| 摘要 |
<P>PROBLEM TO BE SOLVED: To simply and accurately inspect tension of a flexible member. <P>SOLUTION: A medical treatment manipulator 10 operate a leading end operation part 12 provided to the other side of a connection shaft 48 through the wires 54a-54c pulled under a predetermined tension from the rotary shafts of motors 40a-40c provided to one side of the connection shaft 48. An openable and closable inspection hole 404 is provided to the side surface of the connection shaft 48. A tension inspection device 400 has pawl parts 412a-412c for automatically flipping the wires 54a-54c in succession to vibrate them, a microphone 414 for detecting the vibration of the wires 54a-54c, and a tension determining part 434 for determining whether the tension T calculated from the vibration detected by the microphone 414 is within a proper range to perform predetermined output. <P>COPYRIGHT: (C)2010,JPO&INPIT |
