Patent ID: 7043338
Filing Date: 2006-05-09
Classification: A61B,B25J

Abstract:
1. A manipulator comprising: 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; a working unit connected to the other end of the connecting unit and including an end effector and a support unit supporting the end effector for motions in at least two degrees of freedom of motion; and a control unit configured to transmit an operation command provided by the attitude adjusting unit to the support unit to adjust the attitude of the end effector and configured to transmit an operation command provided by the end effector control unit to the end effector to operate the end effector; 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.