Patent ID: 8523900
Filing Date: 2013-09-03
Classification: A61B

Abstract:
1. A medical manipulator, comprising: a drive member; a transmitting member for transmitting a drive force to an end effector; a main shaft, the transmitting member being movably supported on the main shaft; an arcuate driven member integrally mounted on the transmitting member near a proximal end thereof, the arcuate driven member having an arcuate convex surface that is convex toward the proximal end of the transmitting member and a cavity that is non-convex toward a distal end of the transmitting member, the cavity being disposed within a virtual circle, a portion of which is represented by the arcuate convex surface; a cylindrical return member fixedly mounted on the main shaft between the arcuate driven member and the distal end of the transmitting member; and an annular flexible member having a portion connected to the drive member and trained at least one turn around and extending between the arcuate convex surface and the cylindrical return member, wherein when the drive member is moved toward a proximal end of the manipulator in order to pull the annular flexible member, the arcuate driven member is moved together with the transmitting member toward the distal end of the manipulator, and the cylindrical return member includes a proximal-end portion that enters the cavity, and wherein the medical manipulator actuates an end effector on a distal end thereof in response to movement of the drive member.