To appropriately determine the degree of deterioration in flexible members which are wound around distal end pulleys and proximal end pulleys through a connection shaft.
A medical manipulator 10 includes: an actuator block 30 having motors 40a-40c; a connection part 15 which is freely attachable/detachable to/from the actuator block 30 and has proximal end pulleys 50a-50c to be connected to the rotary shafts of the motors 40a-40c; a distal end operation part 12 arranged at the distal end of a connection shaft 48 extending from the connection part 15; the distal end pulleys 57a-57c for driving the distal end operation part 12; and wires 54a-54c which are wound around the proximal end pulleys 50a-50c and the distal end pulleys 57a-57c through the inside of the connection shaft 48 and transmit the rotation of the motors 40a-40c to the distal end operation part 12. The diameters R1 of the distal end pulleys 57a-57c at the distal end are smaller than the diameters R2 of the proximal end pulleys 50a-50c at the proximal end.
SANO HIROAKI
Toshiyuki Miyadera
Naoki Kashima
Yasuo Takubo
Shuji Ouchi