Abstract: A surgical system includes: an endoscope capable of acquiring an endoscopic image of a surface of target tissue; an ultrasonic probe capable of acquiring an ultrasonic tomographic image of the target tissue; a treatment instrument; a display; and a controller including a memory and a processor. In response to the ultrasonic probe being inserted into the body cavity and the ultrasonic tomographic image being acquired, the processor is configured to: detect a position of the ultrasonic probe with respect to the endoscope; store the ultrasonic tomographic image associated with the position of the ultrasonic probe; and in a state in which the treatment instrument remains inserted in the body cavity, detect a position of the treatment instrument, read out the stored ultrasonic tomographic image on a basis of the detected position of the treatment instrument, and command the display to display the read-out ultrasonic tomographic image.

Abstract: A medical manipulator having: a first rotatable body configured to be rotated about a rotation axis to exert a driving force transmitted by a wire to drive at least one of an elongated portion and an end effector; and a second rotatable body configured to be detachably coupled to the first rotatable body, wherein the second rotatable body is operatively connected to an actuator to be rotated by the actuator, wherein a shape of the first rotatable body corresponds to a shape of the second rotatable body such that as the first rotatable body and the second rotatable body are brought into contact with each other, a pressing force with which the first rotatable body is pressed against the second rotatable body is converted into a rotational force of the second rotatable body to rotate the second rotatable body into a predetermined alignment with the first rotatable body.

Abstract: A medical manipulator system includes a manipulator having a first joint; a first detecting means detecting an orientation of the first joint; an operation unit having a second joint associated with the first joint for operating the first joint; a second detecting means detecting an orientation of the second joint; a control unit outputting a signal for operating the first joint, the signal being based on the orientation of the second joint detected by the second detecting means; and a display unit displaying information output by the control unit, wherein a display of the information by the display unit includes a first display indicating a predetermined range of an orientation determined by using the orientation of the first joint that is detected by the first detecting means as a reference and a second display indicating the orientation of the second joint that is detected by the second detecting means.

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 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 medical manipulator having: a first rotatable body configured to be rotated about a rotation axis to exert a driving force transmitted by a wire to drive at least one of an elongated portion and an end effector; and a second rotatable body configured to be detachably coupled to the first rotatable body, wherein the second rotatable body is operatively connected to an actuator to be rotated by the actuator, wherein a shape of the first rotatable body corresponds to a shape of the second rotatable body such that as the first rotatable body and the second rotatable body are brought into contact with each other, a pressing force with which the first rotatable body is pressed against the second rotatable body is converted into a rotational force of the second rotatable body to rotate the second rotatable body into a predetermined alignment with the first rotatable body.

Abstract: A medical manipulator system includes a manipulator having a first joint; a first detecting means detecting an orientation of the first joint; an operation unit having a second joint associated with the first joint for operating the first joint; a second detecting means detecting an orientation of the second joint; a control unit outputting a signal for operating the first joint, the signal being based on the orientation of the second joint detected by the second detecting means; and a display unit displaying information output by the control unit, wherein a display of the information by the display unit includes a first display indicating a predetermined range of an orientation determined by using the orientation of the first joint that is detected by the first detecting means as a reference and a second display indicating the orientation of the second joint that is detected by the second detecting means.

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 surgical robot that makes sure good enough operation even when it is difficult to have an instantaneous grasp of a three-dimensional position relationship between an affected site and a treatment tool or have a full understanding of force interacting between the affected site and the treatment tool. The surgical robot 1 disclosed herein includes an operating assembly, a distal end portion that moves depending on an amount of operation by the operating assembly, a treatment tool located at said distal end potion, a detection sensor located near the distal end portion to detect states of the distal end portion, and a control unit configured to make a change to actuation modes in response to a result of detection by the detection sensor (Steps S102, S103 and S104).

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 cardiac activity state is correctly determined and the vagus nerve is stimulated at an appropriate timing. Provided is a nerve stimulation apparatus including a detector that detects an electrocardiac signal; a nerve stimulation unit that generates an electrical pulse for stimulating the vagus nerve; and a controller that determines a cardiac activity state on the basis of the electrocardiac signal detected by the detector and controls the nerve stimulation unit on the basis of the determination result; wherein the controller has a determination period for determining the cardiac activity state and a non-determination period for not determining the cardiac activity state, and wherein the controller allows the electrical pulse to be generated from the nerve stimulation unit while controlling a generation period of the electrical pulse so as to include it within the non-determination period.