Medical manipulator

A medical manipulator comprising:

• an elongated support member;
• an end effector that is supported at a distal end of the support member so as to be movable in a longitudinal axial direction, the end effector being a pushing member that pushes out a staple;
• a first pulling pulley that is supported so as to be rotatable about a first shaft that is secured to the end effector and that is orthogonal to the longitudinal axis;
• a first wire that is wound around the first pulling pulley so as to cause, when a proximal end thereof is pulled, tensile forces in substantially the same directions to act on the first pulling pulley on either side of the first pulling pulley flanking the first shaft;
• an anvil that is supported at the distal end of the support member so as to be movable in the longitudinal axial direction and that deforms the staple that is pushed out by the pushing member toward the distal end in the longitudinal axial direction;
• a second pulling pulley that is supported so as to be rotatable about a second shaft that is secured to the anvil and that is orthogonal to the longitudinal axis;
• a second wire that is wound around the second pulling pulley so as to cause, when a proximal end thereof is pulled, tensile forces applied toward the proximal end in the longitudinal axial direction on either side of the second pulling pulley flanking the second shaft to act on the second pulling pulley;
• an anvil pulling wire that includes a third wire that pulls the anvil toward the distal end in the longitudinal axial direction with respect to the support member by being pulled toward the proximal end;
• and
• an anvil manipulator that includes winding portions around which a proximal end of the third wire and a proximal end of the second wire are individually wound, the anvil manipulator individually applying pulling forces to the second wire and the third wire as a result of rotations of the individual winding portions,
• wherein the individual winding portions of the anvil manipulator are rotated in synchronization at a circumferential speed that is proportional to a ratio of the distances by which the second wire and the third wire are pulled with respect to an amount by which the anvil is moved.