CONTINUUM ROBOT SYSTEM, METHOD FOR CONTROLLING SAME, AND NON-TRANSITORY STORAGE MEDIUM STORING PROGRAM
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United States of America
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Issued Date -
Dec 12, 2024
app pub date -
Aug 22, 2024
filing date -
Aug 22, 2024
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Abstract
A continuum robot system includes: a continuum robot including a bendable body configured to bend via a plurality of linear members and a tensile force detector that detects tensile forces that have occurred in the linear members; a support base including a moving stage to which the continuum robot is attached, and a second drive source that slides the moving stage; and a control apparatus that controls, in a case where the tensile forces of the plurality of linear members are tensile forces in a same direction and at least one of the tensile forces exceeds a predetermined value when the second drive source is driven in a direction in which the bendable body is inserted into a target, the second drive source such that the second drive source is stopped or driven in an opposite direction.
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