Patent ID: 11911014
Assignee: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 28:
29. 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 in series,
wherein the plurality of joint units includes a plurality of X direction joint units in which the front segment rotates relative to the rear segment in an X direction, and a plurality of Y direction joint units in which the front segment rotates relative to the rear segment in a Y direction perpendicular to the X direction.