Abstract: A manipulator system including a manipulator that includes an insertion part having a main section and a bending section, a bending-section driving portion, and a linear member inserted through a sheath fixed to the main section at one end thereof, the linear member connecting the bending section and the bending-section driving portion through the main section and transmitting a driving force generated by the bending-section driving portion to the bending section; an operation input unit via which an operation instruction to the bending section is input; a sheath-tension detecting portion that detects the tension in the sheath; a compensation-value setting portion that sets a compensation value for a bending control signal on the basis of the tension in the sheath, and a control unit that generates the bending control signal and sends the bending control signal corrected with the compensation value to the bending-section driving portion.

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: Provided is a manipulator system including: a manipulator that has an insertion section composed of a flexible section and a bending section and that has a bending-section drive unit for driving the bending section; an operation input unit; a flexible-section shape detecting unit and a bending-section shape detecting unit that detect curved shapes of the flexible section and the bending section, respectively; compensation-value setting units that set a compensation value on the basis of the curved shape detected by each of the shape detecting units; and a control unit that generates a curvature control signal for driving the bending-section drive unit according to an operating instruction input via the operation input unit and furthermore corrects the curvature control signal using the compensation value and transmits it to the bending-section drive unit.

Abstract: The endoscope treatment system includes an endoscope treatment tool that has an operating part having a distal end and a proximal end, and a sheath that is connected to the distal end of the operating part and is formed with a lumen through that enables a guide wire to be inserted therethrough; a guide wire holder around which a tube member housing the guide wire is wound circumferentially; and a fixing member that couples the operating part to the guide wire holder such that the distal end and the proximal end of the operating part are located outside the circumference of the guide wire holder.

Abstract: A position detection sensor includes: a linear member; a conductive portion and an insulating portion provided in an outer periphery of the linear member and arranged side by side in a direction of an axis of the linear member; a support member having insulating properties and provided so as to be capable of being relatively advanced or retracted in the direction of the axis with respect to the conductive portion and the insulating portion; and a conductive contact member attached to the support member and configured such that a distal end of the contact member comes in contact with outer surfaces of the conductive portion and the insulating portion by a biasing force toward the outer surfaces of the conductive portion and the insulating portion.

Abstract: A surgical assistant system includes: an operation unit configured to give an input; an arm unit on which a treatment tool is mounted; an operation imaging unit configured to acquire an operation image that is an image including the operation unit; an endoscope configured to acquire an internal-body image; a mode control unit having a plurality of operation modes and configured to enable one of the plurality of operation modes to be set as a setting operation mode; a driving unit configured to enable the arm unit to be operated based on the input given by the operation unit and the setting operation mode; a synthetic image creation unit configured to synthesize images using at least the operation image to create a synthetic image based on the setting operation mode; and a display unit configured to display the synthetic image.

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: A surgical assistant system includes: an operation unit configured to give an input; an arm unit on which a treatment tool is mounted; an operation imaging unit configured to acquire an operation image that is an image including the operation unit; an endoscope configured to acquire an internal-body image; a mode control unit having a plurality of operation modes and configured to enable one of the plurality of operation modes to be set as a setting operation mode; a driving unit configured to enable the arm unit to be operated based on the input given by the operation unit and the setting operation mode; a synthetic image creation unit configured to synthesize images using at least the operation image to create a synthetic image based on the setting operation mode; and a display unit configured to display the synthetic image.

Abstract: A medical manipulator includes an insertion part including an external cylindrical tube that has a bendingly manipulable bending part and that has flexibility; a manipulation part; an arm part which is provided on a distal end part of the insertion part; a mode-input part which is provided on the manipulation part and is capable of inputting a mode; and a control part that selectively controls the bending part and the arm part such that the bending part and the arm part are controlled to enter one of two states consisting of a locked state in which the bending part and the arm part are locked in a predetermined state in which the manipulation input is not accepted, and a non-locked state, on the basis of the manipulation input and a mode input to the mode-input part.

Abstract: An optical potentiometer includes a metal pipe having one end closed, a metal pipe that has a relationship of a nested structure with respect to the metal pipe and guides the metal pipe movably in a longitudinal direction, a light source and an optical fiber which supply light into the metal pipe, and an optical power meter that detects a change in the amount of reflected light from inside the metal pipe. The metal pipe has a slit along the longitudinal direction. The optical power meter detects a change in the amount of reflected light from inside the metal pipe caused by a change in the opening amount of the slit caused in accordance with the movement of the metal pipe in the longitudinal direction.

Abstract: A surgical assistant system includes: an operation unit configured to give an input; an arm unit on which a treatment tool is mounted; an operation imaging unit configured to acquire an operation image that is an image including the operation unit; an endoscope configured to acquire an internal-body image; a mode control unit having a plurality of operation modes and configured to enable one of the plurality of operation modes to be set as a setting operation mode; a driving unit configured to enable the arm unit to be operated based on the input given by the operation unit and the setting operation mode; a synthetic image creation unit configured to synthesize images using at least the operation image to create a synthetic image based on the setting operation mode; and a display unit configured to display the synthetic image.

Abstract: A treatment tool of which a treatment unit operates with a driving force generated from a driving source includes a driving force transmission member that is connected to the driving source, a connecting portion that is formed in the treatment unit, that is connected to the driving wire, that is supplied with the driving force from the driving source via the driving force transmission member, and that converts the driving force into movement of the treatment unit, and a member for detecting amount of movement that is moved by the connecting portion.

Abstract: A manipulator joint displacement detection mechanism includes a manipulator which has a actuating unit and a joint. A first transmission member is connected to the joint, and provided movably to displace the joint. A second transmission member moves corresponding to movement of the first transmission member. A guide guides movement of the second transmission member. A guide fixing part fixes one end and the other end of the guide. A sensor detects a moving distance of the second transmission member in the proximal end portion of the manipulator.

Abstract: The present invention provides a heterocyclic compound represented by General Formula (1): wherein R1 is a group R5—Z1—, etc., Z1 is a lower alkylene group, etc., and R5 is a group represented by General Formula; wherein R13 is a hydrogen atom, etc., m is an integer from 1 to 5; R2 is a hydrogen atom: Y is CH or N: A1 is a heterocyclic ring selected from the group consisting of indolediyl groups, wherein the heterocyclic ring may have at least one substituent: T is a group —CO—, etc.: R3 is a hydrogen atom, etc.: R4 is a lower alkyl group optionally substituted by one or more hydroxy groups, etc.: R3 and R4, together with the nitrogen atom to which they bind, may bind to each other and form a 5- to 10-membered saturated heterocyclic ring, wherein the heterocyclic ring may have at least one substituent. The heterocyclic compound of the present invention has excellent effects of suppressing the production of collagen and/or treating tumors.

Abstract: A tension detection mechanism includes a linear member which extends in a longitudinal direction, and which is configured to transmits power, a restraining member including a restraining portion through which the linear member extends and which is configured to restrain movement of the linear member in the longitudinal direction partially, and a detection member which is provided to the restraining member and which is configured to detect tension of the linear member. A length of a portion of the linear member restrained by the restraining portion is larger than a distance between two ends of the restraining member in the longitudinal direction of the linear member.

Abstract: [Problem to be Solved] A sheet made of a fabric or paper coated with a substance which has a strong function to adsorb, remove and make harmless microbes such as bacteria and viruses is to be configured so as to be usable as a filter, a mask or the like capable of removing the microbes such as the bacteria and viruses. [Solving Means] A sheet made of a fabric which uses a fibrous material, for example, polyester in which a sulfenate group or a carboxylate group has been introduced, and has a surface coated, for example, with anatase type titanium oxide makes microbes such as bacteria and viruses harmless by adsorbing these microbes and has sufficient air permeability, therefore being usable as a filter, a mask or the like.

Abstract: The present invention provides a heterocyclic compound represented by General Formula (1): wherein R1 is a group R5—Z1—, etc., Z1 is a lower alkylene group, etc., and R5 is a group represented by General Formula; wherein R13 is a hydrogen atom, etc., m is an integer from 1 to 5; R2 is a hydrogen atom: Y is CH or N: A1 is a heterocyclic ring selected from the group consisting of indolediyl groups, wherein the heterocyclic ring may have at least one substituent: T is a group —CO—, etc.: R3 is a hydrogen atom, etc.: R4 is a lower alkyl group optionally substituted by one or more hydroxy groups, etc.: R3 and R4, together with the nitrogen atom to which they bind, may bind to each other and form a 5- to 10-membered saturated heterocyclic ring, wherein the heterocyclic ring may have at least one substituent. The heterocyclic compound of the present invention has excellent effects of suppressing the production of collagen and/or treating tumors.

Abstract: A manipulator joint displacement detection mechanism includes a manipulator which has a actuating unit and a joint. A first transmission member is connected to the joint, and provided movably to displace the joint. A second transmission member moves corresponding to movement of the first transmission member. A guide guides movement of the second transmission member. A guide fixing part fixes one end and the other end of the guide. A sensor detects a moving distance of the second transmission member in the proximal end portion of the manipulator.

Abstract: A tension detection mechanism includes a linear member which extends in a longitudinal direction, and which is configured to transmits power, a restraining member including a restraining portion through which the linear member extends and which is configured to restrain movement of the linear member in the longitudinal direction partially, and a detection member which is provided to the restraining member and which is configured to detect tension of the linear member. A length of a portion of the linear member restrained by the restraining portion is larger than a distance between two ends of the restraining member in the longitudinal direction of the linear member.

Abstract: A sheet made of a fabric or paper coated with a substance which has a strong function to adsorb, remove and make harmless microbes such as bacteria and viruses is to be configured so as to be usable as a filter, a mask or the like capable of removing the microbes such as the bacteria and viruses. A sheet made of a fabric which uses a fibrous material, for example, polyester in which a sulfenate group or a carboxylate group has been introduced, and has a surface coated, for example, with anatase type titanium oxide makes microbes such as bacteria and viruses harmless by adsorbing these microbes and has sufficient air permeability, therefore being usable as a filter, a mask or the like.