| 摘要 |
The present invention solves positional deviation by moving a slave-side medical manipulator according to an instruction from an operator, without using a large-scale master-side operation unit provided with a motor. Provided is a medical manipulator system (1) that includes: a medical manipulator (3) having one or more joints (B); an operation unit (2) that has an operation system (A) corresponding to the joints (B) of the medical manipulator (3) and that is operated by an operator; and a control unit (4) for controlling the medical manipulator (3) according to an operation performed on the operation unit (2). In the operation unit (2), a switch (13) is provided. When an instruction according to operation of the switch (13) is valid, the control unit (4) causes the joints (B) of the medical manipulator (3) to operate in a direction to solve positional deviation from the operation system (A) of the operation unit (2), and when the instruction according to operation of the switch (13) is invalid, the control unit (4) stops operation for solving positional deviation. |
