| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a safety medical manipulator having excellent operability, its control device, and a control method. <P>SOLUTION: The control device for the medical manipulator detects the deviation between attitudes of a master part and a slave part, and switches a transitional master-slave operation mode which transits from a non-master-slave operation mode to a master-slave mode operation mode, and the master-slave operation mode by comparing the absolute value of the deviation with a predetermined reference value. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
