Endoluminal device system, control method of controlling endoluminal device, and storage medium storing program for controlling endoluminal device

1 . An endoluminal device system comprising:

an endoluminal device configured to be inserted into a lumen;

a contact detection device configured to detect contact of an object; and

one or more processors having hardware, wherein the one or more processors are configured to:

in response to a first detection by the contact detection device of a first motion of the object in contact with the contact detection device, determine that a user performed a first manipulation;

in response to determining that the user performed the first manipulation, perform a shape control process of controlling a drive device to change a shape of at least a part of the endoluminal device;

in response to a second detection by the contact detection device of a second motion of the object while the object is continuously in contact with the contact detection device after the first manipulation starts, determine that the user performed a second manipulation; and

in response to determining that the user performed the second manipulation, perform a first control process of controlling the drive device to maintain the changed shape of the at least a part of the endoluminal device.

2 . The endoluminal device system according to claim 1 , wherein the one or more processors are configured to perform a second control process different from the first control process when the first manipulation ends without the second manipulation being detected after the detection of the first manipulation starts.

3 . The endoluminal device system according to claim 1 , wherein the one or more processors are configured to perform the first control process of controlling the drive device to maintain the changed shape of the at least the part of the endoluminal device when the first manipulation ends or when the second manipulation is detected.

4 . The endoluminal device system according to claim 1 ,

wherein the endoluminal device includes a bending portion whose shape can be changed and a soft portion connected to a proximal end of the bending portion, and

wherein the one or more processors are configured to perform the first control process of controlling the drive device to maintain the changed shape in which the bending portion is bent.

5 . The endoluminal device system according to claim 2 ,

wherein the endoluminal device includes a bending portion whose shape can be changed and a soft portion connected to a proximal end of the bending portion, and

wherein the one or more processors are configured to perform the second control process of controlling the drive device to change the shape of the bending portion in accordance with an external force.

6 . The endoluminal device system according to claim 2 ,

wherein the endoluminal device includes a bending portion whose shape can be changed and a soft portion connected to a proximal end of the bending portion, and

wherein the one or more processors are configured to perform the second control process of controlling the drive device to return the bending portion to a straight shape.

7 . The endoluminal device system according to claim 6 , further comprising an external force sensor configured to detect an external force acting on the bending portion,

wherein the one or more processors are configured to perform the second control process so that a shape of the bending portion at a point in time when the external force has been detected is maintained if the external force sensor detects the external force.

8 . The endoluminal device system according to claim 2 , further comprising an external force sensor configured to detect an external force acting on the endoluminal device,

wherein the one or more processors are configured to perform the second control process of controlling the drive device to control a shape of at least a part of the endoluminal device in accordance with a magnitude and a direction of the external force detected by the external force sensor.

9 . The endoluminal device system according to claim 2 , wherein the one or more processors are configured to:

detect the first manipulation on the basis of a motion of sliding the object; and

detect the second manipulation on the basis of a motion of pushing the object or a motion of causing the object to be stationary for a prescribed period of time.

10 . The endoluminal device system according to claim 9 , wherein the one or more processors are configured to:

detect a movement distance and a movement direction of a contact point of the object; and

perform the shape control process of controlling the drive device to change the shape of at least the part of the endoluminal device on the basis of at least one of the movement distance and the movement direction.

11 . The endoluminal device system according to claim 2 ,

wherein the contact detection device includes a pressure sensor configured to detect a pressing force of the object, and

wherein the one or more processors are configured to detect the second manipulation process on the basis of the pressing force detected by the pressure sensor.

12 . The endoluminal device system according to claim 10 , wherein the one or more processors are configured to detect the second manipulation process on the basis of an area of a contact point of the object or a movement speed of the contact point.

13 . A control method of controlling an endoluminal device in an endoluminal device system including the endoluminal device configured to be inserted into a lumen and a contact detection device configured to detect contact of an object, the control method comprising:

in response to a first detection by the contact detection device of a first motion of the object in contact with the contact detection device, determining that a user performed a first manipulation;

in response to determining that the user performed the first manipulation, performing a shape control process of controlling a drive device to change a shape of at least a part of the endoluminal device;

in response to a second detection by the contact detection device of a second motion of the object while the object is continuously in contact with the contact detection device after the first manipulation starts, determining that the user performed a second manipulation; and

in response to determining that the user performed the second manipulation, performing a first control process of controlling the drive device to maintain the changed shape of the at least a part of the endoluminal device.

14 . The control method of controlling the endoluminal device according to claim 13 , comprising performing a second control process different from the first control process when the first manipulation ends without the second manipulation being detected after the detection of the first manipulation starts.

15 . The control method of controlling the endoluminal device according to claim 13 , comprising performing the first control process of controlling the drive device to maintain the changed shape of the at least the part of the endoluminal device when the first manipulation ends or when the second manipulation is detected.

16 . The control method of controlling the endoluminal device according to claim 13 ,

wherein the endoluminal device includes a bending portion whose shape can be changed and a soft portion connected to a proximal end of the bending portion, and

wherein performing the first control process comprises controlling the drive device to maintain the changed shape in which the bending portion is bent.

17 . A non-transitory computer-readable storage medium storing a program for controlling an endoluminal device in an endoluminal device system including the endoluminal device configured to be inserted into a lumen and a contact detection device configured to detect contact of an object, the program causing a computer to at least:

in response to a first detection by the contact detection device of a first motion of an object in contact with a contact detection device, determine that a user performed a first manipulation;

in response to determining that the user performed the first manipulation, perform a shape control process of controlling a drive device to change a shape of at least a part of the endoluminal device;

in response to a second detection by the contact detection device of a second motion of the object while the object is continuously in contact with the contact detection device after the first manipulation starts, determine that the user performed a second manipulation; and

in response to determining that the user performed the second manipulation, perform a first control process of controlling the drive device to maintain the changed shape of the at least a part of the endoluminal device.

18 . The non-transitory computer-readable storage medium according to claim 17 , wherein the program causes the computer to perform a second control process different from the first control process when the first manipulation ends without the second manipulation being detected after the detection of the first manipulation starts.

19 . The non-transitory computer-readable storage medium according to claim 17 , wherein the program causes the computer to perform the first control process of maintaining the changed shape of the at least the part of the endoluminal device when the first manipulation ends or when the second manipulation is detected.

20 . The non-transitory computer-readable storage medium according to claim 17 ,

wherein the endoluminal device includes a bending portion whose shape can be changed and a soft portion connected to a proximal end of the bending portion, and

wherein the program causes the computer to perform the first control process of controlling the drive device to maintain the changed shape in which the bending portion is bent.