PROBLEM TO BE SOLVED: To provide a medical manipulator of which the tip holding part, including an end effector, has a high degree of freedom of motion, and which allows for the widest possible range of movement.SOLUTION: A medical manipulator includes: a handle 1 a shaft 2 extending from the handle 1 a rotary support cylinder connected to the shaft 2 so as to move rotationally a tip holding part 3 rotatably supported by the rotary support cylinder and operating means for operating the tip holding part 3 which is disposed between the handle 1 and the tip holding part 3. The tip holding part 3 can rotate around the rotary support shaft 4 without limitation and is provided so as to change the rotating posture with respect to the axial direction of the shaft 2. The tip holding part 3 is rotatably supported by the rotary support shaft. Operating means of the tip holding part 3 is disposed in the center gap of the rotary support cylinder.COPYRIGHT: (C)2014,JPO&INPIT【課題】エンドフェクタを含む先端把持部の自由度が多いとともに可動範囲が可能な限り広い医療用マニピュレータを提供する。【解決手段】ハンドル1と、前記ハンドル1から延出したシャフト2と、シャフト2に対して回動動作が可能に連結された回転支持筒と、回転支持筒に回転可能に支持された先端把持部3と、ハンドル1と先端把持部3との間に配設された、先端把持部3に作用する作動手段と、先端把持部3は、回転支持筒4を中心として無制限に回転可能であり、且つ前記シャフト2の軸線方向に対して回動姿勢変更が可能に設けられた先端把持部3を回転自在に支持する回転支持筒を有し、先端把持部3の作動手段は、回転支持筒の中心隙間に配設して構成したものである【選択図】図1
