| 摘要 |
PROBLEM TO BE SOLVED: To provide a manipulator system for medical treatment capable of improving the safety and efficiency of operation without damaging remote controllability. SOLUTION: This system is provided with a manipulator 1 for medical treatment having multiple spindles to be driven by remote control for observing and/or treating a portion in a living body, a master arm 14 having multiple spindles for performing remote control and a controller 21 for controlling the operation of the manipulator 1 for medical treatment on the basis of operation information from the master arm 14, the respective spindles of the manipulator 1 for medical treatment are provided with motors 11a-11c, the respective spindles of the master arm 14 are provided with encoders 15A-15C and brakes 16A-16C and the controller 21 converts displacement signals from the encoders 15A-15C on the respective spindles of the master arm 14 with a preset magnification, transmits these signals to the motor 11 on the corresponding spindle of the manipulator 1 for medical treatment and transmits a control signal for generating braking power corresponding to the magnification of the displacement signal to the brakes 16A-16C of the master arm 14. |
