Patent ID: 7955321

Claim:
A surgical operation apparatus including a manipulator having three degrees of distal freedom, wherein the manipulator includes a joint portion having a plurality of degrees of freedom which can bend and translate in a body cavity of a patient while the bend and translation do not interfere with each other, and a driving power is transmitted from an outside of the joint portion to the joint portion by a link mechanism, and wherein the joint portion has a pair of gears engaged with each other, a plate member to which the pair of the gears are attached, a small gear integrally formed to one of the pair of the gears, a flexible rack engaged with the small gear, a first link whose one end portion is attached to the other of the pair of the gears, and a second link whose one end portion is attached to the plate member, and wherein a bending movement is made by driving the second link, and a translating movement is made by driving the first link.