MEDICAL MANIPULATOR SYSTEM AND MANIPULATOR CURVED-SHAPE ESTIMATION METHOD

摘要

A medical manipulator system includes: an elongated manipulator that has an insertion portion; a shape sensor that is provided so as to be movable along the longitudinal direction of a path in which the manipulator is to be disposed and that detects shape information of the path at respective positions; a shape estimating unit that is configured to estimate a curved shape of the manipulator on the basis of the shape information detected by the shape sensor and longitudinal-direction position information of the shape sensor in the path; and a controller that is configured to control the manipulator on a basis of the curved shape of the manipulator estimated by the shape estimating unit.