Flexible manipulator control apparatus and medical manipulator system

摘要

For the purpose of highly accurately estimating the bending state of the flexible manipulator at low cost and accurately controlling the flexible manipulator, the flexible manipulator control device (2) is provided with a flexible insertion portion at the tip of a flexible insertion portion (2) for controlling a driving means (8) of a flexible manipulator (4) having a driving means (8) for driving the movable section (7) at its proximal end in accordance with a control parameter, the flexible manipulator control means A body information storage unit (12) for storing body information of a patient into which the insertion unit is inserted; a position information input unit (12) for inputting position information of the movable unit (7) in a state inserted into the patient 14), a parameter adjustment unit (16) for adjusting the control parameter based on the physical information stored in the physical information storage unit (12) and the position information input to the position information input unit (14) Provided.