Medical manipulator system
A medical and manipulator technology, applied in the field of medical manipulator systems, can solve problems such as time extension
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[0027] Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0028] Figure 1 to Figure 13 It relates to an embodiment of the present invention. figure 1 It is a figure which shows an example of the main part structure of the medical manipulator system which concerns on embodiment of this invention. figure 2 is showing figure 1 An example of the structure of the front end surface of the front end portion of the endoscope. image 3 It is a diagram showing a situation when the robot arm portion of the slave-side robot is inserted into the treatment tool channel provided in the endoscope. Figure 4 It is a figure which shows an example of the bending state of a bending part at the time of acquiring the information concerning the rotation amount (rotation angle) of a 1st motor. Figure 5 It is a figure which shows an example of the bending state of a bending part at the time of acquiring the information concerning the rotation a...
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