| 摘要 |
A manipulator (10) includes a hollow joint shaft (48), wires (54a, 54b, 54c) extending through the joint shaft (48), pulleys (50a, 50b, 50c) mounted on an end of the joint shaft (48), for imparting a drive force to the wires (54a, 54b, 54c), a distal-end working unit (12) mounted on another end of the joint shaft (48), for being actuated by the wires (54a, 54b, 54c), and a sealing member (64) for preventing liquid such as blood from flowing from the distal-end working unit (12) through the joint shaft (48) to a connector (15). The sealing member (64) has holes (66a, 67a, 66b, 67b, 66c, 67c) defined therein, and the wires (54a, 54b, 54c) are slidably inserted through the holes (66a, 67a, 66b, 67b, 66c, 67c). |
