Endoscope system
An endoscope system of the invention includes: an endoscope including an insertion portion, a distal end portion provided on a distal end side of the insertion portion, and a bending portion which is capable of changing a position and an orientation of the distal end portion; a position detecting section for acquiring position information on a position where the distal end portion is located; a passing target position setting section for setting a passing target position for the distal end portion; a path estimating section for estimating a path through which the distal end portion is to be passed; a bending control target position setting section for setting a bending control target position such that the distal end portion reaches the passing target position along the path; and a bending control information calculating section for calculating an amount of bending and a bending direction of the bending portion.
1. An endoscope system comprising:
an endoscope including an insertion portion to be inserted in a subject, a distal end portion which is provided on a distal end side of the insertion portion and which includes an image pickup section for outputting an image pickup signal corresponding to an image of a photographic subject in the subject, and a bending portion which is capable of changing a position and an orientation of the distal end portion with respect to an insertion direction of the insertion portion;
a position detecting section for acquiring position information including at least information on a position where the distal end portion is located;
a passing target position setting section for setting a passing target position for the distal end portion based on the image of the photographic subject;
a path estimating section for estimating a path through which the distal end portion is to be passed based on the position information and the passing target position;
a bending control target position setting section for properly setting a bending control target position on the path such that the distal end portion reaches the passing target position along the path, based on the passing target position and the path; and
a bending control information calculating section for calculating bending control information on an amount of bending and a bending direction of the bending portion based on the bending control target position.
2. The endoscope system according to claim 1 , wherein the bending control target position setting section calculates a moving distance of the distal end portion per unit time based on the position information, and sets the bending control target position based on the moving distance.
3. The endoscope system according to claim 1 , further comprising a dark part region detecting section for detecting a dark part region included in the image, wherein the passing target position setting section sets a gravity center point of the dark part region as the passing target position.