Master-slave system, control device, control method and program

Abstract

To make a slave operation form more appropriate in a master-slave system.SOLUTION: A master-slave system 1 comprises a master device 10, a slave device 20, and a control device 30. The control device 30 comprises an operation control unit 353 and a tactile force transmission unit 354. The tactile force transmission unit 354 executes transmission control of tactile force between the master device 10 and the slave device 20 on the basis of an operation input to the master device 10 and an external force input to an instrument (a catheter) that operates in response to the operation. The operation control unit 353 causes the slave device 20 to execute an operation set for the instrument being operated in accordance with the operation input to the master device 10.SELECTED DRAWING: Figure 1

Images