MANIPULATOR SYSTEM INITIALIZATION METHOD

摘要

A manipulator system initialization method includes: a joint angle setting step of bringing a driving force relay part into a driving force release state, inserting a bending joint and a pair of shaft-shaped parts coupled by the bending joint into a shape defining member having a shape defining part that brings a joint angle of the bending joint to a predetermined value, and setting a joint angle of the bending joint to the predetermined value; a drive part coupling step of switching the driving force relay part to a driving force relay state, with respect to the bending joint of which the joint angle is set; and an origin setting step of associating a state of the joint angle of the bending joint with a drive origin of a drive part after the drive part coupling step is performed.

主权项

1. A manipulator system initialization method for a manipulator system, the manipulator system including a medical instrument having a plurality of shaft-shaped parts coupled together by a bending joint, a driving force transmission part that transmits a driving force to the bending joint, a drive part that supplies the driving force to the driving force transmission part, and a driving force relay part capable of being switched between a driving force relay state where the driving force is relayed and a driving force release state where the driving force is cut off and a movement of the bending joint becomes free, the manipulator system initialization method comprising:
a joint angle setting step of bringing the driving force relay part into the driving force release state, inserting the bending joint and a pair of the shaft-shaped parts coupled by the bending joint into a shape defining member having a shape defining part that brings a joint angle of the bending joint to a predetermined value, and setting the joint angle of the bending joint to the predetermined value; a drive part coupling step of switching the driving force relay part to the driving force relay state, with respect to the bending joint of which the joint angle is set; and an origin setting step of associating a state of the joint angle of the bending joint with a drive origin of the drive part after the drive part coupling step is performed.