Continuum robot control device, continuum robot control method, and program

A continuum robot control device configured to control operations of a continuum robot having a bendable portion that is bent by driving at least part of a plurality of wires, the continuum robot control device comprising:

• a first computing device configured to compute a driving amount of the at least part of the plurality of wires, based on a target bending angle that is a target value for a bending angle of the bendable portion, and based on a target rotation angle that is a target value for a rotation angle of the bendable portion;
• a second computing device configured to compute a compensation amount for compensation of an error in the driving amount due to stretching and contraction of the wires, based on the target bending angle, the target rotation angle and a displacement of one of the plurality of wires at the target bending angle and the target rotation angle;
• and
• a setting device configured to set a driving control amount of performing driving control of the at least part of the plurality of wires, based on the driving amount calculated at the first computing device and the compensation amount calculated at the second computing device, the continuum robot further comprising:
• a third computing device configured to compute an amount of movement of a distal end of the bendable portion, in accordance with input of a movement amount of the continuum robot in a longitudinal direction, and a first driving control amount candidate value in the driving control amount of wires, and
• a reference angle updating device configured to update the target bending angle, in accordance with input of amount of movement of the distal end of the bendable portion,
• wherein the setting device computes a second driving control amount candidate value for the driving control amount of wires, based on a driving amount calculated based on the target bending angle that the first computing device has updated at the reference angle updating device, and a compensation amount calculated based on the target bending angle that the second computing device has updated at the reference angle updating device, sets the second driving control amount candidate value as the driving control amount in a case where the second driving control amount candidate value has converged to a constant value, and outputs the second driving control amount candidate value to the third computing device as the first driving control amount candidate value in a case where the second driving control amount candidate value has not converged to a constant value.