公开(公告)号：EP2158836B1

公开(公告)日：2018-05-16

申请号：EP09011267.3

申请日：2009-09-02

申请人： Olympus Corporation

发明人： Dejima, Takumi ,  Yamatani, Ken ,  Ishioka, Ayano ,  Motai, Kosuke ,  Murakami, Kazushi ,  Mikkaichi, Takayasu

IPC分类号： A61B1/005 ,  A61B17/29

CPC分类号： A61B17/29 ,  A61B1/04 ,  A61B1/3132 ,  A61B2017/00323 ,  A61B2017/2906 ,  A61B2017/291 ,  A61B2017/2927 ,  A61B2017/3447 ,  A61B2090/034

摘要： A medical manipulator (1) which includes: a plurality of arms (10,11) formed in a cylindrical shape a distal end portion (3) of which is made of a rigid member having a bending portion (10A,11A) capable of bending; an insertion portion (2) made of a rigid member having a plurality of channels in which base ends of the plurality of arms are connected to a distal end of the insertion portion so as to connect lumens of the arms to the plurality of channels; a photographic device (5) provided at the distal end of the insertion portion; an operation portion (14A,15A) that operates the bending portion; and a transmission member (30) that connects the bending portion and the operation portion, in which the bending portion has: a first bending portion that is capable of bending in a predetermined direction by an operation of the operation portion, and a second bending portion provided in a base end than the first bending portion that is capable of fixing the plurality of arms in a bent state so as to mutually separate, and the transmission portion has: a first region (30A) which is flexible, and a second region (30B) which is rigid and connected to a base end portion of the first region.