MEDICAL MANIPULATOR SYSTEM, AND CONTROL METHOD AND CONTROL DEVICE OF MEDICAL MANIPULATOR SYSTEM

To provide a medical manipulator system of improved operability, and a control method and a control device of the medical manipulator system.SOLUTION: A medical manipulator system includes: a medical manipulator having a bend; an actuator bending the bend; an operation device to which bending operation bending the bend is inputted, which has an input piece that can move in a first direction away from an original point and a second direction returning to the original point and can detect a movement amount from the original point in the input piece; and a control device controlling the actuator on the basis of the bending operation. The control device calculates displacement of a quantity of the bend relative to a reference quantity of bend the bend should take when the input piece is located at the original point, and drives the actuator on the basis of a ratio of the second quantity of bending with respect to a movement amount of the input piece calculated so that there is no difference between a first quantity of bending to be displacement of a quantity of bending calculated on the basis of the drive amount of the actuator and a second quantity of bending to be displacement of the quantity of bending calculated on the basis of the movement amount of the input piece.SELECTED DRAWING: Figure 1 【課題】操作性を向上させた医療用マニピュレータシステム、医療用マニピュレータシステムの制御方法および制御装置を提供する。【解決手段】医療用マニピュレータシステムは、湾曲部を有する医療用マニピュレータと、湾曲部を曲げるアクチュエータと、湾曲部を曲げる湾曲操作が入力され、原点から離れる第一方向と原点に戻る第二方向とを移動可能な入力子を有し、入力子における原点からの移動量を検出可能な操作装置と、湾曲操作に基づいてアクチュエータを制御する制御装置と、を備え、制御装置は、入力子が原点に位置するときに湾曲部がとるべき基準湾曲量に対する湾曲部の湾曲量の変位を算出し、アクチュエータの駆動量に基づいて算出された湾曲量の変位である第一湾曲量と、入力子の移動量に基づいて算出された湾曲量の変位である第二湾曲量との差が無くなるように算出した入力子の移動量に対する第二湾曲量の比率に基づいてアクチュエータを駆動させる。【選択図】図１