| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a medical manipulator which can determine simply and properly the tensile strength of a flexible material. <P>SOLUTION: The medical manipulator 10 includes: an actuator block 30 equipped with motors 40a-40c; a connection part 15 equipped with pulleys 50a-50c which can be connected to the actuator block 30 to be detachably communicated with the motors 40a-40c; a tip operator 12 mounted to the tip of a coupling shaft 48 stretching from the connection part 15 to operate together with the pulleys 50a-50c via wires 54a-54c; and a tensile strength detection piece 400 interposed halfway of the wires 54a-54c, provided with a strain gauge 404a, wherein the tensile strength detection piece 400 is a board which is long along the stretching direction of the coupling shaft 48 and has hooks 406 at both the ends in the longitudinal direction to load the wires 54a-54c. <P>COPYRIGHT: (C)2010,JPO&INPIT |
