PROBLEM TO BE SOLVED: To match phases of a body side and a treatment instrument side when exchanging or remounting the treatment instrument in a simple configuration without any need of highly accurate work.SOLUTION: A medical manipulator comprising a drive unit and a treatment instrument driven by the drive unit, further includes: an operating member for actuating the treatment instrument a treatment instrument-side drive shaft for driving the operating member an operation amount detection member connected to the treatment instrument a treatment instrument-side detection shaft rotated by displacement of the operation amount detection member a drive unit-side drive shaft having a drive part and transmitting driving force to the treatment instrument-side drive shaft a drive unit-side detection shaft having a detection part for detecting displacement of the operation amount detection member and transmitting the rotation of the treatment instrument-side detection shaft a shape regulation unit 42 for regulating the shape of the treatment instrument 50A in a predetermined operation state and a phase setting unit for setting phases of the treatment instrument-side drive shaft and the treatment instrument-side detection shaft. When receiving a predetermined signal, the phase setting unit sets the phases of the treatment instrument-side drive shaft and the treatment instrument-side detection shaft associated with the predetermined operation state.COPYRIGHT: (C)2014,JPO&INPIT【課題】簡素な構造で、高精度の加工を必要とせずに、処置具の交換や再装着時における本体側と処置具側との位相合わせを行う。【解決手段】駆動ユニットと、駆動ユニットにより駆動される処置具とを備えた医療用マニピュレータは、処置具を作動させる操作部材と、操作部材を駆動する処置具側駆動軸と、処置具に接続された作動量検出部材と、作動量検出部材の変位により回転される処置具側検出軸と、駆動部を有し、駆動力を処置具側駆動軸に伝達する駆動ユニット側駆動軸と、作動量検出部材の変位量を検出する検出部を有し、処置具側検出軸の回転が伝達される駆動ユニット側検出軸と、処置具50Aの形状を所定作動状態に規定する形状規定部42と、処置具側駆動軸および処置具側検出軸の位相を設定する位相設定部とを備え、位相設定部は、所定の信号を受け取ったときに、処置具側駆動軸および処置具側検出軸の位相を所定作動状態に対応付けて設定する。【選択図】図13
