CONTINUUM ROBOT SYSTEM AND METHOD AND PROGRAM FOR CONTROLLING THE SAME

To easily eliminate butting when a bendable body of a continuum robot is inserted into an object.SOLUTION: A continuum robot system comprises: a continuum robot 1 provided with a bendable body 11 configured to bend via a plurality of linear members W, a first drive source M for moving the linear members W, and a tension detection unit 21cf that detects tensions generated in the linear members W; a support base 2 provided with a movable stage 2a to which the continuum robot 1 is fitted and a second drive source 31 for sliding the movable stage 2a; and a control device 3 that executes control so as to stop the second drive source 31 or drive the second drive source 31 in a reverse direction if the tensions of the linear members W detected by the tension detection unit 21cf are in the same direction and at least one of them exceeds a prescribed value when the second drive source 31 is driven in the inserting direction of the bendable body 11 into an object.SELECTED DRAWING: Figure 15 【課題】対象の内部に連続体ロボットの湾曲可能体を挿入しているときの突き当りを容易に解消できるようにする。【解決手段】複数の線状部材Ｗを介して湾曲するように構成された湾曲可能体１１、線状部材Ｗを動かす第１の駆動源Ｍ、及び線状部材Ｗに発生する張力を検出する張力検出部２１ｃｆを備える連続体ロボット１と、連続体ロボット１が取り付けられる移動ステージ２ａ、及び移動ステージ２ａをスライド移動させる第２の駆動源３１を備える支持台２と、湾曲可能体１１の対象への挿入方向に第２の駆動源３１を駆動するとき、張力検出部２１ｃｆで検出した複数の線状部材Ｗの張力が同方向の張力であり、かつ、そのうちの少なくとも一つの張力が所定値を超える場合、第２の駆動源３１を停止させる又は第２の駆動源３１を逆方向に駆動するように制御する制御装置３とを備える。【選択図】図１５