APPARATUS FOR FLEXIBLE ELONGATE MEMBER, METHOD FOR FLEXIBLE ELONGATE MEMBER, AND STORAGE MEDIUM

摘要

An insertion method for a flexible elongate member is used to insert the flexible elongate member into a tube while causing first and second holding units to perform an opening-and-closing operation for holding and releasing the flexible elongate member. The method includes acquiring information of a distance by which the second holding unit moves with respect to the first holding unit and information of an operation type used to distinguish between insertion of the flexible elongate member into the tube, stoppage of the flexible elongate member, and extraction of the flexible elongate member from the tube; generating operation information regarding an opened/closed state of the first holding portion and an opened/closed state of the second holding portion on the basis of the distance and the operation type; and controlling the insertion, stoppage, or extraction of the flexible elongate member on the basis of the operation information.

主权项

1. An apparatus for a flexible elongate member, comprising:
a first holding unit that is capable of holding the flexible elongate member by closing a first opening-and-closing portion and that is capable of releasing the flexible elongate member by opening the first opening-and-closing portion; a second holding unit that is capable of moving with respect to the first holding unit, that performs an opening-and-closing operation independently of an opening-and-closing operation of the first holding unit, that is capable of holding the flexible elongate member by closing a second opening-and-closing portion, and that is capable of releasing the flexible elongate member by opening the second opening-and-closing portion; an information acquiring unit that acquires information of a distance of the second holding unit with respect to the first holding unit and information of an operation type including information indicating insertion of the flexible elongate member into a tube, extraction of the flexible elongate member from the tube, or stoppage of the insertion and the extraction; an operation information generator that generates operation information on the basis of the acquired information of the distance and the acquired information of the operation type, the operation information including information indicating whether to open or close the first holding unit and information indicating whether to open or close the second holding unit; and an operation controller that controls the insertion, the extraction, and the stoppage of the insertion and the extraction on the basis of the operation information.