Abstract: There is provided a control system for controlling a surgical arm device of a multi-link structure in which a plurality of links is coupled together by a joint unit in a force control mode. In generalized inverse dynamics, the control system sets a motion purpose and a constraint condition in an operation space describing an inertia of force acting on a multi-link structural body and an acceleration of the multi-link structural body, and for implementing an operation space acceleration indicating the motion purpose, calculates a virtual force acting on the operation space on the basis of a motion equation relating to the operation space including a term of an operation space bias acceleration in consideration to gravity compensation according to inclination information of the surgical arm device, and calculates a torque command value for a joint unit on the basis of a real force converted from the virtual force.

Abstract: An actuator including a reduction gear that reduces, by a certain reduction ratio, a rotational velocity of an input shaft joined to a rotary shaft of a motor, and transmits the reduced rotational velocity to an output shaft, a first absolute angle encoder that detects a rotational angle of the input shaft, and a second absolute angle encoder that detects a rotational angle of the output shaft.

Abstract: Proposed is a mechanism capable of securing both convenience and safety in regard to surgery performed by inserting an endoscope into a human body. A medical arm system including: a multi-joint arm which has a plurality of links connected by joints and a distal end to which an endoscope is connectable; and a control unit which sets a virtual plane in a body cavity of a patient and controls the multi-joint arm so as to constrain a predetermined point of the endoscope in the body cavity on the virtual plane.

Abstract: A stream verification system for a distributed message queue system with metric collectors on each producer and consumer. A producer time stamp allows correlation of sent and received messages. Verification reports are organized by a message topic. A cumulative checksum allows detection of missing or corrupted messages. Verification messages are used to determine if a zero message report means no messages were sent, or rather that the messages weren't received.

Abstract: There is provided a medical support system including a support arm having one or more active joints and one or more passive coupling mechanisms and processing circuitry configured to obtain information indicating a change due to movement of the one or more passive coupling mechanisms and control the one or more active joints based on the obtained information indicating the change.

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 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: 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: 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: 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 medical support arm apparatus including: an arm unit including 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: There is provided a sanitary washing device. The sanitary washing device includes a wash water heating part, a jetting nozzle, and a controller. The wash water heating part includes a first heater and a second heater. A resistance value of the second heater is higher than a resistance value of the first heater. The wash water heating part heats wash water supplied from a water supply source by only the first heater and the second heater. The jetting nozzle jets the wash water supplied via the wash water heating part. The controller controls a power supplied to the first heater and the second heater.

Abstract: A stream verification system for a distributed message queue system with metric collectors on each producer and consumer. A producer time stamp allows correlation of sent and received messages. Verification reports are organized by a message topic. A cumulative checksum allows detection of missing or corrupted messages. Verification messages are used to determine if a zero message report means no messages were sent, or rather that the messages weren't received.

Abstract: An object of the invention of the present application is to provide a medical supporting arm control apparatus that restricts an operation of a medical supporting arm apparatus. A medical supporting arm control apparatus (20) according to the present disclosure includes: a position acquisition section (241) configured to detect a spatial position of an operating point on a multi-link structure (120) configured by coupling a plurality of links by a joint section; a comparison section (270) configured to compare a movable region of the operating point with the spatial position, the movable region being set in advance; and an operation restriction section (272) configured to restrict an operation of the operating point on a basis of a result of the comparison. According to this configuration, it is possible to restrict the operation of the medical supporting arm apparatus.

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: 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: Provided is an image processing device including: an image processing unit that generates image data for output from a captured image of an inside of a body cavity of a patient photographed by an endoscope. The image processing unit generates the image data in a manner that, when a lens barrel of the endoscope is moved in an optical axis direction of an objective lens during photographing, a display range in the captured image that is a range expressed in a display image displayed on a display device does not change, during the movement and after the movement, from a display range before the movement.

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: A stream verification system for a distributed message queue system with metric collectors on each producer and consumer. A producer time stamp allows correlation of sent and received messages. Verification reports are organized by a message topic. A cumulative checksum allows detection of missing or corrupted messages. Verification messages are used to determine if a zero message report means no messages were sent, or rather that the messages weren't received.

Abstract: A medical observation apparatus (10) includes an imaging section (140), an arm section (110), and a control section (210). The imaging section (140) captures an observation target. The arm section (110) includes multiple links and joint sections (130) that join the links to each other, and supports the imaging section (140). The control section (210) controls a torque that drives the joint sections (130). When a surgeon imparts an external force to the arm section (110) or the imaging section (140), a torque (external torque) due to the external force acts on the joint sections (130). When a torque detection section (134) of the joint sections (130) detects the external torque, the control section (210) outputs a torque command value (?) such that a joint driving section (131) produces a torque in the same direction as the external torque. The torque command value (?) includes a component that cancels out a torque that a cable (495) twisted inside the joint sections (130) produces due to a restoring force.