| 摘要 |
The purpose of the present invention is to maintain a corresponding relationship between a master device (2) and the positions of treatment tools (9) on a monitor, in cases when a slave device (4) is made to rotate by an operation of the master device (2). Accordingly, provided is a master-slave system (1) which is provided with: a slave device (4) provided with an observation optical system (8) for imaging a subject (A), and treatment units (9) which protrude from a surface (3a) having the observation optical system (8) provided therein, at least portions of said treatment units (9) being imaged, along with the subject (A), by the observation optical system (8); a master device (2) provided with operation units (23) which are held and operated by an operator; and a command input unit (25) which is provided with a controller for associating operation of the operation units (23) of the master device (2) with movement of the slave device (4) and movement of the treatment units (9), and a monitor for displaying an image acquired by the observation optical system (8), and with which movement commands for the slave device (4) can be inputted, while the operation units (23) are being held by the operator, without changing the position of the operation units (23). |
