Operation wire

Abstract

To provide an operation wire 10 having excellent responsiveness and durability.SOLUTION: The operation wire 10 comprises a main wire 28, a plurality of retainers 30, and a plurality of rotors 32. The main wire 28 is solid. Each of the retainers 30 is separated from the other retainers 30 in the axial direction of the main wire 28. The retainers 30 are fixed to the main wire 28. Each of the rotors 32 has a spherical shape. The rotors 32 are attached to the main wire 28 via the retainers 30. The rotors 32 are partially exposed from the retainers 30. The rotors 32 can rotate with respect to the retainers 30.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] This specification discloses a control wire suitable for medical devices, exercise support devices, welfare devices, nursing care devices, and the like. [Background technology]

[0002] In minimally invasive medical treatment, a medical device having multiple sheaths may be inserted into a patient's body. This medical device can bend at the boundary between one sheath and an adjacent sheath. This bending can be achieved by manipulating a wire. This wire is called a manipulation wire. The manipulation wire is passed through a sub-hole in the sheath. An example of this wire is disclosed in JP 2012-90970 A. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-90970 A Summary of the Invention [Problem to be solved by the invention]

[0004] The sheath may bend inside the patient's body. This bending causes local friction between the inner surface of the subhole and the operating wire in the medical device. This friction can lead to insufficient bending of the sheath. The responsiveness of a medical device with an insufficient bending of the sheath is low.

[0005] The localized friction further leads to plastic deformation of the operating wire. A medical device with an operating wire that has become deformed is no longer suitable for use. The medical device must be replaced with a new one. This replacement is uneconomical.

[0006] The applicant's intention is to provide a manipulation wire that is excellent in responsiveness and durability. [Means for solving the problem]

[0007] The operating wire disclosed in the present specification is a main wire that is solid; Multiple retainers, and Multiple rotors Each retainer is spaced apart from the other retainers in the axial direction of the main wire. Each rotor is attached to the main wire via a retainer. [Effects of the Invention]

[0008] In this operation wire, the rotation of the rotor can reduce friction between the operation wire and other members. This operation wire is excellent in responsiveness and durability. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a front view showing a part of a bending unit according to one embodiment. [Figure 2] FIG. 2 is a cross-sectional view taken along line II-II in FIG. [Figure 3] FIG. 3 is a cross-sectional view showing a part of the bending unit of FIG. [Figure 4] FIG. 4 is a cross-sectional view showing the bending unit of FIG. [Figure 5] 5 is an enlarged front view showing a part of the operating wire of the bending unit of FIG. 1. FIG. [Figure 6] FIG. 6 is a plan view showing a part of the operating wire of FIG. [Figure 7] FIG. 7 is an enlarged cross-sectional view taken along line VII-VII in FIG. [Figure 8] 8 is an exploded perspective view showing a retainer and a rotor of the operating wire of FIG. 5. FIG. [Figure 9] FIG. 9 is a front view showing a part of the operation wire of the bending unit according to another embodiment. [Figure 10] FIG. 10 is an enlarged cross-sectional view taken along line XX in FIG. [Figure 11]11 is an enlarged perspective view showing the retainer and rotor of the operating wire of FIG. 9. FIG. [Figure 12] FIG. 12 is a front view showing a part of an operating wire of a bending unit according to still another embodiment. [Figure 13] FIG. 13 is an enlarged cross-sectional view taken along line XIII-XIII in FIG. [Figure 14] 14 is an enlarged perspective view showing the retainer and rotor of the operating wire of FIG. 12. FIG. [Figure 15] FIG. 15 is a front view showing a part of an operating wire of a bending unit according to still another embodiment. [Figure 16] FIG. 16 is an exploded cross-sectional view taken along line XVI-XVI in FIG. [Figure 17] 17 is a perspective view showing a part of the main wire of the operating wire of FIG. 15. FIG. [Figure 18] FIG. 18 is a front view showing a part of an operating wire of a bending unit according to still another embodiment. [Figure 19] FIG. 19 is an exploded cross-sectional view taken along line XIX-XIX in FIG. [Figure 20] 20 is a perspective view showing a part of the main wire of the operating wire of FIG. 18. FIG. [Figure 21] FIG. 21 is a front view showing a part of an operating wire of a bending unit according to still another embodiment. [Figure 22] 22 is a plan view showing a part of the operating wire of FIG. 21. FIG. [Figure 23] FIG. 23 is an enlarged cross-sectional view taken along line XXIII-XXIII in FIG. [Figure 24] 24 is a perspective view showing a part of the main wire of the operating wire of FIG. 21. FIG. [Figure 25] FIG. 25 is a front view showing a part of an operating wire of a bending unit according to still another embodiment. [Figure 26] FIG. 26 is a plan view showing a part of the operating wire of FIG. [Figure 27] FIG. 27 is an enlarged cross-sectional view taken along line XXVII-XXVII in FIG. [Figure 28] 28 is an enlarged perspective view showing a rotor of the operating wire of FIG. 25. FIG. [Figure 29] FIG. 29 is a front view showing a part of an operating wire of a bending unit according to still another embodiment. [Figure 30] 30 is an enlarged view showing the retainer of the operating wire, the rotor, and the sub-rotor of FIG. 29. FIG. [Figure 31] FIG. 31 is a cross-sectional view taken along line XXXI-XXXI in FIG. [Figure 32] 32 is a cross-sectional view taken along line XXXII-XXXII in FIG. [Figure 33] 33 is a perspective view showing the body of the retainer of FIG. 30. FIG. [Figure 34] FIG. 34 is an enlarged view showing the rotor and sub-rotor of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, preferred embodiments will be described in detail with reference to the drawings as appropriate.

[0011] [First embodiment] 1-3 show a bending unit 2. This bending unit 2 can be used as a manipulator for medical equipment. In FIG. 1, the upper side is the tip side of this bending unit 2, and the lower side is the butt side of this bending unit 2.

[0012] The bending unit 2 has a first sheath 4, a joint 6, a second sheath 8, a pair of operating wires 10, and a pair of stoppers 12. The joint 6 is integral with the first sheath 4. The joint 6 is located between the first sheath 4 and the second sheath 8. The second sheath 8 is located closer to the tip than the first sheath 4. The bending unit 2 may have other sheaths.

[0013] As shown in Figures 2 and 3, the first sheath 4 has a main hole 14a and a pair of sub-holes 16a. The main hole 14a extends in the vertical direction in Figure 3. The main hole 14a penetrates from the upper surface 18 of the first sheath 4 to the lower surface (not shown). Components of a medical device can be housed in this main hole 14a. Each of the sub-holes 16a extends in the vertical direction in Figure 3. The sub-holes 16a penetrate from the upper surface 18 of the first sheath 4 to the lower surface (not shown). As shown in Figure 2, the cross-sectional shape of the inner circumferential surface of the sub-holes 16a is circular.

[0014] As shown in FIG. 3, the second sheath 8 has a main hole 14b and a pair of sub-holes 16b. The main hole 14b extends in the vertical direction in FIG. 3. The main hole 14b penetrates from the upper surface (not shown) to the lower surface 20 of the second sheath 8. Components of a medical device can be housed in the main hole 14b. Each of the sub-holes 16b extends in the vertical direction in FIG. 3. The sub-holes 16b penetrate from the upper surface (not shown) to the lower surface 20 of the second sheath 8. Each of the sub-holes 16b has a large diameter portion 22 and a small diameter portion 24. A step 26 is formed between the large diameter portion 22 and the small diameter portion 24.

[0015] The operating wire 10 passes through the sub-hole 16a of the first sheath 4. The wire 10 enters the sub-hole 16b of the second sheath 8 and reaches close to the step 26. The wire 10 is joined to a stopper 12. The stopper 12 is generally spherical in shape. The outer diameter of the stopper 12 is larger than the inner diameter of the small diameter portion 24. Therefore, the stopper 12 cannot move downward beyond the step 26. The stopper 12 can prevent the wire 10 from being pulled out downward. The wire 10 is attached to the second sheath 8 by the stopper 12.

[0016] The bending unit 2 is also shown in Figure 4. As is clear from a comparison of Figures 3 and 4, in Figure 4 the axial direction of the second sheath 8 is inclined with respect to the up-down direction. By pulling the operating wire 10a located on the left side in Figure 3, the second sheath 8 can move from the position shown in Figure 3 to the position shown in Figure 4. The change in position is accompanied by downward movement of the left operating wire 10a in the left subhole 16a in the first sheath 4, and upward movement of the right operating wire 10b in the right subhole 16a.

[0017] By pulling the manipulation wire 10b located on the right side in Fig. 4, the second sheath 8 can move from the position shown in Fig. 4 to the position shown in Fig. 3. The change in position is accompanied by the upward movement of the left manipulation wire 10a through the left subhole 16a in the first sheath 4, and the downward movement of the right manipulation wire 10b through the right subhole 16a. These changes in the position of the second sheath 8 result in the operation of the medical robot.

[0018] 5-7 show the operating wire 10. This operating wire 10 has a main wire 28, multiple retainers 30, and multiple rotors 32. In FIGS. 5 and 6, the right side is the distal end of the operating wire 10, and the left side is the proximal end of the operating wire 10.

[0019] The main wire 28 is solid. In other words, the main wire 28 is not hollow. A preferred main wire 28 is a solid or stranded wire. The main wire 28 is flexible. Typically, the main wire 28 is made of a metal material. A preferred metal material from the standpoint of strength and corrosion resistance is stainless steel.

[0020] Each retainer 30 is spaced apart from the other retainers 30 in the axial direction of the main wire 28. As shown in FIG. 8, the retainer 30 has a body 34 and a pair of side plates 36. The body 34 has a hole 38 and a pair of chambers 40. The side plates 36 have a hole 41. As shown in FIG. 7, the main wire 28 passes through the hole 38. The hole 38 is joined to the main wire 28 by means of welding, brazing, or the like. This joining secures the retainer 30 to the main wire 28.

[0021] The operating wire 10 may have multiple main wires that are shorter than the main wire 28. These short main wires extend from the retainer 30 to another retainer adjacent to the retainer 30. The ends of these short main wires are inserted into the holes 38 (or other holes) and joined to the retainers 30.

[0022] Each chamber 40 is open to the outside. This chamber 40 has an undercut shape. A plurality of rotors 32 are housed in this chamber 40. In this embodiment, each chamber 40 houses four rotors 32. Since the rotors 32 are sandwiched between a pair of side plates 36, the positions of the rotors 32 in the axial and circumferential directions of the operating wire 10 are fixed. The rotors 32 can rotate relative to the retainer 30. Various structures can be employed for the retainer 30, which can rotatably hold the rotors 32 and can be fixed to the main wire 28. The chambers 40 may have a shape that allows the rotors 32 to be spaced apart from adjacent rotors 32.

[0023] Each rotor 32 has a spherical shape. A portion of the rotor 32 is exposed from the retainer 30. The rotor 32 is attached to the main wire 28 via the retainer 30. The entire rotor 32 protrudes from the outer circumferential surface of the main wire 28. As is clear from FIG. 7 , the protruding direction of the rotor 32 a housed in one chamber 40 is different from the protruding direction of the rotor 32 b housed in the other chamber 40. Typically, the rotors 32 are made of a metal material. A preferred metal material from the viewpoints of strength and corrosion resistance is stainless steel.

[0024] In this bending unit 2, the rotor 32 comes into contact with the inner surface of the sub-hole 16 (see FIG. 4). This contact can cause the main wire 28 to move away from this inner surface. The rotor 32 suppresses friction between the sub-hole 16 and the main wire 28.

[0025] Stress occurs in the operating wire 10 at the curved portion of the sheath. Rotation of the rotor 32 relieves this stress. This rotation suppresses local friction between the inner surface of the subhole 16 and the operating wire 10. This rotor 32 can contribute to the responsiveness and durability of the operating wire 10.

[0026] In FIG. 5, arrow Do represents the apparent outer diameter of the operating wire 10, and arrow Dm represents the outer diameter of the main wire 28. The apparent outer diameter Do is also shown in FIG. 5. From the viewpoint of suppressing contact between the main wire 28 and the inner surface of the subhole 16, the apparent outer diameter Do is preferably 1.2 times or more, more preferably 1.5 times or more, and particularly preferably 1.7 times or more, the outer diameter Dm. From the viewpoint of compactness of the operating wire 10, the apparent outer diameter Do is preferably 5.0 times or less, more preferably 3.7 times or less, and particularly preferably 3.5 times or less, the outer diameter Dm. The apparent outer diameter Do is the diameter of the smallest circle that can contain the entire operating wire 10 within its outline in the cross section of FIG. 5.

[0027] 5, the arrow Hi indicates the protruding height of the rotor 32 from the main wire 28. From the viewpoint of suppressing contact between the main wire 28 and the inner surface of the subhole 16, this height Hi is preferably 0.10 mm or more, more preferably 0.20 mm or more, and particularly preferably 0.25 mm or more. From the viewpoint of achieving a sufficiently small apparent outer diameter Do, this height Hi is preferably 3.0 mm or less, more preferably 2.0 mm or less, and particularly preferably 1.5 mm or less.

[0028] [Second embodiment] 9 and 10 show an operating wire 42 of a bending unit according to another embodiment. This operating wire 42 has a main wire 44, a plurality of retainers 46, and a plurality of rotors 48. The specifications of the main wire 44 are the same as those of the main wire 28 shown in FIG. 5. The specifications of each rotor 48 are the same as those of the rotor 32 shown in FIG. 5.

[0029] Each retainer 46 is spaced apart from the other retainers 46 in the axial direction of the main wire 44. As shown in Figures 10 and 11, the retainer 46 has a lower cylinder 50, a base 52, and an upper cylinder 54.

[0030] The lower cylinder 50 has a notch 56. In this embodiment, the outline of the notch 56 is roughly semicircular. As shown in FIG. 10 , the notch 56 abuts against the main wire 44. The notch 56 is joined to the main wire 44 by means of welding, brazing, or the like. The retainer 46 is fixed to the main wire 44 by this joining.

[0031] The base 52 is located between the lower cylinder 50 and the upper cylinder 54. The base 52 is annular. The inner diameter of the base 52 is smaller than the inner diameter of the upper cylinder 54. Furthermore, the inner diameter of the base 52 is smaller than the outer diameter of the rotor 48.

[0032] The upper cylinder 54 has a retainer 58. The retainer 58 has an annular shape. The inner diameter of the retainer 58 is smaller than the outer diameter of the rotor 48.

[0033] As shown in Figure 10, the rotor 48 is sandwiched between the base 52 and the retainer 58. In other words, the retainer 46 holds the rotor 48. A portion of the rotor 48 is exposed from the retainer 46. The rotor 48 can rotate relative to the retainer 46. As described above, the retainer 46 is fixed to the main wire 44. The rotor 48 is attached to the main wire 44 via the retainer 46. The position of the rotor 48 in the axial and circumferential directions of the operating wire 42 is fixed.

[0034] FIG. 10 shows two rotors 48. Specifically, FIG. 10 shows a first rotor 48a and a second rotor 48b. The first rotor 48a protrudes upward relative to the main wire 44. The second rotor 48b protrudes downward relative to the main wire 44. In the circumferential direction of the main wire 44, the protruding direction of the second rotor 48b is different from the protruding direction of the first rotor 48a. In the circumferential direction of the main wire 44, the angle between the protruding direction of the second rotor 48b and the protruding direction of the first rotor 48a is 180°. The specifications of the second rotor 48b, except for the protruding direction, are the same as those of the first rotor 48a.

[0035] In this bending unit, the rotor 48 comes into contact with the inner surface of the sub-hole 16 (see FIG. 4). This contact can cause the main wire 44 to move away from this inner surface. The rotor 48 suppresses friction between the sub-hole 16 and the main wire 44.

[0036] Stress occurs in the operating wire 42 at the curved portion of the sheath. Rotation of the rotor 48 relieves this stress. This rotation suppresses local friction between the inner surface of the subhole 16 and the operating wire 42. This rotor 48 can contribute to the responsiveness and durability of the operating wire 42.

[0037] The apparent outer diameter Do of this operating wire 42 is also preferably 1.2 times or more, more preferably 1.5 times or more, and particularly preferably 1.7 times or more, the outer diameter Dm of the main wire 44. The apparent outer diameter Do is preferably 5.0 times or less, more preferably 3.7 times or less, and particularly preferably 3.5 times or less, the outer diameter Dm.

[0038] In this operating wire 42, the protruding height Hi of the rotor 48 from the main wire 44 is preferably 0.10 mm or more, more preferably 0.20 mm or more, and particularly preferably 0.25 mm or more. This height is preferably 3.0 mm or less, more preferably 2.0 mm or less, and particularly preferably 1.5 mm or less.

[0039] [Third embodiment] 12 and 13 show a manipulation wire 60 for a bending unit according to yet another embodiment. This manipulation wire 60 has a main wire 62, a plurality of retainers 64, and a plurality of rotors 66. The shape of the main wire 62 is the same as that of the main wire 28 shown in FIG. 5. The shape of each rotor 66 is the same as that of the rotor 32 shown in FIG. 5.

[0040] Each retainer 64 is spaced apart from the other retainers 64 in the axial direction of the main wire 62. As shown in FIGS. 13 and 14 , the retainer 64 has a lower cylinder 68, a base 70, and an upper cylinder 72. The lower cylinder 68 has a hole 74 through which the main wire 62 passes. The hole 74 is joined to the main wire 62 by means of welding, brazing, or the like. This joining secures the retainer 64 to the main wire 62. Specifications of the retainer 64, except for the shape of the lower cylinder 68, are the same as those of the retainer 46 shown in FIG. 11 . The rotor 66 is attached to the main wire 62 via the retainer 64. The rotor 66 entirely protrudes from the outer circumferential surface of the main wire 62. A portion of the rotor 66 is exposed from the retainer 64. The rotor 66 can rotate relative to the retainer 64.

[0041] In this bending unit, the rotor 66 comes into contact with the inner surface of the sub-hole 16 (see FIG. 4). This contact can cause the main wire 62 to move away from this inner surface. The rotor 66 suppresses friction between the sub-hole 16 and the main wire 62.

[0042] Stress occurs in the operating wire 60 at the curved portion of the sheath. Rotation of the rotor 66 relieves this stress. This rotation suppresses local friction between the inner surface of the subhole 16 and the operating wire 60. This rotor 66 can contribute to the responsiveness and durability of the operating wire 60.

[0043] In this operating wire 60, the apparent outer diameter Do is preferably 1.2 times or more, more preferably 1.5 times or more, and particularly preferably 1.7 times or more, the outer diameter Dm of the main wire 62. The apparent outer diameter Do is preferably 5.0 times or less, more preferably 3.7 times or less, and particularly preferably 3.5 times or less, the outer diameter Dm.

[0044] In this operating wire 60, the protruding height Hi of the rotor 66 from the main wire 62 is preferably 0.10 mm or more, more preferably 0.20 mm or more, and particularly preferably 0.25 mm or more. This height is preferably 3.0 mm or less, more preferably 2.0 mm or less, and particularly preferably 1.5 mm or less.

[0045] [Fourth embodiment] 15 and 16 show a control wire 76 of a bending unit according to still another embodiment. The control wire 76 has a main wire 78, a plurality of retainers 80, and a plurality of rotors 82.

[0046] 17 shows the main wire 78. The main wire 78 has a base 84 and two rails 86. Each rail 86 protrudes from the base 84. The rail 86 is located at the center of the base 84 in the width direction. The rails 86 extend along the length of the main wire 78.

[0047] As shown in FIG. 15 , each retainer 80 is spaced apart from the other retainers 80 in the axial direction of the main wire 78. As shown in FIG. 16 , the retainer 80 has a lower cylinder 88, a base 90, and an upper cylinder 92. The lower cylinder 88 has a notch 94. In this embodiment, the outline of the notch 94 is generally rectangular. The notch 94 is fitted into a rail 86. The retainer 80 is joined to the main wire 78 by means of welding, brazing, or the like. The base 90 is located between the lower cylinder 88 and the upper cylinder 92. The base 90 is annular. The inner diameter of the base 90 is smaller than the inner diameter of the upper cylinder 92. Furthermore, the inner diameter of the base 90 is smaller than the outer diameter of the rotor 82. The upper cylinder 92 has a retainer 96. The shape of the retainer 96 is annular. The inner diameter of the retainer 96 is smaller than the outer diameter of the rotor 82.

[0048] The shape of each rotor 82 is the same as that of the rotor 32 shown in FIG. 5. The rotor 82 is sandwiched between a base 90 and a retainer 96. The rotor 82 is attached to the main wire 78 via a retainer 80. The rotor 82 entirely protrudes from the outer circumferential surface of the main wire 78. A portion of the rotor 82 is exposed from the retainer 80. The rotor 82 can rotate relative to the retainer 80.

[0049] In this bending unit, the rotor 82 comes into contact with the inner surface of the subhole 16 (see FIG. 4). This contact can cause the main wire 78 to move away from this inner surface. The rotor 82 suppresses friction between the subhole 16 and the main wire 78.

[0050] Stress occurs in the operating wire 76 at the curved portion of the sheath. Rotation of the rotor 82 relieves this stress. This rotation suppresses local friction between the inner surface of the subhole 16 and the operating wire 76. This rotor 82 can contribute to the responsiveness and durability of the operating wire 76.

[0051] In this operation wire 76, the protruding height Hi of the rotor 82 from the main wire 78 is preferably 0.10 mm or more, more preferably 0.20 mm or more, and particularly preferably 0.25 mm or more. This height is preferably 3.0 mm or less, more preferably 2.0 mm or less, and particularly preferably 1.5 mm or less.

[0052] [Fifth embodiment] 18 and 19 show a bending unit operation wire 98 according to still another embodiment. The operation wire 98 includes a main wire 100, a plurality of retainers 102, and a plurality of rotors 104.

[0053] 20 shows a main wire 100. The main wire 100 has a base 106 and two grooves 108. Each groove 108 is recessed from the base 106. The groove 108 is located at the center of the base 106 in the width direction. The grooves 108 extend along the length of the main wire 100.

[0054] As shown in FIG. 18, each retainer 102 is spaced apart from the other retainers 102 in the axial direction of the main wire 100. As shown in FIG. 19, the retainer 102 has a lower cylinder 110, a base 112, and an upper cylinder 114. The lower cylinder 110 is fitted into the groove 108. The retainer 102 is joined to the main wire 100 by means of welding, brazing, or the like. The base 112 is located between the lower cylinder 110 and the upper cylinder 114. The base 112 is annular. The inner diameter of the base 112 is smaller than the inner diameter of the upper cylinder 114. Furthermore, the inner diameter of the base 112 is smaller than the outer diameter of the rotor 104. The upper cylinder 114 has a retainer 116. The retainer 116 is annular in shape. The inner diameter of the retainer 116 is smaller than the outer diameter of the rotor 104.

[0055] The shape of each rotor 104 is the same as that of the rotor 32 shown in Fig. 5. The rotor 104 is sandwiched between the base 112 and the retainer 116. The rotor 104 is attached to the main wire 100 via the retainer 102. The rotor 104 entirely protrudes from the outer circumferential surface of the main wire 100. A portion of the rotor 104 is exposed from the retainer 102. The rotor 104 can rotate relative to the retainer 102.

[0056] In this bending unit, the rotor 104 comes into contact with the inner surface of the sub-hole 16 (see FIG. 4). This contact can cause the main wire 100 to move away from this inner surface. The rotor 104 suppresses friction between the sub-hole 16 and the main wire 100.

[0057] Stress occurs in the operating wire 98 at the curved portion of the sheath. Rotation of the rotor 104 relieves this stress. This rotation suppresses local friction between the inner surface of the subhole 16 and the operating wire 98. This rotor 104 can contribute to the responsiveness and durability of the operating wire 98.

[0058] In this operation wire 98, the protruding height Hi of the rotor 104 from the main wire 100 is preferably 0.10 mm or more, more preferably 0.20 mm or more, and particularly preferably 0.25 mm or more. This height is preferably 3.0 mm or less, more preferably 2.0 mm or less, and particularly preferably 1.5 mm or less.

[0059] [Sixth embodiment] 21-23 show a bending unit operation wire 118 according to yet another embodiment. The operation wire 118 includes a main wire 120, a plurality of retainers 122, and a plurality of rotors .

[0060] 24 shows the main wire 120. The main wire 120 has a base 126 and two grooves 128. Each groove 128 is recessed from the base 126. The groove 128 is located at the center of the base 126 in the width direction. The groove 128 extends along the length of the main wire 120. In this embodiment, the cross-sectional shape of the groove 128 is an arc.

[0061] 21 and 22, each retainer 122 is spaced apart from the other retainers 122 in the axial direction of the main wire 120. As shown in Fig. 23, this retainer 122 has a top plate 130 and a pair of side walls 132. Each side wall 132 is joined to the main wire 120 by means of welding, brazing, or the like.

[0062] The shape of each rotor 124 is the same as that of the rotor 32 shown in FIG. 5. This rotor 124 is sandwiched between the main wire 120 and the top plate 130. The rotor 124 is attached to the main wire 120 via a retainer 122. A portion of the rotor 124 fits into a groove 128. A portion of the rotor 124 protrudes from the outer circumferential surface of the main wire 120. A portion of the rotor 124 is exposed from the retainer 122. The rotor 124 can rotate relative to the retainer 122.

[0063] In this bending unit, the rotor 124 comes into contact with the inner surface of the sub-hole 16 (see FIG. 4). This contact can cause the main wire 120 to move away from this inner surface. The rotor 124 suppresses friction between the sub-hole 16 and the main wire 120.

[0064] Stress occurs in the operating wire 118 at the curved portion of the sheath. Rotation of the rotor 124 relieves this stress. This rotation suppresses local friction between the inner surface of the subhole 16 and the operating wire 118. This rotor 124 can contribute to the responsiveness and durability of the operating wire 118.

[0065] In this operation wire 118, the protruding height Hi of the rotor 124 from the main wire 120 is preferably 0.10 mm or more, more preferably 0.20 mm or more, and particularly preferably 0.25 mm or more. This height is preferably 3.0 mm or less, more preferably 2.0 mm or less, and particularly preferably 1.5 mm or less.

[0066] [Seventh embodiment] 25-27 show a manipulation wire 134 for a bending unit according to yet another embodiment. This manipulation wire 134 has a main wire 136, a plurality of retainers 138, and a plurality of rotors 140. The specifications of the main wire 136 are the same as those of the main wire 28 shown in FIG. 5.

[0067] As shown in Figures 25 and 26, each retainer 138 is spaced apart from the other retainers 138 in the axial direction of the main wire 136. As shown in Figure 27, the retainer 138 has a notch 142 and a pair of holes 144. In this embodiment, the outline of the notch 142 is approximately semicircular. The notch 142 abuts against the main wire 136. The notch 142 is joined to the main wire 136 by means of welding, brazing, or the like. The retainer 138 is fixed to the main wire 136 by this joining.

[0068] FIG. 28 shows the rotor 140. This rotor 140 has a roller 146 and a shaft 148. As shown in FIG. 27, the end of the shaft 148 is inserted into the hole 144. The rotor 140 is attached to the main wire 136 via the retainer 138. The rotor 140 as a whole protrudes from the outer circumferential surface of the main wire 136. A portion of the rotor 140 is exposed from the retainer 138. The rotor 140 can rotate relative to the retainer 138.

[0069] In this bending unit, the rotor 140 comes into contact with the inner surface of the sub-hole 16 (see FIG. 4). This contact can cause the main wire 136 to move away from this inner surface. The rotor 140 suppresses friction between the sub-hole 16 and the main wire 136.

[0070] Stress occurs in the operating wire 134 at the curved portion of the sheath. Rotation of the rotor 140 relieves this stress. This rotation suppresses local friction between the inner surface of the subhole 16 and the operating wire 134. This rotor 140 can contribute to the responsiveness and durability of the operating wire 134.

[0071] The apparent outer diameter Do of this operating wire 134 is also preferably 1.2 times or more, more preferably 1.5 times or more, and particularly preferably 1.7 times or more, the outer diameter Dm of the main wire 136. The apparent outer diameter Do is preferably 5.0 times or less, more preferably 3.7 times or less, and particularly preferably 3.5 times or less, the outer diameter Dm.

[0072] In this operation wire 134, the protruding height Hi of the rotor 140 from the main wire 136 is preferably 0.10 mm or more, more preferably 0.20 mm or more, and particularly preferably 0.25 mm or more. This height is preferably 3.0 mm or less, more preferably 2.0 mm or less, and particularly preferably 1.5 mm or less.

[0073] The rotor 140, including the rollers 146, can be mounted in a variety of retainer configurations.

[0074] [Eighth embodiment] 29 shows a manipulation wire 150 for a bending unit according to yet another embodiment. This manipulation wire 150 has a main wire 152, a plurality of retainers 154, a plurality of rotors 156, and a plurality of sub-rotors 158. The specifications of the main wire 152 are the same as those of the main wire 28 shown in FIG. 5. The specifications of each rotor 156 are the same as those of the rotor 32 shown in FIG. 5.

[0075] Each retainer 154 is spaced apart from the other retainers 154 in the axial direction of the main wire 152. As shown in Figures 30 and 31 , this retainer 154 has a body 160 and an end cover 162. The end cover 162 is joined to the body 160. The end cover 162 has a hole 164.

[0076] As shown in Figures 32 and 33, the body 160 has a hole 166 and four chambers 168. As shown in Figure 32, the main wire 152 passes through the hole 166. The retainer 154 is fixed to the main wire 152. Fixing can be achieved by means of welding, brazing, or the like. The four chambers 168 are arranged at 90° intervals in the circumferential direction.

[0077] Each chamber 168 has a main chamber 170 and a sub-chamber 172. As shown in FIG. 31 , in this embodiment, the main chamber 170 houses three rotors 156, and the sub-chamber 172 houses two sub-rotors 158. The circumferential positions of these five rotors 156, 158 are the same. As shown in FIG. 31 , each rotor 156 is spaced apart from the other rotors 156 in the axial direction. Each sub-rotor 158 abuts against two rotors 156.

[0078] FIG. 34 shows rotors 156 and sub-rotors 158. When rightmost rotor 156a rotates in the direction indicated by arrow A1, friction with this rotor 156a causes sub-rotor 158a to rotate in the direction indicated by arrow A2. Friction with sub-rotor 158a causes rotor 156b to rotate in the direction indicated by arrow A1. Friction with rotor 156b causes sub-rotor 158b to rotate in the direction indicated by arrow A2. Friction with sub-rotor 158b causes rotor 156c to rotate in the direction indicated by arrow A1. In this operation wire 150, the three rotors 156 can rotate smoothly in the same direction A1.

[0079] In this bending unit, the rotor 156 comes into contact with the inner surface of the sub-hole 16 (see FIG. 4). This contact can cause the main wire 152 to move away from this inner surface. The rotor 156 suppresses friction between the sub-hole and the main wire 152.

[0080] Stress occurs in the operating wire 150 at the curved portion of the sheath. Rotation of the rotor 156 relieves this stress. This rotation suppresses local friction between the inner surface of the subhole and the operating wire 150. This rotor 156 can contribute to the responsiveness and durability of the operating wire 150.

[0081] In this operating wire 150, the apparent outer diameter Do is preferably 1.2 times or more, more preferably 1.5 times or more, and particularly preferably 1.7 times or more, the outer diameter Dm of the main wire 15244. The apparent outer diameter Do is preferably 5.0 times or less, more preferably 3.7 times or less, and particularly preferably 3.5 times or less, the outer diameter Dm.

[0082] In this operation wire 150, the protruding height Hi of the rotor 15648 from the main wire 15244 is preferably 0.10 mm or more, more preferably 0.20 mm or more, and particularly preferably 0.25 mm or more. This height is preferably 3.0 mm or less, more preferably 2.0 mm or less, and particularly preferably 1.5 mm or less.

[0083] [Disclosure items] Each of the following sections discloses a preferred embodiment.

[0084] [Item 1] a main wire that is solid; Multiple retainers, and Multiple rotors It is equipped with Each retainer is spaced apart from the other retainers in the axial direction of the main wire, Each rotor is attached to the main wire by the retainer.

[0085] [Item 2] Item 2. The operating wire according to item 1, wherein the rotor protrudes from the main wire by a height of 0.10 mm or more.

[0086] [Item 3] 3. The operating wire according to item 1 or 2, having an apparent outer diameter that is 5.0 times or less the outer diameter of the main wire.

[0087] [Item 4] 4. The operating wire according to any one of items 1 to 3, wherein the rotor has a spherical shape.

[0088] [Item 5] 4. The operating wire according to any one of items 1 to 3, wherein the rotor has a roller.

[0089] [Item 6] a first rotor and a second rotor, 6. The operating wire according to any one of items 1 to 5, wherein the protruding direction of the second rotor is different from the protruding direction of the first rotor in the circumferential direction of the main wire.

[0090] [Item 7] The retainer has a chamber extending along the axial direction of the main wire, The chamber accommodates a first rotor, a second rotor, and a sub-rotor; the second rotor is spaced apart from the first rotor, the sub rotor is located between the first rotor and the second rotor in the axial direction of the main wire, 6. The operating wire according to any one of items 1 to 5, wherein the sub-rotor abuts against the first rotor and also abuts against the second rotor.

[0091] [Item 8] a first sheath having a hole; an operating wire passing through the hole; and a second sheath located closer to the tip than the first sheath and to which the operating wire is attached; It is equipped with The operating wire is a main wire that is solid; Multiple retainers, and Multiple rotors It has Each retainer is spaced apart from the other retainers in the axial direction of the main wire, A bending unit, each rotor being attached to the main wire by the retainer.

[0092] [Item 9] a first sheath having a hole; an operating wire passing through the hole; and a second sheath located closer to the tip than the first sheath and to which the operating wire is attached; It is equipped with The operating wire is a main wire that is solid; Multiple retainers, and Multiple rotors It has Each retainer is spaced apart from the other retainers in the axial direction of the main wire, A medical instrument manipulator, wherein each rotor is attached to the main wire by the retainer. [Industrial Applicability]

[0093] The above-described operating wire is suitable for medical devices, exercise support devices, welfare devices, nursing care devices, and the like. [Explanation of symbols]

[0094] 2. Bending unit 4. First sheath 6. Joint 8. Second sheath 10. Control wire 12 Stopper 14a, 14b Main Hall 16a, 16b... Sub-holes 28 Main wire 30 Retainer 32 Rotor 34 Body 36 Side plate 38...hole 40... Chamber 41...hole 42 Operating wire 44 Main wire 46 Retainer 48 Rotor 50...Lower tube 52···Pedestal 54...Upper tube 56 Notch 58...Press 60···Operation wire 62 Main wire 64 Retainer 66 Rotor 68...Lower tube 70···Pedestal 72...Upper tube 74...hole 76···Operation wire 78 Main wire 80···Retainer 82 Rotor 84...Base 86···rail 88...Lower tube 90...Base 92...Upper tube 94 Notch 96···Press 98···Operation wire 100···Main wire 102 Retainer 104 Rotor 106···Base 108...Groove 110...lower cylinder 112···Pedestal 114...Upper cylinder 116···Press 118···Operation wire 120···Main wire 122 Retainer 124···Rotor 126···Base 128...Groove 130···Tabletop 132...side wall 134···Operation wire 136 Main wire 138···Retainer 140 Rotor 142 Notch 144 holes 146 Laura 148···shaft 150···Operation wire 152 Main wire 154 Retainer 156 Rotor 158 Sub-rotor 160···Body 162···End cover 164...hole 166...hole 168... Chamber 170 Main Chamber 172 Sub-chamber

Claims

1. a main wire that is solid; Multiple retainers, and Multiple rotors It is equipped with Each retainer is spaced apart from the other retainers in the axial direction of the main wire, Each rotor is attached to the main wire by the retainer.

2. 2. The operating wire according to claim 1, wherein the rotor protrudes from the main wire by a height of 0.10 mm or more.

3. 3. The operating wire according to claim 1, having an apparent outer diameter that is 5.0 times or less the outer diameter of the main wire.

4. The operating wire according to claim 1 or 2, wherein the rotor has a spherical shape.

5. 3. The operating wire according to claim 1, wherein the rotor comprises a roller.

6. a first rotor and a second rotor, The operating wire according to claim 1 or 2, wherein a protruding direction of the second rotor is different from a protruding direction of the first rotor in the circumferential direction of the main wire.

7. The retainer has a chamber extending along the axial direction of the main wire, The chamber accommodates a first rotor, a second rotor, and a sub-rotor; the second rotor is spaced apart from the first rotor, the sub rotor is located between the first rotor and the second rotor in the axial direction of the main wire, The operating wire according to claim 1 or 2, wherein the sub-rotor abuts against the first rotor and also abuts against the second rotor.

8. a first sheath having a hole; an operating wire passing through the hole; and a second sheath located closer to the tip than the first sheath and to which the operating wire is attached; It is equipped with The operating wire is a main wire that is solid; Multiple retainers, and Multiple rotors It has Each retainer is spaced apart from the other retainers in the axial direction of the main wire, A bending unit, each rotor being attached to the main wire by the retainer.

9. a first sheath having a hole; an operating wire passing through the hole; and a second sheath located closer to the tip than the first sheath and to which the operating wire is attached; It is equipped with The operating wire is a main wire that is solid; Multiple retainers, and Multiple rotors It has Each retainer is spaced apart from the other retainers in the axial direction of the main wire, A medical instrument manipulator, wherein each rotor is attached to the main wire by the retainer.

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