Articulation mechanisms for robotic surgical tools
US-2024252025-A1 · Aug 1, 2024 · US
US2016100744A1 · US · A1
| Field | Value |
|---|---|
| Publication number | US-2016100744-A1 |
| Application number | US-201514980987-A |
| Country | US |
| Kind code | A1 |
| Filing date | Dec 28, 2015 |
| Priority date | Jun 26, 2013 |
| Publication date | Apr 14, 2016 |
| Grant date | — |
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A spiral unit into which an insertion section of an introduction apparatus having a longitudinal axis is to be inserted, and is rotatable to the insertion section in a state of being disposed on the insertion section, includes a regulator which is removably arranged in a tubular section, holds a state of expanding an inner diameter of the tubular section to regulate reduction of the inner diameter of the tubular section.
Opening claim text (preview).
What is claimed is: 1 . A spiral unit into which an insertion section of an introduction apparatus having a longitudinal axis is to be inserted, and is rotatable to the insertion section in a state of being disposed on the insertion section, the spiral unit comprising: a tube body which is configured to be arranged along the longitudinal axis, and has a spiral fin arranged on an outer peripheral surface thereof; a tubular section which is provided on at least one of a distal end side and a proximal end side of the tube body along the longitudinal axis, has a proximal part close to the tube body and a distal part apart from the tube body, has an outer periphery that is diameter-reduced toward the longitudinal axis more at the distal part than at the proximal part along the longitudinal axis, and exerts a diameter reducing force to an outer peripheral surface of the insertion section at the distal part in the range where sliding is possible in a periaxial direction of the longitudinal axis; and a regulator which is removably arranged in the tubular section, holds a state of expanding an inner diameter of the tubular section to regulate reduction of the inner diameter of the tubular section. 2 . The spiral unit according to claim 1 , wherein the regulator is configured to be removed from the tubular section in a state that the insertion section is inserted into the tubular section. 3 . The spiral unit according to claim 1 , wherein the tubular section comprises: an inner layer having strip-shaped extended portions which are aligned in a circumferential direction of the longitudinal axis and extended from the proximal part to the tube body to the distal part to the tube body; and a tubular outer layer which covers an outer side of the inner layer, and reduces a diameter of the extended portions toward the longitudinal axis more at the distal part to the tube body than at the proximal part to the tube body. 4 . The spiral unit according to claim 3 , wherein the extended portions themselves are formed to reduce the diameter toward the longitudinal axis more at the distal part to the tube body than at the proximal part to the tube body. 5 . The spiral unit according to claim 3 , wherein each of the extended portions has a pair of edge portions, and the extended portions are formed to reduce the diameter at the distal part to the tube body by allowing the edge portions of the adjacent extended portions in the extended portions to abut on each other, and to expand the diameter at the distal part to the tube body by separating the edge portions of the adjacent extended portions from each other. 6 . The spiral unit according to claim 3 , wherein the inner layer has a tab which aids removal of the tubular section to release the insertion section from a state that the diameter reducing force is exerted in the range where sliding is possible on the outer peripheral surface of the insertion section in the periaxial direction of the longitudinal axis at the distal part to the tube body. 7 . The spiral unit according to claim 1 , wherein the tubular section is formed into a single layer by using an elastic member to reduce the diameter toward the longitudinal axis more at the distal part to the tube body than at the proximal part to the tube body. 8 . The spiral unit according to claim 7 , wherein a diameter of the elastic member is expandably reduced at the distal part to the tube body. 9 . The spiral unit according to claim 7 , wherein the tubular section has a tab which aids removal of the tubular section to enable release of the insertion section from a state that the diameter reducing force is exerted in the range where sliding is possible on the outer peripheral surface of the insertion section in the periaxial direction of the longitudinal axis at the distal part to the tube body. 10 . The spiral unit according to claim 9 , wherein the tubular section has, on its inner peripheral surface, a groove which is continuous from the tab and along which the tubular section is delaminated from the outer side of the insertion section. 11 . The spiral unit according to claim 1 , wherein the regulator has a ring-shaped member formed in such a manner that it is partially broken. 12 . The spiral unit according to claim 1 , wherein the regulator has a ring-shaped member which has a notch portion and is energized so that end portions thereof are separated from each other. 13 . The spiral unit according to claim 1 , comprising: on its inner peripheral surface, a roller which is engaged to transmit a rotational force of the insertion section around the longitudinal axis to the tube body in state that the insertion section having the longitudinal axis is inserted. 14 . An introduction apparatus for various kinds of ducts, comprising: an insertion section which is extended along a longitudinal axis, and inserted into a duct from a distal end thereof; and a spiral unit according to claim 1 which is disposed on an outer periphery of the insertion section, and rotatable in a periaxial direction of the longitudinal axis to the insertion section by driving of a drive member.
Non-optical details, e.g. housings, mountings, supports · CPC title
with externally grooved shaft · CPC title
using motor drive units · CPC title
Oversleeves mounted on the endoscope prior to insertion · CPC title
using guiding arrangements for insertion · CPC title
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