| 摘要 |
Provided is a medical system (100) comprising: first slave arms (6L, 6R), a master arm (11R) having a joint configuration having a similar structure to the first slave arms; a second slave arm (6C); an operation target switching unit (13) that switches the target for master arm (11R) operation between the slave arms (6L, 6R; 6C); 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 operation of each joint in the first slave arms on the basis of the rotation amount of each joint of the master arm and in accordance with the joint configuration of the slave arm that is the control target. The second control mode controls the rotation operation of each joint in the second slave arm, on the basis of the operation at a prescribed site on the master arm. |
