Abstract: A manipulator system initialization method includes: a joint angle setting step of bringing a driving force relay part into a driving force release state, inserting a bending joint and a pair of shaft-shaped parts coupled by the bending joint into a shape defining member having a shape defining part that brings a joint angle of the bending joint to a predetermined value, and setting a joint angle of the bending joint to the predetermined value; a drive part coupling step of switching the driving force relay part to a driving force relay state, with respect to the bending joint of which the joint angle is set; and an origin setting step of associating a state of the joint angle of the bending joint with a drive origin of a drive part after the drive part coupling step is performed.

Abstract: A medical instrument includes a first joint. The first joint has a first axis, a second axis, a third axis, a first connection member which has a first rotation-transmitting portion, a second connection member which has a second rotation-transmitting portion, a third connection member, and a third rotation-transmitting portion. The first rotation-transmitting portion and the second rotation-transmitting portion are connected to each other so as to pivot by interlocking with each other. The third connection member has a fourth rotation-transmitting portion which is provided in an end portion of the third connection member and which is connected to the third rotation-transmitting portion so as to pivot about the first axis or the second axis by interlocking with the third rotation-transmitting portion.

Abstract: A treatment-tool driving device being attached to a treatment tool provided with at least one pair of tensile-force transmitting members and driving the treatment tool by tensile forces imparted to the tensile-force transmitting members, wherein the device includes: movable members being individually attached to one ends of the individual tensile-force transmitting members; a driving source generating a motive power with which the treatment tool is driven; a motive-power transmitting mechanism switching between coupling and decoupling between the driving source and the movable members, and transmitting, in a coupled state, the motive power from the driving source so as to selectively impart tensile forces to the two movable members attached to the paired tensile-force transmitting members; and a biasing portion biasing the two movable members in directions in which tensile forces are imparted to the tensile-force transmitting members in a state in which coupling by the motive-power transmitting mechanism is r

Abstract: An initialization method for a manipulator includes: a reference angle maintaining step of setting a rotational angle of a joint part to a reference angle that has been predetermined, and maintaining the reference angle in a state where a driving force relay part is switched to a driving force release state; a drive part coupling step of switching the driving force relay part to a driving force relay state in a state where the joint part is arranged at a position where an initialization operation is performed after the reference angle maintaining step is performed; and an origin setting step of performing matching of a drive origin of a drive part according to a state of the rotational angle.

Abstract: Provided is a manipulator including: a movable part; a drive unit generating power; an elongated flexible long guide member to which the part is attached at one end thereof and the drive unit is attached at the other end thereof; an elongated tension transmission member passing through a lumen in the long guide member and transmitting the power of the drive unit to the part by means of a tension; a tension adjusting mechanism adjusting the tension of the tension transmission member; and a holding unit to which the drive unit is detachably attached. The mechanism includes: a tensioner, provided in a movable manner in a direction intersecting the longitudinal direction of the tension transmission member, that pulls the tension transmission member; and a pressing member, provided in the holding unit, that moves the tensioner in a state in which the drive unit has been attached to the holding unit.

Abstract: A manipulator including: an end effector movable about a joint; a motor configured to generate force so as to move the end effector; a wire for transmitting the force from the motor to the end effector; a guide member connected between the end effector and motor. The guide member including: a guide tube comprising at least one lumen extended in a longitudinal direction, the lumen configured to guide the wire; and an outer sheath configured to cover the guide tube in a longitudinal direction and to move relative to the motor in the longitudinal direction, the outer sheath having a rigidity higher than the guide tube. The manipulator further including an adjusting mechanism configured to adjust a position of the proximal end section of the outer sheath relative to the motor in the longitudinal direction of the guide tube so as to adjust a tensile-force generated on the wire.

Abstract: A correction jig of a medical master-slave manipulator system limits a straight state of a master manipulator, in a state where the correction jig is attached to the master manipulator.

Abstract: A medical manipulator system includes a guide instrument having a treatment tool channel, an insertion body inserted into the treatment tool channel, a power source unit attachable to and detachable from the insertion body, a guide rail having a first region corresponding to a state in which the joint part is located in the treatment tool channel and a second region corresponding to a state in which the joint part is exposed from the distal end of the treatment tool channel, and the guide rail guides the power source unit to advance and retract in a predetermined linear direction defined by the first region and the second region, and a regulating part interposed in a boundary between the first region and the second region and the regulating part regulates a movement of the insertion body from the second region toward the first region.

Abstract: A treatment-tool driving device being attached to a treatment tool provided with at least one pair of tensile-force transmitting members and driving the treatment tool by tensile forces imparted to the tensile-force transmitting members, wherein the device includes: movable members being individually attached to one ends of the individual tensile-force transmitting members; a driving source generating a motive power with which the treatment tool is driven; a motive-power transmitting mechanism switching between coupling and decoupling between the driving source and the movable members, and transmitting, in a coupled state, the motive power from the driving source so as to selectively impart tensile forces to the two movable members attached to the paired tensile-force transmitting members; and a biasing portion biasing the two movable members in directions in which tensile forces are imparted to the tensile-force transmitting members in a state in which coupling by the motive-power transmitting mechanism is r

Abstract: A medical treatment instrument of the present invention includes: a pair of opening and closing pieces; an opening and closing shaft section configured to hold the pair of opening and closing pieces so that the pair of opening and closing pieces are able to pivot relative to each other; a first gear fixed to either of the pair of opening and closing pieces to pivot about the opening and closing shaft section; a second gear which is able to rotate to transmit a rotational force to the first gear; a rotatable member fixed to the second gear coaxially with the second gear and having a diameter larger than a diameter of the second gear; and a power transmission member provided around an outer circumference of the rotatable member and configured to rotate the rotatable member.

Abstract: A medical instrument according to the present invention includes an end effector that fulfills a predetermined function, a motor unit that generates power for driving the end effector, a transmission member that is connected to the end effector and the motor unit so as to transmit the power to the end effector, a tension holding portion that has a tension generation portion and a tension pulley which is connected to the tension generation portion and which comes into contact with the transmission member the tension pulley being configured to move such that tension applied to the transmission member in a predetermined magnitude, and a switch that can fix a position of the tension pulley.

Abstract: This treatment instrument adaptor allows a treatment instrument to be rotated about the longitudinal axis while an insertion portion is placed in the body. This treatment instrument adaptor has a cap member attached to a distal end of an insertion portion having a channel and that has a through hole aligned with an opening of the channel; a tubular fitting member attached to the through hole of the cap member so as to be rotatable about an axis of the through hole and so as not to be movable along the axis and that has an inner hole into which a treatment instrument is fitted and with which the treatment instrument is engaged in a circumferential direction; and a rotating mechanism including a driving-force transmitting member that is wound around the fitting member and that rotates the fitting member about the axis using tension.

Abstract: A manipulator system initialization method includes: a joint angle setting step of bringing a driving force relay part into a driving force release state, inserting a bending joint and a pair of shaft-shaped parts coupled by the bending joint into a shape defining member having a shape defining part that brings a joint angle of the bending joint to a predetermined value, and setting a joint angle of the bending joint to the predetermined value; a drive part coupling step of switching the driving force relay part to a driving force relay state, with respect to the bending joint of which the joint angle is set; and an origin setting step of associating a state of the joint angle of the bending joint with a drive origin of a drive part after the drive part coupling step is performed.

Abstract: An initialization method for a manipulator includes: a reference angle maintaining step of setting a rotational angle of a joint part to a reference angle that has been predetermined, and maintaining the reference angle in a state where a driving force relay part is switched to a driving force release state; a drive part coupling step of switching the driving force relay part to a driving force relay state in a state where the joint part is arranged at a position where an initialization operation is performed after the reference angle maintaining step is performed; and an origin setting step of performing matching of a drive origin of a drive part according to a state of the rotational angle.

Abstract: The medical apparatus includes an endoscope 2, a manipulator 3 having at least one degree of freedom, a flexible cylindrical sheath 4 mounted on an outer circumference of the manipulator 3, a treatment tool 5 inserted through the sheath 4, and an endoscope/manipulator operating unit 11 for independent operation of the endoscope 2 and manipulator 3.

Abstract: A surgical instrument has a treatment section, a first pulling section and a second pulling section configured to transmit a pulling force to the treatment section, a power source configured to generate force for operating the treatment section, and a switching section having a first path configured to transmit the force from the power source to the first pulling member and a second path configured to transmit the force from the power source to the second pulling member and configured to switch the first path and the second path.

Abstract: A surgical tool includes: a treatment section that treats an object to be treated; a power source that generates a power to operate the treatment section; a traction section connected to the treatment section and the power source; a switching section that switches a transmission state of the power from the power source to the traction section between a state in which the power can be transmitted and a state in which the power cannot be transmitted; and a tension-applying section that has a pulley and applies a predetermined initial tension to the traction section by applying a power to the pulley in the state in which the power cannot be transmitted, wherein the traction section is hung on the pulley via the power source from the treatment section and is connected to the treatment section via the power source.

Abstract: In a medical manipulator, the surgical tool drive unit includes: a pair of input members that has a first input member and a second input member, are arranged in a pair at a first end portion in an attachment and detachment direction with respect to the surgical tool unit, are capable of advancing and retracting parallel to each other, and transmit the driving force in an advance direction when the pair of input members are advanced to the surgical tool unit side; and a drive source that causes at least one of the pair of input members to advance and retract.

Abstract: A surgical tool holding device that holds a plurality of surgical tools includes: a flexible insertion section having a distal end and a proximal end and configured such that a surgical tool channel into which the plurality of surgical tools are inserted is formed; a driving section configured to advance and retract each of the plurality of surgical tools inside the surgical tool channel; an operating section configured to manipulate the plurality of surgical tools; and a controller configured to control an amount of protrusion of the surgical tool protruding from a distal end of the surgical tool channel, from the surgical tool channel.

Abstract: A chemical decontamination apparatus of the present invention chemically dissolves radioactive substance-containing oxide films formed or adhering on the surface of a decontamination object by using ozone water to conduct decontamination. The chemical decontamination apparatus includes an ozone generating unit for generating ozone gas, an ozone supplying device for supplying the generated ozone gas to an ozone supplying unit in water, and a sintered metal element 37 which is disposed in the ozone supplying unit and to which ozone gas is supplied from the ozone supplying device. The ozone gas supplied to a sintered metal element interior from the ozone supplying device is allowed to flow out of the element into water so as to generate ozone water.