Abstract: A communication system includes a transmission terminal and a reception terminal. One of the transmission terminal and the reception terminal includes a processor. The processor is configured to calculate an adjustment value indicating a difference between an imaging cycle and a display cycle. The processor is configured to cause the imaging cycle and the display cycle to match each other by adjusting a signal generator on the basis of the adjustment value. A connection history in which adjustment information and identification information of a communicator are associated with each other is recorded on a recording medium. The processor is configured to adjust the signal generator on the basis of the adjustment value indicated by the adjustment information when the first communicator and the second communicator connect to each other again.

Abstract: An electronic device including: a multilayer printed circuit board; and a molded retaining body; wherein the printed circuit board is formed of structured layers of conducting and non-conducting materials adhered together, the conducting materials form conductor tracks and contact areas, the printed circuit board being stiffened in a rigid region by stiffening material, the rigid region having electronic components and encapsulated in an epoxy; the printed circuit board having a flexible region that is more flexible than the rigid region, the flexible region having contact areas; the retaining body having an arc-shape formed on a radial inner side of the retaining body for arrangement on an inner tube of an endoscope; the retaining body having, on a radial outer side, a receiving contour for receiving and shaping the printed circuit board; and the retaining body having a retainer for holding the printed circuit board in a bent state.

Abstract: A cam lock for cabinets adaptable to cabinet drawers and doors of various thicknesses is disclosed. The cam lock includes a cam, a plug, an adapter, and a cylinder housing. The plug has a keyway and tumblers in communication with the keyway. The adapter is configured to couple to the cam and the plug. The cylinder housing is configured to receive the plug and the adapter. The retainer clip is configured to extend through the cylinder housing into registry with the plug after the plug and adapter are inserted into the cylinder to thereby retain both the plug and the adapter in the cylinder housing, whereby installation of the cam lock in the cabinet is simplified.

Abstract: A cable connection structure includes: cables, each including a jacket and a core wire exposed at an end portion by removing the jacket; a first fixing member configured to fix distal end portions of exposed core wires while holding the cables at predetermined intervals; a second fixing member configured to fix proximal end portions of the exposed core wires while holding the cables at predetermined intervals; and a substrate including a core wire connection electrode configured to electrically connect the core wire at a position between the first fixing member and the second fixing member, wherein the first fixing member and the second fixing member are different members.

Abstract: A signal processing device includes: a processor including at least one or more pieces of hardware, the processor being configured to: switch to one of a first state in which an input of a clock signal for operating an imager to the imager is permitted and a second state in which the input of the clock signal to the imager is prohibited, and temporarily switch from the first state to the second state when a first synchronization signal output from a first synchronization signal generation circuit and a second synchronization signal output from a second synchronization signal generation circuit are not synchronized.

Abstract: A distal end frame includes: a first distal end frame member that includes a resin molded product which constitutes a molded interconnect device; a housing chamber that is provided on a distal end side of the first distal end frame member, and is formed of a recessed portion a distal end and one side of which are opened; a second distal end frame member that is composed of the resin molded product constituting the molded interconnect device, and is configured to close the one side of the housing chamber; a signal pattern that is the metal pattern formed in a region including a first joining surface which is a joining surface with the second distal end frame member, on a surface of the first distal end frame member; and a solder material which is configured to join the first distal end frame member and the second distal end frame member.

Abstract: The ligation device includes a clip unit, an applicator, and the applicator includes a sheath, an operation wire, a second link that is provided on the operation wire, and is capable of being fitted to the first link at a protrusion position, the second link configured to be restricted a releasing of fitting to the first link at an accommodation position, a slider connected to the operation wire and is configured to move with a first operation, and a limiter including a switch member configured to move in an intersecting direction that intersects a direction of the first operation with a second operation. The limiter is configured to limit a movement range of the slider when the second operation is not performed, and configured to release a limitation of the movement range of the slider with the second operation and to allow the second link to move toward the protrusion position.

Abstract: An endoscope distal end structure includes: an imaging unit; a signal cable; and a distal end frame including a housing portion, and a cable connection portion configured to connect the signal cable. The housing portion is a recess formed on a distal end side of the distal end frame. The housing portion includes a side surface and a bottom surface provided with a connection terminal. At least a part of the cable connection portion is provided with a cable connection electrode that connects a core wire of the signal cable on a distal end side from a bottom surface of the housing portion with reference to the optical axis direction of the imaging unit. The connection terminal and the cable connection electrode are connected by a wiring pattern formed in the housing portion, an outer periphery of the distal end frame, and the cable connection portion.

Abstract: An endoscope includes an imager unit loading region provided at a distal end portion of an insertion portion, a cable connection surface, a wall provided to connect an opening of the imager unit loading region and an opening of the cable connection surface to each other, a contact pattern formed on a wall surface of the imager unit loading region, a wiring pattern formed on a front surface of the cable connection surface from the wall, a connection pattern formed on the cable connection surface, and a through-electrode formed in the wall so that the imager unit loading region and the cable connection surface communicate with each other, configured to cause the contact pattern and the wiring pattern to electrically continue to each other, and formed at a predetermined angle with respect to a center axis of the distal end barrel member.

Abstract: A wire fixing structure includes: a first hole portion through which a wire passes; and a second hole portion which is formed in a direction orthogonal to the first hole portion and communicates with the first hole portion. The wire includes: a first portion which is inserted into and is disposed in the first hole portion; a second portion which is extended from the first hole portion and wound around the outer peripheral portion of a wire fixing member; and a third portion which is inserted into and is disposed in the first hole portion again after the second portion is wound around the outer peripheral portion. The fastening member is inserted into the second hole portion and fixes the first portion and the third portion by pressing in the first hole portion.

Abstract: An ischemia control device is connected to a control unit that receives inputs from sensors and other surgical devices that senses patient conditions. The control unit uses the data inputs, as well as direct inputs from the medical operators, to output opening and closing instructions to the ischemia control device. The actuator on the ischemia control device receives the opening and closing instructions and manipulates the ischemia control device. The ischemia control device can be automatically operated using the sensed information to intermittently and alternately achieve ischemia of the organs and reperfuse the organs and, thereby, protect the organs from being damaged by the ischemia.

Abstract: An image pickup apparatus includes an image pickup member including an image pickup device, a stacked device in which a plurality of semiconductor devices are stacked, a wiring board having a first principal surface and a second principal surface, the wiring board including a central section having a substrate thicker than the image pickup device, an intermediate section that is extended from the central section and is bent, and a terminal section that is extended from the intermediate section, the image pickup member being bonded to the first principal surface of the central section, the stacked device being bonded to the second principal surface of the central section, and a plurality of signal cables bonded to the terminal section.

Abstract: An optical unit includes a first barrel, a second barrel, a third barrel, and a position detection unit. Eight magnets including first and second magnets are fixed to the first barrel. A first and second coils are fixed to the second barrel. The position detection unit includes a magnetic sensor configured to detect magnetic fields generated by the first and second magnets and to generate a detection signal having a corresponding relation with a position of the first barrel. The third barrel includes a position defining surface parallel to a moving direction of the first barrel. The position detection unit is fixed to the position defining surface.

Abstract: When an operation knob 10 formed of silicone rubber is pushed laterally, a stem 7 tilts with a contact portion (i) as a fulcrum, a push button portion 6b is pushed, and a contact point in a switch mechanism portion 6a operates to turn on a switch circuit. Even if, by a large operating force F3 being applied, the operation knob 10 is extended and the inner surface portion 15, which is a ceiling surface of an internal space 13 of the operation knob 10, rides on an upper end portion 7c, a reinforcing surface 19 provided on the inner surface portion 15 slides on the upper end portion 7c, and the operation knob 10 returns to the initial shape.

Abstract: An image-processing device that includes at least one processor which is configured to: set discrete measurement regions in a standard image and a reference image selected from images acquired in a time series manner and calculate motion vectors in the respective measurement regions; set a region of interest in the standard image; select, from the calculated motion vectors, the motion vectors in the set region of interest; estimate a homographic-transformation matrix that represents a motion in the region of interest by using the selected motion vectors; evaluate an error in the homographic-transformation matrix on the basis of the estimated homographic-transformation matrix and the calculated motion vectors; and set, on the basis of the evaluation result for the homographic-transformation matrix estimated on the basis of a first region of interest, a second region of interest a size of which is increased as compared with that of the first region of interest.

Abstract: An endoscope includes: an outer cylinder including an outer cylinder distal end portion held by a distal end holding portion provided inside an insertion section and an outer cylinder proximal end portion held by a proximal end holding portion provided on a proximal end side relative to the distal end holding portion; and an inner cylinder provided inside the outer cylinder, the inner cylinder including inside a wire coupled to a movable portion provided in the insertion section, an amount of stretch of the inner cylinder due to bending of the insertion section being larger than an amount of stretch of the outer cylinder due to the bending, the inner cylinder, in a stretch state where the inner cylinder stretches due to the bending, forming a gap in a longitudinal direction of the outer cylinder between the inner cylinder and the proximal end holding portion.

Abstract: A light-irradiation-device delivery apparatus includes: a metal needle tube having a longitudinal axis, a side hole, which penetrates from an inner circumferential surface to an outer circumferential surface, and a blade surface at a distal end thereof; an optical fiber that is accommodated inside the needle tube, the optical fiber including a core allowing light to propagate, a clad covering an outer circumferential surface of the core, and an emission area provided at a distal-end section of the optical fiber; and a positioning member that positions the emission area between a distal end and a proximal end of the needle tube in the longitudinal-axis direction. The distal end of the optical fiber is positioned in an interior space of the needle tube in a state where the emission area is positioned between the distal end and the proximal end of the side hole.

Abstract: An ultrasound endoscope includes: a plurality of piezoelectric elements that are arranged to form a cylinder such that respective longitudinal directions of the piezoelectric elements are aligned, each piezoelectric element being configured to transmit and receive an ultrasound wave; an acoustic lens that is located on outer peripheries of the piezoelectric elements, the acoustic lens being configured to converge ultrasound waves generated by the piezoelectric elements on an outside of the acoustic lens, and transmit ultrasound waves input from the outside of the acoustic lens to the piezoelectric elements; a housing configured to hold distal end sides and proximal end sides of both of the piezoelectric elements and the acoustic lens; and a flexible material that is located between either a distal end or a proximal end of the acoustic lens and the housing, and that has a lower elastic modulus than the acoustic lens.

Abstract: An endoscope connector includes: a plug including an electric contact configured to be electrically connected to an external medical apparatus, the plug being provided with a first substrate; a first frame electrically connected to the plug; a second frame electrically connected to the first frame, the second frame being made of metal; a first electric connection member electrically connected to the first substrate; a second electric connection member connected to the first electric connection member; a substrate unit including a second substrate and an electromagnetic shield member covering the second substrate, the electromagnetic shield member being made of metal; and an urging member configured to urge the substrate unit in a direction of the second frame, and to put the electromagnetic shield member into an electric conduction state by causing the electromagnetic shield member to abut on the second frame.

Abstract: An endoscopic treatment method includes: inserting an endoscope into a digestive tract; forming a damaged area in at least a portion of the digestive tract along a circumferential direction by performing cauterizing while keeping a mucosal layer by observing with the endoscope; and forming an incomplete stenosis in the digestive tract, while restoring the damaged area, wherein the damaged area is formed by causing damage to a mucosal base layer, the mucosal base layer having an interface that contacts a submucosal layer.

Abstract: A clip device includes a clip, including a plurality of arms having sliding grooves; and an intermediate member inserted into the sliding grooves for connecting the plurality of arms; a pressing tube accommodating a proximal end portion of the clip; a connection member connecting with an operation wire at a proximal end side and including an engaging portion engaging with the intermediate member; and a locking mechanism for lock the plurality of arms when the clip is pulled toward the proximal end side by a predetermined distance by the connection member, wherein the clip includes a contact portion formed on a side surface of the arm to be in contact with the engaging portion from a direction orthogonal to an axial direction of the intermediate portion for preventing a deformation of the engaging portion when the intermediate portion slides along the sliding groove before the plurality of arms are locked.

Abstract: An endoscopic bendable tube includes: an integrally formed resin tube; at least two wires embedded in a tube wall of the resin tube from a proximal end side to a distal end side of the resin tube, the at least two wires being parallel to a tube axis direction of the resin tube and being at positions facing each other; and a plurality of pairs of through slits formed in the tube wall of the resin tube in the tube axis direction, each pair of through slits being formed facing each other in the tube wall of the resin tube.

Abstract: An optical system for an endoscope, the optical system including: a distal optical assembly; a proximal optical assembly; and at least one elongated bar-shaped fixing element; wherein the proximal optical assembly is fastened to the distal optical assembly by the fixing element.

Abstract: A manufacturing method of an image pickup apparatus for endoscope includes manufacturing an optical member in which a plurality of optical devices are stacked, and an image pickup member including an image pickup device having a light receiving surface, measuring a position of an image-forming plane on which an object image, light of which is focused by the optical member, is formed, and fixing the optical member and the image pickup member in a state where an interval is adjusted so that a measured position of the image-forming plane becomes a position of the light receiving surface by performing curing processing on a transparent resin disposed to fill an optical path between the optical member and the image pickup member.

Abstract: An image processing device includes: a circuit block in which an operation period is predetermined and intermittent operation is performed according to the operation period; a plurality of SRAMs; and a dummy control circuit configured to increase an intensity of a dummy operation of an unused SRAM among the plurality of SRAMs for a certain period of time before the operation period of the circuit block, and to decrease the intensity of the dummy operation of the unused SRAM among the plurality of SRAMs for a certain period of time after the operation period of the circuit block.

Abstract: An illumination device for fluorescence image guided surgery and a surgical instrument. The illumination device includes a glass rod, a mixing rod and a plurality of optical fibers surrounding a circumferential surface of the glass rod. A first mixing rod end face of the mixing rod abuts a second rod end face of the glass rod and end faces of the optical fibers, so that white light and excitation light are guided and homogenized in the mixing rod.

Abstract: An operation switch includes an elastic operation member, a pressing member, and a switch main body. The elastic operation member is formed of an elastic member, and includes a dome portion on one end side and a circumferential plane portion on the other end side. The dome portion is formed in a dome shape in a natural state, elastically deformed to a balanced state with a predetermined tension different from the natural state, and held as a dome shape. The pressing member moves by deforming the dome portion, and presses an electric switch. The switch main body includes a recess for switch in which an electric switch is disposed, a housing hole in which the pressing member is housed, and a central protrusion around which an inner plane of the circumferential plane portion of the elastic operation member is disposed.

Abstract: A clip device includes a tube and a clip having a first arm portion and a second arm portion, and an engagement mechanism including a stepped connector and a hooking structure, and configured to connect to the clip. The stepped connector includes an engaging region connecting two side regions, a width of the engaging region of the stepped connector is smaller than a width of a first of the two side regions of the stepped connector. The hooking structure includes two lateral surfaces connected by a hook surface, and a surface of the engaging region of the stepped connector engages with the hook surface of the hooking structure and each of the two side regions of the stepped connector are adjacent to respective one of the two lateral surfaces of the hooking structure.

Abstract: A vent control valve for an endoscope includes a shaft body including a pin fixing portion, and a vent hole including a long hole with an opening provided in one end surface, and a long hole communication hole configured to cause an outside and an inside of the long hole to communicate with each other, a tubular member including a shaft body hole configured to house the shaft body, and a cam groove in which the cam pin is disposed, a rotational member including a tubular member hole where the tubular member is disposed, a cam pin groove where the cam pin is disposed, and a plurality of engaging holes, and a cylindrical housing member including an attaching portion fixedly provided in a casing through-hole, and a housing hole communicating with the internal space.

Abstract: Provided is an objective optical system including: a first spherical lens and a second spherical lens that are arrayed in this order from an object; and at least one of a first optical medium and a second optical medium, wherein the first optical medium is a solid or liquid disposed at an object side of the first spherical lens and is in close contact with a surface on the object side of the first spherical lens, over an entire optical path; and the second optical medium is a solid or liquid disposed at an opposite side of the second spherical lens from the object and is in close contact with a surface on the opposite side of the second spherical lens from the object, over the entire optical path.

Abstract: A driving force transmission mechanism for an endoscope includes an insertion portion, an operation portion, an electric motor, an output member, a rotation transmission member, an inside plane, a first plane, a second plane and a third plane configured to come into contact with a proximal end of the output member when at least part of the second plane comes into contact with the inside plane to thereby restrict the rotation transmission member from moving toward the distal end side in the axial direction with respect to the output member.

Abstract: An endoscope system includes an insertion section, a first active bending section, a second active bending section, a position-information acquiring section, a first control section, a second control section, and a third control section. The first control section controls, based on a detection result of the position-information acquiring section, a first driving section of the first active bending section such that a first end portion of a first tubular section of the first active bending section moves away from a center point. The first control section controls a second driving section of the second active bending section such that a second end portion of a second tubular section of the second active bending section approaches the center point. The third control section controls the first driving section such that force in a direction of bending the first tubular section in a first bending operation acts on the first end portion.

Abstract: A bending operation mechanism of an endoscope including: a first pulley configured to pull a first wire by being rotated in a first rotation direction; a second pulley, which is coaxial with the first pulley, configured to pull a second wire by being rotated in a second rotation direction opposite to the first rotation direction; and a rotation shaft member including a first protrusion that engages only with the first engagement portion of the first pulley when the rotation shaft member is rotated in the first rotation direction from a neutral position when a bending portion is not bent and a second protrusion that engages only with the second engagement portion of the second pulley when the rotation shaft member is rotated in the second rotation direction from the neutral position.

Abstract: A stereoscopic vision endoscope objective optical system includes, in order from an object side, a first lens group having a negative refractive power, a second lens group having a positive refractive power, and a rear-side lens group having a positive refractive power. The rear-side lens group includes a first rear group and a second rear group. The first lens group and the second lens group are disposed so that an optical axis of the second lens group coincides with an optical axis of the first lens group. The optical axis of the first lens group is located between an optical axis of the first rear group and an optical axis of the second rear group. Each of the first rear group and the second rear group includes a first sub group, an aperture stop, and a second sub group, and the first sub group includes a negative lens.

Abstract: A clip device for gripping biological tissue of a patient includes a clip having a first arm and second arm closeable by operation of a wire that is reciprocally moveable in a longitudinal channel of a sheath; and a bendable member at a distal end region of the sheath. The bendable member can be an integral portion of the sheath or a separate structure. The bendable member is configured to allow a distal end of a clip to rotate or swing toward a proximal end region of the sheath of the device, which orients the clip relative to the sheath to facilitate grasping of tissue even when the approach of the clip is tangential to the tissue, e.g., at an angle (?) less than 90. The bendable member can be configured to allow a distal end of a clip to rotate or swing toward a proximal end region of a sheath and form an angle of up to at least about 45 degrees, such up to about 60 degrees or up to about 90 degrees, or higher.

Abstract: A high-frequency generator connects an electrosurgical instrument, including an electrical output connection point for an electrosurgical instrument, a power supply, which is at least indirectly connected to the output connection point, and a power controller for controlling the electrical output power output via the output connection point. The power controller is designed to begin the output of an electrical output power when an output energy balance amount is greater than an output energy limit value and to end the output of the electrical output power when the output energy balance amount falls below a minimum value.

Abstract: An insertion apparatus includes: a base member, a rotary shaft, and a driven member including a hole. A plurality of concave portions are formed on the rotary shaft, and a pair of side wall surfaces which form each of the plurality of concave portions are disposed so as to intersect with each other at a right angle or at an obtuse angle.

Abstract: A treatment system that includes a pair of jaws and a heater resistor provided on one jaw of the pair of jaws that generates heat by energization. The system also includes a heating device that controls a current to set a resistance value of the heater resistor to a target resistance value. The heating device includes a double bridge circuit allowing current to flow between the heating device and the heater resister when detecting, by the detection resister, a difference between the resistance value of the heater resistor and the predetermined target resistance value. The heating device including a power supply voltage generator that generates a power supply voltage to be applied to the heater resistor and the double bridge circuit, a controller that modulates the generated power supply voltage, and a heater resistance detector that detects an AC component from the current flowing through the detection resistor.

Abstract: An endoscope includes an insertion portion, an operation portion, a power transmission unit, a power relay unit, a power generation unit configured to apply power to the power relay unit in a second power transmission shaft direction which is non-parallel to a first power transmission shaft direction, an elastic member configured to perform either one of urging the power relay unit against the power generation unit or urging the power generation unit against the power relay unit, and a cable configured to extend from the operation portion in the second power transmission shaft direction which is a direction different from a longitudinal direction, wherein the power generation device is attached such that the power generation device is disposed to extend in an extending direction of the cable after being mounted.

Abstract: A surgical handheld devices are essentially made up of a device body or main body and of a tubular shaft. In the production of known surgical devices, the tubular shafts are welded to the device bodies. A large number of very complex work steps are necessary for this purpose. On account of the high quality demands placed on surgical handheld devices in respect of mechanical stability and sterility, the weld seam has to meet the most stringent requirements. The invention makes available a method for producing a surgical handheld device, which can be used particularly easily and reliably. This is achieved by the fact that at least one device body and at least one tubular shaft of a surgical handheld device are connected to each other with form-fit engagement by hydroforming.

Abstract: An endoscope includes: an insertion portion configured to be inserted into a subject; and a channel fixing portion disposed on an outer periphery of the insertion portion and configured such that a part or all of a long channel tube is fixed in a state of being embedded in a distal end portion of the insertion portion.

Abstract: A stent device including a stent cover having differing porosity ratio is disclosed. The stent covers the stent body comprising of stent wires and stent cells enclosed by the stent wires. The stent cover differs in porosity ratio for areas covering the stent wires and the areas covering the stent cells. The porosity ratio for areas covering the stent wires may have a higher porosity rate in order to promote endothelialization of the stent device. A bilayer stent cover differing in porosity ratio may be used to cover the stent body, as well as stent cover not covering the entirety of the stent body.

Abstract: A medical system including: a trocar configured to provide an artificial access to a body cavity of a patient; a medical instrument configured to be inserted through the trocar and into the body cavity of the patient for performing a medical function in the body cavity of the patient; and a controller configured to: determine whether the medical instrument is inserted into the trocar; and enable the performing of the medical function by the medical instrument only if the medical instrument is determined to be inserted into the trocar.

Abstract: An endoscope, including: at least one outer shaft tube, at least one inner shaft tube disposed within the at least one outer shaft tube; a window distally hermetically sealing one of the inner shaft tube or the outer shaft tube, a heater disposed proximate to the window between the at least one outer shaft tube and the at least one inner shaft tube, a temperature sensor disposed embedded in a potting compound proximate to the window, and an encasement filled with the potting compound, the encasement at least partially surrounding the temperature sensor.

Abstract: An electrosurgical generator supplies, during operation, a high-frequency alternating current to an electrosurgical instrument for plasma cutting of body tissue. The electrosurgical generator has outputs for connecting an electrosurgical instrument to supply an electrosurgical instrument connected to the outputs with a high-frequency alternating current, and for determining the impedance of a load connected to the outputs. The electrosurgical generator features impedance and voltage measuring units as well as an output voltage control unit. The output voltage control unit is designed to control the AC output voltage depending on a maximum output voltage value that is set during operation depending on an output value of the impedance measuring unit and/or depending on an output value of the voltage measuring unit, such that the maximum output voltage value predefines a lower AC output voltage during a vaporization phase than during an ignition phase occurring subsequently to the vaporization phase.

Abstract: An image pickup apparatus for endoscope includes an image sensor, a ferrule which is a rectangular parallelepiped having a front surface, a rear surface, and four side surfaces and includes insertion holes and trenches parallel to the insertion holes on respective two side surfaces orthogonal to each other among the four side surfaces, an optical element in which a light emitting region is disposed in a position opposed to the insertion holes, and optical fibers inserted into the insertion holes.

Abstract: An ultrasound endoscope comprises an operation portion, an insertion portion coupled to the operation portion, a distal end portion coupled to the insertion portion and including a projecting portion and a distal end body portion, a balloon channel disposed inside the insertion portion and extending from the operation portion to the rigid distal end portion, and a balloon mounting portion between the projecting portion and the distal end body portion. The balloon channel includes a bending portion in the rigid distal end portion and a balloon outlet that is formed at the bending portion and connected to the balloon mounting portion. A cross section of the bending portion includes a first bending angle and a second bending angle, and the first bending angle is smaller than the second bending angle.

Abstract: A needle holder includes: a flexible sheath portion which is capable of being inserted into an instrument channel of a flexible endoscope; a first grasping member which is rotatably coupled with a distal end portion of the flexible sheath portion; and a second grasping member which is provided in the distal end portion of the flexible sheath portion. In a state where a curved needle is grasped by a first grasping surface of the first grasping member and a second grasping surface of the second grasping member, the second grasping surface inclines such that a grasped region of the curved needle that is grasped by the first grasping surface and the second grasping surface is positioned between a distal end of the second grasping member and a needle tip of the curved needle in a direction of a center axis of the second grasping member.