Abstract: The introduction pipe is extend from an inlet port to the inside of the chamber body, and has, as an end opening thereof, a discharge port provided in the inner circumferential surface of the chamber body so as to be directed toward the circumferential direction. The inner circumferential surface of the chamber body is provided so as to spirally extend, along the circumferential direction, from a discharge point at which the discharge port is disposed, to a connection point at which the outer circumferential surface of the introduction pipe is connected to the inner circumferential surface of the chamber body. The inner circumferential surface is formed such that a second radius connecting the connection point to the center axis of the chamber body is shorter than a first radius connecting the discharge point to the center axis of the chamber body.

Abstract: An air trap chamber is provided with a chamber body and a filter. An introduction pipe of the chamber body is provided so as to extend to the inside of the chamber body, and an inlet port which is an end opening of the introduction pipe is provided, on the inner circumferential surface of the chamber body, so as to be directed toward the circumferential direction. The filter is provided inside the chamber body, and covers an outlet port of the chamber body. Openings are formed, at multiple stages along the center axis direction, in the cylindrical portion of the filter. An opening at an upper stage on the ceiling portion side of the filter has a circumferential width greater than that of an opening at a lower stage on the outlet port side.

Abstract: Microbubbles detached from a blood circuit and a blood purification unit are discharged with the use of a backflow generated at the instant that a roller of a blood pump releases a squeezable tube. In a normal rotation step, a region filled with a priming solution after a priming step is closed by a closing unit, and a rotor of a blood pump is rotated normally until a roller of the blood pump releases a squeezable tube to generate a backflow. After the backflow is generated at the release of the squeezable tube by the roller of the blood pump, bubbles are moved by reversely rotating the rotor while disabling the closing by the closing unit. Thus, the bubbles are discharged through a discharge unit.

Abstract: An extracorporeal circulation apparatus including a blood circuit including an arterial blood circuit and a venous blood circuit whose proximal ends are connected to a blood purifier, the blood circuit allowing a patient's blood to extracorporeally circulate from a distal end of the arterial blood circuit to a distal end of the venous blood circuit; a discharge unit through which a priming solution supplied into the blood circuit is discharged to an outside; a negative-pressure-generating unit that generates a negative pressure in a region of the blood circuit, the region being filled with the priming solution; and a control unit that controls the negative-pressure-generating unit.

Abstract: The present teachings provide an attaching member to be attached to a blood purification apparatus including peristaltic pumps, the attaching member holding pump tubes to be squeezed in a predetermined direction by the respective peristaltic pumps for liquid delivery. The attaching member includes a body attachable to a predetermined position of the blood purification apparatus, and holding portions attached to the body and that hold the pump tubes. The holding portions are attached to edge portions on two opposite sides of the body, and flexible tubes that each allow liquid to flow through are to be placed in a central portion of the body, the central portion being positioned between the holding portion on one of the edge portions and the holding portion on the other of the edge portions.

Abstract: An attaching member to be attached to a blood purification apparatus including peristaltic pumps, the attaching member holding pump tubes to be squeezed in a predetermined direction by the respective peristaltic pumps for liquid delivery. The attaching member includes a body attachable to a predetermined position of the blood purification apparatus, and a holding portion attached to the body and that holds the pump tubes. The body has openings through which flexible tubes that each allow liquid to flow through are allowed to pass, and the flexible tubes are securable by being passed through the openings.

Abstract: The present teachings provide an attaching member that holds a flexible tube through which liquid related to blood purification treatment is made to flow. The attaching member is attached to a blood purification apparatus and includes an anchor portion defined by a slit in such a manner as to be separated from an other portion and to be foldable, the anchor portion being capable of anchoring the flexible tube when folded to be raised from the other portion.

Abstract: The introduction pipe is extend from an inlet port to the inside of the chamber body, and has, as an end opening thereof, a discharge port provided in the inner circumferential surface of the chamber body so as to be directed toward the circumferential direction. The inner circumferential surface of the chamber body is provided so as to spirally extend, along the circumferential direction, from a discharge point at which the discharge port is disposed, to a connection point at which the outer circumferential surface of the introduction pipe is connected to the inner circumferential surface of the chamber body. The inner circumferential surface is formed such that a second radius connecting the connection point to the center axis of the chamber body is shorter than a first radius connecting the discharge point to the center axis of the chamber body.

Abstract: An air trap chamber is provided with a cap and a housing. The cap has an inlet port provided at one end, and has, at another end, a first connection flange provided so as to have an inner circumferential surface. An opening axis of the inlet port is set so as to be off a center axis of the inner peripheral surface. The housing has, at one end, a second connection flange provided so as to have an outer circumferential surface which is mated to the inner circumferential surface, and has an outlet port provided at another end. An opening axis of the outlet port is set so as to be off the center axis of the outer circumferential surface. Moreover, parting lines which are positioning structures are provided on the cap and the housing, respectively.

Abstract: A chamber body is provided, as regions where the liquid flows, with: an upper region including an area from the inner surface of the upper wall to the introduction pipe; a lower region connected to the outlet port; and a connection region connecting the upper region and the lower region. The inner circumferential surface of the upper region has a larger diameter than the inner circumferential surface of the lower region. As a result of diameter reduction from the connection portion relative to the upper region to the connection portion relative to the lower region, an inclined surface is formed on the inner circumferential surface of the connection region.

Abstract: An air trap chamber is provided with a chamber body and a filter. An introduction pipe of the chamber body is provided so as to extend to the inside of the chamber body , and an inlet port which is an end opening of the introduction pipe is provided, on the inner circumferential surface of the chamber body, so as to be directed toward the circumferential direction. The filter is provided inside the chamber body, and covers an outlet port of the chamber body. Openings are formed, at multiple stages along the center axis direction, in the cylindrical portion of the filter. An opening at an upper stage on the ceiling portion side of the filter has a circumferential width greater than that of an opening at a lower stage on the outlet port side.

Abstract: Microbubbles detached from a blood circuit and a blood purification unit are discharged with the use of a backflow generated at the instant that a roller of a blood pump releases a squeezable tube. In a normal rotation step, a region filled with a priming solution after a priming step is closed by a closing unit, and a rotor of a blood pump is rotated normally until a roller of the blood pump releases a squeezable tube to generate a backflow. After the backflow is generated at the release of the squeezable tube by the roller of the blood pump, bubbles are moved by reversely rotating the rotor while disabling the closing by the closing unit. Thus, the bubbles are discharged through a discharge unit.

Abstract: An extracorporeal circulation apparatus including a blood circuit including an arterial blood circuit and a venous blood circuit whose proximal ends are connected to a blood purifier, the blood circuit allowing a patient's blood to extracorporeally circulate from a distal end of the arterial blood circuit to a distal end of the venous blood circuit; a discharge unit through which a priming solution supplied into the blood circuit is discharged to an outside; a negative-pressure-generating unit that generates a negative pressure in a region of the blood circuit, the region being filled with the priming solution; and a control unit that controls the negative-pressure-generating unit.

Abstract: Feedback control is carried out on respective servomotors so that detection angles detected by respective input-side encoders become target angles to be obtained when a leading end of a robot has moved to a positioning completion position of a first motion. Subsequently, the position of the leading end of the robot is obtained on the basis of the detection angles detected by the respective output-side encoders. The time from a time point at which the detection angles detected by the input-side encoders are brought to the target angles through the feedback control to a time point at which a vibration width of the calculated position of the leading end of the robot relative to the positioning completion position converges within a convergence range is obtained. The obtained time is set in the stopping duration of the robot.

Abstract: The present invention enables to easily and accurately measure a joint of a robot apparatus, in particular, a lost motion of a driving system of the joint, and, to easily and accurately perform a diagnosis of a lifetime or a life expectancy of a joint mechanism of the robot apparatus based on a measured result.

Abstract: Feedback control is carried out on respective servomotors so that detection angles detected by respective input-side encoders become target angles to be obtained when a leading end of a robot has moved to a positioning completion position of a first motion. Subsequently, the position of the leading end of the robot is obtained on the basis of the detection angles detected by the respective output-side encoders. The time from a time point at which the detection angles detected by the input-side encoders are brought to the target angles through the feedback control to a time point at which a vibration width of the calculated position of the leading end of the robot relative to the positioning completion position converges within a convergence range is obtained. The obtained time is set in the stopping duration of the robot.

Abstract: Semi-closed control or fully closed control is selected as a control system for a joint using a motor configured to drive a joint of a robot arm via a reduction gear, an input-side encoder, and an output-side encoder, the semi-closed control being control in which an output of the input-side encoder is used, the fully closed control being control in which an output of the output-side encoder is used. A test run is performed plural times in which the robot arm is caused to perform a specific operation while semi-closed control is being performed on the joint, and semi-closed control or fully closed control is selected using outputs of the output-side encoder obtained in the test runs or in accordance with the content of a task that the robot arm is to be caused to perform.

Abstract: Feedback control is carried out on respective servomotors so that detection angles detected by respective input-side encoders become target angles to be obtained when a leading end of a robot has moved to a positioning completion position of a first motion. Subsequently, the position of the leading end of the robot is obtained on the basis of the detection angles detected by the respective output-side encoders. The time from a time point at which the detection angles detected by the input-side encoders are brought to the target angles through the feedback control to a time point at which a vibration width of the calculated position of the leading end of the robot relative to the positioning completion position converges within a convergence range is obtained. The obtained time is set in the stopping duration of the robot.

Abstract: The present invention enables to easily and accurately measure a joint of a robot apparatus, in particular, a lost motion of a driving system of the joint, and, to easily and accurately perform a diagnosis of a lifetime or a life expectancy of a joint mechanism of the robot apparatus based on a measured result.

Abstract: A robot apparatus includes a multi-joint robot including, in at least one portion, a joint including a motor, a speed reducer connected to the motor, an input angle detecting unit configured to detect a rotational angle of a rotating shaft of the motor, and an output angle detecting unit configured to detect an output rotational angle of the speed reducer, and a controller configured to diagnose a state of the speed reducer from an angle difference between the input rotational angle detected by the input angle detecting unit and the output rotational angle detected by the output angle detecting unit.