| 摘要 |
A medical manipulator (1) has a surgical tool unit (4) and a surgical tool drive unit (2). The tool unit (4) has a pair of forceps (30). The drive unit (2), detachable from the tool unit (4), has a motor (16) for driving the forceps (30). The tool unit (4) has a pair of transmission members (41, 43) running parallel to each other. The transmission members (41, 43) have respective rack portions (41a, 43a) opposing each other. Between the rack portions (41a, 43a), there is a pinion (42) engaging both of the rack portions (41a, 43a). The drive unit (2) has a pair of input members (11, 13) running parallel to each other. The first input member (11) is driven by the motor (16) in the axial direction. The second input member (13) is biased by a biasing member (13b) toward the second transmission member (43). To open the forceps (30), the motor (16) pushes the first input member (11). Then the first input member (11) advances the first transmission member (41), and the first transmission member (41) opens the forceps (30). To close the forceps (30), the motor (16) pulls the first input member (11). Then the biasing member (13b) pushes the second input member (13), the second input member (13) advances the second transmission member (43), the rack portion (43a) rotates the pinion (42) counterclockwise, the pinion (42) retracts the first transmission member (41), and the first transmission member (41) closes the forceps (30). |
