Abstract: A joint structure of a manipulator includes: swiveling members that are coupled so as to be able to swivel via a rolling contact; shafts that constitute bending joints between the swiveling members and that are parallel to each other; pulleys that are rotatably supported about the shafts; and a connector attached to the shafts so as to be able to swivel about longitudinal axes of the shafts. The connector includes supports that are disposed on axial ends of the shafts so as to sandwich the pulleys therebetween in a direction of the longitudinal axis, and a beam that extends in between the supports to couple the supports to each other.

Abstract: A medical treatment tool includes an elongated insertion section; a grasper supported by a distal end of the insertion section so as to be openable and closable; a generator disposed at a proximal end of the insertion section and generating a force to drive the grasper; a transmitter transmitting the force generated by the generator to the distal end of the insertion section; an amplifier amplifying the force transmitted through the transmitter; and a toggle amplifying and converting the force amplified by the amplifier into a force directed to open or close the grasper.

Abstract: A stapler according to the present invention is provided with: a holder provided with an accommodating portion that accommodates a plurality of staples with tips thereof, which pass through a suturing target, directed in one direction; a plurality of pushers that push out the staples accommodated in the accommodating portion in accordance with a plurality of groups thereof; an anvil that presses and deforms the staples pushed out from the accommodating portion by the pushers; driving-force transmitting mechanisms that are respectively connected to the individual pushers, in which the movement thereof in directions other than the directions in which the staples are pushed out is restricted at the individual connection portions, and that transmit driving forces that move the individual pushers toward the anvil.

Abstract: A medical stapler according to the present invention is provided with: a staple housing provided with a gripping surface from which a staple for suturing tissue is ejected, and a cutter that cuts the tissue by being made to protrude from the gripping surface; an anvil that is disposed facing a direction in which the staple is ejected, and that is configured so that the tissue can be gripped between the gripping surface and the anvil; and a receiving member that is provided in the anvil, and that has a receiving surface that receives a cutting edge of the cutter, wherein the receiving surface of the receiving member has a shape in which only a portion thereof comes into contact with the cutting edge of the cutter at individual time points during a cutting step over the entire length of a cut length of the tissue.

Abstract: A joint structure of a manipulator includes: swiveling members that are coupled so as to be able to swivel via a rolling contact; shafts that constitute bending joints between the swiveling members and that are parallel to each other; pulleys that are rotatably supported about the shafts; and a connector attached to the shafts so as to be able to swivel about longitudinal axes of the shafts. The connector includes supports that are disposed on axial ends of the shafts so as to sandwich the pulleys therebetween in a direction of the longitudinal axis, and a beam that extends in between the supports to couple the supports to each other.

Abstract: A medical-treatment-tool according to the present invention is provided with: a inserting-portion; a gripping-piece pivots about a shaft orthogonal to a longitudinal axis of the inserting-portion; a driving-portion generates a motive power with which the gripping-piece is driven; a first motive-power transmitting member transmits the motive power to the inserting-portion; a motive-power amplifying mechanism amplifies the motive power; a pulley secured to the shaft of the gripping-piece; a wire-like second motive-power transmitting member wound around the pulley, transmits amplified the motive power to the pulley, and rotates the pulley about the shaft, thus causing the gripping-piece to be pivoted.

Abstract: A medical treatment tool includes an elongated insertion section; a grasper supported by a distal end of the insertion section so as to be openable and closable; a generator disposed at a proximal end of the insertion section and generating a force to drive the grasper; a transmitter transmitting the force generated by the generator to the distal end of the insertion section; an amplifier amplifying the force transmitted through the transmitter; and a toggle amplifying and converting the force amplified by the amplifier into a force directed to open or close the grasper.

Abstract: A stapler according to the present invention is provided with: a holder provided with an accommodating portion that accommodates a plurality of staples with tips thereof, which pass through a suturing target, directed in one direction; a plurality of pushers that push out the staples accommodated in the accommodating portion in accordance with a plurality of groups thereof; an anvil that presses and deforms the staples pushed out from the accommodating portion by the pushers; driving-force transmitting mechanisms that are respectively connected to the individual pushers, in which the movement thereof in directions other than the directions in which the staples are pushed out is restricted at the individual connection portions, and that transmit driving forces that move the individual pushers toward the anvil.

Abstract: A medical stapler according to the present invention is provided with: a staple housing provided with a gripping surface from which a staple for suturing tissue is ejected, and a cutter that cuts the tissue by being made to protrude from the gripping surface; an anvil that is disposed facing a direction in which the staple is ejected, and that is configured so that the tissue can be gripped between the gripping surface and the anvil; and a receiving member that is provided in the anvil, and that has a receiving surface that receives a cutting edge of the cutter, wherein the receiving surface of the receiving member has a shape in which only a portion thereof comes into contact with the cutting edge of the cutter at individual time points during a cutting step over the entire length of a cut length of the tissue.

Abstract: A medical stapler includes a first and a second grippers that are provided so as to be capable of opening/closing with respect to each other, and that can grip tissue therebetween. The first gripper includes a first contact surface being made to come into firm contact with one side of the tissue, and an ejection hole that is provided in the first contact surface and from which a staple is ejected. The second gripper includes a second contact surface being made to come into firm contact with the other side of the tissue, and an anvil portion provided in the second contact surface and having a curved surface that causes a needle portion of the staple to be bent. The first and second grippers are provided so as to allow relative positions thereof to be adjusted in a tangential direction of the curved surface.

Abstract: A medical stapler including: a first jaw that has a plurality of staples arrayed in a row at intervals; a second jaw that has a second gripping surface that sandwiches living tissue between the second gripping surface and a first gripping surface; and a knife that moves between the first gripping surface and the second gripping surface along the row of staples from the one end of the row to a position extended from the other end of the row of staples, thus cutting the living tissue.

Abstract: A medical staple is provided with: a rectangular base portion; and a needle portion that extends from one end of the base portion in a substantially arc shape so as to protrude in a predetermined direction with respect to the base portion, wherein the needle portion has a first bending position that is provided between a base connected at the one end and a distal end, and that yields first when a pressing force in a radially inward direction of an arc shape of the needle portion acts on the distal end, and a second bending position that is provided between the first bending position and the base, and that yields first when the pressing force acts in the vicinity of the base of the first bending position.

Abstract: This tissue excision device has the following elements: a jaw disposed at a distal end of an insertion portion and used to sandwich tissue; a cutter movable along a track formed along the shape of the jaw; a drive unit which generates force to drive the cutter; and a force transmission member which connects the drive unit and the cutter and accommodated in an accommodation portion provided along the track, and which transmits the force generated by the drive unit to the cutter, and the drive unit is configured to generate greater force as reaction force from the accommodation portion becomes greater.