FLEXIBLE MANIPULATOR CONTROL DEVICE AND MEDICAL MANIPULATOR SYSTEM

WIPO Patent Application WO/2016/151770

A1

The purpose of the present invention is low-cost, high-accuracy estimation of the state of curvature of a flexible manipulator, and accurate control of the flexible manipulator. A flexible manipulator control device (2) controls, in accordance with a control parameter, a drive means (8) of a flexible manipulator (4), the flexible manipulator having a movable part (7) at a distal end of a flexible insertion part to be inserted into a body and the drive means (8) at a proximal end thereof for driving the movable part (7), wherein the flexible manipulator control device (2) is provided with: a body information storage unit (12) for storing body information about a patient into whom the insertion part is inserted; a positional information input unit (14) for inputting positional information about the movable part (7) in a state of having been inserted into the patient; and a parameter adjustment unit (16) for adjusting the control parameter on the basis of the body information stored in the body information storage unit (12) and the positional information inputted into the positional information input unit (14).

JP3668269	MANIPULATOR DEVICE FOR OPERATION INSIDE CELOM
WO/2002/003874	COOLED ELECTROSURGICAL FORCEPS

HATAKEYAMA NAOYA (JP)

PCT/JP2015/058955

September 29, 2016

March 24, 2015

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OLYMPUS CORP (JP)

A61B17/28

WO2010046802A1

2010-04-29

JP2009131374A	2009-06-18
JP2012070937A	2012-04-12
JPH07346A	1995-01-06

UEDA, Kunio et al. (JP)
Ueda Kunio (JP)

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