Patent ID: 8597178

Claim:
An active drive type medical apparatus in which a plurality of rotatable joints are provided near a distal end of a long member, the medical apparatus comprising: an active mechanism whose position and/or attitude is changed according to the rotation of the joints; an active mechanism driving section configured to electrically drive the active mechanism; a position/attitude detecting section provided near the rear end of the long member, and configured to detect the position and/or attitude of the active mechanism; an instruction input section having a plurality of rotatable joints and having a shape similar to a shape of the active mechanism, and used to perform instruction input of the position and/or attitude of the active mechanism; a force calculating section configured to calculate, on the basis of the instruction input of the position and/or attitude from the instruction input section, a force corresponding to a net external force acting on the active mechanism by subtracting an estimated driving force estimated in the case where the active mechanism in a no-load state is driven by the active mechanism driving section from the position and/or attitude of the active mechanism before the instruction input to the position and/or attitude instructed and inputted by the instruction input section, from a driving force required in the case where the active mechanism is actually driven by the active mechanism driving section from the position and/or attitude of the active mechanism before the instruction input to the position and/or attitude instructed and inputted by the instruction input section; an instruction input section driving section to which information of the force calculated by the force calculating section is inputted and which drives the plurality of joints of the instruction input section with a force proportional to the calculated force; a treatment instrument which includes the active mechanism; a guide member attitude calculating section configured to calculate an attitude in a longitudinal direction of a guide member which includes a hollow channel into which the treatment instrument is insertable and guides insertion of the treatment instrument; and a correcting section configured to, when the treatment instrument is inserted into the channel, correct the force in accordance with the attitude of the guide member calculated by the guide member attitude calculating section.