Master-slave manipulator system

Details Master-slave manipulator system Master-slave manipulator system

2011-08-23

2011-08-23

Mancho, Ronnie (Department: 3664)

Surgery

Endoscope

With monitoring of components or view field

C600S228000, C600S229000, C600S235000, C600S372000, C600S424000, C606S001000

Reexamination Certificate

active

08002694

ABSTRACT:
In a master-slave manipulator system, manipulation device can be manipulated intuitively even when clutch manipulation is performed. A master-slave manipulator system includes: mode switching device for switching between a master-slave mode, in which the slave manipulator is controlled, and an observation device visual field tracking clutch mode, in which transmission of an operation command to the slave manipulator from the manipulation device is cut off to move the manipulation device to an optional position and orientation; a switching unit control section that reads a signal of the mode switching device to forward a mode signal to the manipulation device control section; and a visual field transform section that forwards a third control command to the manipulator control section and forwards a fourth control command to the visual field change control section on the basis of an operation command read by the manipulation device control section at the time of the observation device visual field tracking clutch mode so as to make an agreement between a direction of motion of an image of the slave manipulator displayed on the display device and a direction of manipulation of the manipulation device.

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European Search Report, dated Mar. 1, 2011, issued in corresponding European Patent Application No. EP 08 00 1129.

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