Abstract: This medical manipulator is provided with: an opening/closing drive transmission unit that transmits driving force for an opening/closing operation to a tip operation section from a handle side; and a rotary driving transmission unit that transmits rotary force for a rolling operation to the tip operation section from the handle. The rotary driving transmission unit has: a rolling drive transmission tube disposed rotatably within a shaft; a bevel gear provided to the joint between the shaft and the tip operation section; and a rotating sleeve that meshes with the bevel gear. A pull-wire having flexibility and configuring a portion of the opening/closing drive transmission unit extends through the inside of the joint to the inside of the tip operation section.

Abstract: This medical manipulator is provided with a distal-end moving section including an end effector. The distal-end moving section includes a rotating sleeve (a distal-end rotator) which is able to rotate integrally with the end effector about a roll axis and has a hollow cylindrical portion, and a distal-end fulcrum block (rotary support cylinder) which is provided so as to be able to change orientation in relation to the axial direction of a shaft and rotatably supports the rotating sleeve at an inner peripheral section. A part of an opening/closing driving transmission section (actuating means) for transmitting an opening/closing driving force to the end effector is disposed inside of the distal-end moving section.

Abstract: A suturing and ligating method includes a needle piercing step of inserting a needle of a suture-needle assembly through a tissue in a body cavity, a needle gripping step of gripping the needle with a first gripper, a winding step of winding a suture strand of the suture-needle assembly in at least one turn around a first distal-end working unit by rolling the first distal-end working unit in at least one revolution, a transferring step of transferring the suture-needle assembly from the first gripper to a second gripper, a suture strand gripping step of gripping a portion of the suture strand that has not passed through the tissue, with the first gripper, a pulling step of pulling the first distal-end working unit out of a loop of the suture strand, and a tightening step of forming a knot of the suture strand.

Abstract: This manipulator is provided with: a shaft; a tip operation section having a gripper; and a handle that causes the operation of the gripper. The tip operation section is provided with: a bowing section that is provided between the gripper and the shaft and that causes the tip operation section to bow in a direction differing from the axial direction of the shaft by means of a bending-direction operating force transmitted from the handle; and a hollow tube that is provided to a position overlapping the bowing section, can bow following the bowing section, and transmits to the gripper operating force transmitted from the handle in the rotational direction rotating centered on the axis of the gripper, thus being able to unlimitedly rotate the gripper.

Abstract: This medical manipulator is provided with: an opening/closing drive transmission unit that transmits driving force for an opening/closing operation to a tip operation section from a handle side; and a rotary driving transmission unit that transmits rotary force for a rolling operation to the tip operation section from the handle. The rotary driving transmission unit has: a rolling drive transmission tube disposed rotatably within a shaft; a bevel gear provided to the joint between the shaft and the tip operation section; and a rotating sleeve that meshes with the bevel gear. A pull-wire having flexibility and configuring a portion of the opening/closing drive transmission unit extends through the inside of the joint to the inside of the tip operation section.

Abstract: This medical manipulator is provided with a distal-end moving section including an end effector. The distal-end moving section includes a rotating sleeve (a distal-end rotator) which is able to rotate integrally with the end effector about a roll axis and has a hollow cylindrical portion, and a distal-end fulcrum block (rotary support cylinder) which is provided so as to be able to change orientation in relation to the axial direction of a shaft and rotatably supports the rotating sleeve at an inner peripheral section. A part of an opening/closing driving transmission section (actuating means) for transmitting an opening/closing driving force to the end effector is disposed inside of the distal-end moving section.

Abstract: A suturing and ligating method includes a needle piercing step of inserting a needle of a suture-needle assembly through a tissue in a body cavity, a needle gripping step of gripping the needle with a first gripper, a winding step of winding a suture strand of the suture-needle assembly in at least one turn around a first distal-end working unit by rolling the first distal-end working unit in at least one revolution, a transferring step of transferring the suture-needle assembly from the first gripper to a second gripper, a suture strand gripping step of gripping a portion of the suture strand that has not passed through the tissue, with the first gripper, a pulling step of pulling the first distal-end working unit out of a loop of the suture strand, and a tightening step of forming a knot of the suture strand.