CPC B25J 3/00 (2013.01) [A61B 34/25 (2016.02); A61B 34/37 (2016.02); A61B 2034/302 (2016.02)] | 16 Claims |
1. A control device, comprising:
a central processing unit (CPU) configured to:
apply, to a control system of a master-slave system, a restraint force corresponding to an operation in one of a translational direction or a rotational direction by a master;
apply, to the control system of the master-slave system, a movable range limiting force that limits a position and a posture of one of the master or a slave so as not to move beyond a determined movable range of the one of the master or the slave, wherein
the determined movable range of the master is changeable based on a type of a grip portion attached to the master, and
the determined movable range of the slave is changeable based on a type of a medical instrument attached to the slave; and
output, to each of the master and the slave, an acceleration reference signal based on a generated force of the master, the restraint force, and a generated force of the slave.
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