Abstract: Endoscopic surgical operation such as evisceration has been so far hardly achieved by a medical robot, since it requires high power. The present invention provides a downsized high-flexibility active forceps to enable such an operation, without needing a large space for manipulation to target a limited operative area.

Abstract: Provided is a forceps tip assembly capable of supporting a forceps tip with high rigidity in order to realize a laparoscopic surgery requiring a significant power with the forceps tip, such as an organ removal surgery which has been heretofore difficult to be performed by a robot for medical use.

Abstract: As a double-arm shoulder joint mechanism of a double-arm robot and a both-legs hip joint mechanism of a biped-walk robot, use is made of a double spherical joint having a construction such that joint rotation axes of 6 DOF are intersected at one point. As the double-arm shoulder joint mechanism of the double-arm robot, arms are connected respectively to a first spherical joint and a second spherical joint of the double spherical joint. As the both-legs hip joint mechanism of the biped-walk robot, legs are connected respectively to the first spherical joint and the second spherical joint of the double spherical joint.

Abstract: A backlash clutch comprising first rotation member (3) and a second rotation member (4), each of which are provided rotatably on an identical axis, and are engaged together in a rotating direction of the members by contacting each radial extension surface (3a, 4a). A gap d exists between said radial extension surface of the first and the second rotation members (3a, 4a) at the rotating direction of the members.

Abstract: Provided is a small-sized surgery support robot (active trocar), in which the occupied range of space within the operating room is reduced with hardly reducing any degrees of freedom.

Abstract: Endoscopic surgical operation such as evisceration has been so far hardly achieved by a medical robot, since it requires high power. The present invention provides a downsized high-flexibility active forceps to enable such an operation, without needing a large space for manipulation to target a limited operative area.

Abstract: According to the strength of the leak light from the spot-like light source 12, the light diffusion film 20, the light diffusion co-efficient is changed is disposed between the flat transparent substrate 3 and the light source portion 10, 12. Thereby, by diffusing the strength of the leak light, the incident light to the one side end face 4 of the resin substrate 3 is made approximately even, and the direct entering of the leak light into the flat transparent substrate is suspended and thereby the generation of the bright line is suspended to realize an even and spread illumination.

Abstract: A spread illuminating apparatus, in which a bar-like light conductive member brightened by a light emitting diode disposed at an end thereof is disposed close to the side of a transparent substrate made of light-permeable materials. The light conductive member is provided with a row of prism grooves as an optical path conversion means and an optical path conversion plate is disposed between the light conductive member and the transparent substrate. Light from the light emitting diode enters the light conductive member and is directed slantingly at the prism grooves to enter the optical path conversion means. Then, the light enters the transparent substrate straight to illuminate it efficiently.

Abstract: The invention describes a light reflection pattern to spread the volume of the emitted light from a bar-like light source with a plurality of grooves provided along a transparent substrate and plane portions adjacent to the grooves. By setting the inclined angle of the grooves along the transparent substrate the light is introduced with a high efficiency to a liquid crystal display device in the direction perpendicular to the substrate. By restricting the ratio of the width of the grooves to the pitch that is the occupied area in the range of 0.01-0.15 (preferably 0.01-0.1) the ratio becomes one in which the duplicate image component is not recognized by the naked eyes while image brightness is maintained.

Abstract: According to the strength of the leak light from the spot-like light source 12, the light diffusion film 20, the light diffusion co-efficient is changed is disposed between the flat transparent substrate 3 and the light source portion 10, 12. Thereby, by diffusing the strength of the leak light, the incident light to the one side end face 4 of the resin substrate 3 is made approximately even, and the direct entering of the leak light into the flat transparent substrate is suspended and thereby the generation of the bright line is suspended to realize an even and spread illumination.

Abstract: At one end of the spread body 1, two light conductive members 2A, 2B on one part of which optical path conversion means 4 are formed are disposed in line with the spread body 1 and each optical path conversion means 4 of the light conductive members 2A, 2B is, when seeing perpendicularly to the spread body 1, disposed alternately with each other. Since each optical path conversion means 4 of the light conductive members 2A, 2B is not impeded with other optical path conversion means 4, illumination is carried out effectively.

Abstract: Between the transparent substrate 1 and the light conductive member 2 disposed along and close to at least one side end of the transparent substrate 1, the optical path conversion plate 6 having the prism portion is disposed. Due to this optical conversion plate 6, the light from the light conductive member 2 is directed effectively toward the transparent substrate 1 .

Abstract: Between the transparent substrate 2 and the light source portion 4, the light diffusion film 20 to diffuse the light as the light diffusion layer is interposed. Thereby, the lights emitted from the light source 4 different in brightness, due to the diffusion during progressing in the light diffusion film 20, at the process of entering the transparent substrate 2, becomes even in brightness, and is suspended in the generation of the stripe pattern of light and shade, as a result a spread and even illumination can be realized.

Abstract: In a spread illuminating apparatus wherein on one end of a transparent substrate, a light conductive member 3 on one portion of which a prism shape portion 3a is provided, light emitted from the light conductive member 3 enters the transparent substrate, the length of the light conductive member is set larger than the width dimension of the transparent substrate 2 with which the light conductive member 3 is disposed parallel each other, the end of the light conductive member to which the light emitting diode is positioned is projected from the width end of the transparent substrate 2.

Abstract: A pullulan derivative having one or more active sites resulting from introduction of sulfuric acid, phosphoric acid, a sulfonic acid or a carboxylic acid, wherein one hydrogen atom of the group of the formula ##STR1## occurring at said active sites is partly substituted by a group of the general formula ##STR2## wherein L.sup.1 and L.sup.2 each independently is amine or a unidentate ligand amine or combinedly represent a bidentate ligand amine and Y is an anionic ligand, and/or two hydrogen atoms of the group ##STR3## groups bound to one and the same carbon atom or to two neighboring carbon atoms as occurring at said active sites are, each independently, partly substituted by a group of the general formula ##STR4## wherein L.sup.1 and L.sup.2 are as defined above, and a pharmacologically acceptable salt thereof.The above compound has anticancer activity and is useful as anticancer agents.The present invention is concerned with said compound, a process for producing the same and a pharmaceutical use thereof.

Abstract: A pullulan derivative having one or more active sites resulting from introduction of sulfuric acid, phosphoric acid, a sulfonic acid or a carboxylic acid, wherein one hydrogen atom of the group of the formula ##STR1## occurring at said active sites is partly substituted by a group of the general formula ##STR2## wherein L.sup.1 and L.sup.2 each independently is ammine or a unidentate ligand amine or combinedly represent a bidentate ligand amine and Y is an anionic ligand, and/or two hydrogen atoms of the group ##STR3## or of two ##STR4## groups bound to one and the same carbon atom or to two neighboring carbon atoms as occurring at said active sites are, each independently, partly substituted by a group of the general formula ##STR5## wherein L.sup.1 and L.sup.2 are as defined above, and a pharmacologically acceptable salt thereof.The above compound has anticancer activity and is useful as anticancer agents.

Abstract: A method of producing .alpha.-dihydropolyprenyl monophosphates from .alpha.-dihydropolyprenols through .alpha.-dihydropolyprenyl dichlorophosphates in good yield and with ease is provided. A method of producing .alpha.-dihydropolyprenyl dichlorophosphates which are intermediate compounds useful for the first-mentioned method is also provided.

Abstract: Polyprenols or esters thereof, which are similar in the trans and cis configurations to dolichol, or mixtures thereof are obtained from the leaves of plants belonging to the genus Pinus L. of the family Pinaceae by extraction, if necessary followed by hydrolysis, esterification or transesterification or a combination thereof. These polyprenyl compounds and mixtures thereof are useful as favorable starting materials for the synthesis of dolichol.

Abstract: There are provided polyprenyl compounds of the formula ##STR1## wherein ##STR2## represent a trans-isoprene unit and a cis-isoprene unit, respectively, n is an integer of 11-19, Z.sup.1 and Z.sup.2 combinedly represent .dbd.O, .dbd.CH--COOH,.dbd.CH--COOR.sup.1, .dbd.CH--CN, .dbd.C(CN)COOR.sup.2, .dbd.CH--CO--NH.sub.2, .dbd.CH--CO--N(R.sup.3) (R.sup.4), .dbd.CH--CO--NHR.sup.5, .dbd.CH--CH.sub.2 --N(R.sup.3) (R.sup.4), .dbd.CH--CH.sub.2 --NHR.sup.5 or .dbd.CH--CHO or Z.sup.1 is a hydrogen atom and Z.sup.2 is --CH.sub.2 COOH, --CH.sub.2 COOR.sup.6, --CH(CN)COOR.sup.2, --CH.sub.2 CN, --CH.sub.2 --CO--NH.sub.2, --CH.dbd.CH--N(R.sup.3) (R.sup.4) or --CH.sub.2 --CH.dbd.N--R.sup.5, R.sup.1, R.sup.2 and R.sup.6 each being a lower alkyl group, R.sup.3 and R.sup.4 each independently being a lower-alkyl, cycloalkyl, aryl or aralkyl group or R.sup.3 and R.sup.4 combinedly representing an alkylene group containing 2-5 carbon atoms, and R.sup.5 being a lower-alkyl, cycloalkyl, aryl or aralkyl group.