buckling structure

Abstract

To provide a bendable structure with a reducible diameter.SOLUTION: A bendable structure has an inner coil part 13 and an outer coil part 15 which are elastically bendable and extensible, and includes a bendable part 9 in which a corresponding wound part 13a of the inner coil part 13 is fitted into a gap between neighboring wound parts 15a of the outer coil part 15, and at least either of the inner and the outer coil parts 13 and 15 is conductive and constitutes an energizing path P1. Owing to the bendable part 9 capable of suppressing compression in an axial direction, the energizing path P1 can be constituted with no need of provision of another conductor, thereby enabling simplifying the structure.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] This invention realizes joint functions of robots, manipulators, etc. bending structure Regarding. [Background technology]

[0002] Bending structures that realize joint functions such as robots, manipulators, and actuators may be required to have an electrical conduction function depending on the equipment to which they are applied.

[0003] An example of a bending structure having such an electric current-carrying function is the bending portion described in Patent Document 1. This bending portion is a bending structure applied to a medical manipulator, and supports an end effector relative to a shaft.

[0004] A conductor is inserted through the axial center of the bending portion, and the conductor functions as a cable for mechanically driving the end effector and also enables electrical current to be applied to the end effector.

[0005] However, in such a structure, it is necessary to insert the lead wires to the end effector, making it difficult to reduce the diameter of the bending structure.

[0006] These problems occur in bent structures that are widely required to have electrical conductivity. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-176483 Summary of the Invention [Problem to be solved by the invention]

[0008] The problem to be solved is that there is a limit to how thin the diameter of the bent structure, which is required to have an electrical conduction function, can be made. [Means for solving the problem]

[0009] The present invention provides a bending portion including a coil portion that can be elastically bent and extended; and a conductive end member supported by the bent portion so as to be displaceable in the axial direction, the coil portion being conductive and forming a current path, the end member being: a device that is located at an end of the bent portion, abuts against an end of the coil portion of the bent portion in the axial direction, and is separated from the end member and requires current to be applied; The most important feature of the bent structure is that it is connected to the coil portion that constitutes the current path, and forms the current path together with the coil portion. [Effects of the Invention]

[0010] According to the present invention, the bent portion allows a stable current path to be formed without providing a separate conductor or the like, and the diameter of the bent structure can be reduced. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a perspective view showing a bending structure according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a perspective cross-sectional view of a portion of the bending structure of FIG. [Figure 3] 3(A) and (B) are cross-sectional views showing the inner tube of the bent structure of FIG. 2, with FIG. 3(A) in a normal state and FIG. 3(B) in a bent state. [Figure 4] FIG. 4 is a perspective view showing an energization device to which a bending structure is applied according to a second embodiment of the present invention. [Figure 5] 5 is an enlarged perspective view showing the periphery of the end effector of the energization device of FIG. 4. FIG. [Figure 6] FIG. 6 is a cross-sectional view taken along the cutting plane VI of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0012] The objective of reducing the diameter of a bending structure that requires electrical conduction functionality was achieved by forming an electrical conduction path using the bending portion of a double coil that has an inner coil portion and an outer coil portion that can be elastically bent and extended, with the corresponding winding portion of the inner coil portion fitted into the gap between adjacent winding portions of the outer coil portion.

[0013] That is, the bending structure (1) includes a bending portion (9) having an inner coil portion (13) and an outer coil portion (15). The inner and outer coil portions (13, 15) can be elastically bent and stretched, and the corresponding winding portion (13a) of the inner coil portion (13) fits into the gap (15b) between adjacent winding portions (15a) of the outer coil portion (15). At least one of the inner and outer coil portions (13, 15) is conductive and forms a current path (P1).

[0014] One or both of the inner and outer coil portions (13, 15) may be conductive and form the current path (P1). Also, when both the inner and outer coil portions (13, 15) are conductive, the inner and outer coil portions (13, 15) may be insulated from each other and the current path (P1) may be formed by only one of the inner and outer coil portions (13, 15).

[0015] When both the inner and outer coil portions (13, 15) are conductive and insulated from each other, one of the inner and outer coil portions (13, 15) may form a current path (P1), and the other of the inner and outer coil portions (13, 15) may form another current path.

[0016] The bending structure (1) includes a conductive end member (7) connected to at least one end of the inner and outer coil portions (13, 15) that form the current path (P1), and the end member (7) may form the current path (P1) together with at least one of the inner and outer coil portions (13, 15).

[0017] A conductive flexible member (11) may be provided inside the inner coil portion (13). In this case, the flexible member (11) may be insulated from at least one of the inner and outer coil portions (13, 15) constituting the current path (P1) to constitute another current path (P2).

[0018] Here, when either one of the internal and external coil portions (13, 15) is conductive, at least one of the internal and external coil portions (13, 15) constituting the current path (P1) refers to the conductive internal or external coil portion (13, 15). When both the internal and external coil portions (13, 15) are conductive, at least one of the internal and external coil portions (13, 15) constituting the current path (P1) refers to both of the internal and external coil portions (13, 15) if both of the internal and external coil portions (13, 15) constitute the current path (P1), or when the internal and external coil portions (13, 15) are insulated from each other and only one of the internal and external coil portions (13, 15) constitutes the current path (P1), it refers to only one of the internal and external coil portions (13, 15) (the same applies hereinafter).

[0019] A conductive cord-like member 21 may be provided on the outside of the outer coil portion 15. In this case, the cord-like member 21 may be insulated from at least one of the inner and outer coil portions 13, 15 constituting the current path P1 to constitute another current path P2.

[0020] An electric current-carrying device (25) using such a bending structure (1) has conductive electrode members (31a, 31b) connected to an electric current path (P1) formed by at least one of the conductive inner and outer coil portions (13, 15).

[0021] The current-carrying device (25) may include a conductive first electrode member (31a) connected to one of the current-carrying paths (P1, P2), a conductive second electrode member (31b) connected to the other of the current-carrying paths (P1, P2), and an insulating member (33) provided between the first electrode member (31a) and the second electrode member (31b).

[0022] In this current-carrying device (25), the first electrode member (31a) and the second electrode member (31b) may be forceps members that perform a clamping action. [Example]

[0023] [Bending structure] Fig. 1 is a perspective view showing a bending structure according to Example 1 of the present invention. Fig. 2 is a perspective cross-sectional view of a part of the bending structure. Figs. 3(A) and (B) are cross-sectional views showing the inner tube of the bending structure, Fig. 3(A) in a normal state and Fig. 3(B) in a bent state.

[0024] The bending structure 1 is applied to a joint function part that requires an electrical conduction function in various medical and industrial devices such as manipulators, robots, and actuators. The joint function part is an apparatus, mechanism, device, etc. that functions as a flexing / extending joint.

[0025] This bending structure 1 can be elastically bent and stretched, and has a current path P1 extending from one axial end to the other. Note that the axial direction means the direction along the axis of the bending structure 1, and includes not only a direction strictly parallel to the axis but also a slightly inclined direction.

[0026] The bending structure 1 of this embodiment includes a base portion 5 and a movable portion 7 as end members, a bending portion 9, and a flexible member 11.

[0027] The base 5 is a columnar body, for example, a cylindrical body, made of metal, resin, or the like. This base 5 is attached to the end of the shaft of a manipulator, etc. Note that the base 5 is not limited to a columnar body, and may have an appropriate shape depending on the device to which the bending structure 1 is applied.

[0028] The movable part 7 is made of a columnar body, for example, a cylindrical body, similar to the base part 5. An end effector or the like is attached to the movable part 7 according to the device to which the bending structure 1 is applied.

[0029] The movable part 7 in this embodiment is conductive. The conductive material of the movable part 7 may be a material that is conductive in itself, such as metal or conductive resin, or a material such as a non-conductive resin with a conductive coating.

[0030] The movable portion 7 may have a non-conductive structure. The movable portion 7 may also have an appropriate shape depending on the device to which the bending structure 1 is applied, and is not limited to a columnar shape.

[0031] The movable portion 7 is supported by the base portion 5 via a bent portion 9 so as to be displaceable in the axial direction.

[0032] The bending portion 9 consists of an inner tube 9a and an outer tube 9b arranged along the axial direction of the bending structure 1. The inner tube 9a is a double coil that can be elastically bent and extended in the axial direction, and consists of an inner coil section 13 and an outer coil section 15. Therefore, when the bending portion 9 (inner tube 9a) is bent, the gap of the outer coil section 15 becomes smaller on the inside of the bend and the gap of the outer coil section 15 becomes larger on the outside of the bend. As a result, the length of the inner tube 9a at the axial center of the outer coil section 15 does not change compared to when it is straight. Therefore, when the inner tube 9a is used to guide the flexible member 11 movably in the axial direction on its inner peripheral side, the amount of movement of the flexible member 11 can be reliably kept constant.

[0033] The inner and outer coil portions 13 and 15 are each a coil spring having elasticity that allows bending in the axial direction. At least one of the inner and outer coil portions 13 and 15 is electrically conductive and forms a current path P1.

[0034] In this embodiment, both the inner and outer coil portions 13 and 15 are conductive and form a current path P1. The current path P1 is for devices such as end effectors that require current to be applied.

[0035] In addition, when both the inner and outer coil portions 13 and 15 are conductive, the inner and outer coil portions 13 and 15 may be insulated from each other, with one of the inner and outer coil portions 13 and 15 forming a current path P1 and the other of the inner and outer coil portions 13 and 15 forming another current path. The insulation between the inner and outer coil portions 13 and 15 can be achieved by providing an insulating coating on either one of the inner and outer coil portions 13 and 15.

[0036] Such current path P1 utilizes the inner and outer coil portions 13 and 15 of the bending portion 9, which has bendable elasticity, so there is no risk of damage like with a conductor even if the bending portion 9 of the bending structure 1 is repeatedly bent and extended.

[0037] In this embodiment, the inner and outer coil portions 13 and 15 pass through the base portion 5 in the axial direction, and their tip portions are fitted into the recessed portion 7a of the movable portion 7. The fitting into the recessed portion 7a is achieved by butting the ends of the inner and outer coil portions 13 and 15 into the recessed portion 7a in the axial direction and by abutting the outer periphery of the outer coil portion 15 against the inner periphery of the recessed portion 7a in the radial direction.

[0038] Therefore, the movable part 7 is electrically connected to the inner and outer coil parts 13 and 15, and forms a current path P1 together with the inner and outer coil parts 13 and 15. This current path P1 extends from one end to the other end of the bending structure 1 in the axial direction.

[0039] If the movable portion 7 is not conductive, a conductor may be provided that passes through the movable portion 7 in the axial direction, and this conductor may be connected to at least one of the conductive inner and outer coil portions 13 and 15.

[0040] The material of the conductive inner and outer coil portions 13 and 15 may be the same conductive material as that of the movable portion 7. If one of the inner and outer coil portions 13 and 15 is not conductive, then one of the inner and outer coil portions 13 and 15 may be made of a non-conductive material such as resin.

[0041] The cross-sectional shape of the wire of the inner and outer coil portions 13 and 15 is a circle with the same wire diameter, but it can also be a semicircle, an ellipse, etc. The cross-sectional shapes and wire diameters of the inner and outer coil portions 13 and 15 may be different from each other.

[0042] The inner coil portion 13 has a smaller center diameter than the outer coil portion 15 and is threaded into the outer coil portion 15. The center diameters of the inner and outer coil portions 13 and 15 are constant from one end to the other in the axial direction. However, the center diameter of the outer coil portion 15 can also be changed in the axial direction.

[0043] The outer coil portion 15 has a plurality of pitches 15b that are gaps that separate adjacent winding portions 15a in the axial direction (adjacent winding portions 15a). Corresponding winding portions 13a of the inner coil portion 13 are fitted into these pitches 15b from the inside. Due to this fitting, the winding portions 13a of the inner coil portion 13 come into contact with both of the adjacent winding portions 15a of the outer coil portion 15.

[0044] On the other hand, the inner coil portion 13 has pitches 13b as a plurality of gaps that separate adjacent winding portions 13a in the axial direction (between adjacent winding portions 13a). Corresponding winding portions 15a of the outer coil portion 15 are fitted into these pitches 13b from the outside. Due to this fitting, the winding portions 15a of the outer coil portion 15 come into contact with both of the adjacent winding portions 13a of the inner coil portion 13.

[0045] With this configuration, the inner cylinder 9a is restricted from being compressed in the axial direction, and the current path P1 between the inner and outer coil portions 13 and 15 is stabilized, and contact resistance is reduced.

[0046] The outer cylinder 9b is a cylindrical body that is disposed concentrically with the inner cylinder 9a and covers the outer periphery of the inner cylinder 9a. In this embodiment, the outer cylinder 9b is formed by stacking a plurality of wave washers 17 in the axial direction. Adjacent wave washers 17 in the axial direction are joined together. The outer cylinder 9b is bendable due to the elastic deformation of the wave washers 17.

[0047] Each wave washer 17 is formed into a closed ring shape and is made of a conductive or non-conductive material. Between axially adjacent wave washers 17, the peaks 17a of one wave washer 17 abut against the valleys 17b of the other wave washer 17, and these abutting peaks 17a and valleys 17b are joined by an appropriate means such as welding or adhesive.

[0048] A plurality of flat washers 19, which have a smaller deformation amount than the wave washer 17, are attached to both axial ends of the outer cylinder 9b. The base 5 and the movable part 7 are connected to both ends of the outer cylinder 9b via these flat washers 19. This connection is performed by an appropriate means such as welding. The flat washers 19 may be omitted.

[0049] The outer cylinder 9b is provided with insertion holes 17c, 19a that communicate in the axial direction between the peaks 17a and valleys 17b of each wave washer 17 and in the corresponding portions of the flat washer 19. In this embodiment, the insertion holes 17c, 19a are provided every 90 degrees in the circumferential direction. However, the number of insertion holes 17c, 19a can be changed to every 60 degrees, 120 degrees, 180 degrees, etc. in the circumferential direction.

[0050] The drive wire 21 is inserted axially through the insertion holes 17c and 19a, so that the outer tube 9b functions as a guide that holds the drive wire 21 at a predetermined position outside the outer coil portion 15 of the inner tube 9a.

[0051] The outer cylinder 9b is not limited to being formed by stacking wave washers 17, and may be formed by other flexible materials. For example, the outer cylinder 9b may be formed by a bellows made of a tubular body having a corrugated cross section, or by a double coil similar to the inner cylinder 9a.

[0052] The drive wire 21 is a cord-like member extending along the axial direction of the bending structure 1. Note that the cord-like member is not limited to a wire, and may be a twisted wire, a single wire, a piano wire, an articulated rod, a chain, a string, a thread, a rope, or the like.

[0053] The cross-sectional shape of the drive wire 21 may be circular like the insertion holes 17c and 19a of the outer cylinder 9b, or may be a different shape such as oval or rectangular.

[0054] The driving wire 21 can be made of a conductive or non-conductive material. In either case, the driving wire 21 has a degree of flexibility that does not hinder the bending and extension of the bending structure 1.

[0055] If the drive wire 21 is made of a conductive material, by insulating the drive wire 21 from the conductive inner and outer coil portions 13 and 15, it is possible to form another current path P2 using the drive wire 21.

[0056] The insulation of the drive wire 21 from the inner and outer coil portions 13 and 15 can be achieved, for example, by covering the drive wire 21 itself with an insulator, or by forming the movable portion 7 from a non-conductive material and covering the outside of the outer coil portion 15 of the inner tube 9a with an insulator or by making the outer coil portion 15 from a non-conductive material.

[0057] The tip end of the drive wire 21 is located in a connection hole 7b provided in the movable part 7, and is prevented from coming off by engaging with the movable part 7 through end processing or the like. The base end of the drive wire 21 is directly or indirectly connected to an operating mechanism (not shown).

[0058] This drive wire 21 can drive the movable part 7 relative to the base part 5 by operating it in the axial direction. Specifically, by pulling the drive wire 21 in the axial direction, the movable part 7 is driven to bend the bending structure 1. The number of drive wires 21 can be set appropriately depending on the bending operation required of the bending structure 1.

[0059] The flexible member 11 is a drive member made of a push-pull cable or an air tube, or another long, flexible member, depending on the device to which the bending structure 1 is applied. In this embodiment, the flexible member 11 is a push-pull cable.

[0060] The flexible member 11 is provided inside the inner coil portion 13 of the inner cylinder 9a. The flexible member 11 can be made of a conductive or non-conductive material and has flexibility that does not hinder the bending and extension of the bending structure 1.

[0061] When the flexible member 11 is made of a conductive material, the flexible member 11 is insulated from the conductive inner and outer coil portions 13 and 15, and can form another current path P2.

[0062] The current path P2 may be configured alternatively using either the flexible member 11 or the drive wire 21. Alternatively, both the flexible member 11 and the drive wire 21 may be used as current paths, providing three or more conductive paths. The current path P2 may also be configured using a member other than the flexible member 11 and the drive wire 21. Furthermore, for example, in the case of an end effector or the like that requires monopolar current flow, the current path P2 can be omitted.

[0063] The flexible member 11 is insulated from the inner and outer coil portions 13 and 15 by a flexible tube 23 .

[0064] The flexible tube 23 is a tubular member made of insulating resin or the like, and has flexibility that does not hinder the bending and extension of the bending structure 1. The flexible tube 23 is inserted through the inner coil portion 13 of the inner cylinder 9a, and is interposed between the inner coil portion 13 and the flexible member 11.

[0065] The flexible member 11 may be insulated from the inner and outer coil portions 13 and 15 by using an insulating material for the inner coil portion 13. Depending on the device, it may be possible to omit either or both of the flexible member 11 and the flexible tube 23.

[0066] [Operation etc.] In the bending structure 1 of this embodiment, as shown in Figure 3(A), when it is not bent but is straight (extended), the corresponding winding portion 13a of the inner coil portion 13 is fitted between adjacent winding portions 15a of the outer coil portion 15 of the inner tube 9a.

[0067] Therefore, even if a compressive force acts in the axial direction on the bent structure 1, the inner and outer coil portions 13 and 15 of the inner cylinder 9a are not compressed, so the length of the central portion can be maintained and the posture is stable.

[0068] At this time, the current path P1 is formed in the winding direction and axial direction of the inner and outer coil sections 13 and 15 by contact between the winding section 15a of the outer coil section 15 adjacent to the inner tube 9a and the winding section 13a of the inner coil section 13.

[0069] The formed conductive path P1 is stable without excessive deformation, etc., according to the posture of the bending structure 1. Furthermore, according to the contact pressure between the winding portion 15a of the outer coil portion 15 and the winding portion 13a of the inner coil portion 13, the contact resistance of the current-carrying path P1 decreases, and the current-carrying path P1 is electrically stable.

[0070] In this bending structure 1, an operator can pull any one or more of the drive wires 21 to orient an end effector or the like of a device to which the bending structure 1 is applied in a desired direction.

[0071] 3(B), when the drive wire 21 is pulled, the pitch 15b between adjacent winding portions 15a of the outer coil portion 15 of the inner tube 9a becomes smaller on the inside of the bend, and the pitch 15b between adjacent winding portions 15a of the outer coil portion 15 of the inner tube 9a becomes larger on the outside of the bend. Meanwhile, the length of the center of the inner tube 9a remains unchanged, that is, the length of the outer coil portion 15 at the axis does not change compared to when it is straight, and the posture of the bent structure 1 becomes stable.

[0072] The outer cylinder 9b is bent together with the inner cylinder 9a due to the elastic deformation of the wave washer 17.

[0073] When the inner tube 9a is bent, the inner coil portion 13 of the inner tube 9a is pushed out toward the outside of the bend. This pushing out of the inner coil portion 13 is permitted by the increased pitch 15b between adjacent winding portions 15a of the outer coil portion 15 of the inner tube 9a on the outside of the bend. This allows for smooth bending.

[0074] Moreover, when the inner tube 9a is bent, the corresponding winding portions 13a of the inner coil portion 13 continue to fit between the adjacent winding portions 15a of the outer coil portion 15 of the inner tube 9a.

[0075] Therefore, in the same way as when the bent structure 1 is straight, compression in the axial direction is suppressed, and fluctuation in the length of the central portion can be suppressed.

[0076] As a result, even when the inner tube 9a is bent, the winding portion 15a of the outer coil portion 15 and the winding portion 13a of the inner coil portion 13 adjacent to each other are in contact with each other, so that the current path P1 is formed stably and reliably.

[0077] [Effects of Example 1] As described above, the bending structure 1 of this embodiment has an inner coil portion 13 and an outer coil portion 15 that can be elastically bent and extended, and is provided with a bending portion 9 in which the corresponding winding portion 13a of the inner coil portion 13 is fitted into the gap between adjacent winding portions 15a of the outer coil portion 15, and at least one of the inner and outer coil portions 13 and 15 is conductive and forms a current path P1.

[0078] Therefore, in the bent structure 1, the bent portion 9 allows the current path P1 to be stably configured without providing a separate conductor, etc., and it is possible to reduce the diameter. In addition, the bent structure 1 can be simplified in structure.

[0079] Furthermore, by configuring the current path P1 in at least one of the inner and outer coil portions 13 and 15 of the bending portion 9, damage to the current path P1 due to repeated bending and extension can be suppressed compared to when a separate conductor, etc. is used. Furthermore, compression of the bending portion 9 before, during, and after bending is suppressed, and there is no excessive deformation, etc., so the current path P1 can be stably configured.

[0080] In this embodiment, both the inner and outer coil portions 13 and 15 are conductive and form the current path P1.

[0081] Therefore, the current path P1 can be formed not only in the winding direction of the inner and outer coil portions 13 and 15 but also in the axial direction by contacting the winding portion 15a of the outer coil portion 15 adjacent to the inner tube 9a with the winding portion 13a of the inner coil portion 13. This current path P1 can be electrically stabilized according to the contact pressure between the winding portion 15a of the outer coil portion 15 and the winding portion 13a of the inner coil portion 13.

[0082] The bending structure 1 also includes a movable part 7, which is a conductive end member connected to one end of the conductive inner and outer coil parts 13 and 15, and the movable part 7, together with the inner and outer coil parts 13 and 15, forms a current path P1.

[0083] Therefore, the movable portion 7 can be used as a terminal or electrode of the bending structure 1 for an end effector or the like, thereby simplifying the structure.

[0084] A conductive flexible member 11 is provided inside the inner coil portion 13, and if the flexible member 11 is insulated from the inner and outer coil portions 13 and 15 that form the current path P1, another current path P2 can be formed.

[0085] Therefore, the current path P2 can be configured using a flexible member 11 such as a push-pull cable. In this case, the other current path P2 can be formed inside the inner coil portion 13, which is less affected by bending.

[0086] Furthermore, the current path P2 is provided separately from the current path P1 consisting of at least one of the inner and outer coil portions 13 and 15, so there is no need for a branch as in the conventional case.

[0087] As a result, the structure can be simplified even if the current paths P1 and P2 are provided. Furthermore, since the current path P2 only needs to be a single current path P2, the thickness of the inner coil portion 13 on the inside does not become thicker than necessary, and the bending radius can be prevented from becoming large.

[0088] In this embodiment, a driving wire 21, which is a conductive cord-like member, is provided on the outside of the outer coil portion 15, and by insulating the driving wire 21 from the inner and outer coil portions 13 and 15 that constitute the current path P1, another current path P2 can be formed.

[0089] In this case, another current path P2 can be formed using the drive wire 21, eliminating the need for a branch as in the past. In addition, since the drive wire 21 is significantly thinner than a push-pull cable or the like, it is possible to more reliably prevent the bending radius from becoming large. [Example]

[0090] Fig. 4 is a perspective view showing an energization device to which a bending structure is applied according to a second embodiment of the present invention. Fig. 5 is an enlarged perspective view showing the periphery of an end effector of the energization device, and Fig. 6 is a cross-sectional view taken along the cutting plane VI of Fig. 5. In the second embodiment, the same reference numerals are used to designate components corresponding to those in the first embodiment, and redundant explanations will be omitted.

[0091] In this embodiment, the bending structure 1 of the first embodiment is applied to configure an energization device 25. The energization device 25 is a medical manipulator, but is not limited to this.

[0092] In this current-carrying device 25, an end effector 29 is supported on a shaft 27 by a bending structure 1.

[0093] The shaft 27 is formed into a hollow cylindrical shape, for example, a cylindrical shape, from metal or the like. The bending structure 1 is attached to the tip of the shaft 27. This shaft 27 functions as a base that supports the bending structure 1. Note that, instead of the shaft 27, an appropriate member can be used as the base that supports the bending structure 1 depending on the device to which the bending structure 1 is applied.

[0094] In this embodiment, the end effector 29 is a bipolar forceps. However, the end effector 29 is not limited to forceps and may be a bipolar scissors, an electric scalpel, or the like. The end effector 29 may also be a monopolar electric scalpel, or the like.

[0095] The end effector 29 is configured to include forceps members 31a and 31b as a first electrode portion and a second electrode member, and an insulating member 33.

[0096] The forceps members 31a and 31b perform a clamping action by opening and closing. These forceps members 31a and 31b are made of a conductive material and are connected to current paths P1 and P2, respectively. Note that the forceps members 31a and 31b may be connected to current paths P2 and P1, respectively, in the opposite manner to the above. Note that the current path P2 in this embodiment is formed by the flexible member 11.

[0097] One of the forceps members 31a has a base end supported by the movable part 7 of the bending structure 1 and is connected to an electric current path P1. This forceps member 31a is used in a fixed state. The other forceps member 31b is coupled to the tip of the flexible member 11 and is connected to an electric current path P2. The forceps member 31b is pivotally supported by an insulating member 33 at the base end of the forceps member 31a, and is configured to perform a clamping action on the forceps member 31a as the flexible member 11 moves back and forth.

[0098] The insulating member 33 is a columnar body made of insulating material and having a sectorial cross section. The insulating member 33 is attached to the base end of the forceps member 31a. The insulating member 33 is hollow and accommodates the flexible member 11 and the distal end of the flexible tube 23. The distal end of the flexible member 11 is connected to the forceps member 31b within the insulating member 33.

[0099] In the second embodiment, the structure of the bipolar type current-carrying device 25 can be simplified.

[0100] Furthermore, when the current-carrying device 25 is of a monopolar type, only the current-carrying path P1 is required, and the current-carrying path P2 is not required, thereby simplifying the structure.

[0101] In addition, the second embodiment can also achieve the same effects as the first embodiment. [Explanation of symbols]

[0102] 1 Bent structure 9 Bend 11 Flexible member 13 Inner coil section 13a Winding part 13b Pitch (gap) 15 Outer coil section 15a winding part 15b pitch (gap) 21 Drive wire (cord-like member) P1, P2 current path 25. Current-carrying devices 31a, 31b Forceps member (electrode member) 33 Insulating materials

Claims

1. a bending portion formed of a coil portion that can be elastically bent and extended; a conductive end member supported by the bent portion so as to be displaceable in the axial direction, the coil portion is conductive and forms a current path; The end member is located at an end of the bent portion, abuts against an end of the coil portion of the bent portion in the axial direction, allows attachment of a device that requires current flow that is separate from the end member, and is connected to the coil portion that constitutes the current flow path, thereby constituting the current flow path together with the coil portion. bending structure.

2. 2. The bending structure according to claim 1, The device that requires the current to be applied is connected to the current path. bending structure.

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