| 主权项 |
1. A medical manipulator comprising:
a handle; a shaft that extends from the handle; a distal end working unit having an end effector capable of performing an opening and closing operation, and which is connected tiltably with respect to the shaft, and further which is capable of performing a rolling operation; an opening and closing drive transmission part that transmits a driving force for performing the opening and closing operation from the handle to the distal end working unit; and a rotating drive transmission part for transmitting a rotational force for performing the rolling operation from the handle to the distal end working unit, wherein: the rotating drive transmission part includes a rolling drive transmission pipe, which extends along a direction of extension of the shaft and is rotatably disposed in an interior of the shaft, an intermediate member, which is disposed in a joint between the shaft and the distal end working unit, meshes with the rolling drive transmission pipe, and is rotatable about a tilting fulcrum of the distal end working unit, and a distal end side rotating body, which is disposed in the distal end working unit, meshes with the intermediate member, and is rotatable about a roll axis; and the opening and closing drive transmission part is arranged inside the rolling drive transmission pipe, and a portion of the opening and closing drive transmission part that is inserted at least through the joint is flexible. |
