| 摘要 |
The present invention makes it possible to accurately control a front-end manipulator even when an insertion portion is curved in a complicated manner. Provided is a manipulator system that is provided with a flexible insertion portion (10), a manipulator (6) having a joint portion that is driven at the front end of the insertion portion (10), a drive unit (7) that drives the joint portion of the manipulator (6) on the base-end side of the insertion portion (10), a shape estimation unit that estimates the shape of the insertion portion (10), and a control unit that controls the drive unit (7) on the basis of the shape of the insertion portion (10) which is estimated by the shape estimation unit. Therein, the shape estimation portion is provided with a plurality of detected bodies (14) that are arranged on the insertion portion (10) at intervals in the length direction thereof, a position detection unit (15) that detects the three-dimensional positions of the detected bodies (14), and a shape calculation unit that calculates, on the basis of the three-dimensional positions of the detected bodies (14) which are detected by the position detection unit (15), the shape of the insertion portion (10) by dividing same into a plurality of sections (SS) that are aligned in the length direction thereof. |
