| 摘要 |
PROBLEM TO BE SOLVED: To improve an insertion portion of a medical instrument to be more insertable by controlling the driving of a bending portion in a manner that an angle of the distal end side of the bending portion is shifted to the proximal end side sequentially. SOLUTION: In a medical controlling apparatus, a command control part 5A performs shift controlling the bending portion 14 by controlling a first through an nth actuator controlling blocks 31a-31n respectively provided on a plurality of link members 21 based on supplied distal end command value information and position F/B information. In this case, respective servo control controllers 36A in the first through the nth actuator controlling blocks transfer an operation command value signal showing the angle of the link member 21a on the distal end side to the link members 21b-21n on the proximal end side in the time set in advance while sampling the operation command value signal. As a result, the bending portion 14 makes bending operation in a manner that the angle of the link member 21a on the distal end side is sequentially passed on to the link members 21b-21n on the proximal end side. COPYRIGHT: (C)2007,JPO&INPIT
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