| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a manipulator for medical use to be operated by a master- slave system of excellent operability to reduce an operator's load. <P>SOLUTION: This manipulator for medical use to be operated by the master- slave system comprises a slave unit (3) to perform works with a plurality of degree of freedom, a master unit (2) to command the operation of the slave unit, a restriction command unit (22) to command the restriction according to the predetermined condition of restriction to the operation of the specified degree of versatility among a plurality of degrees of versatility of the slave unit and the release thereof to command the release, a differential attitude detecting means (6) to detect the differential attitude between the attitude of the master unit and the attitude of the slave unit while the restriction of the specified degree of versatility is started and the restriction is released by the command of the restriction command unit, and an attitude regulating unit (8) to regulate the attitude of the slave unit so that the attitude of the master unit and the attitude of the slave unit are in a predetermined attitude relationship based on the differential attitude detected by the differential attitude detecting means. <P>COPYRIGHT: (C)2004,JPO |
