| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a medical manipulator having a working unit that is usable up to at least a limited number of use (N) and urges to stop using a working unit before it is used excessively when the working unit is continuously used subsequently. <P>SOLUTION: The medical manipulator 10 includes an operational unit 14 and the working unit 16. A controller 27 recognizes the connection of a connecting unit 15 of the working unit 16 to an actuator block 30 of the operational unit 14 (S2) and performs start checkup operation for temporarily applying a prescribed load to a wire 54b. In the start checkup operation, a prescribed amount of tension is applied to the wire 54b by rotating an ellipsoidal cylindrical body 400 by a motor 40d (S6), and the wire 54b is operated by a prescribed amount by a motor 40b (S7). After the load of the tension is released, the motor 40b is operated by a prescribed amount to verify the breakage of the wire 54b from a load current at the time (S8). <P>COPYRIGHT: (C)2011,JPO&INPIT |
