Medical manipulator and control method of medical manipulator

A method for controlling a medical manipulator, the medical manipulator comprising:

• an insertion section configured to be inserted into a body, the insertion section comprising:
• a main movable mechanism configured to be controlled to move a distal end of the insertion section;
• a first manipulator comprising:
• a treatment device;
• and
• a first joint configured to be controlled to move the treatment device with respect to the distal end of the insertion section with at least one degree of freedom;
• a second manipulator comprising:
• an image sensor configured to acquire an image in a field-of-vision range;
• and
• a second joint configured to be controlled to move the image sensor with respect to the distal end of the insertion section;
• and
• an input device configured to receive a user input and to output an instruction that specifies a position to which the treatment device is to be moved,
• wherein the method comprises:
• determining, by a controller, whether a movement control to move the treatment device to the position specified in the instruction is:
• a first type of movement control in which only controlling the first joint to move the treatment device without controlling the main movable mechanism to move the distal end of the insertion section is sufficient to move the treatment device to the position specified in the instruction;
• or
• a second type of movement control in which both of controlling the first joint and controlling the main movable mechanism is required, to move the treatment device to the position specified in the instruction;
• and
• when the first type of movement control is determined to be sufficient, controlling, by the controller, only the first joint to move the treatment device to the position specified in the instruction;
• and
• when the second type of movement control is determined to be required:
• controlling, by the controller, the first joint and the main movable mechanism to move the treatment device to the position specified in the instruction;
• and
• controlling, by the controller, the second joint to move the image sensor such that a target area of a test object is projected in a predetermined reference area that forms a portion of the image.