Medical manipulator and cleaning method for medical manipulator

A cleaning method for a medical manipulator, said medical manipulator comprising:

• a drive unit equipped with a rotary actuator;
• and
• a working unit which is detachable with respect to said drive unit, said working unit comprising a distal end working unit which is operatively connectable to said rotary actuator,
• wherein said working unit further comprises:
• a driven rotating body engaged with said rotary actuator at a connection location of said drive unit;
• a retaining chamber for rotatably supporting and retaining said driven rotating body;
• and
• at least one cleaning hole through which a cleaning agent is made to flow into and through said retaining chamber,
• the cleaning method comprising the steps of:
• detaching said working unit from said drive unit;
• connecting and sealing said cleaning hole to one end of a tube;
• providing a cleaning agent suction and discharge means on another end of said tube;
• immersing an end of a shaft of said medical manipulator into said cleaning agent;
• and
• operating said suction and discharge means to repeatedly carry out sucking and discharging of said cleaning agent from the end of said shaft, and thereby causing said cleaning agent to contact and flow through said retaining chamber.