JOINT MECHANISM, MANIPULATOR, AND MANIPULATOR SYSTEM

WIPO Patent Application WO/2015/107999

A1

The present invention causes bending to be possible at a small amount of traction force, and improves the compactness and control characteristics of a device. Provided is a joint mechanism (12a) provided with: a first member (13a) having a tubular shape and having a through hole (17); a second member (13b) that is disposed at the tip side of the first member (13a) and that is provided in a manner able to reciprocate around a reciprocation axis line that intersects the central axis of the first member (13a); a tubular guide sheath (21a, 21b) that penetrates the vicinity of the central axis of the through hole (17) and has flexibility such that the tip is affixed to the second member (13b); an operation wire (22a, 22b) introduced to the tip side of guide sheath (21a, 21b); and a folded-back section (20a, 20b) that is provided to a position of the second member (13b) decentered in the radial direction from the reciprocation axis line and that causes the operation wire (22a, 22b) introduced from the first member (13a) side via the guide sheath (21a, 21b) to undergo a U-turn to the first member (13a) side. The tip of the operation wire (22a, 22b) caused to U-turn at the folded-back section (20a, 20b) is affixed to a position decentered in the radial direction.

WO/2019/190061	ENDOSCOPE AND SINUS ENTERING ENDOSCOPE
JP2007511247	Cavity tool deployment system
JP3793445	PORTABLE ENDOSCOPE

NAKAYAMA SHINGO (JP)
KISHI KOSUKE (JP)

PCT/JP2015/050541

July 23, 2015

January 09, 2015

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OLYMPUS CORP (JP)

A61B1/00; B25J17/00

JPH05185385A	1993-07-27
JP2007175502A	2007-07-12
JP2007029290A	2007-02-08
JP5197980B2	2013-05-15

See also references of EP 3095375A4

UEDA, Kunio et al. (JP)
Ueda Kunio (JP)

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