Abstract: Provided is a surface treatment method of a metallic material having a protective layer formed thereon. A surface of the protective layer is scanned while irradiating the surface and the surface is scanned while moving an irradiation spot along the surface, in a state in which a side layer of the protective layer along the metallic material remains covering the metallic material, and a side layer of the protective layer opposite to the metallic material side is removed by irradiation with the laser beam.

Abstract: An endoscope system includes: an endoscope including an elongated portion in which an imaging optical system is arranged; an arm supporting the endoscope; and a unit capable of changing a field-of-view direction of the endoscope, wherein each library data stored in a storage includes a parameter related to relative position and attitude between the imaging optical system and an observation object, the parameter includes a first parameter or a second parameter, the first parameter determined by a sum of an inclination of a longitudinal axis of the elongated portion and an amount of curvature of the changing unit on base coordinates, the first parameter related to an orientation of the imaging optical system on the base coordinates, the second parameter indicating an orientation of the imaging optical system as viewed from a coordinate of the observation object, and the unit or the arm based on the library data is controlled.

Abstract: An endoscope system includes: an endoscope acquiring a captured image; and a processor configured to: detect a region of interest in the captured image; select a portion of the captured image as a display area and generate an observation image from the display area; and cooperatively execute digital tracking processing and physical tracking processing. The digital tracking processing is processing in which a first target region in the display area is made to track the region of interest by changing a position of the display area in the captured image. The physical tracking processing is processing in which a second target region in the captured image is made to track the region of interest by moving a visual field of the endoscope. The processor is configured to stop the digital tracking processing when the first target region reaches the region of interest, and execute only the physical tracking processing thereafter.

Abstract: A holding device is a holding device that holds the medical device, and includes an arm configured to have a holder, which holds the medical device, at a distal end, a base configured to rotatably support the arm by a first joint, a disk attached to the arm, and a brake attached to the base and configured to press the disk, in which a distance between a center of rotation of the disk and a region where the brake presses the disk is changed depending on a rotation angle of the first joint.

Abstract: A surgery system includes: an imager capturing an image of a treatment target; a display having a screen displaying the image of the treatment target captured by the imager; and a processor configured to control a display area of the treatment target on the screen, wherein the processor is configure to: calculate a position of a resection end section of the treatment target on the basis of the image of the treatment target acquired by the imager; cause the display area of the treatment target to be moved to a position at which the resection end section is disposed at a prescribed reference position on the screen; calculate an orientation of a marking added to the treatment target on the screen; and cause the display area of the treatment target to be rotated to an orientation in which the marking is disposed in a prescribed reference orientation on the screen.

Abstract: A joint ring includes a main body part and a pair of protrusion parts protruding from a first surface of the main body part in a direction of a central axis thereof and having spherical surfaces on protruding portions. The main body part includes a pair of engagement holes and a pair of receiving holes. The protrusion parts include engagement parts which are configured to be capable of being inserted into the engagement holes. When the joint rings are arranged in the direction of the central axis and the protrusion parts of a first joint ring enter the receiving holes of a second joint ring, the spherical surfaces come into contact with receiving surfaces inside the receiving holes, and the first joint ring and the second joint ring become rotatable relative to each other with a line segment connecting centers of the respective spherical surfaces as a rotational center.

Abstract: A medical manipulator including an insertion portion, where the insertion section including a bending portion and an end effector disposed on a distal end side of the insertion portion. The medical manipulator further including an actuator configured to generate a first drive force for moving the bending portion; a lever configured to generate a second drive force for moving the bending portion, the lever being used to move the bending portion instead of the actuator; a wire configured to transmit the first drive force or the second drive force to the bending portion; and a transmission blocking device configured to switch from the first drive force to the second drive force.

Abstract: A medical device holding apparatus having a first arm with a holding portion to hold a medical device; a second arm connected to the rotatable first arm; a base connected to the rotatable second arm and having a support shaft standing in a vertical direction; and a first counterweight portion connected to the second arm, wherein the second arm has a fulcrum around which the second arm is rotatable, and the first counterweight has a slit being connected to the proximal end portion of the second arm for guiding the proximal end portion of the second arm when the second arm is rotated around the fulcrum; and a guide for moving the first counterweight in the vertical direction after the guide receives a force generated when the proximal end portion of the second arm is guided and moved in the slit.

Abstract: A holding device is a holding device that holds the medical device, and includes an arm configured to have a holder, which holds the medical device, at a distal end, a base configured to rotatably support the arm by a first joint, a disk attached to the arm, and a brake attached to the base and configured to press the disk, in which a distance between a center of rotation of the disk and a region where the brake presses the disk is changed depending on a rotation angle of the first joint.

Abstract: A medical system including a manipulator having a longitudinal portion with a proximal end and a distal end; a rotation driving unit connected to the longitudinal portion for rotating the proximal end; an uneven portion disposed on an outer circumference surface in the vicinity of the distal end and being along a helix; a bendable portion disposed at the distal end; a bending driving unit bending the bendable portion; a shape sensor unit detecting a bending amount and a bending direction of the bendable portion; a rotation angle sensor unit detecting a rotation angle and a rotation direction of the longitudinal portion; and a control unit controlling operations of the rotation driving unit and the bending driving unit, wherein the distal end and the uneven portion are rotatable about the longitudinal axis following the rotation of the proximal end when the proximal end is rotated by the rotation driving unit.

Abstract: A medical manipulator including an insertion portion, where the insertion section including a bending portion and an end effector disposed on a distal end side of the insertion portion. The medical manipulator further including an actuator configured to generate a first drive force for moving the bending portion; a lever configured to generate a second drive force for moving the bending portion, the lever being used to move the bending portion instead of the actuator; a wire configured to transmit the first drive force or the second drive force to the bending portion; and a transmission blocking device configured to switch from the first drive force to the second drive force.

Abstract: A medical manipulator including an insertion portion, where the insertion section including a bending portion and an end effector disposed on a distal end side of the insertion portion. The medical manipulator further including a motor configured to generate a first drive force for moving the bending portion; a lever configured to generate a second drive force for moving the bending portion, the lever being used to move the bending portion instead of the motor; a wire configured to transmit the first drive force or the second drive force to the bending portion; and a transmission blocking device configured to switch from the first drive force to the second drive force.

Abstract: A medical device holding apparatus having a first arm with a holding portion to hold a medical device; a second arm connected to the rotatable first arm; a base connected to the rotatable second arm and having a support shaft standing in a vertical direction; and a first counterweight portion connected to the second arm, wherein the second arm has a fulcrum around which the second arm is rotatable, and the first counterweight has a slit being connected to the proximal end portion of the second arm for guiding the proximal end portion of the second arm when the second arm is rotated around the fulcrum; and a guide for moving the first counterweight in the vertical direction after the guide receives a force generated when the proximal end portion of the second arm is guided and moved in the slit.

Abstract: The traction balance adjustment mechanism 1 includes a movable part 2 that goes into operation through at least one degree of freedom, wires 7 connected to the movable part 2, and a traction part 6 that pulls one of the wires 7 and pushes out the other, wherein the length of the one wire 7 pulled by the traction part 6 is longer than the length of the other wire 7 pushed out.

Abstract: An input mechanism includes a first pivoting section that is pivotable with a first axis as a rotational center, a second pivoting section that is pivotable with respect to the first pivoting section with a second axis crossing the first axis, a first link fixed to the first pivoting section and connected to the second pivoting section such that the second pivoting section is pivotable with the second axis, a second link fixed to the second pivoting section, an advance/retreat input section connected to the second link and thereby enable an advance/retreat operation along a third axis passing through an intersection between the first axis and the second axis as an advance/retreat axis, and a sensor unit configured to determine a rotation angle of the first axis, a rotation angle of the second axis and an advance/retreat movement distance of the advance/retreat input section.

Abstract: A medical system including a manipulator having a longitudinal portion with a proximal end and a distal end; a rotation driving unit connected to the longitudinal portion for rotating the proximal end; an uneven portion disposed on an outer circumference surface in the vicinity of the distal end and being along a helix; a bendable portion disposed at the distal end; a bending driving unit bending the bendable portion; a shape sensor unit detecting a bending amount and a bending direction of the bendable portion; a rotation angle sensor unit detecting a rotation angle and a rotation direction of the longitudinal portion; and a control unit controlling operations of the rotation driving unit and the bending driving unit, wherein the distal end and the uneven portion are rotatable about the longitudinal axis following the rotation of the proximal end when the proximal end is rotated by the rotation driving unit.

Abstract: A trocar including a distal-end tube portion that is disposed inside the body and has a first inner hole through which a medical device can be inserted; a proximal-end tube portion that is disposed outside the body and is connected to the distal-end tube portion, the proximal-end tube portion having a second inner hole that communicates with the first inner hole and has an axis which can be disposed in a direction not parallel to an axis of the first inner hole; and a movement facilitating portion that is disposed on at least one of the inner surface of the first inner hole and the inner surface of the second inner hole to facilitate the movement of the medical device inside the inner hole.

Abstract: A joint ring includes a main body part and a pair of protrusion parts protruding from a first surface of the main body part in a direction of a central axis thereof and having spherical surfaces on protruding portions. The main body part includes a pair of engagement holes and a pair of receiving holes. The protrusion parts include engagement parts which are configured to be capable of being inserted into the engagement holes. When the joint rings are arranged in the direction of the central axis and the protrusion parts of a first joint ring enter the receiving holes of a second joint ring, the spherical surfaces come into contact with receiving surfaces inside the receiving holes, and the first joint ring and the second joint ring become rotatable relative to each other with a line segment connecting centers of the respective spherical surfaces as a rotational center.

Abstract: A medical manipulator including an insertion portion, where the insertion section including a bending portion and an end effector disposed on a distal end side of the insertion portion. The medical manipulator further including a motor configured to generate a first drive force for moving the bending portion; a lever configured to generate a second drive force for moving the bending portion, the lever being used to move the bending portion instead of the motor; a wire configured to transmit the first drive force or the second drive force to the bending portion; and a transmission blocking device configured to switch from the first drive force to the second drive force.

Abstract: An endoscope system includes: an endoscope having an image-acquisition optical system at a distal end of an elongated insertion portion; a trocar attached to a body surface so as to penetrate the body surface and having a through-hole though which the portion is made to pass; a rotation sensor provided on the trocar and detecting an amount of rotation of the portion about a longitudinal axis, the portion being located in the through-hole in a passing-through state; a sign disposed at a position where it can be imaged by the image-acquisition optical system when the portion is inserted into the trocar and with which the position in a circumferential direction of the through-hole can be identified; and an detecting unit detecting a relative angle between the portion and the through-hole at the time of insertion on the basis of the sign in an image acquired by the image-acquisition optical system.