| 摘要 |
An affected site placed in a position close to an insertion part body is treated while interference with surrounding tissues and the like is reduced. The present invention provides a therapeutic manipulator (2) equipped with an insertion part body (7), at least one arm (8) having an end effector (8a) at the tip thereof provided so as to protrude forward from the tip surface of the insertion part body (7), and an endoscope (9) having a visual field range that enables observation of the end effector (8a) at the tip of the arm (8), the arm (8) being equipped, in order from the tip side, with a first flexing joint (11) that enables the end effector (8a) to swing around a first axis perpendicular to the long axis of the arm (8), an intermediate roll joint (12) capable of rotating around the long axis, and a second flexing joint (13) capable of swinging around a second axis line perpendicular to the long axis, the first flexing joint (11) being capable of flexing 90°or more to at least one side relative to the long axis. |
