CPC A61B 17/29 (2013.01) [A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 2017/2902 (2013.01)] | 20 Claims |
1. A surgery system comprising:
a multiple-degree freedom slave arm, which is able to be mounted with a surgical instrument and includes a plurality of joints and a plurality of motors corresponding the respective joints of the plurality of joints;
a first input device configured to operate the multiple-degree freedom slave arm;
a second input device configured to operate the multiple-degree freedom slave arm and different from the first input device; and
a controller configured to control the multiple-degree freedom slave arm so that the multiple-degree freedom slave arm is operated by one of the first input device and the second input device, wherein the controller is configured to:
when an in-operation signal is not turned on, allow the multiple-degree freedom slave arm to be operated by the first input device in a teaching mode that is a mode for setting a fulcrum position; and
when the in-operation signal is turned on, control the multiple-degree freedom slave arm so as to move a distal end portion of the surgical instrument to spatial coordinates instructed by the second input device while maintaining a state where the surgical instrument passes through the set fulcrum position.
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