Power transmission mechanism and manipulator

A power transmission mechanism for medical manipulator comprising:

• a flexible power transmission element;
• a pair of a drive pulley and a driven pulley on which the flexible power transmission element is wound, one of the drive pulley and the driven pulley having a pin-embedding hole formed to extend from the outer circumferential thereof toward the center thereof, and a slit elongated in the circumferential direction of the pulley to extend to opposite sides of the embedding hole and communicating with the embedding hole, the slit embedding the flexible power transmission element wound on a part of the outer circumferential thereof;
• and
• an anchor pin having a path hole penetrating the anchor pin across the lengthwise direction thereof to receive the flexible power transmission element inserted therein, the anchor pin fixing one of the pair of the drive pulley and the driven pulley, and the path hole being formed in the slit,
• wherein at least one of said pin-embedding hole and said anchor pin has a tapered shape, each said anchor pin receiving the flexible power transmission element in the path hole thereof is embedded in the embedding hole of the associated pulley under pressure, and the flexible power transmission element is thereby held on the pulley.