Medical manipulator system, controller, and computer-readable storage device

A controller for controlling a medical manipulator system, the medical manipulator system comprising:

• a plurality of end effectors configured to be controlled to perform a treatment;
• and
• a plurality of arms to which the plurality of end effectors are attached respectively,
• wherein each of the plurality of arms comprises:
• a plurality of movable parts
• a sensor configured to detect contact;
• and
• a switch configured to be operated to permit movement of the plurality of movable parts by an external force, and
• wherein the plurality of movable parts of the each of the plurality of arms are configured to be moved under one of a plurality of modes, wherein each of the plurality of modes comprises a combination of:
• movement by one or more actuators;
• and
• movement by the external force,
• wherein the controller comprises one or more processors configured to:
• control the plurality of end effector to perform the treatment;
• select the one of the plurality of modes;
• and
• effect movement of the plurality of movable parts by controlling the one or more actuators and by permitting movement by the external force in accordance with the one of the plurality of modes selected,
• wherein the one or more processors are configured to, with respect to one arm of the plurality of arms:
• determine that there is interference or collision with the one arm, by another arm of the plurality of arms, in response to the sensor of the one arm and the sensor of the another arm simultaneously detecting contact;
• determine whether the switch is operated;
• select a second mode of the plurality of modes in response to determining that there is the interference or collision with the one arm and determining that the switch is operated;
• and
• in response to selecting the second mode:
• control the one or more actuators to move a first group of the plurality of movable parts of the one arm while the position of a remote center of the one arm is fixed and while a position of the end effector of the one arm is fixed;
• and
• permit movement of a second group of the plurality of movable parts by the external force while the position of the remote center is fixed and the position of the end effector is fixed.

A non-transitory computer-readable storage medium storing instructions for controlling a medical manipulator system, the medical manipulator system comprising:

• a plurality of end effectors configured to be controlled to perform a treatment;
• and
• a plurality of arms to which the plurality of end effectors are attached respectively,
• wherein each of the plurality of arms comprises:
• a plurality of movable parts;
• a sensor configured to detect contact;
• and
• a switch configured to be operated to permit movement of the plurality of movable parts by an external force, and
• wherein the plurality of movable parts of the each of the plurality of arms are configured to be moved under one of a plurality of modes, wherein each of the plurality of modes comprises a combination of:
• movement by one or more actuators;
• and
• movement by the external force,
• wherein the instructions cause a computer to perform processes comprising:
• controlling the plurality of end effectors to perform the treatment;
• selecting the one of the plurality of modes;
• and
• effecting movement of the plurality of movable parts by controlling the one or more actuators and by permitting movement by the external force in accordance with the one of the plurality of modes selected,
• wherein the instructions cause the computer to perform process comprising, with respect to one arm of the plurality of arms:
• determining that there is the interference or collision with the one arm, by another arm of the plurality of arms, in response to the sensor of the one arm and the sensor of the another arm, simultaneously detecting contact;
• selecting a second mode of the plurality of modes in response to determining that there is the interference or collision with the one arm and determining that the switch is operated;
• and
• in response to selecting the second mode:
• controlling the one or more actuators to move a first group of the plurality of movable parts of the one arm while a position of a remote center of the one arm is fixed and while a position of the end effector of the one arm is fixed;
• and
• permitting the movement of a second group of the plurality of movable parts of the one arm by the external force while the position of the remote center of the one arm is fixed and the position of the end effector of the one arm is fixed.