PROBLEM TO BE SOLVED: To provide a medical manipulator which quickly and accurately transmits power from the drive mechanism part side to the tip operation part side.SOLUTION: A medical manipulator 10 includes a tensile force adjustment mechanism 68 which adjusts a tensile force of a wire 54a wound around a driving pulley 50a and a driven pulley 57. The tensile force adjustment mechanism 68 includes: an idle pulley 70 which presses a part of the wire 54a an elastic member 76 which elastically presses the idle pulley 70 against the wire 54a and a substrate 74 which is threaded to a screw hole 72 and receives an elastic force of the elastic member 76 at the opposite side of the idle pulley 70 with respect to the elastic member 76.COPYRIGHT: (C)2014,JPO&INPIT【課題】駆動機構部側から先端動作部側へと迅速且つ高精度に動力伝達を行うことができる医療用マニピュレータを提供する。【解決手段】医療用マニピュレータ10は、駆動プーリ50aと従動プーリ57とに巻き掛けられるワイヤ54aの張力を調整する張力調整機構68を備える。張力調整機構68は、ワイヤ54aの一部を押圧するアイドルプーリ70と、アイドルプーリ70をワイヤ54aに対して弾性的に押圧する弾性部材76と、ねじ孔72に螺着されるとともに弾性部材76を基準としてアイドルプーリ70とは反対側で弾性部材76の弾発力を受ける基体74とを有する。【選択図】図5
