Continuous robot control system, control method of continuous robot, and storage medium
US-2024326236-A1 · Oct 3, 2024 · US
US8998801B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-8998801-B2 |
| Application number | US-201314101696-A |
| Country | US |
| Kind code | B2 |
| Filing date | Dec 10, 2013 |
| Priority date | Jul 2, 2012 |
| Publication date | Apr 7, 2015 |
| Grant date | Apr 7, 2015 |
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Contact between a face to be pressed and a cam face in an interaxial direction T of two inner guide sheaths is set so that a contact width H therebetween is shorter than an interaxial distance L, and so that the contact position is located between axes of the two inner guide sheaths. As a result, even in a case where external diameters of two inner guide sheaths that form a pair are slightly different to each other, a braking member can be tilted to cause a contact face to simultaneously come in contact with the respective inner guide sheaths, and a pressing force from an eccentric cam can be transmitted equally to the respective inner guide sheaths.
Opening claim text (preview).
What is claimed is: 1. An insertion instrument, comprising: an insertion portion for inserting into a subject; an operation portion that is provided on a proximal end side of the insertion portion; an action portion that is provided in the insertion portion and that acts in accordance with an operation input with respect to the operation portion; two linear members that are arranged such that a part of proximal ends of the two linear members are adjacent to each other along…
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