| 摘要 |
<P>PROBLEM TO BE SOLVED: To easily and appropriately determine the service life of a flexible member. <P>SOLUTION: The medical manipulator 10 includes: an actuator block 30 provided with motors 40a-40c; a connection part 15 freely attachable and detachable to/from the actuator block 30 and provided with pulleys 50a-50c connected to the rotary shafts of the motors 40a, 40b and 40c; a distal end operation part 12 provided on the distal end of a connection shaft 48 extended from the connection part 15 and linked with the pulleys 50a-50c through wires 54a-54c; a current sensor 118 for detecting the torque T of the motors 40a-40c; and a controller 27. The controller 27 compares the torque T with drive force thresholds A1 and A2, obtains an excess torque integrated value X for a part of the torque T exceeding the drive force thresholds A1 and A2, and performs prescribed coping processing when the excess torque integrated value X exceeds a first integrated threshold B1 and a second integrated threshold B2. <P>COPYRIGHT: (C)2010,JPO&INPIT |
