Medical system and treatment tool calibrating method

A medical system comprising:

• a treatment tool comprising:
• a treatment portion configured to perform treatment on a living body;
• a joint configured to change a direction of the treatment portion;
• a flexible tube connected to the joint;
• and
• an actuator connected to the flexible tube, the actuator being configured to activate the joint;
• an endoscope comprising an imaging unit configured to acquire at least an image including at least the joint in an imaging field of view;
• and
• a controller configured to control an operation of the treatment tool based on the image;
• wherein the controller is further configured to:
• acquire a parameter from a table for activating the joint;
• generate a command for activating the actuator according to the acquired parameter;
• activate the joint by activating the actuator based on the command;
• calculate at least one of a position and an orientation of the joint according to the image acquired by the imaging unit;
• subsequent to the calculating of at least one of the position and the orientation of the joint, deactivate the actuator;
• calculate displacement of the joint according to at least one of the position and the orientation of the joint;
• calculate a compensation value according to the displacement and the command;
• update the parameter based on the compensation value;
• and
• rewrite the updated parameter in the table.