Moving device

Abstract

To provide a moving device capable of moving one member relative to the other member.SOLUTION: A moving device 1 according to an aspect of the present invention includes: a stationary member 10; a first tendon 20 which is coupled at one side thereof to the stationary member 10; a first movable member 30 which can move relative to the stationary member 10; a first sheath 40 which is coupled at one side thereof to the first movable member 30 and is formed to be passed through by the first tendon 20; a first holder 70 which fixes one of the other side of the first tendon 20 and the other side of the first sheath 40; and a first drive unit 80 which moves the other one of the other side of the first tendon 20 and the other side of the first sheath 40, wherein the first movable member 30 is formed to be movable relative to the stationary member 10 according to relative movement between the first tendon 20 and the first sheath 40.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a moving device, and more specifically, to a moving device capable of moving a predetermined member using tendons and sheaths.

Background Art

[0002] As a method of a control interface for remotely controlling a surgical robot or controlling an endoscope, there is a method of directly attaching an actuator to a link structure.

[0003] However, such a method has a disadvantage that the weight of the actuator itself is very heavy. To complement this, a cable drive method has been developed in which the actuator is fixed externally and force is transmitted through a flexible cable.

[0004] As an example of the cable drive method, a technique using a tendon-sheath has been developed. Tendons and sheaths have a thin and long shape and have been used in a system that transmits power through a narrow passage. In particular, a tendon is a thin and long flexible member. Since a tendon is likely to buckle during compression, it is configured to transmit force by tension in which one end is pulled.

[0005] Conventionally, considering the characteristics of the tendon as described above, after fixing one end of the tendon to the outer peripheral surface of the rotating link, the other end is pulled by an actuator or the like to rotate the rotating link about a predetermined axis. A tendon-sheath drive device has been developed.

[0006] However, such a conventional tendon-sheath drive device can only move a member in a rotational motion about a rotation axis and cannot move a member in a linear motion. As a result, there has been a demand for the development of a moving device using a tendon-sheath that can linearly move a member. Summary of the Invention Problems to be Solved by the Invention

[0007] The present invention has been made in view of the above points, and an object of the present invention is to provide a moving device capable of relatively moving one member with respect to another member.

[0008] Another object of the present invention is to provide a moving device capable of accommodating one member in the internal space of another member and protecting it from the outside.

[0009] Another object of the present invention is to provide a moving device capable of relatively linearly moving one member with respect to another member.

[0010] Another object of the present invention is to provide a moving device capable of relatively rotating one member with respect to another member about a predetermined axis.

[0011] The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those of ordinary skill in the technical field to which the present invention pertains from the following description. Means for Solving the Problems

[0012] According to one aspect of the present invention, there is provided a moving device including a fixed member, a first tendon having one side coupled to the fixed member, a first moving member movable with respect to the fixed member, a first sheath having one side coupled to the first moving member and formed so that the first tendon passes therethrough, a first holder for fixing any one of the other side of the first tendon and the other side of the first sheath, and a first driving unit for moving the other one of the other side of the first tendon and the other side of the first sheath, wherein the first moving member is formed to be relatively movable with respect to the fixed member by relative movement of the first tendon and the first sheath.

[0013] At this time, a second tendon having one side coupled to the first moving member, a second sheath having one side coupled to the fixing member, a second holder for fixing any one of the other side of the second tendon and the other side of the second sheath, and a second driving unit for moving any one of the other side of the second tendon and the other side of the second sheath. The first moving member may be formed to be relatively movable with respect to the fixing member by relative movement between the second tendon and the second sheath.

[0014] At this time, the first holder may be formed to fix the other side of the first sheath, and the first driving unit may be formed to be able to move the other side of the first tendon.

[0015] At this time, the relative movement between the fixing member and the first moving member may be formed such that when the first driving unit pulls the other side of the first tendon, one side of the first tendon is drawn into one side of the first sheath, and as the other side of the first tendon is pulled out from the other side of the first sheath.

[0016] At this time, the first holder may be formed to fix the other side of the first tendon, and the first driving unit may be formed to be able to move the other side of the first sheath.

[0017] At this time, one side portion of the first tendon includes a first portion having one side coupled to the fixing member and extending along a first direction on the other side, and a second portion extending along a second direction from the first portion. The first moving member may be formed to be relatively movable in a direction parallel to the first direction with respect to the fixing member by relative movement between the first tendon and the first sheath.

[0018] At this time, one side portion of the first sheath may be bent with a predetermined curvature such that the end portion faces in a direction parallel to the first direction.

[0019] At this time, the fixing member and the first moving member each have a cylindrical shape and are arranged on the same concentric axis. The first direction is the circumferential direction around the fixing member, and the second direction is a direction parallel to the length direction of the fixing member. The first moving member may be formed to be rotatable relative to the fixing member about the concentric axis by relative movement between the first tendon and the first sheath.

[0020] At this time, it further includes a second tendon having one side coupled to the fixing member, a second sheath having one side coupled to the first moving member and formed so that the second tendon penetrates therethrough, a second holder for fixing either one of the other side of the second tendon and the other side of the second sheath, and a second driving portion for moving the other one of the other side of the second tendon and the other side of the second sheath. One side portion of the second tendon includes a first portion having one side coupled to the fixing member and extending along a third direction facing the first direction and a second portion extending along the second direction from the first portion. The first moving member may be formed to be rotatable relative to the fixing member about the concentric axis by relative movement between the second tendon and the second sheath.

[0021] At this time, it further includes a third tendon having one side coupled to the first moving member, a second moving member rotatably coupled to the fixing member relative to the fixing member in a direction parallel to the first direction, a third sheath having one side coupled to the second moving member, a third holder for fixing either one of the other side of the third tendon and the other side of the third sheath, and a third driving portion for moving the other one of the other side of the third tendon and the other side of the third sheath. The first moving member and the second moving member may be formed to be rotatable relative to the fixing member about the concentric axis by relative movement between the first tendon and the first sheath, and the first moving member may be formed to be movable relative to the fixing member and the second moving member in the second direction by relative movement between the third tendon and the third sheath.

[0022] At this time, one side portion of the first sheath may include a first portion formed to bend in the outer direction of the first moving member as the first moving member moves in the second direction, and a second portion coupled to the first moving member.

[0023] At this time, the second moving member may be provided with a locking portion that restricts relative movement between the first moving member and the second moving member when the first moving member reaches a predetermined position.

[0024] At this time, the second moving member includes a body portion rotatably coupled to the fixing member and a housing portion provided on one side of the body portion and housing the first moving member therein. The housing portion may be formed with a guide hole for guiding the first moving member to move back and forth.

[0025] At this time, the first driving portion may include an actuator or an operating member operable by hand.

[0026] At this time, the first driving portion may include a guide member for guiding one of the other side of the first tendon and the other side of the first sheath.

[0027] According to another aspect of the present invention, there is provided a moving device including a fixing member, a first tendon having one side coupled to the fixing member, a first moving member movable relative to the fixing member, a first sheath having one side coupled to the first moving member and formed so that the first tendon penetrates therethrough, a second tendon having one side coupled to the first moving member, and a second sheath having one side coupled to the fixing member and formed so that the second tendon penetrates therethrough, wherein the first moving member is formed to be relatively movable with respect to the fixing member between one side of the first tendon coupled to the fixing member and one side of the second sheath coupled to the fixing member.

[0028] At this time, the first tendon and the second tendon may be arranged parallel to each other along the relative moving direction between the first moving member and the fixing member.

[0029] At this time, one side of the first tendon coupled to the fixing member may be located in front of the first moving member when viewed from the moving direction of the first moving member, and one side of the second sheath coupled to the fixing member may be located behind the first moving member when viewed from the moving direction of the first moving member.

[0030] At this time, the fixing member may be fixedly positioned at the distal end of the endoscope device.

[0031] At this time, a surgical member for an endoscope device may be coupled to the first moving member.

Advantages of the Invention

[0032] The moving device according to an embodiment of the present invention can generate relative movement between the fixing member and the first moving member by generating relative movement between the tendon coupled to the fixing member and the sheath coupled to the first moving member and through which the tendon passes.

[0033] Also, in the moving device according to an embodiment of the present invention, the first moving member is accommodated inside the guide hole formed in the fixing member or the second moving member, and the first moving member moves relatively along the extending direction inside the guide hole, so the first moving member can be protected from the outside.

[0034] Also, in the moving device according to an embodiment of the present invention, the tendon coupled to the fixing member or the second moving member is arranged to pass through the sheath coupled to the first moving member, and the driving unit can pull the tendon backward or push the sheath forward, so the first moving member can be moved relatively forward with respect to the fixing member or the second moving member.

[0035] Further, in the mobile device according to the embodiment of the present invention, the tendon coupled to the first moving member is disposed so as to penetrate the sheath coupled to the fixed member or the second moving member, and since the driving unit can pull the tendon backward, the first moving member can be moved relatively backward with respect to the fixed member or the second moving member.

[0036] Also, in the mobile device according to the embodiment of the present invention, one side of the tendon includes a first portion having one end coupled to the fixed member and extending in the circumferential direction around the fixed member, and a second portion extending from the first portion and extending in the longitudinal direction of the fixed member. A sheath through which the tendon penetrates is coupled to one side of the first moving member rotatably coupled to the fixed member, and includes a driving unit capable of pulling the tendon, and relative rotation between the fixed member and the first moving member can be generated.

[0037] Also, in the mobile device according to the embodiment of the present invention, the first moving member is relatively movably coupled to the second moving member that is relatively rotatably coupled to the fixed member, the first tendon and the third tendon are respectively coupled to the fixed member and the first moving member, and the first sheath and the third sheath are respectively coupled to the first moving member and the second moving member, and all relative rotation and relative linear movement between the first moving member and the fixed member can be generated.

[0038] The effects of the present invention are not limited to the effects described above, and the effects not mentioned can be clearly understood by those having ordinary knowledge in the technical field to which the present invention pertains from this specification and the accompanying drawings.

Brief Description of the Drawings

[0039] FIG. 1 is a diagram schematically showing a mobile device according to a first embodiment of the present invention.

[0040] FIG. 2 is a perspective view showing a part of the mobile device shown in FIG. 1.

[0041] FIG. 3 is a perspective view of the fixed member of the mobile device shown in FIG. 1.

[0042] Figures 4 and 5 are perspective views of the first moving member of the moving device shown in FIG. 1, viewed from different angles.

[0043] Figures 6 and 7 are diagrams for explaining the operating process of the moving device shown in FIG. 1.

[0044] Figures 8 and 9 are diagrams showing modified examples of the fixed member and the first moving member shown in FIG. 1.

[0045] Figures 10 to 12 are diagrams schematically showing the moving device according to the second embodiment of the present invention and are diagrams for explaining its operating process.

[0046] Figures 13 to 15 are diagrams showing modified examples of the holder and the drive unit shown in FIG. 10.

[0047] Figures 16 to 18 are diagrams schematically showing the moving device according to the third embodiment of the present invention and are diagrams for explaining its operating process.

[0048] Figures 19 to 22 are diagrams showing modified examples of the holder and the drive unit shown in FIG. 16.

[0049] Figures 23 to 26 are diagrams schematically showing the moving device according to the fourth embodiment of the present invention and are diagrams for explaining its operating process.

[0050] Figures 27 and 28 are diagrams schematically showing the moving device according to the fifth embodiment of the present invention.

[0051] Figure 29 is an exploded perspective view of the moving device shown in FIG. 27.

[0052] Figures 30 to 32 are diagrams for explaining the process in which the first moving member of the moving device shown in FIG. 27 moves relative to the fixed member and the second moving member.

[0053] Figs. 33 to 35 are diagrams for explaining the process in which the first moving member and the second moving member of the moving device shown in Fig. 27 move relative to the fixed member.

[0054] Fig. 36 is a diagram for explaining an example of the operation mode of the first moving member shown in Fig. 27.

[0055] Fig. 37 is a cross-sectional view of the fixed member, the first moving member, and the second moving member shown in Fig. 27.

Embodiments for Carrying Out the Invention

[0056] Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those having ordinary knowledge in the technical field to which the present invention pertains can easily implement them. The present invention can be embodied in various different forms and is not limited to the embodiments described herein. To clearly explain the present invention, parts not related to the description are omitted in the drawings, and the same reference numerals are given to the same or similar components throughout the specification.

[0057] The words and terms used in this specification and the claims should not be construed as limited to their ordinary or dictionary meanings, but should be interpreted in accordance with the meaning and concept that conforms to the technical idea of the present invention based on the principle that the inventor can define the terms and concepts in the best way to explain his invention.

[0058] In this specification, terms such as "including" or "having" are intended to explain the existence of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should be understood not to preclude in advance the existence or addition possibility of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0059] When it is said that any component is "in front of", "behind", "above", or "below" another component, unless there are special circumstances, it includes not only those that are immediately adjacent to the other component and arranged "in front of", "behind", "above", or "below", but also cases where other components are arranged in between. Also, when it is said that any component is "connected" to another component, unless there are special circumstances, it includes not only cases where they are directly connected to each other, but also cases where they are indirectly connected to each other.

[0060] A moving device according to an embodiment of the present invention is a device for generating relative movement between a fixed member provided on one side of a tubular member and a first moving member, and generates relative movement between a tendon, which is a thin linear member having flexibility and a predetermined tensile rigidity, and a sheath, which is a tubular member through which the tendon passes and has flexibility and a predetermined compressive rigidity, to generate relative movement between the first moving member and the fixed member to which one side of the tendon or the sheath is coupled.

[0061] At this time, the tubular member means a member that is formed to extend in the longitudinal direction and has flexibility and flexibility to bend in one direction, and the fixed member and the first moving member are installed on one side of the tubular member and mean a part of a device that performs a predetermined function.

[0062] In this embodiment, when it is said that the tendon is drawn into the sheath, it means that one end or a part of the tendon enters the inside of an opening provided at one end of the sheath, and when it is said that the tendon is pulled out of the sheath, it means that one end or a part of the tendon accommodated inside the sheath exits from an opening provided at one end of the sheath. When it is said that the driving part releases the tendon or the sheath, it means that the driving part slightly releases the restraint of the tendon or the sheath so that the relative movement between the tendon and the sheath can be smoothly performed.

[0063] For example, the tubular member may be an endoscope, and the fixing member and the first moving member may be provided at the end of the endoscope and may be constituted by a part of an end effector for performing a predetermined function, for example, surgery or treatment using the endoscope. However, the tubular member, the fixing member, and the first moving member are not limited to these.

[0064] FIG. 1 is a diagram schematically showing a moving device according to a first embodiment of the present invention. FIG. 2 is a perspective view showing a part of the moving device shown in FIG. 1. FIG. 3 is a perspective view of the fixing member of the moving device shown in FIG. 1. FIGS. 4 and 5 are perspective views of the first moving member of the moving device shown in FIG. 1 viewed from different angles.

[0065] Hereinafter, when explaining FIGS. 1 to 9, the left side direction of FIG. 1 is defined as the front, and the right side direction is defined as the rear for explanation. In FIGS. 2 and 3, the configuration seen through the fixing member is shown by a dotted line.

[0066] Referring to FIG. 1, the moving device 1 according to the first embodiment of the present invention may include a fixing member 10, a first tendon 20, a second sheath 23, a first moving member 30, a first sheath 40, a second tendon 43, a first holder 70 and a second holder 76, a first driving unit 80 and a second driving unit 86.

[0067] Referring to FIGS. 2 and 3, the fixing member 10 may be composed of a body 12 having a hexahedron shape, and openings 13a and 13b may be formed on one side and the other side of the body 12, for example, the front and the rear, respectively.

[0068] At this time, the shape of the body 12 of the fixing member 10 may be variously deformed or modified within a range that does not harm the technical idea of the present invention, such as being bent to include a curved surface in accordance with the shape of the tubular member to which the fixing member 10 is coupled.

[0069] A guide hole 13 is formed inside the body 12, extending in a predetermined direction and accommodating the first moving member 30. The first moving member 30 is coupled to the fixed member 10 so as to be movable relative to the fixed member 10 along the extension direction of the guide hole 13 inside the guide hole 13 .

[0070] In this embodiment, the guide hole 13 is formed in a straight line along the length of the body 12, but in other embodiments, the extension direction of the guide hole 13 may be formed along a curve. For example, the guide hole 13 may be formed so that one section is curved to suit the function performed by the first moving member 30 or the function performed by a predetermined member installed on one side of the first moving member 30.

[0071] In addition, in this embodiment, the first movable member 30 is housed inside the fixed member 10 so that it can be protected from the outside, but in other embodiments, the guide hole 13 may be transformed into a guide groove formed on the outer part of the fixed member 10, and the first movable member 30 may be formed so as to be relatively movable outside the fixed member 10 along the extension direction of the guide groove.

[0072] A first tendon 20 made of a flexible material and having a thin and long shape is connected to one side of the fixing member 10, for example, the front end. For this purpose, a first tendon fixing portion 14 is formed at the front end of the fixing member 10, to which one side 21 of the first tendon 20 is fixed. The first tendon fixing portion 14 may be a coupling hole into which the first tendon 20 is fitted. The first tendon 20 is disposed so as to extend rearward.

[0073] A second sheath 23 having a hollow shape capable of accommodating a tendon therein is coupled to the other side of the fixing member 10, for example, the rear end portion thereof. For this purpose, a second sheath fixing portion 16 is formed at the rear end of the fixing member 10, to which one side 24 of the second sheath 23 is connected. The second sheath fixing portion 16 may be a coupling hole into which the second sheath 23 is fitted.

[0074] At this time, when the first tendon 20 and the second sheath 23 can be coupled, the structures of the first tendon fixing portion 14 and the second sheath fixing portion 16 are not particularly limited. For example, the first tendon 20 can also be fixed to the fixing member 10 by welding or an adhesive or the like without a separate fixing portion.

[0075] Referring to FIGS. 2, 4, and 5, the first moving member 30 may be composed of a body 32 disposed in the guide hole 13. A first sheath 40 having a hollow shape capable of accommodating a tendon therein and a second tendon 43 made of a flexible material and having a thin and long shape are coupled to the first moving member 30.

[0076] For this purpose, a first sheath fixing portion 34 to which one side 41 of the first sheath 40 is coupled and a second tendon fixing portion 35 to which one side 44 of the second tendon 43 is coupled are formed on the first moving member 30. At this time, as described above in relation to the first tendon fixing portion 14 and the second sheath fixing portion 16, the structures of the first sheath fixing portion 34 and the second tendon fixing portion 35 are not particularly limited when the first sheath 40 and the second tendon 43 can be fixed.

[0077] The first sheath 40 has the first tendon 20 coupled to the fixing member 10 passing therethrough and extending rearward, and the second tendon 43 passes through the second sheath 23 coupled to the fixing member 10 and extends rearward.

[0078] Note that when the first moving member 30 moves along the extension direction of the guide hole 13, the cross section in the length direction of the first moving member 30 can have a shape corresponding to the cross section of the guide hole 13 so as not to vibrate or rotate in a direction perpendicular to the extension direction.

[0079] At this time, in order to prevent vibration and rotation of the first moving member 30 and guide the movement of the first moving member 30, guide protrusions (not shown) and guide grooves (not shown) may be provided on the inner walls of the guide holes 13 of the first moving member 30 and the fixing member 10.

[0080] Note that the first moving member 30 may be formed to be relatively movable with respect to the fixing member 10 between a first tendon fixing portion 14 to which one side 21 of the first tendon 20 is coupled and a second sheath fixing portion 16 to which one side 24 of the second sheath 23 is coupled.

[0081] That is, the first tendon fixing portion 14 and the second sheath fixing portion 16 can serve as a reference for determining the movement section of the first moving member 30. Thereby, by adjusting the relative position between the first tendon fixing portion 14 and the second sheath fixing portion 16, the length and path of the movement section of the first moving member 30 can be set.

[0082] Note that in order to prevent the first moving member 30 from coming off between the first tendon fixing portion 14 and the second sheath fixing portion 16 (or the guide hole 13) and escaping to the outside of the fixing member 10, the fixing member 10 may be provided with a locking portion that can limit the relative movement section of the first moving member 30. For example, the cross-section in the longitudinal direction of the first moving member 30 is formed larger than the openings 13a and 13b, and the edges of the openings 13a and 13b can perform the function of the locking portion.

[0083] At this time, referring further to FIG. 2, when the first tendon 20 is pulled rearward and the fixing member 10 moves rearward together with the first tendon 20, relative movement can occur between the fixing member 10 and the first moving member 30.

[0084] Or, when the second tendon 43 is pulled rearward and the first moving member 30 moves rearward by the tension applied to the second tendon 43, relative movement can occur between the first moving member 30 and the fixing member 10.

[0085] At this time, in order for relative movement to occur smoothly, the angle between the relative movement direction between the fixed member 10 and the first moving member 30 and the direction of the force applied to the fixed member 10 and the first moving member 30 (i.e., the tension of the tendon) is preferably as small as possible.

[0086] For this purpose, the first tendon 20 and the second tendon 43 may be arranged parallel to each other along the extension direction of the guide hole 13. Further, the second sheath 23 and the first sheath 40 may extend rearward and be arranged parallel to each other.

[0087] Furthermore, referring to FIG. 1, the other side 22 of the first tendon 20 may be coupled to the first driving unit 80 and pulled rearward, for example, with reference to FIG. 1, by the first driving unit 80. Thereby, the other side 22 of the first tendon 20 may be pulled out from the other side 42 of the first sheath 40.

[0088] The other side 45 of the second tendon 43 may be coupled to the second driving unit 86 and pulled rearward, for example, with reference to FIG. 1, by the second driving unit 86. Thereby, the other side 45 of the second tendon 43 may be pulled out from the other side 25 of the second sheath 23.

[0089] At this time, the first driving unit 80 and the second driving unit 86 may be composed of various configurations capable of pulling the first tendon 20 and the second tendon 43. For example, the first driving unit 80 and the second driving unit 86 may be composed of an actuator or an operating member that can be operated by hand.

[0090] That is, the first driving unit 80 and the second driving unit 86 may each be composed of a motor that rotates a pulley around which the first tendon 20 and the second tendon 43 are wound. Alternatively, the first driving unit 80 and the second driving unit 86 may each be composed of an operating member to which the first tendon 20 and the second tendon 43 are respectively coupled and that moves by a linear actuator.

[0091] The other side 25 of the second sheath 23 is fixed by the second holder 76. The second holder 76 functions to fix the other side 25 of the second sheath 23 so that it does not move rearward together with the second tendon 43 due to frictional force even when the second tendon 43 is pulled by the second driving part 86. Thereby, relative movement between the second sheath 23 and the second tendon 43 can occur.

[0092] Similarly, the other side 42 of the first sheath 40 is fixed by the first holder 70. The first holder 70 functions to fix the other side 42 of the first sheath 40 so that it does not move rearward together with the first tendon 20 due to frictional force even when the first tendon 20 is pulled by the first driving part 80. Thereby, relative movement between the first sheath 40 and the first tendon 20 can occur.

[0093] At this time, the first holder 70 and the second holder 76 may each be a fixing frame into which the first sheath 40 and the second sheath 23 are fitted, but are not particularly limited as long as relative movement between the first holder 70 and the second holder 76 and the first tendon 20 and the second tendon 43 can be generated.

[0094] Hereinafter, the relative movement generated between the fixing member and the first moving member of the moving device according to the first embodiment of the present invention will be described in more detail.

[0095] FIGS. 6 and 7 are diagrams for explaining the operation process of the moving device shown in FIG. 1.

[0096] In FIGS. 6 and 7, the fixing member is shown in cross section so that the inside can be seen, and the configuration seen through the fixing member in FIGS. 8 and 9 is shown by a dotted line.

[0097] Referring to Fig. 6(a), the first moving member 30 is located on the front end side of the guide hole 13. At this time, the relative position of the first moving member 30 with respect to the fixed member 10 is referred to as the first position. When the second driving part 86 pulls the other side 45 of the second tendon 43 backward, the other side 45 of the second tendon 43 is pulled out from the other side 25 of the second sheath 23, and one side 44 of the second tendon 43 is drawn into the one side 24 of the second sheath 23, and relative movement occurs between the second tendon 43 and the second sheath 23.

[0098] Referring to Fig. 6(b) and Fig. 6(c), when tension is applied to the second tendon 43, a force is applied backward to the first moving member 30, and the first moving member 30 moves backward relative to the fixed member 10.

[0099] At this time, the first driving part 80 releases the other side 22 of the first tendon 20 and gives a predetermined degree of freedom to the first tendon 20. As a result, relative movement can occur between the first tendon 20 and the first sheath 40, such as the other side 22 of the first tendon 20 being slightly drawn into the first sheath 40, and the first moving member 30 can move smoothly backward without being resisted by the first tendon 20 or the first sheath 40.

[0100] At this time, the first moving member 30 can move relative to the fixed member 10 until it is located on the rear end side of the guide hole 13. At this time, the relative position of the first moving member 30 with respect to the fixed member 10 is referred to as the second position.

[0101] Referring to Fig. 7(a), the first moving member 30 can be located at the second position. When the first driving part 80 pulls the other side 22 of the first tendon 20 backward, the other side 22 of the first tendon 20 is pulled out from the other side 42 of the first sheath 40, and one side 21 of the first tendon 20 is drawn into the one side 41 of the first sheath 40, and relative movement occurs between the first tendon 20 and the first sheath 40.

[0102] Referring to FIGS. 7(b) and 7(c), when tension is applied to the first tendon 20, a force is applied rearward to the fixing member 10, and the fixing member 10 moves rearward relative to the first moving member 30.

[0103] At this time, the second driving unit 86 releases the other side 45 of the second tendon 43 and imparts a predetermined degree of freedom to the second tendon 43. As a result, relative movement can occur between the second tendon 43 and the second sheath 23, such as the other side 45 of the second tendon 43 being somewhat drawn into the second sheath 23, and the fixing member 10 can move smoothly rearward without being resisted by the second tendon 43 or the second sheath 23.

[0104] In addition, when the above-described relative movement is described with reference to the first moving member 30 as a reference, the first moving member 30 moves forward relative to the fixing member 10. Thus, according to the present embodiment, relative linear movement between the first moving member 30 and the fixing member 10 can be generated along the extension direction of the guide hole 13.

[0105] Hereinafter, a modification of the fixing member and the first moving member of the moving device according to the first embodiment of the present invention will be described. FIGS. 8 and 9 are diagrams showing modifications of the fixing member and the first moving member shown in FIG. 1.

[0106] Referring to FIG. 8, according to a modification of the present embodiment, an endoscope fixing portion 18 to which the distal end portion 2 of the endoscope device can be coupled may be formed on the outer portion of the fixing member 10. Thereby, the fixing member 10 may be fixed in position to the distal end portion 2 of the endoscope device.

[0107] Note that, on the front side of the first moving member 30, a surgical member 3 for an endoscope device may be coupled. For example, the surgical member 3 for an endoscope device may be composed of a surgical forceps or a surgical knife.

[0108] At this time, the front opening 13b of the fixing member 10 may be formed in a size through which the surgical member 3 for the endoscope device can pass.

[0109] Thereby, in a state where the first moving member 30 is located at the second position, the surgical member 3 for the endoscope device is located inside the guide hole 13 of the fixing member 10 and can be protected from the outside. Further, when the fixing member 10 and the first moving member 30 reach the target position, relative movement occurs so that the first moving member 30 is located at the first position, and the surgical member 3 for the endoscope device protrudes outside the fixing member 10 and can perform a predetermined function.

[0110] Further, since the surgical member 3 for the endoscope device is housed inside the fixing member 10, damage to the internal tissues of the human body that may be caused by the surgical member 3 for the endoscope device can be prevented in the process of moving the fixing member 10 and the first moving member 30 to the target position.

[0111] Referring to FIG. 9, according to still another modification of the present embodiment, a side opening hole 18a connected to the guide hole is formed in a side portion of the fixing member 10a. At this time, the side opening hole 18a may be formed to have a sufficient length in the extending direction of the guide hole corresponding to the relative movement distance between the first moving member 30a and the fixing member 10a.

[0112] An endoscope fixing portion 38a that protrudes outward through the side opening hole 18a of the fixing member 10a is formed on a side portion of the body 32a of the first moving member 30a. The distal end portion 2 of the endoscope device is coupled to the endoscope fixing portion 38a. Thereby, the first moving member 30a may be fixed in position to the distal end portion 2 of the endoscope device.

[0113] The surgical member 3 for the endoscope device is coupled to the front side of the body 32a of the first moving member 30. Thereby, the surgical member 3 for the endoscope device and the distal end portion 2 of the endoscope device can move integrally with the first moving member 30a.

[0114] Accordingly, the distal end portion 2 of the endoscope device and the surgical member 3 for the endoscope device may not move relative to each other. Further, the first moving member 30a may be located at the second position, and the surgical member 3 for the endoscope device can be protected from the outside by the fixing member 10a. When the first moving member 30a is located at the first position, the surgical member 3 for the endoscope device may be exposed outside the fixing member 10a.

[0115] Hereinafter, the moving device according to the second embodiment of the present invention will be described.

[0116] FIGS. 10 to 12 are diagrams schematically showing the moving device according to the second embodiment of the present invention, and are diagrams for explaining the operation process thereof. FIGS. 13 to 15 are diagrams showing a modified example of the holder and the drive unit shown in FIG. 10.

[0117] Hereinafter, when explaining FIGS. 10 to 15, the left side direction of FIG. 10 is defined as the front, and the right side direction is defined as the rear for explanation. In FIGS. 10 to 13, the cross section of the fixing member is shown so that the inside can be seen.

[0118] Referring to FIG. 10, the moving device 101 according to the second embodiment of the present invention may include a fixing member 110, a first tendon 120, a second sheath 123, a first moving member 130, a first sheath 140, a second tendon 143, a first holder 170 and a second holder 176, a first drive unit 180 and a second drive unit 186.

[0119] At this time, in the moving device 101 according to the second embodiment, the fixing member 110, the first tendon 120, the first moving member 130, the second tendon 143, the first holder 170 and the second holder 176, the first drive unit 180 and the second drive unit 186 may have the same configuration as that of the first embodiment of the present invention, and detailed description thereof will be omitted.

[0120] That is, the first moving member 130 is movably coupled to the guide hole 113 of the fixed member 110 and can move between the first position and the second position along the guide hole 113. One side 144 of the second tendon 143 is coupled to the first moving member 130, and a first tendon fixing portion 114 to which one side 121 of the first tendon 120 is coupled is formed at the front end of the fixed member 110. The other side 122 of the first tendon 120 is coupled to the first driving unit 180 so as to be pulled by the first driving unit 180, and the other side 145 of the second tendon 143 is coupled to the second driving unit 186 so as to be pulled by the second driving unit 186. The other side 142 of the first sheath 140, which will be described later, is fixedly coupled to the first holder 170. When the first tendon 120 is pulled by the first driving unit 180, the other side 122 of the first tendon 120 is pulled out from the first sheath 140, and relative movement occurs between the first tendon 120 and the first sheath 140. The other side 125 of the second sheath 123, which will be described later, is fixedly coupled to the second holder 176. When the second tendon 143 is pulled by the second driving unit 186, the other side 145 of the second tendon 143 is pulled out from the second sheath 123, and relative movement occurs between the second tendon 143 and the second sheath 123.

[0121] Hereinafter, the second sheath 123, the first sheath 140, and the operation process of the moving device 101 according to the present embodiment will be described in more detail.

[0122] Referring to FIGS. 10 to 12, one side 141 of the first sheath 140 is coupled to the first moving member 130, and one side 124 of the second sheath 123 is coupled to the rear end of the fixed member 110. At this time, in a state where the first moving member 130 is located at the second position, the first sheath 140 may be bent and arranged.

[0123] More specifically, the first sheath 140 may include a bent portion 140a that bends outward and curves in a state where the first moving member 130 is located at the second position. In FIG. 10, the bent portion 140a is shown to be intensively formed in one section of the first sheath 140. However, the bent portion 140a can also be formed dispersedly with a somewhat smaller size in a plurality of sections of the first sheath 140.

[0124] Referring to FIGS. 10 and 11, when the first drive unit 180 pulls the other side 122 of the first tendon 120 while the first moving member 130 is located at the second position, the other side 122 of the first tendon 120 is pulled out from the other side 142 of the first sheath 140, and one side 121 of the first tendon 120 is drawn into the one side 141 of the first sheath 140, resulting in relative movement between the first tendon 120 and the first sheath 140.

[0125] When the other side 122 of the first tendon 120 is pulled out from the first sheath 140, an interaction force is generated between the first tendon 120 and the first sheath 140, and the first tendon 120 presses the first sheath 140 backward, and this force (compressive force) is intensively applied to the bent portion 140a.

[0126] At this time, due to the compressive force applied to the first sheath 140 and the supporting force of the first holder 170, a repulsive force acts forward on the bent portion 140a of the first sheath 140, and the bent portion 140a spreads with a reduced curvature due to the repulsive force.

[0127] As a result, one side 141 of the first sheath 140 pushes the first moving member 130 forward, and the first moving member 130 linearly moves forward relative to the fixed member 110.

[0128] Note that the second drive unit 186 releases the other side 145 of the second tendon 143 and gives a predetermined degree of freedom to the second tendon 143. As a result, relative movement can occur between the second tendon 143 and the second sheath 123, such as the other side 145 of the second tendon 143 being somewhat drawn into the second sheath 123, and the first moving member 130 can smoothly move forward without being resisted by the second tendon 143.

[0129] Referring to FIG. 12, when the first sheath 140 and the second sheath 123 are arranged in parallel as the bent portion 140a of the first sheath 140 expands, the first moving member 130 can be positioned at the first position. At this time, in order for the first moving member 130 to move quickly or completely to the first position, it is preferably configured such that the first sheath 140 can continuously apply a repulsive force forward to the first moving member 130 even when the first moving member 130 is positioned at the first position.

[0130] In other words, it is preferable that the first sheath 140 is arranged with a slight bend even when the first moving member 130 is positioned at the first position, and the bent portion 140a of the first sheath 140 remains.

[0131] Incidentally, when the second drive unit 186 pulls the other side 145 of the second tendon 143 and the first drive unit 180 releases the other side 122 of the first tendon 120, relative movement occurs between the second tendon 143 and the second sheath 123, and the first moving member 130 moves relatively rearward with respect to the fixing member 110 due to the tension applied to the second tendon 143.

[0132] At the same time, the other side 122 of the first tendon 120 is slightly drawn into the first sheath 140, and as the first moving member 130 moves rearward, a bent portion 140a is further formed in a predetermined section of the first sheath 140.

[0133] Thus, according to the present embodiment, relative linear movement between the first moving member 130 and the fixing member 110 can be generated using the compressive force and repulsive force applied to the first sheath 140.

[0134] Hereinafter, a modification example of the first drive unit and the second drive unit of the moving device according to the second embodiment of the present invention will be described.

[0135] Referring to FIG. 13, the first holder 170a and the second holder 176a and the first driving part 180a and the second driving part 186a of the moving device according to the modification of the present embodiment may be integrally formed. More specifically, the first holder 170a and the second holder 176a and the first driving part 180a and the second driving part 186a may be composed of a first body part 182a located on one side, for example, the upper side with reference to FIG. 13, and a second body part 188a located below the first body part 182a.

[0136] Inside the first body part 182a, a first guide groove 183a is formed in the extending direction of the first tendon 120 and has one side open. Inside the first guide groove 183a, a first operating member 181a is movably coupled in the extending direction. The other side 122 of the first tendon 120 is fixedly coupled to the first operating member 181a. On the front side of the first body part 182a, a first holder 170a to which the other side 142 of the first sheath 140 is fixed is formed.

[0137] Inside the second body part 188a, a second guide groove 189a is formed in the extending direction of the second tendon 143 and has one side open. Inside the second guide groove 189a, a second operating member 187a is movably coupled in the extending direction. The other side 145 of the second tendon 143 is fixedly coupled to the second operating member 187a. On the front side of the second body part 188a, a second holder part 176a to which the other side 125 of the second sheath 123 is fixed is formed.

[0138] Thereby, the user can generate relative movement between the first moving member and the fixing member by moving either one of the first operating member 181a and the second operating member 187a backward and releasing the other one.

[0139] For example, by moving the first actuating member 181a rearward to pull the first tendon 120 rearward and releasing the restraint of the second actuating member 187a to release the second tendon 143, the first moving member can be moved forward relative to the fixed member.

[0140] Referring to FIG. 14, the first drive unit 180a and the second drive unit 186a of the moving device according to still another modification of the present embodiment may further include a first actuator 190a and a second actuator 193a. At this time, the first drive unit 180a and the second drive unit 186a may have the same configuration as the modification described above except for the first actuator 190a and the second actuator 193a, and the description thereof will be omitted.

[0141] The first actuator 190a may include a first coupling member 191a coupled to the first actuating member 181a and a first power generation device 192a for generating power to move the first coupling member 191a back and forth.

[0142] Similar to the first actuator 190a, the second actuator 193a may include a second coupling member 194a coupled to the second actuating member 187a and a second power generation device 195a for generating power to move the second coupling member 194a back and forth.

[0143] According to this modification, the user can move either one of the first actuating member 181a and the second actuating member 187a rearward and release the other one by controlling the operations of the first actuator 190a and the second actuator 193a, so that relative movement between the first moving member and the fixed member can be generated.

[0144] Referring to FIG. 15, the first holder 170b and the second holder 176b and the first drive unit 180b and the second drive unit 186b according to still another modification of the present embodiment may be integrally formed. More specifically, the first holder 170b and the second holder 176b, and the first driving part 180b and the second driving part 186b may be composed of a body part 182b extending in the longitudinal direction of the first tendon 120 and the second tendon 143.

[0145] Inside the body part 182b, a guide groove 185b is formed, one side of which is open and which is formed along the extension direction. At this time, the guide groove 185b is formed to have a sufficient width in the arrangement direction of the first tendon 120 and the second tendon 143 so that the first tendon 120 and the second tendon 143 can pass through in parallel inside.

[0146] In front of the body part 182b, the first holder 170b and the second holder 176b to which the first sheath 140 and the second sheath 123 are respectively coupled are formed.

[0147] On the inner wall of the guide groove 185b, a pair of first guide protrusions 183b and second guide protrusions 189b are formed, which are formed in the extension direction of the guide groove 185b and are spaced apart from each other by a predetermined distance in a direction perpendicular to the extension direction.

[0148] A first operating member 181b having a groove corresponding to the first guide protrusion 183b is movably coupled along the extension direction of the first guide protrusion 183b to the first guide protrusion 183b.

[0149] A second operating member 187b having a guide groove corresponding to the second guide protrusion 189b is movably coupled along the extension direction of the second guide protrusion 189b to the second guide protrusion 189b. The other side 122 of the first tendon 120 is fixedly coupled to the first operating member 181b, and the other side 145 of the second tendon 143 is fixedly coupled to the second operating member 187b.

[0150] At this time, on the first actuating member 181b, a first gear member 184b having a rack gear shape is formed in a direction parallel to the extending direction of the guide groove 185b, and on the second actuating member 187b, a second gear member 190b having a rack gear shape is also formed in a parallel direction. At this time, the first gear member 184b and the second gear member 190b are arranged so as to face each other.

[0151] Between the first actuating member 181b and the second actuating member 187b, a third gear member 191b that circumscribes the first gear member 184b and the second gear member 190b at the same time is arranged. On one side of the third gear member 191b, an operating member 192b for applying an external force to rotate the third gear member 191b in one direction is provided.

[0152] When the user applies an external force to the operating member 192b to rotate the third gear member 191b in one direction, one of the first actuating member 181b and the second actuating member 187b moves rearward, and the other one moves forward. One of the first tendon 120 and the second tendon 143 is pulled rearward, and the other one is released forward.

[0153] Accordingly, according to this modification example, the user can conveniently generate a relative movement between the first moving member and the fixed member by operating only the operating member 192b.

[0154] Of course, the operating member 192b is provided with a power transmission member that can transmit power from an actuator, and the user can also generate a relative movement between the first moving member and the fixed member by controlling the actuator.

[0155] Hereinafter, a moving device according to a third embodiment of the present invention will be described.

[0156] FIGS. 16 to 18 are diagrams schematically showing a moving device according to a third embodiment of the present invention and are diagrams for explaining its operating process. Figs. 19 to 22 are diagrams showing modified examples of the holder and the drive unit shown in Fig. 16.

[0157] Hereinafter, when explaining Figs. 16 to 22, the left side direction of Fig. 16 is defined as the front, and the right side direction is defined as the rear for explanation. In addition, in Figs. 16 to 18, the cross section of the fixing member is shown so that the inside can be seen.

[0158] Referring to Fig. 16, the moving device 201 according to the third embodiment of the present invention may include a fixing member 210, a first tendon 220, a second sheath 223, a first moving member 230, a first sheath 240, a second tendon 243, a first holder 270 and a second holder 276, a first drive unit 280 and a second drive unit 286.

[0159] At this time, in the moving device 201 according to the third embodiment, the fixing member 210, the first tendon 220, the second sheath 223, the first moving member 230, the first sheath 240, the second tendon 243, the second holder 276 and the second drive unit 286 may have the same configuration as that of the first embodiment of the present invention, and detailed description thereof will be omitted.

[0160] That is, the first moving member 230 is movably coupled to the guide hole 213 of the fixing member 210 and can move between the first position and the second position along the guide hole 213. One side 244 of the second tendon 243 is coupled to the first moving member 230, and a first tendon fixing portion 214 to which one side 221 of the first tendon 220 is coupled is formed at the front end of the fixing member 210. The other side 245 of the second tendon 243 is coupled to the second drive unit 286 so as to be pulled by the second drive unit 286. The other side 225 of the second sheath 223 described later is fixedly coupled to the second drive unit 286. When the second tendon 243 is pulled by the second drive unit 286, the other side 245 of the second tendon 243 is pulled out from the second sheath 223, and relative movement occurs between the second tendon 243 and the second sheath 223.

[0161] Hereinafter, the operation process of the first holder 270, the first driving unit 280, and the moving device 201 according to this embodiment will be described in more detail.

[0162] In this embodiment, the first holder 270 fixes the other side 222 of the first tendon 220, and the first driving unit 280 is coupled so as to be adjacent to the other side 242 of the first sheath 240 and is provided to move the first sheath 240. For this purpose, the first holder 270 is located relatively rearward, and the first driving unit 280 is located relatively forward.

[0163] Thus, when the first driving unit 280 moves the first sheath 240 forward, the other side 222 of the first tendon 220 fixed by the first holder 270 is pulled out from the other side 242 of the first sheath 240, and one side 221 of the first tendon 220 is drawn into one side 241 of the first sheath 240.

[0164] Referring further to FIG. 16, when the first driving unit 280 moves the first sheath 240 forward with the first moving member 230 located at the second position, one side 241 of the first sheath 240 moves forward.

[0165] At this time, since the first sheath 240 has a predetermined compression rigidity, the first sheath 140 can apply a forward force to the first moving member 230 as it moves forward by the first driving unit 280. Note that the second driving unit 286 releases the second tendon 243 to impart a predetermined degree of freedom.

[0166] Referring to FIGS. 17 and 18, the first moving member 230 to which a forward force is applied by the first sheath 240 moves relatively forward with respect to the fixing member 210 along the guide hole 213. At this time, as the first moving member 230 moves, the other side 245 of the second tendon 243 having a predetermined degree of freedom is drawn into the second sheath 223.

[0167] Thus, according to this embodiment, by directly moving the first sheath 240 to which the first driving unit 280 is fixed forward to the first moving member 230, the first moving member 230 can be moved forward relative to the fixing member 210.

[0168] When the second driving unit 286 pulls the other side 245 of the second tendon 243 backward, the other side 245 of the second tendon 243 is pulled out from the other side 225 of the second sheath 223, and one side 244 of the second tendon 243 is drawn into one side 224 of the second sheath 223. At the same time, the first driving unit 280 releases the other side 242 of the first sheath 240 and gives a predetermined degree of freedom so that relative movement between the first sheath 240 and the first tendon 220 can occur. As a result, the first moving member 230 can move backward relative to the fixing member 210.

[0169] Thus, according to the moving device 201 of this embodiment, by directly moving the first sheath 240 to which the first driving unit 280 is fixed to the first moving member 230, relative movement between the first moving member 230 and the fixing member 210 can be generated using the rigidity of the first sheath 240.

[0170] In this embodiment, the difference between the lengths L1 of the first holder 270, the second holder 276, the first driving unit 280, the second driving unit 286, and the second sheath 223 and the length L2 of the first sheath 240 is not particularly limited.

[0171] Hereinafter, a modification of the third embodiment of the present invention will be described.

[0172] Referring to FIG. 19, the first holder 270a and the second holder 276a and the first driving unit 280a and the second driving unit 286a of the moving device according to the modification of this embodiment may be integrally formed. More specifically, the first holder 270a and the second holder 276a, and the first driving part 280a and the second driving part 286a may be composed of a first body part 282a located on one side, for example, the upper side with reference to FIG. 19, and a second body part 288a located below the first body part 282a.

[0173] Inside the first body part 282a, a first guide groove 283a is formed in the extending direction of the first tendon 220 and is open on one side. Inside the first guide groove 283a, a first actuating member 281a is movably coupled in the extending direction. To the first actuating member 281a, the other side 242 of the first sheath 240 is fixedly coupled. On the rear side of the first body part 182a, a first holder 270a to which the other side 222 of the first tendon 220 is fixed is formed.

[0174] Inside the second body part 288a, a second guide groove 289a is formed in the extending direction of the second tendon 243 and is open on one side. Inside the second guide groove 289a, a second actuating member 287a is movably coupled in the extending direction. To the second actuating member 287a, the other side 245 of the second tendon 243 is fixedly coupled. On the front side of the second body part 288a, a second holder 276a to which the other side 225 of the second sheath 223 is fixed is formed.

[0175] Thereby, the user can move the first actuating member 281a forward or backward, release the second actuating member 187a, or move the second actuating member 287a in a direction parallel to the moving direction of the first actuating member 281a, thereby generating relative movement between the first moving member and the fixing member.

[0176] For example, by moving the first actuating member 281a forward to move the first sheath 240 forward, releasing the restraint of the second actuating member 287a to release the second tendon 143, or moving the second actuating member 287a forward, the first moving member can be moved relatively forward with respect to the fixing member.

[0177] Referring to FIG. 20, in still another modification of the present embodiment, the first holder 270a, the second holder 276a, the first driving part 280a, and the second driving part 286a may be integrally formed with the first operating member and the second operating member described above.

[0178] More specifically, the first holder 270b, the second holder 276b, the first driving part 280b, and the second driving part 286b may be formed of a body part 282b extending in the longitudinal direction of the first tendon 220 and the second tendon 243.

[0179] Inside the body part 282b, a guide groove 283b is formed which is open on one side and formed along the extending direction. At this time, the guide groove 283b is formed to have a sufficient width in the arrangement direction of the first tendon 220 and the second tendon 243 so that the first tendon 220 and the second tendon 243 can pass through in parallel inside.

[0180] On the rear side of the body part 282b, a first holder 270b to which the other side 222 of the first tendon 220 is fixedly coupled is formed, and on the front side of the body part 282b, a second holder 276b to which the other side 225 of the second sheath 223 is fixedly coupled is formed.

[0181] Inside the guide groove 283b, an operating member 281b is movably coupled along the extending direction of the guide groove 283b. At this time, the other side 242 of the first sheath 240 and the other side 245 of the second tendon 243 are fixedly coupled to the operating member 281b.

[0182] Accordingly, according to this modification, the user can easily generate relative movement between the first moving member and the fixing member by operating only one operating member 281b. For example, when the user moves the operating member 281b forward, the first sheath 240 pushes and moves the first moving member forward, and the second tendon 243 is released forward.

[0183] Referring to FIG. 21, in still another modification of the present embodiment, the first and second drive units 280c and 286c may further include first actuators 284c and 285c and second actuators 290c and 291c.

[0184] At this time, the first operating member 281c, the second operating member 287c, the first body portion 282c, the second body portion 288c, the first guide groove 283c, and the second guide groove 289c of this modification may have the same configuration as the first operating member 281a and the second operating member 287a (see FIG. 19), the first body portion 282a and the second body portion 288a (see FIG. 19), and the first guide groove 283a and the second guide groove 289a (see FIG. 19) of the modification described above with FIG. 19, and the description thereof will be omitted.

[0185] In this modification, the first actuators 284c and 285c may be composed of a first power generation device 285c that generates power to move a first coupling member 284c coupled to the first operating member 281c back and forth.

[0186] Similar to the first actuators 284c and 285c, the second actuators 290c and 291c may be composed of a second power generation device 291c that generates power to move a second coupling member 290c coupled to the second operating member 287c back and forth.

[0187] According to this modification, the user can move the first operating member 281c, release the second operating member 187a, or move it in a direction parallel to the first operating member 281c by controlling the operation of the first actuators 284c and 285c and the second actuators 290c and 291c, so that relative movement between the first moving member and the fixed member can be generated.

[0188] Referring to FIG. 22, in yet another modification of the present embodiment, the first holder 270d and the second holder 276d and the first drive unit 280d and the second drive unit 286d may be integrally formed. At this time, the first actuators 284c, 285c and the second actuators 290d, 291d of this modification may have the same configuration as the first actuators 284c, 285c and the second actuators 290c, 291c (see FIG. 21) of the modification described above with reference to FIG. 21, and the description thereof will be omitted.

[0189] In this modification, the first drive unit 280d is composed of a first body portion 282d formed along the longitudinal direction of the first tendon 220. On one side of the first body portion 282d, on the upper side with reference to FIG. 22, a first guide path 283d formed in the extending direction of the first tendon 220 is located.

[0190] On the upper side portion of the first body portion 282d, a first operating member 281d is movably coupled along the first guide path 283d. For this purpose, guide protrusions and guide grooves may be formed in the first body portion 282d and the first operating member 281d in the direction of the first guide path 283d, respectively. The other side 242 of the first sheath 240 is fixedly coupled to the first operating member 281d.

[0191] Note that the second drive unit 286d is composed of a second body portion 288d formed along the longitudinal direction of the second tendon 243. On one side of the second body portion 288d, on the upper side with reference to FIG. 22, a second guide path 289d formed in the extending direction of the second tendon 243 is located.

[0192] On the upper side portion of the second body portion 288d, a second operating member 287d is movably coupled along the second guide path 289d. For this purpose, guide protrusions and guide grooves may be formed in the second body portion 288d and the second operating member 287d in the direction of the second guide path 289d, respectively. The other side 245 of the second tendon 243 is fixedly coupled to the second actuating member 287d.

[0193] A first holder 270d to which the other side 222 of the first tendon 220 is fixedly coupled is formed on the rear side of the first body portion 282d, and a second holder 276d to which the other side 225 of the second sheath 223 is fixedly coupled is formed on the front side of the second body portion 288d.

[0194] According to this modification, the user can move the first actuating member 281d and release the second actuating member 187d or move it in a direction parallel to the first actuating member 281d by controlling the operation of the first actuators 284d, 285d and the second actuators 290d, 291d, so that relative movement between the first moving member and the fixed member can be generated.

[0195] Hereinafter, a moving device according to a fourth embodiment of the present invention will be described.

[0196] FIGS. 23 to 26 are diagrams schematically showing a moving device according to a fourth embodiment of the present invention and are diagrams for explaining its operating process.

[0197] Hereinafter, when explaining FIGS. 23 to 26, the upper direction in FIG. 23 is defined as the front, the lower direction is defined as the rear, and clockwise and counterclockwise directions are defined with reference to FIG. 24 for explanation. Note that in FIGS. 24 and 26, components other than the fixed member, the first moving member, the first and second tendons, and the first and second sheaths are omitted.

[0198] Referring to FIG. 23, a moving device 301 according to a third embodiment of the present invention may include a fixed member 310, a first tendon 320 and a second tendon 323, a first moving member 330, a first sheath 340 and a second sheath 343, a first holder 370 and a second holder 376, a first drive unit 380 and a second drive unit 386.

[0199] In this embodiment, the body portion 312 of the fixing member 310 may be formed of a cylindrical member having a coupling hole 313 formed at the center. A part of a tubular member, for example, the tip portion (not shown) of an endoscope device, can be fixedly coupled to the coupling hole 313.

[0200] On the outer peripheral surface of the fixing member 310, a tendon fixing portion 314 is formed which protrudes in the outer direction and to which one side 321 of a first tendon 320 and one side 324 of a second tendon 323, which will be described later, are fixedly coupled.

[0201] The body portion 332 of the first moving member 330 is coupled to the outer portion of the fixing member 310 so as to be relatively rotatable with respect to each other. At this time, the body portion 332 of the first moving member 330 may be formed of a cylindrical member and may be coaxially arranged with the fixing member 310 about the central axis C.

[0202] On one side portion of the body portion 332 of the first moving member 330, for example, on the lower side portion with reference to FIG. 23, a sheath fixing portion 334 is formed which protrudes in the outer direction and to which one side 341 of a first sheath 340 and one side 344 of a second sheath 343, which will be described later, are coupled.

[0203] A tendon fixing portion guide hole 335 through which the tendon fixing portion 314 of the fixing member 310 passes is formed in the body portion 332 of the first moving member 330. At this time, the tendon fixing portion guide hole 335 is formed along the circumferential direction of the body portion 332.

[0204] Thus, even when the first moving member 330 and the fixing member 310 rotate relative to each other about the central axis C, the tendon fixing portion 314 is guided along the tendon fixing portion guide hole 335, so that the first moving member 330 can rotate relative to each other without being interfered by the tendon fixing portion 314.

[0205] At this time, one end portion of the tendon fixing portion guide hole 335 is connected to a first sheath guide hole 336 in which a first portion 341a of the first sheath 340, which will be described later, is disposed. One end of the first sheath guide hole 336, for example, the lower end with reference to FIG. 23, is positioned adjacent to the sheath fixing portion 334 so that the first sheath 340 can be disposed.

[0206] At this time, the first sheath guide hole 336 may be formed along a path that bends with a predetermined curvature. More specifically, the portion where the first sheath guide hole 336 and the tendon fixing portion guide hole 335 are connected is formed along the circumferential direction of the body portion 332, the lower end portion of the first sheath guide hole 336 is formed along the length direction of the body portion 332, and the portion located therebetween may be formed to bend with a predetermined curvature.

[0207] The other end of the tendon fixing portion guide hole 335 is connected to the second sheath guide hole 337 where the first portion 344a of the second sheath 343 to be described later is disposed. One end of the second sheath guide hole 337, for example, the lower end with reference to FIG. 23, is positioned adjacent to the sheath fixing portion 334 so that the second sheath 343 can be disposed.

[0208] At this time, the second sheath guide hole 337 may be formed along a path that bends with a predetermined curvature. In the present embodiment, the portion where the second sheath guide hole 337 and the tendon fixing portion guide hole 335 are connected is formed along the circumferential direction of the body portion 332, the lower end portion of the second sheath guide hole 337 is formed along the length direction of the body portion 332, and the portion located therebetween may be formed to bend with a predetermined curvature.

[0209] One sides 341 and 344 of the first sheath 340 and the second sheath 343 are fixedly coupled to the sheath fixing portion 334. In the present embodiment, one side 341 of the first sheath 340 may be disposed inside the first sheath guide hole 336 and include a first portion 341a that bends with a predetermined curvature and a second portion 341b that extends in the length direction of the first moving member 330 from one end of the first portion 341a. One side 344 of the second sheath 343 is disposed inside the second sheath guide hole 337 and may include a first portion 344a that bends with a predetermined curvature and a second portion 344b that extends in the longitudinal direction of the first moving member 330 from one end of the first portion 344a.

[0210] Thereby, one side 341 of the first sheath 340 and one side 344 of the second sheath 343 minimize the frictional force and resistance force that may occur as the first tendon 320 and the second tendon 323 passing through the interior bend, and can guide the first tendon 320 and the second tendon 323 in the circumferential direction around the first moving member 330.

[0211] Note that the other side 342 of the first sheath 340 and the other side 345 of the second sheath 343 are fixedly coupled to the first holder 370 and the second holder 376, respectively. At this time, the first holder 370 and the second holder 376 may be integrally formed.

[0212] The first tendon 320 penetrates the first sheath 340 such that at least a part thereof is disposed inside the first sheath 340. One side 321 of the first tendon 320 is coupled to the tendon fixing portion 314 of the fixing member 310.

[0213] In the present embodiment, one side 321 of the first tendon 320 may include a first portion 321a having one end fixedly coupled to the tendon fixing portion 314 and extending along the circumferential direction around the first moving member 330, and a second portion that extends from the first portion 321a and is disposed inside the first portion 341a of the first sheath 340 and bends with a predetermined curvature. The other side 322 of the first tendon 320 is coupled to the first driving portion 380 such that it can be pulled or released by the first driving portion 380.

[0214] One side 324 of the second tendon 323 may include a first portion 324a having one end fixedly coupled to the tendon fixing portion 314 and extending along the circumferential direction of the first moving member 330, and a second portion extending from the first portion 324a and disposed inside the first portion 344a of the second sheath 343 and bending with a predetermined curvature. The other side 325 of the second tendon 323 is coupled to the second driving portion 386 so as to be pulled or released by the second driving portion 386.

[0215] Hereinafter, the process in which the first moving member and the fixing member of the moving device according to the fourth embodiment of the present invention perform relative rotation by the first and second driving portions will be described.

[0216] Referring to FIGS. 23 to 26, when the first driving portion 380 pulls the other side 322 of the first tendon 320, tension is applied to the first tendon 320, and the other side 322 of the first tendon 320 is pulled out from the other side 342 of the first sheath 340, and one side 321 of the first tendon 320 is pulled into the one side 341 of the first sheath 340, resulting in relative movement. When the other side 322 of the first tendon 320 is pulled, one side 321 of the first tendon 320 pulls the tendon fixing portion 314 counterclockwise.

[0217] At the same time, the first sheath 340 generates an interaction force with the first tendon 320 due to the relative movement therebetween. Further, since the other side 342 of the first sheath 340 having a predetermined compression rigidity is supported by the first holder 370, a repulsive force is generated.

[0218] The generated repulsive force applies a force to the first moving member 330 via the sheath fixing portion 334 fixed to one side 341 of the first sheath 340. At this time, one side 321 of the first tendon 320 is bent and arranged along the circumferential direction, and one side 341 of the first sheath 340 is also bent and arranged such that the end portion faces in a direction parallel to the circumferential direction. Therefore, the generated repulsive force relatively rotates the first moving member 330 clockwise with respect to the fixing member 310.

[0219] As a result, in the mobile device 301 according to the present embodiment, the first drive unit 380 can rotate the first moving member 330 relative to the fixed member 310 in the clockwise direction by pulling the other side 322 of the first tendon 320.

[0220] At the same time, relative movement between the second sheath 343 and the second tendon 323 occurs smoothly due to an external force, and the second drive unit 386 releases the other side 325 of the second tendon 323 so that the other side 325 of the second tendon 323 is slightly drawn into the other side 345 of the second sheath 343.

[0221] As a result, the resistance force by the second tendon 323 and the second sheath 343 can be minimized, so that the first moving member 330 can easily rotate relative to the fixed member 310 by relative movement between the first tendon 320 and the first sheath 340.

[0222] In addition, when the second drive unit 386 pulls the other side 325 of the second tendon 323 and the first drive unit 380 releases the other side 322 of the first tendon 320, the first moving member 330 can rotate relative to the fixed member 310 in the counterclockwise direction by an operation process similar to the above-described operation process.

[0223] In this way, in the mobile device 301 according to the present embodiment, either one of the first drive unit 380 and the second drive unit 386 pulls either one of the first tendon 320 and the second tendon 323, and the other one of the first drive unit 380 and the second drive unit 386 releases the other one of the first tendon 320 and the second tendon 323, whereby the first moving member 330 can rotate relative to the fixed member 310 in the clockwise direction or the counterclockwise direction.

[0224] Hereinafter, a mobile device according to a fifth embodiment of the present invention will be described.

[0225] Figs. 27 and 28 are diagrams schematically showing a moving device according to a fifth embodiment of the present invention. Fig. 29 is an exploded perspective view of the moving device shown in Fig. 27. Hereinafter, when explaining Figs. 27 to 37, the upper direction in Fig. 27 is defined as the front, the lower direction is defined as the rear, and clockwise and counterclockwise are defined with reference to the view from above. In addition, in Figs. 28 and 30 to 36, the second moving member is shown by a dotted line, and the configuration seen through the second moving member is shown by a solid line.

[0226] Referring to Figs. 27 to 29, the moving device 401 according to the fifth embodiment of the present invention may include a fixed member 410, a first tendon 420 and a second tendon 423, a first moving member 430, a first sheath 440 and a second sheath 443, a third tendon 446, a second moving member 450 and a third sheath 460.

[0227] The fixed member 410 may be composed of a body portion 412 which is a cylindrical member having a coupling hole 413 formed at the center. A tubular member, for example, the tip portion 2 of an endoscope device, can be fixedly coupled to the coupling hole 413 of the body portion 412. On the outer peripheral surface of the fixed member 410, first and second tendon fixing portions 414 are formed which protrude outward and to which one sides 421, 424 of the first tendon 420 and the second tendon 423 are fixedly coupled.

[0228] More specifically, one side 421 of the first tendon 420 may include a first portion 421a whose one end is coupled to one side of the first and second tendon fixing portions 414 and extends in the circumferential direction around the fixed member 410, and a second portion 421b which extends in the length direction of the body portion 412 of the fixed member 410 from the first portion 421a.

[0229] At this time, the portion where the first portion 421a and the second portion 421b of the first tendon 420 are connected is arranged to bend with a predetermined curvature. As a result, the tension acting when the first tendon 420 is pulled by the first drive unit 280, which will be described later, can be smoothly converted into the force applied in the circumferential direction of the fixing member 410.

[0230] Similarly, one side 424 of the second tendon 423 may include a first portion 424a whose one end is coupled to one side of the first and second tendon fixing portions 414 and extends in the circumferential direction of the fixing member 410, and a second portion 424b that extends in the longitudinal direction of the body portion 412 of the fixing member 410 from the first portion 424a.

[0231] At this time, the portion where the first portion 424a and the second portion 424b of the second tendon 423 are connected is arranged to bend with a predetermined curvature. As a result, the tension acting when the second tendon 423 is pulled by the second drive unit 286, which will be described later, can be smoothly converted into the force applied in the circumferential direction of the fixing member 410.

[0232] The second moving member 450 may be formed in a cylindrical shape and may include a body portion 452 having a coupling hole 453 formed in the central portion and a housing portion 454 formed on the outer side of the body portion 452. The housing portion 454 may be formed to extend along the longitudinal direction (or the front-rear direction) of the body portion 452. A first guide hole 455 is formed in the housing portion 454 to which the first moving member 430, which will be described later, is movably coupled relatively.

[0233] The body portion 412 of the fixing member 410 and the body portion 452 of the second moving member 450 may be coaxially arranged around the central axis C. At this time, the fixing member 410 is coupled to the coupling hole 453 of the body portion 452 of the second moving member 450 so as to be relatively rotatable around the central axis C, but relatively immovable in the direction of the central axis C.

[0234] Note that the first guide hole 455 of the housing portion 454 is formed to extend along the longitudinal direction of the body portion 452. At this time, at one end of the first guide hole 455, for example, at the rear end with reference to FIG. 27, a third sheath fixing portion 458 to which one side 461 of a third sheath 460 described later is fixedly coupled is formed. The third sheath fixing portion 458 may be composed of a fixing hole into which the third sheath 460 is fitted, but is not limited thereto, and may be composed of various configurations that can be fixed so as to restrict the relative movement of the third sheath 460.

[0235] At the other end of the first guide hole 455, for example, at the front end with reference to FIG. 27, a second guide hole 456 may be formed such that the area of the cross section perpendicular to the length direction increases toward the front and surrounds the outer peripheral portion of the fixing member 410 in the circumferential direction.

[0236] At this time, the portion where the first guide hole 455 and the second guide hole 456 are connected may be inclined such that one side surface and the other side surface in the circumferential direction are separated from each other and may be formed somewhat round.

[0237] Inside the second guide hole 456 surrounding the outer peripheral portion of the fixing member 410, a first portion 421a of the first tendon 420, a first portion 424a of the second tendon 423, a first tendon fixing portion, and a second tendon fixing portion 414 are arranged. At the portion where the first guide hole 455 and the second guide hole 456 are connected, a second portion 421b of the first tendon 420 and a second portion 424b of the second tendon 423 are arranged.

[0238] In this way, one side 421 of the first tendon 420 and one side 424 of the second tendon 423 may be arranged while maintaining a smoothly bent shape by being guided by the first guide hole 455 and the second guide hole 456.

[0239] A first moving member 430 is coupled to the first guide hole 455 and the second guide hole 456 so as to be relatively movable in the extending direction of the accommodating portion 454. However, the first moving member 430 is coupled to the second moving member 450 so as to restrict relative rotation about the central axis C.

[0240] The first moving member 430 may be composed of a body portion 432 having a predetermined length. On one side portion of the first moving member, a first sheath fixing portion 434 to which one side 441 of the first sheath 440 is coupled and a second sheath fixing portion 435 to which one side 444 of the second sheath 443 is coupled are formed. An endoscopic surgical member 3 may be provided on one side portion of the first moving member 430.

[0241] More specifically, on one side of the first sheath fixing portion 434, above with reference to FIG. 27, a first portion 441a of the first sheath 440 that bends with a predetermined degree of freedom is located. To the first sheath fixing portion 434, a second portion 441b extending from the first portion 441a is coupled. Since the first portion 441a of the first sheath 440 has a predetermined variability without being restricted by the first sheath fixing portion 434, it can bend in the outer direction of the first moving member 430.

[0242] Similarly, on one side of the second sheath fixing portion 435, above with reference to FIG. 27, a first portion 444a of the second sheath 443 that can bend with a predetermined degree of freedom is located. To the second sheath fixing portion 435, a second portion 444b extending from the first portion 444a is coupled. Since the first portion 444a of the second sheath 443 has a predetermined variability without being restricted by the second sheath fixing portion 435, it can bend in the outer direction of the first moving member 430.

[0243] Regarding the functions performed by the first portion 441a of the first sheath 440 and 444a of the second sheath 443, it will be described later in relation to the relative movement between the first moving member 430 and the second moving member 450.

[0244] On the other side portion of the first moving member 430, for example, on the rear portion with reference to FIG. 27, one side 447 of the third tendon 446 is fixedly coupled. At least a part of the third tendon 446 penetrates the third sheath 460, and one side 447 of the third tendon 446 may be drawn out from one side 461 of the third sheath 460.

[0245] At least a part of the first tendon 420 penetrates the first sheath 440, and one side 421 of the first tendon 420 may be drawn out from one side 441 of the first sheath 440. At least a part of the second tendon 423 penetrates the second sheath 443, and one side 424 of the second tendon 423 may be drawn out from one side 444 of the second sheath 443.

[0246] That is, in front of the first moving member 430, there are a first tendon fixing portion and a second tendon fixing portion 414 where one side 421 of the first tendon 420 and one side 424 of the second tendon 423 are fixedly coupled, and behind the first moving member 430, there is a third sheath fixing portion 458 where one side 461 of the third sheath 460 is fixedly coupled.

[0247] In addition, the other side 442 of the first sheath 440, the other side 445 of the second sheath 443, and the other side 448 of the third sheath 460 are fixedly coupled to the first, second, and third holders 470, 476, 478 respectively, and the other side 422 of the first tendon 420, the other side 425 of the second tendon 423, and the other side 448 of the third tendon 446 are coupled to the first driving portion 480, the second driving portion 486, and the third driving portion 488 respectively.

[0248] When the first drive unit 480, the second drive unit 486, and the third drive unit 488 pull the other sides 422 of the first tendon 420, 425 of the second tendon 423, and 448 of the third tendon 446, since the other sides 442 of the first sheath 440, 445 of the second sheath 443, and 448 of the third sheath 460 are fixed by the first, second, and third holders 470, 476, 478 respectively, the other sides 422 of the first tendon 420, 425 of the second tendon 423, and 448 of the third tendon 446 are drawn out from the other sides 442 of the first sheath 440, 445 of the second sheath 443, and 448 of the third sheath 460, and relative movement can occur between the first tendon 420, the second tendon 423, and the third tendon 446 and the first sheath 440, the second sheath 443, and the third sheath 460.

[0249] Hereinafter, the process in which the fixing member, the first moving member, and the second moving member of the moving device according to the fifth embodiment of the present invention move relative to each other by the first to third holders and the first to third drive units will be described.

[0250] Figures 30 to 32 are diagrams for explaining the process in which the first moving member of the moving device shown in Figure 27 moves relative to the fixing member and the second moving member. Figures 33 to 35 are diagrams for explaining the process in which the first moving member and the second moving member of the moving device shown in Figure 27 move relative to the fixing member. Figure 36 is a diagram for explaining an example of the operation method of the first moving member shown in Figure 27. Figure 37 is a cross-sectional view of the fixing member, the first moving member, and the second moving member shown in Figure 27.

[0251] Referring to Figures 30 to 32, in the present embodiment, the first moving member 430 can move relative to the fixing member 410 and the second moving member 450 in the front-back direction. At this time, the relative movement of the first moving member 430 is generated by the relative movement between the first tendon 420 and the second tendon 423 and the first sheath 440 and the second sheath 443, and the relative movement between the third tendon 446 and the third sheath 460.

[0252] The linear relative movement of the first moving member 430 according to an embodiment of the present invention may consist of the same process as any one of the moving devices 1, 101, 201 (see FIGS. 1, 10, and 16) according to the first to third embodiments described above.

[0253] More specifically, in the present embodiment, the linear relative movement of the first moving member 430 may consist of the same process as the moving device 101 (see FIG. 10) according to the second embodiment. That is, the fixed member 410 and the second moving member 450 perform the same functions as the fixed member 110 (see FIG. 10) of the second embodiment, the first moving member 430 performs the same functions as the first moving member 130 (see FIG. 10) of the second embodiment, the first and second tendons 420, 423 perform the same functions as the first tendon 120 (see FIG. 10) of the second embodiment, the first and second sheaths 440, 443 perform the same functions as the first sheath 140 (see FIG. 10) of the second embodiment, the third tendon 446 performs the same functions as the second tendon 143 (see FIG. 10) of the second embodiment, the third sheath 460 performs the same functions as the second sheath 123 (see FIG. 10) of the second embodiment, the first and second holders 470, 476 perform the same functions as the first holder 170 (see FIG. 10) of the second embodiment, the third holder 478 performs the same functions as the second holder 176 (see FIG. 10) of the second embodiment, the first and second drive units 480, 486 perform the same functions as the first drive unit 180 (see FIG. 10) of the second embodiment, and the third drive unit 488 may be configured to perform the same functions as the second drive unit 186 (see FIG. 10) of the second embodiment.

[0254] Referring to FIG. 30, when the first and second drive units 480 and 486 pull the other sides 422 and 425 of the first and second tendons 420 and 423 respectively, the other sides 442 and 445 of the first and second sheaths 440 and 443 fixedly coupled to the first and second holders 470 and 476 are pulled out from the other sides 422 and 425 of the first and second tendons 420 and 423, and relative movement occurs between the first and second tendons 420 and 423 and the first and second sheaths 440 and 443.

[0255] Note that the third drive unit 488 releases the other side 448 of the third tendon 446 and gives a predetermined degree of freedom so that relative movement can occur between the third tendon 446 and the third sheath 460.

[0256] At this time, when the first moving member 430 is located at the rear part of the first guide hole 455, the first portions 441a and 444a of the first and second sheaths 440 and 443 are arranged parallel to the extending direction of the first guide hole 455 or the length direction of the fixing member 410. Hereinafter, the above position of the first moving member 430 is referred to as the second position.

[0257] Referring to FIG. 31, when the other sides 421 and 424 of the first and second tendons 420 and 423 are pulled backward by the first and second drive units 480 and 486, as described in the second embodiment above, the first and second sheaths 440 and 443 are supported by the first and second holders 470 and 476 with a predetermined compressive rigidity, so that a repulsive force for pushing the first moving member 430 forward is generated.

[0258] Thus, according to the present embodiment, the first moving member 430 can perform a linear relative movement forward with respect to the fixing member 410 and the second moving member 450 by the relative movement between the first and second tendons 420 and 423 and the first and second sheaths 440 and 443.

[0259] At this time, since the third drive unit 488 releases the other side 448 of the third tendon 446, the other side 448 of the third tendon 446 is drawn into the inside of the third sheath 460. As a result, the first moving member 430 can move forward while receiving less resistance from the third tendon 446.

[0260] Referring to FIG. 32, when the first moving member 430 reaches the front side of the first guide hole 455, the relative movement between the first moving member 430 and the second moving member 450 is restricted so that the first moving member 430 does not escape outside the housing portion 454 of the second moving member 450. The above action can be performed by a locking portion provided on the second moving member 450. The locking portion will be described later with reference to FIG. 37.

[0261] Note that as the first moving member 430 moves forward of the first guide hole 455, when the first portion 441a of the first sheath 440 and the first portion 444a of the second sheath 443 enter the inside of the second guide hole 456, the first portion 441a of the first sheath 440 and the first portion 444a of the second sheath 443 bend and turn outside the first moving member 430.

[0262] At this time, the first portions 441a and 444a may be arranged to bend with a predetermined curvature along the inner surfaces located on both sides in the circumferential direction of the second guide hole 456. As a result, the first portion 441a of the first sheath 440 and the first portion 444a of the second sheath 443 can minimize the frictional force and the resistance force generated between the first tendon 420 and the second tendon 423, and guide the first tendon 420 and the second tendon 423 extending in the circumferential direction of the fixing member 410.

[0263] Referring to FIGS. 33 to 35, in the present embodiment, the first moving member 430 and the second moving member 450 can rotate relative to the fixing member 410 clockwise or counterclockwise about the central axis C. At this time, the relative rotation of the first moving member 430 and the second moving member 450 is generated by the relative movement between the first tendon 420 and the first sheath 440 and the relative movement between the second tendon 423 and the second sheath 443.

[0264] In the present embodiment, the relative rotation of the first moving member 430 and the second moving member 450 may consist of the same process as the moving device 301 (see FIG. 23) according to the fourth embodiment described above.

[0265] More specifically, the fixing member 410 performs the same function as the fixing member 310 (see FIG. 23) of the fourth embodiment, the first moving member 430 and the second moving member 450 perform the same function as the first moving member 430 (see FIG. 23) of the fourth embodiment, the second guide hole 456 performs the same function as the tendon fixing portion guide hole 335 (see FIG. 23) of the fourth embodiment, the first tendon fixing portion and the second tendon fixing portion 414 perform the same function as the tendon fixing portion 314 of the fourth embodiment, the first tendon 420 and the second tendon 423 perform the same function as the first tendon 320 and the second tendon 323 (see FIG. 23) of the fourth embodiment, the first sheath 440 and the second sheath 443 perform the same function as the first sheath 340 and the second sheath 343 (see FIG. 23) of the fourth embodiment, the first holder 470 and the second holder 476 perform the same function as the first holder 370 and the second holder 376 of the fourth embodiment, and the first driving portion 480 and the second driving portion 486 may be configured to perform the same function as the first driving portion 380 and the second driving portion 386 of the fourth embodiment.

[0266] Referring to FIGS. 33 to 35, when the first driving portion 480 pulls the other side 422 of the first tendon 420, tension is applied to the first tendon 420, and a relative movement occurs in which the other side 422 of the first tendon 420 is pulled out from the other side 442 of the first sheath 440. When the other side 422 of the first tendon 420 is pulled, one side 421 of the first tendon 420 pulls the tendon fixing portion 414 counterclockwise.

[0267] At the same time, the first sheath 440 generates an interaction force with the first tendon 420 due to relative movement therebetween. Also, since the other side 442 of the first sheath 440 having a predetermined compression rigidity is supported by the first holder 470, a repulsive force is generated forward.

[0268] The generated repulsive force applies a force to the first moving member 430 via the first and second sheath fixing parts 434, 435 fixed to one side 441 of the first sheath 440. At this time, the first part 421a of the first tendon 420 is bent and arranged along the circumferential direction, and the first part 441a of the first sheath 440 is also bent so that the end portion thereof faces in a direction parallel to the circumferential direction. Therefore, the generated repulsive force rotates the first moving member 430 and the second moving member 450 clockwise relative to the fixing member 410.

[0269] Thereby, the moving device 401 according to the present embodiment can rotate the first moving member 430 and the second moving member 450 clockwise relative to the fixing member 410 by the first driving part 480 pulling the other side 422 of the first tendon 420.

[0270] At the same time, the second driving part 486 releases the other side 425 of the second tendon 423 so that relative movement between the second sheath 443 and the second tendon 423 smoothly occurs due to an external force.

[0271] Thereby, since the resistance force by the second tendon 423 and the second sheath 443 can be minimized, the first moving member 330 and the second moving member 450 can easily rotate relative to the fixing member 410 due to relative movement between the first tendon 420 and the first sheath 440.

[0272] In addition, when the second driving part 486 pulls the other side 425 of the second tendon 423 and the first driving part 480 releases the other side 422 of the first tendon 420, the first moving member 430 and the second moving member 450 can rotate relative to the fixed member 410 counterclockwise by an operating process similar to the above-described operating process.

[0273] In this way, in the moving device 401 according to the present embodiment, when any one of the first driving part 480 and the second driving part 486 pulls any one of the first tendon 420 and the second tendon 423, and any one of the first driving part 480 and the second driving part 486 releases any one of the first tendon 420 and the second tendon 423, the first moving member 430 and the second moving member 450 can be rotated relative to the fixed member 410 clockwise or counterclockwise.

[0274] As described above, according to the present embodiment, by using the relative movement of the first tendon to the third tendon 420, 423, 446 and the first sheath to the third sheath 440, 443, 460, the first moving member 430 can be linearly moved or rotated relative to the fixed member 410.

[0275] In addition, a user using the moving device according to an embodiment of the present invention can fix the relative position between the first moving member and the second moving member during the process in which the first moving member and the second moving member rotate relative to the fixed member.

[0276] Referring to FIG. 36, in the present embodiment, the above operation can be performed by controlling the third driving part 488. More specifically, the user can pull, fix the position, or release the other side 448 of the third tendon 446 backward by the third driving part 488 so that the distance L3 between the rear end of the first moving member 430 and the rear end of the first guide hole 455 is maintained constant, thereby fixing the relative position between the first moving member 430 and the second moving member 450.

[0277] Referring to FIG. 37, locking portions 459 protruding in the inner direction may be formed at the front ends of the first guide hole 455 and the second guide hole 456. The first moving member 430 that moves forward within the first guide hole 455 and the second guide hole 456 is restricted from moving forward by being locked by the locking portion 459.

[0278] In this way, by preventing the locking portion 459 from restricting the forward movement of the first moving member 430 and allowing it to escape outside the housing portion 454 of the second moving member 450, the first moving member 430 can be housed inside the housing portion 454 and protected from the outside.

[0279] Also, the locking portion 459 can function to limit the distance by which the first moving member 430 linearly moves forward relative to the second moving member 450. That is, the linear movement distance of the first moving member 430 is restricted to the section between the third sheath fixing portion 458 formed in the housing portion 454 and the locking portion 459.

[0280] In the present embodiment, the locking portion 459 is located at the front ends of the first guide hole 455 and the second guide hole 456. However, the locking portion 459 may be located in the middle portion of the first guide hole 455 and the second guide hole 456 to restrict the linear movement distance of the first moving member 430 to be somewhat shorter.

[0281] The relative functions or relative movements of the fixing member and the first moving member or the second moving member described throughout this specification may be variously deformed or modified without departing from the technical idea of the present invention.

[0282] For example, with reference to the second embodiment of the present invention, reference numeral 110 in FIG. 10 is a fixed member to which the first tendon 120 and the second sheath 123 are coupled. Reference numeral 130 is a first moving member to which the first sheath 140 having the second tendon 143 and the bent portion 140a formed therein is coupled. When the first tendon 120 is pulled rearward by the first driving unit 180, it has been described that the first moving member 130 moves relatively forward with respect to the fixed member 110 due to the compressive force and the repulsive force of the first sheath 140. However, in other embodiments, reference numeral 110 in FIG. 10 functions as the first moving member, reference numeral 130 functions as the fixed member, and when the second driving unit 186 pulls the second tendon 143 rearward, reference numeral 110 is configured to move relatively forward with respect to reference numeral 130 due to the compressive force and the repulsive force of the second sheath 123. At this time, it is preferable that a predetermined bent portion is formed in the second sheath 123 so as to be able to generate a repulsive force and a compressive force.

[0283] As described above, although one embodiment of the present invention has been described, the idea of the present invention is not limited to the embodiments presented in this specification. Those skilled in the art who understand the idea of the present invention can easily propose other embodiments by adding, changing, deleting, adding, etc. of components within the scope of the same idea. It can also be said that this is within the scope of the idea of the present invention.

Claims

1. A fixing member, a first tendon having one side coupled to the fixing member, a first moving member movable relative to the fixing member, a first sheath having one side coupled to the first moving member and formed such that the first tendon penetrates therethrough, a first holder for fixing any one of the other side of the first tendon and the other side of the first sheath, and a first driving unit for moving any one of the other side of the first tendon and the other side of the first sheath, A moving device, wherein the first moving member is formed to be movable relative to the fixing member by relative movement between the first tendon and the first sheath.

2. A second tendon having one side coupled to the first moving member, a second sheath having one side coupled to the fixing member, a second holder for fixing any one of the other side of the second tendon and the other side of the second sheath, and a second driving unit for moving any one of the other side of the second tendon and the other side of the second sheath, The moving device according to claim 1, wherein the first moving member is formed to be movable relative to the fixing member by relative movement between the second tendon and the second sheath.

3. The first holder is formed to fix the other side of the first sheath, The moving device according to claim 1, wherein the first driving unit is formed to be able to move the other side of the first tendon.

4. The relative movement between the fixing member and the first moving member is formed such that when the first driving unit pulls the other side of the first tendon, one side of the first tendon is drawn into one side of the first sheath, and as the other side of the first tendon is pulled out from the other side of the first sheath. The moving device according to claim 3.

5. The first holder is formed to fix the other side of the first tendon, The moving device according to claim 1, wherein the first driving unit is formed to be able to move the other side of the first sheath.

6. One side portion of the first tendon includes a first portion having one side coupled to the fixing member and the other side extending along a first direction, and a second portion extending along a second direction from the first portion. The moving device according to claim 1, wherein the relative movement between the first tendon and the first sheath forms the first moving member to be relatively movable with respect to the fixed member in a direction parallel to the first direction.

7. The moving device according to claim 6, wherein one side portion of the first sheath is arranged to bend with a predetermined curvature such that an end portion thereof faces in a direction parallel to the first direction.

8. The fixed member has a cylindrical shape, The first direction is a circumferential direction around the fixed member, The second direction is a direction parallel to the length direction of the fixed member, The moving device according to claim 6, wherein the relative movement between the first tendon and the first sheath forms the first moving member to be relatively rotatable with respect to the fixed member.

9. Further comprising a second tendon having one side coupled to the fixed member, a second sheath having one side coupled to the first moving member and formed so that the second tendon penetrates therethrough, a second holder for fixing any one of the other side of the second tendon and the other side of the second sheath, and a second driving unit for moving any one of the other side of the second tendon and the other side of the second sheath, One side portion of the second tendon includes a first portion having one side coupled to the fixed member and the other side extending along a third direction facing the first direction and a second portion extending along the second direction from the first portion, The moving device according to claim 8, wherein the relative movement between the second tendon and the second sheath forms the first moving member to be relatively rotatable with respect to the fixed member.

10. Further comprising a third tendon having one side coupled to the first moving member, a second moving member coupled to the fixed member to be relatively rotatable with respect to the fixed member in a direction parallel to the first direction, a third sheath having one side coupled to the second moving member, a third holder for fixing any one of the other side of the third tendon and the other side of the third sheath, and a third driving unit for moving any one of the other side of the third tendon and the other side of the third sheath, The relative movement between the first tendon and the first sheath forms the first moving member and the second moving member to be relatively rotatable with respect to the fixed member, The moving device according to claim 8, wherein the relative movement between the third tendon and the third sheath enables the first moving member to move relative to the fixed member and the second moving member in the second direction.

11. One side portion of the first sheath includes a first portion formed to bend in the outer direction of the first moving member as the first moving member moves in the second direction and a second portion coupled to the first moving member. The moving device according to claim 10.

12. The second moving member is provided with a locking portion that restricts relative movement between the first moving member and the second moving member when the first moving member reaches a predetermined position. The moving device according to claim 10.

13. The second moving member includes a body portion rotatably coupled to the fixed member and a housing portion provided on one side of the body portion and housing the first moving member therein. The housing portion is formed with a guide hole for guiding the first moving member to be able to move in the second direction. The moving device according to claim 10.

14. The first driving portion includes an actuator or an operating member operable by hand. The moving device according to claim 1.

15. The first driving portion includes a guide member for guiding one of the other sides of the first tendon and the other side of the first sheath. The moving device according to claim 1.

16. A fixed member, a first tendon having one side coupled to the fixed member, a first moving member movable relative to the fixed member, a first sheath having one side coupled to the first moving member and formed so that the first tendon penetrates therethrough, a second tendon having one side coupled to the first moving member, and a second sheath having one side coupled to the fixed member and formed so that the second tendon penetrates therethrough. A moving device formed to be movable relative to the fixed member between one side of the first tendon coupled to the first moving member and one side of the second sheath coupled to the fixed member.

17. The first tendon and the second tendon are arranged parallel to each other along the relative movement direction between the first moving member and the fixed member. The moving device according to any one of claims 1 to 16.

18. One side of the first tendon coupled to the fixed member is located in front of the first moving member when viewed from the moving direction of the first moving member. One side of the second sheath that is coupled to the fixing member is located behind the first moving member when viewed from the moving direction of the first moving member. The moving device according to any one of claims 1 to 16.

19. The fixing member is fixedly positioned at the distal end of the endoscope device. The moving device according to any one of claims 1 to 16.

20. An endoscope device surgical member is coupled to the first moving member. The moving device according to any one of claims 1 to 16.

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