MANIPULATOR AND MANIPULATOR SYSTEM

摘要

A manipulator includes an insert part capable of being inserted into the body cavity, a turning part configured to turn the insert part, an operating unit configured to operate the insert part and the turning part, a driving unit configured to drive the insert part and the turning part, and a control unit configured to control the driving unit in association with operation of the operating unit.

主权项

1. A manipulator comprising:
an insert part capable of being inserted into the body cavity; a turning part configured to turn the insert part; an operating unit configured to operate the insert part and the turning part; a driving unit configured to drive the insert part and the turning part; and a control unit configured to control the driving unit in association with operation of the operating unit, wherein the insert part includes a bendable distal-end action part, the turning part includes: a turning action part configured to turn the insert part, and a passive part that is placed into passive action in association with turning action of the turning action part, the driving unit includes: a distal-end driving unit configured to generate a driving force adapted to bend the distal-end action part and a turning driving unit configured to generate a driving force adapted to turn the turning action part, and the control unit controls the distal-end driving unit and the turning driving unit in association with operation of the operating unit.