| 摘要 |
In a wire type teleoperational system, a push-pull cable has a push-pull inner cable which is at one end connected to an operative portion, and the other end connected to a coupler. The push-pull cable further has a push-pull outer cable which encases the push-pull inner cable so that one end of the push-pull outer cable is connected to a guide member which movably supports the coupler. A pull cable has a pull inner cable which is at one end connected to a first operative portion, and at the other end connected to the coupler, and the pull cable further has a pull outer cable which encases the pull inner cable so that one end of the pull outer cable is connected to a displacement member which is movably connected to the guide member. A push cable opposite the pull cable has a push inner cable which is at one end connected to a second operative portion, and at the other end connected to the displacement member, and the push cable further has a push outer cable which encases the push inner cable so that one end of the push outer cable is connected to the guide member. The guide member has an open ended outer cylinder, and the displacement member has an inner cylinder slidably mounted on the outer cylinder. The coupler is slidably placed within the outer cylinder so as to form a bifurcated joint.
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