PROBLEM TO BE SOLVED: To allow an operating means to be intuitively operated even when clutch manipulation is performed in a master-slave manipulator system.SOLUTION: A master-slave manipulator system is provided with: a mode switching means 12 for switching between a master-slave mode in which the slave manipulator 1 is controlled and an observation means visual field tracking clutch mode in which transmission of an operation command to the slave manipulator 1 from the operating means 9 is cut off to move the operating means 9 to an arbitrary position and posture a switcher control unit 14 for reading a signal of the mode switching means 12 to send a mode signal to an operating means control unit 15 and a visual field transformation part 40 for sending a third control command to a manipulator control unit 17 and sending a fourth control command to a visual field change control unit 18 so as to make an agreement between a motion direction of a video of the slave manipulator 1 displayed on the display device 6 and an operation direction of the operation means 9 on the basis of an operation command read by the operating means control unit 15 when in the observation means visual field tracking clutch mode.COPYRIGHT: (C)2009,JPO&INPIT【課題】マスタ・スレーブ式マニピュレータシステムにおいて、クラッチ操作を行っても直感的に操作手段の操作を可能とすること。【解決手段】マスタ・スレーブ式マニピュレータシステムは、スレーブマニピュレータ1を制御するマスタ・スレーブモードと操作手段9からスレーブマニピュレータ1への操作指令の伝達を切断して操作手段9を任意の位置姿勢に移動する観察手段視野追従クラッチモードとを切り替えるモード切替手段12と、モード切替手段12の信号を読み取り操作手段制御部15にモード信号を送る切替器制御部14と、操作手段制御部14で読み取った観察手段視野追従クラッチモード時の操作指令に基づき、表示手段6に表示されるスレーブマニピュレータ1の映像の動作方向と操作手段9の操作方向とを一致させるように、マニピュレータ制御部17に第3の制御指令を送ると共に視野変更制御部18に第4の制御指令を送る視野変換部40とを備える。【選択図】図1
