JPH06114000A - Medical manipulator - Google Patents

Abstract

PURPOSE:To provide a medical manipulator which permits the reduction of dimension of an operating part and dispense with installing the curved operating means in the quantity corresponding to the curved parts on the operating part. CONSTITUTION:The gears 17a-17d as a plurality of curving operating means for curving-operating a plurality of curved parts 13a and 13b formed on the top edge side of an insertion part 11 are installed in an operating part 12, and the curved operating knobs 25a and 25b as external curving operating means which can be arbitrarily connected to the gears 17a-17d are installed at the operating part 12.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a medical manipulator such as an endoscope.

[0002]

2. Description of the Related Art Generally, an endoscope used for visually inspecting a body cavity of a living body or a pipe of an industrial pipe has an insertion portion to be inserted into the body cavity of the living body or a pipe of the industrial pipe. The operation portion provided at the base end portion of the insertion portion, and the bending portion is provided at the distal end side of the insertion portion. The bending portion is formed by, for example, rotatably connecting a plurality of node rings with a rivet or the like, and is bendable in the up-down direction and the left-right direction with respect to the axial direction of the insertion portion.

On the other hand, a first bending operation knob and a second bending operation knob as bending operation means are coaxially and rotatably provided on an operation portion of the endoscope, and these bending operation knobs are rotated. When operated, the angle wire that bends the bending portion moves back and forth in the axial direction of the insertion portion.

By the way, in such an endoscope, since the bending portion cannot be bent into, for example, a corrugated shape, the insertion portion is inserted along a complicated-shaped conduit such as a small intestine of a living body. There is a problem that it is not easy to do.

Therefore, in order to solve such a problem, a plurality of bending portions are provided in series on the distal end side of the insertion portion, and the insertion portion of the endoscope is inserted along a complicated-shaped conduit. Something that can be done is proposed.

[0006]

However, such a manipulator for medical use such as an endoscope has an advantage that the insertion portion can be inserted along a conduit having a complicated shape, but is compatible with a curved portion. Since it is necessary to provide the above-described bending operation means in the operation section, there is a problem that the operation section becomes large.

The present invention has been made in view of the above problems, and an object thereof is to reduce the size of the operating section without providing the operating section with a number of bending operation means corresponding to the bending section. It is to provide a medical manipulator capable of performing.

[0008]

Means for Solving the Problems In order to solve the above problems, a medical manipulator according to the present invention has an insertion portion having a plurality of curved portions on the distal end side, and an operation provided at the proximal end portion of the insertion portion. Section, a plurality of bending operation means connected to each of the plurality of bending parts to operate each bending operation, and an external bending connectable to any bending operation means provided in the operation part among the plurality of bending operation means. And an operating means.

[0009]

According to the present invention having such a structure, the plurality of bending portions provided on the distal end side of the insertion portion can be arbitrarily bent by the external bending operation means provided on the operation portion.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS First, a first embodiment of the present invention will be described with reference to FIGS.
This will be described with reference to FIG. In FIG. 1, reference numeral 10 denotes a medical manipulator according to the first embodiment of the present invention.
The medical manipulator 10 includes an insertion portion 11 that is inserted into a body cavity of a living body or a pipe of an industrial pipe, and an operation portion 12 provided at a proximal end portion of the insertion portion 11. Curved portions 13a and 13b are provided in series on the tip side.

The curved portions 13a and 13b are formed by a curved tube 61 as shown in FIG. 4, for example. The curved tube 61 has a thin portion 62 and a thick portion 63, and FIG. As shown in (b), the structure is such that it is easy to bend around the fulcrum 64 in the direction of the thin portion 62. Further, since the curved tube 61 is formed of a homogeneous resin material such as PTFE and has a structure closed to the outer periphery, there is an advantage that no other member for maintaining hermeticity is required. . The curved tube 61 is molded by the mold 65 shown in FIGS. 6 (a) and 6 (b).

That is, the main molds 66 and 67 and the core 68
A heat-melted material such as resin is poured into the gap 69 of the mold 65 made of, and after cooling, the curved tube 61 is drawn from the mold 65.
Take out. Since the curved tube 61 molded by the mold 65 shown in FIGS. 6A and 6B has an uneven outer periphery, it is difficult to insert it into the body cavity of a living body. Inconvenience such as adhesion of dirt may occur. In such a case, the mold 70 shown in FIGS. 7A and 7B is used, and the main molds 71 and 72 of the mold 70 and the core 7 are used.
By pouring a resin material such as PTFE into the gap 74 between the curved tube and the groove 3, a curved tube having an uneven portion on the inner peripheral side can be obtained.

Since the mold 70 shown in FIG. 7 is undercut when the curved tube is removed from the core 73, the curved tube in this case needs to be a relatively flexible material that allows the undercut. There is. When it is difficult to select a material having this characteristic, the curved tube 61 having the shape shown in FIG. 4 is subjected to pneumatic molding with the mold 75 shown in FIG. 8 to form a curved tube having a smooth outer periphery as shown in FIG. 78 can be obtained. That is, as shown in FIG. 8, the curved tube 61 is inserted into the mold 75, the mold 75 is heated, and then compressed air is supplied from the inlet 76 to make the mold 7
By pressing the pressure chamber 76 of No. 5, the bending tube 6
1 is molded following the smooth inner mold of the mold 75. In addition,
At this time, the air existing in the gap between the mold 75 and the bending tube 61 is discharged from the outlet 77.

FIG. 10 shows a schematic configuration of a minimally invasive intraabdominal surgery apparatus used for endoscopic abdominal surgery.
This minimally invasive intraperitoneal surgery device, as shown in the figure,
Multi-joint micro manipulator 81, micro gripper 82, ligating micro clip / micro suture device 83,
It is composed of a micro stereoscopic endoscope 84, a micro tactile sensor 85, a remote control operation mechanism 86, a three-dimensional display device 87, etc., and an abdominal surgery is performed by the following method.
That is, first, the pneumoperitoneum needle is inserted into the abdomen 88 of the patient to inflate the abdominal cavity 89. Next, the multi-joint micromanipulator 81 is inserted from the pneumoperitoneum through the trocar 90, and the organ is grasped by the microgripper 82 with a tactile sensor to secure the operative field. Next, when removing the gallbladder, the gallbladder is lifted by the micro gripper 82, and the gallbladder duct and blood vessel are ligated with the micro clip 83 as shown in FIG.
Cut with a high-frequency scalpel and remove the gallbladder. At this time, the inside of the abdominal cavity 89 is observed by the stereoscopic endoscope 84 mounted on the multi-joint micromanipulator 81. At this time, the surgeon operates the remote control operation mechanism 86 while watching the stereoscopic image displayed on the three-dimensional display device 87.

The minimally invasive intraabdominal surgery apparatus having such a structure has an advantage that the degree of invasiveness to the patient is extremely low because only one insertion hole needs to be formed in the abdomen 88 of the patient. Further, since the operator can perform a surgical operation in the abdominal cavity while looking at the stereoscopic image in the abdominal cavity 89, the operator can perform an operation with the same feeling as a surgical operation by laparotomy. In addition, 91 in FIG. 11 has shown the relative position detection sensor.

FIGS. 12 (a) and 12 (b) are diagrams showing a schematic structure of the micro gripper 82 shown in FIG. 10. The micro gripper 82 holds a gripping portion 92 for gripping an organ in the abdominal cavity.
have. The grip portion 92 is connected to the link portion 93, and one end of the wire 94 is connected to the other end of the link portion 93. The other end of the wire 94 is fixed to the rotating shaft 95a of the motor 95.

The tip axis of the link part 93 is a frame 96.
It is fixed to. The rear end of the frame 96 is rotatably connected to the front end of the frame 98 via a joint 97, and the rear end of the frame 98 is rotatably connected to the front end of the frame 100 via a joint 99. It is connected. A fixed base 101 is integrally provided at the rear end of the frame 100, and the motor 9 described above is mounted on the fixed base 101.
5 is fixed, and the motors 102 and 104 are fixed.

One ends of wires 106 and 107 are fixed to the rotary shaft 103 of the motor 102. The other ends of the wires 106 and 107 are fixed to the joint portion 97 on the tip side, and drive the motor 102 to drive the wire 10
When one of 6, 107 is pulled and the other is loosened, the frame 9
6 rotates about the joint portion 97 as a fulcrum.

One ends of wires 108 and 109 are fixed to the rotary shaft 105 of the motor 104. The other ends of these wires 108 and 109 are fixed to the joint portion 99, and drive the motor 104 to drive the wires 108 and 109.
When one is pulled and the other is loosened, the frame 98 rotates about the joint 99 as a fulcrum.

FIG. 13 is a view showing the schematic arrangement of an operating manipulator 110 provided at the tip of the remote control operating mechanism 86 shown in FIG. 10, and this operating manipulator 110 is shown.
Has an operation unit 111 at its tip. This operation unit 111
Is connected to the link portion 112, and one end of the wire 113 is connected to the other end of the link portion 112. This wire 11
The other end of 3 is connected to the rotating shaft 115 of the encoder 114.

The tip end axis of the link portion 112 is the frame 1
It is fixed at 16. The rear end of the frame 116 is rotatably connected to the front end of the frame 118 via a joint 117, and the rear end of the frame 118 is rotatably connected to the front end of the frame 120 via a joint 119. It is connected. A fixed base 121 is integrally provided at the rear end of the frame 120, and the encoder 114 and the encoders 122 and 124 are fixed on the fixed base 121.

One ends of wires 126 and 127 are fixed to the rotary shaft 123 of the encoder 122. The other end of each of the wires 126 and 127 has a joint portion 1 on the tip side.
It is attached to 17.

One ends of wires 128 and 129 are fixed to the rotary shaft 125 of the motor 124. The other ends of these wires 128 and 129 are fixed to the joint portion 119.

FIG. 14 is a view showing the construction of the operating glove 130. An operating manipulator 131 is provided on the finger back side of the operating glove 130. The proximal end portion of the manipulator 131 for operation is connected to the drive amount detection portion 132 on the outer side of the wrist.

FIG. 15 is a block diagram of the operating manipulator 131. The operating manipulator 131 has a finger portion 133.
One end of the wire 134 is fixed to the tip end side of the wire, and the other end of the wire 134 rotates the encoder 138 via the pulley 135 of the first joint portion, the pulley 136 of the second joint portion, and the pulley 137 of the third joint portion. It is fixed to the shaft.

The wire 13 is attached to the rotating shaft of the pulley 135.
One end of 9 is fixed. The other end of the wire 139 is fixed to the rotary shaft of the encoder 140. Further, one end of the wire 141 is fixed to the rotary shaft of the pulley 136, and the other end of the wire 141 is fixed to the rotary shaft of the encoder 142. When the wire 133 is bent, the corresponding wires 134, 139, 141 are pulled, and the pulling amounts are detected by the encoders 138, 140, 142. The manipulator for operating inside the body cavity is driven based on this detection signal. The detection signal may be transmitted by telemetry.

As shown in FIG. 4, the bending operation wires 14a, 14b, 14c, 14 are provided on the inner peripheral surfaces of the distal ends of the bending tubes 61, 61 forming the bending portions 13a, 13b.
One ends of d, 15a, 15b, 15c, and 15d are fixed to the curved tubes 61 and 61 at intervals of approximately 90 degrees in the circumferential direction. These bending operation wires 14a, 14b, 14c,
The other ends of 14d, 15a, 15b, 15c and 15d are inserted into the insertion portion 11 and guided into the operation portion 12.

As shown in FIGS. 1 and 2, a bending portion 13a is provided in the operation portion 12 with bending operation wires 14a, 1b.
The bending operation wires 15a and 15b include the gear 17a and the bending portion 13b that are bent in the first bending direction (hereinafter, referred to as "vertical direction" for convenience) via the 4b and the chain 16a.
A gear 17b for vertically bending through a chain 16b and a bending portion 13a for bending operation wires 14c, 14
The gear 17c and the bending portion 13b for bending in the second bending direction orthogonal to the first bending direction (hereinafter, referred to as "left-right direction" for convenience) via the d and the chain 16c, the bending operation wires 15c, 15d, and A gear 17d that bends in the left-right direction via a chain 16d is provided.

These gears 17a, 17b, 17c, 1
7d has a ring shape, and outer teeth 18 (see FIG. 3) for driving the chains 16a, 16b, 16c, 16d are provided on the outer peripheral side thereof, and the outer teeth 18 are rotated on the inner peripheral side thereof. Inner teeth 19 (see FIG. 3) are formed. The gears 17a, 17b, 17c, 17d are housed in the gear box 20 with their centers of rotation aligned.
Each of them is rotatably held by a plurality of ball bearings 21 ... These ball bearings 21 ...
Is, as shown in FIG. 3, gears 17a, 17b, 17c,
It engages with ring-shaped guide grooves 22 ... Formed on both sides of 17d.

A gear 17 is provided in the operation section 12.
Gears 23a and 23b are provided which engage with the internal teeth 19 of a, 17b, 17c and 17d to drive the external teeth 18 of the gears 17a, 17b, 17c and 17d. These gears 2
3a and 23b are movable in the rotation axis direction of the gears 17a, 17b, 17c and 17d, and one end of a connecting cylinder 24a is connected to the center of the gear 23a. The other end of the connecting cylinder 24a projects outside the operating portion 12, and the protruding end has a bending operation knob 25 as an external bending operation means.
a is attached. Further, one end of a connecting shaft 24b is connected to the center of the gear 23b. This connecting shaft 2
The other end of 4b is inserted into the connecting cylinder 24a and protrudes to the outside of the operation section 12, and a bending operation knob 25b as an external bending operation means is attached to the protruding end.

In the first embodiment of the present invention thus constructed, when the bending operation knob 25a is rotated while the gear 23a is engaged with the internal teeth 19 of the gear 17a, the bending operation knob 25a rotates. Is transmitted to the gear 17a through the gear 23a, and the rotation of the gear 17a drives the chain 16a. As a result, one of the bending operation wires 14a and 14b is pulled in the axial direction of the insertion portion 11 and the other is loosened, so that the bending portion 13a is bent in the vertical direction.

Further, the gear 23a is the inner tooth 19 of the gear 17b.
When the bending operation knob 25a is rotated while being engaged with, the rotation of the bending operation knob 25a is transmitted to the gear 17b, and the rotation of the gear 17b drives the chain 16b. As a result, one of the bending operation wires 15a and 15b is pulled in the axial direction of the insertion portion 11 and the other is loosened, whereby the bending portion 13b is bent in the vertical direction.

Further, the gear 23a is replaced by the gears 17a and 17b.
The bending operation knob 2 is engaged with both inner teeth 19 of the
When 5a is rotated, the rotation of the bending operation knob 25a is transmitted to the gears 17a and 17b, and the rotation of the gears 17a and 17b drives the chains 16a and 16b. Thereby, the bending operation wires 14a, 14b and 15a, 15b
One of the bending portions 13a and 13b is bent in the vertical direction by pulling the one in the axial direction of the insertion portion 11 and loosening the other.

On the other hand, the gear 23b is the inner tooth 19 of the gear 17c.
When the bending operation knob 25b is rotated while being engaged with, the rotation of the bending operation knob 25b is transmitted to the gear 17c via the gear 23b, and the rotation of the gear 17c drives the chain 16c. Thereby, the bending operation wire 14
By bending one of c and 14d in the axial direction of the insertion portion 11 and loosening the other, the bending portion 13a bends in the left-right direction.

Further, the gear 23b is the inner tooth 19 of the gear 17d.
When the bending operation knob 25b is rotationally operated while being engaged with, the rotation of the bending operation knob 25b is transmitted to the gear 17d, and the rotation of the gear 17d drives the chain 16d. As a result, one of the bending operation wires 15c and 15d is pulled in the axial direction of the insertion portion 11 and the other is loosened, so that the bending portion 13b bends in the left-right direction.

Further, the gear 23b is replaced by the gears 17c and 17d.
The bending operation knob 2 is engaged with both inner teeth 19 of the
When 5b is rotated, the rotation of the bending operation knob 25b is transmitted to the gears 17c and 17d, and the rotation of the gears 17c and 17d drives the chains 16c and 16d. Thereby, the bending operation wires 14c, 14d and 15c, 15d
By bending one side in the axial direction of the insertion portion 11 and loosening the other side, the bending portions 13a and 13b bend in the left-right direction.

Therefore, in the first embodiment of the present invention having such a configuration, the bending portions 13a and 13b can be independently bent in the vertical direction and the horizontal direction by the two bending operation knobs 25a and 25b. As described above, since it is not necessary to provide the bending operation knob in the operation portion in correspondence with the number of bending portions, the operation portion 12 can be downsized.

In the above-mentioned first embodiment of the present invention,
Replace the gears 23a, 23b with the gears 17a, 17b, 17c, 1
The curved portions 13a and 13b are bent in the up-down direction and the left-right direction by engaging with the internal teeth 19 of 7d.
13b is a bending operation wire 14a, 14b, 14c, 14
d, 15a, 15b, 15c, 15d and chain 1
A gear 26 having two outer teeth 27a, 27b on the outer peripheral side as shown in FIG. 16 is used as a gear that is curvedly driven in the vertical direction and the horizontal direction via 6a, 16b, 16c, 16d.
a, 26b, 26c, 26d, and these gears 26
The gear 23 is attached to the outer teeth 27b of a, 26b, 26c and 26d.
The bending portions 13a and 13b may be bent in the up-down direction and the left-right direction by engaging a and 23b.

Further, as shown in FIG. 17, the gears 26a, 2
Intermediate gears 28a, 28b are provided between the gears 6b, 26c, 26d and the gears 23a, 23b.
a, 28b by operating rod 29 to gears 26a, 26b, 2
You may make it move to the axial direction of 6c and 26d.

Next, a fourth embodiment of the present invention will be described with reference to FIGS. 18 and 19. The same parts as those shown in FIG. 1 are designated by the same reference numerals in the following description. In FIG. 18, reference numeral 30 denotes an operating portion of the medical manipulator according to the fourth embodiment of the present invention. Inside the operating portion 30, the bending portion 13 is provided.
a (see FIG. 1) to the bending operation wires 14a and 14b (see FIG. 4).
And the bending portion 13a for bending the gear 31a and the bending portion 13a in the vertical direction via the chain 16a.
c, 14d (see FIG. 4) and the chain 16c, the gear 31b that bends in the left-right direction, the bending portion 13b (see FIG. 1).
(See FIG. 4) and the bending operation wires 15a and 15b (see FIG. 4) and the chain 16b for vertically bending the gear 32a, and the bending portion 13b to the bending operation wires 15c and 15d.
(See FIG. 4) and a gear 32b that is bent in the left-right direction via a chain 16d are provided.

These gears 31a, 31b, 32a, 3
Cylindrical connecting members 33a and 33b are connected to central portions of the gears 31a and 32a of the 2b. These connecting members 33a and 33b project outside the operation portion 30, and the projecting end thereof has a bending operation knob 35 as an external bending operation means.
a and 35b are attached. In addition, the gear 31b,
Connection shafts 34a and 34b are connected to the central portion of 32b. These connecting shafts 34a and 34b are connected to the connecting member 33.
a and 33b are inserted to protrude outside the operation unit 30,
Bending operation knobs 35c and 35d as external bending operation means are attached to the protruding end.

Further, in the operation section 30, gears 31a,
31b or gears 32a, 32b are rotated by the gear 32a,
Idler gear 36 transmitted to 32b or 31a, 31b
a and 36b are provided. These idler gears 3
6a and 36b are rotatably held by an operating shaft 37, and are separated from the gears 31a and 31b and the gears 32a and 32b by moving the operating shaft 37 in the lateral direction of the operating portion 30.

In the fourth embodiment of the present invention having such a structure, the bending operation knobs 35a, 35b, 35c, 35d can be independently moved, which facilitates insertion into a complicated conduit such as the large intestine. Become. In a narrow space, the bending operation knob 3
The bending length can be freely changed by using only 5a and 35b and using the bending operation knobs 35a and 35b and the bending operation knobs 35c and 35d together in a wide space.

Next, a fifth embodiment of the present invention will be described with reference to FIGS. In FIG. 20, reference numeral 40 is an insertion portion, 41 is a hand operation portion provided at the base end portion of the insertion portion 40, and the hand operation portion 41 includes the bending portion 4 of the insertion portion 40.
Bending operation knob 43 for operating to bend 2a, 42b, 42c
a, 43b, 43c are provided.

Further, the hand-side operation section 41 is provided with an eyepiece section 44 and a forceps insertion port 45. This forceps insertion port 4
Reference numeral 5 communicates with a forceps channel in the insertion section 40, and a treatment tool 46 such as grasping forceps is inserted into the forceps channel from a forceps insertion port 45. It should be noted that the insertion section 40 has built-in components such as a light guide fiber and an image guide fiber.

21 and 22 are views showing the structure of the insertion portion 40. The insertion portion 40 includes a plurality of node rings 47a, 47b,
47c and 47d are hinges 48a, 48b and 48, respectively.
It is configured to be connected in series via c. Each joint ring 47
Wires 49a, 49b, 49c are provided on a, 47b, 47c.
One end of which is fixed and these wires 49a, 49b, 4
By pulling 9c with a pulley (not shown) provided in the operation portion 41, the node rings 47a, 47b, 47c rotate about the hinges 49a, 49b, 49c as fulcrums. In addition, the pulley is a bending operation knob 43a, 4
It is rotated by 3b and 43c. In addition, reference numeral 50 in the drawing denotes a wire guide.

In the fifth embodiment of the present invention thus constructed, for example, the wire 49a connected to the node ring 47a is guided to the operating portion 41 by the wire guide 50 through the pivots of the hinges 49b and 49c. So hinge 49
Only the hinge 49a can be rotated without affecting b and 49c.

23 and 24 show a sixth embodiment of the present invention, in which 51a, 51b, 51c and 51d are node rings forming a curved portion, and 52a, 52b and 52c are node rings 51.
rivets for connecting a, 51b, 51c, 53a, 53
b, 53c, 53d, 53e and 53f are rivets 52
Node rings 51a, 51b, 5 with a, 52b, 5c as fulcrums
Bending operation wires for rotating 1c, 54 ... Show wire guides.

Since the bending operation wires 53a, 53b, 53c, 53d pass through the central portion of the bending portion, the bending portion having such a structure does not affect other bending portions and only the desired bending portion is provided. Can be curved.

[0050]

As described above, according to the present invention, it is not necessary to provide the bending portion with the bending operation means corresponding to the bending portion, so that the operating portion can be downsized. it can.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a medical manipulator according to a first embodiment of the present invention.

FIG. 2 is a cross-sectional view showing the inside of a gear case provided in the operating portion of the medical manipulator according to the embodiment.

3 is a cross-sectional view taken along the line AA of FIG.

FIG. 4 is a perspective view of a bending tube forming a bending portion of the medical manipulator according to the first embodiment of the present invention.

FIG. 5 is a view showing a curved state of the tube.

FIG. 6 shows a structure of a mold for molding the curved tube shown in FIG. 4, (a) is a cross-sectional view taken along the axial direction of the mold,
(B) is BB sectional drawing of (a).

FIG. 7 shows a structure of a mold for molding a curved tube having an uneven portion inside, (a) is a cross-sectional view taken along the axial direction of the mold, and (b) is C-C of (a). Sectional view.

FIG. 8 is a vertical cross-sectional view of a mold for molding the curved tube shown in FIG.

FIG. 9 is a perspective view of a bending tube.

FIG. 10 is a schematic configuration diagram of a minimally invasive intraperitoneal surgery apparatus.

11 is a perspective view of a distal end portion of the articulated micromanipulator shown in FIG.

12 shows a schematic configuration of the micro gripper shown in FIG. 10, (a) is a plan view and (b) is a side view.

13 shows a schematic configuration of an operating manipulator provided at the tip of the remote control operating mechanism shown in FIG.
(A) is a plan view and (b) is a side view.

FIG. 14 is a configuration diagram of an operating glove.

FIG. 15 is a configuration diagram of an operating manipulator provided in an operating glove.

FIG. 16 is a schematic configuration diagram of a medical manipulator according to a second embodiment of the present invention.

FIG. 17 is a cross-sectional view showing the structure inside the operating portion of the medical manipulator according to the third embodiment of the present invention.

FIG. 18 is a cross-sectional view showing the structure inside the operating portion of the medical manipulator according to the fourth embodiment of the present invention.

19 is a cross-sectional view taken along line DD of FIG.

FIG. 20 is a schematic configuration diagram of a medical manipulator according to a fifth embodiment of the present invention.

FIG. 21 is a configuration diagram of a bending portion of the medical manipulator according to the embodiment.

22 is a perspective view of the node ring shown in FIG. 21. FIG.

FIG. 23 is a configuration diagram of a bending portion of a medical manipulator according to a sixth embodiment of the present invention.

FIG. 24 is a perspective view of the node ring shown in FIG. 23.

[Explanation of symbols]

11 ... Insertion part, 12 ... Operation part, 13a, 13b ... Bending part, 14a-14d ... Bending operation wire, 15a-15d
... Bending operation wires, 16a to 16d ... Chain, 17a
-17d ... Gear, 23a, 23b ... Gear, 25a, 25
b ... Bending operation knob, 26a to 26d ... Gears, 28a, 2
8b ... Intermediate gear.

Front page continuation (72) Inventor Yuichi Ikeda 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Masaaki Hayashi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Kogyo Co., Ltd. (72) Inventor Hitoshi Mizuno 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Shuichi Takayama 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optics Industrial Co., Ltd. (72) Minor Tsuruta 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) In-house Takahiro Kishi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optics Industrial Co., Ltd. (72) Inventor Katsuya Suzuki 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd.

Claims (1)

[Claims] 1. An insertion portion having a plurality of bending portions on the distal end side, an operation portion provided at a base end portion of the insertion portion, and a plurality of bending portions that are connected to the plurality of bending portions and perform bending operations on the respective bending portions. A medical manipulator, comprising: a bending operation means; and an external bending operation means provided in the operation portion and connectable to any bending operation means of the plurality of bending operation means.