Medical manipulator system, controller, and controlling method

A control device that controls an actuator configured to bend a bending portion of a medical manipulator having the bending portion, wherein

• the control device is connected by wire or wirelessly to a controller having a touch pad into which a manipulation input for bending the bending portion is input, the control device being configured to:
• receive the manipulation input via the touch pad,
• determine a bending direction in which the bending portion is bent based on a first part of the manipulation input received via the touch pad,
• determine an amount of bending drive based on an entirety of the manipulation input received via the touch pad, the entirety of the manipulation input corresponding to a period from a start to an end of a manipulation operation detected by the controller, and
• control the actuator to bend the bending portion by the determined amount of bending drive in the determined bending direction.

A controlling method of a medical manipulator, comprising:

• receiving, by a controller via a touch pad, a manipulation input for bending a bending portion of the medical manipulator;
• determining, by the controller, a bending direction in which the bending portion is bent based on a first part of the manipulation input received via the touch pad;
• determining, by the controller, an amount of bending drive based on an entirety of the manipulation input received via the touch pad, the entirety of the manipulation input corresponding to a period from a start to an end of a manipulation operation detected by the controller;
• and
• causing an actuator, controlled by the controller, to bend the bending portion by the determined amount of bending drive in the determined bending direction.