MULTIJOINTED BENDING MECHANISM AND MULTIJOINTED MEDICAL EQUIPMENT HAVING MULTIJOINTED BENDING MECHANISM

• US 20100004508A1
• Filed: 09/10/2009
• Published: 01/07/2010
• Est. Priority Date: 03/29/2007
• Status: Abandoned Application

• Current Assignee: Olympus Medical Systems Corporation (Olympus Corporation)
• Original Assignee: Olympus Medical Systems Corporation (Olympus Corporation)
• Inventors: Hasegawa, Jun, Nakamura, Toshio, Naito, Kimihiko, Ishiguro, Tsutomu
• Application Number:
  US12/556,873
• Publication Number:
  US 20100004508A1
• Time in Patent Office: Days
• US Class Current: 600/141
• CPC Class Codes: A61B 1/00133 Drive units for endoscopic tools inserted through or with the endoscope
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/0057 Constructional details of force transmission elements, e.g. control wires
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 18/1492 having a flexible, catheter-like structure, e.g. for heart ablation A61B18/1477 takes precedence
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/00314 Separate linked members
• CPC Class Codes: A61B 2017/00323 Cables or rods
• CPC Class Codes: A61B 2017/0034 adapted to be inserted through a working channel of an endoscope
• CPC Class Codes: A61B 2017/2901 Details of shaft
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2947 Pivots
• CPC Class Codes: A61B 2018/00982 combined with or comprising means for visual or photographic inspections inside the body, e.g. endoscopes
• CPC Class Codes: A61B 2034/306 Wrists with multiple vertebrae
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2218/007 Aspiration
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras

Abstract

A multijointed bending mechanism having a first bending piece, a second bending piece connected to the first bending piece so as to be rotatable around a first rotation shaft, a third bending piece connected to the second bending piece so as to be rotatable around a second rotation shaft, at least two first wires connected to the first bending piece to rotate the first bending piece and at least two second wires connected to the second bending piece to rotate the second bending piece. The first wires are disposed inwards of the second wires with respect to a vertical direction of the first and second rotation shafts.

Claims

1. A multijointed bending mechanism comprising:

a first bending piece;

a second bending piece connected to the first bending piece so as to be rotatable around a first rotation shaft;

a third bending piece connected to the second bending piece so as to be rotatable around a second rotation shaft;

at least two first wires connected to the first bending piece to rotate the first bending piece; and

at least two second wires connected to the second bending piece to rotate the second bending piece,

wherein the first wires are disposed inwards of the second wires with respect to a vertical direction of the first and second rotation shafts.

2. The multijointed bending mechanism according to claim 1, further comprising positioning/disposing mechanism disposed in the second bending piece for executing positioning so that the first wires are disposed inwards of the second wires.

3. The multijointed bending mechanism according to claim 1, further comprising:

a first elastic member connected to the second bending piece to guide the first wires; and

a second elastic member connected to the third bending piece to guide the second wires.

4. The multijointed bending mechanism according to claim 3, further comprising positioning/disposing mechanism disposed in the second bending piece for executing positioning so that the first wires are disposed inwards of the second wires.

5. A multijointed medical equipment comprising the multijointed bending mechanism according to claim 1.

6. A multijointed bending mechanism comprising:

a first bending piece;

a second bending piece connected to the first bending piece so as to be rotatable around a first rotation shaft;

a third bending piece connected to the second bending piece so as to be rotatable around a second rotation shaft;

at least two first wires connected to the first bending piece to rotate the first bending piece; and

at least two third wires connected to the third bending piece to rotate the third bending piece,

wherein the first wires are disposed inwards of the third wires with respect to a vertical direction of the first and second rotation shafts.

7. The multijointed bending mechanism according to claim 6, further comprising positioning/disposing mechanism disposed in the third bending piece for executing positioning so that the first wires are disposed inwards of the third wires.

8. The multijointed bending mechanism according to claim 6, further comprising:

a first elastic member connected to the second bending piece to guide the first wires; and

a third elastic member connected to a fourth bending piece rotatably connected to the third bending piece to guide the third wires.

9. The multijointed bending mechanism according to claim 8, further comprising positioning/disposing mechanism disposed in the third bending piece for executing positioning so that the first wires are disposed inwards of the third wires.

10. A multijointed medical equipment comprising the multijointed bending mechanism according to claim 6.