| 摘要 |
A medical control device comprises: an insertion section which is provided in a medical device and is provided with a bending part at the tip end side; a drive unit for generating a driving force for causing the bending part to bend; a wire which can be slackened and is linked to the bending part; a tensioning unit for tensioning the wire; a linking part for linking the drive unit and the tensioning unit in such a way that there is a positional relationship of transmission/non-transmission of driving force between the drive unit and the tensioning unit; a drive amount detector for detecting the amount of drive of the drive unit as a drive unit drive amount; a tensioning unit drive amount detector for detecting the tensioning unit drive amount; a comparison unit for comparing the amount of change in the drive unit drive amount and the amount of change in the tensioning unit drive amount; and a specification part for specifying, on the basis of the comparison result of the comparison unit, the boundary between a range which enables bending of the bending part due to the restoring force of an elastic member which forms the bending part and a range which does not enable bending of the bending part due to slackness in the wire. |
