Flexible-manipulator guide member and flexible manipulator
A flexible-manipulator guide member is provided in an inserted portion of a flexible manipulator including the elongated flexible inserted portion, the movable portion disposed at the distal end of the inserted portion, a drive portion disposed at the base end of the inserted portion, and the elongated driving-force transmitting member that transmits motive power of the drive portion to the movable portion, and is provided with a lumen through which the driving-force transmitting member passes in the longitudinal direction, wherein the lumen has a twisted shape about the longitudinal axis of the inserted portion.
1. A manipulator comprising:
an end effector configured to be controlled to observe or treat a subject;
an elongated inserted portion comprising a proximal portion and a distal portion arranged along a longitudinal axis, wherein the distal portion is bendable;
a first guide disposed within the elongated inserted portion, wherein the first guide comprises a first portion having a first spiral shape extending along the longitudinal axis; and
a first wire arranged within the first guide through at least the first spiral shape, wherein the first wire is configured to transmit a first driving force generated by an actuator to the distal portion of the elongated inserted portion to bend the distal portion of the elongated inserted portion,
wherein a first pitch of the first spiral-shape of the first portion of the first guide satisfies the following conditional expression:
2π r /√( a 2 −1)≤1≤6.25 RdL R /r
where:
R is the radius of curvature of the elongated inserted portion,
r is the radius of the first spiral shape,
l is the first pitch of the first spiral shape,
L R is the maximum tolerance of the first wire with respect to a relative path-length difference, and
a is the maximum tolerance of a ratio of the path length of the first spiral shape to a pitch of the elongated inserted portion.
2. The manipulator according to claim 1 ,
wherein the first guide comprises:
the first portion having the first spiral shape having the first pitch; and
a second portion having a second spiral shape extending along the longitudinal axis, wherein the second spiral shape has a second pitch,
wherein the first pitch is different from the second pitch.
3. The manipulator according to claim 1 ,
wherein the first guide defines a lumen in which the first wire is arranged.
4. The manipulator according to claim 1 , comprising:
a second guide disposed within the elongated inserted portion; and
a second wire arranged within the second guide, wherein the second wire is configured to transmit a second driving force generated by the actuator to the end effector.
5. The manipulator according to claim 4 ,
wherein the second guide comprises a second portion having a second spiral shape extending along the longitudinal axis.
6. The manipulator according to claim 5 ,
wherein the second spiral shape of the second guide is disposed within the distal portion of the elongated inserted portion.