Abstract: A medical robot system includes a plurality of robot arms, a surgeon operation portion, and a controller. When an instruction to operate one of the robot arms and a medical instrument attached thereto is received, for each of the robot arms and each of medical instruments attached thereto, the controller is configured to set an inclusion area encompassing the robot arm and a portion on a side closer to the robot arm with respect to a shaft portion, and does not set an inclusion area encompassing the shaft portion and a portion on a distal end side with respect to the shaft portion, and the controller is configured to determine whether the inclusion area after moving the inclusion area corresponding to the one of the robot arms and the medical instrument attached thereto interferes with the inclusion areas corresponding to the remaining robot arms and the medical instruments attached thereto.

Abstract: A surgery supporting apparatus is capable of controlling a posture of a surgical instrument that is inserted into a body cavity and mechanically drivable. The apparatus includes a robot arm that can control the posture of the surgical instrument, which is attached to the robot arm via a gimbal mechanism.

Abstract: A washing nozzle for washing a manipulator includes: a nozzle main body having a distal end portion insertable into an opening of the manipulator, a first distal end opening provided on the distal end portion, and a proximal end portion having a first proximal end opening and a second proximal end opening that are connectable with an external instrument. A first flow passage is formed inside the nozzle main body having a distal end communicating with the first distal end opening and a proximal end communicating with the first proximal end opening. A second flow passage is formed inside the nozzle main body having a cross-sectional area smaller than that of the first flow passage. A second distal end opening communicates with a distal end of the second flow passage.

Abstract: A manipulator attachable to and detachable from a medical device includes: a manipulator main body having a distal end portion attached to an end effector and a proximal end portion connectable to the medical device; and a mechanical counter mechanism disposed on the manipulator main body. The counter mechanism shifts from a first state to a second state by a first operation for the counter mechanism and shifts from the second state to the first state by a second operation for the counter mechanism, and counts each shift from the second state to the first state by the second operation.

Abstract: A manipulator assisting device includes a manipulator assisting device main body connectable to a proximal end portion of a manipulator with the proximal end portion attachable to and detachable from a medical device, the manipulator having a driven gear that engages with a gear in the medical device when connected to the medical device, and an end effector that operates by a power transmitted from the driven gear. The manipulator assisting device main body includes an assisting gear that engages with the driven gear when the manipulator assisting device main body is connected to the manipulator, a handle that transmits a drive force to the assisting gear, and a main body portion attached to the assisting gear and the handle.

Abstract: A passive joint device for supporting a rotation-side member rotatably about a horizontal axis in a vertical direction with respect to a fixed-side member, includes: a cylindrical cam member having a pair of cam surfaces symmetrically arranged about a horizontal axis, a pedestal slidably disposed along the horizontal axis fixed to the rotation-side member, the pedestal having a pair of cam followers that contact with each of the pair of cam surfaces, a spring disposed inside the horizontal axis and biasing the pedestal toward the fixed-side member along the horizontal axis, wherein the spring force causes the pair of cam followers to come into contact with the pair of cam surfaces, and provide upward rotational force to the rotation-side member to reduce the downward rotational force of the rotation-side member.

Abstract: A surgery supporting apparatus is capable of controlling a posture of a surgical instrument that is inserted into a body cavity and mechanically drivable. The apparatus includes a robot arm that can control the posture of the surgical instrument, which is attached to the robot arm via a gimbal mechanism.

Abstract: A surgery supporting apparatus capable of performing a manipulation using a surgical instrument to be inserted into a body cavity, comprises a measurement device configured to measure an insertion depth and an insertion angle, with respect to the body cavity, of a shaft of the surgical instrument inserted into the body cavity, as input of the manipulation, wherein the measurement device measures the insertion depth by measuring a sound wave propagating in a space between a transmitter attached to one of the surgical instrument and a position within a predetermined range from a position of insertion to the body cavity, and a receiver attached to the other.

Abstract: A surgery supporting apparatus is capable of controlling a posture of a first surgical instrument that is inserted into a body cavity and mechanically drivable, by using a second surgical instrument to be inserted into the body cavity. The apparatus comprises a robot arm configured to control the posture of the first surgical instrument attached to the robot arm. Instructions stored in a memory cause the apparatus to function as a control unit configured to control the motion of the robot arm such that the posture of the first surgical instrument is controlled in accordance with the posture of the second surgical instrument, in a case of a first mode, and controls the motion of the robot arm in accordance with a manipulation including contact to the robot arm, in a case of a second mode.

Abstract: A surgery assisting apparatus for controlling a posture of a first surgical tool to be inserted into a body cavity and mechanically driven, by using a second surgical tool to be inserted into the body cavity, comprises: a mode switch configured to switch a first mode and a second mode, the second surgical tool being used to control the first surgical tool in the second mode; one or more sensors configured to measure an angle and depth of insertion of a shaft of the second surgical tool into the body cavity; and at least one memory and at least one processor which function as a computing unit configured to determine a target position of a control point that is a point for specifying the posture of the first surgical tool in order to control the posture of the first surgical tool.

Abstract: A passive joint device for supporting a rotation-side member rotatably about a horizontal axis in a vertical direction with respect to a fixed-side member, includes: a cylindrical cam member having a pair of cam surfaces symmetrically arranged about a horizontal axis, a pedestal slidably disposed along the horizontal axis fixed to the rotation-side member, the pedestal having a pair of cam followers that contact with each of the pair of cam surfaces, a spring disposed inside the horizontal axis and biasing the pedestal toward the fixed-side member along the horizontal axis, wherein the spring force causes the pair of cam followers to come into contact with the pair of cam surfaces, and provide upward rotational force to the rotation-side member to reduce the downward rotational force of the rotation-side member.

Abstract: An apparatus, method, and medium for controlling a progress of a video game are provided. A user interface element of the video game is displayed on a display screen. The user interface element is displayed with transparency determined during the progress of the video game. An operation to the user interface element displayed on the display screen is received regardless of the transparency. The progress of the video game is controlled in accordance with the operation to the user interface element displayed on the display screen.

Abstract: A surgery assisting apparatus comprises: a distance measuring unit configured to measure a distance to an object in a body cavity; a hollow tube including a cylindrical portion to be partially inserted into the body cavity and a portion that performs distance measurement by the distance measuring unit, the hollow tube enabling distance measurement in a given position on a circumference at a predetermined distance from a major axis of the cylindrical portion; and a controller configured to control the position on the circumference around the major axis where the distance measuring unit performs distance measurement, such that approach of a medical instrument inserted into the body cavity to the object is sensed, wherein the controller controls the position on the circumference around the major axis in accordance with an advancing direction of a distal end of the medical instrument.

Abstract: An apparatus, method, and medium for controlling a progress of a video game are provided. A user interface element of the video game is displayed on a display screen. The user interface element is displayed with transparency determined during the progress of the video game. An operation to the user interface element displayed on the display screen is received regardless of the transparency. The progress of the video game is controlled in accordance with the operation to the user interface element displayed on the display screen.

Abstract: A surgery assisting apparatus comprises: a distance measuring unit configured to measure a distance to an object in a body cavity; a hollow tube including a cylindrical portion to be partially inserted into the body cavity and a portion that performs distance measurement by the distance measuring unit, the hollow tube enabling distance measurement in a given position on a circumference at a predetermined distance from a major axis of the cylindrical portion; and a controller configured to control the position on the circumference around the major axis where the distance measuring unit performs distance measurement, such that approach of a medical instrument inserted into the body cavity to the object is sensed, wherein the controller controls the position on the circumference around the major axis in accordance with an advancing direction of a distal end of the medical instrument.

Abstract: A surgery supporting apparatus is capable of controlling a posture of a first surgical instrument that is inserted into a body cavity and mechanically drivable, by using a second surgical instrument to be inserted into the body cavity. The apparatus comprises a robot arm configured to control the posture of the first surgical instrument attached to the robot arm. Instructions stored in a memory cause the apparatus to function as a control unit configured to control the motion of the robot arm such that the posture of the first surgical instrument is controlled in accordance with the posture of the second surgical instrument, in a case of a first mode, and controls the motion of the robot arm in accordance with a manipulation including contact to the robot arm, in a case of a second mode.

Abstract: A surgery supporting apparatus capable of performing a manipulation using a surgical instrument to be inserted into a body cavity, comprises a measurement device configured to measure an insertion depth and an insertion angle, with respect to the body cavity, of a shaft of the surgical instrument inserted into the body cavity, as input of the manipulation, wherein the measurement device measures the insertion depth by measuring a sound wave propagating in a space between a transmitter attached to one of the surgical instrument and a position within a predetermined range from a position of insertion to the body cavity, and a receiver attached to the other.

Abstract: A surgery assisting apparatus for controlling a posture of a first surgical tool to be inserted into a body cavity and mechanically driven, by using a second surgical tool to be inserted into the body cavity, comprises: a mode switch configured to switch a first mode and a second mode, the second surgical tool being used to control the first surgical tool in the second mode; one or more sensors configured to measure an angle and depth of insertion of a shaft of the second surgical tool into the body cavity; and at least one memory and at least one processor which function as a computing unit configured to determine a target position of a control point that is a point for specifying the posture of the first surgical tool in order to control the posture of the first surgical tool.

Abstract: The present invention provides a game apparatus in which the variation width of a computation result in a battle between a player character and an enemy character is increased, and a difference in result can be brought about even with the same attack by a player's operation, and furthermore, a player can play a game while he/she feels the sense of realism and tension where he/she manipulates the character that is difficult to manipulate as intended. A chain used by a main character to manipulate a dragon is displayed on a display screen. A player manipulates the dragon by loosening or tightening the chain by performing an operation on a touch panel. The control level of the dragon is represented by an uncontrollability parameter. A status such as the offensive power of the dragon changes according to the uncontrollability parameter.

Abstract: An apparatus, method, and medium for controlling a progress of a video game are provided. A user interface element of the video game is displayed on a display screen. The user interface element is displayed with transparency determined during the progress of the video game. An operation to the user interface element displayed on the display screen is received regardless of the transparency. The progress of the video game is controlled in accordance with the operation to the user interface element displayed on the display screen.