Endoscope system
By introducing distance measurement and bending control or anomaly detection units into the endoscope system, and utilizing millimeter-wave/submillimeter-wave signals, precise guidance of the endoscope insertion section and detection of anomalies are achieved, solving the problem of poor operability in the prior art and improving the flexibility and accuracy of observation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- OLYMPUS CORPORATION(JP)
- Filing Date
- 2021-02-26
- Publication Date
- 2026-06-23
AI Technical Summary
Existing endoscopic systems have poor operability because they are difficult to precisely control the direction of the insertion tip toward the desired site when observing inside the body.
The distance measurement unit measures the distance to the object by transmitting and receiving millimeter waves or submillimeter waves, and transmits the signal through a flexible waveguide. Combined with the bending control unit, the bending state of the insertion part is automatically adjusted. Alternatively, the transceiver unit can detect abnormal parts in the biological body and the position of the insertion part can be adjusted by the shifting unit.
It improves the operability of the endoscope system, allowing the tip of the insertion section to automatically or assistedly face the desired site, thus enhancing the ability to detect abnormalities within the body.
Smart Images
Figure CN116390680B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to an endoscope system. Background Technology
[0002] Previously, an endoscope system was known (for example, see Patent Document 1), comprising: an endoscope having a camera at its front end and an insertion part that is inserted into the body of the patient; and a control device that processes image signals from the camera.
[0003] In the endoscope system described in Patent Document 1, the endoscope is composed of a flexible endoscope that allows the insertion portion to bend.
[0004] Existing technical documents
[0005] Patent documents
[0006] Patent Document 1: Japanese Patent No. 6205125 Summary of the Invention
[0007] The problem that the invention aims to solve
[0008] In addition, since endoscopes are used for observation in enclosed spaces such as inside the body or within lumens, it is not simple to align the tip of the insertion part with the area to be observed.
[0009] Therefore, a technique is desired that allows the tip of the insertion part to face the area to be observed, thereby improving operability.
[0010] The present invention was made in view of the above circumstances, and its object is to provide an endoscope system that can improve operability.
[0011] Methods for solving problems
[0012] To address the aforementioned issues and achieve the objective, the endoscopic system of the present invention comprises: an endoscope having an insertion portion inserted into a subject; a distance measuring unit that measures the distance to an object by transmitting and receiving millimeter waves or submillimeter waves; and a flexible waveguide, one end of which is connected to the distance measuring unit and the other end of which protrudes from the front end of the insertion portion to the outside, the flexible waveguide propagating the millimeter waves or submillimeter waves transmitted and received by the distance measuring unit.
[0013] The endoscopic system of the present invention comprises: an endoscope having an insertion portion inserted into a subject; a detection unit that detects abnormalities within the subject by transmitting and receiving millimeter waves or submillimeter waves; and a flexible waveguide, one end of which is connected to the detection unit and the other end of which protrudes from the front end of the insertion portion to the outside, the flexible waveguide propagating the millimeter waves or submillimeter waves transmitted and received by the detection unit.
[0014] Invention Effects
[0015] The endoscope system according to the present invention improves operability. Attached Figure Description
[0016] Figure 1 This is a diagram showing the structure of the endoscope system according to Embodiment 1.
[0017] Figure 2 This is a diagram showing the structure of the main parts of an endoscope system.
[0018] Figure 3 This diagram illustrates the operation of an endoscope system.
[0019] Figure 4 This is a diagram showing the structure of the main parts of the endoscope system in Embodiment 2.
[0020] Figure 5 It is a diagram showing the structure of a tube. Detailed Implementation
[0021] Hereinafter, embodiments (hereinafter referred to as embodiments) for carrying out the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described below. Furthermore, the same reference numerals are used to denote the same parts in the accompanying drawings.
[0022] (Implementation Method 1)
[0023] [Structure of an endoscopic system]
[0024] Figure 1 This is a diagram showing the structure of the endoscope system 1 according to Embodiment 1. Figure 2 This is a diagram showing the structure of the main parts of the endoscope system 1.
[0025] An endoscopic system 1 is, for example, a system used in the medical field to observe a subject within a living organism. Such as... Figure 1 or Figure 2 As shown, the endoscope system 1 includes: an endoscope 2, a bending control unit 3 ( Figure 2 ), distance measurement unit 4 ( Figure 2 ), flexible waveguide 5 ( Figure 2 ), display device 6 ( Figure 1 ), Light source device 7 ( Figure 1 ) and control device 8.
[0026] A portion of endoscope 2 is inserted into the biological body to capture images of the subject reflected from within the body, and outputs the resulting image signal. For example... Figure 1 As shown, the endoscope 2 includes: an insertion part 21, an operation part 22, a universal cable 23, and a connector part 24.
[0027] The insertion portion 21 is the part inserted into a living organism, at least a portion of which is flexible. For example... Figure 1 or Figure 2 As shown, the insertion part 21 includes a front end unit 211, a bending part 212, and a flexible tube 213.
[0028] The front end unit 211 is located at the front end of the insertion part 21. Although specific illustrations are omitted, the front end unit 211 is equipped with an illumination optical system, a camera optical system, and a camera unit.
[0029] The illumination optical system is positioned opposite one end of a light guide (not shown) arranged in the insertion part 21, and the light transmitted by the light guide is directed from the front end of the insertion part 21 into the organism.
[0030] The camera optical system takes in light (the image of the subject) that is irradiated into and reflected from the body by the illumination optical system and forms an image on the imaging surface of the imaging element that constitutes the camera unit.
[0031] The camera unit is configured to include camera elements such as CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor), to capture the image of the subject formed by the camera optical system, and to output the image signal generated by the capture.
[0032] The bent portion 212 is connected to the base end side (operation portion 22 side) of the front end unit 211. Although specific illustrations are omitted, the bent portion 212 has a structure formed by connecting multiple bent blocks, and the bent portion 212 is capable of bending.
[0033] The flexible tube 213 is connected to the base end side (operation part 22 side) of the bending part 212 and has a flexible strip shape.
[0034] The operating unit 22 is connected to the base portion of the insertion unit 21. Furthermore, the operating unit 22 handles various operations related to the endoscope 2. For example... Figure 1 or Figure 2 As shown, the operation section 22 is provided with multiple operation components 221, a bending knob 222, and an insertion port 223.
[0035] Multiple operating components 221 consist of buttons and the like that accept various operations.
[0036] The bending knob 222 is configured to rotate according to user operation. Furthermore, by rotating the bending knob 222, a bending mechanism (not shown) made of metal or resin wire, etc., disposed within the insertion portion 21, is activated. As a result, the bending portion 212 bends.
[0037] Insertion port 223 and conduit 214 extending from the front end of insertion part 21 Figure 2 The connection is the insertion port for inserting a puncture needle or other treatment device (not shown) or flexible waveguide 5 into the pipeline 214 from the outside.
[0038] The general cable 23 extends from the operation section 22 in a direction different from the extension direction of the insertion section 21, and is a cable equipped with the aforementioned light guide and signal line for transmitting the aforementioned image signal.
[0039] The connector part 24 is located at the end of the universal cable 23 and can be detachably connected to the light source device 7 and the control device 8.
[0040] The bending control unit 3 is an external unit that is detachably connected to the operating part 22 and rotates the bending knob 222. Figure 2 As shown, the bending control unit 3 includes a rotation control unit 31 and a rotation state detection unit 32.
[0041] The rotation control unit 31 controls the rotation state of the bending knob 222. The rotation state of the bending knob 222 corresponds to the rotation direction and the amount of rotation of the bending knob 222. In other words, the rotation control unit 31 controls the bending state of the bending part 212. The bending state of the bending part 212 corresponds to the bending direction and the amount of bending of the bending part 212.
[0042] The rotation state detection unit 32 detects the rotation state of the bending knob 222. That is, the rotation state detection unit 32 detects the bending state of the bending portion 212, which is equivalent to the bending state detection unit of the present invention. Furthermore, the rotation state detection unit 32 outputs a signal to the control device 8 indicating the detected rotation state of the bending knob 222.
[0043] The distance measurement unit 4 is a so-called millimeter-wave radar module, which measures the distance to an object by transmitting and receiving millimeter waves or submillimeter waves (hereinafter referred to as "millimeter wave / submillimeter wave"). Furthermore, the distance measurement unit 4 outputs a signal indicating the measured distance to the control device 8.
[0044] The flexible waveguide 5 is a long, flexible waveguide with one end connected to the distance measuring unit 4. The flexible waveguide 5 propagates millimeter / submillimeter waves emitted by the distance measuring unit 4 from one end to the other, and emits them outward from the other end. It also propagates millimeter / submillimeter waves reflected from the object back to the first end (distance measuring unit 4). The millimeter waves are electromagnetic waves with wavelengths of approximately 1 to 10 mm, and the submillimeter waves are electromagnetic waves with wavelengths of approximately 0.1 mm to 1 mm. In this embodiment 1, the flexible waveguide 5 is inserted into the conduit 214 through the insertion port 223 in a pluggable manner. Figure 2As shown, the flexible waveguide 5 has a core material 51 and an outer conductor 52.
[0045] The core material 51 is composed of a rod-shaped dielectric that extends along the length of the flexible waveguide 5 in a state of uniform dielectric constant.
[0046] The outer conductor 52 is disposed on the outer periphery of the core material 51 and is formed by braiding flat foil wires into a rope shape.
[0047] The display device 6 is an LCD (Liquid Crystal Display) or EL (Electro Luminescence) display, etc., and displays a specified image under the control of the control device 8.
[0048] The light source device 7 emits illumination light. Furthermore, the illumination light emitted from the light source device 7 passes through the connector part 24, the universal cable 23, the operation part 22, and the aforementioned light guide and illumination optical system arranged in the insertion part 21, and then irradiates the biological body from the front end of the insertion part 21.
[0049] The control device 8 is configured to include a CPU (Central Processing Unit) or FPGA (Field-Programmable Gate Array), etc., to uniformly control the operation of the bending control unit 3, the distance measurement unit 4, the display device 6, and the light source device 7. For example... Figure 2 As shown, the control device 8 includes a control unit 81 and a storage unit 82.
[0050] The control unit 81 is composed of a CPU or FPGA, etc., and controls the operation of the bending control unit 3, the distance measuring unit 4, the display device 6 and the light source device 7 by executing the prescribed program stored in the storage unit 82.
[0051] For example, the control unit 81 performs prescribed processing on the image signal input from the camera unit via the signal line to generate an endoscopic image. Furthermore, the control unit 81 controls the operation of the display device 6 to display the endoscopic image.
[0052] Furthermore, the functions of the control bending control unit 3 and the distance measurement unit 4 of the control unit 81 will be explained in the section on "Operation of the Endoscopic System" described later.
[0053] The storage unit 82 stores the programs executed by the storage control unit 81 and the data required for processing by the control unit 81.
[0054] Furthermore, in this embodiment 1, the light source device 7 and the control device 8 are separate components, but they can also be integrated into a single housing.
[0055] [Operation of the endoscopic system]
[0056] Next, the operation of the aforementioned endoscope system 1 will be explained.
[0057] Furthermore, in the following text, the bending control unit 3, as an external unit, is described as being mounted on the operating unit 22. Figure 2 (as shown), and the flexible waveguide 5 is inserted into the conduit 214 from the insertion port 223. Figure 2 (The state shown).
[0058] For example, based on user operation of the operation component 221, the control unit 81 outputs control signals (hereinafter referred to as the first control signal) to the bending control unit 3 and the distance measurement unit 4 respectively in order to explore the appropriate bending state of the bending part 212.
[0059] The bending control unit 3 operates according to the first control signal from the control unit 81 as shown below.
[0060] The rotation control unit 31 rotates the bending knob 222 in various directions with various rotation amounts in sequence. As a result, the bending part 212 bends in various directions with various bending amounts in sequence.
[0061] Furthermore, when the rotation control unit 31 controls the rotation state of the bending knob 222, the rotation state detection unit 32 sequentially detects the rotation state of the bending knob 222. The rotation state detection unit 32 then sequentially outputs signals indicating the detected rotation state of the bending knob 222 to the control device 8.
[0062] On the other hand, the distance measuring unit 4 operates according to the first control signal from the control unit 81 as shown below.
[0063] When the distance measurement unit 4 controls the rotation state of the bending knob 222 via the rotation control unit 31, it transmits and receives millimeter / submillimeter waves through the flexible waveguide 5, thereby sequentially measuring the distance to objects located at the front end of the flexible waveguide 5. Furthermore, the distance measurement unit 4 sequentially outputs signals indicating the measured distances to the control device 8.
[0064] The control unit 81 sequentially generates association information by associating the rotation state of the curved knob 222 based on signals sequentially output from the rotation state detection unit 32 with the distance based on signals sequentially output from the distance measurement unit 4, and stores this association information sequentially in the storage unit 82. For example, the distance associated with the rotation state of the curved knob 222 contained in the prescribed association information is equivalent to the distance between the curved knob 222 and the object measured by the distance measurement unit 4 when the curved knob 222 is in that rotation state.
[0065] Furthermore, the control unit 81 refers to all the associated information stored in the storage unit 82 and extracts (determines) the associated information with the largest distance from all the associated information as associated information containing an appropriate bending state. Then, the control unit 81 outputs a control signal (hereinafter referred to as the second control signal) to the bending control unit 3, indicating the rotation state of the bending knob 222 contained in the extracted associated information (hereinafter referred to as the appropriate rotation state).
[0066] The bending control unit 3 operates according to the second control signal from the control unit 81 as shown below.
[0067] The rotation control unit 31 controls the rotation state of the bending knob 222 until the rotation state detection unit 32 detects that the rotation state of the bending knob 222 has become an appropriate rotation state based on the second control signal. Furthermore, by making the rotation state of the bending knob 222 an appropriate rotation state, the bending state of the bending portion 212 becomes an appropriate bending state.
[0068] As explained above, the control unit 81 corresponds to the bending state determination unit of the present invention.
[0069] Figure 3 This diagram illustrates the operation of endoscope system 1. Specifically, Figure 3 This diagram shows the state in which the insertion part 21 is inserted into the large intestine LI.
[0070] like Figure 3 As shown, the insertion part 21 is assumed to be inserted into the large intestine LI, with its tip located at the bend BE of the large intestine LI. In this case, through the operation of the endoscope system 1 described above, the tip of the insertion part 21 is oriented in the direction shown below. Furthermore, for ease of explanation, the distance measurement unit 4 measures the distances of objects OB1 to OB3 respectively. Figure 3 The three distances between them.
[0071] That is, the largest distance between the tip of the insertion part 21 and the objects OB1 to OB3 is the distance to the object OB3. Therefore, through the operation of the endoscope system 1 described above, the bending state of the bending part 212 becomes an appropriate bending state, thereby, the tip of the insertion part 21 faces the object OB3.
[0072] According to the above-described Embodiment 1, the following effects are obtained.
[0073] In the endoscope system 1 of this embodiment 1, the above-described bending control unit 3, distance measurement unit 4, flexible waveguide 5, and control unit 81 are used.
[0074] Therefore, the bending state of the bending portion 212 can be automatically set to an appropriate bending state, so that the front end of the insertion portion 21 faces the direction in which the insertion portion 21 is to be inserted.
[0075] Therefore, the endoscope system 1 according to Embodiment 1 can improve operability.
[0076] In particular, the bending control unit 3 is an external unit, and the flexible waveguide 5 is inserted into the tube 214 through the insertion port 223 in a pluggable manner. Therefore, a general-purpose endoscope 2 can be used as the endoscope 2. That is, no special construction is required for the endoscope 2, and the construction of the endoscope 2 is not complicated.
[0077] (Implementation Method 2)
[0078] Next, implementation method 2 will be described.
[0079] In the following description, the same reference numerals are used for structures that are the same as those in Embodiment 1 described above, and detailed descriptions are omitted or simplified.
[0080] In the above-described embodiment 1, the appropriate bending state of the bending portion 212 is explored by utilizing millimeter waves / submillimeter waves.
[0081] In contrast, in this embodiment 2, millimeter waves / submillimeter waves are used to detect abnormalities within a living organism. Examples of such abnormalities include hemorrhages within a lumen or tumor formation within the lumen wall.
[0082] Figure 4 This is a diagram showing the structure of the main parts of the endoscope system 1A according to Embodiment 2.
[0083] In the endoscope system 1A of this embodiment 2, compared with the endoscope system 1 described in embodiment 1 above, as follows: Figure 4 As shown, the bending control unit 3 is omitted, and the transceiver unit 9 is used instead of the distance measurement unit 4.
[0084] The transceiver unit 9 is connected to one end of the flexible waveguide 5. For example... Figure 4 As shown, the transceiver unit 9 includes a detection unit 91 and a shifting unit 92.
[0085] The detection unit 91 transmits and receives millimeter / submillimeter waves via the flexible waveguide 5, comparing the transmitted and received millimeter / submillimeter waves. These millimeter / submillimeter waves are the same as those described in Embodiment 1 above. Furthermore, the detection unit 91 detects abnormalities within the biological body based on changes in the state of the transmitted and received millimeter / submillimeter waves. Examples of this state include, for instance, the attenuation rate and wavelength changes of the millimeter / submillimeter waves. Additionally, the detection unit 91 outputs a signal to the control device 8 indicating the location of the detected abnormality.
[0086] The shifting unit 92 utilizes the tube 10 through which the flexible waveguide 5 is inserted (see reference). Figure 5 This is used to shift the direction of the flexible waveguide 5 from the front end of the insertion part 21 to the other end exposed to the outside.
[0087] Figure 5 This is a diagram showing the structure of tube 10. Specifically, Figure 5 It is a cross-sectional view of the tube 10 cut by a plane perpendicular to the length direction of the tube 10.
[0088] Tube 10 is a flexible tube with approximately the same total length as the flexible waveguide 5. For example... Figure 5 As shown, the tube 10 is provided with a first through hole 101 and four second through holes 102.
[0089] like Figure 5 As shown, the first through hole 101 is a hole located in the center of the cross-section of the tube 10 and extending from one end of the tube 10 to the other end. Furthermore, a flexible waveguide 5 is inserted into the first through hole 101.
[0090] like Figure 5 As shown, the four second through holes 102 are holes that surround the first through hole 101 in the cross-section of the tube 10, are located at a rotationally symmetrical position of 90° about the central axis of the tube 10, and extend from one end of the tube 10 to the other. Furthermore, metal or resin wires 11 are inserted into each of the four second through holes 102. Additionally, the front end portion of the wire 11 (the end furthest from the transceiver unit 9) is fixed relative to the tube 10.
[0091] Furthermore, under the control of the control unit 81, the shifting unit 92 shifts the direction of the other end of the flexible waveguide 5 containing the tube 10 by pulling four wires 11.
[0092] Furthermore, when the detection unit 91 controls the direction of the other end of the flexible waveguide 5 using the shifting unit 92, it detects abnormalities within the organism, as described above. The detection unit 91 then outputs a signal to the control device 8 indicating the position of the detected abnormality. The control device 8 then generates, for example, an endoscopic image that identifies the position of the abnormality based on the signal relative to other locations, and displays the endoscopic image on the display device 6.
[0093] According to the above description of Embodiment 2, the following effects are obtained.
[0094] In the endoscope system 1A of this embodiment 2, the transceiver unit 9 described above is used.
[0095] Therefore, it is possible to easily detect abnormalities in organisms, such as bleeding sites within the lumen and tumor-producing sites on the lumen wall, using a simple structure.
[0096] (Other implementation methods)
[0097] The above describes the methods for implementing the present invention, but the present invention should not be limited to the above-described embodiments 1 and 2.
[0098] In Embodiment 1 described above, a structure for detecting abnormal parts within a living organism may also be used, as in Embodiment 2 described above. In other words, in Embodiment 1 described above, at least one of the detection unit 91 and the shifting unit 92 constituting the transceiver unit 9 described in Embodiment 2 may also be used.
[0099] In Embodiment 2 described above, the shifting unit 92 may be omitted, and the bending control unit 3 described in Embodiment 1 may be used instead. That is, when the rotation state of the bending knob 222 is controlled by the rotation control unit 31, the detection unit 91 detects abnormal parts in the organism.
[0100] In embodiments 1 and 2 described above, at least a portion of the flexible waveguide 5 may also be embedded in the insertion portion 21.
[0101] In Embodiment 1 described above, information indicating the appropriate bending state determined by the control unit 81 can also be notified from the notification unit of the present invention.
[0102] Examples of notification units in this invention include display device 6, indicator (not shown), speaker, etc.
[0103] The display device 6 and the aforementioned indicator provide information indicating the appropriate bending state determined by the control unit 81 in a visually confirmable manner.
[0104] Specifically, the display device 6 is equivalent to the monitor of the present invention, displaying the information as an image. On the other hand, the indicator has, for example, a structure in which multiple LEDs (Light Emitting Diodes) are arranged side by side in the up, down, left, and right directions, and is arranged adjacent to the display device 6. Furthermore, the indicator indicates the appropriate bending state (bending direction and bending amount) by illuminating the multiple LEDs arranged in the up, down, left, and right directions.
[0105] The speaker communicates information about the appropriate bending state determined by the control unit 81 via sound.
[0106] In the above embodiments 1 and 2, the endoscope system of the present invention is used in the medical field, but it is not limited thereto and can also be used in the industrial field.
[0107] Label Explanation
[0108] 1. 1A: Endoscopic system;
[0109] 2: Endoscope;
[0110] 3: Bending control unit;
[0111] 4: Distance measurement unit;
[0112] 5: Flexible waveguide;
[0113] 6: Display device;
[0114] 7: Light source device;
[0115] 8: Control device;
[0116] 9: Transceiver Unit;
[0117] 10: pipe;
[0118] 11: Line;
[0119] 21: Insertion section;
[0120] 22: Operations Department;
[0121] 23: General purpose cables;
[0122] 24: Connector section;
[0123] 31: Rotation control unit;
[0124] 32: Rotation status detection unit;
[0125] 51: core material;
[0126] 52: External conductor;
[0127] 81: Control Department;
[0128] 82: Storage Department;
[0129] 91: Detection unit;
[0130] 92: Shift unit;
[0131] 101: First through hole;
[0132] 102: Second through hole;
[0133] 211: Front-end unit;
[0134] 212: Curved section;
[0135] 213: Flexible tube;
[0136] 214: Piping;
[0137] 221: Operating components;
[0138] 222: Bend the knob;
[0139] 223: Insertion port;
[0140] BE: Curved portion;
[0141] LI: Large intestine;
[0142] OB1~OB3: Objects.
Claims
1. An endoscope system comprising: an endoscope having an insertion section to be inserted into a subject; a distance measuring unit that measures a distance to an object by transmitting and receiving millimeter waves or sub-millimeter waves; and a flexible waveguide having one end connected to the distance measuring unit and the other end exposed to the outside from a distal end of the insertion section, the flexible waveguide propagating the millimeter waves or sub-millimeter waves transmitted and received by the distance measuring unit; the insertion section having a bending section provided at a part of a length direction of the insertion section and capable of bending, the endoscope system further comprising: a bending state detecting unit that detects a bending state of the bending section; and a bending state determining unit that determines the bending state associated with the distance information of the largest distance based on information indicating the distance measured by the distance measuring unit and associated information generated from the bending state of the bending section detected by the bending state detecting unit, and determines the bending state associated with the distance information of the largest distance as the bending state of the bending section.
2. The endoscope system according to claim 1, wherein at least a part of the flexible waveguide is built in the insertion section.
3. The endoscope system according to claim 1, wherein the flexible waveguide is inserted in a pipe line that is provided to extend from a hand-held side of the endoscope to the distal end of the insertion section in a pluggable manner.
4. The endoscope system according to claim 1, wherein the endoscope system further comprises a bending control unit that causes the bending section to bend based on information indicating the bending state of the bending section determined by the bending state determining unit. wherein 5. The endoscope system according to claim 4, wherein the endoscope comprises an operation section that receives a user's operation, the operation section comprises a bending knob configured to be rotatable based on the user's operation, the bending section is caused to bend by the rotation of the bending knob, and the bending control unit is an external unit that is detachably connected to the operation section and causes the bending knob to rotate.
6. The endoscope system according to claim 1, wherein the endoscope system further comprises a notification unit that notifies information indicating the bending state of the bending section determined by the bending state determining unit.
7. The endoscope system according to claim 6, wherein the notification unit notifies the information indicating the bending state of the bending section determined by the bending state determining unit in a manner that can be visually confirmed.
8. The endoscope system according to claim 7, wherein the notification unit comprises a monitor that displays the information indicating the bending state of the bending section determined by the bending state determining unit as an image.
9. The endoscope system according to claim 6, wherein the notification unit notifies the information indicating the bending state of the bending section determined by the bending state determining unit by sound.
10. An endoscope system comprising: an endoscope having an insertion section to be inserted into a subject; A distance measurement unit that measures the distance to an object by transmitting and receiving millimeter waves or submillimeter waves; The detection unit detects abnormal parts within the tested body by transmitting and receiving millimeter waves or submillimeter waves. as well as A flexible waveguide, one end of which is connected to the detection unit and the other end of which protrudes from the front end of the insertion part to the outside, the flexible waveguide propagates millimeter waves or submillimeter waves transmitted and received by the detection unit; The insertion portion has a curved portion, which is located on a portion of the length of the insertion portion and is capable of bending. The endoscope system also features: A bending state detection unit detects the bending state of the bent portion; and The bending state determination unit determines the bending state associated with the information of the largest distance based on the information representing the distance measured by the distance measurement unit and the association information generated by the bending state detection unit of the bending portion, and determines the bending state associated with the information of the largest distance as the bending state of the bending portion.
11. The endoscopic system according to claim 10, wherein, The abnormal part is the bleeding part inside the lumen.
12. The endoscope system according to claim 10, wherein, The abnormal part is the tumor-generating part in the lumen wall.
13. The endoscopic system according to claim 10, wherein, The detection unit detects the anomaly based on the change in the state of the millimeter or submillimeter wave between the transmitted millimeter or submillimeter wave and the received millimeter or submillimeter wave.
14. The endoscopic system according to claim 10, wherein, The endoscope system also has a displacement unit that shifts the flexible waveguide from the front end of the insertion portion to the other end exposed to the outside.