JP2007029290A5 - - Google Patents

Claims (6)

A medical device having a bending portion in which a plurality of link members respectively connected to a plurality of bending operation wires are rotatably connected to a distal end side of an insertion portion to be inserted into a subject;
Drive means for rotating each of the plurality of link members by pulling or relaxing each of the bending operation wires, thereby bending the bending portion;
Of the plurality of link members, designation means for designating the position and orientation of the most distal link member of the insertion portion;
When the bending portion of the medical device moves, the most distal link member and other link members connected to the link member pass through the position while maintaining the position and orientation specified by the specifying means. Control means for calculating the respective angles of the plurality of link members and controlling the drive means to rotate the plurality of link members based on the calculation result;
A medical control device comprising: A medical device having a curved portion in which a plurality of link members are rotatably connected to the distal end side of the insertion portion to be inserted into the subject;
At least one bending operation wire coupled to the plurality of link members located on the most distal side;
A driving means for rotating the plurality of link members by pulling or relaxing the bending operation wire, and bending the bending portion;
Of the plurality of link members, designation means for designating the position and orientation of the most distal link member of the insertion portion;
While the position and orientation designated by the designation means are maintained when the bending portion of the medical device is moved, the most distal link member and other link members connected to the link member pass through the position. Control means for calculating the respective angles of the plurality of link members and controlling the drive means to rotate the plurality of link members based on the calculation results;
A medical control device comprising: Detecting means for detecting an angle between the plurality of link members and a change amount of the angle;
The control means calculates the angles of the adjacent link members in the plurality of link members using the detection results of the detection means, and rotates the plurality of link members based on the calculation results. The medical control apparatus according to claim 1, wherein the driving unit is controlled. The control means uses the detection result by the detection means when the most distal link member changes in a direction different from the direction designated by the designation means. Based on the calculation result, each angle of the adjacent link members in the plurality of link members connected to the most distal link member is calculated so as to rotate by an amount changed in a direction opposite to the changed direction. The medical control apparatus according to any one of claims 1 to 3, wherein the drive unit is controlled to rotate the plurality of link members. The plurality of bending operation wires have first and second bending operation wires for bending the bending portion in at least two directions, respectively.
The control means drives the driving unit so that the amount of force for pulling the first bending operation wire is equal to the amount of force for pulling the second bending operation wire after the bending operation of the bending portion in the two directions. The medical control device according to any one of claims 1 to 4, wherein the bending portion is made rigid by controlling the means. The medical control apparatus according to claim 1, wherein the medical device is an endoscope having the bending portion on a distal end side of the insertion portion.