Abstract: A system includes a memory that stores a trained model and a processor. The processor acquires a captured image in which at least one energy device and at least one biological tissue are imaged. The processor performs a process based on the trained model stored in the memory to estimate a heat diffusion region and a specific tissue region from the captured image. The processor determines a risk for heat damage on a specific tissue by energy output from the energy device from the estimated heat diffusion region and the estimated specific tissue region.

Abstract: The system includes a memory that stores first and second trained models, and a processor. The processor acquires a captured image in which at least one energy device and at least one biological tissue are imaged. The processor detects a bounding box from the captured image by processing based on the first trained model and estimates the image recognition information from the captured image in the bounding box by processing based on the second trained model. The processor outputs an energy output adjustment instruction based on the estimated image recognition information to the generator. The generator controls the energy supply amount to the energy device based on the energy output adjustment instruction.

Abstract: A medical treatment tool includes an elongated insertion section; a grasper supported by a distal end of the insertion section so as to be openable and closable; a generator disposed at a proximal end of the insertion section and generating a force to drive the grasper; a transmitter transmitting the force generated by the generator to the distal end of the insertion section; an amplifier amplifying the force transmitted through the transmitter; and a toggle amplifying and converting the force amplified by the amplifier into a force directed to open or close the grasper.

Abstract: The present invention provides an agent for treating malignant tumor, comprising a compound of formula (1): wherein R1 to R4 are hydrogen atom, halogen, or etc., Y is optionally-substituted alkylene group or etc.

Abstract: A stapler according to the present invention is provided with: a holder provided with an accommodating portion that accommodates a plurality of staples with tips thereof, which pass through a suturing target, directed in one direction; a plurality of pushers that push out the staples accommodated in the accommodating portion in accordance with a plurality of groups thereof; an anvil that presses and deforms the staples pushed out from the accommodating portion by the pushers; driving-force transmitting mechanisms that are respectively connected to the individual pushers, in which the movement thereof in directions other than the directions in which the staples are pushed out is restricted at the individual connection portions, and that transmit driving forces that move the individual pushers toward the anvil.

Abstract: A medical system includes a treatment tool including a treatment portion, a joint portion, a flexible tube portion, and a drive unit; an endoscope device including an outer sheath that holds the treatment tool and an imaging unit that is capable of acquiring an image including at least the joint portion; and a control unit that controls an operation of the treatment tool. The control unit includes a table that has a parameter for causing the joint portion to move, a controller that issues a command for controlling the drive unit based on the parameter to the drive unit, an image processing unit that calculates at least one of a position and an orientation of the joint portion based on the image, and a compensation value calculating unit that detects displacement of the joint portion, generates a compensation value, and incorporates the compensation value into the parameter.

Abstract: The present invention provides an agent for treating malignant tumor, comprising a compound of formula (1): wherein R1 to R4 are hydrogen atom, halogen, or etc., Y is optionally-substituted alkylene group or etc.

Abstract: A detector-equipped treatment tool including: a distal-end treatment portion that applies a force to and treats biological tissue; a proximal-end portion that supports the distal-end treatment portion so as to be relatively movable; a detector that is disposed in a cavity provided inside of the distal-end treatment portion and detects the force; wiring that is connected to the detector; and a duct that is connected to the distal-end treatment portion and guides the wiring led out of the distal-end treatment portion from the detector in the cavity to the proximal-end portion.

Abstract: The present invention provides an agent for treating malignant tumor, comprising a compound of formula (1): wherein R1 to R4 are hydrogen atom, halogen, or etc., Y is optionally-substituted alkylene group or etc.

Abstract: A medical system includes: a treatment tool including a treatment portion configured to treat a living body, a joint portion configured to move the treatment portion, a first indicator portion provided to correspond to a position of the joint portion, a sheath portion connected to the joint portion, and a driving portion connected to the sheath portion and configured to displace the joint portion; an overtube including a flexible tube portion having a distal end and a proximal end and holding the treatment tool such that the treatment portion is capable of protruding from the distal end, and a second indicator portion provided at the flexible tube portion to identify a predefined space where calibration of the treatment tool is performed; and a calibration mechanism configured to calibrate the treatment tool when the first and second indicator portions have a predetermined positional relationship.

Abstract: A medical treatment tool includes an elongated insertion section; a grasper supported by a distal end of the insertion section so as to be openable and closable; a generator disposed at a proximal end of the insertion section and generating a force to drive the grasper; a transmitter transmitting the force generated by the generator to the distal end of the insertion section; an amplifier amplifying the force transmitted through the transmitter; and a toggle amplifying and converting the force amplified by the amplifier into a force directed to open or close the grasper.

Abstract: A stapler according to the present invention is provided with: a holder provided with an accommodating portion that accommodates a plurality of staples with tips thereof, which pass through a suturing target, directed in one direction; a plurality of pushers that push out the staples accommodated in the accommodating portion in accordance with a plurality of groups thereof; an anvil that presses and deforms the staples pushed out from the accommodating portion by the pushers; driving-force transmitting mechanisms that are respectively connected to the individual pushers, in which the movement thereof in directions other than the directions in which the staples are pushed out is restricted at the individual connection portions, and that transmit driving forces that move the individual pushers toward the anvil.

Abstract: A surgical-device rotation mechanism according to the present invention includes: a long member; a rotation member rotatably supported by a distal end of the long member and rotates around a longitudinal axis of the long member; an end effector that is fixed to the rotating member; a tension converting member disposed inside the long member along the longitudinal axis and has a distal end to which the rotation member is fixed, and converts tension into rotation around the longitudinal axis; and a rotation restriction mechanism disposed between the long member and the tension converting member and increases or decreases friction between the rotation restriction mechanism and at least one of an inner surface of the long member and an outer surface of the tension converting member so as to restrict or not restrict relative rotation between the long member and the tension converting member around the longitudinal axis.

Abstract: A medical manipulator system includes: an elongated manipulator that has an insertion portion; a shape sensor that is provided so as to be movable along the longitudinal direction of a path in which the manipulator is to be disposed and that detects shape information of the path at respective positions; a shape estimating unit that is configured to estimate a curved shape of the manipulator on the basis of the shape information detected by the shape sensor and longitudinal-direction position information of the shape sensor in the path; and a controller that is configured to control the manipulator on a basis of the curved shape of the manipulator estimated by the shape estimating unit.

Abstract: A manipulator system includes a medical instrument which is capable of being inserted into a body; a manipulator which is capable of holding the instrument; a holding detector which detects a holding state where the manipulator holds the instrument; an instruction-receiving part which detects an instruction for operating the instrument; and a controller which operates the instrument only in a case where the instruction-receiving part detects the instruction when the holding detector detects the holding state.

Abstract: The present invention provides an agent for treating malignant tumor, comprising a compound of formula (1): wherein R1 to R4 are hydrogen atom, halogen, or etc., Y is optionally-substituted alkylene group or etc.

Abstract: A method of calibrating a manipulator including a joint portion, a drive unit that generates a driving force for driving the joint portion, and a driving force transmission member that is inserted into a tubular member and transmits the driving force generated from the drive unit to the joint portion includes: an arrangement step of arranging the manipulator in a usable state; a load-measuring step of issuing an operation command based on a predetermined calibrating drive pattern to the drive unit and measuring a load generated in the manipulator at that time; and a control parameter-setting step of setting a main-driving control parameter based on the load measured in the load-measuring step.

Abstract: A method for controlling a manipulator includes a joint structure portion having one or more joints connected to a distal end of an insertion portion, a power transmission member inserted into the insertion portion to transmit driving force to the joint structure portion, and a driving portion that drives the power transmission member and which is guided to an application site by being inserted into the channel member. When the manipulator is operated in an insertion control mode for inserting the joint structure portion into the channel member, the method includes detecting a load amount generated in the power transmission member or the driving portion; and creating a bending state in which the joint structure portion follows the channel member by controlling a driving amount of the power transmission member by the driving portion such that the load amount becomes within a predetermined target control range.

Abstract: The invention has for its object to provide a manipulator and manipulator system in which a dynamic surplus is rapidly removed and a moving assembly actuates rapidly in association with the operation of an operating assembly. The manipulator 1 includes an operating assembly 2 operated by an operator, a moving assembly 3 operated by the operating assembly 2, a transmitting assembly 4 for coupling the operating assembly 2 to the moving assembly 3 to transmit driving force of the operating assembly 2 to the moving assembly 3, and a transmission compensating assembly 6 for making up for a dynamic surplus occurring in the transmitting assembly 4 in association with the operation of the operating assembly 2.

Abstract: A manipulator and manipulator system in which a dynamic surplus is rapidly removed and a moving part actuates rapidly in association with the operation of an operating part. The manipulator includes an operating part operated by an operator, a moving part operated by the operating part, a transmitting part for coupling the operating part to the moving part to transmit driving force of the operating part to the moving part, a transmission compensating part for making up for a dynamic surplus occurring in the transmitting part in association with the operation of the operating part, an input part for acquiring a state of at least one of the operating, moving and transmitting part, and a control unit for controlling the transmission compensating part depending on the state acquired by the input part.