Patent ID: 6853879
Filing Date: 2005-02-08
Classification: B25J,G05B

Abstract:
1. A medical manipulator of a master/slave system comprising: a master unit provided with an operation control portion; a slave unit provided with a working device; an orientation difference measuring means for measuring an orientation difference between an orientation of the master unit and that of the slave unit; a control means for controlling the slave unit to adjust the orientation of the slave unit to that of the master unit so that the orientation difference is reduced to zero in a transient master/slave operation mode in which an unrestricted operation mode changes into a master/slave operation mode; and a control program defining the relation between the orientation difference and control time for a control period between time of reception of a signal requesting transition from the unrestricted operation mode to the master/slave operation mode and time when the orientation difference is reduced to zero, wherein the control means controls the slave unit according to the control program.