| 摘要 |
Provided is a medical system (100) comprising: a multi-joint slave arm (6); a master arm (9) having a jointed configuration similar to the structure of the slave arm (6); and a control unit (3) capable of switching between a first control mode and a second control mode. The first control mode controls the rotation action of each joint in the slave arm (6) on the basis of the rotation amount of each joint in the master arm (9), such that the slave arm (6) has a similar shape to the master arm (9). The second control mode controls the rotation action of each joint of the slave arm (6) on the basis of the travel amount of a prescribed site in a tip section of the master arm (9), such that a prescribed site on a tip section of the slave arm (6) mimics the movement of the prescribed site on the tip section of the master arm (9). |
