US 12,310,557 B2
Flexible tube insertion apparatus, control apparatus, and method of changing rigidity
Shuji Nakamura, Akishima (JP); and Takeshi Takahashi, Hachioji (JP)
Assigned to OLYMPUS CORPORATION, Tokyo (JP)
Filed by OLYMPUS CORPORATION, Tokyo (JP)
Filed on Aug. 18, 2021, as Appl. No. 17/405,261.
Application 17/405,261 is a continuation of application No. PCT/JP2019/007384, filed on Feb. 26, 2019.
Prior Publication US 2021/0369084 A1, Dec. 2, 2021
Int. Cl. A61B 1/005 (2006.01); A61B 1/00 (2006.01); A61M 25/01 (2006.01)
CPC A61B 1/0052 (2013.01) [A61B 1/00006 (2013.01); A61B 1/00078 (2013.01); A61B 1/0058 (2013.01); A61B 1/009 (2022.02); A61M 25/0127 (2013.01); A61M 25/0155 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A flexible tube insertion apparatus comprising:
an insertion section;
a variable rigidity actuator disposed in a first position deviating from a center axis of the insertion section in a center axis direction of the insertion section, the variable rigidity actuator and configured to change rigidity of the insertion section; and
a variable pressing force actuator configured to bind a proximal end portion of the variable rigidity actuator, the variable pressing force actuator configured to change a pressing force applied to an outer circumferential surface of the proximal end portion; and
a processor configured to control the variable pressing force actuator such that rigidity in the variable rigidity actuator is lower when a bending direction of the insertion section is a direction approaching the first position from the center axis than when the bending direction of the insertion section is a direction away from the first position.