Patent ID: 7540867

Claim:
A manipulator, comprising: a first rotor axis portion arranged orthogonal to a direction along a longitudinal direction of a connecting portion at a tip of which a treating portion is provided to treat a treatment target; a main shaft portion which is rotatably supported in a direction around the first rotor axis portion and is provided in a direction crossing to the first rotor axis portion; a first gear rotatably supported in a direction around the first rotor axis portion; a second gear rotatably supported in a direction around the first rotor axis portion; a third gear which engages with the first gear and is rotatably supported in a direction around the main shaft portion; a fourth gear which engages with the second gear and is rotatably supported in the direction around the main shaft portion; a second rotor axis portion which coaxially rotates with the third gear; a fifth gear which coaxially rotates with the fourth gear; a third rotor axis portion which rotates in the direction around the main shaft portion in conformity with rotation of the second rotor axis portion and is arranged from a torsional position to a parallel position with the first rotor axis portion; a sixth gear which is rotatably supported in a direction around the third rotor axis portion and engages with the fifth gear; and a first treating member which rotates in the direction around the third rotor axis portion with the sixth gear and rotates in the direction around the main shaft portion with the third gear.