Olympus Corporation

Japan Aerospace Exploration Agency

Fuji Heavy Industries Ltd.

Tokyo Aircraft Instrument Co., Ltd.

Mitsubishi Electric Corporation

Mitsubishi Electric Home Appliance Co., Ltd.

Hiroshi Wakai

Satoshi Arai

Masatoshi Iida

Naoya Hatakeyama

Takayuki Ide

Teruomi Nakaya

Akira Koike

Makoto Ueno

Kayuri Muraki

Keisuke Tsurimoto

Masashi Shigemi

Toru Iwata

Tomonari Hirotani

Noriyoshi Kabeta

Hisayuki Akamatsu

An energy treatment tool includes: a first gripping piece and second gripping piece that are coupled so as to be relatively opened and closed, the first and second gripping pieces respectively having a first gripping surface and a second gripping surface that are opposed to each other in a closed state and treating, by energy, living tissue gripped between the first and second gripping surfaces; and an alignment part that is provided on the first and second gripping pieces and that aligns the first and second gripping surfaces with each other in a process of closing the first and second gripping pieces, wherein at least one of the first and second gripping surfaces includes a treatment surface that emits energy, and the alignment part is provided at a position other than the treatment surface.

Energy treatment tool

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.

Medical system and treatment tool calibrating method

A detector-equipped treatment tool including: a distal-end treatment portion that applies a force to and treats biological tissue; a proximal-end portion that supports the distal-end treatment portion so as to be relatively movable; a detector that is disposed in a cavity provided inside of the distal-end treatment portion and detects the force; wiring that is connected to the detector; and a duct that is connected to the distal-end treatment portion and guides the wiring led out of the distal-end treatment portion from the detector in the cavity to the proximal-end portion.

Detector-equipped treatment tool

A medical system includes: a treatment tool including a treatment portion configured to treat a living body, a joint portion configured to move the treatment portion, a first indicator portion provided to correspond to a position of the joint portion, a sheath portion connected to the joint portion, and a driving portion connected to the sheath portion and configured to displace the joint portion; an overtube including a flexible tube portion having a distal end and a proximal end and holding the treatment tool such that the treatment portion is capable of protruding from the distal end, and a second indicator portion provided at the flexible tube portion to identify a predefined space where calibration of the treatment tool is performed; and a calibration mechanism configured to calibrate the treatment tool when the first and second indicator portions have a predetermined positional relationship.

Medical system

A method of calibrating a manipulator including a joint portion, a drive unit that generates a driving force for driving the joint portion, and a driving force transmission member that is inserted into a tubular member and transmits the driving force generated from the drive unit to the joint portion includes: an arrangement step of arranging the manipulator in a usable state; a load-measuring step of issuing an operation command based on a predetermined calibrating drive pattern to the drive unit and measuring a load generated in the manipulator at that time; and a control parameter-setting step of setting a main-driving control parameter based on the load measured in the load-measuring step.

Manipulator-calibrating method, manipulator, and manipulator system

Provided is a manipulator system including: a manipulator that has an insertion section composed of a flexible section and a bending section and that has a bending-section drive unit for driving the bending section; an operation input unit; a flexible-section shape detecting unit and a bending-section shape detecting unit that detect curved shapes of the flexible section and the bending section, respectively; compensation-value setting units that set a compensation value on the basis of the curved shape detected by each of the shape detecting units; and a control unit that generates a curvature control signal for driving the bending-section drive unit according to an operating instruction input via the operation input unit and furthermore corrects the curvature control signal using the compensation value and transmits it to the bending-section drive unit.

Manipulator system

A variable spectrum element includes: first and third sensors which are placed at positions at which the first and third sensors are symmetrical with respect to a line connecting the centers of mass of the surfaces of a pair of optical substrates opposite to each other, respectively; second and fourth sensors which are placed at positions at which the second and fourth sensors are symmetrical with respect to the line connecting the centers of mass, respectively; and first to fourth actuators which are placed on lines running from the center of mass of the surface of each of the pair of the optical substrates opposite to each other to the centers of the first to fourth sensors respectively, respectively.

Variable spectrum element

A biological observation apparatus is configured as follows. Namely, the biological observation apparatus includes a marker attached to a living body in order to detect the vibration of the living body, a high-sensitivity camera which forms an observation image of the living body, a high-speed camera which forms an image of light from the marker, and an optical system including a first BA which prevents the light from the marker from entering the high-sensitivity camera.

Biological observation apparatus and biological observation method

A variable spectroscopic element in which a placed position of first sensor and a placed position of the third sensor are symmetrical and a placed position of second sensor and a placed position of fourth sensor are symmetrical with respect to a line connecting the centers of mass of the surfaces of a pair of optical substrates opposite to each other respectively and first to fourth actuators are arranged includes a control unit which calculates a distance between the centers of mass, a first angle that is made between the moved optical substrate and the other optical substrate and a second angle that is made between the other optical substrate and the moved optical substrate, with signals from the first to fourth sensors, and drives the first to fourth actuators on the basis of the distance between the centers of mass, the first angle, and the second angle.

Variable spectral element

The variable spectroscopic element includes a pair of optical substrates-, four sensors-, four piezoelectric elements 4-4, and a control section. The sensorsare arranged to form symmetry with respect to the center axis, which links gravity centers of mutually facing surfaces of the optical substrates-, and so are the sensors. The control section calculates, from signals of the sensors-, a distance x between the gravity centers of the mutually facing surfaces, and angles &#x3b8;, &#x3c6; each of which is formed by a plane perpendicular to the center axis and the facing surface of the movable substrate, to drive the piezoelectric elements-on the basis of the distance x, the angles &#x3b8;, &#x3c6;, and to carry out feedback control and feed forward control with respect to at least one of the distance x, the angle &#x3b8;, and the angle &#x3c6;.

It is an object of the present invention to solve the problem of a drop in precision in conventional systems using a square pyramid type five-hole probe due to the drop in atmospheric pressure in high altitude ranges, and to provide a wide velocity range flight velocity vector measurement system that can prevent a drop in measurement precision. Furthermore, it is also an object of the present invention to provide a method for eliminating the effects of detection fluctuations caused by adhering water droplets, ice particles or dust in a wide velocity range flight velocity vector measurement system. The flight velocity vector measurement probe of the present invention comprises means in which a static pressure hole is formed in the tube wall surface of the probe, so that a static pressure value is obtained from the pressure detected by this static pressure hole, the Mach number M is calculated on the basis of an equation approximated by a fourth-order polynomial of the static pressure/total pressure signal and the angle of attack, and in cases where an abnormal detection value is detected, this is replaced by the preceding detection value.

High-altitude capable wide velocity range flight velocity vector measurement probe and measurement system

An optical apparatus has a look-up table provided with control information for controlling an optimum variable optical-property optical element in accordance with a distance to an object, a zoom state, or a combination of the distance to the object with the zoom state. A drive of the variable optical-property optical element is controlled on the control information obtained from the look-up table or a predetermined calculation process is executed on the control information obtained from the look-up table, and information obtained from the calculation process is used to control the drive of the variable optical-property optical element.

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Tokyo, Japan

Hiroshi Wakai