| 摘要 |
To achieve a medical manipulator that permits for easy attachment of a distal unit, the invention provides a medical manipulator (100) comprising a distal end side and a proximal end side configured to be easily attachable or detachable from each other, comprising a distal unit (300) including an end effector (380) on the distal end side, a joint assembly (373, 377) located on a proximal end side of the end effector and a first power transmission assembly (303, 304) for transmission in a longitudinal direction of a linear motion force for actuation of the end effector or the joint assembly, and a proximal unit (200) including a driver (201) on the proximal end side for generating power for actuating the end effector or the joint assembly and a second power transmission assembly (207, 208) for transmission of power generated from the driver to the distal end side and detachably mounted on the distal unit at a distal end. The distal unit includes a first linear motion force conversion mechanism (301, 302, 327) linked to the first power transmission assembly to convert power from the second power transmission assembly to a linear motion force upon attachment of the distal unit to the proximal unit. |
