Abstract: A treatment manipulator including an inserted-portion main unit; at least one arm provided so as to protrude forward from a distal-end surface of the inserted-portion main unit and that has an end effector at the distal end; and an endoscope provided in the inserted-portion main unit that has a viewing-field area in which the end effector at the distal end of the arm can be observed, wherein the arm having, sequentially from the distal-end side, a first flexing joint that can pivot the end effector about a first axis orthogonal to a longitudinal axis of the arm, an intermediate roll joint that can be rotated about the longitudinal axis, and a second flexing joint that can be pivoted about a second axis orthogonal to the longitudinal axis, and the first flexing joint can be flexed 90° or more, at least on one side, with respect to the longitudinal axis.

Abstract: There is provided a medical system that includes a multi-joint slave arm; a master arm having a joint structure structurally similar to the slave arm; and a control unit that can switch between a first control mode for controlling the rotational motion of each joint of the slave arm on the basis of the amount of rotation of each joint of the master arm so that the slave arm takes a shape similar to the master arm and a second control mode for controlling the rotational motion of each joint of the slave arm on the basis of a displacement of a predetermined region of a distal end section of the master arm so that a predetermined region of a distal end section of the slave arm follows the movement of the predetermined region of the distal end section of the master arm.

Abstract: Provided is a medical apparatus including a treatment tool having a distal-end treatment section, a joint section, and a flexible elongated body section in this order from the distal end; a driver that is connected to the base end of the body section and that supplies a driving force to the joint section; an operation input unit that is a separate unit from the treatment tool and the driver and that has a main body holdable with one hand of an operator and an operable member disposed at a position where it is operable using a finger of the one hand holding the main body; and a controller that controls the driver in accordance with an operation command input to the operation input unit.

Abstract: A medical instrument includes an insertion part and a driving mechanism coupled to the insertion part. The insertion part has a treatment part, a joint part configured to support the treatment part and to be capable of changing a direction of the treatment part, and a driving force transmission part connected to the joint part and configured to transmit a driving force to the joint part. The driving mechanism has a driving force generator that is connected to the driving force transmission part and is configured to generate the driving force. A storage part configured to store the treatment part in the joint part by the driving force transmitted from the driving force generator to the joint part via the driving force transmission part is formed at the joint part.

Abstract: Provided is an endoscopic-treatment-instrument operation input device that includes: a grip section that is shaped so as to be capable of being gripped by the palm and at least the little finger and the ring finger of one hand of an operator; an operation section that is arranged at a position so as to be operable by the thumb of the one hand in state where the grip section is being gripped and that allows an operation command for causing a joint of the treatment instrument to actuate to be input; and a frictional fixing section that presses, and fixes in place with friction, a position midway along elongated trunk section of the treatment instrument in the longitudinal direction through use of the index finger of the one hand.

Abstract: Provided is a medical system including a first slave arm; a master arm having a joint configuration with a structure similar to that of a joint configuration of the first slave arm; a second slave arm; a manipulation-target switching unit that switches a manipulation target to be manipulated with the master arm between the slave arms; and a controller that is capable of switching between a first control mode and a second control mode in accordance with the joint configuration of the slave arm to be controlled. The first control mode is a mode for controlling rotation of joints of the first slave arm on the basis of rotation amounts of joints of the master arm. The second control mode is a mode for controlling rotation of joints of the second slave arm on the basis of a movement of a predetermined section of the master arm.

Abstract: A surgical support device includes: a driving member which is moved to transmit a driving force to a target; a first position detection unit and a second position detection unit configured to detect a first and a second moving amounts of the driving member; a difference calculation portion configured to detect a difference in length between the first moving amount and the second moving amount, an operating force computing portion configured to compute a magnitude of a force transmitted to the target from the driving member based on the difference in length; and a breakdown detection portion configured to detect at least one of the first position detection unit and the second position detection unit which has broken down, by use of the first moving amount and the second moving amount.

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: There is provided a master-slave system including: a slave unit including an observation optical system imaging a subject A; a treatment part projecting from a surface on which the observation optical system is provided and at least part of the treatment tools is imaged along with the subject A by the observation optical system; a master apparatus including an operating unit held and operated by an operator; a control unit associating operation of the operating unit of the master apparatus with motion of the slave unit and motion of the treatment part; and a monitor screen displaying an image acquired by the observation optical system, wherein the operating unit includes a command input unit into which a motion command for a slave unit is inputted while the operating unit is held by the operator without changing a pose of the operating unit.

Abstract: A medical master slave manipulator system includes a master input device configured to send an operation command, a slave manipulator operated by the master input device, a control unit configured to transmit an operation signal to the slave manipulator based on the operation command, a display unit configured to display an image of an object, and an image selection device configured to select the image displayed on the display unit, wherein the control unit transforms the operation command associated with the image selected by the image selection device.

Abstract: The invention has for its object to provide a manipulator wherein the size of a curved portion is reduced and the internal architecture of the curve portion is simplified. The manipulator 100 comprises an insert part that is capable of being inserted into the body cavity, a movable part that is located at a distal end of the insert part and movable in any direction, a drive unit that is provided on a proximal-end side of the insert part, a first elongated member that is connected to the drive unit and located in the insert part, and displaces in response to operation of the drive unit, a second elongated member that is different from the first elongated member and has a distal end connected to the movable part, and a deceleration mechanism that urges displacement of the second elongated member in association with displacement of the first elongated member, and makes a second amount of displacement of the second elongated member smaller than a first amount of displacement of the first elongated member.

Abstract: A surgical tool holding device that holds a plurality of surgical tools includes: a flexible insertion section having a distal end and a proximal end and configured such that a surgical tool channel into which the plurality of surgical tools are inserted is formed; a driving section configured to advance and retract each of the plurality of surgical tools inside the surgical tool channel; an operating section configured to manipulate the plurality of surgical tools; and a controller configured to control an amount of protrusion of the surgical tool protruding from a distal end of the surgical tool channel, from the surgical tool channel.

Abstract: A surgical instrument includes an end effector, a manipulation unit, a grip detecting unit, a driving unit, and a control unit. When the control unit determines that the end effector is applying the acting force to the target based on the information acquired by the grip detecting unit, the control unit sets an acting force increasing zone of a predetermined range in a first movable range in the first direction of the manipulation unit, sets a neutral zone in a remaining area of the first movable range, controls the driving unit so that the acting force increases with a constant gradient with respect to an amount of manipulation of the manipulation unit in the acting force increasing zone, and controls the driving unit so that the acting force is kept constant regardless of the amount of manipulation of the manipulation unit in the neutral zone.

Abstract: An endoscope including: a distal end housing which is provided at a distal end of an endoscope insertion unit; an observation window which is provided at the distal end housing; an imaging part which is provided inside the distal end housing and configured to image an imaging target which is positioned outside the distal end housing through the observation window; an imaging part moving unit which is configured to move the imaging part with respect to the observation window and to change a range of an imaging view field of the imaging part; a cleaning unit configured to clean an outer surface of the observation window; and a synchronizing unit which is configured to synchronize a change operation of a rang of an imaging view field of the imaging part by the imaging part moving unit with a cleaning operation by the cleaning unit.

Abstract: This high-frequency treatment tool includes a treatment part which is provided at a distal end of an insertion part, and a manipulation part which is coupled to the insertion part. The treatment part has a cover member which is mounted on the distal end of the insertion part, a first treatment member which is supported on the cover member, which is configured to rotate about a rotating shaft, and to which a high-frequency current is capable of being applied, and a second treatment member that is supported on the cover member and is configured to rotate about the rotating shaft. The second treatment member has a rod-shaped main body and an insulating chip. The manipulation part has a first drive shaft that is rotatably driven to rotate the first treatment member, and a second drive shaft that is rotatably driven to rotate the second treatment member.

Abstract: A master-slave system including: a slave device that includes an observation optical system and a treatment portion that protrudes from a surface on which the observation optical system is provided; a master device that includes a handle that is supported so as to be capable of rotating about a predetermined axis and a treatment manipulation portion; a control portion that associates rotation of the handle with rotation of the slave device about an axis intersecting the surface and that associates manipulation of the treatment manipulation portion with movement of the treatment portion; an image processing portion that generates a corrected image obtained by rotating an image of a subject and the treatment portion acquired by the observation optical system by a rotation angle of the slave device; and a monitor that displays the corrected image.

Abstract: An operation input device that has multi jointed arms includes: a holding unit that holds proximal ends of the multi-jointed arms in a state in which a relative positional relationship between the proximal ends is fixed; a detection unit that detects a joint movement amount that represents a movement of a joint by a rotation angle or a translational displacement from an unknown initial joint value; engagement units that are provided in distal ends of the multi jointed arms; a data acquisition unit that acquires a plurality of sets of joint movement amounts detected by the detection unit in a time series when engaging and moving the distal ends; and an initial value calculation unit that calculates the unknown initial joint value under a condition that a relative positional relationship between the distal ends is fixed via the engagement units.

Abstract: A medical device includes an insertion portion, and a driving mechanism coupled to the insertion portion, wherein the insertion portion includes a treatment portion configured to perform a treatment on a target portion, a joint portion capable of supporting the treatment portion and changing a direction of the treatment portion, a storage portion provided in the joint portion and capable of internally accommodating the treatment portion, and a driving force transmission portion connected to the joint portion and configured to transmit a driving force for changing the direction of the treatment portion to the joint portion, wherein the driving mechanism includes a driving force generation portion configured to generate the driving force, and wherein the treatment portion enters and exits the storage portion by the driving force transmitted from the driving force generation portion to the joint portion through the driving force transmission portion.

Abstract: A surgical instrument includes an end effector, a manipulation unit, a grip detecting unit, a driving unit, and a control unit. When the control unit determines that the end effector is applying the acting force to the target based on the information acquired by the grip detecting unit, the control unit sets an acting force increasing zone of a predetermined range in a first movable range in the first direction of the manipulation unit, sets a neutral zone in a remaining area of the first movable range, controls the driving unit so that the acting force increases with a constant gradient with respect to an amount of manipulation of the manipulation unit in the acting force increasing zone, and controls the driving unit so that the acting force is kept constant regardless of the amount of manipulation of the manipulation unit in the neutral zone.

Abstract: A manipulator system includes a master manipulator configured to send an input command, a slave manipulator configured to operate according to the input command, an image capturing unit configured to acquire an image of an object, a display device placed in front of the operator and configured to display the image acquired by the image capturing unit, a detection device configured to detect the direction of an operator's face of the operator with respect to the display device, and a control unit configured to determine whether the direction of the operator's face is within a predetermined angle with respect to the display device based on the detection result in the detection device, and to shift an operation mode of the slave manipulator between a first control mode and a second control mode in which an operation is limited more than in the first control mode based on a determination result.