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Manipulator

  • US 8,512,316 B2
  • Filed: 04/29/2009
  • Issued: 08/20/2013
  • Est. Priority Date: 03/29/2005
  • Status: Active Grant
First Claim
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1. A manipulator, comprising:

  • a first rotor axis portion which crosses to a direction along a longitudinal direction of a connecting portion at a tip of which a treating portion is provided to treat a treatment target;

    a main shaft portion which is rotatably supported around the first rotor axis portion such that the first rotor axis portion is a rotational pivot axis about which the main shaft portion rotates;

    a first treating member and a second treating member which are provided in the treating portion;

    a first gear rotatably supported in the direction around the first rotor axis;

    a second gear rotatably supported in the direction around the first rotor axis;

    a third gear which engages with the first gear and is rotatably supported around the main shaft portion;

    a fourth gear which engages with the second gear and is rotatably supported around the main shaft portion;

    a fifth gear which coaxially rotates with the third gear;

    a sixth gear which coaxially rotates with the fourth gear;

    a seventh gear which is provided to transmit rotation torque of the fifth gear to the first treating member and engages with the fifth gear;

    an eighth gear which is provided to transmit rotation torque of the sixth gear to the second treating member and engages with the sixth gear; and

    a second rotor axis portion which is a rotation center of the seventh gear and the eighth gear and is arranged in a torsional relationship with the first rotor axis portion.

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