Abstract: An apparatus, method, and system for a steerable medical device, configured to be used in conjunction with guide tools and devices in medical procedures, including endoscopes, cameras, cutting tools and catheters.

Abstract: An apparatus including a tendon-driven device such as an endoscope comprising a bendable body, a tendon attached to and extending a length of said body, and an actuator that will actuate said tendon based on a control signal from a controller. The controller is configured to send said control signal to said actuator and comprises a forward-kinematic-mapping unit that estimates an angular displacement, wherein the kinematic-mapping unit is configured for: providing a tension value of the tendon to obtain a desired angular displacement wherein the tension has a nonlinear relationship with the desired angular displacement based on information of friction where the tension is greater that would be calculated without including the effect of friction. The friction coefficient may be determined as it changes over time.

Abstract: An apparatus, method, and system for a steerable medical device, configured to be used in conjunction with guide tools and devices in medical procedures, including endoscopes, cameras, cutting tools and catheters.

Abstract: A linear-member-driven manipulator is provided that includes a bendable member that is bendable along a bending plane and includes a plurality of bendable portions; a linear member used to bend at least one of the bendable portions; a plurality of guiding members that guide the linear member that is driven; and a plurality of support members, each support member extending from one of the guiding members to the bendable member, wherein each guiding member is swingable with respect to the bendable member; and wherein, for each support member, a projection distance between the linear member and the support member on the bending plane is greater than or equal to a projection distance between the linear member and a bending neutral line of the bendable member on the bending plane.

Abstract: A linear-member-driven manipulator is provided that includes a bendable member that is bendable along a bending plane and includes a plurality of bendable portions; a linear member used to bend at least one of the bendable portions; a plurality of guiding members that guide the linear member that is driven; and a plurality of support members, each support member extending from one of the guiding members to the bendable member, wherein each guiding member is swingable with respect to the bendable member; and wherein, for each support member, a projection distance between the linear member and the support member on the bending plane is greater than or equal to a projection distance between the linear member and a bending neutral line of the bendable member on the bending plane.

Abstract: A sheath apparatus includes, a plurality of node rings configured to be tilted with respect to each other, each node ring defining a substantially cylindrical wall and having at least one hole passing through said cylindrical wall, the plurality of node rings being arranged next to each other along a linear axis such that consecutive node rings contact each other at a contact plane; a manipulating wire going through the holes in said stacked node rings; and a position restoring component configured to restore said stacked node rings from a tilted position to an original position, wherein said position restoring component is located inside or outside of the stacked node rings.

Abstract: A sheath apparatus includes, a plurality of node rings configured to be tilted with respect to each other, each node ring defining a substantially cylindrical wall and having at least one hole passing through said cylindrical wall, the plurality of node rings being arranged next to each other along a linear axis such that consecutive node rings contact each other at a contact plane; a manipulating wire going through the holes in said stacked node rings; and a position restoring component configured to restore said stacked node rings from a tilted position to an original position, wherein said position restoring component is located inside or outside of the stacked node rings.

Abstract: First position information formed on a conveyance body is read by an information detecting portion, and second position information formed on a second image carrier is read by the information detecting portion. Control is made such that a position of an image on the second image carrier matches with a position of an image on the conveyance body from information read by the information detecting portion in transferring the image from the second image carrier to the conveyance body. The information detecting portion is held by a hold member and is disposed at a transfer region.

Abstract: Electrostatic image graduations inclined by a first angle in a main scanning direction are formed on a photosensitive drum and transferred to an intermediate transfer belt, and electrostatic image graduations inclined by a second angle in the main scanning direction are formed on the photosensitive drum and transferred to the intermediate transfer belt so as to overlap with the electrostatic image graduations inclined by the first angle. The electrostatic image graduations inclined by the first angle are detected by a conducting wire having a linear conductive member inclined by the first angle in the main scanning direction of the intermediate transfer belt. The electrostatic image graduations inclined by the second angle are detected by a conducting wire having a linear conductive member inclined by the second angle in the main scanning direction of the intermediate transfer belt.

Abstract: An apparatus including a tendon-driven device such as an endoscope comprising a bendable body, a tendon attached to and extending a length of said body, and an actuator that will actuate said tendon based on a control signal from a controller. The controller is configured to send said control signal to said actuator and comprises a forward-kinematic-mapping unit that estimates an angular displacement, wherein the kinematic-mapping unit is configured for: providing a tension value of the tendon to obtain a desired angular displacement wherein the tension has a nonlinear relationship with the desired angular displacement based on information of friction where the tension is greater that would be calculated without including the effect of friction. The friction coefficient may be determined as it changes over time.

Abstract: A sheath apparatus includes, a plurality of node rings configured to be tilted with respect to each other, each node ring defining a substantially cylindrical wall and having at least one hole passing through said cylindrical wall, the plurality of node rings being arranged next to each other along a linear axis such that consecutive node rings contact each other at a contact plane; a manipulating wire going through the holes in said stacked node rings; and a position restoring component configured to restore said stacked node rings from a tilted position to an original position, wherein said position restoring component is located inside or outside of the stacked node rings.

Abstract: Electrostatic image graduations inclined by a first angle in a main scanning direction are formed on a photosensitive drum and transferred to an intermediate transfer belt, electrostatic image graduations inclined by a second angle in the main scanning direction are formed on the photosensitive drum and transferred to the intermediate transfer belt so as to overlap with the electrostatic image graduations inclined by the first angle. The electrostatic image graduations inclined by the first angle are detected by a Ch1 conducting wire having a linear conductive member inclined by the first angle in the main scanning direction of the intermediate transfer belt. The electrostatic image graduations inclined by the second angle are detected by a Ch2 conducting wire having a linear conductive member inclined by the second angle in the main scanning direction of the intermediate transfer belt.

Abstract: A first position information formed on an conveyance body is read by an information detecting portion, and a second position information formed on a second image carrier is read by the information detecting portion. A control is made such that a position of an image on the second image carrier matches with a position of an image on the conveyance body from information read by the information detecting portion in transferring the image from the second image carrier to the conveyance body. The information detecting portion is held by a hold member and are disposed at a transfer region.

Abstract: There is provided a robot apparatus that can rapidly obtain an ellipse indicating a stiffness characteristic, even if lengths of two links are different from each other.

Abstract: An image forming apparatus includes a first index forming unit that forms a plurality of first electrostatic latent image indexes at positions adjacent to a toner image to be formed on a recording material in a width direction of a first image bearing member and a second index forming unit forms a plurality of second electrostatic latent image indexes at positions adjacent to a toner image to be formed on the recording material in a width direction of a second image bearing member. A control unit controls operation of at least a second image forming unit so as to maintain a set positional relationship between the first electrostatic latent image indexes transferred to an intermediate transfer member and the second electrostatic latent image indexes based on detection results by first and second detection units.

Abstract: An image forming apparatus includes first and second image bearing members, a belt member contacting the first and second image bearing members, first and second electrostatic image forming portions for respectively forming electrostatic images on the first and second image bearing members, first and second developing portions for forming toner images on the basis of the electrostatic images formed on the first and second image bearing members, first and second transfer portions for transferring onto the belt member the toner images formed on the first and second image bearing members and/or electrostatic image indices formed by the electrostatic image forming portions, first and second detecting portions for detecting the electrostatic image indices which are formed by the electrostatic image forming portions, and an adjusting portion for adjusting a forming operation of an image to be formed on the belt member on the basis of outputs of the first and second detecting portions, and a belt member charging por

Abstract: A first and second electrostatic image code is located outside a developing zone. A transfer belt provided with an electrostatic image recording track capable to transfer the electrostatic code between the first drum and second drum. A transferring voltage applies to a side of the transfer belt for the first drum to transfer the first electrostatic image code onto the electrostatic image recording track. An electroconductive member is in parallel with the electrostatic image code and a surface of the electrostatic image code detected within a predetermined gap. An induced current generated in the electroconductive member relative to the lines of the electrostatic image codes which control the first drum or the second drum on the basis of a detection result of the detecting means such that the toner image on the second drum transferred onto a recording material on the transfer belt and overlaid on the toner image transferred onto the recording material from the first drum.

Abstract: A rotational speed of an image bearing member on a downstream side is controlled so as to reduce a detection time difference between a leading end section of first electrostatic latent image indexes of an image bearing member and a leading end section of second electrostatic latent image indexes of a transfer medium in an area of a leading end margin preceding an effective image area.

Abstract: An image forming apparatus which is capable of detecting the direction and amount of an image shift in the main scanning direction without wasting toner, to thereby provide a higher-quality image with reduced running costs. A conductor is disposed such that the conductor partially overlaps an electrostatic latent image line formed on a photosensitive drum in a manner extending in a main scanning direction of the photosensitive drum, while moving relative to the electrostatic latent image line. The conductor generates induced current by the relative motion. An image shift in the main scanning direction is detected based on a result of measurement of the induced current generated by the conductor.

Abstract: An image forming apparatus includes an image bearing member; a transfer portion that transfers a toner image; a conveying member that conveys a recording material; a conveying member position index sensing member that senses a conveying member position index fixed to the conveying member in the transfer portion; a toner image position index sensing member that senses a toner image position index fixed to the image bearing member in the transfer portion; a drive member that can control a position of the conveying member in a moving direction of the conveying member and a rotating speed of the conveying member; and a control portion that controls the drive member to position the conveying member position index with respect to the toner image position index reaching the transfer portion based on the sensing results of the conveying member position index and the toner image position index.