JP4354042B2 - Medical manipulator device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a medical manipulator device that is driven by a remote operation to observe and treat an in-vivo site.
[0002]
[Prior art]
For example, endoscopic surgery has been conventionally performed in which various treatments are performed in a body cavity by opening a hole in a body wall such as the abdominal cavity and inserting an endoscope or treatment tool into the body cavity percutaneously through the hole. Such a technique is often performed in a cholecystectomy operation or an operation to remove a part of the lung as a minimally invasive technique that does not require a large incision.
[0003]
In such an endoscopic operation, it has been desired that an endoscope and a treatment tool inserted into a body cavity can operate in a wide range as much as possible in the body cavity. Therefore, in Japanese Patent Laid-Open Nos. 7-136173 and 8-117238, a medical manipulator device having a multi-joint structure insertion portion with a high degree of freedom has been proposed.
[0004]
Each of these conventional techniques employs a multi-joint structure having the same degree of freedom as a medical manipulator for a remote control device used for remotely operating a medical manipulator having a multi-joint structure. Moreover, in order to facilitate the operation by the operator, the structure of the remote control device is generally similar to a medical manipulator as much as possible. If the structure is the same, the operation shape taken by each axis of the remote control device can be projected onto the manipulator as it is, so that the operation becomes easy sensibly. However, if medical manipulators become widespread in the future, it is considered that various types of medical manipulators suitable for the target surgical procedure will appear.
[0005]
At that time, if the remote control device is a dedicated machine corresponding to each manipulator, problems such as storage space and learning of operation methods arise. Therefore, it is useful to realize a remote control device that can be used for general purposes as much as possible and can be easily adapted to any manipulator.
[0006]
[Problems to be solved by the invention]
In the above-described medical manipulator device, basically, the manipulator can be operated if the degree of freedom of the remote control device is equal to or greater than the degree of freedom of the manipulator. However, in a general-purpose remote control device, even if the degree of freedom condition is satisfied, its operation shape may be completely different, which impairs remote control and reduces the safety and efficiency of surgery. There was a problem.
[0007]
The present invention has been made paying attention to such problems, and an object of the present invention is to provide a medical manipulator device that can improve the safety and efficiency of surgery without impairing remote operability. There is to do.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the present invention According to one embodiment A medical manipulator is driven by a remote operation to observe and / or treat an in-vivo site. It has a plurality of axes, and each axis is provided with driving means Medical manipulator and remote control It has a plurality of axes, and each axis is provided with a displacement detection means and a braking means A remote control device; and a control device that controls the operation of the medical manipulator based on operation information from the remote control device, wherein the control device is a displacement detection means for each axis of the remote control device. Displacement signal from At a predetermined magnification Convert and transmit to the driving means of the corresponding shaft of the medical manipulator With signal conversion means , Of the displacement signal conversion A control signal for generating a braking force according to the magnification is transmitted to the braking means of the remote control device. Control signal generating means A medical manipulator comprising: The degree of freedom of the medical manipulator is set to be greater than the degree of freedom of the remote control device, and there are a plurality of the medical manipulators and the remote control devices, respectively, and the plurality of medical manipulators and the plurality of remote control devices A control device is provided for each of the pairs, and control means for controlling the operation so that the manipulators do not interfere with each other is provided between the control devices. .
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0010]
(First embodiment)
1 to 4 are views for explaining a first embodiment of the present invention. FIG. 1 is a diagram showing a configuration of a medical manipulator (hereinafter simply referred to as a “manipulator”) 1 according to this embodiment, which can be inserted into a body cavity through a manipulator body 3 and an insertion hole 8 drilled in a living body wall 70. And a straight-shaped small-diameter insertion portion 2. The manipulator body 3 is an arm mechanism provided with a link mechanism and an adjustment mechanism as means for positioning the small-diameter insertion portion 2, and the thin-diameter insertion portion 2 is connected to the manipulator main body 3 so as to freely advance and retract. Yes. The above-mentioned link mechanism, adjustment mechanism, and connecting mechanism for the insertion portion are disclosed in detail in JP-A-7-136173.
[0011]
Further, an end effector as a working part is flexibly connected to the distal end of the small diameter insertion part 2. The end effector differs depending on the work purpose of the manipulator 1, and a grasping forceps 5 is shown in FIG. The grasping forceps 5 has an opening / closing mechanism for grasping and peeling biological tissue, grasping a needle for suturing, and the like.
[0012]
The treatment with the manipulator 1 is performed under observation of an endoscope inserted through another insertion hole (not shown).
[0013]
Between the gripping forceps 5 and the small diameter insertion portion 2, only one bent portion is provided as shown in the figure. The length of the grasping forceps 5 is sufficiently smaller than the length of the small diameter insertion portion 2.
[0014]
By the way, the number of axes of the manipulator 1 is determined from the degree of freedom regarding the position and orientation of the end effector and the constraint condition regarding the position of the insertion hole 8. As for the former, in order to treat an organ or the like at an arbitrary position in the body cavity with an arbitrary orientation, generally six degrees of freedom are required. In the latter case, three degrees of freedom are necessary so that an excessive force is not applied to the body cavity wall 70.
[0015]
If both are added, nine degrees of freedom are required, but can be realized with six degrees of freedom by the point lock mechanism. Details are disclosed in JP-A-7-136173.
[0016]
A drive mechanism and an encoder are installed on each of the six axes of the manipulator. The drive mechanism is composed of a motor and a transmission mechanism. These details are also disclosed in JP-A-7-136173.
[0017]
FIG. 2 is a diagram showing a configuration of the master arm 14 as a remote control device that gives an operation command for operating the manipulator 1 described above. In the present embodiment, a so-called master-slave system is adopted in which the operator directly moves the master arm by hand to determine the operation of the manipulator.
[0018]
The master arm 14 is a multi-degree-of-freedom manipulator configured by combining a plurality of pantograph mechanisms 17. Three pantographs 17 and three rotary pair shafts 18 are attached to the output node 12, and a bowl-shaped opening / closing mechanism 19 is attached to the upper surface of the output node 12. An encoder 20 is connected to each of the panda graphs 17, the paired shaft 18, and the shaft of the opening / closing mechanism 19. Further, a disk 31 as shown in FIG. 3 is integrally provided on each of the shafts, and a brake 32 is operably provided on the surface of the disk 31. As described above, the master arm 14 has a total of seven degrees of freedom.
[0019]
FIG. 4 is a block diagram of the medical manipulator device described above. The control device 21 includes a transmission magnification variable circuit 22, a motor drive signal generation circuit 24, a position detection circuit 25, and a brake drive signal generation circuit 23. The transmission magnification variable circuit 22 receives a signal from the encoder 15 (15A, 15B, 15C,...) Serving as a displacement detection means for the master arm 14 and converts it to an arbitrary magnification. This arbitrary magnification is inputted by the operator from a setting input device 26 arranged outside the control device 21. The motor drive signal generation circuit 24 receives the signal whose magnification has been converted, and drives the drive motor 11 (11 a, 11 b, 11 c,...) As drive means for the manipulator 1. The position detection circuit 25 receives an output signal from each encoder 10 (10a, 10b, 10c,...) Of the manipulator 1, detects the attitude of the manipulator 1, and feeds it back to the motor drive signal generation circuit 24. The brake drive signal generation circuit 23 receives the signal from the transmission magnification variable circuit 22 and drives each brake 16 (16a, 16b, 16c,...) As a braking means of the master arm 14.
[0020]
The operation of the above configuration will be described below. The movement range of each axis of the manipulator 1 does not match the movement range of each axis of the master arm 14. Therefore, the surgeon inputs in advance to the control device 21 using the setting input means 26 how many times the displacement of the master arm 14 is transmitted to the manipulator 1 for each axis. The motor drive signal generation circuit 24 drives the drive motor 11 on the manipulator 1 side according to the magnification set in this way.
[0021]
Further, the brake drive signal generation circuit 23 drives the brake 16 on the master arm 14 side according to the set magnification. For example, if the set magnification of a certain axis is large, the manipulator 1 can be displaced greatly only by slightly displacing the master arm 14. Further, if the set magnification of a certain axis is small, even if the master arm 14 is greatly displaced, the manipulator 1 moves only slightly.
[0022]
Further, when the set magnification is large, the generated force of the brake 16 also increases, so that the operator feels a strong resistance. Conversely, if the set magnification is small, the generated force of the brake 16 is small, so that the operator can operate the arm with a slight force.
[0023]
According to the first embodiment described above, even if the master arm is a general-purpose device having an operation range different from that of the manipulator, it is possible for the operator to perform the setting for associating the movements of both in advance, so that the remote operability is improved. It is possible to realize a medical manipulator device that will not be damaged.
[0024]
In particular, by configuring the brake device to generate a force that corresponds to the transmission magnification, even if the surgeon accidentally operates the master arm more than necessary, a strong braking force works, so the master arm can move. Absent. Therefore, it is possible to guarantee a safe operating range for the living body on the manipulator side.
[0025]
Further, since it is a general-purpose master arm, when the degree of freedom is higher than that of the manipulator, the shaft can be locked by applying a sufficient force to the brake of any shaft of the master arm. In this way, it is possible to match the degrees of freedom of the master arm and the manipulator.
[0026]
(Second Embodiment)
5 to 8 are diagrams for explaining a second embodiment of the present invention. FIG. 5A is a diagram illustrating a configuration of a medical manipulator device according to the second embodiment. FIG. 5B is a diagram showing a configuration around the endoscope 38.
[0027]
The medical manipulator 35 includes a manipulator body 36 and a small diameter insertion portion 37. As shown in FIG. 5 (B), a bendable endoscope 38 and slave manipulators 41 and 42 attached to both sides thereof are mounted on the distal end portion of the small-diameter insertion portion 37 (details are given below). JP-A-8-117238). Two master arms 44 and 45 are provided on a rotary console 47 and operated by an operator. The configuration of each master arm 44 (45) is the same as in the first embodiment. Each of the master arms 44 and 45 corresponds to a slave manipulator. Furthermore, the surgeon wears a head-mounted display 46 on which a three-dimensional position sensor (not shown) as a bending operation means of the endoscope 38 is mounted on the head. The medical manipulator 35 and each operation means are connected via a composite control device 43.
[0028]
FIG. 6 is a block diagram of the medical manipulator device described above. The composite control device 43 includes a motor drive signal generation circuit 50, an A control device 52, a coordination circuit 54, a B control device 53, and a C control device 55. A console motor 51 is connected to the motor drive signal generation circuit 50, and an endoscopic image 48 is input via an image processing circuit 49. A slave manipulator 41, A master arm 44, and A setting input device 57 are connected to the A control device 52. Further, a B slave manipulator 42, a B master arm 45, and a B setting input device 58 are connected to the B control device 53. A surgical manipulator main body 36, a three-dimensional position sensor 56, and a C setting input device 59 are connected to the C control device 55. The cooperative circuit 54 as the cooperative control means is a device for connecting the A control device 52 and the B control device 53, which will be described later. In the above configuration, the A control device 52 and the B control device 53 provided corresponding to the two master arms 44 and 45 have the same configuration as the control device 21 described in the first embodiment.
[0029]
A signal from the three-dimensional position sensor 56 is input to the C controller 55 to control the driving of the manipulator main body 36, but detailed description thereof is omitted here. The image processing circuit 49 has a function as a displacement detection unit, calculates the position of the endoscope in the endoscopic image 48, and sends position information to the motor drive signal generation circuit 50. Based on the position information at this time, the motor drive signal generation circuit 50 drives and controls a console motor 51 for rotationally driving the console 47.
[0030]
The operation of the above configuration will be described below with reference to FIG. In the upper left diagram of FIG. 7, the manipulators 41 and 42 protrude from the left and right of the endoscopic image 48. At this time, the master arms 44 and 45 on the console 47 are in a position parallel to the operator.
[0031]
Next, when the endoscope 38 is curved or the manipulators 41 and 42 move in a complicated manner, for example, when the manipulator protrudes from above and below on the endoscopic image 48 as shown in the upper right diagram. There is. Then, since the console 47 rotates 90 ° based on the position information calculated by the image processing circuit 49, the master arms 44 and 45 are in a serial position with respect to the operator. In this way, the surgeon can operate the two master arms with the same positional relationship as the manipulator visible in the endoscopic image.
[0032]
The description of the part where each master arm 44, 45 operates the manipulators 41, 42 is the same as in the first embodiment.
[0033]
FIG. 8 is a flowchart showing an operation algorithm of the cooperative circuit 54 as the second operation of the second embodiment. The cooperative circuit 54 is a circuit that prevents the movements of the master arms 44 and 45 from interfering with each other. Here, it is assumed that each manipulator 41, 42 has a greater degree of freedom than the master arm.
[0034]
First, the position of the A master arm 44 is detected by the encoder (step S1), and the position of the B master arm 45 is detected (step S3). Next, the operation of the slave manipulators 41 and 42 is simulated based on the detected signal. In steps S2 and S4, the manipulator shape in a state where an arbitrary axis of the manipulator is fixed is calculated. In step S6, it is determined whether or not the two manipulator shapes cause interference from the obtained calculation result. When the interference occurs, the process proceeds to step S7, and the axes to be fixed are sequentially shifted, and steps S2 and S4 are repeated. In this case, the other degrees of freedom of the slave arm also operate so that the position and direction of the slave tip do not change.
[0035]
If it is determined that no interference will occur, the process proceeds to step S6, and the manipulator is actually driven with the shaft fixed.
[0036]
According to the second embodiment described above, since the console rotates so that the master arm is in the same positional relationship with the position of the manipulator on the endoscopic image, the surgeon moves the master and the manipulator in the same manner. It can be grasped by the positional relationship and workability is improved.
[0037]
In addition, by incorporating the cooperative circuit 54 having the algorithm as shown in FIG. 8, it is possible to prevent the operation interference between the manipulators, so that it is possible to safely carry out a complicated procedure by simultaneously operating a plurality of manipulators. I can do it.
[0038]
In the above-described embodiment, an example of two pairs of manipulators and master arms has been described. However, more pairs may be used.
[0039]
(Third embodiment)
FIG. 9 is a diagram showing the configuration of the third exemplary embodiment of the present invention. Here, only different parts from the first embodiment will be described. A large number of light-receiving optical sensors 64 are provided on the surface of the manipulator 63. The output of the optical sensor 64 is input to the light quantity measuring device 65 to determine whether the light quantity falls below a certain set value. When the value falls below a certain set value, a warning means 66 including a buzzer / lamp is activated.
[0040]
The operation of the above configuration will be described below. The manipulator 63 performs a treatment within the field of view of the endoscope 61. Light supplied from the light guide 62 is emitted from the distal end of the endoscope 61 within a certain illumination range. Since the optical sensor responds to the illumination light in the portion of the manipulator 63 within the illumination range, it can be identified that the manipulator is in the field of view by monitoring the optical sensor. If the manipulator deviates from the field of view, the output of the optical sensor decreases, so a signal is output from the light quantity measuring device 65 to the warning means 66 to warn the operator.
[0041]
According to the third embodiment described above, when the manipulator goes out of the field of view, a warning is signaled, so that the surgeon can safely proceed with the surgical procedure.
[0042]
(Fourth embodiment)
FIG. 10 is a diagram showing the configuration of the fourth exemplary embodiment of the present invention. The structure of 4th Embodiment is a structure which inputs a danger signal into the control apparatus 21 instead of a warning means in 3rd Embodiment. A signal from the light quantity measuring device 65 is preferentially input to the brake drive signal generating circuit 23 in the control device 21. The brake drive signal generation circuit 23 operates each brake of the master arm.
[0043]
In the above configuration, when the light amount measuring device detects that the manipulator is out of the illumination range, the output of the encoder of the master arm is ignored and sufficient braking force is generated for each brake of the master arm.
[0044]
According to the above-described fourth embodiment, there is an effect that safety is improved.
[0045]
(Fifth embodiment)
FIGS. 11-13 is a figure for demonstrating 5th Embodiment of this invention. FIG. 11 is a diagram showing the configuration of the distal end of the insertion portion 37 according to the fifth embodiment. Here, as shown in FIG. 11, a tissue evacuation hood 72 for evacuating the tissue / organ 73 is provided at the distal end of the small diameter insertion portion 37 so as to surround the slave manipulators 41 and 42. As shown in FIG. 13, the tissue exclusion hood 72 is embedded with a bone made of a shape memory alloy wire 74 at an appropriate interval in a cylindrical transparent resin sheet 75. The shape memory alloy wire 74 is deformed into an arch shape at a temperature slightly higher than the body temperature.
[0046]
In the above configuration, as shown in FIG. 12, when the tissue exclusion organ hood 72 is pressed against the tissue / organ 73 to be treated and hot air is supplied from the air supply channel of the endoscope, the shape memory alloy wire 74 is deformed. The tissue evacuation hood 72 excludes surrounding tissues and secures a surgical field of view. Further, by securing the space, it is possible to prevent unintended tissue damage during operation of the manipulators 41 and 42.
[0047]
The invention having the following configuration is extracted from the specific embodiment described above.
[0048]
1. A medical manipulator that is driven by remote operation and has multiple axes for observing and / or treating in vivo sites;
A remote control device having multiple axes for remote control;
Based on operation information from this remote operation device, comprising a control device for controlling the operation of the medical manipulator,
A driving means is provided on each axis of the medical manipulator, and a displacement detecting means and a braking means are provided on each axis of the remote control device,
The control device converts the displacement signal from the displacement detection means of each axis of the remote operation device by a preset magnification and transmits it to the corresponding shaft drive means of the medical manipulator. A medical manipulator device, wherein a control signal for generating a braking force corresponding to a magnification is transmitted to a braking means of the remote control device.
[0049]
2. The medical manipulator device according to Configuration 1, wherein the degree of freedom of the medical manipulator is set to be greater than the degree of freedom of the remote control device.
[0050]
3. The medical manipulator device according to Configuration 1, wherein the braking means is means for generating a mechanical frictional force.
[0051]
4). The medical manipulator device according to Configuration 1, wherein the displacement detection means is an encoder device.
[0052]
5. The medical manipulator device according to Configuration 1, wherein the displacement detection means is an image processing device on the endoscopic image side.
[0053]
6). The medical manipulator device according to Configuration 2, wherein the medical manipulator forms part of a medical manipulator device.
[0054]
7). The medical manipulator device according to Configuration 6, comprising a plurality of medical manipulators, a plurality of corresponding remote control devices, and a control device corresponding to each pair.
[0055]
8). In the configuration 7, a cooperative control means for avoiding the interference of the operation of each manipulator is provided between the control devices, and this cooperative control means performs a calculation when the axes are sequentially restrained, and takes a shape in which each manipulator does not automatically interfere. A medical manipulator device characterized by being controlled as described above.
[0056]
9. In Configuration 1, each of the distal operation portions of the medical manipulator includes a plurality of optical sensors and a device for measuring the amount of light received by the optical sensor, and the operation portions of the manipulator are within the endoscope visual field from the measured light amounts. A medical manipulator device having means for determining whether or not there is and feeding back to the braking means.
[0057]
10. The medical manipulator device according to the ninth aspect, further comprising means for determining whether or not each operation part of the manipulator is in the endoscope visual field from the measured light amount and warning the operator.
[0058]
11. The medical manipulator device according to Configuration 5, wherein the remote control device is arranged on a table having a moving mechanism, and the moving mechanism is controlled by direction information of the manipulator in the endoscope visual field.
[0059]
12 The medical manipulator device according to Configuration 1, wherein a tissue pressure exclusion hood that covers the distal end portion is provided at the distal end portion of the manipulator.
[0060]
According to the above configuration, the transmission magnification of the movement of each axis of the remote control device and the medical manipulator can be arbitrarily set in advance, so that an axis that requires a delicate operation so as not to apply an excessive force by touching the living body By setting the transmission magnification to a low value, and setting the transmission magnification to a high value for axes that require large movements in the procedure, the safety and efficiency of the operation can be increased.
[0061]
In addition, since a braking force corresponding to the transmission magnification acts on each axis of the remote control device, even when an unexpected external force is applied to the remote control device, a large braking force is applied to the shaft with a high transmission magnification, The axis does not move greatly. As a result, the manipulator does not move unexpectedly and can be used safely. Furthermore, it is not necessary to manufacture dedicated remote control devices for various medical manipulators having various forms and numbers of axes.
[0062]
Further, in the remote control device of this configuration, the braking force is made infinite to the shaft that is not used in accordance with the number of axes of the manipulator to be combined, and the shaft to be used is previously set in accordance with the movable range of the corresponding manipulator shaft. By setting the transmission magnification, it can be used sensuously without any sense of incongruity.
[0063]
【The invention's effect】
According to the present invention, even if the remote control device is a general-purpose device having an operation range different from that of the manipulator, it is possible for the surgeon to perform the setting for associating the movements of both in advance, so that the remote operability is impaired. A medical manipulator device can be realized.
[0064]
In particular, since the force corresponding to the transmission magnification is generated by the braking means, even if the operator mistakenly operates the remote control device more than necessary, a strong braking force works, so the remote control device moves. There is nothing. Therefore, it is possible to guarantee a safe operating range for the living body on the manipulator side.
[0065]
Since this is a general-purpose remote control device, when the degree of freedom is higher than that of the manipulator, the shaft can be locked by applying a sufficient force to brake any axis of the remote control device. In this way, it is possible to match the degrees of freedom of the remote control device and the manipulator.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of a medical manipulator according to a first embodiment of the present invention.
FIG. 2 is a diagram showing a configuration of a master arm.
FIG. 3 is a diagram showing a configuration around each axis of a master arm.
FIG. 4 is a block configuration diagram of the medical manipulator device according to the first embodiment.
FIG. 5 is a diagram showing a configuration of a medical manipulator device according to a second embodiment of the present invention.
FIG. 6 is a block configuration diagram of a medical manipulator device according to a second embodiment.
FIG. 7 is a diagram for explaining the operation of the configuration of the second embodiment.
FIG. 8 is a flowchart showing an operation algorithm of a cooperative circuit as a second operation of the second embodiment.
FIG. 9 is a diagram showing a configuration of a third exemplary embodiment of the present invention.
FIG. 10 is a diagram showing a configuration of a fourth exemplary embodiment of the present invention.
FIG. 11 is a diagram showing a configuration of a fifth exemplary embodiment of the present invention.
FIG. 12 is a view showing a state where a hood for excluding tissues / organs is provided at the distal end of the small-diameter insertion portion.
FIG. 13 is a view showing a state in which a shape memory alloy wire is provided on a tissue exclusion hood.
[Explanation of symbols]
1 Medical manipulator
2 Small diameter insertion part
3 Manipulator body
5 Grip forceps
8 Insertion hole
9 Drive mechanism
10 Encoder (10a, 10b, 10c ...)
11 Motor (11a, 11b, 11c ...)
12 Output clause
14 Master arm
15 Encoder (15A, 15B, 15C ...)
16 Brake (16A, 16B, 16C ...)
17 Pantograph mechanism
18 Rotating pair
19 Opening and closing mechanism
20 Encoder
21 Control device
22 Transmission magnification variable circuit
23 Brake drive signal generation circuit
24 Motor drive signal generation circuit
25 Position detection circuit
26 Setting input device
30 axis of rotation
31 discs
32 Brake
35 Medical Manipulator
36 Manipulator body
37 Small diameter insertion part
38 Endoscope
41 a slave manipulator
42b slave manipulator
43 Combined control device
44 A Master Arm
45 B Master Arm
46 Head mounted display
47 Console
48 Endoscopic images
49 Image processing circuit
50 Motor drive signal generation circuit
51 Console motor
52 A controller
53 B controller
54 Cooperative Circuit
55 C controller
56 3D position sensor
57 A setting input device
58 B setting input device
59 C setting input device
61 Endoscope
62 Light Guide
63 Manipulator
64 optical sensor
65 Light intensity measuring device
66 Warning means
70 biological wall
72 Tissue Exclusion Hood
73 Tissues and organs
74 Shape memory alloy wire
75 resin sheet

Claims (1)

A medical manipulator that is driven by remote operation and has a plurality of axes for observing and / or treating an in-vivo site , each axis being provided with a driving means ;
A remote operation device having a plurality of axes for performing remote operation , each axis being provided with a displacement detection means and a braking means ;
A control device for controlling the operation of the medical manipulator based on the operation information from the remote operation device,
The control device converts a displacement signal from a displacement detection unit of each axis of the remote control device at a predetermined magnification and transmits the displacement signal to a corresponding axis driving unit of the medical manipulator; and the displacement signal A control signal generating means for transmitting a control signal for generating a braking force according to the conversion magnification of the remote control device to the braking means of the remote control device, and a medical manipulator comprising:
The degree of freedom of the medical manipulator is set to be greater than the degree of freedom of the remote control device, and there are a plurality of the medical manipulators and the remote control devices, respectively, and the plurality of medical manipulators and the plurality of remote control devices A medical manipulator characterized in that a control device is provided corresponding to each of the pairs, and a control means for controlling the operation is provided between the control devices so that the manipulators do not interfere with each other .

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