Bending mechanism and flexible medical apparatus
In order to prevent swiveling of unintended joint pieces and enhance positioning and motion reproducibility of a distal end portion, a bending mechanism includes: a plurality of joint pieces connected in series along the longitudinal axis; a plurality of elongated tension-transmissions that transmit tensions for individually driving the joint pieces; and at least one guide having guide channels that movably support the tension-transmissions in the longitudinal direction thereof and that guide the tension-transmissions along curved paths extending around the longitudinal axis.
1. A bending mechanism comprising:
a plurality of bending joints arranged to extend in a longitudinal direction, the plurality of bending joints being bendably articulated relative to each other; and
a plurality of wires configured to transmit tension for individually articulating the plurality of bending joints,
wherein each of the plurality of bending joints having:
a joint piece through which the plurality of wires pass;
a column extending in the direction of a longitudinal axis from a center of the joint piece; and
a guide connected to each of the plurality of bending joints by fixing a center of the guide with the column, the guide having guide channels configured to guide the plurality of wires in the longitudinal direction, and
wherein the joint piece from each of the plurality of bending joints does not articulate relative to a corresponding one of the guides in a same bending joint; and
one or more of the plurality of wires forms a spiral path extending around the longitudinal axis.
2. The bending mechanism according to claim 1 ,
wherein the guide is a planar guide plate disposed so as to intersect the longitudinal axis, and
the guide channels are through-holes or through-grooves that pass through the guide plate in a plate-thickness direction.
3. The bending mechanism according to claim 2 , wherein the guide plate is attached such that the angle thereof can be adjusted about the longitudinal axis.
4. The bending mechanism according to claim 2 , wherein the guide plate has, radially inward from the through-holes or the through-grooves, an opening that passes therethrough in the plate-thickness direction.
5. The bending mechanism according to claim 3 ,
wherein the guide plate includes: a first plate part provided such that the angle thereof can be adjusted about the longitudinal axis relative to one of the plurality of bending joints; and a second plate part attached such that the angle thereof can be adjusted about the longitudinal axis relative to the first plate part,
the opening is provided in the first plate part, and
the guide channels are provided in the second plate part.
6. The bending mechanism according to claim 2 , wherein the guide plate is attached such that the position thereof can be adjusted in a longitudinal-axis direction relative to the plurality of bending joints.
7. The bending mechanism according to claim 2 , wherein the guide channels are formed so as to be angled towards a circumferential direction relative to a direction parallel to the plate-thickness direction.
8. The bending mechanism according to claim 1 , wherein the plurality of wires are moveably covered with sheaths.
9. The bending mechanism according to claim 8 , wherein the surfaces of the sheaths and inner walls of the guide channels are composed of different materials.
10. The bending mechanism according to claim 9 , wherein a coating for decreasing the friction with the inner walls of the guide channels is applied to the surfaces of the sheaths.
11. A medical apparatus comprising:
an insertion section; and
a bending mechanism provided with the insertion section, wherein the bending mechanism including:
a plurality of bending joints arranged to extend in a longitudinal direction, the plurality of bending joints being bendably articulated relative to each other; and
a plurality of wires configured to transmit tension for individually articulating the plurality of bending joints,
wherein, each of the plurality of bending joints having:
a joint piece through which the plurality of wires pass;
a column extending in the direction of a longitudinal axis from a center of the joint piece; and
a guide connected to each of the plurality of bending joints by fixing a center of the guide with the column, the guide having guide channels configured to guide the plurality of wires in the longitudinal direction, and
wherein the joint piece from each of the plurality of bending joints does not articulate relative to a corresponding one of the guides in a same bending joint; and
one or more of the wires forms a spiral path extending around the longitudinal axis.
12. The medical apparatus according to claim 11 , further comprising a flexible tubular outer sheath covering the outer circumference of the bending mechanism.
13. The medical apparatus according to claim 11 ,
wherein the guide is a planar guide plate disposed so as to intersect the longitudinal axis, and
the guide channels are through-holes or through-grooves that pass through the guide plate in a plate-thickness direction.
14. The medical apparatus according to claim 13 , wherein the guide plate is attached such that the angle thereof can be adjusted about the longitudinal axis.
15. The medical apparatus according to claim 13 , wherein the guide plate has, radially inward from the through-holes or the through-grooves, an opening that passes therethrough in the plate-thickness direction.
16. The medical apparatus according to claim 14 ,
wherein the guide plate includes: a first plate part provided such that the angle thereof can be adjusted about the longitudinal axis relative to one of the plurality of bending joints; and a second plate part attached such that the angle thereof can be adjusted about the longitudinal axis relative to the first plate part,
the opening is provided in the first plate part, and
the guide channels are provided in the second plate part.
17. The medical apparatus according to claim 13 , wherein the guide plate is attached such that the position thereof can be adjusted in a longitudinal-axis direction relative to the plurality of bending joints.
18. The medical apparatus according to claim 13 , wherein the guide channels are formed so as to be angled towards a circumferential direction relative to a direction parallel to the plate-thickness direction.
19. The medical apparatus according to claim 11 , wherein the plurality of wires are moveably covered with sheaths.
20. The medical apparatus according to claim 19 , wherein the surfaces of the sheaths and inner walls of the guide channels are composed of different materials.