| 摘要 |
[Problem] To improve the operability of a medical treatment tool by performing automatic angle adjustment of an end effector. [Solution] A medical system according to the present invention is provided with: a medical treatment tool that is controlled and that is provided with a movable joint that adjusts the angle of a first end effector with respect to a first shaft; a medical instrument that controls and that is provided with a second end effector that is arranged on the tip of a second shaft; a sensor that outputs a sensor signal that contains at least the angle of the second end effector; and a controller that sets a conformity reference on the basis of the sensor signal that is output by the sensor and that makes it possible to execute conformity processing that drives a drive unit so that the angle of the first end effector conforms with the conformity reference. |
