MANIPULATOR, MANIPULATOR SYSTEM, AND MANIPULATOR CONTROL METHOD

摘要

A manipulator including an insert unit capable of being inserted into the body cavity, an operating unit for operation of the insert unit, an extending/retracting unit for moving the insert unit forward or backward, a drive unit for driving the insert unit and extending/retracting unit, and a control unit for controlling the drive unit in association with operation of said operating unit. The insert unit includes a bendable portion, the drive unit includes a bending movement driving portion for generating driving force for bending the bendable portion and an extension/retraction driving portion for generating driving force for moving the extending/retracting unit forward or backward, and the control unit controls the extension/retraction driving portion and bending movement driving portion in association with operation of the operating unit.

主权项

1. A manipulator, including:
an insert unit capable of being inserted through the body cavity, an operating unit for operating the insert unit, an extending/retracting unit for moving the insert unit forward or backward, a drive unit for driving the insert unit and the extending/retracting unit, and a control unit for controlling the drive unit in association with operation of the operating unit, wherein the insert includes a bendable portion, the drive unit includes a bending movement driving portion for generating driving force for bending the bendable portion, and an extension/retraction driving portion for generating driving force for moving the extending/retracting unit forward or backward, and the control unit controls the extension/retraction driving portion and the bending movement driving portion in association with operation of the operating unit.