| 摘要 |
PROBLEM TO BE SOLVED: To provide a medical manipulator of which the tip holding part, including an end effector, has a high degree of freedom of motion, and which allows for the widest possible range of movement.SOLUTION: A medical manipulator includes: a handle 1; a shaft 2 extending from the handle 1; a rotary support cylinder connected to the shaft 2 so as to move rotationally; a tip holding part 3 rotatably supported by the rotary support cylinder; and operating means for operating the tip holding part 3 which is disposed between the handle 1 and the tip holding part 3. The tip holding part 3 can rotate around the rotary support shaft 4 without limitation and is provided so as to change the rotating posture with respect to the axial direction of the shaft 2. The tip holding part 3 is rotatably supported by the rotary support shaft. Operating means of the tip holding part 3 is disposed in the center gap of the rotary support cylinder. |
