| 摘要 |
PROBLEM TO BE SOLVED: To provide a distributed control system using a remote controlled surgical operation instrument.SOLUTION: A control and conversion processor 2220 exchanges information with two master arm optimizers/controllers 2222a and 2222b, exchanges information with three surgical operation instrument optimizers/controllers 2224a, 2224b and 2224c, exchanges information with an imaging system optimizer/controller 2226, and exchanges information with an optimizer/controller 2228 of a guide tube. In a remote controlled surgical operation system (including a camera (imaging system) arm, a guide tube arm, and an instrument arm, for example), each optimizer/controller is associated with a master arm or a slave arm. Each of the optimizers/controllers receives optimization targets 2230a-2230g unique to the arm. |
