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MANIPULATOR DEVICE, MANIPULATOR, AND METHOD OF OPERATING TREATMENT TOOL USING MANIPULATOR DEVICE
MANIPULATOR DEVICE, MANIPULATOR, AND METHOD OF OPERATING TREATMENT TOOL USING MANIPULATOR DEVICE
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机译:机械手装置,机械手以及使用机械手装置的治疗工具的操作方法
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摘要
A manipulator device, a manipulator, and a method of operating a treatment tool using the manipulator device. The manipulator device operating an operation object under observation by an observational optical system comprises the treatment tool operating the operation object, a tip part involved in the treatment tool and coming into contact with or moving closest to the operation object, and a detection means detecting the change of light including scattered light from the tip part illumination by an illuminating light which occurs by the displacement of the tip part.
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