A mechanism for reducing the risk of contact between a path in the body and the like and a bendable portion is provided. In a continuum robot control device (120) for controlling the operation of a continuum robot (110) having a bendable portion that bends by driving at least some of the plurality of wires, the bending angle of the bendable portion (120). A kinematics calculation unit 121 that calculates a drive amount lk1b of at least a part of the wire based on a target bending angle θ1ref that is a target value of the target, and an amount of expansion / contraction of the target bending angle θ1ref and any of the plurality of wires Based on the above, based on the compensation amount calculator 122 for calculating the compensation amount le1b for compensating the driving amount lk1b, and on the basis of the driving amount lk1b and the compensation amount le1b obtained by the calculation, drive control of at least some of the wires is performed. An adder 123 and a position controller 124 for setting the drive control amount lp1b are provided. [Selection] Figure 4【課題】体内等の経路と湾曲可能部との接触リスクの低減を実現する仕組みを提供する。【解決手段】複数のワイヤのうちの少なくとも一部のワイヤを駆動することにより湾曲する湾曲可能部を有する連続体ロボット１１０の動作を制御する連続体ロボット制御装置１２０において、湾曲可能部の湾曲角度の目標値である目標湾曲角度θ1refに基づいて、少なくとも一部のワイヤの駆動量ｌk1bを演算する運動学演算部１２１と、目標湾曲角度θ1refと複数のワイヤのうちのいずれかのワイヤの伸縮量とに基づいて、駆動量ｌk1bを補償する補償量ｌe1bを演算する補償量演算部１２２と、演算により得られた駆動量ｌk1bと補償量ｌe1bとに基づいて、少なくとも一部のワイヤを駆動制御する駆動制御量ｌp1bを設定する加算部１２３及び位置制御部１２４を備える。【選択図】図４
