Medical manipulator

Abstract

A medical manipulator and a cleaning method therefor are provided. The medical manipulator includes an operation command unit equipped with a motor, and a working unit, which is detachable with respect to the operation command unit. A connector of the working unit is connected to the operation command unit, and includes pulleys that engage with the motor, the connector serving to rotatably retain the pulleys therein. The connector has an elongate shape extending in the longitudinal direction of a connecting shaft, and a first cleaning hole is arranged in an end portion of the connector that is opposite to a side on which the connecting shaft is connected. A second cleaning hole opens into an interior cavity, in the vicinity of an end portion on the side where the connecting shaft is connected. The end portions are shaped substantially hemispherically.

1 . A medical manipulator comprising:
 a drive unit equipped with a rotary actuator; and   a working unit which is detachable with respect to said drive unit, said working unit comprising a distal end working unit which is operatively connectable to said rotary actuator,   the medical manipulator further comprising:   a wire coupled to and being advanced and retracted by said rotary actuator;   a rotating body around which said wire is wound, said rotating body being coupled to said distal end working unit;   a recess disposed in a side wall of said rotating body and which is formed more narrowly toward a deeper region thereof; and   a fixing member that covers said wire from a side thereof, a portion of said fixing member being inserted into said recess for fixing said wire,   wherein, as viewed in cross section, said fixing member surrounds three sides of said wire, wherein both end pieces of said fixing member project from a surface of said wire, and wherein said both end pieces approach each other by inserting said both end pieces into said recess, thereby pressing and fixing said wire.   
     
     
         2 . The medical manipulator according to  claim 1 , wherein said wire is affixed with respect to said fixing member and/or said rotating body by means of welding. 
     
     
         3 . A medical manipulator comprising:
 a drive unit equipped with a rotary actuator; and   a working unit which is detachable with respect to said drive unit, said working unit comprising a distal end working unit which is operatively connectable to said rotary actuator,   the medical manipulator further comprising:   a wire coupled to and being advanced and retracted by said rotary actuator;   a rotating body around which said wire is wound, said rotating body being coupled to said distal end working unit;   a cylindrical recess having a constant diameter disposed in a side surface of said rotating body; and   a fixing member having a through hole through which said wire is inserted, a portion of said fixing member being inserted into said cylindrical recess for fixing said wire,   wherein said fixing member is affixed with respect to said rotating body and said wire by means of welding.