| 摘要 |
PROBLEM TO BE SOLVED: To accurately initialize a joint angle of a bending joint, in an initializing method for a manipulator system.SOLUTION: An initializing method for a manipulator system equipped with a medical apparatus comprising a bending joint and a shaft-like part, a driving force transmission part, a drive part for supplying a driving force, and a driving force relay part capable of switching between a driving force relay state and a driving force release state, includes a joint angle setting step (step S2) in which a joint angle is set to be a predetermined value by inserting a bending joint and a pair of shaft-like parts connected by the bending joint into a form regulation member having a form regulation part which allows the joint angle of the bending joint to be a predetermined value in the driving force release state, a drive part connection step (step S3) for switching the driving force relay part into the driving force relay state, and an original point setting step (step S4) which, after performing the step S3, allows a state of the joint angle of the bending joint to correspond to a drive original point of the drive part. |
