Olympus Corporation

Mitsubishi Electric Corporation

Mitsubishi Electric Research Laboratories, Inc.

Yuta Fujii

Toshihiro Yoshii

Andrei Kniazev

Provided is a flexible-manipulator sheath including: a flexible inner tube having a lumen along a longitudinal direction thereof, the lumen configured to insert a wire; a flexible outer tube disposed to cover an outer circumferential surface of the inner tube, the outer tube having a higher compression stiffness than the inner tube; and a cushioning disposed at a space between an inner surface of the outer tube and an outer surface of the inner tube, wherein the cushioning is formed by at least one of filling the space with a viscous material and disposing an elastic sheet at the space.

Flexible-manipulator sheath and manipulator

A sheath assemblyincludes at least three flexible, tubular membersandthrough which linear members can be inserted, a first holderconfigured to hold one end side of the tubular membersand, and a second holderconfigured to hold the other end side of the tubular membersand, wherein the first holderand the second holderhold the at least three tubular membersandsuch that sections of the tubular membersandorthogonal to an axial direction thereof are linearly aligned.

Sheath assembly, manipulator, and manipulator system

A sufficient gripping force is exerted on a suture thread through an easy process. Provided is a ligation thread fastening tool including: a gripper that has a pair of crimp pieces opposed to each other with a space therebetween and whose inner faces opposed to each other are to be crimped together and that has, between the inner faces, a groove into which a suture thread can be inserted from a first side of the crimp pieces toward a second side thereof; and an accommodation portion that is provided in the gripper from the inner face outward of the groove so as to communicate with the groove and that accommodate an end portion of the suture thread inserted thereinto from the first side through the groove.

Ligation thread fastening tool and ligation device

A method for a continuation model predictive control (CMPC) of a system determines at least a part of a preconditioner using an approximate coefficient function and determines a solution vector by solving a matrix equation of the CMPC with a coefficient matrix defined by an exact coefficient function at a current time step of a control using an iterative method with the preconditioner. The approximate coefficient function applied to a vector approximates a result of an application of the exact coefficient function to the vector. A control signal for controlling the system is generated using the solution vector.

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Tokyo, Japan

Yuta Fujii