| 摘要 |
PROBLEM TO BE SOLVED: To provide a medical manipulator reducing damage to a cable which is a power transmission member disposed in a working part.SOLUTION: The medical manipulator includes an operating part 14 having a drive source, the working part 16 which can be attached to/detached from the operating part 14, and a tension control mechanism 100. A distal end motion part is disposed at the distal end of the working part 16. The working part 16 further includes; a drive pulley to be rotationally driven by the drive source; a driven pulley disposed further on the distal end motion part than the drive pulley; and wires 80a and 80b wound around the drive pulley and driven pulley respectively. The tension control mechanism 100 puts the wires 80a and 80b in a low-tension state when the working part 16 is removed from the operating part 14, and puts the wires 80a and 80b in a high-tension state when the working part 16 is attached to the operating part 14. |
