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PROCÉDÉ DE COMMANDE POUR SYSTÈME MÉDICAL
专利权人:
Olympus Corporation
发明人:
申请号:
EP15755552.5
公开号:
EP3114980A4
申请日:
2015.01.27
申请国别(地区):
EP
年份:
2017
代理人:
摘要:
Even when a bendable section is moved by a large amount to change the field of view observed by an endoscope, an inconvenience such as losing sight of the affected part or feeling a sense of incongruity is reduced. The present invention includes: a switching-instruction step (S6) in which a switching instruction for switching between two different control states of the bendable section provided at a distal end of the insertion section is received; an angle-difference calculation step (S13) in which the angle difference between the current angle (¸ e ) of the bendable section at the time when the switching instruction is received in the switching-instruction step (S6) and the final target angle (¸ g ) of the bendable section in the control state after being switched is calculated; a target calculation step (S4, S15) in which, when the calculated angle difference exceeds a predetermined threshold (¸ th ), a minute angle (”¸), which is smaller than the threshold (¸ th ), is added to the current angle (¸ e ) to calculate the target angle (¸ ref ), and, when the angle difference is less than or equal to the threshold (¸ th ), the angle difference is added to the current angle (¸ e ) to calculate the target angle (¸ ref ); and a driving step (S5) in which the bendable section is driven to the calculated target angle (¸ ref ).
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