PURPOSE: To improve operability and the like by taking such a measure as to set a position input system by a main control device to generate a control command when the input grip of a master manipulator for operating a slave manipulator is positioned in the inner area of a movable area.
CONSTITUTION: In a master manipulator 11, an input grip 15 for operating a slave manipulator is fitted to an X-axis slider 12, and X-axis, Y-axis and Z-axis sliders 12-14 are respectively provided with master control motors 16 and input grip position sensors 17. In a main control device 31 for controlling the slave manipulator 21, whether the input grip 15 is positioned in either one of the inner and outer surface side areas in the movable area is judged by an area judging part 32. When the input grip 15 is positioned in the inner area, for instance, the moving distance of an end effector 24 in the slave manipulator 21 is computed as fixed number of times as long as the moving distance in the input grip 15 by a position input command computing part 33.
| JP6898313 | Surgical robot system |
SUMI MASANOBU
MARUMOTO SEIICHI
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