Patent ID: 8647330

Claim:
A manipulator joint displacement detection mechanism comprising: a manipulator which includes an actuating unit and a joint, and is formed in an elongated shape having a distal end portion and a proximal end portion, the actuating unit provided in the distal end portion, and the joint configured to displace to perform an actuating operation to the actuating unit, and transmit the displacement to the actuating unit to perform the actuating operation; a first transmission member which is connected to the joint, and provided movably to displace the joint; a second transmission member which is connected to the first transmission member in a part of the manipulator close to the joint, and is moved corresponding to a moving distance of the first transmission member; a guide which guides the movement of the second transmission member, the guide comprising a first end and a second end; a sensor which detects the moving distance of the second transmission member in a part close to the proximal end portion of the manipulator; a joint holder which holds the joint; a sensor holder which holds the sensor; a first guide fixing part which is provided in the joint holder, and fixes the first end of the guide; and a second guide fixing part which is provided in the sensor holder, and fixes the second end of the guide.