| 摘要 |
PROBLEM TO BE SOLVED: To provide a medical instrument capable of reducing the cost by simplifying the structure and shape in the periphery of a wrist member and reducing the number of component items.SOLUTION: The medical instrument includes: a hollow shaft 18; the wrist member 58 supported to the distal end of the shaft 18 in such a way as rotatable around a pitching axis Op; an end effector 19 disposed in the distal end of the wrist member 58 in such a way as rotatable around a yawing axis Oy; a first wire 52a and a second wire 52b for driving the end effector 19; a third wire 52c for driving the wrist member 58; a main guide 74 disposed on the pitching axis Op for guiding the first and second wires 52a and 52b; and an idling guide 80 disposed further on the proximal end side of the shaft 18 than the main guide 74 in the vicinity of the distal end of the shaft 18 for guiding the first and second wires 52a and 52b. |
