Abstract: Provided is a medical support arm system including a support arm that is a multilink structure having a plurality of links connected by a joint unit including an actuator, and supports a medical unit. The medical support arm system further includes a control device including an external force estimation unit to estimate an external force acting on the joint unit on the basis of a drive characteristic of the actuator, and a joint control unit to control drive of the joint unit on the basis of an external torque estimated by the external force estimation unit.

Abstract: [Object] To enable further suppression of the movement amount of an arm section when switching states. [Solution] There is provided a control apparatus configured to execute a current tracking control on a basis of a measurement value of a torque sensor of an actuator provided in at least one of multiple joint sections included in an arm section of a medical support arm apparatus, the current tracking control causing a motor of the actuator to output torque by which a position and an attitude of the arm section are maintained, and switch a first state in which the motor is driven in accordance with a predetermined control method, and a second state in which the joint section is locked using a brake of the actuator.

Abstract: To realize torque control based on an estimated external force and to cope with more various situations. Provided is a medical support arm system including: a support arm that is a multilink structure having a plurality of links connected by a joint unit including an actuator, and configured to support a medical unit; and a control device including an external force estimation unit configured to estimate an external force acting on the joint unit on the basis of a drive characteristic of the actuator, and a joint control unit configured to control drive of the joint unit on the basis of an external torque estimated by the external force estimation unit.

Abstract: [Object] To enable further suppression of the movement amount of an arm section when switching states. [Solution] There is provided a control apparatus configured to execute a current tracking control on a basis of a measurement value of a torque sensor of an actuator provided in at least one of multiple joint sections included in an arm section of a medical support arm apparatus, the current tracking control causing a motor of the actuator to output torque by which a position and an attitude of the arm section are maintained, and switch a first state in which the motor is driven in accordance with a predetermined control method, and a second state in which the joint section is locked using a brake of the actuator.

Abstract: [Object] To enable further suppression of the movement amount of an arm section when switching states. [Solution] There is provided a control apparatus configured to execute a current tracking control on a basis of a measurement value of a torque sensor of an actuator provided in at least one of multiple joint sections included in an arm section of a medical support arm apparatus, the current tracking control causing a motor of the actuator to output torque by which a position and an attitude of the arm section are maintained, and switch a first state in which the motor is driven in accordance with a predetermined control method, and a second state in which the joint section is locked using a brake of the actuator.

Abstract: To realize torque control based on an estimated external force and to cope with more various situations. Provided is a medical support arm system including: a support arm that is a multilink structure having a plurality of links connected by a joint unit including an actuator, and configured to support a medical unit; and a control device including an external force estimation unit configured to estimate an external force acting on the joint unit on the basis of a drive characteristic of the actuator, and a joint control unit configured to control drive of the joint unit on the basis of an external torque estimated by the external force estimation unit.

Abstract: [Object] To enable further suppression of the movement amount of an arm section when switching states. [Solution] There is provided a control apparatus configured to execute a current tracking control on a basis of a measurement value of a torque sensor of an actuator provided in at least one of multiple joint sections included in an arm section of a medical support arm apparatus, the current tracking control causing a motor of the actuator to output torque by which a position and an attitude of the arm section are maintained, and switch a first state in which the motor is driven in accordance with a predetermined control method, and a second state in which the joint section is locked using a brake of the actuator.

Abstract: An image obtaining apparatus includes an image pickup unit, a stage, a connection unit, a movement mechanism, a position detection unit, and a control unit. The image pickup unit includes an objective lens. The stage is configured to determine a position of a pathology slide in an optical axis direction of the objective lens, and the pathology slide is an image pickup target of the image pickup unit. The connection unit is provided to the stage. The movement mechanism is connected to the stage through the connection unit and configured to move the stage in the optical axis direction. The position detection unit is configured to detect a position of the stage in the optical axis direction for a measurement point preset on the stage. The control unit is configured to control the movement mechanism by using at least a result of the detection by the position detection unit.

Abstract: An image acquisition apparatus includes an optical system, an imaging device, a movement controller, and a multiple exposure processing unit. The optical system includes an objective lens for magnifying a portion of an imaging target. The imaging device is capable of performing all-pixel simultaneous exposure and is configured to image the portion magnified by the optical system. The movement controller is configured to move a focal point of the objective lens in a thickness direction of the portion of the imaging target. The multiple exposure processing unit is configured to perform multiple exposure of the imaging device at a plurality of positions such that, for each of ranges sectioned by positions in a direction in which the focal point is movable, an average image that covers each of the ranges is obtained.

Abstract: An image obtaining apparatus includes: a light source configured to irradiate a biological sample having a fluorescent label with excitation light, the excitation light exciting the fluorescent label; an optical system including an objective lens, the objective lens being configured to magnify an imaging target of the biological sample; an image sensor configured to form an image of the imaging target magnified by the objective lens; a movement controller configured to move a focus position of the optical system in an imaging range including at least a range corresponding to the thickness of the imaging target; and a data processing unit configured to exposure the image sensor to light while moving the focus position in the imaging range and obtain a fluorescent image of the biological sample, to thereby calculate distribution information of the fluorescent label in a thickness direction of the imaging target based on the fluorescent image.

Abstract: A tissue-slice image acquirement and display apparatus includes: an entire-image acquirer that acquires a bright-field image of an entirety of a first slice of a tissue and a dark-field image of an entirety of a second slice of the tissue; a modifier that modifies a profile shape of a slice portion in the dark-field image on the basis of a profile shape of a slice portion in the bright-field image; a magnified-image acquirer that determines a range encompassing the second slice on the basis of the profile shape of the modified slice portion and that acquires, in a dark field, a magnified image of the second slice in the determined range; and a display controller that causes the bright-field image to be displayed and that causes a portion of the magnified image, the portion corresponding to a position selected in the bright-field image, to be displayed.

Abstract: A microscope system including: a storage unit storing two or more sheets of slide glasses to be subjected to a predetermined treatment; a stage holding only one sheet of slide glass to be subjected to the treatment; a supply arm by which one sheet of slide glass to be subjected to the treatment is picked up from the storage unit and supplied onto the stage; a discharge arm by which the slide glass mounted on the stage is picked up and discharged in the storage unit; a moving unit operable to move the supply arm and the discharge arm in an integral manner so as to bring the supply arm or the discharge arm into proximity to each of the storage unit and the stage; and a control unit operable to control the supply arm, the discharge arm and the moving unit.

Abstract: A conveying device including: a storage unit storing two or more sheets of slide glasses to be subjected to a predetermined treatment; a stage holding only one sheet of slide glass to be subjected to the treatment; a supply arm by which one sheet of slide glass to be subjected to the treatment is picked up from the storage unit and supplied onto the stage; a discharge arm by which the slide glass mounted on the stage is picked up and discharged in the storage unit; a moving unit operable to move the supply arm and the discharge arm in an integral manner so as to bring the supply arm or the discharge arm into proximity to each of the storage unit and the stage; and a control unit operable to control the supply arm, the discharge arm and the moving unit.

Abstract: Disclosed herein is a stage system, including: a stage on which to mount a slide glass; a projection block projected more than the thickness of the slide glass to the side of that surface of the stage on which to dispose the slide glass; and a pressing block which is provided on that surface of the stage on which to dispose the slide glass, is thicker than the slide glass, and presses toward the projection block the slide glass disposed between itself and the projection block.

Abstract: A slide glass storage device including: a supply tray which has a supply holding space determined by a longer edge upper limit allowed for a longer edge of a slide glass and a shorter edge upper limit allowed for a shorter edge of the slide glass and on which a slide glass to be supplied to a treatment unit operable to perform a predetermined treatment is mounted; a discharge tray which has a discharge holding space determined by a longer edge longer than the longer edge upper limit and a shorter edge longer than the shorter edge upper limit and on which a slide glass having been subjected to the treatment in the treatment unit and being to be discharged is mounted; and a support unit supporting the supply tray and the discharge tray.

Abstract: An image obtaining apparatus includes an image pickup unit, a stage, a connection unit, a movement mechanism, a position detection unit, and a control unit. The image pickup unit includes an objective lens. The stage is configured to determine a position of a pathology slide in an optical axis direction of the objective lens, and the pathology slide is an image pickup target of the image pickup unit. The connection unit is provided to the stage. The movement mechanism is connected to the stage through the connection unit and configured to move the stage in the optical axis direction. The position detection unit is configured to detect a position of the stage in the optical axis direction for a measurement point preset on the stage. The control unit is configured to control the movement mechanism by using at least a result of the detection by the position detection unit.

Abstract: A fluorescent image obtaining device includes a light source that irradiates light such that a fluorescent material marked on a target in a biological sample lies in a non-excited state and a fluorescent material marked on a control with the target lies in an excited state, and an imaging unit that takes an image including the entire biological sample.

Abstract: A stage control device including a position detection portion which detects a position deviation of a support plate relative to a reference position regulated by a convex portion provided in a stage, from an image of a scope including the support plate on which a sample is disposed and which is mounted on the stage; and a stage control portion that presses the stage, which is moved and controlled in a surface direction of the support plate so that the sample is in an imaging scope of an imaging element, from a position of a detection point in time in a direction corresponding to a position deviation at a pressing speed, and returns the stage up to a position of the detection point in time at a return speed slower than the pressing speed, when the position deviation of the support plate relative to the reference position is detected.

Abstract: An image acquisition apparatus includes an optical system, an imaging device, a movement controller, and a multiple exposure processing unit. The optical system includes an objective lens for magnifying a portion of an imaging target. The imaging device is capable of performing all-pixel simultaneous exposure and is configured to image the portion magnified by the optical system. The movement controller is configured to move a focal point of the objective lens in a thickness direction of the portion of the imaging target. The multiple exposure processing unit is configured to perform multiple exposure of the imaging device at a plurality of positions such that, for each of ranges sectioned by positions in a direction in which the focal point is movable, an average image that covers each of the ranges is obtained.

Abstract: A conveying device including: a storage unit storing two or more sheets of slide glasses to be subjected to a predetermined treatment; a stage holding only one sheet of slide glass to be subjected to the treatment; a supply arm by which one sheet of slide glass to be subjected to the treatment is picked up from the storage unit and supplied onto the stage; a discharge arm by which the slide glass mounted on the stage is picked up and discharged in the storage unit; a moving unit operable to move the supply arm and the discharge arm in an integral manner so as to bring the supply arm or the discharge arm into proximity to each of the storage unit and the stage; and a control unit operable to control the supply arm, the discharge arm and the moving unit.