| 摘要 |
PURPOSE:To allow the operation of a treating device and a scope without close communication by even a person not skilled highly in the operation of the treating device and the scope by enabling the moving of the visual field of the scope immediately in response to the movement of the tip of the treating device. CONSTITUTION:MPUs 9a and 10a are arranged to drive or control manipulators 7 and 8 through respective actuator drive circuits 9b and 10b while performing a transmission or reception mutually through interfaces 9c and 10c. A vector (p) at a focus P of a scope 5 and a vector (q) at a working point Q of a treating device are calculated with the MPUs 9a and 10a respectively with a setting point O1 of the manipulator 7 and the setting point O2 of the manipulator 8 as origin to perform a transmission or reception mutually and manipulators 7 and 8 are driven or controlled so that the scope 5 and the treating device meet a desired positional relationship through mutual transmission and reception. |
