Title:
CONTINUOUS-BODY ROBOT CONTROL SYSTEM AND CONTINUOUS-BODY ROBOT CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2023/145377
Kind Code:
A1
Abstract:
When a bending portion 120 of a continuous-body robot 100 is inserted into a subject and then a plurality of different instruments are inserted into or removed from an instrument channel 101, a controller 300 acquires the maximum values of the respective bending angles at which each of the plurality of instruments can pass through the instrument channel 101, sets the minimum value among the obtained maximum values of the bending angles as the maximum bending angle, and controls a driving unit 150 in such a manner as to bend the bending portion 120 in the range of the set maximum bending angle.
Inventors:
KOSE HIDEKAZU (JP)
FUJIMOTO KOSUKE (JP)
FUJIMOTO KOSUKE (JP)
Application Number:
PCT/JP2022/048453
Publication Date:
August 03, 2023
Filing Date:
December 28, 2022
Export Citation:
Assignee:
CANON KK (JP)
International Classes:
A61B1/005; A61B1/018; G02B23/24
Domestic Patent References:
| WO2020243285A1 | 2020-12-03 |
Foreign References:
| JP2005137527A | 2005-06-02 | |||
| CN110811702A | 2020-02-21 |
Attorney, Agent or Firm:
ABE Takuma et al. (JP)
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