PURPOSE: A surgical apparatus is provided to form a multijoint surgical apparatus without cross-talk among multijoint assemblies, by serially connecting the multiple joint parts.CONSTITUTION: The first joint part(4) is circulated around the first pivot axis(91). The second joint part(5) is circulated around the second pivot axis(92) which is not parallel to the first pivot axis. A joint driver part(3) is connected in order to circulate the first joint part around the first pivot axis. The joint driver part comprises the first and second drivers which provide a driving force for circulating the first and second joint parts around the first and second pivot axis. The first link unit of a slider-crank structure circulates the first joint part through the oscillation of the first driver by connecting the first driver and the first joint part. The second link unit circulates the second joint part through the oscillation of the second driver part by connecting the second driver part and the second joint part.COPYRIGHT KIPO 2013개시된 수술 장치는 직렬로 연결된 제1, 제2관절부를 구비하는 수술 장치로서, 제2관절부를 구동하기 위하여 제1관절부의 내부를 관통하여 설치되는 복수의 링크아암이 상호 회동될 수 있게 직렬로 연결되고, 복수의 링크아암은 이를 구동하기 위한 구동부에 회동될 수 있게 연결된다.
