US 12,484,767 B2
Medical system, processor comprising hardware, medical system control method
Takahiro Komuro, Hachioji (JP); Saki Ishizawa, Hachioji (JP); Shu Kambe, Hachioji (JP); and Kosuke Kishi, Hachioji (JP)
Assigned to OLYMPUS CORPORATION, Tokyo (JP)
Filed by OLYMPUS CORPORATION, Tokyo (JP)
Filed on Jul. 13, 2022, as Appl. No. 17/863,712.
Application 17/863,712 is a continuation of application No. PCT/JP2021/001215, filed on Jan. 15, 2021.
Claims priority of provisional application 62/961,872, filed on Jan. 16, 2020.
Claims priority of application No. PCT/JP2020/040874 (WO), filed on Oct. 30, 2020.
Prior Publication US 2022/0409014 A1, Dec. 29, 2022
Int. Cl. A61B 1/005 (2006.01); A61B 1/00 (2006.01); A61B 1/008 (2006.01); A61B 1/01 (2006.01); A61B 1/045 (2006.01); A61B 5/06 (2006.01); A61B 90/00 (2016.01); A61B 1/018 (2006.01); A61B 34/10 (2016.01); G02B 23/24 (2006.01)
CPC A61B 1/0057 (2013.01) [A61B 1/00006 (2013.01); A61B 1/00009 (2013.01); A61B 1/00042 (2022.02); A61B 1/00064 (2013.01); A61B 1/00105 (2013.01); A61B 1/00121 (2013.01); A61B 1/00128 (2013.01); A61B 1/00133 (2013.01); A61B 1/00154 (2013.01); A61B 1/0016 (2013.01); A61B 1/005 (2013.01); A61B 1/0052 (2013.01); A61B 1/0055 (2013.01); A61B 1/008 (2013.01); A61B 1/009 (2022.02); A61B 1/01 (2013.01); A61B 1/045 (2013.01); A61B 5/062 (2013.01); A61B 90/37 (2016.02); A61B 1/00066 (2013.01); A61B 1/018 (2013.01); A61B 2034/105 (2016.02); G02B 23/2476 (2013.01); G06T 2207/10068 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A medical system comprising:
an endoscope configured to be inserted into a body cavity and including a first joint and a second joint arranged on a proximal end side of the first joint;
an actuator configured to generate a driving force for bending the first joint and the second joint; and
a processor comprising hardware, the processor being configured to control the actuator,
wherein the processor is configured to control the actuator by switching between a first control mode in which the first joint is independently driven and controlled, a second control mode in which the second joint is independently driven and controlled, and a third control mode in which the first joint and the second joint are driven and controlled in cooperation with each other,
the processor is configured to control the actuator by switching, in the control by the third control mode, between a fourth control mode in which the first joint and the second joint are bent in a same direction with respect to a longitudinal direction of the endoscope and a fifth control mode in which the first joint and the second joint are bent in a direction opposite to the longitudinal direction of the endoscope,
when acquiring an operation instruction instructing the processor to switch the control from the current mode to the fourth control mode, the processor is configured to determine whether or not to switch to a sixth control mode based on the bent shapes of the first joint and the second joint at a time of inputting the operation instruction, and
in the control by the sixth control mode, the processor is configured to control the first joint or the second joint such that the first joint and the second joint are bent in the same direction with respect to the longitudinal direction.