Master-slave system for moving slave unit based on motion commands inputted into two command input units held by each hand of operator
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United States of America Patent
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May 22, 2018
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app pub date -
Sep 1, 2015
filing date -
Mar 29, 2013
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Abstract
There is provided a master-slave system including: a slave unit including an observation optical system imaging a subject A; a treatment part projecting from a surface on which the observation optical system is provided and at least part of the treatment tools is imaged along with the subject A by the observation optical system; a master apparatus including an operating unit held and operated by an operator; a control unit associating operation of the operating unit of the master apparatus with motion of the slave unit and motion of the treatment part; and a monitor screen displaying an image acquired by the observation optical system, wherein the operating unit includes a command input unit into which a motion command for a slave unit is inputted while the operating unit is held by the operator without changing a pose of the operating unit.
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