| CPC A61B 1/0057 (2013.01) [A61B 1/0055 (2013.01); A61B 2017/00314 (2013.01); A61B 2017/00327 (2013.01); A61B 17/29 (2013.01); A61B 2034/715 (2016.02)] | 16 Claims |
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1. An operation apparatus for performing an operation by steering an end effector, the operation apparatus comprising:
a wire which is connected to the end effector to steer the end effector;
a tension compensator which is connected with the wire; and
a manipulation shaft which is rotatably formed around a rotation central axis, wherein the manipulation shaft is perpendicular to a plane on which a steering trajectory of the end effector is placed, and pulls the wire back,
wherein in an operating state, the tension compensator changes a shape or position of the tension compensator in response to tension of the wire to keep the wire tight, and
when the wire is pulled to steer the end effector, the tension compensator is shifted to a lock state in which the shape or position of the tension compensator is not changed,
wherein the tension compensator is spontaneously shifted between the operating state and the lock state by the rotation of the manipulation shaft.
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