| 摘要 |
A robot system for endoscopic treatment includes a gripping unit, a manipulator unit, a treatment instrument drive unit, a gripping force detection unit, a control unit. The gripping unit is inserted into a body cavity along with an endoscopic apparatus and grips desired living tissue using gripping members. The manipulator unit includes a multi-joint structure that enables bending and stretching. The treatment instrument drive unit pulls and pays out wires. The gripping force detection unit detects gripping force provided by the gripping members. The control unit instructs the treatment instrument drive unit to pull and pay out the wires for the gripping operation so that the gripping force detected by the gripping force detection unit falls within a predetermined range when the gripping unit in the gripping state moves.
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