MEDICAL MANIPULATOR

摘要

A medical manipulator (10) comprises a distal end working unit (14) including a gripper (22) as an end effector, an operating unit (16) for operating the distal end working unit (14), a coupling (12) interconnecting the distal end working unit (14) and the operating unit (16), and an attitude changing mechanism (26) for changing an attitude of the distal end working unit (14). When the operating unit (16) is operated by an operator, the end effector (22) is mechanically operated by a transmitting member (16). The attitude changing mechanism (26) is operated by a bending drive source (140,142) and a rotational drive source (90), which are operated when the operating unit (16) is operated by the operator.