Manipulator Joint Initialization via Reference Angle and Tension Control

The patent applies preliminary action by performing initialization of the joint part's origin position after the manipulator is inserted into the body but before the actual medical operation begins. The control device detects the initial rotational angle of the joint part and sets it as the origin position, ensuring precise alignment is established in advance. This preliminary initialization step resolves the alignment precision issue that arises from the compact-to-expanded transition.

The patent applies self-service by enabling the joint part to initialize its own origin position autonomously. The control device simply detects the initial rotational angle that the joint part assumes when received in the expanded state and automatically sets this as the origin position. This self-initialization process eliminates the need for complex external calibration equipment or manual alignment procedures, thereby maintaining low device complexity while achieving high measurement precision.

The patent applies preliminary action by applying initial tension to the driving force transmission member during the assembly process, before the manipulator is inserted into the body. This preliminary tensioning ensures that the transmission member is properly tightened and will not loosen during subsequent operations. The ease of assembly is maintained because the tensioning is done in advance during manufacturing or setup, while the reliability is improved by preventing loosening during actual use.