Flexible Medical Manipulator Wire Guide for Low-Friction Control

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Solution Overview

Problem

Existing medical manipulators face challenges in efficiently operating flexible surgical tools due to high friction between wires and torque coils, especially in long, flexible configurations, requiring excessive force for gripping and bending, and lacking maneuverability and controllability.

Innovation Solution

A medical manipulator design featuring a flexible inserted portion with a reinforcement tube and a long coil, surrounded by a reinforcement tube, which enhances maneuverability and controllability by reducing friction and maintaining motive force transmission.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a flexible long treatment tool is used to increase flexibility of the inserted portion, then the inserted portion can be inserted into complex body cavities, but a large friction is generated between the grip opening/closing wire and the torque coil requiring greater force to operate

Engineering Contradiction:

Improveflexibility of inserted portionVSAvoidforce required to open/close gripping portion

Core Design Contradiction:

Adaptability or versatilityVSForce

Solution Approach 1:

A reinforcement tube is introduced as an intermediary component to guide the grip opening/closing wire through the torque coil. This tube mediates the interaction between the wire and coil, reducing direct friction contact while maintaining the flexible configuration needed for insertion into complex body cavities like the large intestine

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The reinforcement tube is designed as a flexible thin-walled structure that can bend and conform to the curved path required in flexible long treatment tools. This flexible shell provides a smooth guiding surface for the wire, reducing friction while maintaining the overall flexibility of the inserted portion

Inventive Principle:

Principle #30Flexible shells and thin films

2Adaptability or versatility

If the torque coil is made thin and flexible to increase flexibility of the inserted portion, then the tool can be inserted into body cavities, but the friction between the wire and the thin torque coil increases

Engineering Contradiction:

Improveflexibility of torque coilVSAvoidease of opening/closing gripping portion

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The reinforcement tube serves as a mediator between the thin flexible torque coil and the grip opening/closing wire. It provides a low-friction guiding surface that compensates for the increased friction inherent in thin, flexible coil structures, making operation easier while preserving the flexibility needed for insertion

Inventive Principle:

Principle #24Intermediary (Mediator)

3Strength

If a thick wire is used for the grip opening/closing wire in laparoscopic forceps, then the wire has sufficient strength, but the torque coil must be made thin and flexible which increases friction

Engineering Contradiction:

Improvestrength of grip opening/closing wireVSAvoidease of opening/closing gripping portion

Core Design Contradiction:

StrengthVSEase of operation

Solution Approach 1:

The reinforcement tube acts as an intermediary that decouples the relationship between wire thickness and friction. It allows the use of thick, strong wires for sufficient gripping force while providing a smooth guiding surface that reduces friction, making operation easier despite the thicker wire

Inventive Principle:

Principle #24Intermediary (Mediator)

4Ease of operation

If the reinforcement tube has high bending rigidity to reduce friction, then wire transmission is improved, but the overall flexibility of the inserted portion may be compromised

Engineering Contradiction:

Improvewire transmission efficiencyVSAvoidflexibility of inserted portion

Core Design Contradiction:

Ease of operationVSAdaptability or versatility

Solution Approach 1:

Inventive Principle:

Principle #30Flexible shells and thin films

Solution Approach 2:

The reinforcement tube provides localized high bending rigidity only where needed for wire guidance and friction reduction, while the rest of the inserted portion maintains its flexibility. This local reinforcement allows wire transmission efficiency to be improved without compromising the overall flexibility of the inserted portion

Inventive Principle:

Principle #3Local quality

Data Source

PatentUS12521137B2Medical manipulator

Publication Date: 2026.01.13 OLYMPUS CORPORATION(JP)

AI summary

A medical manipulator includes a flexible shaft, a distal-end portion, an operating unit with which the distal-end portion is operated, a wire transmitting a motive force of the unit to the distal-end portion, a coil formed from a material having a greater rigidity than the shaft and one end thereof being secured to the distal-end portion and the other end thereof being secured to the unit, and a tube having a greater bending rigidity than the coil. The unit includes a socket connected to the shaft, a ball relatively rotatable to the socket, and a handle with which the wire is pushed/pulled in the longitudinal direction, the coil is disposed at a position at which the coil covers an area surrounding the wire, and the tube is disposed at a position at which the tube covers an area surrounding the coil in spaces in the socket and the ball.