US 11,805,986 B2
Flexible tube insertion apparatus, stiffness control apparatus, insertion method, and recording medium storing stiffness control program
Shuji Nakamura, Akishima (JP); Takeshi Takahashi, Hachioji (JP); and Yuichi Ikeda, Tama (JP)
Assigned to OLYMPUS CORPORATION, Tokyo (JP)
Filed by OLYMPUS CORPORATION, Tokyo (JP)
Filed on Aug. 28, 2020, as Appl. No. 17/005,973.
Application 17/005,973 is a continuation of application No. PCT/JP2018/008587, filed on Mar. 6, 2018.
Prior Publication US 2020/0390315 A1, Dec. 17, 2020
Int. Cl. A61B 1/005 (2006.01); A61B 1/00 (2006.01); A61B 1/06 (2006.01)
CPC A61B 1/0057 (2013.01) [A61B 1/00078 (2013.01); A61B 1/0684 (2013.01); A61B 2562/02 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A flexible tube insertion apparatus, comprising:
a flexible insertion section having a distal end and a proximal end, configured to be inserted into a subject from the distal end, and further configured to bend by receiving a reaction force from the subject when the insertion section comes into contact with the subject;
an actuator provided at least partially in the insertion section and configured to change a stiffness of the insertion section in a position where the actuator is provided;
a shape detection sensor configured to detect a bent shape of the insertion section; and
a processor, wherein the processor is configured to:
acquire a distribution of values of reaction forces applied to the flexible insertion section distal to an apex of the bent shape of the flexible insertion section and specify a maximum reaction force position at which the value of the reaction force is at a maximum; and
control a stiffness of the actuator so as to increase a stiffness of only the actuator positioned between the apex and the maximum reaction force position.