Patent ID: 9568992
Date: 2017-02-14
CPC Classifications: A61B,B25J,G06F,Y10S,Y10T

Claim:
1. A medical manipulator comprising: a base section at which a support surface is formed; a movable part movably supported on the support surface, between a distal end position, which is a distal end side in a reference direction, and a proximal end position, which is a proximal end side in the reference direction, with respect to the base section, when the reference direction parallel to the support surface is defined; a positioning mechanism configured to position the movable part at the distal end position with respect to the base section; a holding section movably supported in the reference direction with respect to the movable part, and configured to detachably hold a proximal end portion of a treatment tool such that a longitudinal direction of the treatment tool having an elongated shape is substantially parallel to the reference direction; and a driving unit configured to move the holding section in the reference direction with respect to the movable part, wherein the positioning mechanism includes: an engaging section provided at one of the base section and the movable part; and an engaged device having an engaged section provided at an other of the base section and the movable part, and restricted movement to the reference direction on engaging with the engaging section, and wherein the engaged device includes: a support member configured to support the engaged section; and a biasing member configured to bias the support member such that the engaged section engages with the engaging section.