Endoscope device and method and computer-readable storage device for controlling bending of endoscope device

A method comprising:

• performing a control process comprising:
• processing an imaging signal to generate image data of a display image of a subject to be displayed on a display,
• wherein the image signal is generated by an image sensor based on a subject image of the subject formed on the image sensor,
• wherein the image sensor is arranged at a distal end of an insertion portion, and
• wherein a bending actuator is configured to bend the distal end of the insertion portion so as to change an imaging visual field of the image sensor;
• setting a first measurement point and a second measurement point on the display image of the subject;
• calculating a first subject distance from the first measurement point to a reference point of the image sensor, and a second subject distance from the second measurement point to the reference point of the image sensor;
• calculating a difference value between the first subject distance and the second subject distance;
• and
• controlling the bending actuator to bend the distal end of the insertion portion such that the difference value is decreased.

A computer-readable storage device storing instructions that cause one or more processors to:

• perform a control process comprising:
• processing an imaging signal to generate image data of a display image of a subject to be displayed on a display,
• wherein the image signal is generated by an image sensor based on a subject image of the subject formed on the image sensor,
• wherein the image sensor is arranged at a distal end of an insertion portion, and
• wherein a bending actuator is configured to bend the distal end of the insertion portion so as to change an imaging visual field of the image sensor;
• setting a first measurement point and a second measurement point on the display image of the subject;
• calculating a first subject distance from the first measurement point to a reference point of the image sensor, and a second subject distance from the second measurement point to the reference point of the image sensor;
• calculating a difference value between the first subject distance and the second subject distance;
• and
• controlling the bending actuator to bend the distal end of the insertion portion such that the difference value is decreased.