Operating mechanism, medical manipulator, and surgical robot system

摘要

A medical manipulator (10) includes an operation command unit (14) having motors and a working unit (16) detachably mounted on the operation command unit (14). The operation command unit (14) includes a grip handle (26) for being gripped by a human hand, and a trigger lever (32) movable toward and away from the grip handle (26). The trigger lever (32) comprises a pulling member (101) which can be pulled toward the grip handle (26) by a finger held against the pulling member (101), and a pushing member (102) which can be pushed away from the grip handle (26) by the finger held against the pushing member (102), the pushing member (102) being disposed in facing relation to the pulling member (101). The pushing member (102) has a hemispherical cavity (104) defined in a surface thereof which faces the pulling member (101).