Title:
MANIPULATOR SYSTEM AND OPERATING METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2017/145342
Kind Code:
A1
Abstract:
The purpose of the present invention is to prevent impairment of the maneuverability and movement area necessary for treatment and to protect the manipulator. This manipulator system (1) is provided with: a manipulator (3) with a long flexible section (9), a movable part (10) provided on the tip thereof, and a driver (11) that is provided on the base end of the flexible section and is for driving the movable part (10); a flexible inserted section (6) with a channel (8) through which the manipulator (3) is passed; an advancing/retracting unit (17) for advancing and retracting the driver in the longitudinal direction of the flexible section (9); a movable part state-identifying unit (4) for identifying the state of the movable part (10); a restricting part for restricting further retraction of the driver (11) by the advancing/retracting unit (17) when the movable part is found to be in the projected state in which the entire movable part (10) is projected from the tip of the channel (8); and a restriction-releasing unit (4) for releasing the restriction by the restricting part when the movable part (10) is identified to be in a state in which the movable part can be drawn into the channel (8).
Inventors:
TAKAHASHI KEIGO (JP)
OGAWA RYOHEI (JP)
KISHI KOSUKE (JP)
OGAWA RYOHEI (JP)
KISHI KOSUKE (JP)
Application Number:
PCT/JP2016/055717
Publication Date:
August 31, 2017
Filing Date:
February 25, 2016
Export Citation:
Assignee:
OLYMPUS CORP (JP)
International Classes:
B25J19/06; A61B90/00; B25J3/00
Foreign References:
| JP2007111148A | 2007-05-10 | |||
| JP2014500152A | 2014-01-09 |
Attorney, Agent or Firm:
UEDA, Kunio et al. (JP)
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