MANIPULATOR SYSTEM

摘要

Provided is a manipulator system including: a manipulator that has an insertion section composed of a flexible section and a bending section and that has a bending-section drive unit for driving the bending section; an operation input unit; a flexible-section shape detecting unit and a bending-section shape detecting unit that detect curved shapes of the flexible section and the bending section, respectively; compensation-value setting units that set a compensation value on the basis of the curved shape detected by each of the shape detecting units; and a control unit that generates a curvature control signal for driving the bending-section drive unit according to an operating instruction input via the operation input unit and furthermore corrects the curvature control signal using the compensation value and transmits it to the bending-section drive unit.

主权项

1. A manipulator system comprising:
a manipulator that includes an insertion section having an elongated flexible section with flexibility and a bending section provided at a distal end of the flexible section and that includes a bending-section drive unit for causing the bending section to undergo bending motion; an operation input unit via which an operator inputs an operating instruction to the bending section; a flexible-section shape detecting unit that detects a curved shape of the flexible section; a bending-section shape detecting unit that detects a curved shape of the bending section; a control unit that generates a curvature control signal for driving the bending-section drive unit according to the operating instruction input via the operation input unit; and a compensation-value setting unit that sets a compensation value for the curvature control signal on the basis of the curved shape of the flexible section detected by the flexible-section shape detecting unit and the curved shape of the bending section detected by the bending-section shape detecting unit, wherein the control unit corrects the curvature control signal with the compensation value set by the compensation-value setting unit and transmits the corrected curvature control signal to the bending-section drive unit.