The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 11, 2018
Filed:
Dec. 05, 2016
Olympus Corporation, Tokyo, JP;
Masatoshi Iida, Tokyo, JP;
Ryuichi Yorimoto, Tokyo, JP;
OLYMPUS CORPORATION, Tokyo, JP;
Abstract
A method for controlling a manipulator includes a joint structure portion having one or more joints connected to a distal end of an insertion portion, a power transmission member inserted into the insertion portion to transmit driving force to the joint structure portion, and a driving portion that drives the power transmission member and which is guided to an application site by being inserted into the channel member. When the manipulator is operated in an insertion control mode for inserting the joint structure portion into the channel member, the method includes detecting a load amount generated in the power transmission member or the driving portion; and creating a bending state in which the joint structure portion follows the channel member by controlling a driving amount of the power transmission member by the driving portion such that the load amount becomes within a predetermined target control range.