CONTINUUM ROBOT CONTROL SYSTEM AND CONTINUUM ROBOT CONTROL METHOD
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United States of America
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Issued Date -
Nov 21, 2024
app pub date -
Jul 26, 2024
filing date -
Jul 26, 2024
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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.
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