公开(公告)号：US12202134B2

公开(公告)日：2025-01-21

申请号：US18034360

申请日：2021-10-29

Applicant: NHK SPRING CO., LTD.

Inventor： Takafumi Hirata ,  Yuki Hotoda ,  Masahiro Inaba

IPC: B25J18/06

Abstract: A bending operation mechanism comprises: an elastically bendable driving part; an elastically bendable driven part that is provided separate from the driving part; and a linking part that connects the driving part and the driven part, and tensions and bends the driven part in accordance with bending of the driving part. The driving part and the driven part each comprise an inner coil part and an outer coil part that are bendable with respect to the axial direction, and wound parts corresponding to the inner coil part are respectively fitted to pitches between adjacent wound parts of the outer coil part.

公开(公告)号：US11576740B2

公开(公告)日：2023-02-14

申请号：US16755121

申请日：2018-10-02

Applicant: NHK SPRING CO., LTD.

Inventor： Shimpei Kurokawa ,  Yuki Hotoda ,  Shinji Iino

IPC: A61B34/00 ,  A61B34/30 ,  B25J18/06 ,  A61B17/00

Abstract: Provided are a bending structure and a flexible tube for a medical manipulator, which comprise a main body that is composed of the wave washers stacked in an axial direction and kept a stacked state, the main body being bendable according to the expansion and contraction in the axial direction. Accordingly, linearity of load characteristics based on load and a bending angle is made high to make it possible to obtain the flexible tube having superior load bearing and bendability while conducting size reduction.