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Pub. No.:    WO/2017/138105    International Application No.:    PCT/JP2016/053937
Publication Date: Fri Aug 18 01:59:59 CEST 2017 International Filing Date: Thu Feb 11 00:59:59 CET 2016
IPC: A61B 90/00
B25J 18/06
Inventors: YANAGIHARA, Masaru
柳原 勝
KISHI, Kosuke
岸 宏亮
The purpose of the present invention is to enable bending without excessively increasing tension acting on a power transmission member inserted through a lumen, thereby enabling a movable unit to be appropriately operated according to the form of the bending. This manipulator system (1) is provided with a manipulator (3), an operating unit (2), and a control unit (4) which controls the manipulator (3). The manipulator (3) is provided with: a movable unit; a drive unit for generating power to be supplied to the movable unit; a soft elongated guide member having opposite ends to which the movable unit and the drive unit are mounted; and a power transmission member for transmitting power to the movable unit. The elongated guide member is provided with: an elongated soft guide tube having a lumen through which the power transmission member is inserted in the longitudinal direction; and an outer sheath for covering the outer periphery of the guide tube and having higher rigidity than the guide tube. The base end of the outer sheath is mounted to the drive unit so as to be movable in the longitudinal direction of the guide tube, and the control unit (4) changes a control parameter according to the amount of movement of the outer sheath.