Patent ID: 11872008
Assignee: MAKOTO JINNO
Field: Medical technology (Instruments)
Classification: CPC A  B | IPC A

Claim 0:
1. A manipulator comprising:
a first member;
a second member configured to support the first member such that the first member can rotate about a first rotation axis;
a driven portion connected to the first member and configured to move on a circumference with respect to the first rotation axis as a center in accordance with a rotation operation of the first member;
a flexible member configured to provide, by a reciprocating operation, a force to drive the driven portion; and
a change unit including an arc guide surface configured to change a path of the flexible member in accordance with the rotation operation of the first member,
wherein the arc guide surface comprises a surface having a circular arc shape, and
wherein on a coordinate system for which, on a plane perpendicular to the first rotation axis, a position of the first rotation axis is defined as an origin, and axes that pass the origin and are orthogonal to each other are defined as an x-axis and a y-axis, letting r1 be a sum of a radius of the circular arc shape and a radius of the flexible member, coordinates (xa, yb) of a center position of the circular arc shape are given by

xa≥(r1/2)

−r1≤yb≤r1.