Flexible manipulator

1 . A flexible manipulator, comprising:

an insertion portion including a tubular flexible portion, a bending portion, and a distal end portion;

an operating unit on a proximal end side of the insertion portion, the operating unit including a first operating portion;

a tube inside the tubular flexible portion, the tube including a through-hole spirally extending along a longitudinal axis of the tube from a proximal end to a distal end; and

a wire extending through the through-hole, a first end of the wire connected to the distal end portion and a second end of the wire connected to the first operating portion,

wherein the first operating portion includes an adjustment mechanism,

wherein the bending portion is a tubular body between the distal end portion and a distal end side of the tube,

wherein the flexible manipulator is configured such that operation of the first operating portion transmits a force applied to the first operating portion via the wire to the distal end portion to bend the bending portion relative to a central axis of the insertion portion,

wherein the adjustment mechanism adjusts a tension in the wire, and

wherein an outer surface of the distal end of the tube is attached to an inner surface of the end portion of the tubular flexible portion.

2 . The flexible manipulator according to claim 1 , wherein the adjustment mechanism includes a first adjustment mechanism that is movable proximally and distally relative to the central axis of the insertion portion and the first adjustment mechanism adjusts the tension in the wire by moving proximally or distally relative to the central axis of the insertion portion.

3 . The flexible manipulator according to claim 2 , wherein the first adjustment mechanism is a screw, wherein the screw is fixed to the second end of the wire, and wherein the screw is threaded into the first operating portion.

4 . The flexible manipulator according to claim 2 , wherein the first adjustment mechanism is a ratchet, wherein the ratchet is fixed to the second end of the wire, and wherein the ratchet is attached to the first operating portion.

5 . The flexible manipulator according to claim 1 , wherein the adjustment mechanism includes a first adjustment mechanism, wherein the first adjustment mechanism is a bar that contacts the wire and is movable to advance and retract between an inside and an outside of the first operating portion, and wherein the first adjustment mechanism adjusts the tension in the wire by advancing or retracting between the inside and the outside of the first operating portion.

6 . The flexible manipulator according to claim 1 , wherein the adjustment mechanism includes a first adjustment mechanism and a second adjustment mechanism,

wherein the first adjustment mechanism is movable proximally and distally relative to the central axis of the insertion portion and the first adjustment mechanism adjusts the tension in the wire by moving proximally or distally relative to the central axis of the insertion portion,

wherein the operating unit further comprises a second operating portion and the second operating portion includes the second adjustment mechanism,

wherein the second adjustment mechanism is rotatable about the central axis of the insertion portion to rotate the flexible portion and the distal end portion about a central axis of the flexible portion and relative to the first operating portion, and

wherein the second adjustment mechanism adjusts the tension in the wire by rotating the flexible portion and the distal end portion about the central axis of the flexible portion and relative to the first operating portion.

7 . The flexible manipulator according to claim 6 , wherein the first adjustment mechanism is not interlocked with a rotation of the second operating portion.

8 . The flexible manipulator according to claim 7 , wherein the first adjustment mechanism is a screw, wherein the screw is fixed to the second end of the wire, and wherein the screw is threaded into the first operating portion.

9 . The flexible manipulator according to claim 7 , wherein the first adjustment mechanism is a ratchet, wherein the ratchet is fixed to the second end of the wire, and wherein the ratchet is attached to the first operating portion.

10 . The flexible manipulator according to claim 6 , wherein the second adjustment mechanism includes an internal gear, a plurality of first planetary gears, a plurality of second planetary gears, and a plurality of sun gears.

11 . The flexible manipulator according to claim 10 , wherein the internal gear has an annular shape and centered on the central axis of the insertion portion,

wherein the plurality of first planetary gears is disposed inside the internal gear at a position rotationally symmetric by 120° about the central axis of the insertion portion, and the plurality of first planetary gears mesh with the internal gear,

wherein the plurality of second planetary gears is disposed inside the internal gear at a position to be rotationally symmetric by 120° about the central axis of the insertion portion and at a position radially closer to the central axis of the insertion portion than the plurality of first planetary gears, and the plurality of second planetary gears mesh with the plurality of first planetary gears,

wherein a first sun gear of the plurality of sun gears is an annular-shaped gear disposed inside the internal gear and is centered on the central axis of the insertion portion, the first sun gear fixed to an outer surface of a proximal end side of the flexible tubular portion and meshes with the plurality of second planetary gears, and

wherein a second sun gear of the plurality of sun gears is an annular-shaped gear disposed inside the internal gear and is centered on the central axis of the insertion portion, the second sun gear axially offset from the first sun gear and meshes with the plurality of first planetary gears.

12 . The flexible manipulator according to claim 1 , wherein the adjustment mechanism includes a first adjustment mechanism and a second adjustment mechanism,

wherein the first adjustment mechanism adjusts the tension in the wire by advancing or retracting between an inside and an outside of the first operating portion,

wherein the operating unit further comprises a second operating portion and the second operating portion includes the second adjustment mechanism,

wherein the second adjustment mechanism is rotatable about the central axis of the insertion portion to rotate the flexible portion and the distal end portion about a central axis of the flexible portion and relative to the first operating portion, and

wherein the second adjustment mechanism adjusts the tension in the wire by rotating the flexible portion and the distal end portion about the central axis of the flexible portion and relative to the first operating portion.

13 . The flexible manipulator according to claim 12 , wherein the second adjustment mechanism is interlocked with a rotation of the second operating portion to rotate the proximal end side of the tube in a direction opposite to a rotation direction of the second operating portion.

14 . The flexible manipulator according to claim 12 , wherein the second adjustment mechanism is interlocked with a rotation of the second operating portion so that the first operating portion moves toward the second operating portion.

15 . The flexible manipulator according to claim 12 , wherein the first adjustment mechanism is not interlocked with a rotation of the second operating portion.

16 . The flexible manipulator according to claim 1 , wherein the operating unit further comprises a second operating portion, wherein the second operating portion rotates the flexible portion and the distal end portion about a central axis of the flexible portion and relative to the first operating portion.

17 . The flexible manipulator according to claim 16 , wherein the second operating portion includes the adjustment mechanism.

18 . The flexible manipulator according to claim 17 , wherein the second operating portion is between the flexible portion and the first operating portion.

19 . The flexible manipulator according to claim 1 , wherein the adjustment mechanism adjusts a tension in the wire by at least one of (i) loosening of the wire and (ii) tightening of the wire.

20 . The flexible manipulator according to claim 1 , wherein a first operating portion comprises a socket, a ball, and a handle, wherein the socket movably supports the ball, and wherein the handle is mounted on the ball.

21 . The flexible manipulator according to claim 20 , wherein the distal end portion includes an end effector, and

wherein the bending portion bends relative to the central axis of the insertion portion in a direction intersecting the central axis of the insertion portion.

22 . The flexible manipulator according to claim 1 , wherein the adjustment mechanism contacts a portion of the wire located between a proximal end of the tube and the first operating portion.

23 . The flexible manipulator according to claim 1 , wherein the proximal end of the tube is fixed to the first operating portion.

24 . The flexible manipulator according to claim 1 , wherein the adjustment mechanism includes a first adjustment mechanism,

wherein the first adjustment mechanism is a ratchet,

wherein the ratchet includes an advancing/retracting member and a regulating member,

wherein the advancing/retracting member is fixed to the second end of the wire and is movable proximally and distally relative to the central axis of the insertion portion, and

wherein the regulating member is movable in a direction orthogonal to the central axis of the insertion portion.

25 . The flexible manipulator according to claim 1 , wherein the tube is torsionally deformable around a central axis of the tubular flexible portion.