# US 12,629,816 B2 · Control system for continuum robot and control method for same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,629,816 B2 - Document ID: US12629816B2 - Status: Granted - Kind: B2 - Application number: 18/443,054 - Filed: 2024-02-15 - Published: 2024-06-06 - Granted: 2026-05-19 - Earliest claimed: 2021-08-19 - Assignees: Canon Kabushiki Kaisha - Applicants: Canon Kabushiki Kaisha - Inventors: Kiyoshi Takagi - Web page: https://patentgrep.com/patent/US12629816B2 ## CPC - A61B 1/005: Flexible endoscopes - B25J 9/065: {Snake robots} - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - B25J 9/06: characterised by multi-articulated arms - B25J 9/104: {with cables, chains or ribbons} - B25J 9/1625: {Truss-manipulator for snake-like motion} - B25J 9/1635: {flexible-arm control} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 18/06: flexible - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - G05B 2219/40184: Compliant teleoperation, operator controls motion, system controls contact, force - G05B 2219/40234: Snake arm, flexi-digit robotic manipulator, a hand at each end - G05B 2219/40299: Holonic, made of similar modules, truss manipulator - G05B 2219/49253: Position in space by controlling length of two, more cables, wires - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract The control system includes: a kinematics computing unit that calculates a drive amount of a wire; a low back-drivability drive control unit that controls the drive amount of the wire based on a result of the kinematics computation; a high back-drivability drive control unit with which the drive unit is more easily driven in a reverse direction than in a case of drive control performed by the drive control unit when the curvable portion is subjected to an external force, the drive control unit being configured to control the drive amount of the wire based on the result of the kinematics computation; and a switching control unit that performs control to switch between the drive control unit and the second drive control unit in accordance with a mode signal indicating a drive control unit to be selected or a result of detecting a force applied to the wire. ## Claims ### Claim 1 A control system for a continuum robot including a curvable portion configured to be curvable when a wire is driven and a drive unit that drives the wire, the control system comprising: a kinematics computing unit configured to perform a kinematics computation for calculating a drive amount of the wire from a bending angle of the curvable portion with respect to a reference axis; a first drive control unit configured to control the drive amount of the wire being driven by the drive unit based on a result of the kinematics computation; a second drive control unit with which the drive unit is more easily driven in a reverse direction than in a case of drive control performed by the first drive control unit when the curvable portion is subjected to an external force, the second drive control unit being configured to control the drive amount of the wire being driven by the drive unit based on the result of the kinematics computation; and a switching control unit configured to perform control to switch between the first drive control unit and the second drive control unit in accordance with a mode signal indicating a drive control unit to be selected or a result of detecting a force applied to the wire, wherein a drive control by the second drive control unit includes a control to compensate an error between a target value and a detected value of a displacement of the wire and a control to compensate an error between a target value and a detected value of a force applied to the wire, and wherein the target value of the force applied to the wire is calculated based on the error between the target value and the detected value of the displacement of the wire. ### Claim 2 A control system for a continuum robot including a curvable portion configured to be curvable when a wire is driven and a drive unit that drives the wire, the control system comprising: a kinematics computing unit configured to perform a kinematics computation for calculating a drive amount of the wire from a bending angle of the curvable portion with respect to a reference axis; a first drive control unit configured to control the drive amount of the wire being driven by the drive unit based on a result of the kinematics computation; a second drive control unit with which the drive unit is more easily driven in a reverse direction than in a case of drive control performed by the first drive control unit when the curvable portion is subjected to an external force, the second drive control unit being configured to control the drive amount of the wire being driven by the drive unit based on the result of the kinematics computation; a switching control unit configured to perform control to switch between the first drive control unit and the second drive control unit in accordance with a mode signal indicating a drive control unit to be selected or a result of detecting a force applied to the wire; and an inverse kinematics computing unit configured to perform an inverse kinematics computation for calculating the bending angle of the curvable portion from the drive amount of the wire, the inverse kinematics computation being a computation reverse to the kinematics computation, wherein the switching control unit is configured to perform, in a case in which a signal indicating the first drive control unit has been input as the mode signal while the drive control is being performed by the second drive control unit, control to switch from the second drive control unit to the first drive control unit when a difference between the bending angle of the curvable portion input to the kinematics computing unit and the bending angle of the curvable portion output from the inverse kinematics computing unit is equal to or smaller than a threshold value. ### Claim 3 A control system for a continuum robot including a curvable portion configured to be curvable when a wire is driven and a drive unit that drives the wire, the control system comprising: a kinematics computing unit configured to perform a kinematics computation for calculating a drive amount of the wire from a bending angle of the curvable portion with respect to a reference axis; a first drive control unit configured to control the drive amount of the wire being driven by the drive unit based on a result of the kinematics computation; a second drive control unit with which the drive unit is more easily driven in a reverse direction than in a case of drive control performed by the first drive control unit when the curvable portion is subjected to an external force, the second drive control unit being configured to control the drive amount of the wire being driven by the drive unit based on the result of the kinematics computation; a switching control unit configured to perform control to switch between the first drive control unit and the second drive control unit in accordance with a mode signal indicating a drive control unit to be selected or a result of detecting a force applied to the wire; and an inverse kinematics computing unit configured to perform an inverse kinematics computation for calculating the bending angle of the curvable portion from the drive amount of the wire, the inverse kinematics computation being a computation reverse to the kinematics computation, wherein the switching control unit is configured to perform, in a case in which a force within a predetermined range has been detected as the result of detecting the force applied to the wire while the drive control is being performed by the second drive control unit, control to switch from the second drive control unit to the first drive control unit when a difference between the bending angle of the curvable portion input to the kinematics computing unit and the bending angle of the curvable portion output from the inverse kinematics computing unit is equal to or smaller than a threshold value. ### Claim 4 A control system for a continuum robot including a curvable portion configured to be curvable when a wire is driven and a drive unit that drives the wire, the control system comprising: a kinematics computing unit configured to perform a kinematics computation for calculating a drive amount of the wire from a bending angle of the curvable portion with respect to a reference axis; a first drive control unit configured to control the drive amount of the wire being driven by the drive unit based on a result of the kinematics computation; a second drive control unit with which the drive unit is more easily driven in a reverse direction than in a case of drive control performed by the first drive control unit when the curvable portion is subjected to an external force, the second drive control unit being configured to control the drive amount of the wire being driven by the drive unit based on the result of the kinematics computation; and a switching control unit configured to perform control to switch between the first drive control unit and the second drive control unit in accordance with a mode signal indicating a drive control unit to be selected or a result of detecting a force applied to the wire, wherein the kinematics computing unit is configured to perform the kinematics computation for calculating the drive amount of the wire from the bending angle of the curvable portion and a turning angle of the curvable portion with respect to the reference axis, wherein the control system further comprises an inverse kinematics computing unit configured to perform an inverse kinematics computation for calculating the bending angle of the curvable portion and the turning angle of the curvable portion from the drive amount of the wire, the inverse kinematics computation being a computation reverse to the kinematics computation, and wherein the switching control unit is configured to perform, in a case in which a signal indicating the first drive control unit has been input as the mode signal while the drive control is being performed by the second drive control unit, control to switch from the second drive control unit to the first drive control unit when a difference between the bending angle of the curvable portion input to the kinematics computing unit and the bending angle of the curvable portion output from the inverse kinematics computing unit is equal to or smaller than a threshold value and a difference between the turning angle of the curvable portion input to the kinematics computing unit and the turning angle of the curvable portion output from the inverse kinematics computing unit is equal to or smaller than a threshold value. ### Claim 5 A control system for a continuum robot including a curvable portion configured to be curvable when a wire is driven and a drive unit that drives the wire, the control system comprising: a kinematics computing unit configured to perform a kinematics computation for calculating a drive amount of the wire from a bending angle of the curvable portion with respect to a reference axis; a first drive control unit configured to control the drive amount of the wire being driven by the drive unit based on a result of the kinematics computation; a second drive control unit with which the drive unit is more easily driven in a reverse direction than in a case of drive control performed by the first drive control unit when the curvable portion is subjected to an external force, the second drive control unit being configured to control the drive amount of the wire being driven by the drive unit based on the result of the kinematics computation; and a switching control unit configured to perform control to switch between the first drive control unit and the second drive control unit in accordance with a mode signal indicating a drive control unit to be selected or a result of detecting a force applied to the wire, wherein the kinematics computing unit is configured to perform the kinematics computation for calculating the drive amount of the wire from the bending angle of the curvable portion and a turning angle of the curvable portion with respect to the reference axis, wherein the control system further comprises an inverse kinematics computing unit configured to perform an inverse kinematics computation for calculating the bending angle of the curvable portion and the turning angle of the curvable portion from the drive amount of the wire, the inverse kinematics computation being a computation reverse to the kinematics computation, and wherein the switching control unit is configured to perform, in a case in which a force within a predetermined range has been detected as the result of detecting the force applied to the wire while the drive control is being performed by the second drive control unit, control to switch from the second drive control unit to the first drive control unit when a difference between the bending angle of the curvable portion input to the kinematics computing unit and the bending angle of the curvable portion output from the inverse kinematics computing unit is equal to or smaller than a threshold value and a difference between the turning angle of the curvable portion input to the kinematics computing unit and the turning angle of the curvable portion output from the inverse kinematics computing unit is equal to or smaller than a threshold value. ### Claim 6 (depends on 1) The control system for a continuum robot according to claim 1, wherein the switching control unit is configured to perform, in a case in which a signal indicating the second drive control unit has been input as the mode signal while the drive control is being performed by the first drive control unit, control to switch from the first drive control unit to the second drive control unit. ### Claim 7 (depends on 1) The control system for a continuum robot according to claim 1, wherein the switching control unit is configured to perform, in a case in which a force that falls out of a predetermined range has been detected as the result of detecting the force applied to the wire while the drive control is being performed by the first drive control unit, control to switch from the first drive control unit to the second drive control unit. ### Claim 8 (depends on 1) The control system for a continuum robot according to claim 1, wherein the second drive control unit has a function of compensating for an error between a target value of a force to be applied to the wire and a detected value of a force applied to the wire. ### Claim 9 (depends on 1) The control system for a continuum robot according to claim 1, further comprising a selection unit configured to select output of the first drive control unit or output of the second drive control unit based on the control of the switching control unit. ### Claim 10 (depends on 9) The control system for a continuum robot according to claim 9, wherein the selection unit has a function of continuously interpolating the output of the first drive control unit and the output of the second drive control unit when output of the drive control unit to be selected is switched between the output of the first drive control unit and the output of the second drive control unit. ### Claim 11 (depends on 1) The control system for a continuum robot according to claim 1, wherein the continuum robot further includes a base, and includes, as a plurality of the curvable portions, a distal curvable portion at a distal position from the base and a follower curvable portion between the base and the distal curvable portion, and wherein the distal curvable portion and the follower curvable portion are each provided with a drive control mechanism including the first drive control unit and the second drive control unit. ### Claim 12 (depends on 11) The control system for a continuum robot according to claim 11, further comprising a follow-up control unit configured to output the bending angle of the follower curvable portion to the kinematics computing unit based on the bending angle of the distal curvable portion input to the kinematics computing unit and a target displacement of the base. ### Claim 13 (depends on 1) The control system for a continuum robot according to claim 1, wherein the continuum robot includes a curvable portion configured to be curvable when a plurality of the wires are driven and a plurality of the drive units that respectively drive the plurality of the wires, and wherein the plurality of the wires are each provided with a drive control mechanism including the first drive control unit and the second drive control unit. ### Claim 14 A control method for a continuum robot including a curvable portion configured to be curvable when a wire is driven and a drive unit that drives the wire, the control method comprising: a kinematics computing step of performing, by a kinematics computing unit, a kinematics computation for calculating a drive amount of the wire from a bending angle of the curvable portion with respect to a reference axis; a first drive control step of controlling, by a first drive control unit, the drive amount of the wire being driven by the drive unit based on a result of the kinematics computation; a second drive control step of controlling, by a second drive control unit with which the drive unit is more easily driven in a reverse direction than in a case of drive control performed by the first drive control unit when the curvable portion is subjected to an external force, the drive amount of the wire being driven by the drive unit based on the result of the kinematics computation; and a switching control step of performing control to switch between the first drive control unit and the second drive control unit in accordance with a mode signal indicating a drive control unit to be selected or a result of detecting a force applied to the wire, wherein a drive control by the second drive control unit includes a control to compensate an error between a target value and a detected value of a displacement of the wire and a control to compensate an error between a target value and a detected value of a force applied to the wire, and wherein the target value of the force applied to the wire is calculated based on the error between the target value and the detected value of the displacement of the wire.