MEDICAL MANIPULATOR, CONTROLLER AND CONTROL METHOD THEREOF TO IMPROVE SAFETY AND CONTROLLABILITY BY OPERATING IN A MASTER SLAVE METHOD

摘要

PURPOSE: A medical manipulator is provided to improve the safety and the controllability by reflecting an operator's intention during a posture fitting operation. CONSTITUTION: In a transitional master slave operation mode(S4), a control unit changes an operation method of the transitional master slave operation mode among an accelerated following target generation(S45) and a decelerated following target generation(S46) according to the equality between codes of a deflection change rate between a master posture and a slave posture and the posture change rate of a master portion. The accelerated following target generation follows a posture target of the slave portion to a posture angle of the master portion. The decelerated following target generation follows the posture target of the slave portion to the posture angle of the master portion.