Patent ID: 8834353
Filing Date: 2014-09-16
Classification: A61B

Abstract:
1. A medical manipulator comprising: a plurality of arms formed in a cylindrical shape each with a distal end portion of which is made of a rigid member having a bending portion capable of bending, an insertion portion made of a rigid member having a plurality of channels in which base ends of the plurality of arms are connected to a distal end of the insertion portion so as to connect lumens of the arms to the plurality of channels, a photographic device provided at the distal end of the insertion portion, a plurality of operating portions that operates each of the bending portions, and a plurality of transmission members that are connected to each of the bending portions, a plurality of operating portion links that connect each of the transmission members and each of the operating portions, wherein each of the bending portions has: each of the transmission members has: each of the operating portions is configured to be capable of being in a straight state along an axial line of the insertion portion and able to be maintained in a state of forming a predetermined angle with respect to the axial line of the insertion portion, and with a maximum swing angle of the operating portions during operation being set to be at most the predetermined angle, and the second region of the transmission members has: the operating portion links has: the distal ends of the first operating portion link and the second operating portion link that serve as turning support points when the operating portion and the insertion portion are made to form the predetermined angle are disposed on a bisectional line of distal end support points of the third operating portion link and the fourth operating portion link when the bending portion is in a linear state.