Abstract: A surgery assisting device that includes one or more joint portions and that holds a surgical instrument, and a computing device that obtains angle information of a joint portion of the one or more joint portions in a state in which a distal end of the surgical instrument is positioned at a predetermined position and determines a length of the surgical instrument based on the angle information.

Abstract: A surgery-assisting device includes a robot arm that includes plural movable bodies that are operably connected in order in a connecting direction, a surgical instrument connected to a distal end of the robot arm, and one or more actuators that generate a driving force that operates one or more of the movable bodies. The movable bodies include one or more distal-side movable bodies that is provided distally in the connection direction, and one or more proximal-side movable bodies that is provided proximally in the connection direction. An operation tolerance of the one or more distal-side movable bodies is higher than an operation tolerance of the one or more proximal-side movable bodies.

Abstract: A surgical robot includes an operation part that includes a movable part moved by a force applied by an operation by a user, an action part that performs an action according to the operation, a drive part that supplies a driving force to the action part, an operation controller that controls a movement of the movable part, and a controller that implements an operation force setter that sets a magnitude of a resistance force that is a force in a direction opposite to a direction of the movement of the movable part. The operation force setter sets the magnitude of the resistance force based on a resistance parameter set in advance, and the operation controller applies, to the movable part, the resistance force having the magnitude set by the operation force setter.

Abstract: A surgical robot includes a robot arm, an operation device that is operated by a user to perform an operation of the robot arm, an actuator that supplies a driving force to the robot arm, and hardware control logic or a processor that sets a magnitude of an operation reaction force a direction opposite to an operation direction of the operation device, and applies the operation reaction force having the magnitude set by the reaction force setter to the operation device. The magnitude of the operation reaction force is set based on change information about a change in the driving force supplied by the actuator and based on a conversion coefficient.

Abstract: A surgical robot for use in endoscopic surgery includes an arm device that holds a surgical instrument used in endoscopic surgery, a drive device that drives the arm device, a display section, and a display processor that displays, on the display section, a relative positional relationship between a trocar site and a distal end position of the surgical instrument.

Abstract: A surgical robot for use in endoscopic surgery includes a control device that implements a position information calculator that calculates information relating to a distal end position of the treatment instrument used in endoscopic surgery, and information relating to a distal end position of an endoscope, a first display section that displays a relative positional relationship between the distal end of the treatment instrument and the distal end of the endoscope by using a calculation result obtained from the position information calculator, and a second display section that displays an image captured by the endoscope.

Abstract: A surgical robot includes an operating section that receives a pressure from a gas, a pressure generating device that generates the pressure, a pressure detector that detects a pressure supplied from the pressure generating device to the operating section, and a control device configured to implement an operation diagnosis device that makes a determination, using the pressure detected by the pressure detector, whether the operating section is operable, and that notifies a result of the determination.

Abstract: An arithmetic processing unit 40 estimates a possible existence region of a specific state quantity by performing polyhedron projection processing for finding a projection region obtained by projecting a convex polyhedron to a subspace representing the specific state quantity, where the convex polyhedron is within a space configured with the contact reaction forces of a plurality of contacting portions (13, 23) of a mobile robot 1 and the specific state quantity as variable components and where the convex polyhedron is specified by a mechanical relation between the contact reaction forces and the specific state quantity and by a linear inequality representing a contact reaction force constraint condition.

Abstract: An arm link (30) is rotatably coupled to an upper base body (10) around a yaw axis through a shoulder joint mechanism (31). A fulcrum P of rotation of the arm link (30) is located within a range of widths of the upper base body (10) in a vertical direction and a horizontal direction of the upper base body (10).

Abstract: A displacement manipulated variable determination section 53 in a control device 40 for a mobile robot 1 determines, for each of contacting portions 13, 23 of a plurality of movable links 3, 4, a displacement manipulated variable for making a desired position and/or posture of the contacting portion 13 or 23 displaced, by integrating, under a predetermined condition, a deviation between an observed value of an actual contact reaction force acting from an external object and a desired value thereof. The control device 40 controls an actuator 41 that drives a corresponding joint, in accordance with the displacement manipulated variable determined and a reference operational goal for the mobile robot 1.

Abstract: A control device 40 for a mobile robot 1 converts a moment manipulated variable ??_dmd determined in accordance with a deviation between a desired value and an observed value of a predetermined state quantity of the mobile robot 1 to a rotation manipulated variable ??? by which contacting portions 13, 23 of a plurality of movable links 3, 4 to be brought into contact with an external object are to be rotated about a desired ZMP, and corrects a desired position/posture of each contacting portion 13, 23 to a position/posture rotated about the desired ZMP by the rotation manipulated variable ???.

Abstract: An arithmetic processing unit 40 estimates a possible existence region of a specific state quantity by performing polyhedron projection processing for finding a projection region obtained by projecting a convex polyhedron to a subspace representing the specific state quantity, where the convex polyhedron is within a space configured with the contact reaction forces of a plurality of contacting portions (13, 23) of a mobile robot 1 and the specific state quantity as variable components and where the convex polyhedron is specified by a mechanical relation between the contact reaction forces and the specific state quantity and by a linear inequality representing a contact reaction force constraint condition.

Abstract: A controller 40 for a mobile robot 1 estimates, in a climbing up or down motion of the robot 1, the difference between the actual position and attitude of a distal end portion 13 of a to-be-supported movable link 3 that has been supported by a structure A and the desired position and attitude thereof, and determines a motion target of the robot 1 such that at least either the desired relative position/attitude of the distal end portion 13 of the to-be-supported movable link 3 with respect to a base body 2 or the desired support position/attitude of the distal end portion 13 of a to-be-moved movable link 3, which is to be moved, is adjusted according to the estimated value of the difference.

Abstract: A displacement manipulated variable determination section 53 in a control device 40 for a mobile robot 1 determines, for each of contacting portions 13, 23 of a plurality of movable links 3, 4, a displacement manipulated variable for making a desired position and/or posture of the contacting portion 13 or 23 displaced, by integrating, under a predetermined condition, a deviation between an observed value of an actual contact reaction force acting from an external object and a desired value thereof. The control device 40 controls an actuator 41 that drives a corresponding joint, in accordance with the displacement manipulated variable determined and a reference operational goal for the mobile robot 1.

Abstract: A control device 40 for a mobile robot 1 converts a moment manipulated variable ??_dmd determined in accordance with a deviation between a desired value and an observed value of a predetermined state quantity of the mobile robot 1 to a rotation manipulated variable ??? by which contacting portions 13, 23 of a plurality of movable links 3, 4 to be brought into contact with an external object are to be rotated about a desired ZMP, and corrects a desired position/posture of each contacting portion 13, 23 to a position/posture rotated about the desired ZMP by the rotation manipulated variable ???.

Abstract: A motion target generating apparatus calculates the time series of motion accelerations of a base body 2 and the distal end portion of each of movable links 3 and 4 of a robot 1 at a plurality of times after a current time such that the value of a predetermined evaluation function is minimized in a range in which a joint motion constraint condition of each of the movable links 3 and 4 of the robot 1 is satisfied. Based on the calculated values of the motion accelerations at an initial time, new desired motion accelerations of the base body 2 and the distal end portion of each of the movable links 3 and 4 are determined. The desired value for controlling each joint of the robot 1 is determined on the basis of the desired motion accelerations.

Abstract: An arm link (30) is rotatably coupled to an upper base body (10) around a yaw axis through a shoulder joint mechanism (31). A fulcrum P of rotation of the arm link (30) is located within a range of widths of the upper base body (10) in a vertical direction and a horizontal direction of the upper base body (10).

Abstract: A controller 40 for a mobile robot 1 estimates, in a climbing up or down motion of the robot 1, the difference between the actual position and attitude of a distal end portion 13 of a to-be-supported movable link 3 that has been supported by a structure A and the desired position and attitude thereof, and determines a motion target of the robot 1 such that at least either the desired relative position/attitude of the distal end portion 13 of the to-be-supported movable link 3 with respect to a base body 2 or the desired support position/attitude of the distal end portion 13 of a to-be-moved movable link 3, which is to be moved, is adjusted according to the estimated value of the difference.

Abstract: A motion target generating apparatus calculates the time series of motion accelerations of a base body 2 and the distal end portion of each of movable links 3 and 4 of a robot 1 at a plurality of times after a current time such that the value of a predetermined evaluation function is minimized in a range in which a joint motion constraint condition of each of the movable links 3 and 4 of the robot 1 is satisfied. Based on the calculated values of the motion accelerations at an initial time, new desired motion accelerations of the base body 2 and the distal end portion of each of the movable links 3 and 4 are determined. The desired value for controlling each joint of the robot 1 is determined on the basis of the desired motion accelerations.

Abstract: A gait generating device 32 includes a desired particular-site motion velocity value determining unit 45 that uses a quadratic evaluation function having a particular-site motion velocity vector ?Vb as a variable and a linear matrix inequality having ?Vb as a variable to sequentially determine, as a desired value ?Vb_cmd2 of ?Vb, a value of ?Vb that can minimize the value of the evaluation function within a range in which a restriction condition that the linear matrix inequality holds is satisfied, by arithmetic processing according to a solution method for a quadratic programming problem. The device then integrates ?Vb_cmd2 to sequentially determine desired values of the position and posture of the particular site (the body) 2 of the robot 1. The linear matrix inequality is set to satisfy a condition restricting the operations of the joints between the particular site 2 and the distal portion of each leg link 3.