Method and apparatus for controlling manipulator

A manipulator system comprising:

• a manipulator comprising a plurality of bendable portions and a plurality of driving-force transmitting mechanisms that are connected to the bendable portions and that bend the manipulator;
• and
• a control apparatus comprising:
• a plurality of drive sources that apply drive forces to the driving-force transmitting mechanisms;
• an operation-amount input unit that generates an operation signal based on an amount of operation of an operating portion, wherein the operation-amount input unit is used while advancing or retracting the manipulator;
• a movement-mode input unit that selects one of a plurality of movement modes, wherein a movement of at least one of the plurality of movement modes is predetermined and disproportional to the amount of operation of the manipulator;
• and
• a calculating device that calculates and outputs driving amounts to be applied to the drive sources on the basis of the operation signal, the driving amounts corresponding to the movement modes,
• wherein the calculating device includes
• a plurality of driving-amount calculators, and
• the movement-mode selecting unit that outputs the driving amounts output by one of the driving-amount calculators on the basis of an input signal from movement-mode input unit.

An endoscopic system having a simplified control comprising:

• a manipulator comprising a plurality of bendable portions and having at least three degrees of freedom;
• a control apparatus for controlling movement of the manipulator through the at least three degrees of freedom having two input units comprising:
• a movement-mode input unit adapted for selecting one of 2, 3, 4, 5, or 6 movement modes, wherein a movement of at least one of the 2, 3, 4, 5, or 6 movement modes is predetermined and disproportional to the amount of operation of the manipulator;
• and
• an operation-amount input unit adapted for generating an operation signal based on a linear parameter from an operator, wherein the operation-amount input unit is used while advancing or retracting the manipulator;
• and
• a calculating device configured to calculate driving amounts for driving the manipulator in a motion through at least one of the at least three degrees of freedom.