An endoscope system includes: an endoscope including an insertion portion having a joint and first and second wires fixed on both sides of the joint; a drive device that is connected to the endoscope and bends the joint by driving the first and second wires; and a processor that controls the drive device. The processor can perform position control that controls traction amount or delivery amount of one of the first and second wires based on target position for bending the joint, and tension control that controls traction amount or delivery amount so that tension of the other of the first and second wires matches a specified set value, and execute a drive mode in which one of the first and second wires is controlled by the position control and the other of the first and second wires is controlled by the tension control.

A controller to which an operation for driving an endoscope is input, includes: a controller body formed in a substantially rod shape extending along vertical direction; a main body provided at upper side of the controller body; a grip provided at lower side of the controller body; and an opening provided on a side surface of the controller body and comprising a part into which a treatment tool can be inserted and removed from the upper side, wherein the main body comprises a touch-sensitive interface to which the operation for driving the endoscope is input, and the controller body comprises a pressing surface along an advancing/retreating path of the treatment tool that advances/retreats with respect to the part of the opening.

An endoscope system includes: an endoscope that is capable of bending; an actuator that outputs a driving force for bending the endoscope; and a processor that is capable of communicating with the actuator, wherein the processor controls the actuator by switching at least two modes related to curvature control, generates a first identifier, which is information for identifying a case in which the endoscope is used, generates usage status information, which is information related to a usage status of a mode, and associates and outputs the first identifier and the usage status information.

A medical system includes: an endoscope having an insertion portion; a display; and a processor, wherein the processor generates a three-dimensional model showing a curved shape of the insertion portion, and displays the generated three-dimensional model on the display, acquires first information regarding an insertion direction of the insertion portion, acquires second information regarding a line-of-sight direction of an operator, and determines a line-of-sight direction of the three-dimensional model displayed on the display based on the first information and the second information.

A method cinches a suture. The method provides a cinch having a suture capturing portion configured to capture a suture, a cinch lock coupled with the suture capturing portion, and a cinch anchor having a lumen. The suture capturing portion is extended out of the lumen to capture the suture. The suture is captured by the suture capturing portion. The suture capturing portion is retracted into the lumen of the cinch anchor. The suture is cinched between the cinch lock and the cinch anchor.

An endoscope system includes: an endoscope comprising a first tube being inserted into a body, a second tube being arranged at a proximal end of the first tube, and a connecting portion connecting the first tube and the second tube so that the first tube can rotate relative to the second tube about a longitudinal axis; and a control device comprising at least one processor. The processor estimates a first guess shape based on information about positions of a plurality of points on the first tube, and estimates a second guess shape based on information about positions of two points on a proximal end side of a region of the first tube inserted into the body.

An endoscope includes: an insertion portion having a joint; a first wire and a second wire fixed on both sides of a central axis in a longitudinal direction of the joint at a distal end of the joint; a first wire sheath which is inserted through an internal path of the insertion portion and through which the first wire is inserted; and a second wire sheath which is inserted through the internal path of the insertion portion and through which the second wire is inserted, wherein the first wire sheath is bundled by a first fastener so as to be close to the second wire sheath, and the first wire sheath and the second wire sheath are bundled so as to be relatively advancing and retreating by the first fastener.

Various systems and methods may guide, support, and/or house instruments. One exemplary system includes a guide tube having a manipulation section and mated with rails carrying instrument control members. Moving the rails with respect to the guide tube, or another point of reference, can control movement of the manipulation section.

A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.

A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.