Bendable tube with improved elastic hinge

Abstract

A bendable tube with an improved elastic hinge. A tubular member having a first flexible portion including first and second circumferential slits; the first circumferential slit is disposed opposite the second circumferential slit and includes a first end and a second end; the second circumferential slit includes a third end and a fourth end, wherein the first end and the third end are disposed so that a first bridge portion is provided between the first and second circumferential slits. The first flexible portion includes a first longitudinal slit disposed longitudinally along the tubular member and a second longitudinal slit disposed longitudinally along the tubular member, wherein the first circumferential slit is communicatively connected to the first longitudinal slit, wherein the second circumferential slit is communicatively connected to the second longitudinal slit, and the first and second longitudinal slits are disposed so as to define longitudinal sides of the first bridge portion.

Description

[0001] The present application is a divisional application of the Chinese national phase application No. 201780067948.0 of the PCT international application PCT / NL2017 / 050645, filed on September 26, 2017, entitled “Bendable Tube with Improved Elastic Hinge”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present invention relates to a bendable tube having an improved elastic hinge. The present invention also relates to a flexible tube having an improved flexible portion. The present invention also relates to a medical device, such as an endoscope, comprising a bendable tube having an improved elastic hinge and / or an improved flexible portion. Background Art

[0003] Flexible tubes with elastic hinges are well known for applications such as minimally invasive surgery or endoscopic examination of internal structures within a patient's body, such as the digestive tract and airway, for example, the esophagus, stomach, lungs, colon, uterus, urethra, kidneys, and other organ systems. However, they are also suitable for other purposes, such as inspecting or repairing mechanical or electronic devices in hard-to-reach locations. In the following description, the terms endoscopic applications or endoscopic instruments will be used, but these terms should be interpreted as also encompassing the other applications or instruments described above. US2007 / 0049800A1 discloses a method for forming an articulated endoscopic joint having multiple hinge elements, each hinge comprising a pair of opposing V-shaped slits in an outer wall separated by a pair of opposing bending points. The hinges are arranged circumferentially in an alternating 90-degree pattern to achieve articulation in two planes. The hinge's bending capacity is constrained by the tension that the bending points can support. Furthermore, when the joint bends, the bending points abut outward. In this case, when the joint is introduced into another tube, the bending point abutment can contact the other tube, thereby limiting and / or preventing the joint from moving and / or bending. In addition, the bendable tube may include a proximal portion, an intermediate portion and a distal portion, wherein the bendable tube also includes a steering device, the steering device being suitable for converting the deflection of at least a portion of the proximal portion relative to the intermediate portion into a related reflection of at least a portion of the distal portion. In this way, the doctor can control the distal portion by operating the proximal portion. However, the hinge that provides bending ability may be sensitive to torque deviation and torque hysteresis, so that the rotation of the proximal portion may not closely correspond to the rotation of the distal portion. In this way, reliable transmission of rotational motion may be difficult. Therefore, a bendable tube that allows improved transmission of rotation or torque from the proximal portion to the distal portion is needed.

[0004] Figure 1AAn exploded view of the three cylindrical components that form the device described in EP2273911B1 is shown. Device 202 is composed of three coaxial cylindrical components: an inner member 204, an intermediate member 206, and an outer member 208. Inner cylindrical member 204 is comprised of a first rigid end 210, typically used in hard-to-reach locations or within the human body, a first flexible portion 212, an intermediate rigid portion 214, a second flexible portion 216, and a second rigid end 218. The first rigid end 210 is typically used in hard-to-reach locations or within the human body, while the second rigid end 218 typically serves as the instrument's operating portion, as it is used to steer the other end of the device. Similarly, outer cylindrical member 208 is comprised of a first rigid portion, a flexible portion, an intermediate rigid portion, a second flexible portion, and a second rigid portion. Flexible portions are also known in the art as "hinges." The different portions of cylindrical members 208 and 212 are of substantially identical length, so that when cylindrical member 204 is inserted into cylindrical member 208, the different portions are positioned against each other. The intermediate cylindrical component 206 further comprises a first rigid end portion 240 and a second rigid end portion 242 , which are respectively located between corresponding rigid portions of the two other cylindrical components in the assembled state.

[0005] The middle portion of the intermediate cylindrical member 206 is formed from three or more separate longitudinal elements, which may have different forms and shapes. After assembling the three cylindrical members, thereby inserting member 204 into member 206 and inserting the two combined members 204, 206 into member 208, the end faces of the three members can be connected to each other at both ends to form a single unit.

[0006] Figure 1B Shown Figure 1A An expanded view of a portion of an alternative embodiment of the intermediate cylindrical member of the instrument. Figure 1B The intermediate cylindrical member is formed from a plurality of longitudinal elements, wherein each longitudinal element 220 is composed of three portions 222, 224, and 226, respectively coexisting with the first flexible portion, the intermediate rigid portion, and the second flexible portion. In the portion 224 coinciding with the intermediate rigid portion, each pair of adjacent longitudinal elements 220 contacts each other in the tangential direction, so that there is actually only a narrow gap between them that is just enough to allow independent movement of each longitudinal element.

[0007] In the other two parts 222 and 226, each longitudinal element consists of a relatively small and flexible strip 228, 230 seen in the circumferential direction, so that there is a considerable gap between each pair of adjacent strips, and each strip 228, 230 has a plurality of cams 232 extending in the circumferential direction and almost completely bridging the gap to the next strip. Summary of the Invention

[0008] It is an object of the present invention to provide a bendable tube having several improvements, including an improved hinge which is more flexible and still very strong.

[0009] This is achieved by a tubular member according to the appended independent claim.

[0010] The tubular member of the present invention has an improved bendable portion because when the tubular member bends along the bending axis, one circumferential slit opens and the other circumferential slit closes, thereby generating a moment over the middle portion between the circumferential slits, ie, over the first bridge portion.

[0011] Furthermore, the tubular member of the present invention has a further improved bendable portion because, when the tubular member is bent along the bending axis and one circumferential slit is opened while the other circumferential slit is closed, each oblique U-shaped intermediate portion of each circumferential slit interlocks, thereby preventing the generation of moments in directions other than the bending axis. In this manner, when a torque is applied to one end of the tubular member, rotation is tightly transmitted to the other end of the tubular member.

[0012] Another object of the present invention is to provide a cylindrical member having several improvements, including an improved flexible portion.

[0013] The cylindrical component of the present invention has an improved flexible portion because it includes a rope equalizer structure between the thin flexible portion and the thicker rigid portion. The rope equalizer structure compensates for the displacement difference between the two parallel sub-strips in the thin flexible portion. In this way, the connection between the flexible and rigid portions is improved.

[0014] The cylindrical component of the present invention has an improved flexible portion because it comprises spacers made of thin slits cut out of the material. This results in an efficient manufacturing process.

[0015] Advantageous embodiments of the invention are claimed in the remaining dependent claims.

[0016] The invention also relates to an instrument for endoscopic applications, comprising such a tubular member and / or cylindrical member. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Further features and advantages of the present invention will become apparent from the description of the present invention by way of non-limiting and non-exclusive embodiments. These embodiments should not be construed as limiting the scope of protection. Those skilled in the art will recognize that other alternatives and equivalent embodiments of the present invention can be conceived and reduced to practice without departing from the scope of the present invention. In addition, even if not explicitly shown in the drawings or explained in the specification, the individual features of different embodiments may be combined unless such a combination is physically impossible. The scope of the present invention is limited only by the claims and their technical equivalents. Embodiments of the present invention will be described with reference to the accompanying drawings, in which similar or identical reference numerals represent similar, identical or corresponding parts.

[0018] Figure 1A and Figure 1B A prior art bendable tube is shown.

[0019] Figure 2A A schematic perspective view showing an embodiment of a tubular member is shown.

[0020] Figure 2B A schematic perspective view showing another embodiment of a tubular member.

[0021] Figure 3 A schematic perspective view showing another embodiment of a tubular member.

[0022] Figure 4 A schematic perspective view showing another embodiment of a tubular member.

[0023] Figure 5 A schematic perspective view showing another embodiment of a tubular member.

[0024] Figure 6 Show Figure 5 Schematic perspective view of a tubular member in a bent position.

[0025] 7A to 7D A schematic diagram showing another embodiment of a tubular member.

[0026] Figure 8 A tubular member is shown with alternative bridges between circumferential slots.

[0027] Figure 9 A schematic diagram showing another embodiment of a tubular member having a middle portion.

[0028] Figure 10 Another embodiment of a tubular member is shown having alternative bridges between circumferential slots.

[0029] Figure 11 Shown with Figure 10 Alternative bridge section and Figure 9Another embodiment of the tubular member of the intermediate portion.

[0030] Figure 12 Schematic diagram showing the structure of a rope equalizer.

[0031] Figure 13 An expanded view of a portion of an intermediate cylindrical member according to one embodiment of the present invention is shown.

[0032] Figure 14 Show the basis Figure 13 3D view of a portion of the intermediate cylindrical member.

[0033] Figure 15 An expanded view of a portion of an intermediate cylindrical member according to another embodiment of the present invention is shown.

[0034] Figure 16 An expanded view of a portion of an intermediate cylindrical member according to another embodiment of the present invention is shown.

[0035] Figure 17 Show the basis Figure 16 3D view of an embodiment. DETAILED DESCRIPTION

[0036] It will be appreciated that the tubular member described below may be used in any desired device requiring a bendable tube. However, the tubular member may advantageously be used in medical devices such as those disclosed / described in WO2015 / 084157, WO2015 / 084174, WO2016 / 089202, PCT / NL2015 / 050798, PCT / NL2016 / 050471, PCT / NL2016 / 050522 and NL2016900.

[0037] Figure 2A A schematic perspective view of a tubular member according to a first embodiment is shown. The tube is made of a rigid material and has a hinge comprising one or more bendable portions.

[0038] The tubular member 1 has a bendable portion 2 comprising bending means 6 .

[0039] The bendable portion 2 of the tubular member 1 has a circumferential slit 3 and a circumferential slit 5. The circumferential slit 3 has an end 7 and an end 9. The circumferential slit 3 extends from the end 7 to the end 9, thereby partially surrounding the tubular member 1 in the circumferential direction A. The circumferential slit 5 has an end 11 and an end 13. The circumferential slit 5 extends from the end 11 to the end 13, thereby partially surrounding the tubular member 1 in the circumferential direction B. The circumferential direction A and the circumferential direction B are opposite circumferential directions. The tubular member 1 has a central axis 29, which is an axis of symmetry. The end 7 and the end 11 are located on a circumference having a center point located on the central axis 29 and located in a surface perpendicular to the central axis 29. In Figure 2A In the embodiment of FIG, circumferential slits 3 and 5 are also located on this circumference. End 7 and end 11 are arranged facing each other. Preferably, end 7 and end 13 are connected by a line intersecting central axis 29. Furthermore, preferably, end 11 and end 9 are connected by a line intersecting central axis 29.

[0040] The tubular member 1 has a bridge 15 extending longitudinally between the end 7 and the end 11. The bridge 15 connects the first portion 8 of the tubular member 1 to the second portion 10 of the tubular member 1, which are located on opposite sides of the circumferential slits 3 and 5.

[0041] Tubular member 1 has a longitudinal slit 17 oriented longitudinally of tubular member 1. Tubular member 1 also has a longitudinal slit 19 oriented longitudinally of tubular member 1. Longitudinal slit 17 includes a longitudinal edge 21 and a longitudinal edge 23. Circumferential slit 3 is connected to longitudinal slit 17 at end 7 and longitudinal edge 21. Longitudinal slit 19 includes a longitudinal edge 25 and a longitudinal edge 27. Circumferential slit 5 is connected to longitudinal slit 19 at longitudinal edge 27 and at end 11. Longitudinal edge 23 and longitudinal edge 25 face each other in the longitudinal direction of tubular member 1, thereby defining the longitudinal sides of bridge 15.

[0042] refer to Figure 6 As can be seen more clearly, tubular member 1 can be bent by using bridge 15 as a pivot point and opening one of slits 3, 5 and closing the other. Bridge 15 is stress-bearing and designed so that the stress applied to bridge 15 when one of slits 3, 5 is just closed remains within its stress tolerance, above which bridge 15 would be overstretched and permanently deformed. For example, if bendable portion 2 is designed to bend at a maximum angle of, for example, 60°, bridge 15 may not break. Other maximum angles are also applicable.

[0043] Figure 2AThe embodiment of the present invention can be expanded by two additional slits (not shown) that are identical to slits 3 and 5 but are located in another part of the tubular member 1 and are longitudinally displaced relative to slits 3 and 5. Preferably, the slits are circumferentially rotated 90° about axis 29 relative to slits 3 and 5, so that all the slits together form a hinge that allows the tubular member to be easily bent in all directions. In addition, more identical pairs of slits of this type can be provided in the tubular member 1, each pair of slits being longitudinally displaced and rotated at a predetermined angle, for example 90°, relative to the adjacent pair of slits, thereby providing a section of the tubular member 1 that can be bent to a desired angle.

[0044] Figure 2B A schematic perspective view of another embodiment of a tubular member 31 is shown.

[0045] Figure 2B Zhongyu Figure 2A The same reference numerals are used to denote common elements.

[0046] Figure 2B The circumferential slit 3 of the tubular member 31 has an end 7 and an end 39. The circumferential slit 3 extends from the end 7 to the end 39, thereby partially surrounding the tubular member in the circumferential direction C. The circumferential slit 5 has an end 11 and an end 313. The circumferential slit 5 extends from the end 11 to the end 313, thereby partially surrounding the tubular member 31 in the circumferential direction D. The circumferential directions C and D are opposite circumferential directions. The tubular member 31 has a central axis 29. The ends 7, 39, 11, and 313 are located on a circumference having a center point 350 on the central axis. The circumferential slits 3 and 5 are located on this circumference. The end 39 and the end 313 are arranged facing each other.

[0047] In addition to the bridge portion 15 , the tubular member 31 also has a bridge portion 315 extending longitudinally between the end portion 39 and the end portion 313 .

[0048] Tubular member 31 has a longitudinal slit 317 extending longitudinally along tubular member 31. Longitudinal slit 317 is located in tubular member 31 at a position opposite longitudinal slit 21. Tubular member 31 also has a longitudinal slit 319 extending longitudinally along tubular member 31. Longitudinal slit 319 is opposite longitudinal slit 19. Longitudinal slit 317 includes a longitudinal edge 321 and a longitudinal edge 323. Circumferential slit 3 is connected to longitudinal slit 317 at end 39 and longitudinal edge 321. Longitudinal slit 319 includes a longitudinal edge 325 and a longitudinal edge 327. Longitudinal slit 5 is connected to longitudinal slit 319 at end 313 and longitudinal edge 327. Longitudinal edge 323 and longitudinal edge 325 face each other in the longitudinal direction of the tubular member, thereby defining the longitudinal sides of bridge portion 315.

[0049] Reference Figure 6 As can be seen more clearly, the tubular member 31 can be bent by using the bridges 15 and 315 as the pivot points and opening one of the circumferential slits 3, 5 and closing the other. The bridges 15 and 315 are stressed and designed so that the stress applied to the bridges 15 and 315 when one of the slits 3, 5 is just closed remains within their stress tolerance, beyond which the bridges 15 and 315 would be overstretched and permanently deformed. For example, if the bendable portion 2 is designed to bend at a maximum angle of, for example, 60° (or other values), the bridges 15 and 315 may not break.

[0050] Figure 2B The embodiment can be expanded by having two further circumferential slits (not shown) identical to the pair of circumferential slits 3, 5, wherein the longitudinal slits are identical to the longitudinal slits 17, 19, 317, 319 and are located in another portion of the tubular member 31 and are longitudinally displaced relative to the circumferential slits 3, 5. Preferably, the longitudinal slits are circumferentially rotated 90° about the axis 29 relative to the circumferential slits 3, 5, so that all the circumferential slits together form a hinge that allows the tubular member 31 to be easily bent in all directions. In addition, more pairs of circumferential slits having longitudinal slits at their ends can be provided in the tubular member 31, each pair of circumferential slits being longitudinally displaced and rotated by a predetermined angle relative to the adjacent pair of circumferential slits, thereby providing a portion of the tubular member 31 that can be bent in any desired direction and by a desired angle.

[0051] Figure 3 A schematic perspective view of another embodiment of a tubular member 41 is shown.

[0052] Figure 3 Zhongyu Figure 1A and Figure 2A The same reference numerals are used to denote common elements.

[0053] Tubular member 41 has a circumferential slit 43 and a circumferential slit 45. Circumferential slit 43 has an end 7 and an end 49. Circumferential slit 43 extends from end 7 to end 49, partially surrounding the tubular member in circumferential direction E. Slit 45 has an end 11 and an end 413. Circumferential slit 45 extends from end 11 to end 413, partially surrounding the tubular member in circumferential direction F. Circumferential directions E and F are opposite directions. The tubular member has a central axis 29. Ends 7 and 11 are located on a circumference 400 having a center point 402 on central axis 29 and a radius 404 extending from end 7 to central axis 29 and perpendicular to central axis 29. Ends 7 and 11 are disposed facing each other. A bridge 15 extends longitudinally between ends 7 and 11.

[0054] The tubular member 41 has the same longitudinal slits 17 and 19 as the tubular member 1. The longitudinal slits 17 and 19 are also positioned longitudinally along the tubular member 41, thereby defining the sides of the bridge 15.

[0055] Circumferential direction E forms an angle 406 with circumference 400. Circumferential direction F forms an angle 408 with circumference 400. Angles 406 and 408 are preferably between -10° and +10°, more preferably between -8° and +8°. Preferably, angles 406 and 408 have the same value.

[0056] Figure 4 A schematic perspective view is shown of another embodiment of a tubular member 51 according to the present invention.

[0057] Figure 4 Figure 1 and Figure 3 The same reference numerals are used to denote common elements.

[0058] Tubular member 51 includes a circumferential slit 43 and a circumferential slit 45. Circumferential slit 43 has an end 7 and an end 49. Circumferential slit 43 extends from end 7 to end 49, thereby partially surrounding the tubular member in circumferential direction E. Slit 45 has an end 11 and an end 413. Circumferential slit 45 extends from end 11 to end 413, thereby partially surrounding the tubular member in circumferential direction F. Circumferential directions E and F are opposite directions. Tubular member 51 has a central axis 29. Ends 7 and 11 are located on circumference 400. Ends 7 and 11 are arranged facing each other. A bridge portion 15 extends longitudinally between ends 7 and 11.

[0059] and Figure 2A and Figure 4 Similar to the tubular members 1 and 41 in , the tubular member 51 has a longitudinal slit 17 and a longitudinal slit 19 positioned longitudinally along the tubular member 51 so as to define the longitudinal sides of the bridge 15 .

[0060] Circumferential direction E forms an angle 406 with circumference 400. Circumferential direction F forms an angle 408 with circumference 400. Angles 406 and 408 are preferably between -10° and +10°, more preferably between -8° and +8°. Preferably, angles 406 and 408 have the same value.

[0061] The tubular member 51 has a circumferential slit 543 and a circumferential slit 545. The circumferential slit 543 has an end 57 and an end 549 ( Figure 4(not shown). Circumferential slit 543 extends from end 57 to end 549, thereby partially surrounding the tubular member in the circumferential direction. Slit 545 has end 511 and end 513. Circumferential slit 545 extends from end 511 to end 513, thereby partially surrounding the tubular member in circumferential direction G. Circumferential direction F and circumferential direction G are opposite directions. End 57 and end 511 are located on circumference 400. End 57 and end 511 are arranged facing each other. Tubular member 51 has a bridge portion 515 extending longitudinally between end 57 and end 511.

[0062] The tubular member 51 has a longitudinal slit 517 and a longitudinal slit 519 extending longitudinally along the tubular member 51 , thereby defining longitudinal sides of the bridge portion 515 .

[0063] Circumferential direction H forms an angle 506 with circumference 400. Circumferential direction G forms an angle 508 with circumference 400. Angles 506 and 508 are preferably between -10° and +10°, more preferably between -8° and +8°. Preferably, angles 506 and 508 have the same value.

[0064] The longitudinal slit 517 includes a longitudinal edge 521 and a longitudinal edge 523. The longitudinal slit 517 is connected to the circumferential slit 543 at the end 57 and the longitudinal edge 521. The longitudinal slit 519 includes a longitudinal edge 525 and a longitudinal edge 527. The longitudinal slit 519 is connected to the circumferential slit 545 at the end 511 and the longitudinal edge 527. The longitudinal edge 523 and the longitudinal edge 525 face each other in the longitudinal direction of the tubular member 51, thereby defining the longitudinal sides of the bridge portion 515.

[0065] Preferably, the bridges 15 and 515 are located on the tubular member 51 at positions that are rotated 180° away from each other on the circumference 400 .

[0066] like Figure 4 As shown, the circumferential slit 43 and the circumferential slit 545 overlap circumferentially, that is, a portion of the circumferential slit 43 is adjacent to a portion of the circumferential slit 545 viewed in the longitudinal direction, but the portions are not joined to each other. The circumferential strip 12 is present between the portions of the circumferential slit 43 and the circumferential slit 545.

[0067] like Figure 4 As shown, the circumferential slit 45 and the circumferential slit 543 overlap circumferentially, that is, a portion of the circumferential slit 45 is adjacent to a portion of the circumferential slit 543 viewed in the longitudinal direction, but the portions are not joined to each other. The circumferential strip 14 is present between the portions of the circumferential slit 45 and the circumferential slit 543.

[0068] See Figure 6and related descriptions, clearly visible Figure 4 The way the hinge operates.

[0069] Figure 5 Zhongyu Figure 2A 、 Figure 2B 、 Figure 3 and Figure 4 The same reference numerals are used to denote the same elements. Figure 5 Shown include Figure 4 The bendable portion 2 and the tubular member 61 with the additional bendable portion 2' will not be repeated here. Figure 4 Detailed description of the flexible portion 2 is provided below. Only the additional flexible portion 2' is described in detail here. The additional flexible portion 2' includes a circumferential slit 643 and a circumferential slit 645. Circumferential slit 643 has an end 67 and an end 649. Circumferential slit 643 extends from end 67 to end 649, thereby partially surrounding the tubular member in a circumferential direction I. Circumferential slit 645 has an end 611 and an end 6413. Circumferential slit 645 extends from end 611 to end 6413, thereby partially surrounding the tubular member in a circumferential direction J. Circumferential directions I and J are opposite directions. Ends 67 and 611 are located within a circle 600 having a center point, namely, point 602 located on the central axis 29. Ends 67 and 611 are disposed facing each other. The tubular member 61 includes a bridge portion 615 extending longitudinally between end 67 and end 611.

[0070] The tubular member 61 has a longitudinal slit 617 extending longitudinally along the tubular member 61. The tubular member 61 also has a longitudinal slit 619 extending longitudinally along the tubular member 61. The longitudinal slit 617 includes a longitudinal edge 621 and a longitudinal edge 623. A circumferential slit 643 is connected to the longitudinal slit 617 at the end 67 and the longitudinal edge 621. The longitudinal slit 619 includes a longitudinal edge 625 and a longitudinal edge 627. The circumferential slit 645 is connected to the longitudinal slit 619 at the end 611 and the longitudinal edge 627. The longitudinal edge 623 and the longitudinal edge 625 face each other in the longitudinal direction of the tubular member, thereby defining the longitudinal sides of the bridge portion 615.

[0071] Circumferential direction I forms an angle 606 with circumference 600. Circumferential direction J forms an angle 608 with circumference 600. Angles 606 and 608 are preferably between -10° and +10°, more preferably between -8° and +8°. Preferably, angles 606 and 608 have the same value.

[0072] The tubular member 61 has a circumferential slit 6543 and a circumferential slit 6545. The circumferential slit 6543 has an end 657 and an end 6549. The circumferential slit 6543 extends from the end 657 to the end 6549, thereby partially surrounding the tubular member in the circumferential direction K. In the same manner, the circumferential slit 6545 has an end 6511 and an end 6549. Figure 5 The other end portion is not shown. A circumferential slit 6545 extends from end portion 6511 to its other end, thereby partially surrounding tubular member 61 in circumferential direction L. Circumferential direction K and circumferential direction L are opposite directions. End portion 657, end portion 611, end portion 6511, and end portion 67 are located on circumference 600. End portion 657 and end portion 6511 are arranged facing each other. Tubular member 61 has a bridge portion 6515 extending longitudinally between end portion 657 and end portion 6511.

[0073] The tubular member 61 has a longitudinal slit 6517 and a longitudinal slit 6519 , which extend longitudinally along the tubular member 61 , thereby defining longitudinal sides of the bridge portion 6515 .

[0074] Circumferential direction K forms an angle 614 with circumference 600. Circumferential direction L forms an angle 612 with circumference 600. Angles 612 and 614 are preferably between -10° and +10°, more preferably between -8° and +8°. Preferably, angles 612 and 614 have the same value.

[0075] The longitudinal slit 6517 includes a longitudinal edge 6521 and a longitudinal edge 6523. The circumferential slit 6543 is connected to the longitudinal slit 6517 at the end 657 and the longitudinal edge 6521. The longitudinal slit 6519 includes a longitudinal edge 6525 and a longitudinal edge 6527. The circumferential slit 6545 is connected to the longitudinal slit 6519 at the end 6511 and the longitudinal edge 6527. The longitudinal edge 6523 and the longitudinal edge 6525 face each other in the longitudinal direction of the tubular member 61, thereby defining the longitudinal sides of the bridge portion 6515.

[0076] Preferably, bridges 615 and 6515 are located on tubular member 61 at positions 180° rotated away from each other on circumference 600. Furthermore, bridges 615, 6515 are circumferentially rotated relative to bridges 15, 515, preferably approximately 900°.

[0077] like Figure 5 As shown, the circumferential slit 6543 and the circumferential slit 645 overlap circumferentially, that is, a portion of the circumferential slit 6543 is adjacent to a portion of the circumferential slit 645 when viewed in the longitudinal direction, but the portions are not joined to each other. The circumferential strip 18 is present between the portions of the circumferential slit 6543 and the circumferential slit 645.

[0078] Still Figure 5 As shown, the circumferential slit 6545 and the circumferential slit 643 overlap in the circumferential direction, that is, a portion of the circumferential slit 6545 is adjacent to a portion of the circumferential slit 643 when viewed in the longitudinal direction, but the portions are not joined to each other. The circumferential strip 20 is present between the portions of the circumferential slit 6545 and the circumferential slit 643.

[0079] Figure 6 Show Figure 5 Schematic perspective view of a tubular member in a bent position.

[0080] Figure 6 Zhongyu Figures 2A to 5 The same reference numerals are used to denote the same elements.

[0081] like Figure 6 As shown, when tubular member 61 is bent along a bending axis (typically central axis 29), for example, circumferential slits 43, 513 can open while circumferential slits 45, 549 can close. That is, portions 8 and 10 can rotate about bridges 15 and 515. The sides of bridge 15 defined by longitudinal edges 23, i.e., the sides of bridge 15 closest to circumferential slits 43, are subjected to two opposing longitudinal forces moving away from each other, i.e., one force toward portion 8 and the other toward portion 10, as indicated by arrows M and N, respectively. Under the action of these opposing forces M and N, the size of bridge 15 at its longitudinal edges 23 will expand longitudinally due to the elasticity of bridge 15. On the other hand, the sides of the bridge 15 defined by the longitudinal edges 25, i.e., the sides of the bridge 15 closest to the circumferential slot 45, are subjected to two opposing longitudinal forces directed toward each other, i.e., one force from portion 8 toward the center of the bridge 15, and another force from portion 10 toward the center of the bridge 15, as indicated by arrows O and P, respectively. Under the action of these opposing forces O and P, the bridge 15 will contract longitudinally at its longitudinal edges 25 due to the elasticity of the bridge 15. A similar effect occurs in the bridge 515.

[0082] Furthermore, the bridge 15, 515 should be designed so that when the circumferential slits 45, 549 are just closed during the bending action, the stress in the bridge 15 remains within its stress tolerance so that excessive stretching is not induced and the material is irreversibly damaged in the bridge 15, 515. For example, if the bendable portion 2 is designed to bend at a maximum angle of, for example, 60° (or other value), the bridge 15 may not rupture.

[0083] Depend on Figure 2A and Figure 2B The remaining circumferential slits and the curved portions formed by the longitudinal slits operate in a similar manner.

[0084] By providing the respective tubular members 1, 31, 41, 51, 61 with respective circumferential slits 3, 5, 43, 45, 543, 545, 643, 645, 6543, 6545 and at least one respective longitudinal slit 17, 19, 517, 519, 617, 619, 6517, 6519 having one end communicatingly connected to the respective circumferential slits 3, 5, 43, 45, 543, 545, 643, 645, 6543, 6545, the The tubular members 1, 31, 41, 51, 61 are bent by opening / closing the corresponding circumferential slits 3, 5, 43, 45, 543, 545, 643, 645, 6543, 6545, and the material stress at the ends of the circumferential slits 3, 5, 43, 45, 543, 545, 643, 645, 6543, 6545 of the tubular members 1, 31, 41, 51, 61 contacting the corresponding bridging portions 15, 515, 615, 6515 is reduced.

[0085] Furthermore, the torsional stiffness of the tubular members 51, 61 is improved by the circumferential strips 12, 14, 18, 20. Specifically, the two partially overlapping circumferential slits, viewed circumferentially, allow the tubular members 51, 61 to open approximately 180° when the tubular members are bent, unlike tubular members 51, 61 that lack a circumferential slit extending approximately 180°, which would otherwise weaken the structure and reduce torsional stiffness. The width and length of the circumferential strips 12, 14, 18, 20 are selected to provide the tubular members 51, 61 with the desired torsional stiffness, which also depends on the material used. Furthermore, the width and thickness of the circumferential strips 12, 14, 18, 20 are selected to provide a certain degree of flexibility while remaining within their stress tolerance during maximum bending of the bendable portion 2. For example, if the bendable portion 2 is designed to bend at a maximum angle of, for example, 60° (or other values), the circumferential strips 12, 14, 18, 20 may not break.

[0086] 7A to 7D Another embodiment of a tubular member 71 is shown. The tubular member 71 includes a number of features denoted by reference numerals used in the above figures, and these reference numerals refer to the same features and explanation will not be repeated here.

[0087] Here, the bendable portion 2 includes a circumferential slit 3 connected to the longitudinal slit 17 via a curved intermediate slit 22. That is, one end of the curved intermediate slit 22 is connected to the end 7 of the circumferential slit 3, and the other end is connected to one end of the longitudinal slit 17.

[0088] Similarly, the circumferential slit 5 is connected to the longitudinal slit 19 via the curved middle slit 24. That is, one end of the curved middle slit 24 is connected to the end 11 of the circumferential slit 5, and the other end is connected to one end of the longitudinal slit 19. The longitudinal slits 17 and 19 define the bridge portion 15.

[0089] From the 3D view showing the tubular member 71 Figure 7B As can be seen most clearly in FIG, at the end 313 of the tubular member 71 , the circumferential slit 5 is connected to a curved intermediate slit 28 which connects the circumferential slit 5 to one end of the longitudinal slit 319 . Figure 7B It is also shown that at the end 39 of the tubular member 71 the circumferential slit 3 is connected to a curved intermediate slit 26 which connects the circumferential slit 3 to one end of a longitudinal slit 317 .

[0090] Longitudinal slits 48 and 52 define bridge 315. Bridges 15 and 315 are preferably located on tubular member 71 at locations approximately 180° of circumferential rotation.

[0091] Preferably, the circumferential slits 3, 5 are located on the same circumference 400 ( 7A to 7D not shown).

[0092] The other pair of circumferential slits 44, 30 of the second bendable portion 2' is adjacent to the circumferential slits 3, 5 and displaced in the longitudinal direction.

[0093] The circumferential slit 44 is communicatively connected to the longitudinal slit 38 through the curved middle slit 42. That is, one end of the curved middle slit 42 is connected to one end of the circumferential slit 44, and the other end is connected to the other end of the longitudinal slit 38.

[0094] Similarly, the circumferential slit 30 is communicatively connected to the longitudinal slit 34 via the curved intermediate slit 32. One end of the curved intermediate slit 34 is connected to one end of the circumferential slit 30, and the other end is connected to the other end of the longitudinal slit 34. The longitudinal slits 38 and 34 define a bridge portion 40. The bridge portion 40 is preferably located on the tubular member 71 at a position that is approximately 90° circumferentially rotated relative to the bridge portion 15.

[0095] from Figure 7B As can be seen most clearly in FIG, at the other end of the tubular member, the circumferential slit 44 connects to a curved intermediate slit 46 which connects the circumferential slit 44 to one end of the longitudinal slit 48. Figure 7B Also shown at the other end of the tubular member is the circumferential slit 30 connecting to a curved intermediate slit 54 which connects the circumferential slit 30 to one end of the longitudinal slit 52 .

[0096] Longitudinal slits 317 and 319 define bridge 50. Bridges 40 and 50 are preferably located on tubular member 71 at locations approximately 180° of circumferential rotation.

[0097] Preferably, the circumferential slits 30 , 44 are located on the same circumference.

[0098] By appropriately choosing the geometry of the slits in the tubular member 71, the first bendable portion 2 with the slits 317, 26, 3, 22, 17, 19, 24, 5, 28, 319 can be brought very close to the second bendable portion 2' with the slits 38, 42, 44, 46, 48, 52, 54, 30, 32, 34. Thus, large bending angles of up to 90° can be achieved in a small tubular member having a diameter of only a few millimeters, for example between 0.5 and 3 mm, and a length between 30 and 50 mm.

[0099] Figure 7C and Figure 7D Different side views of the tubular member 71 are shown.

[0100] Figure 8 An embodiment of a tubular member 81 is shown having alternative bridges 72, 74. Like reference numerals refer to like elements in other figures. Figure 8 Show Figure 5 and Figure 6 However, as Figures 2A to 7D As shown, this alternative bridge portion can also be applied to other embodiments of the present invention.

[0101] Figure 8 The diagram shows how circumferential slit 45 terminates in longitudinal slit 19. However, here, longitudinal slit 19 is connected to longitudinal slit 60 via curved slit 62, which may be U-shaped. Circumferential slit 43 terminates in longitudinal slit 17. However, here, longitudinal slit 17 is connected to longitudinal slit 56 via curved slit 58, which may be U-shaped. Thus, a bridge 72 having a mirrored S-shape is present. Of course, the shape may alternatively be identical to an S-shape. Alternatively, the shape may be Z-shaped or a mirrored Z-shape.

[0102] Figure 8 Also shown is how circumferential slit 645 terminates in longitudinal slit 619. However, here, longitudinal slit 619 is interconnected to longitudinal slit 68 via curved slit 70, which may be U-shaped. Circumferential slit 643 terminates in longitudinal slit 617. However, here, longitudinal slit 617 is interconnected to longitudinal slit 64 via curved slit 66, which may be U-shaped. Thus, a bridge 74 is formed. Bridge 74 can have any of the shapes discussed above with reference to bridge 72.

[0103] Observe that, with Figure 8 The tubular member with the alternative bridge portion shown has a much greater bending angle than the embodiment with a single straight longitudinal bridge portion. A tubular member 81 with two such alternative bridge portions rotated 180° relative to each other and having four circumferential slits 43, 45, 643, 645 can be bent to a bending angle of up to 20°, at least up to 15°. Thus, as Figure 8 The embodiment shown can be bent up to a bend angle of 40°. Figures 2A to 7D The embodiment is about 2 to 3 times.

[0104] Figure 9 An embodiment of a tubular member 91 is shown in which the circumferential slot 43 includes a middle portion 82 and the circumferential slot 45 includes a middle portion 80. Other circumferential slots may also include middle portions. Like reference numerals denote like elements in other figures. Figure 9 Show Figure 5 and Figure 6 However, these intermediate parts can also be applied to other embodiments of the present invention, such as Figures 2A to 8 First, the structure of the middle part will be explained. Then, the function of the middle part will be explained.

[0105] Figure 9 The circumferential slit 45 is shown as terminating in the longitudinal slit 19. However, here, the circumferential slit 45 comprises a U-shaped middle portion 80. The U-shape has two parallel long sides connected to each other by a base. Both long sides are curved, preferably such that the curve of one long side coincides with a portion of a first circle. The second long side has a curve that preferably coincides with a portion of a second circle. The first and second circles preferably have a common center point. This is achieved as follows.

[0106] The intermediate portion 80 is disposed between the longitudinal slit 19 and the end portion 513. The intermediate portion 80 is communicatively connected to the circumferential slit 45 via a first curved slit 88. Furthermore, the intermediate portion 80 is communicatively connected to the circumferential slit 45 via a second curved slit 90. The first curved slit 88 may have the same or different length as the second curved slit 90. The first curved slit 88 may be shorter than the second curved slit 90. The first curved slit 88 extends between a first end and a second end at the circumferential slit 45. The second curved slit 90 extends between a first end and a second end at the circumferential slit 45, with the second end of the first curved slit 88 communicatively connected to the second end of the second curved slit 90 via an intermediate slit 92. The first curved slit 88 and the second curved slit 90 are curved toward the bridge portion 15. That is, the concave sides of the first and second curved slits face the longitudinal slit 19 of the bridge portion 15.

[0107] The first curved slit 88 may extend along a first circle between its first and second ends, wherein the first circle is centered on the center point of the bridge portion 15 and has a radius of the length of a section extending from the center point of the bridge portion 15 to the end of the first curved slit 88. The first curved slit 88 may extend along the first circle from its first end to its second end in a first circular direction.

[0108] The second curved slit 90 may extend along a second circle between its first and second ends, wherein the second circle is centered on the center point of the bridge portion 15 and has a radius of the length of a section extending from the center point of the bridge portion 15 to the end of the second curved slit 90. The second curved slit 90 may extend from its first end to its second end along the second circle in the same first circular direction as the first curved slit 88.

[0109] It is observed that the circumferential slit 43 may also include a middle portion 82. The middle portion 82 of the circumferential slit 43 may also be U-shaped. The U-shape has two parallel long sides connected to each other by a base. Both long sides are curved, preferably such that the curve of one long side coincides with a portion of the third circle. The second long side has a curve that preferably coincides with a portion of the fourth circle. The third and fourth circles preferably have a common center point. This is achieved as follows.

[0110] The intermediate portion 82 is communicatively connected to the circumferential slit 43 via a third curved slit 98. Furthermore, the intermediate portion 82 is communicatively connected to the circumferential slit 43 via a fourth curved slit 100. The first curved slit extends between a first end and a second end at the slit 43. The fourth curved slit 100 extends between a first end and a second end at the slit 43, wherein the second end of the third curved slit 98 is communicatively connected to the second end of the fourth curved slit 100 via an intermediate slit 102. The third curved slit 98 and the fourth curved slit 100 are curved toward the bridge portion 15.

[0111] The third curved slit 98 may extend between its first and second ends along a third circle, the third circle being centered at the center point of the bridge portion 15 and having a radius equal to the length of a section extending from the center point of the bridge portion 15 to the first end. The third curved slit 98 may extend from its first end to its second end along the third circle in a second circular direction.

[0112] The fourth curved slit 100 may extend between its first and second ends along a fourth circle, the fourth circle being centered at the center point of the bridge portion 15 and having a radius of the length of a section extending from the center point of the bridge portion 15 to the first end of the fourth curved slit 100. The fourth curved slit 100 may extend from its first end to its second end along the fourth circle in the same second circular direction as the third curved slit 98.

[0113] The first circular direction in which the first and second curved slits of the first intermediate portion 80 extend and the second circular direction in which the third and fourth curved slits of the second intermediate portion 82 extend may be opposite circular directions. That is, the first intermediate portion 80 defines a U-shape that surrounds a first lip extending in a first circular direction, and the second intermediate portion 82 defines a U-shape that surrounds a second pin extending in a second circular direction.

[0114] The first curved slit 88 of the first intermediate portion 80 and the third curved slit 98 of the second intermediate portion 82 may extend along the same circle C1 but in opposite directions, such that the first circle and the third circle are the same circle. That is, the distance from the center point of the bridge 15 to the first end of the first curved slit 88 is equal to the distance from the center point of the bridge 15 to the first end of the third curved slit 98.

[0115] The second curved slit 90 of the first intermediate portion 80 and the fourth curved slit 100 of the second intermediate portion 82 may extend along the same circle C2 but in opposite directions, such that the first circle and the third circle are the same circle. That is, the distance from the center point of the bridge 15 to the first end of the second curved slit 90 is equal to the distance from the center point of the bridge 15 to the first end of the fourth curved slit 100.

[0116] Figure 9 Also shown are how the circumferential slots 645 and 643 include U-shaped intermediate portions 94 and 96, respectively. Each of the intermediate portions 94 and 96 can be designed according to any of the arrangements discussed above with reference to the intermediate portions 80 and 82. Figure 5 The bridge portion 615 shown in FIG is associated with the middle portion 96 and the Figure 5 As will be apparent to those skilled in the art, preferably each bridge 15, 515, 615, 6515 is associated with two intermediate portions arranged in a circular direction around the respective center, as shown and explained with reference to the intermediate portions 80, 82.

[0117] It is observed that when the tubular member is bent about the hinge, the pins 80, 82, 94, 96 do not generate any additional friction because they are curved and disposed on a circle of rotation defined by the center of the corresponding bridge 15, 515, 615, 6515. That is, the intermediate portions 80, 82, 94 and 96 are shaped to form an identically curved channel in which they can move freely.

[0118] Observe that, with Figure 9 The tubular members of the intermediate sections 80, 82, 94 and 96 shown have improved torsional stiffness. The reason is as follows. Figures 4 to 8In the above-described embodiments, the tubular member has one or more circumferential strips, such as 12 and 18, which prevent the tubular member from having any completely continuous circumferential slits. Such circumferential strips absorb the torsional forces caused by a user attempting to rotate the tubular member until the strips are permanently deformed or even break. The maximum tension that these strips can support determines the maximum permissible rotational force that can be applied by the user.

[0119] However, when the user attempts to rotate Figure 9 When the tubular member is formed in the embodiment shown in FIG. 1 , the pins 80, 82, 94, 96 can move in the circumferential direction a maximum distance of one curved slit 88, 90, 98, 100 before being blocked from any further circumferential movement. Thus, the elastic deformation and tension in the circumferential strips 12, 18 will not exceed a certain threshold value determined by the design of the intermediate portions 80, 82, 94, 96.

[0120] Figure 10 An embodiment of a tubular member 101 is shown having an alternative bridge portion. Like reference numerals refer to like elements in other figures. Figure 10 Show Figure 8 A side view of an embodiment having such an alternative bridge portion. Figures 2A to 7D and Figure 9 As shown, this alternative bridge portion can also be applied to other embodiments of the present invention.

[0121] Figure 10 A circumferential slit 45 is shown. The term oblique is used herein to denote a direction that forms an angle with the longitudinal direction.

[0122] Here, the circumferential slit 45 terminates at a first oblique slit 110, wherein the first oblique slit 110 is communicatively connected to the second oblique slit 112 via a curved slit 114. The first oblique slit 110, the second oblique slit 112, and the curved slit 114 together preferably have a U-shape, wherein the first oblique slit 110 and the second oblique slit 112 respectively form parallel long sides of the U-shape, and the curved slit 114 forms its bottom side.

[0123] The circumferential slit 43 terminates at a third oblique slit 116, which is communicatively connected to a fourth oblique slit 118 via a curved slit 120. The third oblique slit 116, the second oblique slit 118, and the curved slit 120 together preferably have a U-shape, with the third oblique slit 116 and the fourth oblique slit 118 forming parallel long sides of the U-shape, and the curved slit 120 forming the bottom side thereof.

[0124] Preferably, the two U-shapes are arranged in a hook-like orientation such that the first, second, third, and fourth inclined slits are parallel, and the second inclined slit 110 is located on the centerline of the U-shape defined by the third inclined slit 116, the fourth inclined slit 118, and the curved slit 120, and the fourth inclined slit 118 is located on the centerline of the U-shape defined by the first inclined slit 110, the second inclined slit 112, and the curved slit 114. Alternatively, the shape can be a tilted Z-shape or a tilted mirrored Z-shape.

[0125] Observe that, with Figure 10 The tubular member with the illustrated alternative bridge portion can have a much greater bend angle than the embodiment with a longitudinal bridge portion. Clearly, tubular member 101 would have two such alternative bridge portions rotated 180° relative to each other. The tubular member can then be bent around the center of these two alternative bridge portions. The center of bridge portion 122 is indicated by reference numeral 124. Because the total length of bridge portion 122 can be much longer than the length of bridge portions 15, 515, 615, or 6515, preferably 2-10 times longer, the tension caused by bending the tubular member will be distributed over a longer length of material.

[0126] It can be imagined that Figure 10 The S-shape of the embodiment has three sections extending in possibly different directions with a certain inclination relative to the circumferential and longitudinal directions of the tubular member. When the user wishes to rotate the tubular member, once the inclined slits 110, 112, 116, 118 are completely pressed together, this S-shape forms an obstacle to further relative rotation of the sections of the tubular member on opposite sides of the circumferential slits 43, 45.

[0127] Figure 11 A 3D embodiment of a tubular member 111 is shown having Figure 10 The alternative bridge 122 of the same alternative bridge 118, 170 and the Figure 9 The same middle parts 150, 152, 154, 156 as the middle parts 80, 82. The same reference numerals denote the same elements in other figures, and these elements will not be explained again because their functions are the same as those in the other figures. Figure 9 Same as in . Reference Figure 9 and Figure 10 All components described can be applied to Figure 11 .

[0128] In all tubular members 1, 31, 41, 51, 61, 71, 81, 91, 101, and 111, all longitudinal slits and inclined slits can be straight slits of equal width along their length. In tubular member 71, the longitudinal slits can have the same width as the curved intermediate slits, i.e., they can have a width deviation of less than 20% or less than 10%. In all tubular members 1, 31, 41, 51, 61, 71, 81, 91, 101, and 111, the circumferential slits can be wider, for example, up to twice as wide in the center as at the ends. By using only slits, tubular members can be formed using a laser beam without leaving any loose material components due to laser cutting.

[0129] The tubular members 1, 31, 41, 51, 61, 71, 81, 91, 101, and 111 can be cylindrical tubes. However, the tubular members can have another suitable cross-section. For example, the hollow tubes can have an oval, elliptical, or rectangular cross-section. The tubular members are hollow at least at the locations where the hinges are provided. The tubular members 1, 31, 41, 51, 61, 71, 81, 91, 101, and 111 include an outer wall. The bendable portion is formed in the outer wall.

[0130] The tubular members 1, 31, 41, 51, 61, 71, 81, 91, 101, 111 may be formed using suitable biocompatible polymeric materials, such as polyurethane, polyethylene, polypropylene or other biocompatible polymers. The tubular members may be made of any other suitable material and / or in any other suitable manner. Other suitable materials may be stainless steel, cobalt chromium, shape memory alloys, such as Plastics, polymers, composites or other curable materials.

[0131] The circumferential slits and the longitudinal slits can be made by any known material removal technique, such as photochemical etching, deep drawing, cutting techniques, however, laser cutting is preferred.All slits are open to the outside and to the inside of the tubular member.

[0132] Depending on the requirements of the intended application, the circumferential slits may have any suitable length. Circumferential slits in the same tubular member may have the same or different lengths. The length of the circumferential slit is less than half of the outer circumference of the tubular member. Preferably, the length of the slit is between 25% and 50% of the outer circumference of the tubular member, more preferably between 30% and 45%, and most preferably between 35% and 40%. The circumferential slits may have any suitable width. Circumferential slits in the same tubular member may have the same or different widths. The circumferential slit may be narrower near its end points and wider in its center.

[0133] The longitudinal slits and the oblique slits may also have any suitable length and width, as required by the intended application.The longitudinal slits and the oblique slits of the tubular member may have the same or different lengths and / or widths.

[0134] Variations in the bending and torsional fidelity along the length of the tubular member can be achieved by varying the durometer grade of the material used to mold the different sections. Furthermore, the flexibility of the tubular member can be varied by varying the size and location of the circumferential, longitudinal, and angled slits and / or by varying the angle between the circumferential slit and the radial circumference.

[0135] Figure 12 A schematic diagram of the rope equalizer structure is shown to explain its main working mode. Figure 12 The rope equalizer structure 500 includes a rotation point origin 502, a first rotation point 504, and a second rotation point 506, wherein the rotation point origin 502 is attached to a first cable 508, wherein the first cable 508 extends from the rotation point origin 502 in a direction R, the first rotation point 504 is attached to a second cable 510, wherein the second cable 510 extends from the first rotation point 504 in a direction S, and the second rotation point 506 is attached to a third cable 512, wherein the third cable 512 extends from the second rotation point 506 in a direction S, wherein the directions R and S are opposite directions. The rotation point origin 502, the first rotation point 504, and the second rotation point 506 are connected by a rigid rod 514, wherein the rigid rod 514 extends from the first rotation point 504 to the second rotation point 506 in a direction T, wherein the directions T and R are perpendicular directions, and wherein the rotation point origin 502 is the midpoint of the rigid rod 514.

[0136] The second cable 510 and the third cable 512 can move in directions R and S, respectively. The rigid rod 514 can rotate about the rotation point origin 502. In this way, when there is a difference between the displacement movement of the second cable 510 and the displacement movement of the third cable 512, the rigid rod 514 will rotate about the rotation point origin 502 to compensate for the displacement movement difference between the second cable 510 and the third cable 512. The displacement force applied to the second cable 510 and the third cable 512 is added to the first cable 508.

[0137] like Figure 12 As shown, when the second cable 510 is displaced by a distance l1 along a direction S and the third cable 512 is displaced by a distance l2 along the same direction S, where l2-l1=Δl, the rigid rod 514 rotates around the rotation point origin 502 to a new position (at Figure 12 ), so as to compensate for the displacement difference Δl between the second cable 510 and the third cable 512.

[0138] Figure 13An expanded view of a portion of an intermediate cylindrical member of an instrument according to the present invention in which the principle of the rope equalizer is used is shown. The intermediate cylindrical member is part of a larger tubular instrument, for example a surgical instrument as described and disclosed in EP2273911B1. Figure 1A and Figure 1B This prior art is summarized and described above.

[0139] exist Figure 1B In some embodiments of the device shown, it is necessary to make the small flexible strips 228, 230 more flexible. This can be achieved by splitting these small flexible strips 228, 230 in the longitudinal direction to form two (or more) sub-strips.

[0140] exist Figure 1B In another embodiment of the device shown, it is desirable to make the small flexible strips 228, 230 stronger so that they are less likely to break, but without losing their flexibility. This can be achieved by adding additional small flexible strips to each of these small flexible strips 228, 230 in the longitudinal direction to form two (or more) sub-strips.

[0141] The two sub-strips preferably have the same width in the tangential direction of the instrument. The two sub-strips are then reconnected to the portion 224 having a greater width in the tangential direction of the instrument. In actual instruments, the tangential cross-sections of portion 224 and the two sub-strips have the shape of a circular portion. It is understood that during operation of an instrument as described in EP2273911B1, the instrument bends around the central longitudinal axis of the instrument at the position of the two flexible sub-strips. In most cases, the two sub-strips will not bend symmetrically, resulting in the two sub-strips moving longitudinally relative to each other. This results in different displacements of the two sub-strips, which may cause one of them to disconnect from portion 224. In view of this, it is necessary to further increase flexibility or further increase the strength of portions 228, 230 while avoiding this effect.

[0142] Figure 13 The intermediate cylindrical member 440 has a first rigid end portion 260 and a second end rigid portion 262. The intermediate cylindrical member 440 is formed by a plurality of longitudinal elements 242, wherein each longitudinal element 242 is composed of three portions 244, 246 and 248 and two linking portions 250, 454. The intermediate cylindrical member 440 preferably includes three or more longitudinal elements 242. The first portion 244 is connected to the second portion 246 by a connecting portion 250. The second portion 246 is connected to the third portion 248 by a connecting portion 454. In the second portion 246 coinciding with the intermediate rigid portion of the instrument (see Figure 1A), each pair of adjacent longitudinal elements 242 can contact each other in the tangential direction so that there is actually only a narrow gap, just enough to allow independent longitudinal movement of each longitudinal element 242.

[0143] In the other two sections 244 and 248, each longitudinal element is composed of relatively small, flexible strips 254, 256 along the circumferential direction, such that a substantial gap exists between each pair of adjacent strips. Strip 254 has a longitudinal slit 258 extending from the first rigid section 260 to the first connecting section 250. Thus, strip 254 has two parallel sub-strips 266, 270. Slit 258, preferably produced by laser cutting, is very small so that, during use, the sub-strips 266, 270 can generally contact each other. Similarly, strip 256 has a longitudinal slit 264 extending from the second rigid section 262 to the connecting section 252. Thus, strip 256 has two parallel sub-strips 268, 272. Slit 264, preferably produced by laser cutting, is very small so that, during use, the sub-strips 268, 272 can generally contact each other. The widths of sub-strips 266, 270 and sub-strips 268, 272 can be the same.

[0144] Each belt 254, 256 may have multiple cams ( Figure 13 The cams extend along the circumference of the device and almost completely bridge the gap to the next adjacent strip, thus acting as spacers. The cams can have any shape. Further details of such cams or spacers can be found in EP2273911B1 or WO2017082720.

[0145] although Figure 13 An embodiment is shown having two symmetrical portions 244 and 248 connected to portion 246 by connecting portions 250 , 454 , respectively, but the intermediate cylindrical member 440 may have only one portion 248 connected to portion 246 by a second connecting portion 454 .

[0146] The intermediate cylindrical member 440 further includes connecting portions 452, 284, wherein the connecting portion 284 connects the portion 246 to the portion 244, and the connecting portion 452 connects the portion 246 to the portion 248. The connecting portion 454 will be explained in detail.

[0147] The intermediate cylindrical member 440 includes a bridge 414 connecting the portion 246 to the connecting portion 454. The bridge 414 is defined by two longitudinal slits 410, 412 that extend longitudinally in at least one of the portion 246 and the connecting portion 454.

[0148] Connecting portion 454 includes an opening 476 having a half-moon shape and surrounded by curved sub-strips 490 and 492. The convex side of opening 476 faces portion 248, and longitudinal slit 264 is connected to opening 476 in the middle portion of its convex side. Opening 476 is further defined by a straight edge perpendicular to the longitudinal direction and facing the concave side of opening 476. Connecting portion 454 also includes slits 402 and 404, respectively, extending longitudinally from each end of the straight edge of opening 476 in the direction of portion 246 and surrounded on one side by curved sub-strips 490 and 492, respectively. Connecting portion 454 includes additional circumferential slits 406 and 408 extending in the circumferential direction, as well as longitudinal slits 410 and 412 extending longitudinally. Circumferential slits 406 and 408 are connected to longitudinal slits 410 and 412 at one end, respectively, and are connected to the gap between adjacent portions 246 at their other ends. While the longitudinal slits 410 , 412 extend in the portion 246 and the connecting portion 454 , the circumferential slits 406 , 408 , respectively, preferably terminate in an intermediate portion thereof.

[0149] The side surfaces of slits 410 and 412 define the longitudinally extending boundaries of bridge portion 414. The distance between slits 410 and 412 is smaller than the distance between slits 402 and 404. Furthermore, slits 410 and 412 are partially parallel to slits 402 and 404 in the longitudinal direction to define bridge portions 416 and 418. That is, slits 402 and 410 define the side surfaces of bridge portion 416, while slits 404 and 412 define the side surfaces of bridge portion 418.

[0150] Figure 13 The device is also used as Figure 12 The rope equalizer shown. Figure 13 The arrangement provides a bridge portion 414, and the connection flexibility of portion 246 on the connecting portion 454 along the tangential direction of the instrument is improved. Figure 13 The center of the bridge portion 414 serves as Figure 12 The invention also provides a rotation point origin 502 of the bridge portion 414, wherein a first rotation point 504 is located in a straight portion connected to the curved sub-strip 490 and surrounding the slit 402, and wherein a second rotation point 506 is located in a straight portion connected to the curved sub-strip 492 and surrounding the slit 402, so that when there is a difference in displacement movement between the sub-strip 268 and the sub-strip 272, the rope equalizer structure in the connecting portion 454 rotates about the center of the bridge portion 414 and compensates for the displacement difference between the sub-strip 268 and the sub-strip 272. Preferably, the first rotation point 504 and the second rotation point 506 are located in the straight portion as close as possible to the center of the bridge portion 414.

[0151] The connecting portion 452 functions in a similar manner as explained with reference to the connecting portion 454. Additionally, the intermediate cylindrical member 440 may have similar connecting portions 250, 284 between the portions 246 and 242.

[0152] Figure 14 Show the basis Figure 13 3D view of an embodiment of the present invention. The same reference numerals denote Figure 13 The same components as in Figure 13 All the contents of the description apply to Figure 14 The intermediate cylindrical member 440 includes eight connecting portions 454, as shown in FIG. Figure 13 Description section. Figure 14 Also shown are M-shaped spacers, as explained in detail in WO 2017 / 082720.

[0153] Figure 15 An expanded view of a portion of an intermediate cylindrical member 540 including spacers 554, 556, 574, 576 is shown according to another embodiment of the present invention. Figure 15 The spacer has Figure 14 The same function as the spacer. However, Figure 15 The spacers are similar in shape and in the manner in which they are cut into the intermediate cylindrical member 540. Figure 14 The spacers are different. Figure 15 As shown, the spacers 554, 556, 574, 576 have a U-shape, wherein one leg of the U-shape is shorter than the other leg, and Figure 14 The spacer has an M shape. Also, a spacer is formed in the intermediate cylindrical member 540 by cutting a slit in the material. Figure 15 This way, the manufacturing process is very efficient because any loose material after cutting the U shape disappears automatically.

[0154] Figure 16 The intermediate cylindrical element 540 includes longitudinal elements 542, 544, 678, and 680. The intermediate cylindrical element 540 also includes longitudinal slits 546, 548, 550, and 552. Longitudinal slits 546 and 550 define the sides of longitudinal element 542. Longitudinal slits 548 and 552 define the sides of longitudinal element 544. Longitudinal slit 548 defines one side of longitudinal element 678.

[0155] The longitudinal elements 542 and 678 are separated by spacers 554 and 556. The spacer 554 is defined by a circumferential slit 558, a longitudinal slit 560, and a circumferential slit 562, wherein the circumferential slit 558 extends from the longitudinal slit 550 toward the longitudinal element 678 in the circumferential direction X, and wherein the circumferential slit 558 is communicatively connected to the longitudinal slit 550. The longitudinal slit 560 is communicatively connected to the circumferential slit 558 and extends from the circumferential slit 558 in the longitudinal direction Y. The circumferential slit 562 is communicatively connected to the longitudinal slit 560 and extends from the longitudinal slit 560 toward the second longitudinal slit 550 in a circumferential direction opposite to the circumferential direction X. The circumferential slit 562 is not connected to the second longitudinal slit 550, such that a bridge 564 is defined between an end of the circumferential slit 562 and the second longitudinal slit 550. The distance between the second longitudinal slit 550 and the longitudinal slit 560 of the spacer 554 is preferably greater than the distance between this longitudinal slit 560 and the first longitudinal slit 548 defining the adjacent longitudinal element 544. The distance between the second longitudinal slit 550 and the longitudinal slit 560 of the spacer 544 may be at least 1.5 times the distance between this longitudinal slit 560 and the first longitudinal slit 548 defining the adjacent longitudinal element 544.

[0156] The circumferential slits 558 of the spacer may be 1.5 times longer than the circumferential slits 562. The longitudinal slits 560 may be 0.5-10 times larger than the circumferential slits 558.

[0157] The intermediate cylindrical element 540 may have any number of spacers.

[0158] Figure 16 FIG. 6 is an expanded view of a portion of an intermediate cylindrical member 640 including alternative spacers 644, 646, 674, 676 according to another embodiment of the present invention. Figure 15 The same components in

[0159] Figure 15 The spacer of the embodiment with Figure 16 The main differences between the alternative spacers of the embodiments are: Figure 17 The alternative spacer of the embodiment is further defined by an inverted U-shaped slit 680, wherein the inverted U-shaped slit 680 is communicatively connected to the circumferential slit 562 at the end of one leg of the inverted U-shaped slit 680. The inverted U-shaped slit 680 is oriented so that the end of the other leg of the inverted U-shape faces the longitudinal slit 560, and the convex side of the inverted U-shape faces the second longitudinal slit 550.

[0160] Figure 17 Show the basis Figure 16 3D view of an embodiment of the present invention. The same reference numerals denote Figure 15 and Figure 16 The same components as in Figure 16All the explanations apply to Figure 17 The intermediate cylindrical member 640 comprises eight longitudinal elements separated by spacers, as described with respect to Figure 16 Description section.

[0161] In all intermediate cylindrical members 242, 440, 540, 640, all longitudinal slits can be straight slits of equal width along their length. In intermediate cylindrical member 640, the longitudinal slits and circumferential slits can have the same width as the U-shaped slits, i.e., they can have a width deviation of less than 20% or less than 10%. In intermediate cylindrical members 242, 440, the circumferential slits can be wider, for example, up to twice as wide at the center as at the ends. By using only slits, intermediate cylindrical members 242, 440, 540, 640 can be fabricated using a laser beam without leaving any loose material components due to laser cutting.

[0162] The intermediate cylindrical members 242, 440, 540, 640 can be cylindrical members. However, the intermediate cylindrical members can have another suitable cross-section. For example, the intermediate cylindrical members can have an oval, elliptical, or rectangular cross-section. The intermediate cylindrical members can be completely or partially hollow. The intermediate cylindrical members 242, 440, 540, 640 include an outer wall.

[0163] The intermediate cylindrical members 242, 440, 540, 640 can be formed using a suitable biocompatible polymeric material, such as polyurethane, polyethylene, polypropylene, or other biocompatible polymers. The intermediate cylindrical members 242, 440, 540, 640 can be made of any other suitable material and / or in any other suitable manner. Other suitable materials can be stainless steel, cobalt chromium, shape memory alloys, such as Plastics, polymers, composites or other curable materials.

[0164] The circumferential slits, longitudinal slits and U-shaped slits can be made by any known material removal technique, such as photochemical etching, deep drawing, cutting techniques, however, laser cutting is preferred. All slits are open to the outside and inside of the intermediate cylindrical member.

[0165] The longitudinal slits, circumferential slits and U-shaped slits may have any suitable length and width as required by the intended application.The longitudinal slits, circumferential slits and U-shaped slits of the intermediate cylindrical member may have the same or different lengths and / or widths.

[0166] entry:

[0167] Item 1. A tubular member (1; 31; 41; 51; 61; 71; 81; 91; 101; 111) having a first flexible portion (2), wherein the first flexible portion (2) comprises:

[0168] A first circumferential slit (3; 43) and a second circumferential slit (5; 45), wherein the first circumferential slit (3; 43) is arranged opposite to the second circumferential slit (5; 45), wherein the first circumferential slit (3; 43) includes a first end (7) and a second end (9; 39; 49), the first circumferential slit (3; 43) is partially arranged around the tubular member, and the tubular member extends from the first end to the second end in a first circumferential direction (A; C; E), and wherein the second circumferential slit includes a third end (11) and a fourth end (13; 313; 41 3), the second circumferential slit is partially disposed around the tubular member extending in a second circumferential direction (B; D; F) from the third end to the fourth end, wherein the first circumferential direction and the second circumferential direction are opposite directions, wherein the first end and the third end are located on a first radial circumference (400), wherein the first and second circumferential slits are disposed to provide flexibility to the tubular member along a first axis, and wherein the first end (7) and the third end (11) are disposed such that a first bridge (15; 72) is disposed between the first and second circumferential slits;

[0169] Characterized in that the first flexible portion (2) includes a first longitudinal slit (17) arranged longitudinally along the tubular member or inclined relative to the longitudinal direction and a second longitudinal slit (19) arranged longitudinally along the tubular member or inclined relative to the longitudinal direction, wherein the first circumferential slit (3) is connected to the first longitudinal slit (17), wherein the second circumferential slit (5) is connected to the second longitudinal slit (19), and the first longitudinal slit (17) and the second longitudinal slit (19) are arranged to define the longitudinal side of the first bridging portion (15; 72).

[0170] Item 2. The tubular member according to Item 1, wherein the first longitudinal slit (17) is parallel to the second longitudinal slit (19).

[0171] Item 3. The tubular member according to Item 1, wherein the first longitudinal slit (17) is inclined by 0 to 45 degrees, more preferably by 0 to 20 degrees, even more preferably by 0 to 10 degrees relative to the longitudinal direction.

[0172] Item 4. The tubular member according to Item 1, wherein the second longitudinal slit (19) is inclined by 0 to 45 degrees, more preferably by 0 to 20 degrees, even more preferably by 0 to 10 degrees relative to the longitudinal direction.

[0173] Item 5. A tubular member according to Item 1, wherein the first circumferential slit includes a first side extending from the first end to the second end and a second side extending from the first end to the second end, wherein the first side is opposite to the second side, and wherein the first side includes a pin and the second side includes a channel shape, wherein the pin corresponds to the shape of the channel so that when the pin is located in the channel, the pin can move within the channel.

[0174] Item 6. The tubular member of Item 5, wherein the pin is an inclined curved U-shape.

[0175] Item 7. A tubular member according to Item 1, wherein the second end (39) and the fourth end (313) are located on the first radial circumference (400), wherein the second end (39) and the fourth end (313) are arranged so that a second bridging portion (315) is provided between the first and second circumferential slits, and the tubular member (31; 71) includes the third longitudinal slit (317) arranged longitudinally along the tubular member or inclined relative to the longitudinal direction, and the fourth longitudinal slit (319) arranged longitudinally along the tubular member or inclined relative to the longitudinal direction, wherein the first circumferential slit (3) is connected to the third longitudinal slit (317), wherein the second circumferential slit (5) is connected to the fourth longitudinal slit (319), and the third longitudinal slit (317) and the fourth longitudinal slit (319) are arranged to define the longitudinal side of the second bridging portion (315).

[0176] Item 8. The tubular member of Item 1, wherein the first circumferential slit (43) is oriented to form a first angle (406) with the first radial circumference (400).

[0177] Item 9. The tubular member of Item 8, wherein the first angle (406) is between -100 and +100 degrees, more preferably between -80 and +80 degrees.

[0178] Item 10. The tubular member of Item 1, 8, or 9, wherein the second circumferential slit (45) is oriented to form a second angle (408) with the first radial circumference (400).

[0179] Item 11. The tubular member of Item 10, wherein the second angle (408) is between -100 and +100 degrees, more preferably between -80 and +80 degrees.

[0180] Item 12. The tubular member according to any one of Items 1 to 6 and 8 to 11, wherein the first flexible portion (2) comprises:

[0181] a third circumferential slit (543) and a fourth circumferential slit (545), wherein the third circumferential slit (543) is disposed opposite to the fourth circumferential slit (545), wherein the third circumferential slit (543) includes a fifth end (57) and a sixth end, wherein the third circumferential slit (543) is partially disposed around the tubular member, and the tubular member extends from the fifth end (57) to the sixth end in a third circumferential direction (H), wherein the fourth circumferential slit (545) includes a seventh end (511) and an eighth end (513), The fourth circumferential slit (545) is partially arranged around the tubular member, and the tubular member extends from the seventh end (511) to the eighth end (513) in a fourth circumferential direction (G), wherein the third circumferential direction (H) and the fourth circumferential direction (G) are opposite directions, wherein the fifth end (57) and the seventh end (511) are preferably located on the first radial circumference (400), wherein the fifth end (57) and the seventh end (511) are arranged so that the second bridge portion (515) is provided between the third and

[0182] The fourth week is between the narrow slits;

[0183] The first flexible portion includes a third longitudinal slit (517) arranged longitudinally along the tubular member (51; 61; 81) or arranged obliquely relative to the longitudinal direction and a fourth longitudinal slit (519) arranged longitudinally along the tubular member (51; 61; 81) or arranged obliquely relative to the longitudinal direction, wherein the third circumferential slit (543) is connected to the third longitudinal slit (517), wherein the fourth circumferential slit (545) is connected to the fourth longitudinal slit (519), and wherein the third longitudinal slit (517) and the fourth longitudinal slit (519) are arranged to define the longitudinal side of the second bridging portion (515).

[0184] Item 13. A tubular member according to Item 7, wherein the first circumferential slit (3) is connected to one end of the first longitudinal slit (17) at the first end (7) through a first intermediate slit (22), and is connected to one end of the third longitudinal slit (317) at the second end (39) through a second intermediate slit (26); and the second circumferential slit (5) is connected to one end of the second longitudinal slit (19) at the third end (11) through a third intermediate slit (24), and is connected to one end of the fourth longitudinal slit (319) at the fourth end (313) through a fourth intermediate slit (28).

[0185] Item 14. A tubular member according to any one of the preceding items, wherein the tubular member (1; 31; 41; 51; 61; 71; 81; 91; 101; 111) comprises two or more flexible portions (2, 2') according to any one of the preceding items.

[0186] Item 15. The tubular member according to Item 14, wherein the two or more flexible portions (2, 2') are arranged in an alternating 90 degree rotated pattern.

[0187] Item 16. The tubular member according to any one of the preceding items, wherein the tubular member has one of a circular, oval, elliptical and rectangular cross-section.

[0188] Item 17. The tubular member according to any one of the preceding items, wherein the tubular member is made of at least one of the following group of materials:

[0189] biocompatible polymeric materials, including polyurethane;

[0190] Polyethylene or polypropylene;

[0191] Stainless steel;

[0192] Cobalt-chromium alloy;

[0193] Shape memory alloys, such as

[0194] plastic;

[0195] polymer;

[0196] composite materials; or

[0197] Other curable materials.

[0198] Item 18. The tubular member of any of the preceding items, wherein the circumferential and longitudinal slits are produced by material removal techniques comprising at least one of photochemical etching, deep drawing, machining techniques, and laser cutting.

[0199] Item 19. A tubular member according to any of the preceding items, wherein the circumferential slits have the same length, preferably between 25% and 50% of the outer circumference of the tubular member, more preferably between 30% and 45%, and most preferably between 35% and 40%.

[0200] Item 20. The tubular member of any preceding Item, wherein the circumferential slit is narrower near its ends than in a central portion between the ends.

[0201] Item 21. A tubular member according to any one of the preceding items, wherein each bridging portion has one of the forms of an S-shape, a mirrored S-shape, a Z-shape, a mirrored Z-shape, and a first and a second U-shaped sub-bridging portion, each sub-bridging portion having a side leg arranged in the longitudinal direction or inclined relative to the longitudinal direction and a lower base leg arranged relative to the circumferential direction or inclined relative to the longitudinal direction, and the first and second U-shaped sub-bridging portions have relatively oriented openings, and a side leg of the first sub-bridging portion is connected to a side leg of the second sub-bridging portion.

[0202] Item 22. An instrument for endoscopic applications or the like, comprising a tubular member according to any one of the preceding items.

[0203] Item 23. A cylindrical member (440), the cylindrical member (440) comprising a first rigid end portion (260), a second end rigid portion (262), and a plurality of longitudinal elements (242), wherein each of the plurality of longitudinal elements (242) extends from the first rigid end portion (260) to the second rigid end portion (262), wherein at least one of the longitudinal elements (242) comprises a first portion (248), a second portion (246), and a connecting portion (454), wherein the connecting portion (454) connects the first portion (248) and the second portion (246), wherein the first portion (248) is thinner than the second portion (246), wherein the longitudinal element (242) in the first portion (248) comprises a longitudinal strip (256), wherein the longitudinal strip (256) comprises a longitudinal slit (264), wherein the longitudinal slit (264) extends from the second rigid end portion (262) to the connecting portion (252) and connects the longitudinal strip (256). 6) is divided into two parallel sub-strips (268, 272), wherein the connecting portion (454) includes a rope equalizer structure, the rope equalizer structure including a bridge portion (414), a first cable and a second cable, wherein the first cable is connected to one of the two parallel sub-strips (268, 272) and the second cable is connected to the other of the two parallel sub-strips (268, 272), wherein the bridge portion connects the second portion (246) to the first cable and the second cable, wherein the rope equalizer structure includes a first rotation point, a second rotation point and a third rotation point, wherein the first rotation point is located on the bridge portion (414), the second rotation point is located on the first cable, and the third rotation point is located on the second cable, so that when there is a longitudinal displacement difference between the first cable and the second cable, the rope equalizer structure rotates about the first rotation point to compensate for the longitudinal displacement difference between the first cable and the second cable.

[0204] Item 24. A cylindrical member (440) according to Item 22, wherein the connecting portion (454) further includes two curved strips (490, 492) and a bridging portion (414), wherein the two curved strips (490, 492) surround an opening (476), wherein the opening (476) is connected to the longitudinal slit (264), wherein the bridging portion (414) is connected to the second portion (246) and the two curved strips (490, 492), wherein the two curved strips (490, 492) are respectively connected to the two parallel sub-strips (268, 272), and wherein the concave sides of the two curved strips (490, 492) are arranged facing each other and surrounding the opening (476), so that the two curved strips (490, 492) define the side surfaces of the opening (476).

[0205] Item 25. A cylindrical member (440) according to Item 23, wherein the opening (476) comprises a half-moon shape, wherein the convex side of the half-moon shape of the opening faces the first portion (248), such that the longitudinal slit (264) is connected to the opening at its convex side, and the opening is further defined by a straight side perpendicular to the longitudinal direction, wherein the straight side faces the concave side of the opening.

[0206] Item 26. The cylindrical member (440) of Item 24, wherein the connecting portion (454) further comprises a first slit (402) and a second slit (404), wherein the first slit (402) and the second slit (404) extend longitudinally from each end of the straight side of the opening toward the second portion (246).

[0207] Item 27. A cylindrical member (440) according to Item 25, wherein the cylindrical member (440) further includes two longitudinal slits (410, 412), wherein the two longitudinal slits (410, 412) extend longitudinally in at least one of the second portion (246) and the connecting portion (452), such that the sides of the two longitudinal slits (410, 412) define the boundaries of the bridging portion (414).

[0208] Item 28. A cylindrical member (440) according to Item 26, wherein the connecting portion (452) further includes two circumferential slits (406, 408), wherein the two circumferential slits (406, 408) extend in the circumferential direction and are connected to the longitudinal slits (410, 412) at one end thereof, respectively, and are connected to the gap between the two adjacent second portions (246) at the other end thereof.

[0209] Item 29. The cylindrical member according to any of the preceding items, wherein the cylindrical member has eight longitudinal elements (242).

[0210] Item 30. A columnar member according to any of the preceding items, wherein the width of the bridge portion (414) is in the range of 1.5 times to 2.5 times the width of the strip (256), and preferably, the width of the bridge portion (414) is twice the width of one of the two parallel sub-strips (268, 272).

[0211] Item 31. The cylindrical component according to any of the preceding items, wherein the two parallel sub-strips (268, 272) have the same width.

[0212] Item 32. A cylindrical member (540; 640), the cylindrical member (540; 640) comprising a first rigid end, a second rigid end, and a plurality of longitudinal elements (542), wherein each of the plurality of longitudinal elements extends from the first rigid end to the second rigid end, wherein at least one of the longitudinal elements (542) is separated from an adjacent longitudinal element (678) by a spacer (554), wherein longitudinal sides of the longitudinal element (542) are defined by a first longitudinal slit (546) and a second longitudinal slit (550), wherein the spacer (554; 644) is defined by a first circumferential slit (558), a third longitudinal slit (560), and a second circumferential slit (562), wherein the The first circumferential slit (558) extends from the second longitudinal slit (550) toward the adjacent longitudinal element (678) in a first circumferential direction, and wherein the first circumferential slit (558) is communicatively connected to the second longitudinal slit (550), the third longitudinal slit (560) is communicatively connected to the first circumferential slit (558) and extends from the first circumferential slit (558) in the longitudinal direction, and the second circumferential slit (562) is communicatively connected to the third longitudinal slit (560) and extends from the third longitudinal slit (560) toward the second longitudinal slit (550) in a second circumferential direction, wherein the first circumferential direction and the second longitudinal direction are opposite directions.

[0213] Item 33. A cylindrical member (640) according to Item 31, wherein the spacer (644) is further defined by an inverted U-shaped slit (680), wherein the inverted U-shaped slit (680) is connected to the second circumferential slit (562) at the end of one leg of the inverted U-shaped slit (680), and wherein the inverted U-shaped slit (680) is oriented so that the end of the other leg of the inverted U-shaped slit (680) faces the longitudinal slit (560), and the convex side of the inverted U-shaped slit (680) faces the second longitudinal slit (550).

[0214] Item 34. The cylindrical member according to any one of the preceding items, wherein the tubular member has one of a circular, oval, elliptical and rectangular cross-section.

[0215] Item 35. The cylindrical member according to any one of the preceding items, wherein the cylindrical member is made of at least one of the following group of materials:

[0216] biocompatible polymeric materials, including polyurethane;

[0217] Polyethylene or polypropylene;

[0218] Stainless steel;

[0219] Cobalt-chromium alloy;

[0220] Shape memory alloys, such as

[0221] plastic;

[0222] polymer;

[0223] composite materials; or

[0224] Other curable materials.

[0225] Item 36. The cylindrical component according to any of the preceding items, wherein the circumferential and longitudinal slits are produced by material removal techniques including at least one of photochemical etching, deep drawing, machining techniques, and laser cutting.

[0226] Item 37. An instrument for endoscopic applications or the like, comprising a cylindrical member according to any one of the preceding items.

[0227] The examples and embodiments described herein are intended to illustrate, not to limit, the present invention. Those skilled in the art will be able to design alternative embodiments without departing from the scope of the claims. Reference signs within parentheses in the claims should not be construed as limiting the scope of the claims. Items described as separate entities in the claims or the specification may be implemented as a single or multiple hardware items that combine the features of the described items.

[0228] It should be understood that the present invention is limited only by the appended claims and their technical equivalents. In this document and its claims, the verb "comprise" and its variations are used in its non-restrictive sense, meaning that the items following the word are included, without excluding items not specifically mentioned. In addition, the indefinite article "a" or "an" referring to an element does not exclude the possibility that more than one element is present, unless the context clearly requires that there is one and only one element. Therefore, the indefinite article "a" or "an" generally means "at least one".

Claims

1. A tubular member having a central axis (29) extending in a longitudinal direction, the tubular member having a first flexible portion (2), wherein the first flexible portion (2) comprises: a first circumferential slit (43) and a second circumferential slit (45), wherein the first circumferential slit (43) is disposed opposite the second circumferential slit (45), wherein the first circumferential slit (43) includes a first end (7) and a second end (49), the first circumferential slit (43) being disposed partially around the tubular member extending from the first end to the second end in a first circumferential direction (A; C; E), wherein the second circumferential slit includes a third end (11) and a fourth end (413), the second circumferential slit being disposed partially around the tubular member extending from the third end to the fourth end in a second circumferential direction (B; D; F), wherein the first circumferential direction and the second circumferential direction are opposite directions, and wherein the first end (7) and the third end (11) are located on a first radial circumference (400) extending perpendicular to the central axis (29); wherein the first flexible portion (2) comprises a first longitudinal slit (17) extending along the tubular member in the longitudinal direction or inclined relative to the longitudinal direction and a second longitudinal slit (19) extending along the tubular member in the longitudinal direction or inclined relative to the longitudinal direction, wherein the first circumferential slit (43) is connected to the first longitudinal slit (17) at the first end (7), wherein the second circumferential slit (45) is connected to the second longitudinal slit (19) at the third end (11), and the first longitudinal slit (17) and the second longitudinal slit (19) are arranged to define longitudinal sides of the first bridge portion (15); The first flexible portion (2) comprises: a third circumferential slit (543) and a fourth circumferential slit (545), wherein the third circumferential slit (543) is arranged opposite to the fourth circumferential slit (545), wherein the third circumferential slit (543) includes a fifth end (57) and a sixth end, and the third circumferential slit (543) is partially arranged around the tubular member extending from the fifth end (57) to the sixth end in a third circumferential direction (H), wherein the fourth circumferential slit (545) includes a seventh end (511) and an eighth end (513), and the fourth circumferential slit (545) is partially arranged around the tubular member extending from the seventh end (511) to the eighth end (513) in a fourth circumferential direction (G), wherein the third circumferential direction (H) and the fourth circumferential direction (G) are opposite directions, and wherein the fifth end (57) and the seventh end (511) are located on the first radial circumference (400); The first flexible portion comprises a third longitudinal slit (517) extending along the tubular member in the longitudinal direction or inclined relative to the longitudinal direction and a fourth longitudinal slit (519) extending along the tubular member in the longitudinal direction or inclined relative to the longitudinal direction, wherein the third circumferential slit (543) is connected to the third longitudinal slit (517) at the fifth end (57), wherein the fourth circumferential slit (545) is connected to the fourth longitudinal slit (519) at the seventh end (511), and wherein the third longitudinal slit (517) and the fourth longitudinal slit (519) are arranged to define longitudinal sides of the second bridge portion (515); wherein the first circumferential slot (43) includes a first side extending from the first end to the second end and a second side extending from the first end to the second end, wherein the first side is opposite the second side, and wherein the first side includes a first pin and the second side includes a first channel shape, wherein the first pin corresponds to the shape of the first channel such that when the first pin is located within the first channel, the first pin is movable within the first channel.

2. The tubular member according to claim 1, wherein the first pin has an inclined curved U-shape, and there are first and second curved slits on both sides of the U-shape of the first pin, and the first and second curved slits both extend in a circular direction around the first center point of the first bridge portion.

3. A tubular member according to claim 1, wherein the second circumferential slit (45) includes a third side extending from the third end to the fourth end and a fourth side extending from the third end to the fourth end, wherein the third side is opposite to the fourth side, and wherein the third side includes a second pin and the fourth side includes a second channel shape, wherein the second pin corresponds to the shape of the second channel so that when the second pin is located in the second channel, the second pin can move in the second channel.

4. The tubular member according to claim 3, wherein the second pin has an inclined curved U-shape, and there are third and fourth curved slits on both sides of the U-shape of the second pin, and the third and fourth curved slits both extend in a circular direction around the first center point of the first bridge portion.

5. A tubular member according to claim 1, wherein the third circumferential slit (543) includes a fifth side extending from the fifth end to the sixth end and a sixth side extending from the fifth end to the sixth end, wherein the fifth side is opposite to the sixth side, and wherein the fifth side includes a third pin and the sixth side includes a third channel shape, wherein the third pin corresponds to the shape of the third channel so that when the third pin is located in the third channel, the third pin can move in the third channel.

6. The tubular member according to claim 5, wherein the third pin has an inclined curved U-shape, and there are fifth and sixth curved slits on both sides of the U-shaped third pin, and the fifth and sixth curved slits both extend in a circular direction around the second center point of the second bridge portion.

7. A tubular member according to claim 5, wherein the fourth circumferential slit (545) includes a seventh side extending from the seventh end to the eighth end and an eighth side extending from the seventh end to the eighth end, wherein the seventh side is opposite to the eighth side, and wherein the seventh side includes a fourth pin and the eighth side includes a fourth channel shape, wherein the fourth pin corresponds to the shape of the fourth channel so that when the fourth pin is located in the fourth channel, the fourth pin can move in the fourth channel.

8. The tubular member according to claim 7, wherein the fourth pin has an inclined curved U-shape, and there are seventh and eighth curved slits on both sides of the U-shaped fourth pin, and the seventh and eighth curved slits both extend in a circular direction around the second center point of the second bridge portion.

9. A tubular member having a central axis (29) extending in a longitudinal direction, the tubular member having a first flexible portion (2), wherein the first flexible portion (2) comprises: a first circumferential slit (43) and a second circumferential slit (45), wherein the first circumferential slit (43) is disposed opposite the second circumferential slit (45), wherein the first circumferential slit (43) includes a first end (7) and a second end (49), the first circumferential slit (43) being disposed partially around the tubular member extending from the first end to the second end in a first circumferential direction (A; C; E), wherein the second circumferential slit includes a third end (11) and a fourth end (413), the second circumferential slit being disposed partially around the tubular member extending from the third end to the fourth end in a second circumferential direction (B; D; F), wherein the first circumferential direction and the second circumferential direction are opposite directions, and wherein the first end (7) and the third end (11) are located on a first radial circumference (400) extending perpendicular to the central axis (29); wherein the first flexible portion (2) comprises a first longitudinal slit (17) extending along the tubular member in the longitudinal direction or inclined relative to the longitudinal direction and a second longitudinal slit (19) extending along the tubular member in the longitudinal direction or inclined relative to the longitudinal direction, wherein the first circumferential slit (43) is connected to the first longitudinal slit (17) at the first end (7), wherein the second circumferential slit (45) is connected to the second longitudinal slit (19) at the third end (11), and the first longitudinal slit (17) and the second longitudinal slit (19) are arranged to define longitudinal sides of the first bridge portion (15); The first flexible portion (2) comprises: a third circumferential slit (543) and a fourth circumferential slit (545), wherein the third circumferential slit (543) is arranged opposite to the fourth circumferential slit (545), wherein the third circumferential slit (543) includes a fifth end (57) and a sixth end, and the third circumferential slit (543) is partially arranged around the tubular member extending from the fifth end (57) to the sixth end in a third circumferential direction (H), wherein the fourth circumferential slit (545) includes a seventh end (511) and an eighth end (513), and the fourth circumferential slit (545) is partially arranged around the tubular member extending from the seventh end (511) to the eighth end (513) in a fourth circumferential direction (G), wherein the third circumferential direction (H) and the fourth circumferential direction (G) are opposite directions, and wherein the fifth end (57) and the seventh end (511) are located on the first radial circumference (400); The first flexible portion comprises a third longitudinal slit (517) extending along the tubular member in the longitudinal direction or inclined relative to the longitudinal direction and a fourth longitudinal slit (519) extending along the tubular member in the longitudinal direction or inclined relative to the longitudinal direction, wherein the third circumferential slit (543) is connected to the third longitudinal slit (517) at the fifth end (57), wherein the fourth circumferential slit (545) is connected to the fourth longitudinal slit (519) at the seventh end (511), and wherein the third longitudinal slit (517) and the fourth longitudinal slit (519) are arranged to define longitudinal sides of the second bridge portion (515); wherein the first circumferential slit (43) has a first length, the second circumferential slit (45) has a second length, the third circumferential slit (543) has a third length, and the fourth circumferential slit (545) has a fourth length, and each of the first length, the second length, the third length, and the fourth length has a size between 25% and 50% of the outer circumference of the tubular member.

10. The tubular member of claim 9, wherein each of the first length, the second length, the third length, and the fourth length has a dimension between 30% and 45% of an outer circumference of the tubular member.

11. The tubular member of claim 10, wherein each of the first length, the second length, the third length, and the fourth length has a dimension between 35% and 40% of an outer circumference of the tubular member.

12. The tubular member according to claim 9, wherein the first longitudinal slit (17) is parallel to the second longitudinal slit (19).

13. The tubular member according to claim 9, wherein the first longitudinal slit (17) is inclined at 0 to 45 degrees relative to the longitudinal direction.

14. The tubular member according to claim 13, wherein the first longitudinal slit (17) is inclined by 0 to 20 degrees relative to the longitudinal direction.

15. The tubular member according to claim 14, wherein the first longitudinal slit (17) is inclined by 0 to 10 degrees relative to the longitudinal direction.

16. The tubular member according to claim 9, wherein the second longitudinal slit (19) is inclined at 0 to 45 degrees relative to the longitudinal direction.

17. The tubular member according to claim 16, wherein the second longitudinal slit (19) is inclined by 0 to 20 degrees relative to the longitudinal direction.

18. The tubular member according to claim 17, wherein the second longitudinal slit (19) is inclined by 0 to 10 degrees relative to the longitudinal direction.

19. A tubular member according to claim 9, wherein the first circumferential slit (43) includes a first side extending from the first end to the second end and a second side extending from the first end to the second end, wherein the first side is opposite to the second side, and wherein the first side includes a first pin and the second side includes a first channel shape, wherein the first pin corresponds to the shape of the first channel so that when the first pin is located in the first channel, the first pin can move in the first channel.

20. The tubular member of claim 19, wherein the first pin has an inclined curved U-shape with first and second curved slits on either side of the U-shape of the first pin, both of the first and second curved slits extending in a circular direction around a first center point of the first bridge portion.

21. A tubular member according to claim 19, wherein the second circumferential slit (45) includes a third side extending from the third end to the fourth end and a fourth side extending from the third end to the fourth end, wherein the third side is opposite to the fourth side, and wherein the third side includes a second pin and the fourth side includes a second channel shape, wherein the second pin corresponds to the shape of the second channel so that when the second pin is located in the second channel, the second pin can move in the second channel.

22. The tubular member of claim 21, wherein the second pin has an inclined curved U-shape, with third and fourth curved slits on either side of the U-shape of the second pin, both of the third and fourth curved slits extending in a circular direction around the first center point of the first bridge portion.

23. A tubular member according to claim 9, wherein the third circumferential slit (543) includes a fifth side extending from the fifth end to the sixth end and a sixth side extending from the fifth end to the sixth end, wherein the fifth side is opposite to the sixth side, and wherein the fifth side includes a third pin and the sixth side includes a third channel shape, wherein the third pin corresponds to the shape of the third channel so that when the third pin is located in the third channel, the third pin can move in the third channel.

24. The tubular member of claim 23, wherein the third pin has an inclined curved U-shape, with fifth and sixth curved slits on either side of the U-shape of the third pin, both of the fifth and sixth curved slits extending in a circular direction around the second center point of the second bridge portion.

25. A tubular member according to claim 23, wherein the fourth circumferential slit (545) includes a seventh side extending from the seventh end to the eighth end and an eighth side extending from the seventh end to the eighth end, wherein the seventh side is opposite to the eighth side, and wherein the seventh side includes a fourth pin and the eighth side includes a fourth channel shape, wherein the fourth pin corresponds to the shape of the fourth channel so that when the fourth pin is located in the fourth channel, the fourth pin can move in the fourth channel.

26. The tubular member of claim 25, wherein the fourth pin has an inclined curved U-shape, with seventh and eighth curved slits on either side of the U-shape of the fourth pin, both of the seventh and eighth curved slits extending in a circular direction around the second center point of the second bridge portion.

27. The tubular member of claim 9, wherein the first circumferential slit (43) is oriented to form a first angle (406) with the first radial circumference (400).

28. The tubular member of claim 27, wherein the first angle (406) is between -100 and +100 degrees.

29. The tubular member of claim 27, wherein the first angle (406) is between -80 and +80 degrees.

30. The tubular member of claim 9, wherein the second circumferential slit (45) is oriented to form a second angle (408) with the first radial circumference (400).

31. The tubular member of claim 30, wherein the second angle (408) is between -100 and +100 degrees.

32. The tubular member of claim 30, wherein the second angle (408) is between -80 and +80 degrees.

33. The tubular member according to claim 9, wherein the tubular member comprises two or more flexible portions (2, 2') according to claim 9.

34. The tubular member according to claim 33, wherein the two or more flexible portions (2, 2') are arranged in an alternating 90 degree rotation pattern.

35. The tubular member of claim 9, wherein the tubular member has one of a circular, oval, elliptical, and rectangular cross-section.

36. The tubular member of claim 9, wherein the tubular member is made of at least one of the following group of materials: biocompatible polymeric materials, including polyurethane; Polyethylene or polypropylene; Stainless steel; Cobalt-chromium alloy; shape memory alloys; plastic; polymer; composite materials; or Other curable materials.

37. The tubular member of claim 9, wherein the circumferential and longitudinal slits are produced by material removal techniques including at least one of photochemical etching, deep drawing, machining techniques, and laser cutting.

38. The tubular member of claim 9, wherein each of the first, second, third, and fourth circumferential slits is narrower near ends thereof than in a central portion between the ends.

39. A tubular member according to claim 9, wherein each of the first bridging portion and the second bridging portion has one of the forms of an S-shape, a mirrored S-shape, a Z-shape, a mirrored Z-shape, and a first U-shaped sub-bridging portion and a second U-shaped sub-bridging portion, each U-shaped sub-bridging portion having a side leg arranged in the longitudinal direction or inclined relative to the longitudinal direction and a lower base leg arranged in the circumferential direction or inclined relative to the longitudinal direction, and the first U-shaped sub-bridging portion and the second U-shaped sub-bridging portion have relatively oriented openings, and one side leg of the first U-shaped sub-bridging portion is connected to one side leg of the second U-shaped sub-bridging portion.

40. An apparatus for endoscopic applications comprising a tubular member according to any one of claims 1 to 9.

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