| 摘要 |
PROBLEM TO BE SOLVED: To provide a mode transition method for a medical instrument, a medical system, and a medical apparatus, the mode transition method being capable of performing accurate wire driving in response to changes in the shape of an operated part by accurately controlling the state of the sheath.SOLUTION: The medical instrument 1 comprises: a wire 5; a flexible sheath 6 through which the wire 5 is inserted; a wire driving part 4 for driving the wire 5; an operated part 2 operated by driving the wire 5; sheath tensioning parts 21 for tensioning the sheath 6; and sheath locking parts 20 for locking the movement of the sheath 6; and a control part 40 for switching among a standby mode in which the operated part 2 and the wire driving part 4 are disconnected from each other, a sheath free mode in which the sheath 6 is released without being locked, a sheath slack adjustment mode in which slack of the sheath 6 is adjusted and the sheath 6 is placed in the locked state, and a master-slave mode in which the operated part 2 connected to the wire driving part 4 is made ready for being driven. |
