| 摘要 |
PURPOSE: To always set equally the corresponding position relation of a master manipulator side and a slave manipulator on a treating side and to improve operability by applying such control to detect the angle of the angle detecting means of each shaft of a master arm for movement and to move a manipulator for movement correspondingly. CONSTITUTION: A first controller 71 is electrically connected to the encoder 42 of the master arm 31 for movement, and the position of the tip of the master arm 31 for movement is detected by detecting an angle of rotation by the encoder 42. A second controller 72 is electrically connected to the encoders 55, 56 of an arm 32 for HMD(head mount display), and the direction of an HMD 54 is detected by detecting the angle of rotation of the encoders 55, 56. A third controller 73 is electrically connected to the encoders 74 of arms 33a, 33b for treating means operation, and the direction, position and opening angle of a gripper are detected by detecting the angle of rotation of the encoder 74. |
