| 摘要 |
<p>A surgical robot (1) comprising: an external force calculation means (32) that calculates external force such that the resultant force of forceps (10) is zero; an external force action point calculation means (34) that calculates an external force action point such that the total moment of the forceps (10) is zero; a contact determination means (35) that determines whether or not an object has come in contact with between the tip and the base of the forceps (10); and a warning means (36) that, if a determination is made by the contact determination means (35) that there has been contact, warns of forceps (10) contact.</p> |
