A bending piece of a bending portion for endoscope is provided with: an annular wall portion; a plurality of wire inserting portions in which the wall portion has a first wall thickness; thin wall portions having a second wall thickness thinner than the first wall thickness; and a thick wall portion that is a part of the wall portion different from the thin wall portions between the plurality of wire inserting portions around a longitudinal axis, the thick wall portion formed to have a third wall thickness that is equal to or less than the first wall thickness and is thicker than the second wall thickness.

Disclosed herein are systems and techniques for compensating for insertion of an instrument into a working channel of another instrument in a surgical system. According to one embodiment, a method of compensation includes: detecting insertion of an insertable instrument into a working channel of a flexible instrument; detecting, based on a data signal from at least one sensor, a position change of a distal portion of the flexible instrument from an initial position: generating a control signal based on the detected position change; and adjusting a tensioning of a pull wire based on the control signal to return the distal portion to the initial position.

An endoscope or the like that prevents crosstalk between multiple light-emitting parts is provided. An endoscope includes: an observation window that is disposed at a distal end of an insertion part; a plurality of first light-emitting parts that are disposed around the observation window; a second light-emitting part that is disposed between the first light-emitting parts and emits light at a bandwidth different from a bandwidth of light emitted by the first light-emitting parts; and a light-shielding body that is disposed between one of the first light-emitting parts and the second light-emitting part.

An endoscope or the like that prevents crosstalk between multiple light-emitting parts is provided. An endoscope includes: an observation window that is disposed at a distal end of an insertion part; a plurality of first light-emitting parts that are disposed around the observation window; a second light-emitting part that is disposed between the first light-emitting parts and emits light at a bandwidth different from a bandwidth of light emitted by the first light-emitting parts; and a light-shielding body that is disposed between one of the first light-emitting parts and the second light-emitting part.

A control system for a continuum robot including at least one curvable unit driven by a wire and configured to be curvable, and a driving unit driving the wire includes: a position control unit performing control so that an error between a target displacement of push-pull driving of the wire by the driving unit and a displacement of a wire holding mechanism holding the wire obtained from a continuum robot is compensated; a force control unit performing control so that an error between a target generated force corresponding to a target tension of the wire output from the position control unit and a generated force corresponding to a tension of the wire obtained from the continuum robot is compensated; and wherein a first loop control system including the force control unit and a second loop control system including the position control unit.

A medical device comprising a handle extending between a first end and a second end, a first actuator coupled to the first end of the handle, a first shaft coupled to the second end of the handle, and a second shaft extending from the first shaft, the second shaft including a first articulation section and a second articulation section, wherein an articulation of the first actuator relative to the handle is configured to articulate the first articulation section, an articulation of the handle relative to the first shaft is configured to articulate the second articulation section, and the first articulation section and the second articulation section are restricted to articulating only in a first plane.

An endoscope includes a detachable wireless imaging device and an insertion tube having a distal end region. The attachment of the detachable wireless imaging device detachably attaches the detachable wireless imaging device to the distal end region of the insertion tube.

An endoscope includes a detachable wireless imaging device and an insertion tube having a distal end region. The attachment of the detachable wireless imaging device detachably attaches the detachable wireless imaging device to the distal end region of the insertion tube.

A multifunctional camera system having a bendable arm configured to be inserted into the thoracic cavity of a patient and camera head at a distal end of the bendable arm. The camera head has a high definition video camera and a light source. The camera head has a view adjustment mechanism for changing a view angle of the camera without changing the position of the camera head. A controller controls the view adjustment mechanism under command of a surgeon.

A multifunctional camera system having a bendable arm configured to be inserted into the thoracic cavity of a patient and camera head at a distal end of the bendable arm. The camera head has a high definition video camera and a light source. The camera head has a view adjustment mechanism for changing a view angle of the camera without changing the position of the camera head. A controller controls the view adjustment mechanism under command of a surgeon.