Abstract: A control unit for a medical device that includes a palm interface engageable by a palm of a hand and a restraint capable of elastically deforming to apply a restraining force to the dorsum of the hand and a finger interface engageable by one or more fingers of said hand.

Abstract: A shaft for a surgical instrument comprises an outer tube having a proximal end and a distal end, a central lumen extending through the outer tube, and a plurality of stiffening rods positioned around the central lumen. The plurality of stiffening rods may comprise a nonconductive material. The shaft may form part of an electrosurgical instrument. In another embodiment, a surgical instrument may comprise an end effector and a shaft having an outer tube having a proximal end and a distal end, a drive rod, and at least four stiffening rods positioned around the drive rod, each stiffening rod being positioned substantially immediately adjacent to the drive rod. The axial stiffness of the shaft increases incrementally during actuation of the end effector.

Abstract: A treatment tool includes a housing and a rotary element configured to be attached to the housing so as to define the treatment tool for treating an examinee. The rotary element is defined by an elongated member being rotatable about a rotational axis with respect to the housing. A rotary member is attached to the elongated member to rotate the elongated member. The rotary member is disposed coaxially with the elongated member and rotatable with respect to the housing. A locking member is used for unlocking the elongated member from the housing for rotation in response to rotation of the rotary member to allow the elongated member to rotate in the same direction as the rotary member in response to rotation of the rotary member and locking the elongated member against rotation with respect to the housing upon stopping of relative rotation between the rotary member and the housing.

Abstract: Some embodiments are directed to a surgical robotic system for use in a surgical procedure, including a surgical arm having a movable arm part for mounting of a surgical instrument having at least one degree-of-freedom to enable longitudinal movement of the surgical instrument towards a surgical target. Some other embodiments are directed to a human machine interface for receiving positioning commands from a human operator for controlling the longitudinal movement of the surgical instrument, and an actuator configured for actuating the movable arm part to effect the longitudinal movement of the surgical instrument, and controlled by a processor in accordance with the positioning commands and a virtual bound. The virtual bound establishes a transition in the control of the longitudinal movement of the surgical instrument in a direction towards the surgical target. The virtual bound is determined, during use of the surgical robotic system, based on the positioning commands.

Abstract: A medical elongated body includes a tube shaped body provided with a spiral slit. The tube shaped body has a pair of opposing surfaces, on both sides of the slit, opposing surfaces have a first side and a second side, a first convex portion protrudes from the first side and a second convex portion protrudes from the second side, the first convex portion and the second convex portion are adjacent to each other in the circumferential direction of the tube shaped body, and base portions of the first convex portion and the second convex portion are located on a common first spiral.

Abstract: A method for securing a sleeve in a bore hole in bone. The method includes disposing at least a portion of a length of filament into the bore hole, and implanting the sleeve into the bore hole such that a first pathway extending through first and second ends of the sleeve opens in a direction toward the opening of the bore hole and in a direction toward the base of the bore hole. The method also includes pulling at least a portion of the length of filament through the first pathway of the sleeve, thereby forming a first loop configuration extending from the first end and at least one free end of the length of filament extending from the second end. Also included is passing the at least one free end through the first loop configuration to create a one-way cinch.

Abstract: A method includes generating calibration data by geometrically calibrating first image data from a first camera unit relative to second image data from a second camera unit based on first descriptor data and second descriptor data. The first descriptor data is based on the first image data. The second descriptor data is based on the second image data. The calibration data is generated based on first position data corresponding to the first camera unit and second position data corresponding to the second camera unit. The method includes identifying, based on the calibration data, a target location relative to the first image data. The method further includes generating an output image that includes the first image data and an indication of where the target location is relative to a scene depicted in the first image data.

Abstract: A method for authenticating an electrosurgical system accessory comprising initiating a surgical procedure through a user interface on an electrosurgical generator, automatically determining whether an electrosurgical accessory is plugged into a generator receptacle, activating an RFID reader connected to the generator in response to a determination that an accessory is plugged into a receptacle, transmitting through the RFID reader to an RFID tag in the accessory a privacy password, transmitting a unit identification code from the RFID tag to the generator, displaying a device type associated with the transmitted unit identification code, checking a status of the accessory, unlocking a tag memory management if the read status code indicates the accessory has not previously been used, reading encoded data from the tag memory, computing a device authentication code from tag memory encoded data, transmitting the computed authentication code to the tag, and enabling the accessory in response to a match.

Abstract: An endovascular delivery system includes a bifurcated and inflatable prosthesis including a main tubular body having an open end and opposed ipsilateral and contralateral legs defining a graft wall therein between. A tether is disposed securably disposed to the contralateral leg, and the contralateral leg is releasably restrained towards the ipsilateral leg tether to prevent undesirable movement of the contralateral leg. A release wire within the endovascular delivery system releasably retains the tether near the ipsilateral leg.

Abstract: A vascular snare system and method for extracting elongated objects such as pacemaker pacing leads or defibrillator leads from the vasculature of a patient are provided. The system utilizes a sheath having a lumen through which two wire elements are deployed to snare and extract a lead. Each wire element has a magnet disposed at its distal end. The wire elements may be manipulated to form a closed loop transversely around a midsection or central portion of the body of the lead by coupling the magnets to each other. The wire elements may then be utilized to extract the lead from the vasculature of the patient through the lumen.

Abstract: A robotic surgical arm includes a puck containing motors to drive an end effector. A tool assembly attached to the puck generates ultrasonic and/or radio frequency energy to apply to tissue disposed between the jaws of the end effector. The tool assembly can include modular components such as a modular shaft that can include an ultrasonic transducer, nonvolatile memory, wireless interface, and/or a power source. The power source allows the modular shaft to communicate wirelessly with the robotic arm. The tool assembly can be moved from one robotic arm to another while remaining powered by the power source. The tool assembly can include sensors to determine a location or movement of the tool assembly after being detached from the robotic surgical arm. The modular shaft can be moved from a robotic arm to a handle manually controlled by a surgeon and back again to the robotic arm.

Abstract: A surgical clip applier includes a handle assembly and an elongated assembly configured to releasably engage the handle assembly. The handle assembly includes a trigger and a drive bar wherein pivoting of the trigger through a full actuation stroke translates the drive bar through a full drive distance. The drive bar has a magnetic distal end portion. The elongated assembly includes an inner drive assembly including a magnetic proximal end portion. Upon engagement of the elongated assembly with the handle assembly, the magnetic proximal end portion of the inner drive assembly is configured to attract the magnetic distal end portion of the drive bar to move the drive bar and pivot the trigger such that the trigger is pivotable through a reduced actuation stroke to translate the drive bar through a reduced drive distance.

Abstract: A medical manipulator system includes: a treatment tool including an arm with joints and an end effector provided at a distal end of the arm; an insertion aid device; an advancement/retraction driving unit configured to drive the treatment tool to be advanced/retracted in the insertion aid device; an advancement/retraction operation unit configured to drive the advancement/retraction driving unit; a stopper configured to limit an operation of the advancement/retraction driving unit by actuation; an interference detector configured to be capable of detecting interference between an arm unit projected out of the insertion aid device and the insertion aid device; and an operation instruction unit configured to be capable of actuating the stopper. The operation instruction unit limits retraction movement of the treatment tool with respect to the insertion aid device by actuating the stopper.

Abstract: Certain aspects relate to systems, methods, and techniques for correcting for uncommanded instrument roll. A method for adjusting a controller-feedback system in a medical instrument may comprise receiving data from a sensor at or near a distal end of the instrument, determining a tip frame of reference based on the data from the sensor, the tip frame of reference representing a current orientation of the distal end of the instrument, obtaining a desired frame of reference, determining an adjustment to a visual frame of reference or a control frame of reference based on the tip frame of reference and the desired frame of reference, and transforming the visual frame of reference or the control frame of reference.

Abstract: Communication apparatus and devices for surgical robotic systems are described. The communication apparatus can include a user console in communication with a communication device having a surgical tool. The communication device can include a microphone to convert a sound input into an acoustic input signal. The communication device can transmit the acoustic input signal to the user console for reproduction as a sound output for a remote operator. The surgical tool can include an endoscope having several microphones mounted on a housing. The surgical tool can be a sterile barrier having a microphone and a drape. The microphone(s) of the surgical tools can face a surrounding environment such that a tableside staff is a source of the sound input that causes the sound output, and a surgeon and the table side staff can communicate in a noisy environment. Other embodiments are also described and claimed.

Abstract: The invention relates to a suspension system, or pendant unit, intended for attachment to an upper structure at a selectable height for suspending a load wherein the load may comprise a carrier for the one or more medical devices or one or more devices, such as for instance a (target) lighting, monitor, camera or a medical device. The problem of the known suspension system is that during the entire repositioning the user has to react on the behavior of the system due to a variety of internal and external forces. It is an object of the invention to provide an alternative suspension system for the known suspension system wherein this problem is addressed.

Abstract: A medical instrument includes an instrument body and an operating mechanism. The instrument body has a window portion having a light permeable segment. The operating mechanism includes an indicator unit and an operating unit. The indicator unit is disposed in the window portion, and is changeable between a detectable state where the indicator unit is detectable through the light permeable segment of the window portion and a non-detectable state where the indicator unit is non-detectable through the light permeable segment. The operating unit is connected to the indicator unit and operable to change the indicator unit between the detectable and non-detectable states. An endoscopy system including the medical instrument is also disclosed.

Abstract: Embodiments are provided of an assembly having a prosthetic valve, the prosthetic valve having a radially expandable and compressible annular frame, and a crimping accessory device, and methods for using the assembly in compressing the prosthetic valve. The frame includes an outer surface and an inner surface. A leaflet assembly is supported inside the annular frame. The leaflet assembly includes a plurality of leaflets, each having an inner surface and an outer surface. The crimping accessory device has a plurality of axially-extending fingers. At least a first finger of the plurality of fingers is disposed between the outer surface of a first leaflet of the plurality of leaflets, and at least a second finger of the plurality of fingers is disposed radially-inwardly of the inner surface of the first leaflet.

Abstract: A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm and including one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold and switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. Movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint. In some embodiments, the external stimulus applied to the arm is a stimulus detected on the first joint or a stimulus detected on a second joint of the arm.

Abstract: A flexible dry electrode comprises a multi-walled carbon nanotube (MWCNT)/polydimethylsiloxane (PDMS) composite. The flexible dry electrode may be utilized for monitoring electrocardiogram (ECG) signals. The dry ECG electrode may be fabricated by screenprinting silver (Ag) ink on flexible polyethylene terephthalate (PET) substrate, followed by bar coating of a MWCNT/PDMS composite.

Abstract: This invention relates to Patient-Specific Templates (PST) which have already been used by implant manufacturers and clinically applied by orthopedic surgeons. This work presents an apparatus comprised of a unit acquiring data from the surface of bones and joints, a computerized unit for surgical planning and a desktop 3D printer for manufacturing PST, which are functionally, physically and electrically connected. The apparatus is compact, portable and suitable for hospital-based or clinic-based service. The data-collection unit has electro-magnetic (EM) device, diagnostic ultrasound machine, laser scanner and a receiver for acquisition of external data. It integrates the data from multiple sources and has sensor fusion ability. The surgical planning unit has specific software program capable of merging the collected data through mathematical model of specific parts of bones, joints and a library of implants and prostheses.

Abstract: A robotic system, such as a continuum robot, that includes at least one hollow tube backbone and an equilibrium modulation wire at least partially positioned within the backbone. The robotic system is configured to adjust a position of an end effector by bending the hollow tube and to further adjust the position of the robotic device by adjusting a linear insertion position of the equilibrium modulation wire inside the hollow tube, wherein adjusting the linear insertion position of the equilibrium modulation wire changes a flexural rigidity of the hollow tube resulting in a change in the resulting bending angle of the robotic device.

Abstract: A miniature motorized cutter is provided to remove an occlusion or thrombus in the vein or artery of a patient. The miniature motorized cutter has a cutting device operated by a piezoelectric motor. The piezoelectric motor is wirelessly powered by electrical induction from outside of the body. The miniature motorized cutter has a positional orienting structure that has two poles of opposite charges. A strong magnet outside of the body can be used to orient the cutter by applying attractive and repulsive forces to the two poles of the positional orienting structure.

Abstract: A cannula comprising a hollow tube made of a biocompatible, thermoplastic polymer, memory shape material, tipped with an injection needle at it distal end, assumes desired shapes as it distally emerges from a lumen or channel of an instrument such as an introducer or endoscope. The desires shape includes a curvature conforming to an inverse tangent function. The cannula may be supplied alone, with or without an injection needle, and in a sterile pouch, for use with a device of an user's choice that has a suitable lumen or channel to guide the cannula, of the cannula may be used without such an instrument.

Abstract: Disclosed herein are physiological phantoms incorporating sensors and sensor materials integrated with a tissue phantom of an anatomical part. The sensors and sensor materials include small diameter optical fibers containing Bragg gratings, thermochromic materials, electrical strain gauges, flexible strain gauges, shape sensing cables, electrochromic materials and etc. The sensors and sensing materials may mimic tissue as part of the tissue phantom. They may mimic the directionality, density, elasticity of the anatomical tissues they may be mimicking. The sensors and sensing materials may be sensitive to strain, heat, electricity, shape, light, and etc. similar to what may occur during medical procedures using various medical devices and tools such as a scalpel, a needle, a deep brain stimulation probe, a port used in brain or spinal surgery and etc.

Abstract: A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.

Abstract: A probe for inspecting characteristics of a terminal of a multipolar connector includes a flange having a through hole and serving to mount the probe to a facility; and a coaxial cable inserted through the through hole of the flange, extending in an axial direction, and having an end portion at which a probe pin is mounted. The probe also includes a plunger containing the probe pin and having a recess for fitting the multipolar connector, with the probe pin being exposed in the recess. The probe further includes a spring containing the coaxial cable between the flange and the plunger and having an end portion fixed to the flange and another end portion fixed to the plunger.

Abstract: A device for loading a prosthesis onto a delivery system includes a first housing having a central bore. One or more actuators on the first housing may be actuated radially inward to selectively compress a discrete portion of the prosthesis disposed in the central bore.

Abstract: Described here are methods and systems for the manipulation of ovarian tissues. The methods and systems may be used in the treatment of polycystic ovary syndrome (PCOS). The systems and methods may be useful in the treatment of infertility associated with PCOS.

Abstract: Systems and methods for a computer-assisted instrument motion are described. For example, the disclosure provides mechanisms and techniques for holding an instrument with a computer-assisted manipulator assembly, and methods for actuating computer-assisted motions of the instrument.

Abstract: An ultrasonic treatment instrument for articulations has a bone abrasion mode in which vibration is performed at a first frequency and a first amplitude, and a cartilage dissolution mode in which vibration is performed at a second frequency which is higher than the first frequency, and a second amplitude which is less than the first amplitude, wherein a first vibration velocity, which is a product of the first frequency and the first amplitude, and a second vibration velocity, which is a product of the second frequency and the second amplitude, coincide or substantially coincide.

Abstract: An embodiment of a medical device includes a proximal handle, a distal end effector, an elongate member connecting the end effector to the handle, and a sheath enclosing at least a portion of the elongate member. The handle may include a first mechanism coupled to one of the sheath and the elongate member to move the sheath relative to the elongate member, a second mechanism coupled to the elongate member to rotate the elongate member relative to the handle, and a locking mechanism coupled to the first mechanism to hold the first mechanism in a default position. Embodiments also include methods of positioning the medical device to perform a medical procedure.

Abstract: Devices for removing implanted objects from body vessels are provided. A device includes a sheath assembly having a cutting tip. The cutting tip includes a cutting surface that is adapted to cut tissue coupled to an implanted object as the cutting tip rotates. The sheath assembly further includes an outer shield carried outside of the cutting tip. The outer shield includes a distal opening, and the outer shield is translatable relative to the cutting tip from a first position to a second position and vice versa. In the first position the cutting surface of the cutting tip is disposed within the outer shield, and in the second position the cutting tip extends through the distal opening and the cutting surface is at least partially disposed outside of the outer shield.

Abstract: The disclosed technology is directed to a medical instrument holding device comprises a holding portion configured to hold a first medical instrument having a first insertion portion to be inserted into an abdominal cavity of a patient. An arm is connected to the holding portion and including at least one joint. A base is connected to a proximal end side of the arm. A first sensor is configured to detect an external force caused by a second insertion portion of a second medical instrument in the abdominal cavity. A controller is configured to generate a first control signal for actuating the arm based on the external force detected by the first sensor.

Abstract: An electrosurgical instrument for sealing and cutting tissue is provided. The instrument includes a housing having a plurality of transducers included therein and a waveguide coupled to and extending from the housing. An end effector assembly disposed at a distal end of the waveguide includes a pair of opposing jaw members, where at least one of the jaw members includes a transducer. The transducer is configured to receive an acoustic signal from the plurality of transducers in the housing.

Abstract: A braid for treating an aneurysm can include a first radially expandable segment operable to move from a collapsed state within a microcatheter to a deployed state distal of the microcatheter. The first radially expandable segment can be capable of radially expanding to form an outer occlusive sack in the aneurysm in the deployed state. The braid can also include a second radially expandable segment operable to move from the collapsed state within the microcatheter to the deployed state distal of the microcatheter, wherein the second radially expandable segment is capable of radially expanding inside the outer occlusive sack to form an inner occlusive sack in the outer occlusive sack in the deployed state. An expansion mechanism can be included and be disposed at a proximal end of the first and second radially expandable segments.

Abstract: A surgical articulation assembly is disclosed, including a control assembly and an articulable portion. The articulable portion includes at least two segments capable of independent movement. The control assembly defines an axis and three user controls configured to be engaged by an operator. Disposed within the control assembly are three pairs of diametrically opposed driving members that effects translation of a connecting member upon engagement of the user controls. An end of the connecting member is attached to one of the first and second segments of the articulable portion. As the connecting member translates with the driving members, the three user controls allow an operator to exert forces at points along the articulable portion. Also disclosed is a method of effecting articulation of a surgical articulation assembly.

Abstract: Disclosed is a surgical device. The surgical device includes a housing. The surgical device also includes a linear actuator disposed in the housing. The linear actuator includes a central rod. The linear actuator also includes one or more bending modules connected to the central rod. Each of the one or more bending modules includes one or more bending actuators. Each of the one or more bending actuators includes one or more layers of piezoelectric bending elements configured to provide a reciprocating movement to the central rod upon application of a voltage. The surgical device further includes a cutting mechanism coupled to the central rod.

Abstract: Multi-functional foot controller with treadle for controlling a first function and as an integrated shroud for a switch that controls an additional function.

Abstract: The present invention relates to a treatment device using high frequency and provides a treatment device using high frequency comprising: a main body comprising a high frequency generation portion inside; a contact type handpiece comprising a first electrode portion for providing high frequency energy generated in the high frequency generation portion to the surface of the skin, and is detachably formed at an fastening portion of the main body; an invasive handpiece comprising a second electrode portion for providing high frequency energy generated in the high frequency generation portion to the inside of the skin, and is detachably formed at an fastening portion of the main body; and a control portion for controlling the high frequency energy provided from the high frequency generation portion to the first electrode portion or the second electrode portion.

Abstract: An authentication and information system for use in a surgical stapling device includes a handle assembly having a controller, the controller having at least one program and a memory, an adapter assembly, and a loading unit having a tool assembly mounted for articulation and a member for actuating articulation of the tool assembly, the loading unit having at least one chip assembly having a chip storing data indicating a position of the member when the tool assembly is in a fully articulated position.

Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.

Abstract: A surgical instrument system that includes a housing and a rotatable drive shaft, a motor operably coupled to the drive shaft, and a plurality of replaceable end effectors that can be connected to the housing. Each replaceable end effector includes a drive screw that is turned a fixed number of revolutions by the motor-driven rotatable drive shaft when the end effector is connected to the housing. Each end effector further comprises a firing member operably coupled with the drive screw of the end effector. The drive screw is configured to displace the firing member over a firing length as a result of the fixed number of revolutions. In certain embodiments, each replaceable end effector can include a drive screw with a thread pitch set to the firing length divided by the fixed number of revolutions.

Abstract: Trocar components and methods of use are described, wherein the trocar components are configured to provide access to intraperitoneal space via the rectouterine pouch to surgical tools, which optionally include one or more surgical robot members. The surgical tools are optionally 5 mm or more in diameter. In some embodiments, a cannula part has a lumen sized to provide to a plurality of the surgical tools simultaneous transvaginal access to the intraperitoneal space via the rectouterine pouch. In some embodiments, an incision sized to receive a distal aperture of the cannula is created, optionally using one or two dilators. The dilators are sized to create (optionally starting from a puncture by a needle 2 mm in diameter or less) an oblong aperture. In some embodiments, the oblong aperture is at least twice as wide across a long diameter as across a short diameter.

Abstract: A medical positioning bracket is described that provides users with the ability to attach and secure multiple bone tunnel drill guides into a single working unit. Users can manipulate each drill guide independently and lock the drill guides at desired locations relative to one another to achieve precise bone tunnel angles and locations.

Abstract: An adjustable length laparoscopic instrument is provided. The instrument includes a shaft with a shaft distal end and a shaft proximal end. The instrument further includes an actuation rod with an actuation rode distal end and an actuation rod proximal end. The actuation rod is receivable by the shaft such that the actuation rod can translate longitudinally relative to the shaft to actuate an end effector. The instrument further includes a handle configured to hold the shaft and the actuation rod. The handle is configured to cause the actuation rod to translate longitudinally relative to the shaft to actuate the end effector. The instrument further includes a length adjustment mechanism configured to adjust a shaft length. The shaft length is defined between the handle and the shaft distal end.

Abstract: A method includes receiving at a controller of a teleoperated surgical system a first signal indicating that a surgical instrument is in an installed position at a patient side cart of the teleoperated surgical system, receiving at the controller a second signal indicating that the surgical instrument is in a flux connection state, and outputting a signal via the controller to provide feedback indicating that the surgical instrument is in the flux connection state. A system for detecting an operative condition of a surgical instrument of a teleoperated surgical system includes a surgical instrument comprising a housing for coupling the surgical instrument in an installed position at a patient side cart of a teleoperated surgical system, the housing comprising a connector feature. A flux transmission conduit is engageable with the connector feature to place the surgical instrument in a flux connection state.

Abstract: Disclosed is a surgical instrument with an articulated end-effector, such as a dissector, scissor or grasper, to enhance a surgeon's performance during various surgical procedures. The longitudinal axis of the instrument is defined by a shaft, which may be inserted into a surgical incision or trocar in a body of a patient. The articulated end-effector is mounted on the distal extremity of the instrument shaft and comprises a plurality of links interconnected by a plurality of joints, whose movements are remotely actuated by the surgeon's hands. This remote actuation is accomplished through mechanical transmission, mainly along flexible elements, which are able to deliver motion from a set of actuation elements, placed at a proximal extremity of the shaft, to the instrument's articulated end-effector.

Abstract: A medical system includes a treatment tool including a treatment portion, a joint portion, a flexible tube portion, and a drive unit; an endoscope device including an outer sheath that holds the treatment tool and an imaging unit that is capable of acquiring an image including at least the joint portion; and a control unit that controls an operation of the treatment tool. The control unit includes a table that has a parameter for causing the joint portion to move, a controller that issues a command for controlling the drive unit based on the parameter to the drive unit, an image processing unit that calculates at least one of a position and an orientation of the joint portion based on the image, and a compensation value calculating unit that detects displacement of the joint portion, generates a compensation value, and incorporates the compensation value into the parameter.

Abstract: A grip force sensation feedback device including a first rotary member that has an outer peripheral surface including a part of a first virtual conical surface, the first rotary member being rotated around a first cone axis; a second rotary member that has an opposed surface which includes a part of a second virtual conical surface and which is opposed to the outer peripheral surface of the first rotary member, the second rotary member being rotated around a second cone axis; a wire that has both end portions connected to the second rotary member and that has a central portion wound around the first rotary member; and a driving portion that provides a force sensation feedback to a finger of a user in contact with the second rotary member by rotating the first rotary member and thereby causing a rotation of the second rotary member.