| 摘要 |
PURPOSE: To improve safety of a patient and perform operation with low invasion, by making a means for observing an image of a body cavity site of the patient from the body surface positioned on a specified position, and controlling operations of a operation manipulator and a positioning means of the observing means based on a control information of a operation manipulator operating means. CONSTITUTION: A treatment slave manipulator is composed of a treatment apparatus 4 and a treatment arm 5, and also an observing manipurator is composed of an ultrasonic vibrator unit 6 and an observing arm 7. An image providing means and an operating means of an the observing manipurator are composed of a head mount display(HMD) 9. An image of a body cavity site is scanned by the ultrasonic vibrator unit 6 and is displayed on the HMD 9. The HMD 9 is mounted on the head part of an operator and can observe the image regardless of motion of the head. The motion of the HMD 9 is inputted into a control device 11, thereby the treatment apparatus 4 and the observing arm 7 are controlled. |
