RIVERFIELD INC.

A surgical tool includes a driven portion, a cord-shaped element, and a rotor. To the driven portion, a driving force is transmitted from an external portion. The cord-shaped element transmits a movement of the driven portion. The rotor has a circumferential surface around which the cord-shaped element extending from the driven portion is wound. The circumferential surface includes two or more grooves arranged side by side in a direction of a central axis of the rotor so that the cord-shaped element is windable therearound, and at least one cut-out portion connecting adjacent grooves among the two or more grooves so that the cord-shaped element is placeable through the adjacent grooves.

An assistance system includes an assisted device and an assistance device disposed to be separated from the assisted device. The assistance device includes a three-dimensional position detector that three-dimensionally detects a hand position of an instructor, and a data transmitter that transmits position information indicating the hand position detected by the three-dimensional position detector. The assisted device includes a first image generator that generates a three-dimensional hand model image imitating a hand of the instructor based on the transmitted position information, and a first image combiner that combines the hand model image with a captured image taken by the assisted device to generate a first combined image.

An assistance system includes an assisted device and an assistance device disposed to be separated from the assisted device. The assistance device includes a three-dimensional position detector that three-dimensionally detects an instruction content of an instructor, and a data transmitter that transmits instruction content information indicating the instruction content detected by the three-dimensional position detector. The assisted device includes a first image generator that generates a three-dimensional annotation image indicating the instruction content of the instructor based on the transmitted instruction content information, and a first image combiner that combines the annotation image with a captured image taken by the assisted device to generate a first combined image.

A forceps device includes a grasping part, a support that holds the grasping part, a bearing mounted in a hole extending through the support, a first rotating shaft that is inserted in the bearing and turnably supports the support, a base member that holds the first rotating shaft, grasping-portion wires that transmit driving forces to move the grasping part, a support wire that transmits a driving force to turn the support about the first rotating shaft, first guide pulleys arranged coaxially with the first rotating shaft, the grasping-portion wires running over the first guide pulleys, and a support pulley formed as part of the support coaxially with the first rotating shaft, the support wire running over the support pulley.

A forceps device includes grasping portions, a support that holds the grasping portions, a first rotating shaft that turnably supports the support, a base member that holds the first rotating shaft, first wires that transmit driving forces to move the grasping portions, second wires that transmit a driving force to turn the support about the first rotating shaft, and a stopper that prevents the support from touching the first wires.

A forceps device includes grasping portions, a support holding the grasping portions, a first rotating shaft that turnably supports the support, a base member that holds the first rotating shaft, first wires that transmit driving forces to move the grasping portions, first guide pulleys arranged coaxially with the first rotating shaft, the first wires running over the first guide pulleys, respectively, and second guide pulleys arranged upstream of the first guide pulleys, the first wires running over the second guide pulleys, respectively. The second guide pulleys are shifted toward one side relative to a position immediately below the first guide pulleys when the first rotating shaft is viewed in front in an axial direction in a state in which a leading end of the grasping portions points upward, and arranged so that a winding angles γ of the first wires respectively around the first guide pulleys are 65° or larger.

A surgical instrument includes a casing including a first end and a second end, the second end being opposite from the first end, a moveable part attached to a shaft extending from the first end of the casing, at least one slider movable with respect to a casing, at least one wire being held by the at least one slider, the at least one wire being configured to transmit movement from the at least one slider to the movable part, a conductor arranged in the casing and configured to conduct an electric power to the movable part, and an insulator that covers an end portion of the at least one wire that extends from the at least one slider toward the second end of the casing. The insulator may include a covering area covering the end portion of the at least one wire, and a non-covering area.

A master-side device for remotely manipulating a slave-side device includes a first manipulator used to manipulate a movable part of the slave-side device, and control processing circuitry that performs determining processing of determining whether or not to turn the movable part in a roll direction, and based on determining to turn the movable part in the roll direction, control the movable part to turn in the roll direction in response to a specific manipulation of the first manipulator.

A master-side device for remotely manipulating a slave-side device, the master-side device comprising a first manipulator having a range of movement and used to manipulate a movable part of the slave-side device, a second manipulator provided corresponding to the first manipulator, and control processing circuitry that controls the movable part in response to a manipulation of the first manipulator, and based on a manipulation being performed on the second manipulator, moves a current position of the first manipulator to a position within the range of movement.

A master-side device for remotely manipulating a slave-side device includes a manipulator having a range of movement and used to manipulate a movable part of the slave-side device, and control processing circuitry that performs processing of determining a correspondence relationship between an amount of a manipulation of the manipulator and an amount of movement of the movable part, and controls the movable part in response to the manipulation of the manipulator, based on the correspondence relationship.