| 摘要 |
A medical manipulator having a multi-degree-of-freedom arm to which a medical tool can be attached holds an insertion inlet position that marks the spatial position of an insertion inlet for inserting the medical tool attached to the multi-degree-of-freedom arm into a body, and controls the multi-degree-of-freedom arm so that the medical tool is inserted into the body from the held insertion inlet position. After the medical tool is inserted into the insertion inlet position, the multi-degree-of-freedom arm is driven under an operation limit in which the movement of the medical tool is limited by the insertion inlet position. Under said operation limit, the multi-degree-of-freedom arm is driven so that a predetermined site of the medial tool is moved to a spatial coordinate instructed by a user while maintaining a state in which the medical tool passes through the insertion inlet position. |
