MEDICAL INSTRUMENT

摘要

PROBLEM TO BE SOLVED: To provide a medical instrument capable of moving a scope to follow the movement of a treatment tool so that person holding the scope is not required. SOLUTION: The scope 281 is attached to the arm of a vertical multi-joint robot 285 with 6 degrees of freedom, and the treatment tool 282 is approached to a treatment object from a position different from the scope 281. The position and attitude of the tool 282 to the scope 281 and the top edge position of the tool 282 are calculated and the robot 285 is controlled so that the top edge of the tool 282 passes in the axial center of the scope 281.