WO2018229889A1 - マニピュレータ - Google Patents

マニピュレータ Download PDF

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Publication number
WO2018229889A1
WO2018229889A1 PCT/JP2017/021932 JP2017021932W WO2018229889A1 WO 2018229889 A1 WO2018229889 A1 WO 2018229889A1 JP 2017021932 W JP2017021932 W JP 2017021932W WO 2018229889 A1 WO2018229889 A1 WO 2018229889A1
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WO
WIPO (PCT)
Prior art keywords
wire
central axis
disposed
wall portion
end effector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
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PCT/JP2017/021932
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English (en)
French (fr)
Inventor
祐貴 菊地
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Olympus Corp
Original Assignee
Olympus Corp
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Publication date
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Priority to PCT/JP2017/021932 priority Critical patent/WO2018229889A1/ja
Publication of WO2018229889A1 publication Critical patent/WO2018229889A1/ja
Priority to US16/710,088 priority patent/US11203114B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A61B2017/00327—Cables or rods with actuating members moving in opposite directions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A61B2017/2932—Transmission of forces to jaw members
    • A61B2017/2939—Details of linkages or pivot points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Definitions

  • the present invention relates to a manipulator.
  • a long part is formed by connecting adjacent frames of a plurality of frames arranged in the longitudinal axis direction with a plurality of axes arranged in a twisted positional relationship to each other, and each frame has a longitudinal axis.
  • a manipulator is known in which a wire for driving an end effector at the tip is passed through each hole formed so as to penetrate in parallel with the wire, and the wire is arranged along the longitudinal axis (see, for example, Patent Document 1). .
  • the present invention has been made in view of the above-described circumstances, and has controllability without causing path length differences in a plurality of wires for driving the end effector even if the long portion is bent in one direction. It aims at providing the manipulator which can be improved.
  • One aspect of the present invention is an elongated elongated portion, an end effector disposed at a distal end of the elongated portion, a driving portion disposed at a proximal end of the elongated portion, and power generated in the driving portion.
  • a bending portion connected so as to be swingable around a swing axis arranged in a positional relationship, wherein the wire intersects each swing axis at a position radially away from the central axis; It is a manipulator arranged to pass through the position.
  • a piece adjacent in one direction along the central axis of the long portion is connected to one piece so as to be swingable about a swing axis perpendicular to the central axis of the long portion,
  • a bending portion that can be bent in a plurality of directions is configured by repeatedly connecting other pieces adjacent in the direction so as to be swingable around a swing axis arranged in a twisted positional relationship.
  • the wire that transmits power to the end effector provided at the end of the long part is passed through a position that intersects the swing axis that connects the tops so as to be swingable to connect the drive unit and the end effector. Therefore, the path length of the wire is hardly affected by the swing between the frames.
  • the bending force only acts on the wire and is not pulled or compressed, so that the path length does not have to be changed.
  • the wires so as to pass through the positions intersecting the swing axis at all the swing axes, the path length does not change with respect to the curvature around all the swing axes.
  • each of the tops extends in a direction along the central axis at a position that intersects each of the swinging axis lines on a cylindrical outer wall portion and a radially inner side of the outer wall portion, and penetrates the wire. And a through hole to be provided.
  • the said wire penetrates the said through-hole arrange
  • the wire can be easily arranged in a spiral form in which the wire turns in one direction only by sequentially shifting the through-hole through which the wire passes in the circumferential direction.
  • each of the tops has a cylindrical inner wall portion disposed concentrically with a space inward in the radial direction of the outer wall portion, and the inner wall portion and the outer wall portion are connected to the swing axis.
  • a flat plate-like connecting portion connected in the vicinity, and the through hole may be provided in the connecting portion.
  • controllability can be improved without causing path length differences in a plurality of wires for driving the end effector even if the long portion is bent in one direction.
  • FIG. 3 is a side view showing a state where the bending portion of FIG. 2 is bent in one direction.
  • FIG. 3 is a side view showing a state where the bending portion of FIG. 2 is bent in one direction.
  • FIG. 3 is a perspective view which shows an example of the top which comprises the curved part of FIG.
  • FIG. 5 is a figure explaining the displacement of a wire when the top of FIG. 5 rocks.
  • the manipulator 1 according to an embodiment of the present invention will be described below with reference to the drawings.
  • the manipulator 1 according to the present embodiment is disposed at an elongated portion 2, an end effector 3 disposed at the distal end of the elongated portion 2, and a proximal end of the elongated portion 2.
  • a drive unit 4 that generates power to the end effector 3 and a wire (see FIG. 2) 13 that transmits the power generated in the drive unit 4 to the end effector 3 are provided.
  • the end effector 3 is, for example, a grip part that constitutes a grip forceps.
  • the long portion 2 includes a bending portion 5 for changing the posture of the end effector 3 in the vicinity of the tip.
  • the bending portion 5 includes a plurality of cylindrical pieces (node rings) 6 arranged in a direction along the central axis of the long portion 2, and adjacent pieces 6 are arranged together.
  • a plurality of swing axes A and B that are twisted with respect to each other are connected so as to be swingable.
  • a bending portion 5 that can freely change the posture of the end effector 3 is configured by the top 6.
  • each of the tops 6 includes a cylindrical outer wall portion 7, and a cylindrical inner wall portion 8 disposed concentrically with a space inward in the radial direction of the outer wall portion 7.
  • the connecting portion 9 is provided to connect the outer wall portion 7 and the inner wall portion 8 in the radial direction.
  • a pair of protrusions 10 for connecting adjacent pieces 6 by swinging axis lines A and B are disposed on both ends of each piece 6 in the direction of the central axis with the central axis interposed therebetween, respectively. Protruding in the direction.
  • the protrusions 10 at both ends in the central axis direction of each frame 6 have a circumferential phase difference of 90 °. As a result, the two swing axes A and B are twisted relative to each other.
  • the protrusions 10 connected by the swing axes A and B of the two adjacent pieces 6 have different radial positions so as to be arranged in the radial direction.
  • the connecting portion 9 is a strip-like portion extending in the radial direction with the direction along the central axis as the plate thickness direction in the same phase as the projection portion 10, and includes a through hole 11 penetrating in the plate thickness direction. . Since the protrusions 10 disposed at both ends of each frame 6 are disposed at positions where the phases are different by 90 °, the connecting portions 9 are also disposed at a phase different by 90 °.
  • reference numeral 12 denotes a through-hole through which four wires 14 for bending the bending portion 5 by tension are passed.
  • the wire 13 that has passed through the through hole 11 of one connecting portion 9 of each piece 6 passes through the through hole 11 of another connecting portion 9 having a phase difference of 90 °. Since the protrusions 10 connected by the same swing axis A, B of the adjacent pieces 6 are arranged in the same phase, the connecting part 9 is also arranged in the same phase. Accordingly, the wire 13 passes through the position intersecting the swing axis A and B between these connecting portions 9 by passing through the two connecting portions 9 of the adjacent tops 6 arranged in the same phase. It is supposed to be made.
  • the wire 13 is formed in a spiral shape that turns in one direction around the central axis by sequentially passing through the through-holes 11 that are arranged at positions shifted in the same direction. They are arranged in a form.
  • the manipulator 1 according to this embodiment can swing a plurality of pieces 6 arranged in the central axis direction around swinging axis lines A and B in which adjacent pieces 6 are arranged in a twisted positional relationship with each other. Since the bending portion 5 connected in this manner is provided, the end effector 3 disposed at the distal end of the long portion 2 can be adjusted by adjusting the swing angles of the bending portion 5 around the swing axes A and B. The posture can be changed freely.
  • the movable portion of the wire 13 by bending the bending portion 5 is disposed only in the vicinity of the swing axes A and B, and the other portions of the wire 13 are not displaced. For this reason, even if the piece 6 is relatively swung around all the swinging axes A and B, only a bending force acts on the wire 13 and no tension or compressive force acts on the wire 13. It is possible to effectively prevent the path length difference from occurring in the wire 13 of the book.
  • the drive unit 4 may be one driven by a motor, or one driven by manual operation.
  • the wire 13 for driving the end effector 3 is disposed along the cylindrical gap between the outer wall portion 7 and the inner wall portion 8 formed in a double tubular shape, About the inner side of the inner wall portion 8, a continuous space near the central axis can be secured, and the wiring and piping to the end effector 3 can be effectively used to pass through without being obstructed by the wire 13. .
  • the present invention is not limited thereto. Instead, the magnitude of the phase may be arbitrary.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)

Abstract

長尺部を一方向に湾曲させてもエンドエフェクタを駆動するための複数のワイヤに経路長差を発生させることなく、制御性を向上することを目的として、本発明に係るマニピュレータ（１）は、細長い長尺部（２）と、長尺部（２）の先端に配置されるエンドエフェクタ（３）と、長尺部（２）の基端に配置される駆動部（４）と、駆動部（４）において発生した動力をエンドエフェクタ（３）に伝達する１以上のワイヤとを備え、長尺部（２）が、その中心軸に沿う方向に配列された複数のコマを、隣接するコマが相互にねじれの位置関係に配置される揺動軸線回りに揺動可能となるように連結してなる湾曲部（５）を備え、ワイヤが、中心軸から径方向に離れた位置で各揺動軸線に交差する位置を通過するように配置されている。

Description

マニピュレータ
　本発明は、マニピュレータに関するものである。
　長手軸方向に配列された複数のコマの隣接するコマどうしを相互にねじれの位置関係に配置される複数の軸線によって揺動可能に連結することにより長尺部を構成し、各コマに長手軸に平行に貫通して形成された各孔に先端のエンドエフェクタを駆動するためのワイヤを貫通させ、ワイヤを長手軸に沿って配置したマニピュレータが知られている（例えば、特許文献１参照。）。
米国特許出願公開第２０１７／００５６１１８号明細書
　しかしながら、特許文献１のマニピュレータは、長尺部を一方向に湾曲させた場合に湾曲の内側に配置されているワイヤと湾曲の外側に配置されているワイヤとの間に経路長差が発生し、マニピュレータの操作性が悪くなるという不都合がある。
　本発明は上述した事情に鑑みてなされたものであって、長尺部を一方向に湾曲させてもエンドエフェクタを駆動するための複数のワイヤに経路長差を発生させることなく、制御性を向上することができるマニピュレータを提供することを目的としている。
　本発明の一態様は、細長い長尺部と、該長尺部の先端に配置されるエンドエフェクタと、前記長尺部の基端に配置される駆動部と、該駆動部において発生した動力を前記エンドエフェクタに伝達する１以上のワイヤとを備え、前記長尺部が、該長尺部の中心軸に沿う方向に配列された複数のコマを、両方向に隣接する前記コマが相互にねじれの位置関係に配置される揺動軸線回りに揺動可能となるように連結してなる湾曲部を備え、前記ワイヤが、前記中心軸から径方向に離れた位置で各前記揺動軸線に交差する位置を通過するように配置されているマニピュレータである。
　本態様によれば、１つのコマに対して、長尺部の中心軸に沿う一方向に隣接するコマを長尺部の中心軸に直交する揺動軸線回りに揺動可能に連結し、他方向に隣接する他のコマをねじれの位置関係に配置される揺動軸線回りに揺動可能に連結することを繰り返すことにより、複数方向に湾曲可能な湾曲部が構成されている。長尺部の先端に設けられたエンドエフェクタに動力を伝達するワイヤが各コマを揺動可能に連結する揺動軸線に交差する位置を通過させられて駆動部とエンドエフェクタとを接続しているので、コマ間の揺動によってワイヤの経路長が影響を受け難い。
　すなわち、隣接するコマを一の揺動軸線回りに相対的に揺動させたときに、ワイヤには曲げ力が作用するのみで引っ張りや圧縮を受けないので、経路長を変化させずに済む。全ての揺動軸線の位置において、揺動軸線に交差する位置を通過するようにワイヤを配置することにより、全ての揺動軸線回りの湾曲に対して経路長が変化しない。これにより、複数本のワイヤが用いられていても、ワイヤ毎に経路長差が発生することが防止され、操作性の低下を防止することができる。
　上記態様においては、各前記コマが、円筒状の外壁部と、該外壁部の径方向内方において、各前記揺動軸線に交差する位置を前記中心軸に沿う方向に延び、前記ワイヤを貫通させる貫通孔とを備えていてもよい。
　このようにすることで、ワイヤを貫通孔に順次貫通させていくだけで、揺動軸線に交差する位置を通過するようにワイヤを簡易に配置することができる。
　また、上記態様においては、前記ワイヤが、前記中心軸に沿う方向に、前記中心軸回りの周方向の同一方向に隣接する位置に配置されている前記貫通孔を順次貫通して、螺旋状に配置されていてもよい。
　このようにすることで、ワイヤを貫通させる貫通孔を周方向に順次ずらしていくだけで、ワイヤが一方向に旋回する螺旋状の形態で無理なく配置することができる。
　また、上記態様においては、各前記コマが、前記外壁部の径方向内方に間隔をあけて同心に配置された円筒状の内壁部と、該内壁部と前記外壁部とを前記揺動軸線近傍において連結する平板状の連結部とを備え、該連結部に前記貫通孔が設けられていてもよい。
　このようにすることで、ワイヤを二重管状の外壁部と内壁部との間の円筒状の隙間を通して配置することができる。また、内壁部の内側の中心軸近傍の空間を中心軸に沿う方向に全長にわたって連続するように確保することができる。
　本発明によれば、長尺部を一方向に湾曲させてもエンドエフェクタを駆動するための複数のワイヤに経路長差を発生させることなく、制御性を向上することができるという効果を奏する。
本発明の一実施形態に係るマニピュレータを示す斜視図である。 図１のマニピュレータの湾曲部を示す側面図である。 図２の湾曲部が一方向に湾曲した状態を示す側面図である。 図２の湾曲部を構成するコマの一例を示す斜視図である。 図４のコマを４個連結した状態を示す縦断面図である。 図５のコマが揺動したときのワイヤの変位を説明する図である。 図２の湾曲部の変形例を示す縦断面図である。
　本発明の一実施形態に係るマニピュレータ１について、図面を参照して以下に説明する。
　本実施形態に係るマニピュレータ１は、図１に示されるように、細長い長尺部２と、該長尺部２の先端に配置されたエンドエフェクタ３と、長尺部２の基端に配置されエンドエフェクタ３への動力を発生する駆動部４と、駆動部４において発生した動力をエンドエフェクタ３に伝達するワイヤ（図２参照。）１３とを備えている。エンドエフェクタ３は、例えば、把持鉗子を構成する把持部である。
　長尺部２は先端近傍に、エンドエフェクタ３の姿勢を変更するための湾曲部５を備えている。
　湾曲部５は、図２および図３に示されるように、円筒状の複数のコマ（節輪）６を長尺部２の中心軸に沿う方向に複数配列するとともに、隣接するコマ６どうしを相互にねじれの位置関係となる複数の揺動軸線Ａ，Ｂ回りに揺動可能に連結して構成されている。
　これにより、１つのコマ６は一方に隣接するコマ６に対して一方向に揺動する一方、他方に隣接するコマ６に対しては他の方向に揺動させられるので、連続する３以上のコマ６によってエンドエフェクタ３の姿勢を自由に変更可能な湾曲部５が構成されている。
　各コマ６は、図４および図５に示されるように、円筒状の外壁部７と、該外壁部７の径方向内方に間隔をあけて同心に配置された円筒状の内壁部８と、これら外壁部７と内壁部８とを径方向に連結する連結部９とを備えている。
　また、各コマ６の中心軸方向の両端には、隣接するコマ６どうしを揺動軸線Ａ，Ｂによって連結するための一対の突起部１０が中心軸を挟んで配置され、それぞれ中心軸に沿う方向に突出して設けられている。各コマ６の中心軸方向の両端の突起部１０は、周方向の位相が９０°異なっている。これにより、２つの揺動軸線Ａ，Ｂは相互にねじれの位置関係となっている。
　隣接する２つのコマ６の揺動軸線Ａ，Ｂによって連結される突起部１０は、図５に示されるように、径方向に重なって配置されるように径方向位置が相互に異なっている。
　連結部９は、突起部１０と同じ位相において、中心軸に沿う方向を板厚方向にして径方向に延びる帯板状の部分であって、板厚方向に貫通する貫通孔１１を備えている。各コマ６の両端に配置される突起部１０は位相が９０°異なる位置に配置されているので、連結部９も位相を９０°異ならせて配置されている。
　図中、符号１２は、張力によって湾曲部５を湾曲させるための４本のワイヤ１４を貫通させる貫通孔である。
　本実施形態においては、各コマ６の一の連結部９の貫通孔１１を貫通したワイヤ１３は、９０°位相が異なる他の連結部９の貫通孔１１を貫通するようになっている。隣接するコマ６の同一の揺動軸線Ａ，Ｂによって連結される突起部１０どうしは同じ位相に配置されるので、連結部９も同じ位相に配置される。したがって、ワイヤ１３は、同じ位相に配置されている隣接するコマ６の２つの連結部９を貫通させられることで、これらの連結部９の間において揺動軸線Ａ，Ｂに交差する位置を通過させられるようになっている。
　また、ワイヤ１３は、図５に示されるように、同一方向に位相がずれた位置に配置されている貫通孔１１を順次貫通させられることにより、中心軸回りに一方向に旋回する螺旋状の形態をなして配置されている。
　このように構成された本実施形態に係るマニピュレータ１の作用について以下に説明する。
　本実施形態に係るマニピュレータ１は、中心軸方向に配列された複数のコマ６を、隣接するコマ６が相互にねじれの位置関係に配置される揺動軸線Ａ，Ｂ回りに揺動可能となるように連結した湾曲部５を備えているので、湾曲部５の各揺動軸線Ａ，Ｂ回りの揺動角度を調整することにより、長尺部２の先端に配置されているエンドエフェクタ３の姿勢を自由に変更することができる。
　そして、駆動部４の作動によりワイヤ１３に張力を付与すると、張力がワイヤ１３によってエンドエフェクタ３に伝達されて、エンドエフェクタ３が作動させられる。
　この場合において、ワイヤ１３は、各揺動軸線Ａ，Ｂに交差する位置を通過させられているので、いずれの揺動軸線Ａ，Ｂ回りに隣接するコマ６が相対的に揺動させられても、ワイヤ１３は図６に示されるように曲げられることで揺動による変位を吸収する。
　すなわち、湾曲部５が湾曲させられることによるワイヤ１３の可動部は、各揺動軸線Ａ，Ｂの近傍のみに配置され、ワイヤ１３の他の部分は変位しない。このため、全ての揺動軸線Ａ，Ｂ回りにコマ６が相対的に揺動させられても、ワイヤ１３には曲げ力が作用するのみで、張力または圧縮力が作用することはなく、複数本のワイヤ１３に経路長差が発生することを効果的に防止することができる。
　すなわち、湾曲部５の各コマ６を各揺動軸線Ａ，Ｂ回りに揺動させることでエンドエフェクタ３の姿勢を変更しても、エンドエフェクタ３を駆動するためのワイヤ１３に余計な張力が作用しないので、エンドエフェクタ３が意図せず動作させられてしまうことがなく、操作性を向上することができるという利点がある。
　また、本実施形態においては、駆動部４として、モータにより駆動されるものを採用してもよいし、手動操作によって駆動されるものを採用してもよい。
　また、本実施形態においては、二重管状に形成された外壁部７と内壁部８との間の円筒状の隙間に沿ってエンドエフェクタ３を駆動するためのワイヤ１３を配置しているので、内壁部８の内側については、中心軸近傍の連続する空間を確保することができ、エンドエフェクタ３への配線や配管を、ワイヤ１３に邪魔されることなく通すために有効に利用することができる。
　なお、本実施形態においては、各コマ６の中心軸に沿う方向の両端に配置されている揺動軸線Ａ，Ｂの位相が９０°ずれている場合を例示したが、これに限定されるものではなく、位相の大きさは任意でよい。
　また、連結部９においてワイヤ１３を貫通させる貫通孔１１が、中心軸に平行に延びている場合を例示したが、これに代えて、図７に示されるように、周方向一方向に傾斜する方向に貫通していてもよい。ワイヤ１３が揺動軸線Ａ，Ｂに交差する位置を通過しさえすれば、経路長差が発生しない作用は同様であり、ワイヤ１３を斜めに通過させることで、螺旋状に配置されるワイヤ１３を無理なく配置することができるという利点がある。
　１　マニピュレータ
　２　長尺部
　３　エンドエフェクタ
　４　駆動部
　５　湾曲部
　６　コマ
　７　外壁部
　８　内壁部
　９　連結部
　１１　貫通孔
　１３　ワイヤ
　Ａ，Ｂ　揺動軸線

Claims (4)

  1. 　細長い長尺部と、
    　該長尺部の先端に配置されるエンドエフェクタと、
    　前記長尺部の基端に配置される駆動部と、
    　該駆動部において発生した動力を前記エンドエフェクタに伝達する１以上のワイヤとを備え、
    　前記長尺部が、該長尺部の中心軸に沿う方向に配列された複数のコマを、両方向に隣接する前記コマが相互にねじれの位置関係に配置される揺動軸線回りに揺動可能となるように連結してなる湾曲部を備え、
    　前記ワイヤが、前記中心軸から径方向に離れた位置で各前記揺動軸線に交差する位置を通過するように配置されているマニピュレータ。
  2. 　各前記コマが、円筒状の外壁部と、該外壁部の径方向内方において、各前記揺動軸線に交差する位置を前記中心軸に沿う方向に延び、前記ワイヤを貫通させる貫通孔とを備える請求項１に記載のマニピュレータ。
  3. 　前記ワイヤが、前記中心軸に沿う方向に、前記中心軸回りの周方向の同一方向に隣接する位置に配置されている前記貫通孔を順次貫通して、螺旋状に配置されている請求項２に記載のマニピュレータ。
  4. 　各前記コマが、前記外壁部の径方向内方に間隔をあけて同心に配置された円筒状の内壁部と、該内壁部と前記外壁部とを前記揺動軸線近傍において連結する平板状の連結部とを備え、
    　該連結部に前記貫通孔が設けられている請求項２または請求項３に記載のマニピュレータ。
     
     
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