Bending structure body

Patent metadata

Field	Value
Publication number	US-2024189981-A1
Application number	US-202218287020-A
Country	US
Kind code	A1
Filing date	Apr 28, 2022
Priority date	Apr 30, 2021
Publication date	Jun 13, 2024
Grant date	—

Abstract

Provided is a multi-joint bending structure body that makes it possible to obtain a structure capable of making a small-radius turn. The present invention comprises: a plurality of first bendable parts 9 and second bendable parts 11 that can elastically bend with respect to the axial direction; and an intermediate part 13 that is positioned between a first bendable part 9 and a second bendable part 11 which are adjacent to each other. The first bendable parts 9 and the second bendable parts 11 are provided with a flexible member 17 that is an integral body in the axial direction. The intermediate part 13 is attached to the flexible member 17 between the first bendable part 9 and the second bendable part 11 which are adjacent, and suppresses the bending of the flexible member 17 with respect to the axial direction.

First claim

1 . A bending structure body, comprising:
a plurality of bendable parts that are elastically bendable with respect to an axial direction; and an intermediate part positioned between adjacent bendable parts, wherein the plurality of bendable parts comprise a flexible member that is integral in the axial direction, and the intermediate part is attached to the flexible member between the adjacent bendable parts and suppresses bending of the flexible member with respect to the axial direction.

2 . The bending structure body according to claim 1 , wherein the intermediate part is an annular member for inserting the flexible member in the axial direction, and has an inner circumference attached to the flexible member.

3 . The bending structure body according to claim 1 , wherein the intermediate part is fixed to the flexible member.

4 . The bending structure body according to claim 1 , wherein each of the plurality of bendable parts comprises an outer member that surrounds the flexible member and has elasticity.

5 . The bending structure body according to claim 4 , wherein the outer members of the plurality of bendable parts have ends that face each other across the intermediate part in the axial direction, and the ends are respectively attached to both sides of the intermediate part in the axial direction.

6 . The bending structure body according to claim 1 , wherein the flexible member comprises an inner coil part and an outer coil part, and corresponding winding parts of the inner coil part are fitted into gaps between adjacent winding parts of the outer coil part.

7 . The bending structure body according to claim 2 , wherein the intermediate part is fixed to the flexible member.

8 . The bending structure body according to claim 2 , wherein each of the plurality of bendable parts comprises an outer member that surrounds the flexible member and has elasticity.

9 . The bending structure body according to claim 3 , wherein each of the plurality of bendable parts comprises an outer member that surrounds the flexible member and has elasticity.

10 . The bending structure body according to claim 2 , wherein the flexible member comprises an inner coil part and an outer coil part, and corresponding winding parts of the inner coil part are fitted into gaps between adjacent winding parts of the outer coil part.

11 . The bending structure body according to claim 3 , wherein the flexible member comprises an inner coil part and an outer coil part, and corresponding winding parts of the inner coil part are fitted into gaps between adjacent winding parts of the outer coil part.

12 . The bending structure body according to claim 4 , wherein the flexible member comprises an inner coil part and an outer coil part, and corresponding winding parts of the inner coil part are fitted into gaps between adjacent winding parts of the outer coil part.

13 . The bending structure body according to claim 5 , wherein the flexible member comprises an inner coil part and an outer coil part, and corresponding winding parts of the inner coil part are fitted into gaps between adjacent winding parts of the outer coil part.

Assignees

• Nhk Spring Co Ltd

Inventors

• Hirata Takafumi
• Hotoda Yuki
• Inaba Masahiro
• Hayakawa Yuki

Classifications

• A61B34/71

  Manipulators operated by drive cable mechanisms · CPC title

• A61B34/30

  Surgical robots · CPC title

• B25J9/0015 Primary

  Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion · CPC title

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title

• A61B1/0055

  Constructional details of insertion parts, e.g. vertebral elements · CPC title