END EFFECTOR UNIT, SURGICAL TOOL DEVICE, ARM DEVICE, AND MASTER-SLAVE SYSTEM

Abstract: provided is an end effector unit that is exchangeably attached to a drive unit and operates by a driving force transmitted from the drive unit. the end effector unit includes a cable having one end on a tip end side connected to an end effector, a pulley configured to fold back the cable extending toward a root side in a tip end direction, and a linear motion transmission device having one degree of freedom in linear traveling in a longitudinal direction and connected to the other end of the cable folded back by the pulley. the linear motion transmission device and the pulley are alternately arranged in a circumferential direction around a longitudinal axis, and are reduced in size and diameter.

Inventor(s): KAZUHITO WAKANA

CPC Classification: A61B34/37 (Master-slave robots ( takes precedence))

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