FLEXING JOINT MECHANISM SURGICAL INSTRUMENT HAVING THIS FLEXING JOINT MECHANISM AND MANIPULATOR HAVING THIS FLEXING JOINT MECHANISM

摘要

A bending joint mechanism includes a joint section (3, 194). The joint section (3, 194) includes a shaft section (2, 192), an actuating section (6, 196), a 5 coupling member (7, 206) and a rod section (13, 205) . The rod section (13, 205) has an elastic portion (16, 205) which is elastically deformable in directions other than the axial direction of the shaft section (2, 192) .