| 摘要 |
This medical manipulator (10) is provided with: an opening/closing drive transmission unit (80) that transmits driving force for an opening/closing operation to a tip operation section (14) from a handle (16) side; and a rotary driving transmission unit (132) that transmits rotary force for a rolling operation to the tip operation section (14) from the handle (16). The rotary driving transmission unit (132) has: a rolling drive transmission tube (130) disposed rotatably within a shaft (18); a bevel gear (86) provided to the joint (17) between the shaft (18) and the tip operation section (14); and a rotating sleeve (56) that meshes with the bevel gear (86). A pull-wire (70) having flexibility and configuring a portion of the opening/closing drive transmission unit (80) extends through the inside of the joint (17) to the inside of the tip operation section (14). |
