| 摘要 |
PROBLEM TO BE SOLVED: To provide a medical manipulator which quickly and accurately transmits power from the drive mechanism part side to the tip operation part side.SOLUTION: A medical manipulator 10 includes a tensile force adjustment mechanism 68 which adjusts a tensile force of a wire 54a wound around a driving pulley 50a and a driven pulley 57. The tensile force adjustment mechanism 68 includes: an idle pulley 70 which presses a part of the wire 54a; an elastic member 76 which elastically presses the idle pulley 70 against the wire 54a; and a substrate 74 which is threaded to a screw hole 72 and receives an elastic force of the elastic member 76 at the opposite side of the idle pulley 70 with respect to the elastic member 76. |
