PROBLEM TO BE SOLVED: To provide a surgery support manipulator using a parallel mechanism allowing all driving means to be arranged on a base.SOLUTION: Translational connecting linkage for translational operation of a surgical instrument is composed of eight links which are fixed to translational driving shafts rotated by translational driving means formed by fixing one end of the translational connecting linkage to the surgical instrument and the other end to the base.COPYRIGHT: (C)2010,JPO&INPIT【課題】全ての駆動手段をベースに配置可能な、パラレルメカニズムを用いた手術支援マニピュレータを提供する。【解決手段】手術器具を並進動作させるための並進用連結連鎖を8本のリンクにより構成し、並進用連結連鎖の片端を手術器具に、他端をベースに固定した並進用駆動手段によって回転する並進用駆動軸に固定することで実現する。【選択図】図1
