Patent ID: 8465414

Claim:
A medical manipulator device that displaceably holds a medical instrument, comprising: a stage section that can hold the medical instrument; a plurality of actuators each having first and second ends spaced apart longitudinally, the first end of each of the actuators being linked to the stage section; a base section linked to the second end of each of the plurality of actuators; and an introducing chamber provided in each of the actuators and into which a liquid can be introduced, wherein each of the actuators causes the medical instrument and the stage section to displace with respect to the base section by extending or contracting in the longitudinal direction of the actuator in response to a pressure of the liquid inside the introducing chamber, and wherein at least one of the actuators is provided with: a cylindrical sleeve; a driven member provided slidably within the sleeve so that the introducing chamber is between the sleeve and the driven member, the driven member maintaining a sealed state with respect to the liquid and being displaceable relative to the sleeve along a first longitudinal direction in response to a pressure applied to the liquid; and a pushing section that can push the driven member in a second longitudinal direction opposite the first longitudinal direction so that the pushing section displaces the driven member in the second longitudinal direction when the pressure of the liquid is reduced.