公开(公告)号：US20230414078A1

公开(公告)日：2023-12-28

申请号：US18243394

申请日：2023-09-07

Applicant: OLYMPUS CORPORATION

Inventor： Shota SAWADA ,  Kosuke KISHI

IPC: A61B1/005 ,  A61B1/00

CPC classification number: A61B1/0052 ,  A61B1/00006 ,  A61B1/0057

Abstract: A manipulator system includes: a manipulator including a bending portion and a bending wire configured to bend the bending portion; a driving portion configured to pull and loosen the bending wire; and a control device configured to control the driving portion, wherein the control device controls the driving portion to perform an initialization operation that alternately repeats pulling and loosening of the bending wire so that an amount of change in a bending shape of the bending portion compared to when the initialization operation is started falls within a predetermined range.

公开(公告)号：US20220409018A1

公开(公告)日：2022-12-29

申请号：US17859471

申请日：2022-07-07

Applicant: OLYMPUS CORPORATION

Inventor： Shota SAWADA ,  Kosuke KISHI

IPC: A61B1/00 ,  A61B1/005

Abstract: An endoscope system includes: an endoscope including an insertion portion having a joint and first and second wires fixed on both sides of the joint; a drive device that is connected to the endoscope and bends the joint by driving the first and second wires; and a processor that controls the drive device. The processor can perform position control that controls traction amount or delivery amount of one of the first and second wires based on target position for bending the joint, and tension control that controls traction amount or delivery amount so that tension of the other of the first and second wires matches a specified set value, and execute a drive mode in which one of the first and second wires is controlled by the position control and the other of the first and second wires is controlled by the tension control.