DEVICE FOR MANIPULATING MEDICAL TOOL IN PATIENT'S BODY

摘要

PROBLEM TO BE SOLVED: To provide a manipulator which is suitable for a minimally-invasive surgical operation.

SOLUTION: The device for manipulating a medical tool in a patient's body includes: a tube 321 which can be inserted into the body of the patient; a gimbal joint 330 which is supported by the tube 321 and has first and second axis lines; a tool 322 which is supported by the gimbal joint 330 so that it may pivot around the first and second axis lines; first and second long and thin connectors 350 which are extended through the tube 321 up to the gimbal joint 330; and first and second actuators 355 which apply a force to the gimbal joint 330 via the first and second connectors 350 and are connected with the first and second connectors 350 respectively so that they can act on them to allow the tool 322 to pivot around at least one of the first and second axis lines. The first and second connectors 350 can operate in a compressed state and in a tense state.

COPYRIGHT: (C)2011,JPO&INPIT