| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a multi-degree-of-freedom manipulator (flexion forceps) which has excellent durability and control precision and is easily sterilized, washed, and attached/detached to/from a driving means. <P>SOLUTION: The flexion forceps 1 are provided with at least three degrees of freedom: the relative opening/closing of a pair of grip pieces 11a, 11b; the rotation of both the grip pieces around a first shaft 15; and the rotation of both the grip pieces around a second shaft 42 present on a virtual plane which is substantially orthogonal to the first shaft 15. Power from an actuator is converted into respective movements, i.e., the opening/closing of the grip pieces, the rotation around the first shaft, and the rotation around the second shaft, through the use of first to third link mechanisms 5, 6, 7. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
