Patent ID: 9204934
Filing Date: 2015-12-08
Classification: A61B,B25J

Abstract:
1. A manipulator system comprising: a master manipulator configured to send an input command based on manipulation by an operator; a slave manipulator configured to operate in accordance with the input command; an image capturing unit configured to acquire an image of an object; a display device placed in front of the operator and configured to display the image acquired by the image capturing unit; a detection device configured to detect a direction of an operator's face with respect to the display device; and a control unit configured to determine whether the direction of the operator's face is within a predetermined angle with respect to the display device based on a detection result in the detection device, and to shift an operation mode of the slave manipulator between a predetermined first control mode and a second control mode in which an operation is limited more than in the first control mode based on a determination result; wherein the detection device comprises: wherein the control unit operates the slave manipulator in the second control mode when the index unit is not detected within the predetermined range in the detection unit, the control unit shifts to an input standby mode of an approval signal by the operator to perform a shift from the second control mode to the first control mode when a state in which the index unit is not detected within the predetermined range is changed into a state in which the index unit is detected within the predetermined range, and the control unit shifts from the second control mode to the first control mode when the approval signal is input.