| 摘要 |
<P>PROBLEM TO BE SOLVED: To move a surgical instrument intricately, and to move the surgical instrument in a manner to stick to the operation of a surgeon when a distance from an incision opening to a treatment site is long. <P>SOLUTION: A forceps manipulator 10 is configured by a pair of forceps 11 disposed on the distal end side, a power transmission mechanism 13 which is coupled to the forceps 11 and comprises a plurality of gears, and first, second, third, and fourth rods 14, 15, 16, 17 which are coupled to the power transmission mechanism 13 and move axially by the power of a motor respectively independently. The power transmission mechanism 13 is equipped with a vertical rotation mechanism 29 for rotating the forceps 11 vertically, a transverse rotation mechanism 30 for rotating the forceps 11 transversely, a twisting rotation mechanism 31 for rotating the forceps 11 to twist, and a grasping operation mechanism 32 for operating the forceps 11 to open and close. <P>COPYRIGHT: (C)2007,JPO&INPIT |
