Medical system

A medical system comprising:

• a medical instrument that has a treatment portion at a distal end thereof;
• at least one arm that includes at least one joint and at least one motor that drives the at least one joint, the at least one arm including an attachment portion for detachably attaching the medical instrument at a distal end;
• a first input device that comprises a handle and that is located remote from the at least one arm, the first input device being configured to perform an operation input for operating the medical instrument and the at least one arm, the medical instrument being attached to the attachment portion of the at least one arm;
• a second input device provided at a distal end of the at least one arm, the second input device being configured to perform an operation input for operating the medical instrument and the at least one arm, the medical instrument being attached to the attachment portion of the at least one arm;
• and
• a processor that controls the at least one arm and the medical instrument on the basis of an operation input that is input from the first input device or the second input device,
• wherein the medical system enables switching in order to selectively accept an operation input from the first input device or the second input device,
• the second input device comprises a grip rotatable about a longitudinal axis of the medical instrument attached to the attachment portion, and a first switch, and
• the processor, on the basis of a signal from the first switch, switches between a synchronous mode in which the medical instrument is rotated about the longitudinal axis in synchronization with rotation of the grip, and an asynchronous mode in which the medical instrument is not rotated even when the grip is rotated.