TREATMENT DEVICE AND SURGICAL SYSTEM

摘要

A treatment device includes a narrow main unit, an end effector, a rolling joint provided between the end effector and the main unit, a driven joint that is provided at the end effector or between the end effector and the rolling joint and that rotates together with the rolling joint about a longitudinal axis, power transmission members that extend parallel to each other from the driven joint to the main unit, position maintaining portions that maintains the power transmission members at two positions located between the driven joint and the main unit and separated from each other by a certain distance in a direction of the longitudinal axis, and a shaft member disposed along the longitudinal axis between the two positions. The position maintaining portion maintains the power transmission members at predetermined relative positions separated from each other by the certain distance in a circumferential direction of the shaft member.

主权项

1. A treatment device comprising:
a narrow main unit; an end effector located at a distal end of the main unit; a rolling joint that is provided between the end effector and the main unit and that is rotatable relative to the main unit about a longitudinal axis of the main unit; a driven joint that is provided at the end effector or between the end effector and the rolling joint and that rotates together with the rolling joint about the longitudinal axis; a plurality of linear power transmission members that extend parallel to each other from the driven joint to the main unit via the rolling joint and that transmit power applied to proximal ends; position maintaining portions that maintain the plurality of power transmission members at predetermined relative positions, which are two positions located between the driven joint and the main unit and separated from each other by a certain distance in a direction of the longitudinal axis; and a columnar shaft member disposed in the direction of the longitudinal axis between the two positions, wherein the position maintaining portions maintain the plurality of power transmission members at the relative positions located at a radially outer side of the shaft member and separated from each other by the certain distance in a circumferential direction of the shaft member.