PROBLEM TO BE SOLVED: To provide a bending structure of a medical manipulator, having excellent load bearing and flexibility, while being downsized.;SOLUTION: The bending structure of a medical manipulator, includes a flexible tube 15 made of a superelastic alloy, and a guide part 17 disposed inside the flexible tue 15 for guiding a drive wire of the medical manipulator. The flexible tue 15 includes: a plurality of ring parts 21 consecutively provided in the axial direction of the flexible tube 15; tube connecting parts 23a and 23b for connecting between the axially-adjacent ring parts 21, on one parts in the circumferential direction; and tube slits 25 delimited between the axially-adjacent ring parts 21, at both sides in the circumferential direction of the tube connecting parts 23a and 23b, and allowing the flexible tube 15 to bend by bending of the tube connecting parts 23a and 23b. The bending rigidity of the guide part 17 between at least the ring parts 21 of the flexible tube 15, is set smaller than the bending rigidity of the tube connecting parts 23a and 23b of the flexible tube 15.;SELECTED DRAWING: Figure 3;COPYRIGHT: (C)2019,JPO&INPIT
展开▼
