Manipulator zur medizinischen Verwendung

摘要

In a manipulator (10), an actuator block (30) contains motors (40a to 40c) and rotary shafts (42a to 42c) extending from the motors (40a to 40c). A working unit (16) of the manipulator (10) contains a connecting portion (15), attachable to and detachable from the actuator block (30). The connecting portion (15) has pulleys (50a to 50c) connectable to ends of the rotary shafts (42a to 42c), and has a locking plate (304) movable by alignment pins (212a to 212c). The locking plate (304) has slits (316a to 316c), which are engaged with plate-shaped portions (308a to 308c) formed on the upper ends of the pulleys (50a to 50c). A coil spring (306) is placed between the locking plate (304) and a top plate (334).