Abstract: A method of treating a waste liquid includes: an aluminum dissolution step of dissolving aluminum in an acidic waste liquid and performing separation into a first treated water and a reduced heavy metal precipitate; a gypsum recovery step of adding a calcium compound to the first treated water at a liquid property of a pH of 4 or less, and performing separation into a second treated water and gypsum; an aluminum and fluorine removal step of adding an alkali to the second treated water and performing separation into a third treated water and a precipitate containing aluminum and fluorine; and a neutralization step of adding an alkali to the third treated water and performing separation into an alkali neutralization treated water and a neutralized precipitate of a heavy metal hydroxide.

Abstract: A method of treating a waste liquid: an aluminum dissolution step of dissolving aluminum in an acidic waste liquid and performing separation into a first treated water and a reduced heavy metal precipitate; a gypsum recovery step of adding a calcium compound to the first treated water at a pH of 4 or less, and performing separation into a second treated water and gypsum; a heavy metal coprecipitation step of adding a ferric compound to the second treated water and performing separation into a third treated water and a heavy metal coprecipitate; an aluminum and fluorine removal step of adding an alkali to the third treated water and performing separation into a fourth treated water and a precipitate containing aluminum and fluorine; and a neutralization step of adding an alkali to the fourth treated water and performing separation into an alkali neutralization treated water and a neutralized heavy metal hydroxide.

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 medical robot system including a memory and a central processing unit that performs operations including receiving measurement signals of forces measured at two or more points on one or both of a surgical tool and a slave device that supports the surgical tool, generating image information for displaying information of the forces as images in association with the two or more points at which the forces are measured, based on the measurement signals, and outputting the image information that is generated to a display device that displays the image information in a second display region of the display device which is different from a first display region of the display device in which information on operation of the surgical tool is displayed.

Abstract: A medical robot system includes a memory and central processing unit that performs operations including receiving measurement signals of a gripping force, which is a force to grip an object by a surgical tool, and a dissecting force, which is a force to dissect the object by the surgical tool, generating image information for displaying information on the gripping force as a grip display mode and information on the dissecting force as a dissection display mode different from the grip display mode, based on the measurement signals, and outputting the image information to a display portion of a display that is configured to display the image information.

Abstract: A tungsten recovery method including leaching tungsten while suppressing leaching of silicon by using a weak alkali compound with respect to a tungsten raw material containing silicon with tungsten oxide, separating most of the silicon as a residue during the leaching of the tungsten, and recovering a tungsten leachate having an extremely low silicon concentration.

Abstract: A motive power transmission adapter includes a casing and at least one power transmission portion. The casing is disposed between a surgical tool and a power unit for driving the surgical tool. In addition, the casing includes a clean surface which is a surface facing the surgical tool disposed in a clean region and an unclean surface which is a surface facing the power unit disposed in an unclean region. At least one power transmission portion is movable relative to the casing and transmits a movement of the drive portion to the driven portion. In addition, at least one power transmission portion is disposed to be movable in a direction in which the clean surface and the unclean surface extend and is disposed between the drive portion and the driven portion in a direction intersecting a linear motion direction of the drive portion.

Abstract: An instrument for a surgical assistance robot is provided with a bending structure that enables a joint function part to be bent and is provided with an outer coiled part formed of a wire wound in a coiled shape and an inner coiled part formed of a wire wound in a coiled shape and arranged in the outer coiled part, wherein the outer coiled part has a plurality of gaps to distance adjacent coils, and coils of the inner coiled part are provided so as to correspond to the gaps of the outer coiled part and fit between the adjacent coils while being in contact with the adjacent coils of the outer coiled part.

Abstract: A method of treating a waste liquid includes: an aluminum dissolution step of dissolving aluminum in an acidic waste liquid and performing separation into a first treated water and a reduced heavy metal precipitate; a gypsum recovery step of adding a calcium compound to the first treated water at a liquid property of a pH of 4 or less, and performing separation into a second treated water and gypsum; an aluminum and fluorine removal step of adding an alkali to the second treated water and performing separation into a third treated water and a precipitate containing aluminum and fluorine; and a neutralization step of adding an alkali to the third treated water and performing separation into an alkali neutralization treated water and a neutralized precipitate of a heavy metal hydroxide.

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: A method of treating a waste liquid: an aluminum dissolution step of dissolving aluminum in an acidic waste liquid and performing separation into a first treated water and a reduced heavy metal precipitate; a gypsum recovery step of adding a calcium compound to the first treated water at a pH of 4 or less, and performing separation into a second treated water and gypsum; a heavy metal coprecipitation step of adding a ferric compound to the second treated water and performing separation into a third treated water and a heavy metal coprecipitate; an aluminum and fluorine removal step of adding an alkali to the third treated water and performing separation into a fourth treated water and a precipitate containing aluminum and fluorine; and a neutralization step of adding an alkali to the fourth treated water and performing separation into an alkali neutralization treated water and a neutralized heavy metal hydroxide.

Abstract: A motive power transmission adapter includes a casing and at least one power transmission portion. The casing is disposed between a surgical tool and a power unit for driving the surgical tool. In addition, the casing includes a clean surface which is a surface facing the surgical tool disposed in a clean region and an unclean surface which is a surface facing the power unit disposed in an unclean region. At least one power transmission portion is movable relative to the casing and transmits a movement of the drive portion to the driven portion. In addition, at least one power transmission portion is disposed to be movable in a direction in which the clean surface and the unclean surface extend and is disposed between the drive portion and the driven portion in a direction intersecting a linear motion direction of the drive portion.

Abstract: The present invention is intended to improve durability and operability of a forceps manipulator, as well as to facilitate roll motions of the forceps manipulator. In the forceps manipulator, a flexible shaft 34 is connected to a rotating joint unit 26 for transmitting a driving force from a vane motor 40 to the rotating joint unit 26 through throughholes 18a, 22a of machined springs 18b, 22b which respectively constitute flexible first and second joints 18, 22.

Abstract: In order to reliably separate an unsterilized zone from a sterilized zone in a device for connecting a medical instrument, an adapter component set 28 is for connecting the medical instrument such as an endoscope to an unsterilized device having a timing pulley 27 included in a rotation mechanism for rotating the medical instrument. An adapter 47 holds the medical instrument. A separator 46 has a hollow cylinder shape for inserting the adapter therein. At least the inner surface of the separator is included in the sterilized zone, and the outer surface of the cylinder is connected to the pulley. As connecting parts for connecting a drape for isolating the device having the rotation mechanism from the sterilized zone, a pair of an outlet drape bearing 41 and an outlet drape bearing cover 42 and a pair of an inlet drape bearing 45 and an inlet drape bearing cover 44 are provided.

Abstract: The present invention is intended to improve durability and operability of a forceps manipulator, as well as to facilitate roll motions of the forceps manipulator. In the forceps manipulator, a flexible shaft 34 is connected to a rotating joint unit 26 for transmitting a driving force from a vane motor 40 to the rotating joint unit 26 through throughholes 18a, 22a of machined springs 18b, 22b which respectively constitute flexible first and second joints 18, 22.

Abstract: The force calculation system of the present invention is provided with: an air blowing unit for blowing air at a predetermined pressure; a flow passage for air blown from air blowing unit; a sensing unit for changing the ease of flow of air that flows through a flow passage by deforming when an external force is given; a storage unit for storing in advance the flow volume-force correspondence information showing the correspondence between the magnitude of the force received by the sensing unit and the flow volume at which air blown from air blowing unit flows through the flow passage; and a processing unit for calculating the magnitude of external force received by the sensing unit, on the basis of: the flow volume of air flowing through the flow passage as measured by a flow volume meter; and the flow volume-force correspondence information stored in the storage unit.

Abstract: The force calculation system of the present invention is provided with: an air blowing unit for blowing air at a predetermined pressure; a flow passage for air blown from air blowing unit; a sensing unit for changing the ease of flow of air that flows through a flow passage by deforming when an external force is given; a storage unit for storing in advance the flow volume-force correspondence information showing the correspondence between the magnitude of the force received by the sensing unit and the flow volume at which air blown from air blowing unit flows through the flow passage; and a processing unit for calculating the magnitude of external force received by the sensing unit, on the basis of the flow volume of air flowing through the flow passage as measured by a flow volume meter; and the flow volume-force correspondence information stored in the storage unit.