Abstract: A cartridge mountable to a printer, said printer including a coupling guide contactable to a coupling of the cartridge to guide the coupling member. A case of the cartridge is provided with a hole for exposing a free end portion of the coupling to an outside of the cartridge, and a retracted portion provided in downstream of the hole with respect to the mounting direction of the cartridge. When the cartridge is mounted to a main assembly of the printer, the coupling guide enters the retracted portion from which the coupling member has retracted.

Abstract: A medical device includes (i) a linear member connected to a bending section and configured to move in an extension direction, where the linear member includes an engaged portion, (ii) a joining section connected to a drive source, where the joining section includes an elastic member configured to retain the engaged portion and a first rotating body rotatable to a pressing position or a retracted position, and (iii) a second rotating body movable to a first position where the first rotating body is located at the pressing position and a second position where the first rotating body is located at the retracted position. When the first rotating body is located at the pressing position, the engaged portion and the elastic member overlap each other as viewed in the extension direction.

Abstract: A medical apparatus includes (i) a coupling unit including a coupling portion connected to a driving source, (ii) a bending unit including a linear member connected to a bending portion, (iii) a first operation portion movable to a fixation position in which the linear member is fixed to the coupling portion and to an attachment-detachment position, (iv) a lock member movable to a lock position in which the lock member restricts detachment of the bending unit from the coupling unit and to an unlock position, and (v) a second operation portion that moves the lock member to the unlock position. Detachment of the bending unit from the coupling unit is allowed in a state in which the bending unit is attached to the coupling unit, in which the first operation portion is in the attachment-detachment position, and in which the lock member is in the unlock position.

Abstract: At least one continuum robot is provided, the continuum robot including a linear member having flexibility, a driving unit configured to actuate the linear member, a bendable portion configured to be bent by actuation of the linear member, and a connection device configured to be connected to the linear member and to transmit actuation power of the driving unit to the linear member. The connection device and the linear member are configured to be reconnected after the connection device and the linear member that have been connected are disconnected from each other.

Abstract: [Task] To further develop the photosensitive member unit. [SOLUTION] A photosensitive member unit capable of being mounted to a main assembly of an image forming apparatus includes a photosensitive member rotatable about a rotational axis thereof, a first gear portion, and a second gear portion having a plurality of teeth. The first gear portion is a helical gear portion including a helical tooth which is twisted in a first circumferential direction about the rotational axis of the photosensitive member as a distance from the photosensitive member measured along the rotational axis of the photosensitive member increases. Between the first gear portion and the photosensitive member with respect to a direction of the rotational axis of the photosensitive member, the second gear portion is disposed.

Abstract: A medical apparatus includes a bending medical device including a bendable body and a base part on which the bendable body is disposed, and a support base including a moving stage configured to support the bending medical device in a detachably attachable manner and a support unit configured to support the moving stage so as to be movable linearly in a predetermined direction, wherein the moving stage supports the bending medical device so as to be movable linearly in the predetermined direction.

Abstract: A medical apparatus includes a bendable medical device including a bendable body and a held portion, and an insertion unit including a moving body and a driving portion. The insertion unit is tiltable. The moving body includes a recess portion configured to accommodate the held portion in a case where the bendable medical device is attached to the moving body, a locking member that is movable between a locking position and a release position, and a restriction surface facing the recess portion. In a state in which the held portion is positioned within the recess portion and the tilt angle is maximized, the restriction surface extends upward such that an upper end of the restriction surface is positioned above a lower end of the held portion, and the upper end of the restriction surface forms a lower edge of an opening of the recess portion.

Abstract: The present invention is a continuum robot system including a continuum robot including a bendable body and a base portion at which the bendable body is provided; a support base including a moving stage that supports the continuum robot such that the continuum robot is detachable from and attachable to the moving stage and is movable along a straight line; and an arm that supports the support base and that is turnable about a first shaft. The continuum robot moves along a plane perpendicular to the first shaft when the moving stage with the continuum robot mounted on the moving stage is moved.

Abstract: A medical system 1A includes a medical apparatus 1 that includes a continuum robot including a catheter 11 and a base unit 200, at which the catheter 11 is provided, and a support base 2 that detachably supports the medical apparatus 1. The support base 2 includes a slider 2a. A coupling portion 200k provided with an engagement portion 200a is attached to the base unit 200. The coupling portion 200k has a U-shape, and ends thereof that sandwich an opening of the U-shape are attached and fixed to the base unit 200 at a position closer to the catheter 11 and a position farther from the catheter 11. The engagement portion 200a to be engaged with the slider 2a is disposed at a lower portion of the coupling portion 200k. Accordingly, a first space 200i is formed between the base unit 200 and the engagement portion 200a.

Abstract: A cartridge includes a photosensitive drum having a rotational axis about which the photosensitive drum is rotatable, a developing roller having a rotational axis about which the developing roller is rotatable, and a casing rotatably supporting the photosensitive drum and the developing roller. The casing includes a groove open to outside of the casing, with the groove being defined by a first side surface, a second side surface, and a bottom surface between the first side surface and the second side surface. As seen in the direction of the rotational axis of the photosensitive drum, the rotational axis of the photosensitive drum and the groove are positioned along a line in an extended direction, with at least a portion of a first projected part being positioned on one side of the line and at least a portion of a second projected part being positioned on the other side of the line.

Abstract: A supporting apparatus configured to support a unit including a bend body includes (i) a drive member configured to rotate around a rotational axis, (ii) a transmission member configured to be moved in a direction of the rotational axis by rotation of the drive member, and (iii) a driven member for bending the bend body, the driven member being configured to be moved in the direction of the rotational axis by movement of the transmission member. The drive member and the driven member are supported by a first supporting member and a second supporting member having the same shape as the first supporting member. The first supporting member and the second supporting member are engaged with a coupling member.

Abstract: A cartridge includes a photosensitive drum having a rotational axis about which the photosensitive drum is rotatable, a developing roller having a rotational axis about which the developing roller is rotatable, and a casing rotatably supporting the photosensitive drum and the developing roller. The coupling member is operatively connected to the photosensitive drum, with the coupling member including at least one projection capable of receiving a rotational force to rotate the photosensitive drum. A spring is provided with a movable part that is movable relative to the casing in a direction away from the rotational axis of the developing roller to urge the coupling member so that at least the projection of the coupling member moves away from the rotational axis of the developing roller.

Abstract: The medical apparatus includes a driving source, a base unit including a coupling portion connected to the driving source, a bendable unit including a bending portion, and a linear member configured to bend the bending portion, an operation portion, and a deceleration mechanism including an output member that is driven by a force transmitted from the operation portion. The coupling portion includes a retaining portion configured to be transited between a retaining state and a releasing state, and a switching portion configured to be moved by the output member and configured to switch the retaining portion between the retaining state and the releasing state. In a case where the operation portion is moved for a first movement amount, the output member is configured to be moved for a second movement amount that is smaller than the first movement amount.

Abstract: A medical apparatus includes a drive source, a bending portion, a linear body configured to bend the bending portion, and a connecting portion in which a first member connected to the drive source and a second member connected to the linear body are connected. The connecting portion is configured such that in a case where a tensile force equal to or smaller than a first threshold value or a compressive force equal to or smaller than a second threshold value acts between the first member and the second member, the state in which a protrusion portion is fitted in the recess portion is maintained, and in a case where a tensile force exceeding the first threshold value or a compressive force exceeding the second threshold value acts between the first member and the second member, the protrusion portion is disengaged from the recess portion.

Abstract: A medical apparatus includes a base unit including a drive source therein, and a bendable unit that is to be detachably attached to the base unit. The bendable unit includes a connection unit including a first member connected to the drive source and a second member connected to a linear member. In a case where pulling force at a first threshold value or less or compression force at a second threshold value or less acts between the first member and the second member, the connection unit maintains a state in which the first member and the second member are connected, and in a case where pulling force exceeding the first threshold value or compression force exceeding the second threshold value acts between the first member and the second member, the connection unit separates the first member and the second member from each other.

Abstract: A sheet conveyance apparatus includes a conveyance section, the conveyance section including a roller rotatable in a first rotation direction and a second rotation direction, a guide member configured to move between a first position and a second position, a drive source, a drive switching unit including an input unit, an output unit, and a switching unit, a drive interruption unit configured to transition between a transmission state and a non-transmission state. The roller is configured to rotate by the driving force output from the output unit of the drive switching unit while the guide member moves between the first position and the second position.

Abstract: A medical device 1 includes a main body driving unit (300) including a plurality of driving sources (M11 to M33), a base unit (200) including a coupling device (21) connected to the main body driving unit, a bendable unit (100) configured to be detachably attached to the base unit, and an operation unit (400) configured to be movable between a fixed position and a detachment position. The base unit includes a plurality of coupling units (21c11 to 21c33). The bendable unit includes a plurality of linear members (W11 to W33). A state where each of the plurality of linear members is fixed by each of the plurality of coupling units and a state where each of the plurality of linear members is unfixed from each of the plurality of coupling units are switched in an interlocked manner with movement of the operation unit.

Abstract: A cartridge includes a photosensitive drum having a rotational axis about which the photosensitive drum is rotatable, a developing roller having a rotational axis about which the developing roller is rotatable, and a casing rotatably supporting the photosensitive drum and the developing roller. The casing includes a groove open to outside of the casing, with the groove being defined by a first side surface, a second side surface, and a bottom surface between the first side surface and the second side surface. As seen in the direction of the rotational axis of the photosensitive drum, the rotational axis of the photosensitive drum and the groove are positioned along a line in an extended direction, with at least a portion of a first projected part being positioned on one side of the line and at least a portion of a second projected part being positioned on the other side of the line.

Abstract: One or more embodiments of a continuum robot may include a bendable body having linear members provided along a first pitch circle, and motors respectively having output shafts provided along a second pitch circle offset outside from the first pitch circle and being configured to respectively drive linear members to bend the bendable body; intermediate supporting shafts provided along a third pitch circle offset outside from the first pitch circle and offset inside from the second pitch circle; first connection members respectively connecting end portions of the linear members and the intermediate supporting shafts to each other; and second connection members respectively connecting the intermediate supporting shafts and the output shafts to each other and configured to convert rotation of each of the output shafts into rectilinear motion to cause each of the intermediate supporting shafts to rectilinearly move.

Abstract: A cartridge includes a photosensitive drum, a developing roller, and a casing rotatably supporting the photosensitive drum and the developing roller. The casing includes a groove open to outside of the casing. The casing also includes first and second projected parts that project from the first end portion of the casing in the direction of a rotational axis of the photosensitive drum and away from the photosensitive drum. As seen in the direction of the rotational axis of the photosensitive drum, the rotational axis of the photosensitive drum and the groove are positioned along a line in the extended direction, with the first projected part being positioned on one side of the line and the second projected part being positioned on the other side of the line. A first end of the groove and a second end of the groove are open such that the groove forms a channel in the casing along the extended direction.