Continuum robot control system and continuum robot control method
AssigneeCanon Kabushiki Kaisha
InventorsHidekazu Kose, Kosuke Fujimoto
Life of this patent
Estimating the term…
Abstract
When a plurality of tools that are different are inserted into and extracted from a tool channel after a bending portion of a continuum robot has been inserted to an inside of a test body, a control device acquires, for each of the plurality of tools, a maximum value of bending angle at which the tool is capable of passing through a tool channel, sets a smallest of a plurality of the acquired maximum values of bending angle as a maximum bending angle, and controls a driving unit so that the bending portion bends within a range of the set maximum bending angle.
Claims7
A continuum robot control system comprising:
- a continuum robot including:
- a bending portion that bends with respect to a reference axis when a linear member is driven,
- a driving portion that drives the linear member, and
- a tool channel that is a tubular path extending through an inside of the bending portion and through which a tool is to be inserted and extracted;
- and
- a control device that controls movement of the continuum robot,
- wherein the control device is configured to:
- acquire tool information identifying a plurality of different tools to be inserted into and extracted from the tool channel,
- acquire, from a memory, a plurality of tool-specific maximum values of bending angle, each of the plurality of tool-specific maximum values of bending angle being associated with a respective one of the plurality of different tools identified by the tool information,
- set a smallest of the plurality of tool-specific maximum values of bending angle as a maximum bending angle of the continuum robot, and
- control the driving portion so that the bending portion bends within a range of the maximum bending angle of the continuum robot.
A continuum robot control method using a continuum robot control system including
- a continuum robot including a bending portion that bends with respect to a reference axis when a linear member is driven, a driving portion that drives the linear member, and a tool channel that is a tubular path extending through an inside of the bending portion and through which a tool is to be inserted and extracted, and
- a control device that controls movement of the continuum robot,
- the continuum robot control method comprising:
- causing the control device to acquire tool information identifying a plurality of different tools to be inserted into and extracted from the tool channel;
- causing the control device to acquire, from a memory, a plurality of tool-specific maximum values of bending angle, each of the plurality of tool-specific maximum values of bending angle being associated with a respective one of the plurality of different tools identified by the tool information;
- causing the control device to set a smallest of the plurality of tool-specific maximum values of bending angle as a maximum bending angle of the continuum robot;
- and
- causing the control device to control the driving portion so that the bending portion bends within a range of the maximum bending angle of the continuum robot.
Dependencies are inferred from the claim text.