| 摘要 |
An object of the invention is to provide a manipulator capable of relieving less experienced operators of uncomfortableness. As shown in Fig. 11 , the manipulator 1 comprises an insert unit 2 capable of being inserted into the body cavity, an operating unit 3 for operation of the insert unit 2, an extending/retracting unit 4 for moving the insert unit 2 forward or backward, a drive unit 6 for driving the insert unit 2 and extending/retracting unit 4, and a control unit 9 for controlling the drive unit 6 in association with operation of said operating unit 3. The manipulator 1 is characterized in that the insert unit 2 includes a bendable portion 22, the drive unit 6 includes a bending movement driving portion 61 for generating driving force for bending the bendable portion 22 and an extension/ retraction driving portion 62 for generating driving force for moving the extending/retracting unit 4 forward or backward, and the control unit 9 controls the extension/retraction driving portion 61 and bending movement driving portion 62 in association with operation of the operating unit 3. |
