Patent ID: 8002694

Claim:
A master-slave manipulator system comprising: manipulation means that is manipulated in order to create an operation command; a manipulation means control section that reads the operation command to forward a first control command; a manipulator control section, by which a second control command for controlling of respective joints of a slave manipulator is output on the basis of the first control command; the slave manipulator that operates on the basis of the second control command; observation means that observes a motion of the slave manipulator; visual field changing means that changes a visual field of the observation means; a visual field change control section that controls the visual field changing means; display means that displays an image of the manipulator observed by the observation means on a screen; mode switching means for switching between a master-slave mode, in which the slave manipulator is controlled, and an observation means visual field tracking clutch mode, in which transmission of an operation command to the slave manipulator from the manipulation means is cut off to move the manipulation means to an optional position and orientation; a switching unit control section that reads a signal of the mode switching means to forward a mode signal to the manipulation means 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 means control section at the time of the observation means 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 means and a direction of manipulation of the manipulation means.