| 摘要 |
<p>The insertability of an insertion portion of a medical tool is improved by controlling the drive of a curved part of the insertion portion so that the curved part may fit the shape of a lumen. A controller (5) has a servo controller (36A) for controlling the posture of a curved part (14). The servo controller (36A) has a point lock computing section (50), which performs a computation to generate a servo position command signal to a link member (21a1) on the end side by means of an end link root coordinate position computing section (51) and an inverse kinematics computing section (52) and a servo position command signal to a link member (21a) other than the link member (21a1) according to the supplied end command value information and position F/B information and outputs them to a drive unit (10b). With this, point lock of two portions, i.e., the link member (21a1) on the end side and an arbitrary link member (21a) can be made, and the other link members (21a) are controlled so as to have redundant postures.</p> |
