公开(公告)号：US20210186637A1

公开(公告)日：2021-06-24

申请号：US16755116

申请日：2018-10-02

Applicant: NHK SPRING CO., LTD.

Inventor： Shimpei KUROKAWA ,  Yuki HOTODA

IPC: A61B34/00 ,  B25J18/06 ,  F16H21/44 ,  A61B34/30 ,  A61B17/29

Abstract: Provided are a bending structure and a flexible tube for a medical manipulator, which comprise a corrugated tube portion having a corrugated portion in which crests and troughs are alternately arranged in the axial direction and being bendable according to expansion and contraction of the crests and the troughs, and insertion holes provided on the corrugated portion to pass the drive wires in the axial direction.

公开(公告)号：US20240189981A1

公开(公告)日：2024-06-13

申请号：US18287020

申请日：2022-04-28

Applicant: NHK SPRING CO., LTD.

Inventor： Takafumi HIRATA ,  Yuki HOTODA ,  Masahiro INABA ,  Yuki HAYAKAWA

IPC: B25J9/00

CPC classification number: B25J9/0015

Abstract: Provided is a multi-joint bending structure body that makes it possible to obtain a structure capable of making a small-radius turn. The present invention comprises: a plurality of first bendable parts 9 and second bendable parts 11 that can elastically bend with respect to the axial direction; and an intermediate part 13 that is positioned between a first bendable part 9 and a second bendable part 11 which are adjacent to each other. The first bendable parts 9 and the second bendable parts 11 are provided with a flexible member 17 that is an integral body in the axial direction. The intermediate part 13 is attached to the flexible member 17 between the first bendable part 9 and the second bendable part 11 which are adjacent, and suppresses the bending of the flexible member 17 with respect to the axial direction.

公开(公告)号：US20230339124A1

公开(公告)日：2023-10-26

申请号：US17799384

申请日：2021-02-12

Applicant: NHK SPRING CO., LTD.

Inventor： Motoyuki OTSUKA ,  Takafumi HIRATA ,  Shimpei KUROKAWA ,  Yuki HOTODA

IPC: B25J18/06

CPC classification number: B25J18/06 ,  A61M25/0138

Abstract: Provided are a bending structure and a joint function part, capable of stabilizing bending operation and simplifying a structure. An inner coiled part is located into an outer coiled part. The outer coiled part and the inner coiled part have a plurality of gaps distancing adjacent coils in an axial direction, and the coils of the inner coiled part fit between the adjacent coils of the outer coiled part while being in contact with the adjacent coils. A dimension P is set in a range meeting πR/4N≤P

公开(公告)号：US20230256625A1

公开(公告)日：2023-08-17

申请号：US18015537

申请日：2021-07-14

Applicant: NHK SPRING CO., LTD.

Inventor： Takafumi HIRATA ,  Yuki HOTODA ,  Masahiro INABA

IPC: B25J17/02 ,  A61B34/30

CPC classification number: B25J17/02 ,  A61B34/30 ,  A61B2034/305

Abstract: A joint function unit, in which a movable part is supported by a base partso as to be displaceable in an axial direction thereof, includes: a plurality of drive wireseach having a fixed partfixed to the movable parton one side in the axial direction and the a supported partsupported by the base parton the other side in the axial direction; and an elastic bodysupporting the supported partof each of the plurality of drive wireson the base part, energizing the supported partwith respect to the fixed partin the axial direction, and applying tension to the drive wires.

公开(公告)号：US20230001590A1

公开(公告)日：2023-01-05

申请号：US17268929

申请日：2019-08-02

Applicant: NHK SPRING CO., lTD.

Inventor： Takafumi HIRATA ,  Shimpei KUROKAWA ,  Yuki HOTODA

IPC: B25J17/02 ,  B25J9/10

Abstract: Provided is a bending structure and a joint function part, capable of ensuring sufficient flexibility and rigidity in an axial direction. The bending structure is provided with an outer coiled part formed of a wire wound in a coiled shape and an inner coiled part formed of a wire wound in a coiled shape and arranged in the outer coiled part, wherein the outer coiled part has a plurality of gaps to distance adjacent coils, and coils of the inner coiled part are provided so as to correspond to the gaps of the outer coiled part and fit between the adjacent coils while being in contact with the adjacent coils of the outer coiled part.