| 摘要 |
PROBLEM TO BE SOLVED: To provide a master-slave system capable of improving operability of the system when a slave device is folded back.SOLUTION: The medical master-slave system of the present invention includes a flexible master device operated by an operator, and a flexible slave device to be inserted into the body. A control method of the medical master-slave system includes: a normal operation mode (a step S101) of operating the slave device on the basis of a curved state of the master device such that the slave device executes an operation similar to the operation of the master device; a reverse operation mode (a step S105) of operating the slave device on the basis of the curved state of the master device such that the slave device executes a reverse operation with respect to the operation of the master device; and transfer modes (steps S103, 104, 107, and 108) of mutually transferring the normal operation mode and the reverse operation mode. |
