JP2002103255A - Support device of manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a support device of a manipulator light, compact and wide in an operating range by simplifying a mechanism. SOLUTION: The support device 1 of the manipulator has a first rotating shaft 10 supported free to rotate on a fixed part of the support device, a first arm 12 fixed and supported on the output shaft side 11 of the first rotating shaft, a second arm 14 supported free to rotate on a head end part 12a of the first arm 12, a driven rotating part 15 provided on a second arm head end part 14b and a connecting support part 16 fixed on the driven rotating part 15, and the driven rotating part 15 is constituted to arrange the second rotating shaft 20 on a roughly extended line of the first roating shaft 10 by connecting it to the first arm 12 through a flexible connecting member 10 in a state where a reduction ratio is more than 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a support device for a manipulator, and more particularly, to a simplified and lightweight mechanism.
The present invention relates to a medical manipulator support device that is compact and has a wide operating range.

[0002]

2. Description of the Related Art Conventionally, in a laparoscopic operation such as a gall bladder removal operation, as shown in FIG. Trocar 154
Through the endoscope 161, forceps 171, 1
The surgeon (usually a surgeon) 160 performs an operation while watching the image of the endoscope 161 on the monitor 162.

[0003] Since such an operation method does not require laparotomy, the burden on the patient is small, and the number of days required for postoperative recovery and discharge from the hospital is greatly reduced. For this reason, such surgical methods are expected to expand their application fields.

[0004]

The above-described laparoscopic surgery is an excellent surgical method in that the burden on the abdomen 150 of the patient is small, but the surgeon 160 cannot actually see the operated part. Points can be problematic in some cases.

Further, the forceps 171 and 172 are provided with only a clipper that opens and closes, and it is difficult to freely change the posture of the clipper, resulting in poor operability.

[0006] Due to the above factors, only a skilled operator can perform an appropriate treatment by the above-mentioned operation method. Also, it takes a very long time to become proficient in surgical methods.

[0007] In order to solve such problems, research has been conducted to apply remote-controlled robot technology such as a master-slave manipulator to the medical field.

The remote control robot technology is a robot system in which a master arm operated by an operator and a slave arm that actually operates an operation section are completely separated from each other, and a command value of the master arm is used as an electric signal. It is transmitted to the slave arm. Therefore, usually, the master arm and the slave arm have more than six degrees of freedom, and a controller is provided corresponding to each degree of freedom. It is a complicated system having

Due to its complexity, the reliability of the operation of the master slave manipulator system is not yet at a sufficiently high level. In addition, since the system itself is large-scale, purchase costs and maintenance costs are high. Further, in the master-slave manipulator system, since the operator operates the master arm away from the patient, there is a problem that the patient cannot be directly treated immediately in an emergency.

[0010] In order to solve such a problem, the inventors have proposed an operation command unit 102 and a connecting unit 103 having one end connected to the operation command unit 102 as shown in FIG.
And the other end of the connecting portion 103,
1 has been proposed (Japanese Patent Application No. 11-165961). The medical manipulator 100 is supported by the support device 1 so as to have a fixed point 23. That is, the medical manipulator 100 is supported by the horizontal rotating unit 105 and the arc guide 106 via the connection support unit 16 so as to be rotatable around two axes.

In addition, a supporting device used in a conventional medical master-slave manipulator system or the like has a structure as shown in FIGS. FIG. 18 shows a method in which a rotary shaft 105 and an arc guide 106 are combined, and FIG.
FIG. 20 shows an arc guide 106a.
And the arc guide 106b are combined.

Basically, a system in which a rotating shaft, an arc guide, and a parallel link are combined is employed. However, in the configuration using the arc guide 106, since the arc guide 106 can be provided only in a limited range, there is a problem that the operation range is narrow and the weight is heavy. The method using a plurality of parallel links 107 similarly has a narrow operating range,
In addition, since a plurality of parallel links need to be formed, there is a problem that the mechanism is complicated and there is a play, and a high assembling accuracy is required.

Accordingly, an object of the present invention is to solve the above-mentioned problems of the prior art, and to realize a manipulator system with a simplified mechanism, light weight, compact size, a wide operating range, and good operability. To provide a support device for the manipulator system.

[0014]

In order to achieve the above object, a supporting device for a manipulator system according to the present invention comprises: an operation command unit; a connecting unit having one end connected to the operation command unit; A manipulator support device that rotatably supports a manipulator having a working unit connected to the other end side around at least two axes of a first rotation axis and a second rotation axis, wherein the first The rotation shaft is rotatably supported on a fixed portion of the support device, and the second shaft is
The rotation axis is disposed substantially on the extension of the first rotation axis. The first arm is rotatably supported on the output shaft side of the first rotation axis, and is disposed at the tip of the first arm. A first passive rotary unit provided, a second arm fixed to the first passive rotary unit, a second passive rotary unit provided at a tip of the second arm, and a second passive rotary unit. A first supporting unit fixed to the rotating unit and the first passive rotating unit;
Connected to the output shaft side of the rotary shaft with the reduction ratio of 1
And a second flexible connecting member that connects the second passive rotating section to the first arm with a reduction ratio of 1.

A manipulator including an operation command section, a connecting section having one end connected to the operation command section, and a working section connected to the other end of the connecting section includes at least a first rotating shaft. And a supporting device for the manipulator rotatably supporting around two axes of the second rotating shaft.
Is rotatably supported by a fixed portion of the support device, the second rotation shaft is disposed substantially on an extension of the first rotation shaft, and the first rotation shaft A first arm rotatably supported on the output shaft side of the first arm;
A parallel link mechanism configured for the arm, and a second arm fixed to a first link of the parallel link mechanism that is driven in parallel with the output shaft side of the first rotation shaft in the parallel link mechanism. A passive rotating part provided at the tip of the second arm, a coupling support part fixed to the passive rotating part, and the passive rotating part, the first arm or the first arm in the parallel link mechanism. A flexible linking member is connected to the second link of the parallel link mechanism driven in parallel with a reduction ratio of 1.

A manipulator including an operation command unit, a connecting unit having one end connected to the operation command unit, and a working unit connected to the other end of the connecting unit includes at least a first rotating shaft. And a supporting device for the manipulator rotatably supporting around two axes of the second rotating shaft.
Is rotatably supported by a fixed portion of the support device, the second rotation shaft is disposed substantially on an extension of the first rotation shaft, and the first rotation shaft A first arm fixedly supported on the output shaft side of the first arm, a second arm rotatably supported by a distal end of the first arm, a passive rotating unit provided at the distal end of the second arm, A connection support portion fixed to a rotation portion; and a flexible connection member for connecting the passive rotation portion to the first arm with a reduction ratio greater than 1.

According to the present invention, since the manipulator support device is configured without using the arc guide, the operation range can be widened and the weight can be reduced. Further, since the parallel link is not used in a plurality of stages, the mechanism is simplified, the problem of backlash is reduced, and assembling accuracy is not required as much as the link configuration of the plurality of stages. Since the operating range is wide and the weight is reduced, the operability of the manipulator supported by the support device of the present invention is much higher than in the past.

[0018]

Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 are a perspective view and a side view showing a configuration of a medical manipulator support device 1 according to a first embodiment of the present invention. FIG. 3 is a diagram illustrating the operation of the medical manipulator support device 1 according to the first embodiment of the present invention.

As shown in FIGS. 1 and 2, a medical manipulator support device 1 according to a first embodiment of the present invention.
Is a medical manipulator 1 including an operation command unit 102, a connecting unit 103 having one end connected to the operation command unit, and a working unit 101 connected to the other end of the connecting unit 103.
00 is a support device that rotatably supports 00 around at least two axes, that is, around the first rotation shaft 10 and the second rotation shaft 20.

The support device 1 includes a first rotating shaft 10 rotatably supported on a fixed portion 201 and a first rotating shaft 1.
The first arm 1 rotatably supported on the output shaft side 11 of the first arm 1
2 and a first arm 12 provided at a tip 12 a of the first arm 12.
(In the figure, the passive rotating unit 13a and the passive rotating unit 13b are in an integral relationship) and the first passive rotating unit 1
3, a second passive rotating unit 15 provided at a tip 14b of the second arm 14,
And a connection support portion 16 fixed to the passive rotating portion 15 of the first embodiment. The first passive rotary unit 13 is connected to the output shaft side 11 of the first rotary shaft 10 (portion on the fixed side of the first arm 12) via the flexible connecting member 17 at a reduction ratio of 1. The second passive rotary unit 15 is connected to the first arm 12 via a flexible connecting member 18 at a reduction ratio of 1. Here, the rotation diameter of the first passive rotation unit 13 and the rotation diameter of the output shaft side 11 are set to be equal so that the reduction ratio is 1, and the flexible connecting member 17 is connected to the first passive rotation unit. Thus, an operation similar to a parallel link is performed via the output shaft 13 and the output shaft 11. Similarly, the flexible connecting member 18 performs a so-called parallel link operation via the first passive rotation unit 15 and the first arm 12. The second rotating shaft 20 is disposed on a substantially extended line of the first rotating shaft 10, and the first rotating shaft 10 and the second rotating shaft 20 are arranged.
Substantially intersects with or around the fixed point 23.

The speed reduction mechanism including the flexible connecting members 17 and 18 can be configured by combining a one-to-one pulley and a belt. It is only necessary to use a power transmission mechanism that basically does not generate slip, such as a toothed belt or a steel belt, and by using a friction drive belt, it does not slip at normal times, and it is configured to slip at overload, It is also possible to double as a safety mechanism (overload prevention mechanism).

The connection support section 16 has a function of supporting the medical manipulator 100 in a state in which it can move directly in the insertion direction 21 with respect to the connection section 103 and can rotate around the axis 22. The function of the connection support 16 is determined by the degree of freedom and the free arrangement of the medical manipulator 100 itself.

The operation of the medical manipulator support device 1 according to the first embodiment of the present invention will be described with reference to FIG. The operator operates the operation command unit 102 to operate the work unit 1.
01 is positioned at the operation site in the abdomen of the patient. For example,
When operated in the direction of the arrow in the figure, the support device 1 is driven passively. The second arm 14 is configured such that the first passive rotating unit 13 to which the second arm 14 is connected has a reduction ratio of 1 on the output shaft side 11 (fixed side of the first arm 12) of the first rotating shaft.
Are connected via the flexible connecting member 17 in the state described above, so that they move in parallel. Furthermore, the second passive rotary unit 15 to which the connection support unit 16 is connected is connected to the first support rotation unit 15.
Since the arm 12 is connected to the arm 12 via the flexible connecting member 18 at a reduction ratio of 1, the arm 12 moves parallel to the first arm 12. Therefore, the surgical manipulator 100
Can be rotated about the second rotation shaft 20. On the other hand, the operation command unit 10
By operating 2, it is possible to perform a rotating operation on the first rotating shaft 10.

Further, a gravity compensation mechanism may be added as required. 2 and 3, the configuration using the counter weight 24 as an example of the gravity compensation mechanism is indicated by a dotted line. Further, a method of mechanically or electrically (for example, a motor) vertically driving the counterweight in accordance with the operation (position) of the operation command unit 102 to achieve a balance is also conceivable. Of course, a torsion spring may be arranged on the rotating part. If the inverted (neutral) state is set as the neutral point of the torsion spring, the restoring force of the torsion spring also increases in accordance with the increase in the load due to its own weight according to the angle.

FIGS. 4 and 5 are a perspective view and a side view showing the structure of a medical manipulator support device 1 according to a second embodiment of the present invention.

The medical manipulator support device 1 according to the second embodiment of the present invention comprises a fixing portion 20 of the support device 1.
A first rotating shaft 10 rotatably supported with respect to 1;
A first arm 12 rotatably supported on the output shaft side 11 of the first rotating shaft 10, a parallel link mechanism 30 configured for the first arm 12, and a first rotating shaft of the parallel link mechanism 30 A second arm 14 fixed to a link (first link) 31 driven in parallel with the output shaft side 11 of the first arm, a passive rotating unit 15 provided at a second arm tip 14b,
And a connection support section 16 fixed to the passive rotating section 15. The parallel link mechanism 30 includes the output shaft 11 and the first arm 1.
2, a link 31 and a link (second link) 32. The passive rotation unit 15 is connected to the first arm 12 or the first arm 12.
A link 32 driven in parallel with the arm 12 has a reduction ratio of 1
Are connected via the flexible connecting member 18 in the state shown in FIG.
The second rotation shaft 20 is disposed on a substantially extended line of the first rotation shaft 10, and the first rotation shaft 10 and the second rotation shaft 20 are
They substantially intersect at or near the fixed point 23.

The operation of the medical manipulator support device 1 according to the second embodiment of the present invention will be described with reference to FIG. As in the first embodiment, the operator operates the operation command unit 10.
2 is operated to position the working unit 101 at the operative site in the patient's abdomen. For example, when operated in the direction of the arrow in the figure, the second arm 14 is moved by the parallel link mechanism 30.
Translate in parallel. Further, the connection supporting portion 16 is configured such that the second passive rotating portion 15 to which the connection supporting portion 16 is connected is connected to the first arm 12 (or the link 32) with a reduction ratio of 1 when the flexible connecting member is connected. Because it is connected via 18
It moves parallel to the first arm 12. Therefore, the surgical manipulator 100 can be rotated with respect to the second rotation shaft 20. On the other hand, by operating the operation command unit 102 in a direction perpendicular to the paper surface, it is possible to rotate the first rotation shaft 10.

FIG. 6 is a diagram showing a case where the first rotating shaft 10 is set in the vertical direction. Note that the direction of the first rotation shaft 10 is not limited to horizontal or vertical.

In the above description, the supporting device 1
FIG. 14 shows an example in which is fixed to the fixing portion 201.
As shown in (1), the position of the fixed point 23 may be arbitrarily movable. In FIG. 14, the first rotating shaft 10 is attached to a three-dimensional moving mechanism 202 instead of the fixed part 201, and the three-dimensional moving mechanism 202
1, a rotation mechanism 42, and a telescopic mechanism 43. The fixed point 23 in the support device 1 can be set to a desired position by the three-dimensional moving mechanism 202.

As described above, according to the medical manipulator support device 1 according to the first and second embodiments of the present invention, for example, a medical manipulator can be used without using an arc guide 106 as shown in FIG. Since the manipulator can be supported, the operating range is widened and the weight can be reduced. Further, since the medical manipulator can be supported without using a plurality of parallel links 107 as shown in FIG. 19, for example, the mechanism is simplified, there is little problem of backlash, and assembling accuracy as high as a multi-stage link configuration is required. It will not be done.

Further, since the support device 1 according to the present embodiment has a wide operating range and is light in weight, the operability of the medical manipulator by the support device 1 is extremely high as compared with the related art.

In the conventional rigid support device, the fixed point 23 is determined mechanically irrespective of the patient, and if the patient's abdomen and the fixed point 23 are slightly displaced from each other, the fixed point 23 is very close to the patient's abdomen. There was a problem that it was burdensome. On the other hand, according to the medical manipulator support device 1 according to the first and second embodiments of the present invention, the medical manipulator 1 is utilized by utilizing the elasticity of the rubbing connection members 17 and 18.
00 can be flexibly supported, and even if the abdomen of the patient and the fixed point 23 are slightly displaced from each other, it is possible to adopt a configuration in which the burden on the abdomen on the patient side is small.

FIG. 7 is a perspective view showing a configuration of a medical manipulator support device 1 according to a third embodiment of the present invention.

The support device 1 for a medical manipulator according to the third embodiment of the present invention comprises a fixing portion 20 of the support device 1.
A first rotating shaft 10 rotatably supported with respect to 1;
The first shaft fixedly supported on the output shaft side 11 of the first rotating shaft 10
An arm 12, a second arm 14 rotatably supported by a tip 12a of the first arm 12, and a second arm tip 1
4b, and includes a passive rotating unit 15 provided to the passive rotating unit 15 and a connection support unit 16 fixed to the passive rotating unit 15. Passive rotating part 15
Indicates that the first arm 12 has a reduction ratio greater than 1
They are connected via a flexible connecting member 10. The second rotating shaft 20 is arranged on a substantially extended line of the first rotating shaft 10, and the first rotating shaft 10 and the second rotating shaft 20 intersect substantially at or near the fixed point 23. Passive rotating part 1
The speed reduction mechanism for connecting 5 to the first arm 12 with the speed reduction ratio being greater than 1 can be constituted by an ordinary belt and pulley as in the first and second embodiments. .

FIG. 8 shows a modification of the medical manipulator support device 1 according to the third embodiment of the present invention. The reduction mechanism in this embodiment is configured by combining a planetary gear reduction mechanism 19, a belt and a pulley. Of course, another reduction mechanism may be used.

FIGS. 9 and 10 show the operation of the medical manipulator support device 1 according to the third embodiment of the present invention. A description will be given focusing on the reduction ratio. Reduction ratio R is 1
In this case (not in the present embodiment), the second arm 14 is set to θ
When rotated by an angle, the connection support 15 is rotated by −θ degrees with respect to the second arm 14, and as a result, the connection support 15 is translated. Therefore, the connecting portion 10
No. 3 does not change the posture in the downward direction. However, as shown in FIG. 9, when the reduction ratio R is 2, the second arm 1
4 is rotated by θ degrees with respect to the first arm 12, the connection support portion 16 moves the rotation angle of the second arm 14 by −θ /
2 can rotate, and as a result, the connection support 15
Rotates θ−θ / 2 = θ / 2. Therefore, the second arm 14 is always rotated by θ / 2. If the length of the second arm 14 is L, the second rotation shaft 20 is located at the same distance L from the rotation center of the second arm 14. Become.

Further, as shown in FIG. 10, when the reduction ratio R is 3, the position x of the rotation center is x <L (x ≒ 0.5
L), and approaches the base 14a side of the second arm 14. However, the second rotation shaft 20 moves slightly, not at a fixed position. The second rotation shaft 20 is
It passes substantially near the fixed point 23.

Assuming that the rotation angle of the second arm is θ, the reduction ratio is R, and the length L of the second arm 14, the position x of the rotation center is
As shown in FIG. 11, x = Lsin θ / tan (θ−θ / R) −Lcos (1) The equation (1) can be expressed as shown in FIG. As for the position x of the rotation center, it is better to increase the reduction ratio.
It approaches the rotation center 14a of the second arm 14. For this reason,
The magnitude of the swing angle (the rotation angle of the second rotation shaft 20) θ−θ / R is larger than θ.

The amount of movement of the second rotating shaft 20 is, for example,
When the reduction ratio R = 3, when θ = 0 [゜], x / L = 0.
5, x / L = 0.577 when θ = 90 [゜].
Therefore, when L = 100 [mm], the movement amount is about ± 4 [mm]. If the movement amount of the rotation center position x is within about several mm, no particular burden is imposed on the patient, and there is no problem in the operation of the operator. Reduction ratio R,
The length L of the second arm may be determined as appropriate in accordance with the position and operating range of the second rotating shaft 20 and the use of allowable movement.

In the medical manipulator support device according to the third embodiment of the present invention, the relationship between the rotation angle of the second rotation shaft 20 and the arrival position of the working unit 101 (the operation range in the insertion direction). There are also features. In the first and second embodiments, as shown in FIGS. 3 and 5, the arrival position (the operation range in the insertion direction) of the working unit 101 is an arc (sector-shaped) centered on the second rotation shaft 20. )become. On the other hand, in the third embodiment, as shown in FIG. 9 and FIG.
However, as θ increases, the reaching position of the working unit 101 (operating range in the insertion direction) becomes deeper.

As shown in FIG.
Considering the operation region (1), it means that it reaches a wider region than the arc-shaped operation region 203 shown by the dotted line, and it can be said that this is an ideal operation region. In addition, restrictions on the operation area of the support device can be further reduced.

In the above description, the supporting device 1
FIG. 15 shows an example in which is fixed to the fixing portion 201.
As shown in (1), the position of the fixed point 23 may be arbitrarily movable. In the first embodiment and the second embodiment, as shown in FIG. 14, the fixed position of the first rotating shaft 10 must be set to 3 so that the position of the fixed point 23 can be set arbitrarily. Must be moved dimensionally, so
Problems such as increased installation space and interference between the patient and the support mechanism may occur.

On the other hand, in a modified example of the third embodiment shown in FIG. 15, the first rotating shaft 10 is supported by an up-and-down mechanism 41 so that its position can be moved up and down, and can be freely rotated. Are supported by a rotation mechanism 42,
The first arm 12 is slidably supported by a telescopic mechanism 43. According to the example shown in FIG.
As compared with the case shown in FIG. 4, problems such as an increase in installation space and interference between the patient and the support mechanism can be solved,
The position of the fixed point 23 can be arbitrarily moved and set.

As described above, the medical manipulator support device 1 according to the third embodiment of the present invention has the basic features of the first and second embodiments, and further has a more advanced mechanism. It is possible to have an ideal operating area that is simplified and suitable for the area of the operation within the abdomen 150 of the patient.

[0045]

As described above, according to the structure of the present invention, since the manipulator support device is configured without using the arc guide, the operation range can be widened and the weight can be reduced. It is possible to Also,
The mechanism is simplified because there are no multiple stages of parallel links.
There is little backlash, and there is no need to assemble as accurately as a multi-stage link configuration. Since the operating range is wide and the weight is reduced, the operability of the manipulator supported by the present support device is significantly higher than in the past.

Further, in the conventional rigid support device, the fixed point is determined mechanically irrespective of the patient, and when the fixed point is slightly shifted from the patient's abdomen, a very heavy load is placed on the patient's abdomen. Although there was such a problem, the manipulator was flexibly supported by utilizing the elasticity of the flexible connecting member, and even when the abdomen and the fixed point of the patient were slightly displaced, the burden on the abdomen on the patient side was small. It is possible.

Further, it enables an ideal manipulator operation area suitable for an operation area in the abdomen of a patient.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing a support device for a medical manipulator according to a first embodiment of the present invention.

FIG. 2 is a side view of the first embodiment.

FIG. 3 is a side view illustrating the operation of the first embodiment.

FIG. 4 is a schematic perspective view showing a medical manipulator support device according to a second embodiment of the present invention.

FIG. 5 is a side view of the second embodiment.

FIG. 6 is a modification of the second embodiment.

FIG. 7 is a schematic perspective view showing a medical manipulator support device according to a third embodiment of the present invention, and a modified example thereof.

FIG. 8 is a schematic perspective view showing a supporting device for a medical manipulator according to a third embodiment of the present invention, and a modified example thereof.

FIG. 9 is a side view illustrating the operation of the third embodiment.

FIG. 10 is a side view for explaining the operation of the third embodiment.

FIG. 11 is a view for explaining the position of a second rotating shaft in the third embodiment.

FIG. 12 is a diagram illustrating a relationship between a second arm length L, a position x of a second rotation shaft, and a rotation angle θ of the second arm in the third embodiment.

FIG. 13 is a diagram illustrating a rotation angle θ of a second arm and a reaching area in an insertion direction in a third embodiment.

FIG. 14 is a diagram showing that the position of a fixed point can be set to an arbitrary position in the first embodiment and the second embodiment.

FIG. 15 is a diagram showing that the position of a fixed point can be set to an arbitrary position in the third embodiment.

FIG. 16 is a schematic view showing a conventional medical manipulator (forceps).

FIG. 17 is a schematic view showing a conventional medical manipulator.

FIGS. 18A and 18B are schematic diagrams showing a conventional medical manipulator support device, wherein FIGS. 18A and 18B show a case where the position of the rotation axis is different.

FIG. 19 is a schematic view showing a conventional medical manipulator support device, wherein (a) and (b) show the case where the position of the rotation axis is different.

FIG. 20 is a schematic view showing a conventional medical manipulator support device.

[Description of Signs] 1 Supporting device for medical manipulator 10 First rotating shaft 11 First rotating shaft 1 Output shaft side 12 First arm 13 First passive rotating unit 14 Second arm 15 Second passive rotating unit 16 Supporting connection part 17, 18 Flexible connection member 19 Planetary gear reduction mechanism 20 Second rotating shaft 23 Fixed point 24 Counter weight 100 Medical manipulator 101 Working part 102 Operation command part 103 Connection part 105 Horizontal rotation part 106 Arc arm 100 Medical manipulator 101 Working unit! 02 Operation command unit 103 Connecting unit 105 Horizontal rotation unit 106 Arc arm

Claims (3)

[Claims] A manipulator comprising an operation command section, a connecting section having one end connected to the operation command section, and a working section connected to the other end of the connecting section, at least a first rotating shaft. And a supporting device for the manipulator rotatably supporting around two axes of a second rotating shaft, wherein the first rotating shaft is rotatably supported by a fixed portion of the supporting device, and A first arm rotatably supported on the output shaft side of the first rotary shaft, and a tip end of the first arm; A first passive rotating section provided on the first arm; a second arm fixed to the first passive rotating section; a second passive rotating section provided on a tip end of the second arm; A connection support unit fixed to a passive rotating unit, and the first passive rotating unit, A first flexible connecting member that is connected to the output shaft side of one of the rotating shafts at a reduction ratio of 1, and the second passive rotating unit is connected to the first arm by a reduction ratio of 1;
And a second flexible connecting member connected in the state of (1). 2. A manipulator comprising an operation command section, a connecting section having one end connected to the operation command section, and a working section connected to the other end of the connecting section, at least a first rotating shaft. And a manipulator supporting device rotatably supported around two axes of a second rotating shaft, wherein the first rotating shaft is rotatably supported by a fixed portion of the supporting device, and the second rotating shaft is supported by the second rotating shaft. The rotation shaft is disposed substantially on an extension of the first rotation shaft, and is configured with respect to the first arm rotatably supported on the output shaft side of the first rotation shaft, and the first arm. A parallel link mechanism, a second arm fixed to a first link of the parallel link mechanism driven parallel to an output shaft side of the first rotation shaft in the parallel link mechanism, and a tip of the second arm. A passive rotating unit provided in the unit, A connection support portion fixed to the passive rotating portion; and a reduction ratio of the passive rotating portion to the second link of the parallel link mechanism driven in parallel with the first arm in the first arm or the parallel link mechanism. And a flexible connecting member for connecting in a state of (1). 3. A manipulator comprising an operation command section, a connecting section having one end connected to the operation command section, and a working section connected to the other end of the connecting section, at least a first rotating shaft. And a manipulator supporting device rotatably supported around two axes of a second rotating shaft, wherein the first rotating shaft is rotatably supported by a fixed portion of the supporting device, and the second rotating shaft is supported by the second rotating shaft. The rotation shaft is disposed substantially on an extension of the first rotation shaft, a first arm fixedly supported on the output shaft side of the first rotation shaft, and a rotatable tip end of the first arm. A supported second arm, a passive rotating unit provided at the distal end of the second arm, a connection support unit fixed to the passive rotating unit, and a reduction ratio of the passive rotating unit to the first arm. A flexible connecting member that connects in a state greater than 1. Support apparatus of the manipulator, characterized in that to obtain.