Abstract: A controller changes a position and/or orientation of a treatment head by controlling an operation of a robot arm according to an external input. A probe driver changes a projection amount of a diagnostic probe with respect to an irradiator. Further, the controller performs synchronous control to synchronize the probe driver and the robot arm with each other so that the relative position between the irradiator and the distal end of the diagnostic probe changes while holding the distal end position of the diagnostic probe.

Abstract: A control apparatus detects a misalignment between an irradiation position of a transdermal treatment device and a target irradiation position. When the misalignment is detected, the control unit stops irradiation of the transdermal treatment device or moves the irradiation position closer to the target irradiation position.

Abstract: A calibration operation support device is applied to a system including an industrial camera and a display device displaying a predetermined image that is an image of a predetermined area being captured by the industrial camera, and includes a processing device configured to perform a calibration of the industrial camera based on captured images that are obtained by capturing a calibration pattern by the industrial camera. The processing device is further configured to instruct the display device to display positions of the calibration patterns in the captured images acquired as images to be used for the calibration in a manner superimposed on the predetermined image.

Abstract: A calibration operation support device is applied to a system including an industrial camera and a display device displaying a predetermined image that is an image of a predetermined area being captured by the industrial camera, and includes a processing device configured to perform a calibration of the industrial camera based on captured images that are obtained by capturing a calibration pattern by the industrial camera. The processing device is further configured to instruct the display device to display positions of the calibration patterns in the captured images acquired as images to be used for the calibration in a manner superimposed on the predetermined image.

Abstract: A controller changes a position and/or orientation of a treatment head by controlling an operation of a robot arm according to an external input. A probe driver changes a projection amount of a diagnostic probe with respect to an irradiator. Further, the controller performs synchronous control to synchronize the probe driver and the robot arm with each other so that the relative position between the irradiator and the distal end of the diagnostic probe changes while holding the distal end position of the diagnostic probe.

Abstract: A control apparatus detects a misalignment between an irradiation position of a transdermal treatment device and a target irradiation position. When the misalignment is detected, the control unit stops irradiation of the transdermal treatment device or moves the irradiation position closer to the target irradiation position.

Abstract: A robot device includes an arm, a force sensor, and an adjustment portion. The force sensor is provided at a front end portion of the arm and has a force detecting portion that detects an externally exerted force. The adjustment portion performs a zero point adjustment by setting a reference point of the force detected by the force sensor based on a detection result by the force sensor. The detection result is obtained when the force detecting portion of the force sensor is in a protected condition. The protected condition is a condition in which no load is applied on the force detecting portion of the force sensor. According to this robot device, a technology for accurately setting the reference point of the force detected by the force sensor can be provided.

Abstract: A medical treatment assisting apparatus includes a multi-joint robot, a position specification unit, an abnormality determination unit, and a control unit. The multi-joint robot has a multi-joint arm in which a plurality of arms are connected through a joint. The position specification unit specifies a treatment position that is the position of a portion of a patient to be subjected to a medical treatment in a real space. The abnormality determination unit determines whether or not a state of the treatment position based on the displacement of the treatment position specified by the position specification unit is in an abnormal state, which is predefined to indicate an abnormality. The control unit performs a safety control which increases the safety of the medical treatment when a determination result of the abnormality determination unit indicates that the state of the treatment position is in the abnormal state.

Abstract: A medical support device includes an arm having a drill attached at a tip part of the arm, a first position obtainer obtaining a representative position of the drill attached to the arm, a second position obtainer obtaining a bury start position, and a controller. The controller controls the arm and applies a burying reaction force to the drill in a burying direction, i.e., a direction from the bury start position to an inside of a implant area, when the representative position of the drill obtained by the first position obtainer is at the inside of the implant area relative to the bury start position.

Abstract: A medical support device includes an arm having a drill attached at a tip part of the arm, a first position obtainer obtaining a representative position of the drill attached to the arm, a second position obtainer obtaining a bury start position, and a controller. The controller controls the arm and applies a burying reaction force to the drill in a burying direction, i.e., a direction from the bury start position to an inside of a implant area, when the representative position of the drill obtained by the first position obtainer is at the inside of the implant area relative to the bury start position.

Abstract: A robot device includes an arm, a force sensor, and an adjustment portion. The force sensor is provided at a front end portion of the arm and has a force detecting portion that detects an externally exerted force. The adjustment portion performs a zero point adjustment by setting a reference point of the force detected by the force sensor based on a detection result by the force sensor. The detection result is obtained when the force detecting portion of the force sensor is in a protected condition. The protected condition is a condition in which no load is applied on the force detecting portion of the force sensor. According to this robot device, a technology for accurately setting the reference point of the force detected by the force sensor can be provided.

Abstract: In an apparatus, a coordinate obtaining unit drives a robot to move a camera opposing a workpiece in a first direction such that the workpiece is captured in an FOV of the camera. The coordinate obtaining unit obtains second and third coordinates of a preset point of the robot arm in respective second and third axes of a three-dimensional coordinate system with the workpiece being captured in the FOV. The first, second, and third coordinates are defined as coordinates of a temporally defined reference point of the workpiece in the three-dimensional coordinate system. A pose determining unit drives, at a given timing, the robot arm to determine a pose of the preset point based on a positional relationship between the first, second, and third coordinates of the temporally defined reference point of the workpiece and actual coordinates of the preset point of the robot arm.

Abstract: In a system, a first closed region specifying unit specifies a first closed region on a screen for enclosing an imaged obstacle in a first image, and a first projection area determining unit determines a first virtual projection area by extending a first closed region in a first orientation. A second closed region specifying unit specifies a second closed region on the screen. The second closed region encloses the imaged obstacle in the second image. A second projection area determining unit determines a second virtual projection area by extending the second closed region in a second orientation. An establishing unit establishes an overlap region between the first and second projection areas as the no-entry zone for the robot.

Abstract: A simulator for a visual inspection apparatus is provided. The apparatus is equipped with a robot having an arm and a camera attached to a tip end of the arm, the camera inspecting a point being inspected of a workpiece. Using 3D profile data of a workpiece, information of lenses of cameras, operational data of a robot, simulation for imaging is made for a plurality of points being inspected of the workpiece. For allowing the camera to image the points being inspected of the workpiece, a position and an attitude of the tip end of the arm of the robot are obtained. Based on the obtained position and attitude, it is determined whether or not the imaging is possible. When the imaging is possible, installation-allowed positions of the robot are decided and outputted as candidates of positions for actually installing the robot.

Abstract: In an apparatus, a coordinate obtaining unit drives a robot to move a camera opposing a workpiece in a first direction such that the workpiece is captured in an FOV of the camera. The coordinate obtaining unit obtains second and third coordinates of a preset point of the robot arm in respective second and third axes of a three-dimensional coordinate system with the workpiece being captured in the FOV. The first, second, and third coordinates are defined as coordinates of a temporally defined reference point of the workpiece in the three-dimensional coordinate system. A pose determining unit drives, at a given timing, the robot arm to determine a pose of the preset point based on a positional relationship between the first, second, and third coordinates of the temporally defined reference point of the workpiece and actual coordinates of the preset point of the robot arm.

Abstract: In a system, a first closed region specifying unit specifies a first closed region on a screen for enclosing an imaged obstacle in a first image, and a first projection area determining unit determines a first virtual projection area by extending a first closed region in a first orientation. A second closed region specifying unit specifies a second closed region on the screen. The second closed region encloses the imaged obstacle in the second image. A second projection area determining unit determines a second virtual projection area by extending the second closed region in a second orientation. An establishing unit establishes an overlap region between the first and second projection areas as the no-entry zone for the robot.

Abstract: A mobile robot placed on an automatic production line is provided. The mobile robot collects information on operating conditions of other mobile robots placed around it and flow of workpieces on the production line and determines action to be taken next based on the formation. A production system using such a mobile robot and a system inputting an operation program corresponding to a workstation into a mobile robot automatically are also provided. This enables measures to be taken quickly against a change in production, thereby providing a system which achieves high efficiency production.

Abstract: A pivaloylacetic acid ester is prepared at a high yield by decarbonylating a pivaloylpyruvic acid ester in gas or liquid phase in the presence of an inorganic oxide catalyst which comprises aluminum in an amount of 10% by weight or more in terms of aluminum oxide, and preferably is substantially free from heavy metals, for example, Fe, Cu, Ni, Mn, Cr, Mo and Co, and exhibits a high catalytic activity and chemical stability.