Title:
FLEXIBLE TUBE INSERTION DEVICE, RIGIDITY CONTROL DEVICE, METHOD OF OPERATING RIGIDITY CONTROL DEVICE, AND RECORDING MEDIUM IN WHICH RIGIDITY CONTROL PROGRAM IS RECORDED
Document Type and Number:
WIPO Patent Application WO/2019/171471
Kind Code:
A1
Abstract:
Provided is a flexible tube insertion device (1) that includes: an insertion part (11) that is inserted into a subject and bends by receiving a reaction force from the subject when brought into contact with the subject; a rigidity variable part (60) that is at least partially provided on the insertion part and is capable of changing the rigidity thereof; and a shape detection part (51) that detects the shape of the insertion part. The flexible tube insertion device includes: a vertex identifying unit (115) that identifies a vertex of a bend in the detected shape; a reaction force value identifying unit (116) that obtains a distribution of values of reaction forces in a region distal to the vertex of the bend, and identifies a maximum reaction force position at which the value of the reaction force is the largest; and a rigidity control unit (117) that controls the rigidity of the rigidity variable part so as to increase the rigidity of the rigidity variable part that is positioned between the vertex and the maximum reaction force position.
Inventors:
NAKAMURA SHUJI (JP)
TAKAHASHI TAKESHI (JP)
IKEDA YUICHI (JP)
TAKAHASHI TAKESHI (JP)
IKEDA YUICHI (JP)
Application Number:
PCT/JP2018/008587
Publication Date:
September 12, 2019
Filing Date:
March 06, 2018
Export Citation:
Assignee:
OLYMPUS CORP (JP)
International Classes:
A61B1/005; A61B1/00; G02B23/24
Domestic Patent References:
| WO2016151846A1 | 2016-09-29 | |||
| WO2016063682A1 | 2016-04-28 |
Foreign References:
| JP2016007434A | 2016-01-18 | |||
| JPH06181882A | 1994-07-05 | |||
| JP2013094337A | 2013-05-20 | |||
| JPH10314106A | 1998-12-02 |
Attorney, Agent or Firm:
KURATA, Masatoshi et al. (JP)
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