| 摘要 |
PROBLEM TO BE SOLVED: To improve operability of a medical treatment instrument by performing automatic angle adjustment of an end effector.SOLUTION: A medical system includes: a medical instrument 2 provided with a drive part 22 which drives to adjust an angle of an end effector 26 with respect to shafts 24a, 24b; a trocar 1 having an insertion hole in which the medical instrument is inserted; a sensor 12 outputting a sensor signal including at least an angle of a shaft in a reference coordinate system; and a controller 3 which can perform tracking adjustment processing that drives the drive part so that the angle of the end effector tracks tracking reference in the reference coordinate system on the basis of the sensor signal outputted by the sensor. |
