Flexible tube insertion apparatus, insertion control apparatus, and flexible tube insertion method
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United States of America Patent
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Jun 11, 2024
Grant Date -
Jan 7, 2021
app pub date -
Sep 21, 2020
filing date -
Mar 27, 2018
priority date (Note) -
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status (Latency Note)
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Abstract
A flexible tube insertion apparatus includes: a flexible tube; a stiffness control system configured to control a stiffness of the tube; a buckling detection system configured to detect occurrence of a buckling in the tube; a pulling operation detection system configured to detect that a pulling operation of the tube is performed, after detection of the occurrence of the buckling; and a storage configured to store position information of a stiffness-to-be-enhanced portion of the tube neighboring a buckling portion of the tube and located on a distal side of the buckling portion. The stiffness control system is configured to enhance a stiffness of the stiffness-to-be-enhanced portion, based on the position information, at detection of the pulling operation.
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