MANIPULATOR DEVICE, MANIPULATOR, AND METHOD OF OPERATING TREATMENT TOOL USING MANIPULATOR DEVICE

摘要

A manipulator device, a manipulator, and a method of operating a treatment tool using the manipulator device. The manipulator device operating an operation object under observation by an observational optical system comprises the treatment tool operating the operation object, a tip part involved in the treatment tool and coming into contact with or moving closest to the operation object, and a detection means detecting the change of light including scattered light from the tip part illumination by an illuminating light which occurs by the displacement of the tip part.