US 11,911,014 B2
Articulating structure having elastic member and tube inserting device having the same
Keri Kim, Seoul (KR); Seong Il Kwon, Seoul (KR); and Jeongryul Kim, Seoul (KR)
Assigned to KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY, Seoul (KR)
Filed by KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY, Seoul (KR)
Filed on Sep. 1, 2020, as Appl. No. 17/008,639.
Claims priority of application No. 10-2019-0117451 (KR), filed on Sep. 24, 2019.
Prior Publication US 2021/0085303 A1, Mar. 25, 2021
Int. Cl. A61B 17/00 (2006.01)
CPC A61B 17/00234 (2013.01) [A61B 2017/00309 (2013.01); A61B 2017/00314 (2013.01); A61B 2017/00331 (2013.01); A61B 2017/00345 (2013.01)] 30 Claims
OG exemplary drawing
 
1. An articulating structure, comprising:
a joint unit including a front segment and a rear segment that are connected in series and perform relative rotation with respect to a rotation portion, and an elastic member interposed between the front segment and the rear segment; and
a wire that passes through the front segment and the rear segment in a lengthwise direction of the joint unit,
wherein the front segment rotates relative to the rear segment in one direction when the wire is pulled rearward,
the elastic member elastically deforms by a pressing force by the rotation of the front segment to provide an elastic force that resists the pressing force, and
the elastic force and the pressing force are balanced during the action of the pressing force,
wherein a plurality of joint units is connected is series,
wherein the elastic members of the plurality of joints units have same of different elastic coefficients.