MASTER-SLAVE SYSTEM AND DRIVING METHOD THEREFOR

摘要

A master-slave system including: a slave device that includes an observation optical system and a treatment portion that protrudes from a surface on which the observation optical system is provided; a master device that includes a handle that is supported so as to be capable of rotating about a predetermined axis and a treatment manipulation portion; a control portion that associates rotation of the handle with rotation of the slave device about an axis intersecting the surface and that associates manipulation of the treatment manipulation portion with movement of the treatment portion; an image processing portion that generates a corrected image obtained by rotating an image of a subject and the treatment portion acquired by the observation optical system by a rotation angle of the slave device; and a monitor that displays the corrected image.

主权项

1. A master-slave system comprising:
a slave device that includes an observation optical system that photographs a subject and a treatment portion that protrudes from a surface on which the observation optical system is provided and that is at least partially photographed by the observation optical system together with the subject; a master device that includes a handle that is supported so as to be capable of rotating about a predetermined axis and a treatment manipulation portion that is provided on the handle; a control portion that associates rotation of the handle of the master device with rotation of the slave device about an axis intersecting the surface and that associates manipulation of the treatment manipulation portion with movement of the treatment portion; an image processing portion that generates a corrected image obtained by rotating an image acquired by the observation optical system by a rotation angle of the slave device about the axis intersecting the surface; and a monitor that displays the corrected image generated by the image processing portion.