MANIPULATOR WITH MULTIPLE DEGREES OF FREEDOM

摘要

A bending forceps (1) have at least three degrees of freedom of relative opening and closing of a pair of grip members (11a, 11b), of freedom of rotation of both grip members about a first axis (15), and of rotation of both grip members about a second axis (42) present on an imaginary plane substantially perpendicular to the first axis (15). Power from an actuator is converted by first to third link mechanisms (5, 6, 7) into each motion of the opening and closing of the grip members, the rotation of the first axis, and the rotation of the second axis. Adopting the link mechanisms for power transmitting means increases durability and control accuracy, and facilitates sterilization, cleaning, and attachment and removal to and from driving means.