Patent ID: 8002784
Filing Date: 2011-08-23
Classification: A61B

Abstract:
1. A manipulator comprising: a first end effector extending from its first end to its second end, said first end effector having a first end effector portion on said first end, which is at a distal end side of the manipulator, a first link on said second end, and a first joint disposed between said first end effector portion and said first link; a second end effector extending from its first end to its second end, said second end effector having a second end effector portion on said first end, which is at the distal end side of the manipulator, a second link on said second end, and a second joint disposed between said second end effector portion and said second link; a link bar extending from its first end to its second end; a first junction directly connecting said second joint to said first joint such that said second end effector has a longitudinal direction substantially perpendicular to a first joint axis which extends through said first junction substantially perpendicularly to a longitudinal direction of said first end effector, and said second end effector is angularly movable about said first joint axis with respect to said first end effector; a second junction directly connecting the second end of said link bar to a second end of said first link such that said link bar has a longitudinal direction substantially perpendicular to a second joint axis which extends through the second end of said first link substantially perpendicularly to a longitudinal direction of said first link, and said link bar is angularly movable about said second joint axis with respect to said first link; and a third junction connecting the first end of said link bar to a second end of said second link such that said second link has a longitudinal direction substantially perpendicular to a third joint axis which extends through the first end of said link bar substantially perpendicularly to said longitudinal direction of said link bar, said link bar is angularly movable about said third joint axis with respect to said second link, and the first end of said link bar is movable in the longitudinal direction of said second link with respect to said second link, wherein the first joint axis is the distal most joint axis and the second joint axis is the proximal most joint axis.