Medical manipulator
A medical manipulator includes a multi-lumen tube including a flexible portion and a bending portion at a distal end of the flexible portion, a distal-end portion at a distal end of the bending portion, a proximal-end portion at a proximal end of the flexible portion, wires causing the bending portion to be bent, a reinforcement coil one end thereof being secured to the distal-end portion and the other end thereof being secured to the proximal-end portion, a flexible-portion cover member, and a bending-portion cover member formed more flexible than the flexible-portion cover member. The flexible and bending portions include a first lumen passing through the tube and into which the coil is inserted, and second lumens passing through the tube at positions farther outside than the first lumen is and into which the wires are inserted. The coil is disposed along an inner surface of the first lumen.
1 . A medical manipulator comprising:
a multi-lumen tube that includes an elongated flexible portion having flexibility and a bendable bending portion disposed at a distal end of the flexible portion;
a distal-end portion disposed at a distal end of the bending portion;
a proximal-end portion disposed at a proximal end of the flexible portion;
a plurality of wires that cause the bending portion to be bent by transmitting a motive force from the proximal-end portion to the bending portion;
a reinforcement coil in which one end thereof in a longitudinal direction is secured to the distal-end portion and the other end thereof in the longitudinal direction is secured to the proximal-end portion;
a flexible-portion cover member that is disposed in an area surrounding the flexible portion; and
a bending-portion cover member that is disposed in an area surrounding the bending portion and that is formed from a material having a greater flexibility than the flexible-portion cover member, wherein
the flexible portion and the bending portion include a first lumen, which passes through, in the longitudinal direction, the multi-lumen tube at a position containing a center axis thereof and into which the reinforcement coil is inserted, and a plurality of second lumens, which pass through, in the longitudinal direction, the multi-lumen tube at positions farther outside than the first lumen is and into which the plurality of wires are inserted,
the reinforcement coil is disposed along an inner surface of the first lumen,
the plurality of second lumens passing through the flexible portion are formed in spiral shapes about a longitudinal axis of the flexible portion, and
the plurality of second lumens passing through the bending portion are formed extending linearly and parallel to a longitudinal axis of the bending portion.
2 . The medical manipulator according to claim 1 , wherein the flexible-portion cover member and the bending-portion cover member are formed of an insulating material.
3 . The medical manipulator according to claim 1 , further comprising a rotational-force transmission coil that extends along a longitudinal direction of the flexible portion and that transmits a rotational force about a longitudinal axis of the flexible portion from the proximal-end portion to the flexible portion,
wherein the rotational-force transmission coil is disposed between the flexible portion and the flexible-portion cover member, one end thereof in a longitudinal direction is secured to the distal end of the flexible portion, and the other end thereof in the longitudinal direction is secured to the proximal-end portion.
4 . The medical manipulator according to claim 1 , further comprising a reinforcement member that covers an area surrounding a boundary between the bending portion and the distal-end portion.
5 . The medical manipulator according to claim 1 , wherein the reinforcement coil is formed from a material having a greater rigidity than the flexible portion and the bending portion.
6 . The medical manipulator according to claim 1 , wherein the reinforcement coil comprises a flat wire coil having a rectangular sectional shape.
7 . The medical manipulator according to claim 1 , wherein the plurality of second lumens passing through the bending portion are disposed with equal spacings therebetween about the longitudinal axis of the bending portion.
8 . The medical manipulator according to claim 1 , wherein
the flexible-portion cover member is formed of a low-density polyethylene, and
the bending-portion cover member is formed of a styrene-based elastomer.
9 . The medical manipulator according to claim 1 , wherein a cable of a high-frequency knife is inserted into the first lumen.
10 . The medical manipulator according to claim 1 , wherein a wire for driving a gripping forceps to be opened/closed is inserted into the first lumen.
11 . The medical manipulator according to claim 1 , further comprising an operating unit configured to be manually operated by an operator.