A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

A robot control device that controls a robot including an A arm that is rotatable about an A rotation axis, a B arm that is provided so as to be rotatable around a B rotation axis with respect to the A arm and allowed to be brought into a first state overlapping with the A arm when viewed from an axial direction of the B rotation axis, a C arm that is provided so as to be rotatable around a C rotation axis which is an axial direction intersecting with an axial direction of the B rotation axis with respect to the B arm, the robot control device comprising: a processor, wherein the processor is configured to suppress interference between an object and the B arm by limiting a rotation range of the C arm in a case where the object is attached to the C arm.

A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

A robot control device that controls a robot including an A arm that is rotatable about an A rotation axis, a B arm that is provided so as to be rotatable around a B rotation axis with respect to the A arm and allowed to be brought into a first state overlapping with the A arm when viewed from an axial direction of the B rotation axis, a C arm that is provided so as to be rotatable around a C rotation axis which is an axial direction intersecting with an axial direction of the B rotation axis with respect to the B arm, the robot control device comprising: a processor, wherein the processor is configured to suppress interference between an object and the B arm by limiting a rotation range of the C arm in a case where the object is attached to the C arm.

A tool replacement apparatus according to the present invention includes: a turning tool magazine capable of attaching or removing a tool to/from a spindle of a machine tool; a tool replacement control unit which controls operations of turning the tool magazine and attaching or removing a tool to/from a spindle; and a setting unit which sets a rotatable range of the tool magazine. The tool replacement control unit includes: a determining unit which determines whether or not a designated rotation angle in an instruction for turning the tool magazine is within the rotatable range set by the setting unit; and a unit which stops an operation of replacing a tool when the determining unit determines that a designated rotation angle is out of a rotatable range.

An operation limiting device applicable to a wide variety of machine tools and which improves the freedom of setting an operation limiting area. Two or three drive axes (Xa, Za) in different directions are designated from among a plurality of drive axes in the machine tool and the designated drive axes (Xa, Za) form the two or three dimensional coordinate system. An area (Ar) for limiting the operation of the mobile body is set in the two or three dimensional coordinate system. A drive axis (Xa) which is in operation is determined, and in the two or three coordinate system including the drive axis which is in operation the operation of the mobile body is limited when the mobile body enters into the limiting area (Ar).

A tool replacement apparatus according to the present invention includes: a turning tool magazine capable of attaching or removing a tool to/from a spindle of a machine tool; a tool replacement control unit which controls operations of turning the tool magazine and attaching or removing a tool to/from a spindle; and a setting unit which sets a rotatable range of the tool magazine. The tool replacement control unit includes: a determining unit which determines whether or not a designated rotation angle in an instruction for turning the tool magazine is within the rotatable range set by the setting unit; and a unit which stops an operation of replacing a tool when the determining unit determines that a designated rotation angle is out of a rotatable range.