Title:
MEDICAL MANIPULATOR SYSTEM, AND CONTROL METHOD AND CONTROL DEVICE FOR MEDICAL MANIPULATOR
Document Type and Number:
WIPO Patent Application WO/2023/090043
Kind Code:
A1
Abstract:
This medical manipulator system comprises: a medical manipulator that has a bending portion and a bending wire which bends the bending portion; an actuator that bends the bending portion by driving the bending wire; a sensor that detects tension of the bending wire; and a control device that controls the actuator, wherein the bending wire has a pair of first bending wires for bending the bending portion in a first direction, and, when the tension difference between the pair of first bending wires is greater than a first threshold value, the control device performs first tension control for driving at least one wire of the pair of first bending wires so that the tension difference becomes less than or equal to the first threshold value.
Inventors:
YANAGAWA RYOTA (JP)
KISHI KOSUKE (JP)
KISHI KOSUKE (JP)
Application Number:
PCT/JP2022/039138
Publication Date:
May 25, 2023
Filing Date:
October 20, 2022
Export Citation:
Assignee:
OLYMPUS MEDICAL SYSTEMS CORP (JP)
International Classes:
A61B1/005
Domestic Patent References:
| WO2021145424A1 | 2021-07-22 |
Foreign References:
| JP2021151468A | 2021-09-30 | |||
| JP2019180488A | 2019-10-24 |
Attorney, Agent or Firm:
MATSUNUMA Yasushi et al. (JP)
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