To provide a medical manipulator system capable of improving safety.
This medical manipulator system is provided with a plurality of multiarticular operation manipulators 5, 7 of which at least one multiarticular operation manipulator 7 holds an instrument 6 for performing at least observation out of observation and treatment of a tissue part in vivo and the other multiarticular operation manipulator 5 holds an instrument 4 for performing at least the other of the observation and treatment of the tissue part in vivo; operating means 8, 9 actuated to operate the multiarticular operation manipulators 5, 7; and an operation range limiting means 14 for limiting the operation range of the multiarticular operation manipulator 5 by the operating means 8 based on an observation image obtained by observing by the instrument 6 for performing at least observation.
| JPH0630896A | 1994-02-08 | |||
| JPH07121215A | 1995-05-12 | |||
| JPH0388683U | 1991-09-10 | |||
| JPH04231034A | 1992-08-19 |
Satoshi Kono
Makoto Nakamura
Kurata Masatoshi
Takashi Mine
Yoshihiro Fukuhara
Sadao Muramatsu
Ryo Hashimoto