Abstract: A forceps system includes a forceps manipulator and a control unit. The forceps manipulator includes a forceps tip unit capable of bending with two degrees of freedom including a bending direction and a bending angle, a drive unit that generates a driving force for the forceps tip unit, an operation unit for instructing the bending direction and the bending angle, and a first detection unit that detects an angle in a rotation direction with respect to an axis of the drive transmitting unit. The control unit that controls the drive unit such that the forceps tip unit bends depending on a predetermined target bending direction and a predetermined target bending angle. The control unit sets a target bending direction on the basis of the bending direction instructed from the operation unit and the angle detected by the first detection unit.

Abstract: Disclosed herein is a camera including a light receiving section and a camera body incorporating the light receiving section. An outside surface of the camera body has, at least on a portion thereof, a curve surface curving around a rotation centerline extending along a left-right direction, and the curve surface is formed at least at portions positioned opposite to each other around the rotation centerline when the camera body is seen in the left-right direction. Also disclosed herein is a stand including a camera holding section configured to hold the outside of the camera. The camera holding section is formed so as to enclose the outside surface of the camera at an angle of at least 180 degrees when seen in the left-right direction, and the camera holding section has an inside surface formed so as to make the camera rotatable around the rotation centerline.

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: A housing of an oil pump includes a suction port, a discharge port, and a partitioning section formed to partition the suction port and the discharge port. The discharge port has discharge groove portions each formed in a groove shape so as to introduce oil from the partitioning section, and an extension portion formed adjacent to the discharge groove portions and extending continuously from an end of the partitioning section. The extension portion has a taper surface extending from an end of an upper surface of the partitioning section to form a downward slope.

Abstract: A three-port valve that can be more accurately controlled using a simple structure. The three-port valve is provided with the following: a first elastic tube in which a liquid circulates; a first port which is a provision and discharge opening in the first elastic tube; a second elastic tube in which a liquid circulates; a second port which is a provision and discharge opening in the second elastic tube; a third port that links the first port and the second port; first circulation control means for deforming the first elastic tube so as to control the circulation of the liquid circulating in the first elastic tube; second circulation control means for deforming the second elastic tube so as to control the circulation of the liquid circulating in the second elastic tube; and an oscillator for driving the first circulation control means and the second circulation control means.

Abstract: Provided is an endoscopic operating system, including: a sensor section for detecting movement of at least one of a head part and an upper body of an operator; a control section for driving one or more actuators, corresponding to the movement detected by the sensor section; a holding arm unit supported to be reciprocatable and rotatable by the actuator and one or more displacing mechanisms connected to the actuator; an image capturing section provided at an arbitrary part of the holding arm unit through a joint section capable of freely change an image capturing angle by the actuator; and a display section for displaying an image captured by the image capturing section on a screen.

Abstract: An endoscope operation system includes an endoscope, a holding arm unit that supports the tip of the endoscope in such a manner that the tip of the endoscope can be moved in up/down, left/right, and front/back directions, and can be rotated on its own axis, a display unit that displays an image based on an image signal supplied from an image pickup unit of the endoscope, a gyroscopic sensor attached to the head of an operator, a gyroscopic sensor attached to the torso of the operator, and a control unit that controls the moving direction and the speed of the tip of the endoscope.

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: A compound represented by the following general formula (1) or a salt thereof. R1 represents a halogen atom and so on; R2 and R3 each represent a hydrogen atom and so on; R4 and R5 each represent a hydrogen atom and so on, or R4 and R5 may form an oxo group; Ra and Rb each represent a lower alkyl group optionally having a substituent and so on, or they may bind to each other to form a nitrogen-containing heterocyclic ring which may be substituted by one or plural Rc; Rc represents an aryl group optionally having a substituent and so on; ring A represents a benzene ring and so on; and m represents 0, 1 or 2.

Abstract: The objective is to control a movement velocity of an endoscope in a body in response to an amount of insertion of the endoscope in view of safety without influence of a strong magnet. A velocity-control computation section 48 adjusts a velocity of an imager to be changeable in response to an amount of insertion of the imager of the endoscope in a body by computing a target velocity vector Vxy. Thereby, increasing of the insertion amount of the imager of the endoscope inserted in the body in a movement direction makes a target velocity vector V?xy of the imager of the endoscope larger. Decreasing of the insertion amount of the imager of the endoscope, or pulling the imager of the endoscope out of the body, makes a target velocity vector V?xy of the imager of the endoscope smaller.

Abstract: A three-port valve that can be more accurately controlled using a simple structure. The three-port valve is provided with the following: a first elastic tube in which a liquid circulates; a first port which is a provision and discharge opening in the first elastic tube; a second elastic tube in which a liquid circulates; a second port which is a provision and discharge opening in the second elastic tube; a third port that links the first port and the second port; first circulation control means for deforming the first elastic tube so as to control the circulation of the liquid circulating in the first elastic tube; second circulation control means for deforming the second elastic tube so as to control the circulation of the liquid circulating in the second elastic tube; and an oscillator for driving the first circulation control means and the second circulation control means.

Abstract: A 1,2,3,4-tetrahydroquinoxaline compound represented by the following formula: In the formula (1), R1 represents substituents such as a halogen, an alkyl, a cycloalkyl, an aryl or a heterocyclic group; p represents 0 to 5; R2 represents substituents such as a halogen, an alkyl, a hydroxyl or an alkoxy group; q represents 0 to 2; R3 represents substituents such as hydrogen, an alkyl, an alkenyl, an alkylcarbonyl or an arylcarbonyl group; R4 and R5 independently represent substituents such as hydrogen, a halogen, an alkyl, an alkenyl, an alkynyl, a cycloalkyl, an aryl or a heterocyclic group; R6 represents substituents such as hydrogen, an alkyl, an alkenyl, an alkynyl, a cycloalkyl, an aryl or a heterocyclic group; A represents an alkylene; R7 represents OR8, NR8R9, SR8, S(O)R8, S(O)2R8; R8 and R9 independently represent substituents such as hydrogen, an alkyl or an alkenyl; and X represents O or S.

Abstract: A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided. When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.

Abstract: A compound represented by the following general formula (1) or a salt thereof. R1 represents a halogen atom and so on; R2 and R3 each represent a hydrogen atom and so on; R4 and R5 each represent a hydrogen atom and so on, or R4 and R5 may form an oxo group; Ra and Rb each represent a lower alkyl group optionally having a substituent and so on, or they may bind to each other to form a nitrogen-containing heterocyclic ring which may be substituted by one or plural Rc; Rc represents an aryl group optionally having a substituent and so on; ring A represents a benzene ring and so on; and m represents 0, 1 or 2.

Abstract: A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided. When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.

Abstract: A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided. When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.

Abstract: A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided. When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.

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: A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided. When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.