| 摘要 |
PROBLEM TO BE SOLVED: To speedily and easily insert or change a treatment instrument, prevent an unexpected external force from shifting a tip, provide sufficient workability in a narrow visual field of an endscope or the like, operate a position and an attitude of the tip treatment instrument with many degrees of freedom, provide a low invasive degree, and clean a lens of the endscope. SOLUTION: A guide manipulator comprises an inserting part 6 and a driving part 5 (Fig. 3), and the inserting part 6 comprises a joint part 1, an arm part 2, a bent part 3, and a fixing part 4. The inserting part 6 is hollow, and the treatment instrument can be inserted into from an inserting hole 50 to the tip. The tip of the treatment instrument can be guided to a lesion and operated driving the joint part 1 in the head shaking direction A, and the inserting part in the rotation direction B and translation direction C. The bent part 3 can change a position of a driving part. The inserting part 6 is hollow, the joint part 1 and the arm part 2 to be inserted into a body are rigid, and the curvature radius of the joint part 1 is small, so that easiness of changing of the treatment instrument, workability, and safety are provided. A guide channel 22 can use stably and simultaneously use the plurality of treatment instruments, and the bent part 3 made of flexible material allows low invasion. A fluid opening 25 can facilitate cleaning. |
