| 主权项 |
1. A medical manipulator comprising:
a handle; a shaft extending from the handle; a distal-end working unit having an end effector, the distal-end working unit being operatively coupled to the shaft for being tilted with respect to the shaft and rolled; and a force transmitter disposed between the handle and the distal-end working unit, the force transmitter having a portion extending into the distal-end working unit for acting on the end effector; wherein the distal-end working unit has a rotor rotatable about a roll axis in unison with the end effector, the rotor having a hollow tube, and a rotational support tube having a posture variable with respect to an axial direction of the shaft, wherein the support tube is connected with the shaft through a rigid tilt axis, the rotor being rotatably supported by an inner circumferential surface of the rotational support tube; the rotor has a circumferentially extending annular groove defined in an outer circumferential surface thereof; the rotational support tube has at least one side hole extending through a wall thereof between inside and outside surfaces thereof, with an engaging member disposed in the side hole; and the engaging member is fixed to the rotational support tube while an inner end of the engaging member is inserted in the circumferentially extending annular groove. |
