Multi-helix flexible mechanism

Abstract

To provide a multiple helix flexible mechanism which prevents a wired from slackening.SOLUTION: A large number of flexible tubes 110 are included, each of the large number of flexible tubes including at least two steering wires linearly disposed therein in a longitudinal direction to transmit an operation force applied to one end in the longitudinal direction to an end effector connected to the other end in the longitudinal direction. At least two flexible tubes are provided, and the at least two flexible tubes are spirally twisted along the longitudinal direction to form a flexible tube group 101.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a multi-helix flexible mechanism, and more specifically, to preventing slack of a wire and enabling smooth control of the operation of an end effector attached to the end, and at least two or more flexible tubes are spirally twisted along the longitudinal direction, and a steering wire is linearly arranged along the longitudinal direction in each flexible tube. The present invention relates to a multi-helix flexible mechanism. When preventing slack of a wire and enabling smooth control of the operation of an end effector attached to the end, and at least two or more flexible tubes are spirally twisted along the longitudinal direction, and a steering wire is linearly arranged along the longitudinal direction in each flexible tube. That is, at least two or more flexible tubes are spirally twisted along the longitudinal direction, and a steering wire is linearly arranged along the longitudinal direction in each flexible tube. The multi-helix flexible mechanism is such that a steering wire is linearly arranged along the longitudinal direction in each flexible tube. The present invention relates to a multi-helix flexible mechanism.

Background Art

[0002] Flexible mechanisms are utilized for medical applications such as observing or treating narrow spaces with bends, or for robotic applications such as controlling the end effector of a robot. That is, flexible mechanisms are utilized for medical applications such as observing or treating narrow spaces with bends, or for robotic applications such as controlling the end effector of a robot.

[0003] To more specifically describe a conventional flexible mechanism, refer to FIGS. 1 and 2. Refer to FIGS. 1 and 2.

[0004] As shown in FIG. 1, a conventional flexible mechanism 10 includes a backbone 11, a number of steering wires (W1, W2, W3) 12, a handler 14 that serves as a steering operation device, and an end effector 15. The backbone 11 is drawn into a predetermined path and bends along that path. The steering wires 12 are arranged along the longitudinal direction of the backbone 11 and transmit the operating force provided from the handler 14 to the end effector 15. As shown in FIG. 1, a conventional flexible mechanism 10 includes a backbone 11, a number of steering wires (W1, W2, W3) 12, a handler 14 that serves as a steering operation device, and an end effector 15. The backbone 11 is drawn into a predetermined path and bends along that path. The steering wires 12 are arranged along the longitudinal direction of the backbone 11 and transmit the operating force provided from the handler 14 to the end effector 15. As shown in FIG. 1, a conventional flexible mechanism 10 includes a backbone 11, a number of steering wires (W1, W2, W3) 12, a handler 14 that serves as a steering operation device, and an end effector 15. The backbone 11 is drawn into a predetermined path and bends along that path. The steering wires 12 are arranged along the longitudinal direction of the backbone 11 and transmit the operating force provided from the handler 14 to the end effector 15. As shown in FIG. 1, a conventional flexible mechanism 10 includes a backbone 11, a number of steering wires (W1, W2, W3) 12, a handler 14 that serves as a steering operation device, and an end effector 15. The backbone 11 is drawn into a predetermined path and bends along that path. The steering wires 12 are arranged along the longitudinal direction of the backbone 11 and transmit the operating force provided from the handler 14 to the end effector 15. As shown in FIG. 1, a conventional flexible mechanism 10 includes a backbone 11, a number of steering wires (W1, W2, W3) 12, a handler 14 that serves as a steering operation device, and an end effector 15. The backbone 11 is drawn into a predetermined path and bends along that path. The steering wires 12 are arranged along the longitudinal direction of the backbone 11 and transmit the operating force provided from the handler 14 to the end effector 15. As shown in FIG. 1, a conventional flexible mechanism 10 includes a backbone 11, a number of steering wires (W1, W2, W3) 12, a handler 14 that serves as a steering operation device, and an end effector 15. The backbone 11 is drawn into a predetermined path and bends along that path. The steering wires 12 are arranged along the longitudinal direction of the backbone 11 and transmit the operating force provided from the handler 14 to the end effector 15.

[0005] In this way, when transmitting the operating force from the handler 14 to the end effector 15 by the steering wires 12, the posture of the backbone, that is, the deviation of the path through which the backbone passes, 15 is transmitted, the posture of the backbone, that is, the deviation of the path through which the backbone passes, As a result, unnecessary operating force is generated.

[0006] For a more specific explanation, referring to FIG. 1, when the backbone 11 is linear , the distance between the first cross-section (ES1) and the second cross-section (ES2) of the backbone 11 is L. In this case, the distance between the first cross-section (ES1) and the second cross-section (ES2) of the steering wires (W1, W2, W3) provided in the backbone 11 is also the same as L. In this case, since the lengths of the backbone 11 and the steering wires (W1, W2, W3) are the same as each other, the relative displacement is understood to be 0.

[0007] At this time, as shown in FIG. 2, when a displacement occurs in the flexible mechanism 10 , a relative displacement occurs between the backbone 11 and the steering wire 12. For example, referring to the A region in FIG. 2, the first steering wire (W1) will protrude beyond the first cross-section (ES1) and the second cross-section (ES2). On the other hand, referring to the B region in FIG. 2 , the third steering wire (W3) will not reach between the first cross-section (ES1) and the second cross-section (ES2).

[0008] In this case, there is a problem that unnecessary changes occur in the tension exerted by the steering wire 12 on the end effector 15, resulting in unnecessary operations. As a result, not only is it difficult to control the operation of the end effector 5, but there is also the inconvenience that the phenomenon of the steering wire 12 breaking frequently occurs.

[0009] On the other hand, due to the characteristics of the application field, when the diameter of the flexible mechanism must be reduced , it is difficult to insert a large number of steering wires into one flexible mechanism.​ In such a case, it is possible to use a structure in which a number of flexible mechanisms are spirally wound. It is possible.

[0010] Here, in the conventional case, the steering wires inserted into each flexible structure are also inserted through spiral passages and form a spirally wound structure. Here, in the conventional case, the steering wires inserted into each flexible structure are also inserted through spiral passages and form a spirally wound structure.

[0011] However, even in this case, when displacement occurs in the flexible mechanism, there is a limit in solving the problem that the steering wire is pulled or loosened and unnecessary operations occur. However, even in this case, when displacement occurs in the flexible mechanism, there is a limit in solving the problem that the steering wire is pulled or loosened and unnecessary operations occur.

SUMMARY OF THE INVENTION

PROBLEMS TO BE SOLVED BY THE INVENTION

[0012] An object of the present invention is to provide a multi-helix flexible mechanism that can prevent slack of a wire and smoothly control the operation of an end effector attached to the end. An object of the present invention is to provide a multi-helix flexible mechanism that can prevent slack of a wire and smoothly control the operation of an end effector attached to the end. It is to do.

[0013] The object of the present invention is not limited to the above.

MEANS FOR SOLVING THE PROBLEM

[0014] To achieve the above object, the present invention provides a multi-helix flexible mechanism. It provides.

[0015] The multi-helix flexible mechanism includes a number of flexible tubes extending in the longitudinal direction, and each of the number of flexible tubes has at least two or more steering wires linearly arranged in the longitudinal direction inside in order to transmit an operating force applied to one end in the longitudinal direction to an end effector connected to the other end in the longitudinal direction. The multi-helix flexible mechanism includes a number of flexible tubes extending in the longitudinal direction, and each of the number of flexible tubes has at least two or more steering wires linearly arranged in the longitudinal direction inside in order to transmit an operating force applied to one end in the longitudinal direction to an end effector connected to the other end in the longitudinal direction. The multi-helix flexible mechanism includes a number of flexible tubes extending in the longitudinal direction, and each of the number of flexible tubes has at least two or more steering wires linearly arranged in the longitudinal direction inside in order to transmit an operating force applied to one end in the longitudinal direction to an end effector connected to the other end in the longitudinal direction. The multi-helix flexible mechanism includes a number of flexible tubes extending in the longitudinal direction, and each of the number of flexible tubes has at least two or more steering wires linearly arranged in the longitudinal direction inside in order to transmit an operating force applied to one end in the longitudinal direction to an end effector connected to the other end in the longitudinal direction. At least two or more are provided, and the at least two or more flexible tubes are spirally twisted along the length direction to form a flexible tube group. .

[0016] Furthermore, it includes a flexible shaft extending in the length direction of the flexible tube, and the at least two or more flexible tubes are spirally twisted along the length direction of the outer peripheral surface of the flexible shaft.

[0017] The at least two or more flexible tubes are twisted alternately with the same period. .

[0018] The twist period of the at least two or more flexible tubes is a multiple of 360 degrees. .

[0019] The flexible tube includes at least one straight tunnel provided inside in the length direction, and any one of the steering wires is inserted into any one of the straight tunnels. .

[0020] Furthermore, it includes a housing tube, the housing tube extends in the length direction, and the flexible tube group is arranged in the housing in the length direction.

[0021] Inside the housing tube, a spiral rail is provided to provide a spiral path for the flexible tube group.

[0022] A worm gear consisting of a worm and a worm wheel that meshes with the worm and rotates, and is provided on the inner diameter side of the worm wheel and penetrates the inner diameter of the worm wheel. ​​​​​A clamp portion that is fastened to the outer peripheral surface of one end side in the longitudinal direction of the flexible tube group a material, and when the flexible tube group is twisted by a multiple of 360 degrees due to the rotation of the worm wheel, the worm wheel is pressed against the outer diameter side of the worm wheel, constraining the rotation of the worm wheel to maintain the twisted structure of the flexible tube group, including a worm wheel fixing pin and a mount portion that supports the worm wheel fixing pin.

[0023] The clamp member includes a first clamp fixed to the inner diameter side of the worm wheel, a second clamp arranged symmetrically with the first clamp with the flexible tube group sandwiched therebetween, and a clamp pressure pin connected to the second clamp and pressing the second clamp toward the first clamp by a fastening force applied to the worm wheel, thereby fixing the flexible tube group held by the first clamp and the second clamp.

[0024] At one end and the other end in the longitudinal direction of the flexible tube group, alignment scales for predicting whether the flexible tube group is twisted by a multiple of 360 degrees are respectively displayed on the same straight line.

Advantages of the Invention

[0025] According to the present invention, it includes a plurality of flexible tubes extending in the longitudinal direction, and each of the plurality of flexible tubes linearly arranges at least two or more steering wires inside in the longitudinal direction to transmit an operating force applied to one end in the longitudinal direction to an end effector connected to the other end in the longitudinal direction. The flexible tubes are provided in at least two or more. ​​​​​​​​​​​​and the at least two or more flexible tubes are twisted in a spiral shape along the length direction to form a flexible tube group.

[0026] Thus, a multi-helix flexible mechanism for preventing wire slack is provided, and as a result, smooth operation control of the end effector attached to the end becomes possible. That is, according to the present invention, it is possible to prevent or minimize unnecessary changes in the tension exerted on the end effector and unnecessary operations on the end effector. A multi-helix flexible mechanism can be provided.

[0027] Furthermore, according to the present invention, when applied to an endoscope, it is possible to provide a multi-helix flexible mechanism that not only makes the steering operation of the end effector connected to the end of the endoscope smoother but also extends the lifespan.

[0028] Moreover, according to the present invention, it is possible to provide a multi-helix flexible mechanism applicable to manual tools used in single-channel laparoscopic surgery.

[0029] In addition, according to the present invention, it is possible to provide a multi-helix flexible mechanism widely applicable to various human insertion-type diagnostic and treatment instruments inserted into the bent human body.

[0030] Furthermore, according to the present invention, it is possible to provide a multi-helix flexible mechanism applicable to industrial endoscopes for diagnosing inside bent pipelines, entertainment devices with long bends, and long and bent devices deployed for rescue operations at disaster sites.

[0031] ​​​​​​​​​It is possible to provide a multi-helix flexible mechanism that can be easily applied to etc. etc.

Brief Description of Drawings

[0032]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

DETAILED DESCRIPTION OF THE INVENTION

[0033] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the technical idea of the present invention is not limited to the embodiments described herein, and can be embodied in other forms. Rather, the embodiments introduced here are provided so that the disclosed content is thorough and complete, and that the idea of the present invention is sufficiently conveyed to those skilled in the art. In the present specification, when a certain component is said to be on another component, it means that it is either directly formed on the other component or a third component may be interposed therebetween. Also, in the drawings, shapes and sizes are exaggerated for the effective explanation of the technical content. In various embodiments of the present specification, terms such as first, second, and third are used to describe various components, but these components should not be limited by such terms. These terms are merely used to distinguish one component from another. Thus, what is referred to as the first component in one embodiment may be referred to as the second component in another embodiment. Each embodiment described and illustrated herein includes its complementary embodiment. Also, in the present specification, “and / or” is used to mean including at least one of the components listed before and after.

[0034]

[0035]

[0036] ​​​​​​​​​​​​​In the specification, unless the context clearly indicates otherwise, singular expressions also include plural expressions. Also, terms such as "comprising" or "having" are intended to specify that there are features , numbers, steps, components, or combinations thereof described in the specification, and should not be construed as excluding the existence or possibility of addition of one or more other features, numbers, steps, components, or combinations thereof. Also, in this specification, "connect" is used to mean including both indirectly connecting and directly connecting a plurality of components.

[0037] Also, when explaining the present invention below, if it is determined that a detailed description of related known functions or configurations obscures the gist of the present invention, the detailed description thereof will be omitted.

[0038] FIG. 3 is a diagram for explaining a group of flexible tubes of a flexible mechanism according to an embodiment of the present invention, FIG. 4 is a diagram for explaining a flexible tube of a flexible mechanism according to an embodiment of the present invention, FIG. 5 is a cross-sectional view showing a flexible mechanism according to an embodiment of the present invention, and FIG. 6 is a diagram showing a flexible mechanism according to an embodiment of the present invention with an

[0039] end effector connected to the end. As shown in FIGS. 3 to 5, a multi-helix flexible mechanism 100 according to an embodiment of the

[0040] present invention includes a flexible tube 110 and a wire (W). When the flexible mechanism 100 is used for medical purposes, the flexible tube 110 can move along, for example, the large intestine, esophagus, etc. inside the human body. Here, the flexible tube 110 is made of a flexible material that bends due to the bending inside the human body. Of course, it goes without saying that the flexible tube 110 is made of a material that is gentle to the body in order to move along the path inside the human body. For example, even when the flexible tube 110 is used robotically for vision, it is made of a flexible material. The flexible tube 110 is made of a flexible material that bends due to the bending inside the human body.

[0041] Since the flexible tube 110 moves along the path inside the human body, it goes without saying that it is made of a material that is gentle to the body. For example, even when the flexible tube 110 is used robotically for vision, it is made of a flexible material. Of course, it goes without saying that the flexible tube 110 is made of a material that is gentle to the body in order to move along the path inside the human body. For example, even when the flexible tube 110 is used robotically for vision, it is made of a flexible material. The flexible tube 110 is made of a flexible material that bends due to the bending inside the human body.

[0042] Such a flexible tube 110 is cylindrical and extends in the longitudinal direction. On the flexible tube 110, a steering operation device connected to one end and the other end in the longitudinal direction of the flexible tube 110, and a steering wire (W) for connecting an end effector (180 in FIG. 6) are arranged. As shown in FIG. 4, for this purpose, the flexible tube 110 includes a linear tunnel 111 corresponding to the number of steering wires (W). The linear tunnel 111 is provided inside the flexible tube 110 in the longitudinal direction. The linear tunnel 111 is cylindrical, and both ends in the longitudinal direction are open. Thereby, any one of the linear tunnels 111 provided inside the flexible tube 110 penetrates any one of the steering wires (W).

[0043] As shown in FIG. 4, for this purpose, the flexible tube 110 includes a linear tunnel 111 corresponding to the number of steering wires (W). The linear tunnel 111 is provided inside the flexible tube 110 in the longitudinal direction.

[0044] The linear tunnel 111 is cylindrical, and both ends in the longitudinal direction are open. Thereby, any one of the linear tunnels 111 provided inside the flexible tube 110 penetrates any one of the steering wires (W). The linear tunnel 111 is cylindrical, and both ends in the longitudinal direction are open. Thereby, any one of the linear tunnels 111 provided inside the flexible tube 110 penetrates any one of the steering wires (W). The linear tunnel 111 is cylindrical, and both ends in the longitudinal direction are open. Thereby, any one of the linear tunnels 111 provided inside the flexible tube 110 penetrates any one of the steering wires (W). The linear tunnel 111 is cylindrical, and both ends in the longitudinal direction are open. Thereby, any one of the linear tunnels 111 provided inside the flexible tube 110 penetrates any one of the steering wires (W).

[0045] On the other hand, according to an embodiment of the present invention, at least two flexible tubes 110 are provided. For example, the flexible tubes 110 are two, three, four, ··· n tubes. On the other hand, according to an embodiment of the present invention, at least two flexible tubes 110 are provided. For example, the flexible tubes 110 are two, three, four, ··· n tubes. is provided in the selected number. Here, the flexible tube 110 is preferably provided up to a maximum of 12. It is desirable to be provided.

[0046] Thus, the flexible tube 110 according to an embodiment of the present invention includes a first flexible tube 110a, a second flexible tube 110b, and a third flexible tube 110c.

[0047] In this way, in one embodiment of the present invention, for the sake of convenience of explanation, the flexible tube 11 0 is assumed to include the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c, but the present invention is not limited to this.

[0048] According to an embodiment of the present invention, the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c are twisted spirally along the longitudinal direction, in other words, they form one flexible tube group 101 similarly to the DNA structure. to form.

[0049] Here, the first flexible tube 110a, the second flexible tube 110b , and the third flexible tube 110c are twisted alternately at the same period with respect to each other. Here , the twist period of the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c is a multiple of 360 degrees.

[0050] According to one embodiment, the first flexible tube 110a is twisted spirally while rotating clockwise , and the second flexible tube 110b is rotated counterclockwise However, on the outer peripheral surface of the first flexible tube 110a, it is spirally wound in the longitudinal direction . And the third flexible tube 110c rotates in the clockwise direction while the first f lexible tube 110a and the outer peripheral surfaces of the second flexible tube 110b are spirally wound in the longitudinal direction.

[0051] Here, the first flexible tube 110a, the second flexible tube 110b , and the third flexible tube 110c have the same period and the phase within the period. That is , the nodes and bellies of the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c are the same.

[0052] Here, a shape similar to the DNA of the flexible tube group 101 is maintained by spirally twisting the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c along the longitudinal direction, impregnating this with an ultraviolet curable substance, and then taking this out and irradiating it with ultraviolet rays. However, the present invention is not limited to this .

[0053] As shown in FIG. 5, the steering wire (W) is arranged in a straight line along the longitudinal direction of the flexible tube 110 . Specifically, the steering wire (W) is inserted into a straight tunnel 111 formed in the longitudinal direction of the flexible tube 110, whereby it is linearly arranged in the longitudinal direction of the flexible tube 110.

[0054] The steering wire (W) is tensioned by an operating force applied to a steering operating device connected to one end in the longitudinal direction By adjusting the force, the driving force for controlling the end effector (180 in FIG. 6) connected to the other end in the longitudinal direction can be transmitted.

[0055] A plurality of such steering wires (W) are provided. For example, when n steering wires (W) are provided, the n steering wires (W) can control n - 1 degrees of freedom of the end effector (180 in FIG. 6). Here, the said n is a natural number.

[0056] According to an embodiment of the present invention, the steering wire (W) includes a first steering wire (W1), a second steering wire (W2), and a third steering wire (W3). Thereby, the steering wire (W) can control two degrees of freedom of the end effector (180 in FIG. 6).

[0057] Thus, in an embodiment of the present invention, for convenience of explanation, it is assumed that the steering wire (W) includes a first steering wire (W1), a second steering wire (W2), and a third steering wire (W3), but the present invention is not limited thereto.

[0058] The first steering wire (W1), the second steering wire (W2), and the third steering wire (W3) are disposed inside the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c, respectively. At this time, the first steering wire (W 1), the second steering wire (W2), and the third steering wire (W3) are linearly disposed inside the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c, respectively.

[0059] ​​​​​That is, the first steering wire (W1), the second steering wire (W2), and the third steering wire (W3) are arranged in parallel in the longitudinal direction inside the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c, respectively.

[0060] In one embodiment of the present invention, the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c are arranged in a helically twisted shape along the longitudinal direction, similar to the DNA structure. Thus, the first steering wire (W1), the second steering wire (W2), and the third steering wire (W3) are helically twisted while maintaining parallel to each other .

[0061] The multi-helix flexible mechanism 100 according to one embodiment of the present invention has at least two or more flexible tubes 110 that are helically twisted along the longitudinal direction, and at the same time has steering wires (W) arranged linearly inside each flexible tube 110. Therefore, even when a displacement occurs in the flexible tube 110, the steering wires described with reference to FIG. 2 will not protrude or be retracted unnecessarily from one end of the backbone (flexible tube), minimizing the unnecessary control of the end effector . More specifically, at least two or more flexible tubes 110 with steering wires (W) arranged linearly inside have a helically twisted shape along the longitudinal direction, that is, a structure similar to the DNA structure. Therefore, even when a displacement occurs in the flexible mechanism 100, the paths of the aforementioned steering wires (W1, W2, W3) are maintained constant .

[0062] ​​​​​

[0063] When the flexible tube 110 is displaced, the inner region of the flexible tube 110 becomes shorter in length than in the initial state, and the outer region becomes longer in length than in the initial state. Here, since the steering wires (W1, W2, W3) are linearly arranged inside their respective flexible tubes 110, they are both affected by the length changes occurring in the inner and outer regions of the flexible tube 110. At this time, since at least two or more flexible tubes 110 form a structure twisted spirally along the length direction, the loose regions and the tight regions of the steering wire (W) cancel each other out. As a result, even when displacement occurs in the flexible mechanism 100, the length between one end and the other end in the length direction of the flexible tube 110 is maintained the same for the steering wires (W1, W2, W3).

[0064] In order to achieve such an effect, the period in which at least two or more flexible tubes 110 are wound is a multiple of 360 degrees, and the steering wire (W) arranged inside each flexible tube 110 is linear along the length direction of the flexible tube 110. Here, each flexible tube 110 is arranged in a spiral direction opposite to each other. In contrast, when each flexible tube 110 is arranged in the same spiral direction as each other, there is no problem in the initial state where the flexible tube 110 is linear, but when tension is applied to the steering wire (W), the shape of the flexible tube 110 does not maintain a straight line and will be twisted. At this time, since at least two or more flexible tubes 110 form a structure twisted spirally along the length direction, the loose regions and the tight regions of the steering wire (W) cancel each other out. As a result, even when displacement occurs in the flexible mechanism 100, the length between one end and the other end in the length direction of the flexible tube 110 is maintained the same for the steering wires (W1, W2, W3).

[0065] In order to achieve such an effect, the period in which at least two or more flexible tubes 110 are wound is a multiple of 360 degrees, and the steering wire (W) arranged inside each flexible tube 110 is linear along the length direction of the flexible tube 110. Here, each flexible tube 110 is arranged in a spiral direction opposite to each other. In contrast, when each flexible tube 110 is arranged in the same spiral direction as each other, there is no problem in the initial state where the flexible tube 110 is linear, but when tension is applied to the steering wire (W), the shape of the flexible tube 110 does not maintain a straight line and will be twisted. .

[0066] Here, each flexible tube 110 is arranged in a spiral direction opposite to each other. In contrast, when each flexible tube 110 is arranged in the same spiral direction as each other, there is no problem in the initial state where the flexible tube 110 is linear, but when tension is applied to the steering wire (W), the shape of the flexible tube 110 does not maintain a straight line and will be twisted. If, in contrast, each flexible tube 110 is arranged in the same spiral direction as each other, there is no problem in the initial state where the flexible tube 110 is linear, but when tension is applied to the steering wire (W), the shape of the flexible tube 110 does not maintain a straight line and will be twisted. When tension is applied to the steering wire (W), the shape of the flexible tube 110 does not maintain a straight line and will be twisted. will be twisted.

[0067] When pulling the steering wire (W), the flexible tube 110 is spirally arranged by the force that the spirally arranged steering wire (W) tries to spread out in a straight line, causing a deformation of the shape of the flexible tube 110.

[0068] Thus, according to an embodiment of the present invention, each flexible tube 110 is arranged in spirals in opposite directions, and the steering wire (W) is arranged in a straight line inside each flexible tube 110. Therefore, even when the tension of the steering wire (W) increases, the shape deformation of the flexible tube 110 can be minimized.

[0069] Thereby, according to an embodiment of the present invention, the slack of the steering wire (W) can be prevented, and as a result, the operation of the end effector (180 in FIG. 6) connected to the end can be smoothly controlled.

[0070] That is, according to an embodiment of the present invention, unnecessary changes in the tension applied to the end effector (180 in FIG. 6) and unnecessary operations on the end effector (180 in FIG. 6) can be prevented or minimized.

[0071] Thereby, for example, when the multi-helix flexible mechanism 100 according to an embodiment of the present invention is applied to an endoscope, not only the steering operation of the end effector connected to this end can be made smoother, but also the lifespan can be extended, and it can also be applied to a manual tool used in single-channel laparoscopic surgery.

[0072] That is, the multi-helix flexible mechanism 100 according to an embodiment of the present By achieving the above-described effects, it can be widely applied to various human body insertion type diagnostic and treatment devices inserted into a bent human body.

[0073] Furthermore, the multi-helix flexible mechanism 100 according to an embodiment of the present invention can be easily applied to industrial endoscopes for diagnosing inside a bent pipeline, long and bent entertainment devices, and long and bent devices used for rescue operations at disaster sites, etc.

[0074] FIG. 6 shows a posture in which the multi-helix flexible mechanism 100 according to an embodiment of the present invention is applied to a robot hand.

[0075] As shown in FIG. 6, the flexible tube 110 is composed of a first flexible tube 110a, a second flexible tube 110b, and a third flexible tube 1 10c.

[0076] The first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c are twisted in a spiral shape along the length direction to form a flexible tube group 101.

[0077] Here, the flexible tube group 101 passes through a gimbal 140 that provides rotational freedom and is connected to an end effector 180. The gimbal 140 provides two degrees of rotational freedom in the horizontal axis and vertical axis directions to the end effector 180 with reference to the drawing.

[0078] According to an embodiment of the present invention, the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube in which steering wires are linearly arranged inside 110c The tubes 110c penetrate through the gimbal 140 in a state where they are spirally wound around each other, so that even if the gimbal 140 rotates, the tension state of the steering wires arranged inside each of the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c is maintained as it is.

[0079] Hereinafter, a multi-helix flexible mechanism according to another embodiment of the present invention will be described with reference to FIG. 7.

[0080] FIG. 7 is a diagram for explaining a flexible mechanism according to another embodiment of the present invention. .

[0081] As shown in FIG. 7, a flexible mechanism 200 according to another embodiment of the present invention includes a flexible tube 110, a flexible shaft 120, and a steering wire W (see FIG. 5).

[0082] Another embodiment of the present invention further includes a flexible shaft as compared with one embodiment of the present invention. Therefore, for the remaining identical components, the same reference numerals are given, and detailed descriptions thereof are omitted.

[0083] According to another embodiment of the present invention, the flexible shaft 120 extends in the longitudinal direction of the flexible tube 110.

[0084] The flexible shaft 120 is cylindrical. The flexible shaft 120 is made of a flexible material. Such a flexible shaft 120 is wound around the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c. ​​​​​​Provide a path.

[0085] That is, the first flexible tube 110a, the second flexible tube 110 b, and the third flexible tube 110c will be spirally twisted along the length of the outer peripheral surface of the flexible shaft 120.

[0086] Thus, when the first flexible tube 110a, the second flexible tube 11 0b, and the third flexible tube 110c are spirally twisted around the flexible shaft 120, the spirally twisted shape is supported by the flexible shaft 120, and a more stable shape is maintained.

[0087] Hereinafter, a multi-helix flexible mechanism according to still another embodiment of the present invention will be described with reference to FIG. 8.

[0088] FIG. 8 is a diagram for explaining a flexible mechanism according to still another embodiment of the present invention.

[0089] As shown in FIG. 8, a flexible mechanism 30 0 according to still another embodiment of the present invention includes a flexible tube 110, a housing tube 130, and a steering wire W (see FIG. 5).

[0090] Still another embodiment of the present invention further includes a housing tube as compared with one embodiment of the present invention. Therefore, for the remaining identical components, the same drawing reference numerals are assigned, and detailed descriptions thereof will be omitted.

[0091] The housing tube 130 according to still another embodiment of the present invention is a flexible tube 1 10 extending in the longitudinal direction.

[0092] The housing tube 130 is cylindrical. For example, the housing tube 130 is made of a flexible tube 11. It is made of the same material as 0.

[0093] Such a housing tube 130 has a flexible tube 110 inside, more specifically Alternatively, a plurality of flexible tubes 110a, 110b, and 110c may be spirally wound in the longitudinal direction. The flexible tube group 101 is twisted in a rectangular shape to provide a mounting space for the flexible tube group 101.

[0094] For this purpose, the spiral of the flexible tube group 101 is inserted into the housing tube 130. A spiral rail is provided to provide a spiral path.

[0095] In this manner, the first flexible tube 110a and the second flexible tube 11 0b, and the third flexible tube 110c are twisted in a spiral shape to form a flexible tube. When the tube group 101 is placed in the housing tube 130, the flexible tube The group 101 is supported by the housing tube 130 to maintain a more stable shape. This can be done.

[0096] The characteristics of the multi-helix flexible mechanism according to the embodiment of the present invention are as follows: The following description will be given with reference to FIG. 9 to FIG.

[0097] 9 to 11 are diagrams for explaining the experimental results for Example 1 of the present invention and Comparative Example 1. It is.

[0098] As shown in FIG. 9, in the first embodiment, three flexible tubes 110 (flexible Three flexible tubes (flexible tube 1, flexible tube 2, and flexible tube 3) are twisted in a spiral structure with a 360-degree period along the length direction. Inside each flexible tube 110, four steering wires W (W1, W2, W3, and W4) are arranged in a straight line along the length direction of the flexible tube 110 to fabricate a wrist module. Inside each flexible tube 110, four steering wires W (W1, W2, W3, and W4) are arranged in a straight line along the length direction of the flexible tube 110 to fabricate a wrist module. Inside each flexible tube 110, four steering wires W (W1, W2, W3, and W4) are arranged in a straight line along the length direction of the flexible tube 110 to fabricate a wrist module.

[0099] In Comparative Example 1, three flexible tubes 110 (flexible tube 1, flexible tube 2, and flexible tube 3) are twisted in a spiral structure with a 360-degree period along the length direction. Inside each flexible tube 110, four steering wires W (W1, W2, W3, and W4) are arranged in a spiral structure with a 360-degree period along the length direction of the flexible tube 110 to fabricate a wrist module. Inside each flexible tube 110, four steering wires W (W1, W2, W3, and W4) are arranged in a spiral structure with a 360-degree period along the length direction of the flexible tube 110 to fabricate a wrist module. Inside each flexible tube 110, four steering wires W (W1, W2, W3, and W4) are arranged in a spiral structure with a 360-degree period along the length direction of the flexible tube 110 to fabricate a wrist module. Inside each flexible tube 110, four steering wires W (W1, W2, W3, and W4) are arranged in a spiral structure with a 360-degree period along the length direction of the flexible tube 110 to fabricate a wrist module.

[0100] Here, a discrete length integration method is used to determine the length of the lumen (the inner tunnel of the flexible tube where the steering wires are arranged). The simulation results are shown in FIGS. 10 and 11 and Tables 1 to 6. Here, a discrete length integration method is used to determine the length of the lumen (the inner tunnel of the flexible tube where the steering wires are arranged). The simulation results are shown in FIGS. 10 and 11 and Tables 1 to 6. Here, a discrete length integration method is used to determine the length of the lumen (the inner tunnel of the flexible tube where the steering wires are arranged). The simulation results are shown in FIGS. 10 and 11 and Tables 1 to 6.

[0101] [Table 1]

[0102] [Table 2]

[0103] [Table 3]

[0104]

Table 4

[0105]

Table 5

[0106]

Table 6

[0107] As can be seen from FIGS. 10 and 11 and Tables 1 to 6 above, for each of the wrist modules of Example 1 and Comparative Example 1, when the wrist module was in the expanded state and the displaced state, the length changes of the respective lumens were compared. In the case of Example 1, the length changes of each wire when the wrist module was in the straight case and the displaced case were measured to be from -0.096 to -0.015 mm. On the other hand, in the case of Comparative Example 1, the length changes of each wire when the wrist module was in the straight case and the displaced case were measured to be from -0.606 to 0.606 mm. Therefore, it was confirmed that in Example 1 where the flexible tubes are twisted spirally along the length direction and a straight steering wire is disposed inside each flexible tube, compared with Comparative Example 1 where both the flexible tubes and the steering wires are twisted spirally, even when the wrist module is displaced, the tension from each steering wire to the end effector is maintained constant, and as a result, it is possible to efficiently prevent the slack of the steering wire. As in Example 1, a plurality of flexible tubes are twisted spirally along the length direction, and each

[0108] On the other hand, in the case of Comparative Example 1, the length changes of each wire when the wrist module was in the straight case and the displaced case were measured to be from -0.606 to 0.606 mm.

[0109] Therefore, it was confirmed that in Example 1 where the flexible tubes are twisted spirally along the length direction and a straight steering wire is disposed inside each flexible tube, compared with Comparative Example 1 where both the flexible tubes and the steering wires are twisted spirally, even when the wrist module is displaced, the tension from each steering wire to the end effector is maintained constant, and as a result, it is possible to efficiently prevent the slack of the steering wire.

[0110] As in Example 1, a plurality of flexible tubes are twisted spirally along the length direction, and each ​​​​​​The structure in which the steering wires arranged inside the flexible tube are arranged in a straight line is used in the robot hand design to prevent the lengths of the steering wires used for driving each finger from being affected by being pulled or loosened due to the rotation of the wrist .

[0111] Hereinafter, the flexible mechanism according to a modified embodiment of the present invention will be described with reference to FIGS. 12 to 14 .

[0112] FIGS. 12 to 14 are diagrams for explaining the flexible mechanism according to a modified embodiment of the present invention .

[0113] As shown in FIG. 12, the flexible mechanism according to a modified embodiment of the present invention includes a first flexible tube 110a, a second flexible tube 110b, and a third flexible tube 110c that are spirally twisted along the longitudinal direction to form a flexible tube group 101 and means for maintaining this.

[0114] Accordingly, the flexible mechanism according to a modified embodiment of the present invention includes a worm gear 14 0, a clamp member 150, a worm wheel fixing pin 160, and a mount portion 170 .

[0115] The worm gear 140 includes a worm 141 and a worm wheel 142 that is gear-coupled to the worm 141 so as to rotate in mesh with the worm 141. According to a modified embodiment of the present invention, at the inner diameter center of such a worm wheel 142, one end in the longitudinal direction of the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c is penetrated.

[0116] The clamp member 150 is provided on the inner diameter side of the worm wheel 142. The clamp member 150 is fastened to the outer peripheral surface of one end side in the longitudinal direction of the first flexible tube 1 10a, the second flexible tube 110b, and the third flexible tube 110 c and fixes them integrally.

[0117] According to a modified embodiment of the present invention, such a clamp member 150 includes a first clamp 15 1, a second clamp 152, and a clamp pressure pin 153.

[0118] The first clamp 151 is fixed to the inner diameter side of the worm wheel 142. The first clamp 151 supports the lower side (with reference to the drawing) of the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110 c in a state of being fixed to the inner diameter side of the worm wheel 142. tube 110c.

[0119] The second clamp 152 sandwiches the stacked first flexible tube 110a, second flexible tube 110b, and third flexible tube 110c and supports the upper side (with reference to the drawing) of these flexible tubes 110a, 1 10b, 110c so as to be symmetric with the first clamp 151. That is, these flexible tubes 110a, 1 10b, 110c are press-supported by the first clamp 151 and the second clamp 152 arranged on the upper and lower sides thereof. 10b, 110c are press-supported by the first clamp 151 and the second clamp 152 arranged on the upper and lower sides thereof. 2 clamp 152.

[0120] The clamp pressure pin 153 pressurizes the second clamp 152. For this purpose, the clamp The pressing pin 153 is connected to the second clamp 152. The clamp pressing pin 153 is bolted from the outer radial side to the inner side of the worm wheel 142.

[0121] The lower end in the longitudinal direction of the clamp pressing pin 153 descends when bolted to the worm wheel 142 and comes into contact with the upper side (with reference to the drawing) of the second clamp 152. Here, when the bolting of the clamp pressing pin 153 continues, the pressing force of the clamp pressing pin 153 applied from the lower end in the longitudinal direction of the clamp pressing pin 153 to the upper end of the second clamp 152 continues to increase, whereby the flexible tubes 110a, 110b, 110c embraced in the circumferential direction by the first clamp 151 and the second clamp 152 are pressed and fixed thereby.

[0122] In this way, the clamp pressing pin 153 biases the second clamp 152 toward the first clamp 151 by the tightening force tightened to the worm wheel 142, whereby the flexible tubes 110a, 110b, 110c are pressed and fixed between the first clamp 151 and the second clamp 152.

[0123] The worm wheel fixing pin 160 can restrain the rotation of the worm wheel 142 by pressing against one side of the outer diameter of the worm wheel 142. When the flexible tubes 110a, 110b, 110c are twisted by a multiple of 360 degrees due to the rotation of the worm wheel 142 to form the flexible tube group 101, the worm wheel fixing pin 160 restrains further rotation of the worm wheel 142 so as to maintain the twisted structure of the flexible tube group 101. ​​​​​​​​​​​​​

[0124] Such a worm wheel fixing pin 160 is mounted on the mounting portion 170 and supported by the mounting portion 170. Here, the worm wheel fixing pin 160 is coupled to the mounting portion 170 by a bolt coupling method, so that the outer peripheral surface of the worm wheel 142 can be pressed. That is, the worm wheel fixing pin 160 can restrain the rotation of the worm wheel 142 by the same mechanism as the clamp pressing pin 153.

[0125] As shown in FIG. 13, at the initial set, one end in the length direction of the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c, which are linearly laminated on each other, penetrates the central portion of the worm wheel 142.

[0126] One end in the length direction of these flexible tubes 110a, 110b, 110c is pressed and supported by the clamp member 150 and is positioned in a penetrating shape at the central portion of the worm wheel 142. Here, the other ends in the length direction of these flexible tubes 110a, 110b, 110c are in a fixed state.

[0127] As shown in FIG. 14, in this state, when the worm gear 140 is operated, one end in the length direction of the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c, whose other end in the length direction is fixed, will rotate integrally with the worm wheel 142 of the worm gear 140, and thereby, a flexible tube group 101 twisted spirally along the length direction is formed. ​​​​​​​​​

[0128] Here, the worm gear 140 rotates one end in the longitudinal direction of the flexible tube group 101 so that the twisting period of the flexible tube group 101 becomes a multiple of 360 degrees. The first flexible tube 110a, the second flexible tube 110b, and the length of the third flexible tube 110c can be twisted, and when completed, further rotation can be restricted by the worm wheel fixing pin 160.

[0129] Here, at one end and the other end in the longitudinal direction of the flexible tube group 101, more specifically, at one end and the other end in the longitudinal direction of the first flexible tube 110a, alignment scales (G) are respectively displayed on the same straight line.

[0130] Thus, when the worm wheel 142 rotates, the first flexible tube 11 0a, the second flexible tube 110b, and the length of the third flexible tube 110c One end in the longitudinal direction is rotated to twist them spirally to form the flexible tube group 10 1, it can be easily predicted whether the twisting period of the flexible tube group 101 is a multiple of 360 degrees.

[0131] That is, when the worm wheel 142 is rotated, it is necessary to confirm whether the alignment scales (G) respectively displayed at one end and the other end in the longitudinal direction of the first flexible tube 11 0a are located on the same straight line, and the degree of rotation of the worm wheel 142 can be appropriately controlled.

[0132] The alignment scales (G) respectively displayed at one end and the other end in the longitudinal direction of the first flexible tube 110a being located on the same straight line means that in order to form the flexible tube group 101 ​​​​​​​ That is, the twist periods of the first flexible tube 110a, the second flexible tube 110b, and the third flexible tube 110c are multiples of 360 degrees.

[0133] As described above, the present invention has been described in detail using preferred embodiments. However, the scope of the present invention should not be limited to specific embodiments, but should be analyzed according to the appended claims. Also, those having ordinary knowledge in the technical field will understand that modifications and variations can be made without departing from the scope of the present invention. ​

Claims

1. Including a number of flexible tubes extending in the longitudinal direction, Each of the number of flexible tubes has at least two steering wires linearly arranged in the longitudinal direction inside the flexible tube in order to transmit the operating force applied to one end in the longitudinal direction to the end effector connected to the other end in the longitudinal direction, At least two of the flexible tubes are provided, The at least two flexible tubes are spirally twisted along the longitudinal direction to form a flexible tube group, The spiral twist from one end to the other end of the at least two flexible tubes is a multiple of 360 degrees, The at least two steering wires move freely along the longitudinal direction, so that even if the flexible tube bends, the at least two steering wires are maintained at the same length between the ends opposite to one end in the longitudinal direction of each of the number of flexible tubes, a multi-helix flexible mechanism.

2. Furthermore, including a flexible shaft extending in the longitudinal direction of the flexible tube, The at least two flexible tubes are spirally twisted and wound along the longitudinal direction of the outer peripheral surface of the flexible shaft, the multi-helix flexible mechanism according to claim 1.

3. Among the at least two flexible tubes, the first flexible tube is spirally twisted clockwise, and the second flexible tube spirally twists counterclockwise alternately along the longitudinal direction on the outer peripheral surface of the first flexible tube with the same period, the multi-helix flexible mechanism according to claim 1.

4. The flexible tube includes at least one linear tunnel provided inside in the longitudinal direction, Any one of the steering wires is inserted into any one of the linear tunnels, the multi-helix flexible mechanism according to claim 1.

5. Furthermore, including a housing tube, The housing tube extends in the longitudinal direction, The flexible tube group is arranged in the longitudinal direction inside the housing tube, the multi-helix flexible mechanism according to claim 1.

6. Inside the housing tube, a spiral rail is provided for providing a spiral path of the flexible tube group, the multi-helix flexible mechanism according to claim 5.

7. Furthermore, when the flexible tube group is twisted by a multiple of 360 degrees due to the rotation of the worm wheel, a worm wheel fixing pin configured to restrain the rotation of the worm wheel by pressing against one side of the outer diameter of the worm wheel so as to maintain the twisted structure of the flexible tube group, and a mount portion that supports the worm wheel fixing pin, the multi-helix flexible mechanism according to claim 1.

8. Alignment scales for determining whether the flexible tube group is twisted by a multiple of 360 degrees are respectively displayed on the same line at one end and the other end in the longitudinal direction of the flexible tube group, the multi-helix flexible mechanism according to claim 7.

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