Patent ID: 9573274
Date: 2017-02-21
CPC Classifications: A61B,A61M,B25J,G05B

Claim:
1. An apparatus for a flexible elongate member, comprising: a first holding unit that is capable of holding the flexible elongate member by closing a first opening-and-closing portion and that is capable of releasing the flexible elongate member by opening the first opening-and-closing portion; a second holding unit that is capable of moving with respect to the first holding unit, that performs an opening-and-closing operation independently of an opening-and-closing operation of the first holding unit, that is capable of holding the flexible elongate member by closing a second opening-and-closing portion, and that is capable of releasing the flexible elongate member by opening the second opening-and-closing portion; an information acquiring unit that acquires information of a distance of the second holding unit with respect to the first holding unit and information of an operation type including information indicating insertion of the flexible elongate member into a tube, extraction of the flexible elongate member from the tube, or stoppage of the insertion and the extraction; an operation information generator that generates operation information on the basis of the acquired information of the distance and the acquired information of the operation type, the operation information including information indicating whether to open or close the first holding unit and information indicating whether to open or close the second holding unit; and an operation controller that controls the insertion, the extraction, and the stoppage of the insertion and the extraction on the basis of the operation information.