| 摘要 |
PROBLEM TO BE SOLVED: To provide a small-sized active manipulator apparatus inserted in a blood vessel of the inside of the human body. SOLUTION: Plural links 4, 5, 6 are connected from the base end part 2 to the free end part 3 of the active manipulator apparatus to freely angular- displace around the angular displacement axes 9 and 10 by joints 7, 8. In the respective joints 7, 8, a piston 36 driven by compressed air is provided in a recessed part 34 of one link 5, and the piston 36 abuts on the other link 4 by supplying compressed air, so that angular displacement of both links 4, 5 is inhibited by the frictional force, or torque required for angular displacement can be controlled. Each one end part of a pair of cords 11, 12 is connected to the top of the link 6 of the free end part 3, and the respective cords 11, 12 are guided along both sides of the angular displacement axes 9, 10 of the joints 7, 8 by guide parts 16 to 18, 19 to 21, and the other end parts of the cords 11, 12 are taken up by take-up means 23, 24 or unwound. |
