| 摘要 |
A manipulator includes a composite input unit that is manually operable by the fingers, a connector shaft extending from an operating unit, and a working unit mounted on the distal end of the connector shaft. The working unit comprises a rolling mechanism, a tilting mechanism, and an opening and closing mechanism. The composite input unit includes a shuttle ring for actuating the rolling mechanism. The manipulator also includes a gripper for gripping a curved needle. The gripper is placed near a DVC, whereupon the rolling mechanism is actuated to roll the gripper and to pierce a living body with the curved needle, until the point of the curved needle projects outside of the living body.
|
