Patent ID: 7454268
Filing Date: 2008-11-18
Classification: A61B,B25J

Abstract:
1. A method for suturing with a manipulator: griping a curved suture needle; sticking the curved suture needle into a part to be sutured; and turning a support unit, wherein the manipulator includes, an operation command unit including an attitude adjusting unit and an end effector control unit, a connecting unit having one end connected to the operation command unit, and a working unit connected to the other end of the connecting unit and provided with an end effector and the support unit supporting the end effector for motion, wherein the support unit includes a first joint configured to turn about a first axis perpendicular to a center axis of the connecting unit, and a second joint configured to turn about a second axis perpendicular to the first axis, and the end effector includes a center axis substantially parallel to the second axis.