Abstract: [Object] To make it possible to perform gravity compensation with a more compact and lightweight configuration. [Solution] There is provided a medical support arm apparatus including: an arm section including multiple joint sections, and configured such that a medical tool is provided on a front end; an actuator at least provided in a compensated joint section that is a target of gravity compensation among the joint sections, and including a torque sensor that detects a torque acting on the compensated joint section; and a gravity compensation mechanism that imparts to the compensated joint section a compensating torque in a direction that cancels out a load torque due to a self-weight of the arm section acting on the compensated joint section.

Abstract: A sanitary washing device according to an embodiment comprises a heating part, a nozzle configured to jet water heated by the heating part toward human private parts; a controlling part configured to control at least one of the heating part and the nozzle, and a monitoring part. The monitoring part is configured to diagnose a failure of the controlling part and to prohibit at least one of heating in the heating part and jetting from the nozzle when the controlling part fails. The controlling part is configured to diagnose a failure of the monitoring part and to prohibit at least one of heating in the heating part and jetting from the nozzle when the monitoring part fails.

Abstract: A robot device (10) acquires object information related to an object to be gripped by the robot device including a grip unit (32) that grips an object. The robot device (10) then determines, based on operation contents executed by the robot device with the object gripped and the object information, a constraint condition when the operation contents are executed.

Abstract: It is possible to transfer an object smoothly. An information processing device includes a control unit (12, 11) that controls a manipulator so that a moving speed of an object gripped by the manipulator maintains continuity when the object is transferred to a transfer target person.

Abstract: A medical supporting arm control apparatus that includes a memory, and processing circuitry that obtains a current spatial position of an operating point in a multi-link structure configured by coupling a plurality of links by a joint section, by detecting a current rotational angle of the joint section, compares a movable region of the operating point stored in the memory with the obtained current spatial position, the movable region being set in advance, and restricts an operation of the operating point on a basis of a result of the comparison.

Abstract: A medical observation apparatus includes an imaging device that captures an observation target, an arm that supports the imaging device and includes multiple links joined to each other by multiple joints, and driving circuitry. The driving circuitry is configured to determine a control torque in at least one joint to be controlled from among the multiple joints and to control driving of the at least one joint based on the control torque such that an external torque acting on the at least one joint according to an operation on the arm is within a fixed range.

Abstract: Provided is a control device capable of controlling the operation of a control target according to a detected external force. A control device (200) includes a control unit (210-1) that compares a first external force detected by a force sensor provided in a control target and a second external force estimated on the basis of a torque detected by a torque sensor provided in an a movable portion of the control target, the movable portion enabling the force sensor to be movable, and controls the operation of the control target by correcting a torque command value on the basis of a result of the comparison.

Abstract: [Problem] A surgical apparatus of the related art controls only the cropping position of a captured image, and thus only executes a limited range of image control in laparoscopic surgery. [Solution] A medical information processing apparatus including: an image control section that controls processing of a captured image from a camera; and an arm control section that controls a motion of an arm that supports the camera. One of the image control section and the arm control section executes control on a basis of control information from another control section.

Abstract: To make it possible to configure a medical support arm apparatus which does not impair operability for the surgeon, and which is also compact. Provided is a medical support arm apparatus including: an arm section configured so that a medical tool is provided on a front end, and movable axes are arranged so that the arm section has at least six degrees of freedom. Among the movable axes, a movable axis provided on the front end side that prescribes an attitude of the medical tool is a passive axis that rotates by following an external force, and at least one axis provided on a base end side that prescribes a position of the medical tool is a drive axis driven by an actuator.

Abstract: A substrate processing apparatus includes: a placement part whereon a substrate container is placed; a substrate retainer supporting the substrate; transfer mechanisms configured to transfer the substrate between the substrate container and the substrate retainer and to perform a transfer operation; a detector provided at one or more of the transfer mechanisms to detect vibration; a memory device that registers, in advance, natural frequencies of the substrate and one or more of the transfer mechanisms and threshold values of the substrate and the plurality of transfer mechanisms; and a monitoring part to monitor whether an intensity of the vibration, based on transformed data obtained by transforming detection data, exceeds at least one of the threshold values of the substrate and the plurality of transfer mechanisms and whether a vibration frequency is equal to at least one of the natural frequencies of the substrate and the plurality of transfer mechanisms.

Abstract: According to one embodiment, a sanitary washing device for washing human private parts includes a nozzle configured to jet water toward the human private parts, and a protective electronic circuit configured to prohibit operation of at least part of the sanitary washing device when a component of the sanitary washing device fails. The protective electronic circuit includes a failure diagnosis part configured to diagnose a failure of a component of the protective electronic circuit. At least part of the operation related to the jetting in the sanitary washing device is prohibited when a failure of the component of the sanitary washing device is sensed by diagnosis using the failure diagnosis part.

Abstract: The present invention aims to make it capable of holding organs more safely. Provided is a medical support arm apparatus, including: an arm unit (510) whose driving is controlled by force control; and a retractor, provided on a front end of the arm unit (510), that holds an organ of a patient during surgery.

Abstract: There is provided a medical support arm device including a multi-joint arm having a distal end configured to host a medical device, said multi-joint arm configured to have a higher degree of freedom than a degree of freedom necessary for controlling a spatial position and pointing direction of the medical device. The multi-joint arm is configured to controllably displace at least one of a plurality of joints of the multi-joint arm while the spatial position and the pointing direction of the medical device are controlled.

Abstract: A robot arm apparatus is provided and includes: an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit; and a driving control unit that drives the arm unit by controlling driving of the joint unit. If a malfunction is detected in at least one of the joint unit, the driving control unit controls the driving of the joint unit in a state in which a certain restriction is imposed on motion of the arm unit, and drives the arm unit to avoid the malfunction.

Abstract: A robot arm apparatus according to the present disclosure includes: one or a plurality of a joint unit that joins a plurality of links constituting a multi-link structure; an acquisition unit that acquires an on-screen enlargement factor of a subject imaged by an imaging unit attached to the multi-link structure; and a driving control unit that controls driving of the joint unit based on a state of the joint unit and the enlargement factor.

Abstract: There is provided is a robot arm apparatus including an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit; and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively. The drive control unit uses relative position information of a reference position with respect to the arm unit, the relative position information being based on a state of the arm unit and distance information about a distance between the imaging unit and the reference position, to control the driving of the arm unit in a manner that the reference position is positioned on an optical axis of the imaging unit.

Abstract: To realize torque control based on an estimated external force and to cope with more various situations. Provided is a medical support arm system including: a support arm that is a multilink structure having a plurality of links connected by a joint unit including an actuator, and configured to support a medical unit; and a control device including an external force estimation unit configured to estimate an external force acting on the joint unit on the basis of a drive characteristic of the actuator, and a joint control unit configured to control drive of the joint unit on the basis of an external torque estimated by the external force estimation unit.

Abstract: Provision of a technology for controlling an arm to maintain hand-eye coordination is desirable in a case of using the arm for supporting an oblique-viewing endoscope. Provided is a medical support arm system including an articulated arm configured to support a scope that acquires an image of an observation target in an operation field, and a control unit configured to control the articulated arm on the basis of a relationship between a real link corresponding to a lens barrel axis of the scope and a virtual link corresponding to an optical axis of the scope.

Abstract: There is provided a robot arm apparatus including an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit; and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively. The drive control unit uses relative position information of a reference position with respect to the arm unit, the relative position information being based on a state of the arm unit and distance information about a distance between the imaging unit and the reference position, to control the driving of the arm unit in a manner that the reference position is positioned on an optical axis of the imaging unit.

Abstract: A robot arm apparatus including: an arm unit made up of a plurality of links joined by one or a plurality of joint units, the arm unit is connectable to an imaging unit. An internal model including at least geometric information of the arm unit and focus position information of the imaging unit is updated based on internal model information acquired in a state in which the imaging unit is pointed at a reference point in a real space.