MOVABLE LONG STRUCTURE AND METHOD FOR MANIPULATING SAME, MEDICAL SYSTEM, TOOL, ROBOT AND METHOD FOR OPERATING SAME, MANIPULATOR, FLEXIBLE ENDOSCOPE, AND STEERING CATHETER

WIPO Patent Application WO/2024/058098

A1

The purpose of the present invention is to provide, inter alia, a movable long structure in which it is possible to bend and deform at least the distal-end side in a desired direction using a simple structure.　Eight traction wires 50 are latched, in an expanded-diameter part 51, to a fixation recess 61 of a distal-end cap 60. In a distal-end-side flexible tube 20, the traction wires 50 are routed in a distal-end-side upper lumen group 23 on the upward-direction HU side from among four directions (HU, HD, WR, WL) of a cross-section provided with lumen groups 23, 24, 25, 26. In a base-end-side flexible tube 30, the traction wires 50 are routed in base-end-side wire lumens 35b, 36a for which the spacing between routed traction wires 53a, 53b is greater and the distance from the cross-section center 0 in the upward direction HU is lower than in the distal-end-side upper lumen group 23. Therefore, pulling the traction wires 53a, 55b toward the base-end side LB makes it possible to bend and deform the distal-end-side flexible tube 20 in a desired direction relative to the base-end-side flexible tube 30.

YAMADA ATSUSHI (JP)
TANI TOHRU (JP)

PCT/JP2023/032989

March 21, 2024

September 11, 2023

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NATIONAL UNIV CORPORATION SHIGA UNIV OF MEDICAL SCIENCE (JP)

A61B34/30; A61B17/00

WO2022097666A1

2022-05-12

JP2021532910A	2021-12-02
US20210052333A1	2021-02-25

NAGATA Motoaki et al. (JP)

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