PROBLEM TO BE SOLVED: To mitigate the occurrence of inconveniences such as losing the sight of an affected part or feeling a sense of incongruity, even when a bending part is moved largely to change the target visual field range of an endoscope.SOLUTION: Provided is a control method for a medical system, which comprises: a switching instructions step S6 which receives switching instructions for two different control states of a bending part provided to the distal end of an insertion part an angular difference calculation step S13 which calculates the angular difference between a current angle θe of the bending part upon reception of a switching instruction in the switching instructions step S6 and a final target angle θg of the bending part in a control state after switching has been performed a target calculation step S4, S15 which, when the calculated angular difference exceeds a predetermined threshold θth, calculates a target angle θref by adding a fine angle Δθ which is less than or equal to the threshold θth to the current angle θe, and which, when the angular difference is less than or equal to the threshold θth, calculates the target angle θref by adding the angular difference to the current angle θe and a drive step S5 for driving the bending part to the calculated target angle θref.COPYRIGHT: (C)2015,JPO&INPIT【課題】内視鏡の目標となる視野範囲を変更するために湾曲部が大きく変動する場合においても、患部を見失ったり違和感を覚えたりする不都合の発生を緩和する。【解決手段】挿入部の先端に設けられた湾曲部の異なる2つの制御状態の切替指示を受け付ける切替指示ステップS6と、該切替指示ステップS6において切替指示が受け付けられた時点の湾曲部の現在角度θeと、切替後の制御状態における湾曲部の最終目標角度θgとの角度差を算出する角度差算出ステップS13と、算出された角度差が所定の閾値θthを超える場合に、閾値θthより小さい微小角度Δθと現在角度θeとを加算して目標角度θrefを算出し、角度差が閾値θth以下の場合に、角度差を現在角度θeに加算して目標角度θrefを算出する目標算出ステップS4,S15と、算出された目標角度θrefまで湾曲部を駆動する駆動ステップS5とを含む医療用システムの制御方法を提供する。【選択図】図2
