| 摘要 |
PROBLEM TO BE SOLVED: To provide an inexpensive medical manipulator having superior assembling efficiency and maintenability using a wire for transmitting power to change the attitude of a treating part, by simplifying the structure of a working part conducting the opening and closing operation. SOLUTION: This manipulator comprises a work part 3 having support parts 12, 13 capable of supporting the treating part to change its attitude to two or more degree of freedom, an operation control part 40 for transmitting an operation instruction from an attitude operating part 21 to the support parts 12, 13 to change the attitude of the treating part 11, and transmitting an operation instruction from a treatment operating part 22 to the treating part 11 to be operated, and a transmission part D1 for transmitting the power from the operation control part 40 with a wire T2 to the work part 3. The transmission part D1 is composed of two pulleys 51, 53 whose center are set within the same plane and a wire guide member 52 set on the same axis B as the base point of changing the attitude of the work part 3 and set within the same plane as the center of the pulleys 51, 53 are. |
