US 12,472,024 B2
Flexible-manipulator guide member and flexible manipulator
Ryoji Hyodo, Tokyo (JP); Kosuke Kishi, Tokyo (JP); and Noriaki Yamanaka, Tokyo (JP)
Assigned to OLYMPUS CORPORATION, Tokyo (JP)
Filed by OLYMPUS CORPORATION, Tokyo (JP)
Filed on Apr. 24, 2023, as Appl. No. 18/138,402.
Application 18/138,402 is a continuation of application No. 16/999,267, filed on Aug. 21, 2020, granted, now 11,666,405.
Application 16/999,267 is a continuation of application No. 16/247,727, filed on Jan. 15, 2019, granted, now 10,786,322.
Application 16/247,727 is a continuation of application No. 15/180,139, filed on Jun. 13, 2016, granted, now 10,213,263.
Application 15/180,139 is a continuation of application No. PCT/JP2014/083744, filed on Dec. 19, 2014.
Claims priority of provisional application 61/918,808, filed on Dec. 20, 2013.
Prior Publication US 2023/0255709 A1, Aug. 17, 2023
Int. Cl. A61B 34/00 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/71 (2016.02) [A61B 34/30 (2016.02); A61B 2034/301 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A manipulator comprising:
an end effector;
an elongated shaft comprising a distal end coupled to the end effector;
a first helical lumen, a second helical lumen, a third helical lumen and a fourth helical lumen disposed in the elongated shaft;
a first pair of wires disposed in the first helical lumen and the second helical lumen; and
a second pair of wires disposed in the third helical lumen and the fourth helical lumen,
wherein:
the first helical lumen is disposed a first distance radially from a central axis of the elongated shaft,
the second helical lumen is disposed a second distance radially from the central axis of the elongated shaft, and
the first distance is different from the second distance.