| 摘要 |
A medical manipulator includes: a surgical instrument unit having an effector; and a surgical instrument drive unit provided detachably with respect to the surgical instrument unit. The surgical instrument drive unit includes: a pair of input members configured to advance and retract in opposite directions to each other; and a driving source configured to advance and retract the pair of input members. The surgical instrument unit includes: a first transmission member configured to move in the same direction as one of the pair of input members; a second transmission member configured to move in the same direction as another of the pair of input members; and a first inversion interlocking member engaged with the first transmission member and the second transmission member. |
