| 摘要 |
A medical manipulator includes: an operation member connected to a treatment tool and configured to drive so as to operate the treatment tool; a treatment tool side drive shaft configured to rotate about an axis thereof so as to drive the operation member; an operation amount detection member connected to the treatment tool; a treatment tool side detection shaft configured to rotate about an axis thereof in accordance with displacement of the operation amount detection member; a drive unit side drive shaft having a drive section configured to generate a driving force, installed at the drive unit, and configured to be engaged with the treatment tool side drive shaft so as to transmit the driving force to the treatment tool side drive shaft; a drive unit side detection shaft having a detection section configured to detect a displacement amount of the operation amount detection member, installed at the drive unit, and configured to be engaged with the treatment tool side detection shaft such that rotation of the treatment tool side detection shaft is transmitted to the drive unit side detection shaft; a shape regulation section configured to regulate a shape of the treatment tool to a predetermined operation state in which the treatment tool is operated by a predetermined operation amount; and a phase setting section configured to set phases in rotational directions of the treatment tool side drive shaft and the treatment tool side detection shaft. |
