Title:
BENDING MECHANISM AND MEDICAL MANIPULATOR
Document Type and Number:
WIPO Patent Application WO/2018/225212
Kind Code:
A1
Abstract:
In order to reduce the size of an insertion part while avoiding the action of excessive stress in each part, a bending mechanism (5) according to the present invention is provided with: a long and narrow support member (6); a swinging member (7) that is supported by the distal end of the support member so as to be capable of swinging about an axis line that intersects the longitudinal axis; drive force transmission members (8a, 8b) disposed along the longitudinal axis of the support member, the drive force transmission members transmitting drive force applied at a base end and causing the swinging member to swing; and a stress regulation part (15) that regulates the stress generated in the drive force transmission members, at each swing position of the swinging member relative to the support member, so that the stress does not exceed a prescribed threshold value. The drive force transmission members are provided with first transmission members (9a, 9b) by which the drive force transmission members connect to the swinging member, and second transmission members (14a, 14b) disposed farther toward the base-end side than are the first transmission members. The stress regulation part is provided with a movable member (16) that moves in a prescribed direction when the first and second transmission members move relatively in the longitudinal direction, and a biasing member (17) that biases in a direction to obstruct the motion of the movable member.
Inventors:
TAKAYAMA HIROYUKI (JP)
Application Number:
PCT/JP2017/021311
Publication Date:
December 13, 2018
Filing Date:
June 08, 2017
Export Citation:
Assignee:
OLYMPUS CORP (JP)
International Classes:
B25J17/02; A61B34/30
Foreign References:
| JP4402313B2 | 2010-01-20 | |||
| JP2014138879A | 2014-07-31 | |||
| JPH06262360A | 1994-09-20 | |||
| JP2015023886A | 2015-02-05 |
Attorney, Agent or Firm:
UEDA, Kunio et al. (JP)
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