Abstract: A method for calibrating an endoscope, the endoscope including a curved portion that can be driven to bend and a flexible portion through which a bending wire that bends the curved portion is inserted, includes: arranging the curved portion and the flexible portion of the endoscope so that they have a predetermined shape; bending the curved portion; measuring first shape information, which is information about a shape of the curved portion; and updating a control parameter for the endoscope to drive the curved portion based on the measured first shape information.

Abstract: The method for calibrating an endoscope is a method for calibrating an endoscope having a curved portion capable of being driven by bending, and includes: an arrangement step of suspending and arranging a distal end portion of the endoscope including the curved portion; a bending step of bending the curved portion of the distal end portion which has been suspended; a measurement step of measuring shape information of the curved portion; and an adjustment step of updating a control parameter by which the endoscope drives the curved portion, based on the shape information which has been measured.

Abstract: A surgery assistance system includes: an endoscope; a display configured to display an image from the endoscope; a treatment tool that includes an end effector at a distal end; an input device that inputs an instruction to the end effector; and a processor connected to the endoscope, the display, the treatment tool, and the input device, wherein the processor is configured to detect a distal end position of the end effector based on the instruction, record the detected distal end position, and estimate a first treatment surface from a plurality of recorded distal end positions.

Abstract: An endoscope system includes: an endoscope comprising a first tube being inserted into a body, a second tube being arranged at a proximal end of the first tube, and a connecting portion connecting the first tube and the second tube so that the first tube can rotate relative to the second tube about a longitudinal axis; and a control device comprising at least one processor. The processor estimates a first guess shape based on information about positions of a plurality of points on the first tube, and estimates a second guess shape based on information about positions of two points on a proximal end side of a region of the first tube inserted into the body.

Abstract: A medical system has a treatment device having a reference-position designation portion, an endoscope acquiring a plurality of captured images, a storage device, a controller generating a plurality of display images corresponding to the captured images, and a display. The controller determines an arbitrary position in the display image as a reference position, detects a region in the display image where the treatment device is displayed as an excluded region and selects a reference image from a region in the display image excluding the excluded region, records the reference image in the storage device, calculates a relative position from the reference position to the reference image, detects the reference image from the plurality of display images after the reference image is generated, recognizes the reference position in the display image, and controls an operation of the endoscope to make the reference position to be coincided with a target position.

Abstract: A distance-measuring method includes acquiring a first curvature angle of a curved portion in a first state in which an endoscope is inserted into a body cavity and captures an observation target, a second curvature angle of the curved portion in a second state in which an insertion direction of the endoscope is changed with a position of a trocar as a pivot point while capturing the same observation target as in the first state, a change amount in an insertion angle due to a change in the insertion direction, and an insertion amount of the endoscope from the pivot point of the trocar to the curved portion, so as to calculate a distance from a distal end portion of the endoscope to the observation target in a state in which the endoscope is inserted into the body cavity via the trocar.

Abstract: A medical system has a treatment device having a reference-position designation portion, an endoscope acquiring a plurality of captured images, a storage device, a controller generating a plurality of display images corresponding to the captured images, and a display. The controller determines an arbitrary position in the display image as a reference position, detects a region in the display image where the treatment device is displayed as an excluded region and selects a reference image from a region in the display image excluding the excluded region, records the reference image in the storage device, calculates a relative position from the reference position to the reference image, detects the reference image from the plurality of display images after the reference image is generated, recognizes the reference position in the display image, and controls an operation of the endoscope to make the reference position to be coincided with a target position.

Abstract: A treatment tool includes: a support portion which is formed in an axial shape; a treatment portion which is disposed at a distal end portion of the support portion; a treatment assisting portion which is disposed at the distal end portion of the support portion, which has an assisting portion, and in which the assisting portion is capable of being moved between a first position and a second position; a driving portion which moves the assisting portion of the treatment assisting portion; an operation detection portion which determines an amount of movement of the support portion, which is inserted into an introducing tool, with respect to the introducing tool, and an orientation of the support portion; an operating portion which is disposed at a proximal end portion of the support portion; and a control portion which controls the driving portion based on a detection result of the operation detection portion.

Abstract: The manipulator 1 includes a main unit 2, a elongated member 3 that extends from the main unit 2, a bending assembly 4 connected to the elongated member 3, a coupling member 5 for transmission of power for putting the bending assembly 4 into operation, a drive unit 21 for generating power for the coupling member 5, and a regulator 6 that is interposed between the bending assembly 4 and the drive unit 21 and urges the coupling member 5 in a direction of intersecting a path taken by the coupling member 5.

Abstract: A treatment tool includes: a support portion which is formed in an axial shape; a treatment portion which is disposed at a distal end portion of the support portion; a treatment assisting portion which is disposed at the distal end portion of the support portion, which has an assisting portion, and in which the assisting portion is capable of being moved between a first position and a second position; a driving portion which moves the assisting portion of the treatment assisting portion; an operation detection portion which determines an amount of movement of the support portion, which is inserted into an introducing tool, with respect to the introducing tool, and an orientation of the support portion; an operating portion which is disposed at a proximal end portion of the support portion; and a control portion which controls the driving portion based on a detection result of the operation detection portion.

Abstract: A manipulator includes an insert part capable of being inserted into the body cavity, a turning part configured to turn the insert part, an operating unit configured to operate the insert part and the turning part, a driving unit configured to drive the insert part and the turning part, and a control unit configured to control the driving unit in association with operation of the operating unit.

Abstract: A manipulator including an insert unit capable of being inserted into the body cavity, an operating unit for operation of the insert unit, an extending/retracting unit for moving the insert unit forward or backward, a drive unit for driving the insert unit and extending/retracting unit, and a control unit for controlling the drive unit in association with operation of said operating unit. The insert unit includes a bendable portion, the drive unit includes a bending movement driving portion for generating driving force for bending the bendable portion and an extension/retraction driving portion for generating driving force for moving the extending/retracting unit forward or backward, and the control unit controls the extension/retraction driving portion and bending movement driving portion in association with operation of the operating unit.

Abstract: An image system for surgery includes: a three-dimensional imaging unit acquiring two images having parallax by capturing an image of a portion; a display unit displaying two images acquired by the three-dimensional imaging unit individually for both left and right eyes, or displaying a same image for both left and right eyes; a detection unit detecting that a treatment device that performs treatment on the portion or the three-dimensional imaging unit is in an operating state in which to initiate treatment on the portion; and a display control unit switching from displaying one of images on the display unit to displaying two images on the display unit when the detection unit detects the three-dimensional imaging unit or the treatment device is in the operating state in which to initiate treatment on the portion.

Abstract: An ultrasonic motor in which driving signals of two phases are applied to a vibrator having a driving member in contact with a driven member to simultaneously generate a longitudinal vibration and a flexural vibration, thereby generating an elliptic vibration in the vibrator, and the driving member frictionally drives the driven member upon obtaining a driving force from the elliptic vibration, is configured as follows. Namely, the ultrasonic motor includes a driving phase difference switching unit which switches a driving phase difference serving as a phase difference between the driving signals of the two phases, and changes a switching cycle of the driving phase difference.

Abstract: According to one embodiment, a transducer includes, a first transducer member, a second transducer member, and a coupling member. The first transducer member including a piezoelectric element in which longitudinal vibration and bending vibration are excited by application of a predetermined alternating signal. The second transducer member which is placed to make a predetermined angle with the first transducer member and in which longitudinal vibration and bending vibration are excited by application of a predetermined alternating signal. The coupling member configured to hold one end of the first transducer member and one end of the second transducer member.

Abstract: An ultrasonic motor in which driving signals of two phases are applied to a vibrator having a driving member in contact with a driven member to simultaneously generate a longitudinal vibration and a flexural vibration, thereby generating an elliptic vibration in the vibrator, and the driving member frictionally drives the driven member upon obtaining a driving force from the elliptic vibration, is configured as follows. Namely, the ultrasonic motor includes a driving phase difference switching unit which switches a driving phase difference serving as a phase difference between the driving signals of the two phases, and changes a switching cycle of the driving phase difference.

Abstract: A drive apparatus for an ultrasonic motor is provided wherein a diphase alternating drive signal having a predetermined phase difference and a predetermined drive frequency is applied to an ultrasonic vibrator equipped with a driver to be in contact with a driven member, such that longitudinal vibration and bending vibration are simultaneously generated in the ultrasonic vibrator to generate elliptical vibration, and drive force is obtained from the elliptical vibration to drive the driven member by the ultrasonic vibrator. The drive apparatus for the ultrasonic motor includes drive unit for generating the alternating drive signal and applying the alternating drive signal to the vibrator to drive the driven member, and burst drive unit for performing burst drive by applying, to the vibrator, a burst signal to inhibit residual vibration in the driven member after the driving of the driven member by the drive unit has been stopped.

Abstract: A drive apparatus for an ultrasonic motor is provided wherein a diphase alternating drive signal having a predetermined phase difference and a predetermined drive frequency is applied to an ultrasonic vibrator equipped with a driver to be in contact with a driven member, such that longitudinal vibration and bending vibration are simultaneously generated in the ultrasonic vibrator to generate elliptical vibration, and drive force is obtained from the elliptical vibration to drive the driven member by the ultrasonic vibrator. The drive apparatus for the ultrasonic motor includes drive unit for generating the alternating drive signal and applying the alternating drive signal to the vibrator to drive the driven member, and burst drive unit for performing burst drive by applying, to the vibrator, a burst signal to inhibit residual vibration in the driven member after the driving of the driven member by the drive unit has been stopped.

Abstract: An acoustic device having a sound volume control is provided. The device includes a sound generating body and a resonator having a mount member to which the sound generating body is mounted. According to the invention, a sound control member is provided to control the transmission of sound from the sound generating body to the resonator to control the sound volume. In one aspect, the sound control member is capable of adjusting a contact pressure between the sound generating body and the mount member to vary the sound volume more precisely.