Field of the Invention
The present invention relates to a manipulator control method, a manipulator, and a manipulator system.
Description of Related Art
Conventionally, a manipulator having a joint structure portion provided at a distal end thereof to perform various treatments inside of a human body, a device, or the like, for example, is known.
Such a manipulator is introduced into a portion of a treatment target by being inserted into an insertion channel of a tubular member that extends into the treatment target. Due to this, the joint structure portion of the manipulator is provided at a distal end of a flexible insertion portion to be inserted into the channel even when the channel is bent, and the joint structure portion is driven by a manipulating portion in a proximal end of the insertion portion.
Japanese Unexamined Patent Application, First Publication No. 2009-101077 discloses a medical device including a treatment tool which is an example of such a manipulator.
This treatment tool includes an insertion portion having a distal bending portion which is bent in an arbitrary direction by the driving force of a driving portion. This treatment tool is used by being inserted into a treatment tool channel of an endoscope device of which the distal end is disposed near a treatment site (an application site).
The distal bending portion is configured of three bending pieces disposed in series that are rotatably connected in two axial directions by two joints.
USPTO Backgrounds
USPTO Backgrounds