Patent ID: 7819894
Filing Date: 2010-10-26
Classification: A61B

Abstract:
1. A manipulator with multiple degrees of freedom for surgery driven by a driving means, comprising: a pair of gripping members; a first axis that connects both the gripping members rotatably; a second axis existing on an imaginary plane substantially perpendicular to the first axis; a first link mechanism for converting a drive power of the driving means to a rotary motion of one gripping member around the first axis; a second link mechanism for converting a drive power of the driving means to a rotary motion of the other gripping member around the first axis; a third link mechanism for converting a drive power of the driving means to a rotary motion of both the gripping members around the second axis; a first supporting body for supporting the gripping members with the first axis; and a second supporting body for supporting the first supporting body with the second axis, wherein each of the first and second link mechanisms comprises: a first link supported slidably by the first supporting body, a second link supported slidably by the second supporting body; and a third link for connecting between the first link and the second link, and wherein each of the link mechanisms is a mechanism in which a plurality of links are connected in pairs.