Manipulator system and method for restricting a retreating motion of a manipulator according to a protrusion state of a manipulator joint

A method for operating a manipulator system, the method comprising:

• in a state where a manipulator including a movable section at a distal end of an elongated flexible section and a driver, at a proximal end thereof, for driving the movable section is inserted in a channel of an insertion section in which a curved shape is set and that has flexibility, receiving a signal indicating that a predetermined portion of the movable section protrudes from a distal end of the channel;
• based on the received signal, moving the manipulator distally to a position where an entirety of the movable section protrudes from the distal end of the insertion section;
• and
• controlling a brake to restrict motion of the manipulator from moving proximally form the position.

A controller for controlling a manipulator system that comprises a manipulator having a movable section provided at a distal end, a tube into which the manipulator is insertable, and a slider to which the manipulator is attachable, the manipulator system causing the movable section to protrude from, and to be withdrawn into, the tube by advancing/retreating the slider, wherein the controller is configured to:

• receive a signal indicating whether a predetermined portion of the manipulator protrudes from a distal end of the tube,
• based on the received signal, control the slider to move the manipulator distally to a position where an entirety of the movable section protrudes from the distal end of the insertion section;
• and
• based on the received signal, control the slider to restrict a motion of the manipulator from moving proximally from the position.

A manipulator system comprising:

• a manipulator including a movable section provided at a distal end of a flexible section, wherein the movable section comprises at least one joint;
• an insertion section having a proximal end, a distal end and a channel formed between the proximal end of the insertion section and the distal end of the insertion section, the channel being configured to receive the manipulator from the proximal end of the insertion section to the distal end of the insertion section;
• and
• a controller configured to;
• receive a signal indicating whether a predetermined portion of the manipulator protrudes from the distal end of the insertion section;
• and
• when the predetermined portion is determined to protrude from the distal end of the insertion section, control a brake to restrict a motion of the manipulator from moving proximally.