| 摘要 |
<P>PROBLEM TO BE SOLVED: To solve such a problem that regarding a treatment tool used by inserting it into an endoscope through its insertion part, its driving wire changes its passage route and tension applied to the driving wire changes depending on the bent conditions of the insertion part and thus, if any fixed parameters are used in the control of wire driving, the treatment tool does not reach the position expected by its predetermined manipulated variable. <P>SOLUTION: The treatment tool system and its manipulator of this invention are provided with a control parameter means that calculates control parameters to adjust the manipulator driving amount, according to the information of bent conditions of the endoscope insertion part and an operation signal. If the bent conditions of insertion part have changed, the control parameter means recalculates control parameters according to the changes, so that the operator can always operate the manipulator by the same operation action. <P>COPYRIGHT: (C)2009,JPO&INPIT |
