Patent ID: 11877727
Assignee: OLYMPUS CORPORATION
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 8:
9. A control device connected to an endoscope including an insertion portion having a distal end and a proximal end, and configured to be inserted into an enteric canal of a subject from a side of the distal end of the insertion portion and come into contact with an inner wall of the enteric canal, to thereby receive a first force from the enteric canal, and apply a second force as a reaction force of the first force to the enteric canal, the insertion portion having flexibility, the control device comprising:
an insertion portion position detection device configured to detect a relative position of the insertion portion, inserted into the enteric canal, with respect to the enteric canal, and to output a detection signal; and
a processor configured to:
calculate first force information including a position of a point of application of the first force in the insertion portion, a direction of the first force, and a magnitude of the first force;
perform an arithmetic operation of shape information and position information of the insertion portion in the enteric canal based on the detection signal relating to a position of the insertion portion detected by the insertion portion position detection device;
determine second force information including a reaction position, the reaction position being a position at which the enteric canal receives the second force, based on the position information of the insertion portion in the enteric canal obtained by the arithmetic operation, and on the position information, which is calculated, of the point of application of the first force in the insertion portion;
set position information of a first fixed point and a second fixed point as a calculation condition, the first fixed point and the second fixed point being portions of the enteric canal that are partially fixed from outside the enteric canal; and
calculate, based on the calculation condition which is set, third force/fourth force information such that a resultant force of a third force directed toward the first fixed point from the reaction position and a fourth force directed toward the second fixed point from the reaction position is balanced with the second force, the third force/fourth force information including a magnitude and a direction of the third force, and a magnitude and a direction of the fourth force.