Abstract: This medical treatment tool includes: an end effector which has a first forceps piece and a second forceps piece; an operating member that the pair of forceps pieces to rotate and opens/closes; and a link member whose distal end portion is coupled to the forceps piece, and whose proximal end portion is coupled to the operating member; wherein the drive axis of the proximal end portion is parallel with the axis of the operating member; the distance between the distal end portion and the drive axis of the proximal end portion is shorter than the length of the link member; and the length of projection on the drive axis is shorter than the length of projection on the drive axis of a line segment which connects the distal end portion and the center of rotation.

Abstract: A master-slave manipulator includes a slave manipulator, a master operation input device, and a control unit. The slave manipulator includes joints having multiple degrees of freedom. The master operation input device allows an operator to uniquely input a position and an orientation. The device includes a first operation unit configured to output the position and orientation, and a second operation unit including at least a joint configured to output value of the joint independently with the output of the first operation unit. The control unit calculates a driving amount of each joint of the slave manipulator using the position and orientation of the second operation unit and controls the slave manipulator in accordance with a joint driving command value.

Abstract: A surgical instrument includes a use measurement unit. The use measurement unit acquires a use time or an operation amount of the surgical instrument in response to the use or operation of the surgical instrument. The use measurement unit acquires motion of a gripper or a joint provided in the surgical instrument as the use time or the operation amount.

Abstract: A master operation input device operates a slave manipulator provided with joints adapted to multiple degrees of freedom. The master operation input device includes a grip portion and a first operation portion. The grip portion is variable in position and orientation while being gripped by an operator. The grip portion is configured to give command values regarding the position and orientation of a distal end of the slave manipulator in accordance with the variation in position and orientation. The distal end is the farthest end when the slave manipulator is viewed from a fixed end thereof. The first operation portion is located to be operable by a fingertip of the operator when the grip portion is gripped. The first operation portion is operable independently of the grip portion.

Abstract: A master-slave manipulator includes a remote manipulation device, a slave manipulator, and a control unit. The remote manipulation device as a master gives an operating command corresponding to a plurality of degrees of freedom. The slave manipulator includes a plurality of joints corresponding to the degrees of freedom. The slave manipulator includes a redundant joint among the joints. The control unit controls operations of the joints in accordance with the operating command. The control unit calculates an orientation change of the remote manipulation device from the operating command at predetermined time intervals and selects and drives one of the joints in redundancy relationship among the joints in accordance with the orientation change.

Abstract: Unintended motion of a displayed object is prevented by rapidly detecting a state in which an operator becomes unable to operate an operating unit. Provided is an operation input unit including a display; a head-mounted unit; an operating unit to which an operating signal for a displayed object displayed on the display is input; a relative-position detecting section that detects the relative position between the head-mounted unit and the operating unit; and a control unit that controls the displayed object by switching between a first control mode in which the motion of the displayed object is controlled in accordance with an operating signal input to the operating unit and a second control mode in which the motion of the displayed object is controlled by limiting an operating signal input to the operating unit on the basis of the relative position detected by the relative-position detecting section.

Abstract: In a master-slave manipulator system, an intuitive operation can be achieved by a simple structure in which a layout of a monitor and an operation input device is not limited. A master-slave manipulator system is provided with a manipulator, a camera, a monitor, an operation input device, a manipulator controller and a master controller. The master controller is provided with an operation an information acquisition portion for operation command acquiring an operation reference data on the basis of the command by the operation input device, an acquirement information division portion dividing the operation reference data into a position movement reference data and an orientation reference data, and a moving direction compensation controller compensating the position movement reference data on the basis of the orientation reference data so as to output a position moving command compensation information.

Abstract: In a master-slave manipulator system, manipulation device can be manipulated intuitively even when clutch manipulation is performed.

Abstract: A top end portion of a medical manipulator has a surgical device accessible to a diseased area of a patient. In the manipulator, a pair of rolling members opposing to each other is provided. One of the pair of the rolling members is rolled by a flexible wire relative to the other rolling members. A plate maintains a distance between rotation centers of the pair of the rolling members constant. A pair of gears are held coaxially with the pair of the rolling members respectively, and engaged with each other. A link rotates the gear on an opposite side to a surgical device.

Abstract: Provided is a surgical tools having multiple functions exhibited by end effector parts, which is small-sized and inexpensive, and which can eliminate the necessity of replacement of surgical tools. The surgical tools incorporating: a tip end portion having a plurality of end effector parts, and a tool sleeve through which a transmission mechanism of driving force for applying driving force to the tip end portion is led. The plurality of end effector parts comprise a pair of a first end effector part and a second end effector part so as to have a first tool function, and a third end effector part mated with one or both of the first end effector part and the second end effector part so as to have a second tool function.

Abstract: The invention provides a manipulator which can carry out a treatment having a large moving amount in a manipulator leading end while being compact. The manipulator is provided with a manipulator shaft portion, a first rod supported so as to be capable of linearly moving with respect to the manipulator shaft portion and driven by a driving force of a driving source, a first gear rotatably supported to the first rod, a first rack supported to the manipulator shaft portion, a second rack supported so as to be capable of linearly moving in the same direction as the first rod with respect to the manipulator shaft portion, and a end-effecter driven by the driving force of the second rack. The first rack and the second rack are arranged in such a manner that respective cogged surfaces come face to face. The first gear is pinched between the first rack and the second rack, and is arranged in an engaged state.

Abstract: In a master-slave manipulator system, manipulation device can be manipulated intuitively even when clutch manipulation is performed.

Abstract: In a master-slave manipulator system, an intuitive operation can be achieved by a simple structure in which a layout of a monitor and an operation input device is not limited. A master-slave manipulator system is provided with a manipulator, a camera, a monitor, an operation input device, a manipulator controller and a master controller. The master controller is provided with an operation an information acquisition portion for operation command acquiring an operation reference data on the basis of the command by the operation input device, an acquirement information division portion dividing the operation reference data into a position movement reference data and an orientation reference data, and a moving direction compensation controller compensating the position movement reference data on the basis of the orientation reference data so as to output a position moving command compensation information.

Abstract: In a master-slave manipulator system capable of presenting an obstacle and a limit to an operating range as a force feed-back with no use of a motor in an operation input device and having high reliability, a small size and good operability, the system comprises a manipulator having an arm, an operation input device for moving the arm of the manipulator, and a controller for controlling the manipulator and the operation input device, and the operation input device is provided on joints with a mode change-over mechanism having three modes: of which, in a first mode, power is not transmitted; in a second mode, power is transmitted in one direction and is not transmitted in a reverse direction thereof; and in a third mode, power is transmitted in the reverse direction and is not transmitted in the one direction, selecting one of the above modes and changing over from one mode to the selected mode.

Abstract: In a master-slave manipulator system capable of presenting an obstacle and a limit to an operating range as a force feed-back with no use of a motor in an operation input device and having high reliability, a small size and good operability, the system comprises a manipulator having an arm, an operation input device for moving the arm of the manipulator, and a controller for controlling the manipulator and the operation input device, and the operation input device is provided on joints with a mode change-over mechanism having three modes: of which, in a first mode, power is not transmitted; in a second mode, power is transmitted in one direction and is not transmitted in a reverse direction thereof; and in a third mode, power is transmitted in the reverse direction and is not transmitted in the one direction, selecting one of the above modes and changing over from one mode to the selected mode.

Abstract: A manipulator for medical use having a reduced size and improved controllability. The manipulator includes a surgical tool portion, a grip portion provided on the surgical tool portion, and a driver portion for driving the grip portion provided on the surgical tool portion. A connection portion of the surgical tool is provided between the surgical tool portion and the driver portion. The surgical tool can be separated from, and connected to, the driver portion. The surgical tool portion has two rotating members disposed in opposing relation to each other. A driving arrangement is provided for driving one of the rotating members and causing it to revolute the other rotating member, but not rotate by itself. An arrangement is also provided for keeping a distance between rotation centers of the two rotating members constant.

Abstract: A top end portion of a medical manipulator has a surgical device accessible to a diseased area of a patient. In the manipulator, a pair of rolling members opposing to each other is provided. One of the pair of the rolling members is rolled by a flexible wire relative to the other rolling members. A plate maintains a distance between rotation centers of the pair of the rolling members constant. A pair of gears are held coaxially with the pair of the rolling members respectively, and engaged with each other. A link rotates the gear on an opposite side to a surgical device.

Abstract: A manipulator for medical use, being small in sizes and improved on controllability thereof, comprises a surgical tool portion, a grip portion provided on this surgical tool portion, and a driver portion for driving the grip portion provided on the surgical tool portion. A connection portion of the surgical tool is provided between the surgical tool portion and the driver portion, and a surgical tool can be separated from and connected to, between the driver portion and this surgical tool side connection portion. The surgical tool portion has two (2) pieces of rotating members, being disposed opposing to each other, a driving means for driving one of those rotating members to revolute to the other thereof, but not rotate by itself, and a means for keeping a distance between rotation centers of those two (2) pieces of rotating members to be constant.