MEDICAL DEVICE
First Claim
1. A medical device comprising:
- an insertion portion extending along a longitudinal direction;
a passage defining portion which defines an insertion passage in the insertion portion along the longitudinal direction, a distal end of the insertion passage being open at a distal end portion of the insertion portion;
a treatment tool configured to be inserted through the insertion passage, the treatment tool including a treatment portion provided to protrude from the opening at the distal end of the insertion passage toward a distal direction;
a curving motion driver which is configured to curve the treatment portion;
a rolling motion driver which is configured to roll the treatment portion in a direction around an axis;
an instruction input unit which is configured to input an instruction to move the treatment portion to a desired position;
a position/posture detector which is configured to detect a position and a posture of the treatment portion when the instruction is input from the instruction input unit;
a driving information calculator which is configured to calculate driving information of the curving motion driver and the rolling motion driver during the movement of the treatment portion to the desired position on the basis of the detected position and posture of the treatment portion and on the basis of the input in the instruction input unit; and
a control unit which is configured to drive and control the curving motion driver and the rolling motion driver in accordance with the calculated driving information.
1 Assignment
0 Petitions
Accused Products
Abstract
A medical device includes a curving motion driver curving a treatment portion, a rolling motion driver rolling the treatment portion in a direction around an axis, an instruction input unit inputting an instruction to move the treatment portion to a desired position, and a position/posture detector which detects a position and a posture of the treatment portion when the instruction is input from the instruction input unit. The medical device includes a driving information calculator which calculates driving information of the curving motion driver and the rolling motion driver during the movement of the treatment portion to the desired position on the basis of the detected position and posture of the treatment portion and on the basis of the input in the instruction input unit, and a control unit which drives and controls the curving motion driver and the rolling motion driver in accordance with the calculated driving information.
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Citations
6 Claims
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1. A medical device comprising:
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an insertion portion extending along a longitudinal direction; a passage defining portion which defines an insertion passage in the insertion portion along the longitudinal direction, a distal end of the insertion passage being open at a distal end portion of the insertion portion; a treatment tool configured to be inserted through the insertion passage, the treatment tool including a treatment portion provided to protrude from the opening at the distal end of the insertion passage toward a distal direction; a curving motion driver which is configured to curve the treatment portion; a rolling motion driver which is configured to roll the treatment portion in a direction around an axis; an instruction input unit which is configured to input an instruction to move the treatment portion to a desired position; a position/posture detector which is configured to detect a position and a posture of the treatment portion when the instruction is input from the instruction input unit; a driving information calculator which is configured to calculate driving information of the curving motion driver and the rolling motion driver during the movement of the treatment portion to the desired position on the basis of the detected position and posture of the treatment portion and on the basis of the input in the instruction input unit; and a control unit which is configured to drive and control the curving motion driver and the rolling motion driver in accordance with the calculated driving information. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification