MULTI-JOINT MANIPULATOR DEVICE AND ENDOSCOPE SYSTEM HAVING THE SAME

摘要

A multijoint manipulator apparatus includes a tubular member (2) which includes joints (18). Linear motion transmission members (19) are inserted in the tubular member, one end of each of the transmission members being fixed to vicinity of one of the joints, the other end of each of the transmission members being fixed to a drive unit (25). The drive unit (25) longitudinally moves the transmission members (19), resulting in the tubular member being flexed. A position detector (26) detects positions of the transmission members (19). A tension detector (27) detects tension applied to the transmission members (19). A desired position and posture of a part of interest of the tubular member (2) and a member (16) attached to the tubular member are input to an operation unit (6). A movement degree calculation unit (11) calculates a current position and posture of the part of interest based on the positions of the transmission members (19) detected by the position detector (26), and calculates movement degrees of the transmission members necessary to move the part of interest from the current position and posture to the desired position and posture based on the tension applied to the transmission members detected by the tension detector (27).