JP7373613B2 - 屈曲構造体及びこれを用いた関節機能部 - Google Patents
屈曲構造体及びこれを用いた関節機能部 Download PDFInfo
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- JP7373613B2 JP7373613B2 JP2022101074A JP2022101074A JP7373613B2 JP 7373613 B2 JP7373613 B2 JP 7373613B2 JP 2022101074 A JP2022101074 A JP 2022101074A JP 2022101074 A JP2022101074 A JP 2022101074A JP 7373613 B2 JP7373613 B2 JP 7373613B2
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- 238000005452 bending Methods 0.000 title claims description 123
- 230000008407 joint function Effects 0.000 title claims description 37
- 238000004804 winding Methods 0.000 claims description 73
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 230000037431 insertion Effects 0.000 claims description 9
- 238000003780 insertion Methods 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 230000009194 climbing Effects 0.000 claims description 3
- 230000000052 comparative effect Effects 0.000 description 6
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 239000002184 metal Substances 0.000 description 4
- 239000011347 resin Substances 0.000 description 4
- 229920005989 resin Polymers 0.000 description 4
- 230000000087 stabilizing effect Effects 0.000 description 4
- 239000012636 effector Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B17/2909—Handles
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- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F3/00—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic
- F16F3/02—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction
- F16F3/04—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction composed only of wound springs
- F16F3/06—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction composed only of wound springs of which some are placed around others in such a way that they damp each other by mutual friction
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- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
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- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
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- A—HUMAN NECESSITIES
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- A61B2017/2905—Details of shaft flexible
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- A—HUMAN NECESSITIES
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- A61B2017/2912—Handles transmission of forces to actuating rod or piston
- A61B2017/2919—Handles transmission of forces to actuating rod or piston details of linkages or pivot points
- A61B2017/292—Handles transmission of forces to actuating rod or piston details of linkages or pivot points connection of actuating rod to handle, e.g. ball end in recess
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- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2939—Details of linkages or pivot points
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- A—HUMAN NECESSITIES
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- A61B34/70—Manipulators specially adapted for use in surgery
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- Health & Medical Sciences (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- General Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Molecular Biology (AREA)
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- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Ophthalmology & Optometry (AREA)
- General Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Manipulator (AREA)
- Endoscopes (AREA)
- Surgical Instruments (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Description
図1は、本発明の実施例1に係る可撓部材の屈曲構造体を示す断面図、図2は、同一部を示す拡大図である。
図3は、図1の屈曲構造体の屈曲状態を示す断面図、図4は、同一部を示す拡大図である。
図6(A)は、比較例に係る屈曲構造体を示す断面図、図6(B)は、同屈曲時を示す断面図である。
以上説明したように、本実施例の屈曲構造体1は、可撓部材3を軸方向に移動可能に挿通して、可撓部材3と共に屈曲可能な屈曲構造体であって、コイル状に巻かれて軸方向に複数の巻部5bを有する線材5aからなる外コイル部5と、コイル状に巻かれて軸方向に複数の巻部7bを有する線材7aからなり、外コイル部5内に位置する内コイル部7とを備える。
Claims (11)
- 軸方向に対して屈曲可能な屈曲構造体であって、
コイル状に巻かれて前記軸方向に複数の巻部を有する線材からなる外コイル部と、
コイル状に巻かれて前記軸方向に複数の巻部を有する線材からなり前記外コイル部内に位置する内コイル部とを備え、
前記外コイル部は、前記軸方向で隣接する巻部間を離間させた複数の隙間を有し、
前記内コイル部は、前記巻部が前記外コイル部の前記隙間に対応して設けられ前記外コイル部の前記隣接する巻部に接触しつつ当該巻部間に嵌合し、
前記内コイル部が前記外コイル部の軸心に対して径方向に移動することを(外コイル部の直径-内コイル部の直径)の半分以下となるように規制し、前記屈曲の外側で大きくなった前記外コイル部の前記隙間を介した前記内コイル部の相対的な乗り越えによる脱落を防止する規制部材を有する、
ことを特徴とする屈曲構造体。 - 請求項1記載の屈曲構造体であって、
前記外コイル部は、前記軸方向で隣接する巻部の各間に前記隙間を有した、
ことを特徴とする屈曲構造体。 - 請求項1又は2に記載の屈曲構造体であって、
前記規制部材は可撓部材である、
ことを特徴とする屈曲構造体。 - 請求項3に記載の屈曲構造体であって、
前記可撓部材を前記軸方向に移動可能に挿通して前記可撓部材と共に屈曲可能である、
ことを特徴とする屈曲構造体。 - 請求項3又は4記載の屈曲構造体であって、
前記内コイル部は、内周により前記可撓部材を挿通する挿通部を区画する、
ことを特徴とする屈曲構造体。 - 請求項1~5の何れか一項に記載の屈曲構造体であって、
前記内コイル部と前記外コイル部とが別体に形成され、前記内コイル部が前記外コイル部内に螺合された、
ことを特徴とする屈曲構造体。 - 請求項1~6の何れか一項に記載の屈曲構造体であって、
前記外コイル部は、所定角度に屈曲した際に、屈曲の内側で隣接する巻部が接触する、
ことを特徴とする屈曲構造体。 - 請求項1~7の何れか一項に記載の屈曲構造体を適用した関節機能部であって、
基部及び該基部に対して変位する可動部と、
前記軸方向における前記基部及び前記可動部間に介設され前記軸方向に伸縮可能な可撓チューブと、を備え、
前記屈曲構造体は、前記軸方向における前記基部と前記可動部との間に設けられ、前記基部に対する前記可動部の変位に応じて屈曲し、
前記基部及び前記可動部は、前記屈曲構造体の両端をそれぞれ前記軸方向に挿通して取り付けられた挿通孔を有し、
前記可撓チューブは、両端が前記基部及び前記可動部にそれぞれ径方向の外側から被せられた、
ことを特徴とする関節機能部。 - 請求項8記載の関節機能部であって、
前記軸方向における前記基部及び前記可動部間において、前記径方向における前記可撓チューブと前記屈曲構造体との間に隙間を有する、
ことを特徴とする関節機能部。 - 請求項8又は9記載の関節機能部であって、
前記屈曲構造体は、前記可撓チューブの軸心部に沿って前記軸方向に配置された、
ことを特徴とする関節機能部。 - 請求項1~7の何れか一項に記載の屈曲構造体であって、
前記内コイル部及び前記外コイル部は、断面形状が円形である、
ことを特徴とする屈曲構造体。
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JP6913775B1 (ja) * | 2020-02-13 | 2021-08-04 | 日本発條株式会社 | 屈曲構造体及び関節機能部 |
JP2022073297A (ja) * | 2020-10-30 | 2022-05-17 | 日本発條株式会社 | 屈曲構造体 |
JP2022073298A (ja) * | 2020-10-30 | 2022-05-17 | 日本発條株式会社 | 屈曲操作機構 |
CN112809656B (zh) * | 2021-02-08 | 2022-02-18 | 清华大学 | 柔性驱动结构、柔性驱动器及驱动*** |
WO2022181671A1 (ja) * | 2021-02-25 | 2022-09-01 | 日本発條株式会社 | 屈曲構造体及び通電デバイス |
JP2022171422A (ja) * | 2021-04-30 | 2022-11-11 | 日本発條株式会社 | 屈曲構造体 |
JP2023079073A (ja) * | 2021-11-26 | 2023-06-07 | 日本発條株式会社 | 屈曲構造体及びその半製品 |
CN114701583B (zh) * | 2022-04-18 | 2023-02-24 | 东北大学秦皇岛分校 | 一种绳驱柔性双关节仿生蟹及控制方法 |
CN115005993B (zh) * | 2022-05-31 | 2023-09-22 | 四川省肿瘤医院 | 一种弯曲机构及应用该机构的手术机械臂 |
JP2024053399A (ja) * | 2022-10-03 | 2024-04-15 | 日本発條株式会社 | 屈曲構造体及びその半製品 |
WO2024089878A1 (ja) * | 2022-10-28 | 2024-05-02 | 日本発條株式会社 | 屈曲構造体 |
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JP2023153901A (ja) | 2023-10-18 |
WO2020036085A1 (ja) | 2020-02-20 |
TWI720570B (zh) | 2021-03-01 |
EP3838517A4 (en) | 2022-09-14 |
US20230001590A1 (en) | 2023-01-05 |
TW202009117A (zh) | 2020-03-01 |
CN112654475A (zh) | 2021-04-13 |
EP3838518A1 (en) | 2021-06-23 |
EP3838517A1 (en) | 2021-06-23 |
JP7472374B2 (ja) | 2024-04-22 |
EP3838518A4 (en) | 2022-08-10 |
JP7096179B2 (ja) | 2022-07-05 |
JP2020026021A (ja) | 2020-02-20 |
JP2022125093A (ja) | 2022-08-26 |
CN112566759A (zh) | 2021-03-26 |
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JP7491503B2 (ja) | 2024-05-28 |
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