Abstract: A surgery assistance device includes a battery, loads, a manual switch, a power supply, and a backup power supply. The power supply is connected to a mains power supply and to the loads, and outputs a first power supply voltage to the loads. The manual switch is connected to a portion of the loads. The backup power supply is connected to the battery and to the manual switch, and outputs a second power supply voltage to the portion of the loads when the manual switch is closed.

Abstract: A surgical robot for use in endoscopic surgery includes a control device that implements a position information calculator that calculates information relating to a distal end position of the treatment instrument used in endoscopic surgery, and information relating to a distal end position of an endoscope, a first display section that displays a relative positional relationship between the distal end of the treatment instrument and the distal end of the endoscope by using a calculation result obtained from the position information calculator, and a second display section that displays an image captured by the endoscope.

Abstract: An information processing device in an instruction-side system of an assistance system comprising an operation-side system and the instruction-side system separated from the operation-side system, the information processing device comprising a processor configured to transmit drawing information based on an operation input to the operation-side system, generate annotation image data based on the drawing information, and receive image data from the operation-side system and combine the image data with the annotation image data.

Abstract: In a surgical tool, a cord-shaped element transmits a movement of a driven portion to a working portion. A rotor has a circumferential surface around which the cord-shaped element extending from the driven portion to the working portion is wound. A first and a second supporting portion support the rotor such that the rotor is movable in relation to one or both of the driven portion and the working portion. A rotational shaft includes a first end securable to a first supporting portion, and supports the rotor such that the rotor is rotatable about a rotational axis thereof. A securing portion is arranged between a second end of the rotational shaft and the second supporting portion. A position of the securing portion relative to the rotational shaft is changeable in a rotational axis direction. The securing portion is securable to the second supporting portion.

Abstract: A medical device includes: a base; a connecting portion to which a medical instrument is to be connected; a distal portion including the connecting portion; and a support portion connected to each of the base and the distal portion, and configured to change an orientation of the medical instrument to a desired orientation around a pivot movement point as a center of rotation. The distal portion further includes a first light emitter configured to emit light in a preset direction in a state in which the pivot movement point is arranged at a desired location on a body surface of a patient.

Abstract: A medical robot includes an arm, a controller that controls driving of the arm, a holding body that is connected to the arm at a connection portion and holds a held body, and a selector switch provided on the holding body for selectively switching between a control state in which the driving of the arm is controlled by the controller and a manual state in which control by the controller is released. The controller performs control of switching between the control state and the manual state based on an operation signal from the selector switch.

Abstract: A surgical robot includes a master, a master controller, a slave, and a slave controller. The slave controller calculates a slave control value based on a target state and a surgical tool state, the slave control value being for controlling a surgical tool, the target state being a state of the surgical tool based on an operation received by the master, the slave controller controlling the slave based on the slave control value. The master controller calculates a master control value based on the surgical tool state, the target state, and the slave control value obtained from the slave controller, the master control value being for controlling the reaction force, the master controller controlling the master based on the master control value.

Abstract: Provided is an arm device. The arm device includes: a first gimbal portion configured to rotatably support an instrument about a first rotational axis extending along an axis line of the instrument; a second gimbal portion configured to rotate the instrument about a second rotational axis extending along a direction intersecting the first rotational axis; a distal portion configured to rotate the instrument about a third rotational axis extending to intersect a plane including the first rotational axis and the second rotational axis. The third rotational axis has an inclination angle greater than 0 degree and less than 90 degrees when a horizontal direction is defined as 0 degree and an upper vertical direction is defined as 90 degrees.

Abstract: An arm device includes a joint portion configured to be rotated to thereby change a position and/or a posture of a surgical tool, and an actuator configured to generate a driving force that rotates the joint portion, and to allow a rotation of the joint portion in accordance with an externally applied force. Moreover, the arm device is configured to estimate an external force applied to the surgical tool, to obtain a value of a driving force of the actuator based on a weight of the surgical tool and the external force, and to control the actuator based on a value of the driving force.

Abstract: A cleaning tool for a surgical instrument that includes a housing includes a first holder, a second holder, and a coupling part. The first holder holds a first connector that is insertable into the housing to discharge a cleaning solution in a first discharging direction that is parallel to a direction in which the first connector is inserted into the housing. The second holder holds a second connector that is insertable into the housing, at a position different from a position in the housing at which the first connector is inserted, to discharge the cleaning solution in a second discharging direction that is to a direction in which the second connector is inserted into the housing. The coupling part couples the first holder and the second holder so that the first discharging direction intersects the second discharging direction.

Abstract: A manipulator arm includes a parallel link, an actuator, and first and second covers. The parallel link includes first and second end members spaced apart from each other, a first link attached to the first end member at a first position and to the second end member at a second position, and a second link attached to the first end member at a first position and attached to the second end member at a second position, the first link being parallel to the second link. The actuator is attached to the first end member at a first actuator position and attached to the second end member at a second actuator position. The first cover is on the first link and covers at least the actuator, and the second cover is on the first link and covers at least the second link and the actuator.

Abstract: An arm structure includes a shoulder joint, an elbow joint, a wrist joint, a first connection structure connecting the shoulder joint with the elbow joint and that relatively moves while maintaining an orientation of the elbow joint relative to the shoulder joint, a second connection structure connecting the elbow joint with the wrist joint and that relatively moves while maintaining an orientation of the wrist joint relative to the elbow joint, a third connection structure connecting the shoulder joint with the second connection structure and that relatively moves while maintaining an orientation of the wrist joint relative to the shoulder joint, a first actuator that rotates a first rotating shaft included in the first connection structure, and a second actuator that rotates a second rotating shaft included in the third connection structure. The first and second rotating shafts are supported by the shoulder joint.

Abstract: A surgical robot system includes a surgical instrument including a shaft to be inserted through a trocar placed in a subject, an arm device that holds the surgical instrument and moves the surgical instrument with respect to the subject, a detector arranged at the arm device and configured to detect values of forces and torques acting on the surgical instrument; and a controller that calculates a value of a first external force that the surgical instrument receives from the trocar and a value of a second external force that is received from an object other than the trocar and that is abuttable on the surgical instrument, based on the values of forces and torques, and controls the arm device to move the surgical instrument, based on the value of the first external force and the value of the second external force.

Abstract: A surgical instrument includes a housing that defines an inner space, and a shaft that is in fluid communication with the inner space. The housing includes a flush port and an aperture. A center axis of the shaft is interposed between the flush port and the aperture.

Abstract: A remote operation system includes an operation device that remotely operates a surgical tool, a microphone that detects sound caused by contact between the surgical tool and an object of a surgical operation, an actuator that generates a tactile sensation, and computing circuitry that calculates a remote operation associated with the tactile sensation, based on the sound.

Abstract: Disclosed is a method for fixing a soft actuator to a base, the soft actuator including a cylinder that includes a flange at an end in an axial direction, the cylinder being elastic in the axial direction and in a circumferential direction; and a coil that is wound around the cylinder in a spiral shape, suppresses a diameter expansion of the cylinder, and extends and contracts in the axial direction in accordance with an extension and contraction of the cylinder in the axial direction due to an increase and decrease in pressure within the cylinder, the base having a recess that has a groove, the method including engaging the flange and the groove with each other to fix the soft actuator to the base.

Abstract: A forceps device includes a distal end part including a treatment part for treating an object, a base cap connected proximally to the distal end part, a pipe connected proximally to the base cap, a cover that covers the distal end part and the base cap and has an end face at a proximal end of the base cap, and an enlarged-diameter portion having a diameter that is larger than a diameter of the end face of the cover.

Abstract: A drape for a surgery assist apparatus includes a cover that covers a portion of the surgery assist apparatus, and a hood that is attachable to a holder of the surgery assist apparatus that holds a surgical instrument, The hood includes a penetration hole and a closure sheet that closes the penetration hole. When a separator of the surgery assist apparatus is attached to the holder, the closure sheet is broken, and the penetration hole is closed by the separator.

Abstract: A surgery assisting device holds a surgical instrument having an end to be inserted into a body cavity of a patient, and controls one or more of a position or an orientation of the surgical instrument. The surgery assisting device includes a first arm and second arms. The first arm has a first end supported by a base and includes a first movable part having movement with one or more degrees of freedom. The second arms are arranged at a second end of the first arm and hold the surgical instrument. Each of the second arms includes second movable parts having movement with five or more degrees of freedom.

Abstract: A surgical tool includes a driven portion, a cord-shaped element, and a rotor. To the driven portion, a driving force is transmitted from an external portion. The cord-shaped element transmits a movement of the driven portion. The rotor has a circumferential surface around which the cord-shaped element extending from the driven portion is wound. The circumferential surface includes two or more grooves arranged side by side in a direction of a central axis of the rotor so that the cord-shaped element is windable therearound, and at least one cut-out portion connecting adjacent grooves among the two or more grooves so that the cord-shaped element is placeable through the adjacent grooves.