Title:
CONTINUUM ROBOT CONTROL SYSTEM AND CONTINUUM ROBOT CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2023/153168
Kind Code:
A1
Abstract:
According to the present invention, a control device that controls operations of a continuum robot 100 including a curvable portion 170 provided with a plurality of curving sections 171 to 173 sets a predetermined position on a wire guide 1721 that is positioned at a farthest position from a base portion 140 in a second curving section 172, which is a trailing curving section, as a point of origin O3, sets reference axes x3, y3, z3 regarding a direction in which the wire guide 1721 is oriented, and also causes a driving unit of the base portion 140 to drive a wire 1732 of a third curving section 173 that is a distal curving section so that the third curving section 173 curves, on the basis of a relative coordinate system 1730 in which the point of origin O3 and the reference axes x3, y3, z3 regarding the wire guide 1721 change in accordance with movement of the continuum robot 100.
Inventors:
TAKAGI KIYOSHI (JP)
Application Number:
PCT/JP2023/001645
Publication Date:
August 17, 2023
Filing Date:
January 20, 2023
Export Citation:
Assignee:
CANON KK (JP)
International Classes:
B25J18/06; A61B1/00; A61B1/005; A61B34/30; G02B23/24
Foreign References:
| JP2022002693A | 2022-01-11 | |||
| JP2019202137A | 2019-11-28 | |||
| JP2018008335A | 2018-01-18 | |||
| JP2019532824A | 2019-11-14 | |||
| US20210121051A1 | 2021-04-29 |
Attorney, Agent or Firm:
ABE Takuma et al. (JP)
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