Power transmission mechanism and manipulator

Abstract

A power transmission mechanism comprising: a flexible power transmission element; a pair of a drive pulley and a driven pulley on which the flexible power transmission element is wound, each the pulley having a pin-embedding hole formed to extend from the outer circumferential thereof toward the center thereof, and a slit elongated in the circumferential direction of the pulley to extend to opposite sides of the embedding hole and communicating with the embedding hole; and a pair of columnar or tapered anchor pins each having a path hole penetrating the anchor pin across the lengthwise direction thereof to receive the flexible power transmission element inserted therein, wherein each the anchor pin receiving the flexible power transmission element in the path hole thereof is embedded in the embedding hole of the associated pulley under pressure, and the flexible power transmission element is thereby held on the pulley.

1 . A power transmission mechanism for a medical manipulator comprising:
 a work unit configured to perform a treatment in a body;   a control unit configured to be operated by an operator outside the body;   a cylindrical hollow elongate connector unit configured to connect the work unit with the control unit;   a flexible power transmission element;   a pair of a drive pulley and a driven pulley on which the flexible power transmission element is wound, the driven pulley being positioned at a side of the work unit in the elongate connector unit;   an elongate member configured to cover a portion of the flexible power transmission element, or to replace that portion, and   a support member configured to movably support the elongate member,   wherein the elongate support member:   is fixed to the elongate connector unit to cover the hollowed inside of the connector elongate unit and   has a hole capable of moving the elongate member.   
   
   
       2 . A power transmission mechanism for a medical manipulator comprising:
 a work unit configured to perform a treatment in a body;   a control unit configured to be operated by an operator outside the body;   a cylindrical hollow elongate connector unit configured to connect the work unit with the control unit;   a flexible power transmission element;   a pair of a drive pulley and a driven pulley on which the flexible power transmission element is wound, one of the drive pulley and the driven pulley having a pin-embedding hole formed to extend from the outer circumference thereof toward the center thereof and a slit elongated in the circumferential direction of the pulley to extend to opposite sides of the pin-embedding hole and communicating with the pin-embedding hole, the slit embedding the flexible power transmission element wound on a part of the outer circumference thereof, the driven pulley being positioned at a side of the work unit in the elongate-connector unit; and   an anchor pin having a path hole penetrating the anchor pin across the lengthwise direction thereof to receive the flexible power transmission element inserted therein, the anchor pin fixing one of the pair of the drive pulley and the driven pulley, and the path hole being formed in the slit,   an elongate member configured to cover a portion of the flexible power transmission element, or to replace that portion; and   a support member configured to movably support the elongate member,   wherein   at least one of said pin-embedding hole and said anchor pin has a tapered shape;   said anchor pin receiving the flexible power transmission element in the path hole thereof is embedded in the embedding hole of the associated pulley under pressure, and the flexible power transmission element is thereby held on the pulley; and   the support member is fixed to the elongate connector unit to cover the hollowed inside of the elongate connector unit, and has a hole capable of moving the elongate member.