Abstract: A robotic surgical apparatus including a robot arm portion, an operation portion that receives an input by a user, and a tool control portion configured to operate the robot arm portion based on the input which the operation portion receives from a user. The robotic surgical apparatus includes a fluid chamber, a pulsating flow-provision portion configured to provide a fluid within the fluid chamber with a pulsating flow, a fluid ejection tube which includes a fluid ejection port for ejecting a fluid, a fluid supply portion which supplies a fluid to the fluid chamber, and a fluid ejection control portion which controls the pulsating flow-provision portion. The fluid ejection tube is mechanically fixed to the robot arm portion, and the fluid ejection control portion is configured such that the ejection amount of a fluid per unit time is changed in accordance with the movement speed of the fluid ejection port.

Abstract: A fluid ejection device includes a pulsating flow generation section adapted to eject a fluid in a pulsed manner; a fluid supply section adapted to supply the pulsating flow generation section with the fluid; a fluid supply tube having flexibility adapted to communicate the pulsating flow generation section and the fluid supply section with each other; and a drive control section adapted to perform drive control of the pulsating flow generation section and the fluid supply section, wherein the drive control section starts up the pulsating flow generation section, makes the fluid supply section supply the fluid at a first flow rate for a predetermined time period, and then makes the fluid supply section supply the fluid at a second flow rate lower than the first flow rate after the predetermined time period elapses.

Abstract: A fluid ejection device includes: a fluid chamber; a volume varying unit configured to vary the volume of the fluid chamber; a fluid supplying unit configured to supply fluid to the fluid chamber at a predetermined pressure; and an ejection command switching unit configured to switch a fluid ejection between a pulsed flow ejection which ejects the fluid in a pulsed manner by activating the volume varying unit and varying the volume of the fluid chamber and a continuous flow ejection which ejects the fluid with a fluid supply pressure from the fluid supplying unit higher than that in the case of the pulsed flow ejection in a state in which the volume varying unit is stopped.

Abstract: A fluid ejection device includes: a fluid chamber whose capacity is variable; an inlet flow path and an outlet flow path communicating with the fluid chamber; a capacity changing unit which changes the capacity of the fluid chamber; a fluid supplying unit which supplies fluid to the inlet flow path; a fluid ejection opening disposed at an end of the outlet flow path opposite to an end communicating with the fluid chamber; a vibrating unit which vibrates a component in the vicinity of the fluid ejection opening; a vibration detecting unit which detects the level of vibration of the component in the vicinity of the fluid ejection opening; and an operation control unit which controls operation of the capacity changing unit based on the level of the vibration detected by the vibration detecting unit.

Abstract: A liquid injection device that injects a liquid includes a liquid chamber, a first channel connected to the liquid chamber and feeding a liquid to the liquid chamber, a second channel connected to the liquid chamber, to which the liquid is fed from the liquid chamber, and an injection tube that communicates with the second channel and injects the liquid, and the second channel has a curved shape.

Abstract: A liquid ejecting apparatus including a liquid ejecting mechanism which is provided with a liquid chamber and a volume fluctuation portion that fluctuates a volume within the liquid chamber, a liquid supply portion that supplies a liquid to the liquid chamber, and a control portion that controls the volume fluctuation portion and the liquid supply portion. The control portion changes at least one of a voltage applied to the volume fluctuation portion and a flow rate of a liquid supplied to the liquid chamber in accordance with a movement velocity of the liquid ejecting mechanism.

Abstract: A liquid injection device includes a liquid injection mechanism including a liquid chamber and an air bubble generation unit provided in the liquid chamber and generating air bubbles, and a control unit that changes a drive signal for driving the air bubble generation unit in response to a movement speed of the liquid injection mechanism.

Abstract: A medical device that ejects a fluid includes a fluid ejection portion having an ejection tube having an opening for ejecting the fluid and a pulsation generation portion that generates pulsation to the fluid. A control portion controls a pulsation frequency by controlling the pulsation generation portion. A measurement portion measures movement velocity of the fluid ejection portion. A receiving portion receives instructions for setting a specific frequency and a specific movement velocity from a user. A setting portion sets the specific frequency and movement velocity based on the instruction from a user. A calculation portion calculates a control constant using the specific frequency and movement velocity. The control portion controls the frequency in accordance with the movement velocity so that a value calculated by the same method as calculation of the control constant using the frequency and movement velocity falls within a predetermined range including the control constant.

Abstract: A liquid injection apparatus which includes a varying portion configured to vary a pressure in an interior of a liquid chamber in accordance with a drive signal, an injection tube having an injection port configured to inject liquid from the liquid chamber, a liquid supply unit configured to supply liquid to the liquid chamber, and a control unit configured to adjust the pressure in an interior of the liquid chamber by controlling the varying portion and the liquid supply unit. The control unit changes a rise time, which is a time period required for a drive signal to reach a second predetermined voltage from a first predetermined voltage in accordance with a speed of movement of the injection port.

Abstract: A fluid ejection device includes a pulsation generator which converts a fluid into a pulsed fluid, a fluid supply unit (supply pump) which supplies the fluid to the pulsation generator, an ejection tube which has an ejection opening communicating with the pulsation generator, a suction tube into which the ejection tube is inserted with play, a suction channel provided between the suction tube and the ejection tube, a suction opening provided at an end of the suction channel in a vicinity of the ejection opening, and a suction unit (suction pump) which sucks fluid in such a manner that the fluid introduced from the suction opening passes through the suction channel. The ejection opening is held by an inner circumferential part of the suction opening. According to this structure, vibration of the ejection tube in the vicinity of the ejection opening can be reduced.

Abstract: A fluid injection device includes a pulse generator which converts fluid into pulse flow, a suction pipe projecting from the pulse generator, an injection pipe which is eccentrically inserted into the suction pipe such that the outer circumferential surface of the injection pipe contacts the inner circumferential surface of the suction pipe, and has an injection opening communicating with the pulse generator, and a suction channel and a suction opening formed between the inner circumferential surface of the suction pipe and the outer circumferential surface of the injection pipe. The injection pipe is fixed to the inner circumferential surface of the suction pipe in the vicinity of the injection opening.

Abstract: A liquid ejection device includes a liquid chamber, a volume varying unit, a liquid supplying unit, and a control unit. An interior volume of the liquid chamber can be varied. The volume varying unit varies the volume in the liquid chamber. The liquid supplying unit supplies liquid to the liquid chamber. The control unit controls the volume varying unit and the liquid supplying unit to thereby adjust the pressure in the liquid chamber.

Abstract: A liquid ejection device that ejects a liquid from an ejection opening includes: an actuator that is stored in a storage container and pressurizes the liquid supplied from outside; an inlet channel that has a curved shape and is connected to a first surface of the actuator, and supplies the liquid to the actuator; and an outlet channel that is connected to the first surface of the actuator and causes the liquid to flow out from the actuator to the ejection opening.

Abstract: A fluid injection device includes: a pulse generator which converts fluid into pulse flow; a suction pipe projecting from the pulse generator; an injection pipe which is eccentrically inserted into the suction pipe such that the outer circumferential surface of the injection pipe contacts the inner circumferential surface of the suction pipe, and has an injection opening communicating with the pulse generator; and a suction channel and a suction opening formed between the inner circumferential surface of the suction pipe and the outer circumferential surface of the injection pipe, wherein the injection pipe is fixed to the inner circumferential surface of the suction pipe in the vicinity of the injection opening.

Abstract: A fluid ejection device includes a fluid chamber, a volume varying unit, a fluid supplying unit, and an ejection pipe. The volume varying unit generates pulsation in the pressure of a fluid in the fluid chamber. The fluid supplying unit supplies the fluid to the fluid chamber through a first channel. The ejection pipe receives the supply of the fluid, in which the pulsation is generated, from the fluid chamber through a second channel and ejects the supplied fluid from an ejection port. In a connecting part to the fluid chamber, the cross-sectional area of the second channel is five times or more as large as the cross-sectional area of the first channel. In the connecting part to the fluid chamber, the first channel and the second channel are arranged to be opposed to each other via the vicinity of the center of the fluid chamber.

Abstract: A liquid ejection device ejecting a liquid in a pulsed manner, includes: an ejection channel that includes an ejection port ejecting the liquid; an actuator that transports pulsed flow to the ejection channel by pressurizing the liquid supplied from outside; a suction channel that includes a suction port capable of sucking the liquid; and a storage container that accommodates a part of the suction channel and the actuator, and in which the ejection channel extends from one end thereof, in which the ejection channel is disposed near the suction channel on a side of the ejection port and is separated from the suction channel by being curved in the storage container, and in which the suction channel is a linear shape or a curved shape having a curvature that is less than that of a curve of the ejection channel in a portion in which the ejection channel is separated.

Abstract: A liquid ejection device ejecting a liquid includes: an ejection tube that has an ejection port ejecting the liquid; an actuator that communicates with the ejection tube and applies pulsation to the liquid that is flowed into and then supplies the liquid to the ejection tube; a casing that includes the ejection tube and accommodates the actuator on an inside thereof; a suction channel that is provided in the casing and is capable of sucking the liquid around the ejection port; and a suction adjustment mechanism that has an operation section for adjusting a degree of the suction of the suction channel, in which the operation section is provided in a position near the ejection port from the actuator of the casing.

Abstract: A fluid ejection device which ejects a fluid includes: an ejection tube containing a conductive material and having an opening for the fluid; a fluid chamber communicating with the ejection tube; an actuator which operates on receiving supply of electric energy, thereby changing pressure of the fluid in the fluid chamber; and an insulating member which is made of an insulating material and electrically insulates a member forming the fluid chamber and the ejection tube from each other.

Abstract: A fluid ejection device which ejects a fluid includes: an ejection tube which ejects the fluid; a fluid chamber which communicates with the ejection tube; a piezoelectric element capable of changing a volume of the fluid chamber; a controller which controls a drive voltage applied to the piezoelectric element; and a fluid supplying unit which supplies the fluid to the fluid chamber at a predetermined flow rate. If a maximum frequency available to be set of the drive voltage is fmax [Hz] and an amount of change in the volume of the fluid chamber when a maximum value available to be set of the drive voltage is applied to the piezoelectric element to drive the piezoelectric element is V1 [ml], the fluid supplying unit supplies the fluid at the predetermined flow rate above V1×fmax [ml/s].

Abstract: Liquid is ejected in a pulse-like manner from a nozzle provided at the distal end of a liquid ejection pipe. When the liquid is ejected, moving speed of the nozzle is detected. A driving frequency of a piezoelectric element is increased when the moving speed increase. The driving frequency is reduced when the moving speed decreases. Consequently, it is possible to prevent the number of times the liquid is ejected per unit length from changing according to the moving speed of the nozzle. Therefore, it is possible to excise a biological tissue at stable excision depth.