Patent ID: 8382790
Filing Date: 2013-02-26
Classification: A61B

Abstract:
1. A manipulator comprising: a hollow shaft; a power transmitting member extending through the hollow shaft; a drive mechanism mounted on a proximal end of the hollow shaft, the drive mechanism imparting a drive force to the power transmitting member; a distal-end working unit mounted on a distal end of the hollow shaft, the distal end working unit being actuated by the power transmitting member; a sealing member that prevents liquid from flowing from the distal-end working unit through the hollow shaft to the drive mechanism, the sealing member having a power transmitting member hole defined therein, and the power transmitting member being slidably inserted through the power transmitting member hole; and a cleaning tube extending from a drive mechanism side of the manipulator toward a distal-end working unit side of the manipulator, the cleaning tube supplying a cleaning solution therethrough for cleaning an interior of the distal-end working unit; wherein the sealing member has a cleaning hole defined therein, the cleaning tube extending through the cleaning hole, and the sealing member being disposed inside the hollow shaft, wherein the hollow shaft internally defines a space extending along an axial direction between the distal end of the hollow shaft and the sealing member, wherein the cleaning tube has a cleaning solution inlet on a first end at the drive mechanism side, extends through the drive mechanism and the shaft, and penetrates through the sealing member, wherein the cleaning tube has a cleaning solution outlet on a second end at the distal-end working unit side, the outlet being disposed, within the space, more closely to the distal-end working unit compared to the sealing member, wherein the sealing member has a slit extending from an outer surface thereof to the power transmitting member hole, and wherein wall surfaces defining the slit are in close contact with and adhered to each other.