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;
an elongated shaft comprising a distal end coupled to the end effector;
a first helical lumen, a second helical lumen, a third helical lumen and a fourth helical lumen disposed in the elongated shaft;
a first pair of wires disposed in the first helical lumen and the second helical lumen; and
a second pair of wires disposed in the third helical lumen and the fourth helical lumen,
wherein:
the first helical lumen is disposed a first distance radially from a central axis of the elongated shaft,
the second helical lumen is disposed a second distance radially from the central axis of the elongated shaft, and
the first distance is different from the second distance.
2 . The manipulator according to claim 1 , further comprising:
a fifth helical lumen and a sixth helical lumen disposed in the elongated shaft.
3 . The manipulator according to claim 2 , further comprising:
a third pair of wires disposed in the fifth helical lumen and the sixth helical lumen.
4 . The manipulator according to claim 3 , further comprising:
a seventh helical lumen and an eighth helical lumen disposed in the elongated shaft; and
a fourth pair of wires disposed in the seventh helical lumen and the eighth helical lumen, wherein the fourth pair of wires is configured to work together.
5 . The manipulator according to claim 1 , wherein:
the first pair of wires is configured to work together to bend the elongated shaft, and
the second pair of wires is configured to work together to move the end effector.
6 . The manipulator according to claim 1 , wherein:
the first helical lumen and the second helical lumen are disposed on opposite sides with respect to the central axis of the elongated shaft, and
the third helical lumen and the fourth helical lumen are disposed on opposite sides with respect to the central axis of the elongated shaft.
7 . The manipulator according to claim 1 , wherein:
the first helical lumen and the second helical lumen are disposed adjacently in a circumferential direction with respect to the central axis of the elongated shaft, and
the third helical lumen and the fourth helical lumen are disposed adjacently in the circumferential direction with respect to the central axis of the elongated shaft.
8 . The manipulator according to claim 1 , wherein:
the first helical lumen is disposed between the second helical lumen and the third helical lumen in a circumferential direction with respect to the central axis of the elongated shaft,
the first helical lumen and the second helical lumen are disposed at a third distance from each other in the circumferential direction,
the first helical lumen and the third helical lumen are disposed at a fourth distance from each other in the circumferential direction, and
the third distance is shorter than the fourth distance.
9 . The manipulator according to claim 8 , wherein:
the first helical lumen has a first opening on a distal end surface of the elongated shaft,
the third helical lumen has a third opening on the distal end surface, and
the first opening and the third opening are disposed within 90 degrees degree in the circumferential direction of the elongated shaft.
10 . The manipulator according to claim 1 ,
wherein the end effector is configured to observe or treat a body.
11 . The manipulator according to claim 1 , further comprising:
a straight lumen disposed in the elongated shaft.
12 . The manipulator according to claim 11 , further comprising:
one or more of an optical fiber and an electric cable disposed in the straight lumen.
13 . The manipulator according to claim 11 , further comprising:
a cable disposed in the straight lumen, wherein a tolerable flexing radius of the cable is larger than a tolerable flexing radius of the first pair of wires.
14 . The manipulator according to claim 1 , wherein:
the first helical lumen has a first opening on a distal end surface of the elongated shaft,
the second helical lumen has a second opening on the distal end surface, and
the first opening and the second opening are disposed adjacently.
15 . The manipulator according to claim 1 ,
wherein the first helical lumen and the second helical lumen are disposed along an entire length of the elongated shaft.
16 . The manipulator according to claim 1 , wherein:
one or more of the first helical lumen and the second helical lumen is a helical groove located on an outer circumference surface of the elongated shaft.
17 . The manipulator according to claim 1 , wherein:
the first helical lumen has a first pitch, and
the second helical lumen has a second pitch different from the first pitch.
18 . The manipulator according to claim 1 , wherein:
the first helical lumen has a first number of turns around the central axis of the elongated shaft, and
the second helical lumen has a second number of turns around the central axis of the elongated shaft,
where the second number of turns is different from the first number of turns.
19 . The manipulator according to claim 1 ,
wherein the first pair of wires is configured to work together to actuate one of a joint and the end effector, and
wherein the joint is configured to change a direction of the end effector.
20 . The manipulator according to claim 1 , wherein:
the first pair of wires are configured to work together, and
the second pair of wires are configured to work together.