| 摘要 |
PROBLEM TO BE SOLVED: To provide a medical manipulator enabling roll operation unlimited in a rotary range while keeping a structure enabling the on-off operation and tilting operation of a leading end operation part without complicating the mechanism of the leading end operation part.SOLUTION: A medical manipulator 10 includes an on-off drive transmission part 80 for transmitting drive force for on-off operation from a handle 16 side to a leading end operation part 14, and a rotary drive transmission part 132 for transmitting rotatory power for roll operation from the handle 16 to the leading end operation part 14. The rotary drive transmission part 132 has a roll driving transmission pipe 130 rotatably arranged in a shaft 18, a bevel gear 86 provided to a joint part 17 between the shaft 18 and the leading end operation part 14 and the rotary sleeve 56 meshed with the bevel gear 86. A flexible pull wire 70 constituting a part of the on-off drive transmission part 80 passes through the joint part 17 to extend into the leading end operation part 14. |
