Patent ID: 7348751
Filing Date: 2008-03-25
Classification: A61B

Abstract:
1. Controller for controlling a driving unit for effecting a movement of an actuator mechanism through a hauling unit including a wire wound around the driving unit, wherein both ends of the wire are connected to the actuator mechanism, the controller comprising: a control portion for generating and outputting a driving unit control signal for controlling the driving unit based at least upon one of a first control input signal and a second control input signal; and an input correction portion for converting a externally-supplied target value into a first correction value by a linear converting operation, wherein a first characteristic curve defined by the first correction value is defined by a first predetermined slope if the received target value is outside a predetermined range within which is indicative of a state wherein both ends of the wire connected to the actuator mechanism are loose, wherein the input correction portion converts the received target value into a second correction value by a proportional converting operation, wherein a second characteristic curve defined by the second correction value is defined by a second predetermined slope that is greater than the first determined slope if the received target value is within the predetermined range, and wherein the first correction value and the second correction value are supplied by the control portion as the first control input signal and the second control input signal, by which the control portion generates and outputs the driving unit control signal to drive the driving unit such that the target value is outside the predetermined range.