| 摘要 |
A medical manipulator comprises a working unit ( 10 ) that performs operations, an operating unit ( 20 ) that generates instructions, a drive unit ( 50 ) that drives the working unit on the basis of instructions given thereto by the operating unit, a power transmission mechanism ( 60 ) for transmitting driving force of the drive unit to the working unit, and a control unit ( 40 ) for controlling the power transmission mechanism on the basis of instructions given thereto by the operating unit. The power transmission mechanism includes a first power transmission unit ( 61 ) interlocked with the drive unit, and a second power transmission unit ( 63 ) interlocked with the working unit and capable of being detachably connected to the first power transmission unit. A back drive torque of the first power transmission unit is larger than a back drive torque of the second power transmission unit.
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