| 摘要 |
In order to provide a surgical assistance robot capable of being operated favorably even when it is difficult to instantly ascertain the three-dimensional positional relationship between a lesion and the treatment tool or to fully ascertain the force acting between the lesion and the treatment tool, this surgical assistance robot (1) comprises: an operation section; a tip section that moves according to the control input from the operation section; a treatment tool disposed on the tip section; a detection sensor that is disposed near the tip section and detects the condition of the tip section; and an operation mode-changing section (Step S102 to Step 104) for changing the operation mode according to the detection results of the detection sensor. |
