Patent ID: 8647330
Filing Date: 2014-02-11
Classification: A61B

Abstract:
1. A manipulator joint displacement detection mechanism comprising: a manipulator which includes an actuating unit and a joint, and is formed in an elongated shape having a distal end portion and a proximal end portion, a first transmission member which is connected to the joint, and provided movably to displace the joint; a second transmission member which is connected to the first transmission member in a part of the manipulator close to the joint, and is moved corresponding to a moving distance of the first transmission member; a guide which guides the movement of the second transmission member, the guide comprising a first end and a second end; a sensor which detects the moving distance of the second transmission member in a part close to the proximal end portion of the manipulator; a joint holder which holds the joint; a sensor holder which holds the sensor; a first guide fixing part which is provided in the joint holder, and fixes the first end of the guide; and a second guide fixing part which is provided in the sensor holder, and fixes the second end of the guide.