Title:
CONTINUUM ROBOT CONTROL SYSTEM, CONTINUUM ROBOT CONTROL METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2023/112620
Kind Code:
A1
Abstract:
After a continuum robot is moved forward and the most distal bending portion (leading bending portion) is inserted into a tube, when retracting the continuum robot to pull the most distal bending portion (leading bending portion) out of the tube, control is performed so that, when the position of a base is between a position c (third position) and a position e (first position), the most distal bending portion (leading bending portion) is in the state of being bent with respect to a reference axis at a third bending angle which is between a bending angle b (second bending angle) and a bending angle e (first bending angle).
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Inventors:
TAKAGI KIYOSHI (JP)
Application Number:
PCT/JP2022/043284
Publication Date:
June 22, 2023
Filing Date:
November 24, 2022
Export Citation:
Assignee:
CANON KK (JP)
International Classes:
B25J18/06; A61B1/005; B25J13/00; G02B23/24
Foreign References:
| JP2018175602A | 2018-11-15 | |||
| JP2019058648A | 2019-04-18 | |||
| JP2018171701A | 2018-11-08 | |||
| JP2003528677A | 2003-09-30 |
Attorney, Agent or Firm:
ABE Takuma et al. (JP)
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