公开(公告)号：US11576740B2

公开(公告)日：2023-02-14

申请号：US16755121

申请日：2018-10-02

Applicant: NHK SPRING CO., LTD.

Inventor： Shimpei Kurokawa ,  Yuki Hotoda ,  Shinji Iino

IPC: A61B34/00 ,  A61B34/30 ,  B25J18/06 ,  A61B17/00

Abstract: Provided are a bending structure and a flexible tube for a medical manipulator, which comprise a main body that is composed of the wave washers stacked in an axial direction and kept a stacked state, the main body being bendable according to the expansion and contraction in the axial direction. Accordingly, linearity of load characteristics based on load and a bending angle is made high to make it possible to obtain the flexible tube having superior load bearing and bendability while conducting size reduction.

公开(公告)号：US12262905B2

公开(公告)日：2025-04-01

申请号：US17268929

申请日：2019-08-02

Applicant: NHK SPRING CO., LTD

Inventor： Takafumi Hirata ,  Shimpei Kurokawa ,  Yuki Hotoda

IPC: A61B17/29 ,  A61B17/00 ,  A61B17/28 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  B25J3/00 ,  B25J9/10 ,  B25J17/02 ,  F16F3/06

Abstract: Provided is a bending structure and a joint function part, capable of ensuring sufficient flexibility and rigidity in an axial direction. The bending structure is provided with an outer coiled part formed of a wire wound in a coiled shape and an inner coiled part formed of a wire wound in a coiled shape and arranged in the outer coiled part, wherein the outer coiled part has a plurality of gaps to distance adjacent coils, and coils of the inner coiled part are provided so as to correspond to the gaps of the outer coiled part and fit between the adjacent coils while being in contact with the adjacent coils of the outer coiled part.

公开(公告)号：US12296467B2

公开(公告)日：2025-05-13

申请号：US18034047

申请日：2021-10-29

Applicant: NHK SPRING CO., LTD.

Inventor： Takafumi Hirata ,  Yuki Hotoda ,  Masahiro Inaba ,  Yuki Hayakawa

IPC: B25J18/06 ,  B25J9/10

Abstract: The bending structural body comprises: an inner cylinder that is formed from a first inner coil part and a first outer coil part, and in which wound parts corresponding to the first inner coil part are respectively fitted to pitches between adjacent wound parts of the first outer coil part; an outer cylinder that covers at least some of the outer circumference of the inner cylinder with a space therebetween, that is formed from a second inner coil part and a second outer coil part, and in which wound parts corresponding to the second inner coil part are respectively fitted to pitches between adjacent wound parts of the second outer coil part; and drive wires and guide wires that are guided and axially inserted into the space between the inner cylinder and the outer cylinder.

公开(公告)号：US12202134B2

公开(公告)日：2025-01-21

申请号：US18034360

申请日：2021-10-29

Applicant: NHK SPRING CO., LTD.

Inventor： Takafumi Hirata ,  Yuki Hotoda ,  Masahiro Inaba

IPC: B25J18/06

Abstract: A bending operation mechanism comprises: an elastically bendable driving part; an elastically bendable driven part that is provided separate from the driving part; and a linking part that connects the driving part and the driven part, and tensions and bends the driven part in accordance with bending of the driving part. The driving part and the driven part each comprise an inner coil part and an outer coil part that are bendable with respect to the axial direction, and wound parts corresponding to the inner coil part are respectively fitted to pitches between adjacent wound parts of the outer coil part.