Abstract: A surgical instrument includes a base body detachable from a surgical robot arm, a support body connected to the base body, and first and second jaws. The first jaw is rotatably supported on a first shaft supported by the support body and includes a first opening pulley, a first closing pulley, and a first blade part. The second jaw is rotatably supported on the first shaft and includes a second opening pulley, a second closing pulley, and a second blade part. The first opening pulley is axially separated from the first closing pulley and the second opening pulley is axially separated from the second closing pulley. An axial direction of the first shaft is orthogonal to an opening and closing direction of the first blade part and the second blade part.

Abstract: A force sense display device includes a processor that obtains image information from an image-capturing device that captures an image of a patient, obtains position information on a surgical instrument from a surgical assist robot, obtains force sense information on a magnitude and a direction of a force acting on the surgical instrument, generates a force sense representation based on the force sense information, the force sense representation including a force amount representation representing the magnitude of the force and a direction representation representing the direction of the force, detects, based on the image and position information, a surgical instrument area in an image on a display, the surgical instrument area being an area of the image in which the surgical instrument is displayed, and generates display information including the surgical instrument area with the force sense representation superimposed thereon and outputs the display information for display on the display.

Abstract: An estimation device calculates a first perpendicular vector and a second perpendicular vector. The first perpendicular vector is a component of a vector in a movement of a first position, which is a provisional pivot position of a surgical tool, the component being perpendicular to a direction of an axis of the surgical tool. The second perpendicular vector is a component of a vector in a movement of a second position of the surgical tool, the component being perpendicular to the direction of the axis. Then, a first distance, which is a length from a reference point on a rear end side or a reference point on a front end side of the surgical tool to the first position, is updated based on an inner product of the first and second perpendicular vectors.

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: 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: A slider is provided. A slider of the present disclosure includes a slider body disposed to be movable in a linear direction relative to a surgical instrument, and two holders disposed on the slider body for holding ends of a wire between the two holders to retain the wire in an annular shape. At least a first holder of the two holders is provided with an insertion hole for inserting and passing the ends of the wire toward an outside from between the two holders.

Abstract: A surgery assistance device includes an arm that holds an endoscope and adjusts a position of the endoscope, a measuring device having a fixed position relative to the endoscope, the measuring device measuring a distance to a surgery target region of a subject, and a control device configured to obtain a positional relationship between the surgery target region of the subject and a distal end portion of the endoscope based on information from the measuring device, generate a map image showing the position of the endoscope on a three-dimensional model of the surgery target region by using the positional relationship, and transmit display information for displaying the map image.

Abstract: A forceps device includes first and second grasping portions, a base member that holds the grasping portions, first and second wires that transmit driving forces to move the grasping portions, and a first guide pulley and a second guide pulley. The base member includes a partition part having holes including a first hole through which the first wire passes and a second hole that is closest to the first hole among the holes and through which the second wire passes, first and second arms extending from the partition part toward the grasping portions, respective ends of a support shaft being fixed to the first and second arms, and the first guide pulley being provided on the support shaft adjacent to the first arm and the second guide pulley being provided on the support shaft adjacent to the second arm and spaced apart from the first guide pulley.

Abstract: A surgery assisting device includes an arm, a control device, and an operating device. The arm holds an endoscope and adjusts a position of the endoscope. The control device generates a viewpoint image of a three-dimensional model of a subject from a viewpoint of the endoscope, and controls a display to display the viewpoint image and an endoscope image obtained by the endoscope. The operating device rotates the endoscope image and the viewpoint image in conjunction with the endoscope image without causing a positional displacement of the endoscope.

Abstract: A work assistance robot includes articulated arms, lifting/lowering units that lift and lower the articulated arms, respectively, and a main housing on which the lifting/lowering units are mounted. Each articulated arm has seven or more degrees of freedom including a degree of freedom of an up-and-down movement of the lifting/lowering unit of the articulated arm.

Abstract: A surgery assistance device includes an arm, a control device, and an operation device. The arm holds an endoscope and adjusts a position of the endoscope. The control device controls a display to display an image captured by the endoscope. The operation device rotates the image without causing a positional displacement of the endoscope.

Abstract: High-frequency forceps for medical use that include a manipulation part including a grasping portion that is conductive; a cylindrical part that is inflexible, through which a wire for manipulation of the grasping portion and a cable for supplying current to the grasping portion are guided; and an insulating part that electrically insulates the manipulation part from the cylindrical part. The cylindrical part includes: an outer layer made of an insulating material; an inner layer made of an insulating material; and an intermediate layer located between the outer layer and the inner layer, and having a lower insulation resistance and a higher stiffness than the outer layer and the inner layer.

Abstract: A surgery assisting device that includes one or more joint portions and that holds a surgical instrument, and a computing device that obtains angle information of a joint portion of the one or more joint portions in a state in which a distal end of the surgical instrument is positioned at a predetermined position and determines a length of the surgical instrument based on the angle information.

Abstract: A forceps device includes a grasping part, a support that holds the grasping part, a first rotating shaft that turnably supports the support, a base member that holds the first rotating shaft, guide pulleys arranged coaxially with the first rotating shaft, grasping portion wires, a support pulley, and a support wire. The grasping portion wires run over the guide pulleys and the grasping part without other pulleys therebetween, and transmit a first driving force to the grasping part to move the grasping part. The support pulley is provided on the support, and the support wire runs over the support pulley and transmits a second driving force to the support to turn the support about the first rotating shaft.

Abstract: A surgical tool includes a slider, converters, and transmission wires. The slider is disposed movably in a linear direction relative to a main body, the main body including at least a treatment portion configured to perform a medical procedure. The converters move for a converted movement amount which is obtained by converting a movement amount of the slider with a magnification factor. The transmission wires transmit the converted movement amount to a treatment portion of the surgical tool.

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 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 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 surgical device retracting mechanism includes a holder that holds a surgical device, a guide that guides the holder to linearly advance and retract, a locking member that locks the holder in a locking state in which the surgical device is inserted in a surgical site, and a retracting device that releases the locking state and retract the holder based on a detection signal.

Abstract: A surgical tool mounted to a surgical robot includes a treatment portion including a movable part that may be displaced, a main body including a slider that generates a driving force to displace the movable part, the slider generating the driving force through reciprocating motion along a linear direction, and a manual releasing tool that, when inserted into the main body, may displace the movable part, the manual releasing tool being detachably insertable into the main body.