Title:
CONTINUUM ROBOT SYSTEM, CONTROL METHOD THEREFOR, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2023/162629
Kind Code:
A1
Abstract:
The present invention comprises: a continuum robot 1, which comprises a bendable body 11 configured so as to bend by means of a plurality of linear members W, a first drive source M for moving the linear members W, and a tension detection unit 21cf for detecting tension generated in the linear members W; a support stand 2, which comprises a movable stage 2a to which the continuum robot 1 is attached, and a second drive source 31 for causing the movable stage 2a to undergo sliding movement; and a control device 3, which carries out a control to stop the second drive source 31 or to drive the second drive source 31 in the opposite direction when the second drive source 31 is driving in the direction in which the bendable body 11 is inserted into a subject and the tension of the plurality of linear members W as detected by the tension detection unit 21cf is tension in the same direction and at least one of the detected tensions exceeds a prescribed value.
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Inventors:
SATO KEI (JP)
IKEDA YOSHIMICHI (JP)
IKEDA YOSHIMICHI (JP)
Application Number:
PCT/JP2023/003506
Publication Date:
August 31, 2023
Filing Date:
February 03, 2023
Export Citation:
Assignee:
CANON KK (JP)
International Classes:
B25J18/06
Foreign References:
| JP2015123512A | 2015-07-06 | |||
| JP2019093119A | 2019-06-20 |
Attorney, Agent or Firm:
ABE Takuma et al. (JP)
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