PROBLEM TO BE SOLVED: To provide a bending part structure for a medical manipulator, which is simple in structure and yet suitable especially for a single incision laparoscopic surgery by allowing a distal end side to be a free bending part and an operation part side to be a bending part to be bent only in a fixed direction.SOLUTION: A medical manipulator is the manipulator in which a working part 3 at the distal end of an insertion part 1 is operated by the operation of an operation part 5. The insertion part is formed of an elastically deformable metallic pipe 2 and includes: a free bending part 4 that is arranged on the working part side of the insertion part and is swingable in two degrees of freedom, i.e. in a vertical direction and a horizontal direction with respect to the axial line of the metallic pipe a first bending part 6 that is arranged to be closer to the operation part side than the free bending part in the insertion part and is bendable only in one direction within a range from 0° to 90° with respect to the axial line of the metallic pipe and a second bending part 7 that is arranged to be closer to the operation part side than the first bending part in the insertion part and is bendable only in one direction that is opposed to that of the first bending part within a range from 0° to 90° with respect to the axial line.COPYRIGHT: (C)2014,JPO&INPIT【課題】簡単な構造でありながら、先端側は自由屈曲部とし、操作部側は一定方向にのみ屈曲する屈曲部とすることにより、特に単孔式腹腔鏡下手術に適した医療用マニピュレータの屈曲部構造を提供すること。【解決手段】操作部5の操作により挿入部1先端の作業部3が操作される医療用マニピュレータであって、前記挿入部は弾性変形可能な金属製パイプ2で形成され、前記挿入部の前記作業部側には前記金属製パイプの軸線に対し上下・左右方向の2自由度に首振り可能な自由屈曲部4を有し、前記挿入部の前記自由屈曲部より前記操作部側には前記金属製パイプの軸線に対し0度~90度の範囲内で一方向にのみ屈曲可能な第1屈曲部6を有し、また、前記挿入部の前記第1屈曲部より前記操作部側に軸線に対し0度~90度の範囲内で前記第1屈曲部とは反対の一方向にのみ屈曲可能な第2屈曲部7を有している。【選択図】 図1
