Manipulator apparatus and medical device system

摘要

A medical device system includes a manipulator (200) including a plurality of joints (211-219), a parameter storing portion (46) for storing joint parameters, including a largest available force, of each joint of the plurality of joints (211-219), a trajectory inputting portion (43) for inputting, as a trajectory plan, trajectories for moving a distal end of the manipulator (200) from a current position and attitude to a target position and attitude, a trajectory setting portion (45) for setting a joint angle trajectory for each joint providing a largest available force from among joint angle trajectories which allow movement to the target position and attitude with a minimum number of driven joints based on a largest available force parameter for the each joint stored in the parameter storing portion and the trajectory plan.