| 摘要 |
A manipulator system (100) is provided with: a manipulator (1) comprising a treatment tool (6), an insertion section (5) that has a plurality of channels, and treatment tool drive units (13A, 13B) that cause the treatment tool (6) to advance, retreat, and/or rotate within the channels; an operation input unit (2) into which an operating instruction is input; a used-channel detection unit (22) that detects the channel in which the treatment tool (6) is inserted; a compensation value setting unit (3) that sets a compensation value on the basis of the channel detected by the used-channel detection unit (22); and a control unit (3) that generates a control signal in accordance with the operating instruction, uses the compensation value to correct the generated control signal, and subsequently transmits the result to the treatment tool drive units (13A, 13B). |
