Flexible manipulator control device and medical manipulator system

摘要

A flexible-manipulator control device that controls, according to a control parameter, a drive of a flexible manipulator having a movable part at a distal end of a flexible insertion portion to be inserted into the body and having, at a proximal end thereof, the drive for driving the movable part, includes: a physical-information storage unit that stores physical information of a patient into which the insertion portion is inserted; a position-information input unit to which is input position information of the movable part in a state in which it is inserted into the patient; and a parameter adjustment unit that adjusts the control parameter on the basis of the physical information stored in the physical-information storage unit and the position information input to the position-information input unit.