Abstract: A surgical robot includes a robot arm, an operation device that is operated by a user to perform an operation of the robot arm, an actuator that supplies a driving force to the robot arm, and hardware control logic or a processor that sets a magnitude of an operation reaction force a direction opposite to an operation direction of the operation device, and applies the operation reaction force having the magnitude set by the reaction force setter to the operation device. The magnitude of the operation reaction force is set based on change information about a change in the driving force supplied by the actuator and based on a conversion coefficient.

Abstract: A medical robot includes a surgical tool and an attachment portion. The surgical tool has a main body that includes a driven portion that transmits a driving force, and a driven side hole. The attachment portion has an attachment surface and a transmission side hole is arranged in which a transmission plate transmits the driving force in a linear motion direction to the driven portion. The surgical tool and the attachment portion respectively include a surgical tool engagement portion and an attachment engagement portion that engage to attach the surgical tool to the attachment portion by relative movement in a relative movement direction along the attachment surface and intersecting the linear motion direction. The attachment surface includes a guide groove that guides the driven portion to a specified position of the transmission side hole.

Abstract: A console device of a medical robot system may include a grip, a gimbal that rotatably supports the grip around a yaw axis, a pitch axis, and a roll axis, the yaw axis, the pitch axis, and the roll axis intersecting each other, and a controller that controls the gimbal. The gimbal includes harness windings that are wound around respective joints around the yaw axis, around the pitch axis, and around the roll axis, drivers that apply torque to the respective joints, and angle sensors that detect angles of the respective joints and output detected values of the angles of the respective joints to the controller. The controller controls the drivers based on the detected values received from the respective angle sensors to apply the torque to the respective joints in order to compensate for torsional torque at the respective joints due to the respective harness windings.

Abstract: A hand controller includes a tab that has a first side surface and a second side surface facing away from the first side surface and an end surface that extends from the first side surface to the second side surface, a handle that faces the end surface of the tab and is mounted to the tab to allow the handle to be moved in and out of contact with the end surface of the tab, an operation lever that faces the first side surface of the tab and is coupled to the tab to allow the operation lever to be moved in and out of contact with the first side surface of the tab, and a finger sensor on the second side surface of the tab, the finger sensor detecting a finger of a hand of an operator.

Abstract: A bearing structure includes a fixing member attached with respect to an arm of a surgical robot in a state in which a holder that is provided at a distal end of the arm is inserted inside the fixing member, a first drape that covers the arm being attachable to the fixing member, and a rotating member attached with respect to the fixing member in a slidably rotatable manner in a state in which the holder is inserted inside the rotating member, a second drape that covers the holder being attachable to the rotating member. The rotating member is rotatable together with the holder.

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 rotation position detector includes a motor having a drive shaft extending along a first axis, a drive-side pulley that is connected to the drive shaft, a holder that holds a treatment tool to be inserted into a patient during surgery, the holder rotating in association with the drive-side pulley, a driven-side pulley that rotates around the first axis, a diameter of the drive-side pulley being smaller than a diameter of the driven-side pulley, a transmission belt that transmits a rotational drive of the drive-side pulley to the driven-side pulley, a rotary encoder that is provided on the first axis and detects a rotation angle of the driven-side pulley, and a controller that calculates a rotation position of the holder based on the rotation angle and based a pulley ratio of the drive-side pulley to the driven-side pulley, and controls the motor based on the rotation position.

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 surgical instrument holding device includes first and second parallel links, a wiring member and a connector. The first parallel link has two first link portions arranged in parallel with each other, each having one end in an axial direction as a first end portion. The second parallel link has two second link portions arranged in parallel with each other, each having one end in an axial direction as a second end portion. The wiring member is disposed along the parallel links. The connector has two first link supporters by which the respective first end portions are rotatably supported, two second link supporters by which the respective second end portions are rotatably supported, a first wiring supporter that supports the wiring member on a part between the two first link supporters, and a second wiring supporter that supports the wiring member on a part between the two second link supporters.

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: A floating drive for a medical robot includes an actuator that drives a rod forward and backward in a first direction, a manipulation member that operates with driving force of the actuator, and a transmission member that is located between the actuator and the manipulation member and that is engaged with the rod to transmit an operation of the rod to the manipulation member. The transmission member is restricted in its displacement having a component in a second direction orthogonal to the first direction, and the transmission member is separated from the rod in the second direction and transmitting force in the first direction from the rod to the manipulation member.

Abstract: A surgical instrument holding device includes a holding body, an adapter, a separator, and a driving body. The holding body holds a surgical instrument. The adapter receives the surgical instrument and is disposed between the surgical instrument and the holding body. The separator is provided between the adapter and the holding body and includes a receiving portion that receives the adapter. The driving body supplies a driving force to the holding body to drive the surgical instrument. The adapter includes a pressing portion and an engaging portion, and when the receiving portion of the separator receives the adapter, the pressing portion contacts the receiving portion and the engaging portion engages the receiving portion to attach the adapter to the separator.

Abstract: A surgical instrument of the present disclosure includes: a conductive cable member formed into a cable-like shape; a conductive outer shell covering a circumference of the cable member; first and second insulating portions made of materials having higher insulation properties than the cable member and the outer shell; a projecting portion projecting from a projecting insulating portion, which is one of the first and second insulating portions, toward a recessed insulating portion, which is the other, the cable member being inserted into the projecting portion; a conductive leading end portion separated from the recessed insulating portion and the outer shell, the leading end portion being bendable using tension of the cable member with an end portion connected thereto; and a power supply cable in a cable-like shape arranged inside the first and second insulating portions for supplying an electric power from outside to the leading end portion.

Abstract: A force sense notification device includes a speaker and a control device that receives a measurement signal indicating a magnitude of a force exerted on a surgical instrument, generates sound information based on the magnitude of the force, and outputs the sound information through the speaker.

Abstract: A medical operation apparatus includes a body graspable by an operator, an operation part that is arranged to enable a part of the operation part to be moved relative to the body, and a holder that receives the fingers of the operator and transmits a movement of the fingers to the operation part. The holder includes a contact portion that comes in contact with the body, and a connector that supports a relative posture of the holder and the operation part so as to change the relative posture in accordance with a posture change of the fingers of the operator. In a relative arrangement position of the operation part and the body, when the relative posture of the holder and the operation part is changed, an amount of change in the relative arrangement position of the body and the operation part is within a specified permissible range.

Abstract: A surgical device includes a forceps device that performs a bending movement and opening and closing movements of grasping portions of the forceps device, driven portions to which a driving force is transmitted from outside the surgical device, and plural cords, each being fixed to one of the driven portions, the cords transmitting movements of the driven portions to the forceps device. The forceps device performs one or both of the bending movement and the opening and closing movements when all or a portion of the cords are pulled.

Abstract: A surgery-assisting device includes a robot arm that includes plural movable bodies that are operably connected in order in a connecting direction, a surgical instrument connected to a distal end of the robot arm, and one or more actuators that generate a driving force that operates one or more of the movable bodies. The movable bodies include one or more distal-side movable bodies that is provided distally in the connection direction, and one or more proximal-side movable bodies that is provided proximally in the connection direction. An operation tolerance of the one or more distal-side movable bodies is higher than an operation tolerance of the one or more proximal-side movable bodies.

Abstract: A surgical robot includes an operating section that receives a pressure from a gas, a pressure generating device that generates the pressure, a pressure detector that detects a pressure supplied from the pressure generating device to the operating section, and a control device configured to implement an operation diagnosis device that makes a determination, using the pressure detected by the pressure detector, whether the operating section is operable, and that notifies a result of the determination.

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.