Patent ID: 8821388
Filing Date: 2014-09-02
Classification: A61B

Abstract:
1. A multijointed bending mechanism comprising: a first bending piece; a second bending piece connected to the first bending piece so as to be rotatable around a first rotation shaft and provided closer to a base end side of the multijointed bending mechanism than the first bending piece; a third bending piece connected to the second bending piece so as to be rotatable around a second rotation shaft and provided closer to a base end side of the multijointed bending mechanism than the second bending piece; at least two first wires connected to the first bending piece to rotate the first bending piece and inserted into the third bending piece; at least two second wires connected to the second bending piece to rotate the second bending piece and inserted into the third bending piece; and a positioning/disposing mechanism configured to execute positioning so that the second wires which are inserted into the third bending piece are disposed closer to a center axis side of the multijointed bending mechanism than the first wires which are inserted into the third bending piece.