering means, and
endoscope instruction input means for transmitting an instruction input signal to the endoscope control means; and
the surgical system comprises a surgical instrument which can be inserted into a channel of the endoscope or a channel of an overtube attached to the endoscope and treats an analyte,
surgical instrument position/attitude information acquisition means for acquiring position/attitude information of the surgical instrument,
surgical instrument powering means which actively actuates the surgical instrument,
surgical instrument control means which controls the surgical instrument powering means,
surgical instrument instruction input means for transmitting an instruction input signal to the surgical instrument control means, and
surgical instrument control means which controls the endoscope powering means and the surgical instrument powering means, wherein
the surgical system performs communication with the endoscopic system regarding the endoscope position/attitude information, and
the surgical instrument control means controls the surgical instrument powering means while causing the surgical instrument powering means to cooperate with the endoscope powering means.
3 . An endoscopic surgical system comprising
an endoscopic system and a surgical system, where
the endoscopic system comprises an endoscope having an active bending portion at a distal end portion of an insertion portion to be inserted into a lumen,
an endoscope position/attribute information acquisition device for acquiring position/attribute information of the insertion portion of the endoscope,
endoscope powering means which straightly moves and rotates the insertion portion of the endoscope,
an endoscope bending information acquisition device for acquiring bending information of the bending portion,
bending portion powering means for actuating the active bending portion of the endoscope in a bending manner,
endoscope control means which controls the endoscope powering means and the bending portion powering means, and
endoscope instruction input means for transmitting an instruction input signal to the endoscope control means; and
the surgical system comprises a surgical instrument which can be inserted into a channel of the endoscope or a channel of an overtube attached to the endoscope and treats an analyte,
surgical instrument position/attribute information acquisition means for acquiring position/attitude information of the surgical instrument,
surgical instrument powering means which actively actuates the surgical instrument,
surgical instrument control means which controls the surgical instrument powering means,
surgical instrument instruction input means for transmitting an instruction input signal to the surgical instrument control means, and
surgical instrument control means for controlling the endoscope powering means and the surgical instrument powering means, wherein
the surgical system performs communication with the endoscopic system regarding the endoscope position/attitude information; and
the surgical instrument control means controls the surgical instrument powering means while causing the surgical instrument powering means to cooperate with the endoscope powering means.