# US 10,864,004 B2 · Flexible-manipulator sheath and manipulator > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,864,004 B2 - Document ID: US10864004B2 - Status: Granted - Kind: B2 - Application number: 16/166,348 - Filed: 2018-10-22 - Published: 2019-02-21 - Granted: 2020-12-15 - Earliest claimed: 2016-04-28 - Assignees: Olympus Corporation - Applicants: Olympus Corporation - Inventors: Yuta Fujii; Toshihiro Yoshii - Web page: https://patentgrep.com/patent/US10864004B2 ## CPC - A61B 17/29: Forceps for use in minimally invasive surgery - B25J 18/06: flexible - A61B 34/30: Surgical robots - A61B 34/71: {Manipulators operated by drive cable mechanisms} - B25J 9/104: {with cables, chains or ribbons} - A61B 17/22031: {Gripping instruments, e.g. forceps, for removing or smashing calculi (A61B17/221 takes precedence)} - A61B 17/28: Surgical forceps (biopsy forceps A61B10/06; {for holding suture needles or materials A61B17/0483; for removing or smashing calculi A61B17/221; surgical scissors A61B17/3201;} obstetrical forceps A61B17/44) - A61B 2017/2905: {flexible} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61M 2025/006: {having a special surface topography or special surface properties, e.g. roughened or knurled surface} - A61M 2025/0062: {having features to improve the sliding of one part within another by using lubricants or surfaces with low friction} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## Abstract Provided is a flexible-manipulator sheath including: a flexible inner tube having a lumen along a longitudinal direction thereof, the lumen configured to insert a wire; a flexible outer tube disposed to cover an outer circumferential surface of the inner tube, the outer tube having a higher compression stiffness than the inner tube; and a cushioning disposed at a space between an inner surface of the outer tube and an outer surface of the inner tube, wherein the cushioning is formed by at least one of filling the space with a viscous material and disposing an elastic sheet at the space. ## Claims ### Claim 1 A flexible-manipulator sheath comprising: a flexible inner tube having a lumen along a longitudinal direction thereof, the lumen configured to insert a wire; a flexible outer tube disposed to cover an outer circumferential surface of the inner tube, the outer tube having a higher compression stiffness than the inner tube; and a cushioning disposed at a space between an inner surface of the outer tube and an outer surface of the inner tube, wherein the cushioning is formed by at least one of filling the space with a viscous material and disposing an elastic sheet at the space. ### Claim 2 (depends on 1) The flexible-manipulator sheath according to claim 1, wherein the cushioning is formed of a silicone oil or a low-hardness silicone rubber. ### Claim 3 (depends on 1) The flexible-manipulator sheath according to claim 1, further comprising a cushioning retaining portion configured to secure the space and retain the cushioning. ### Claim 4 (depends on 3) The flexible-manipulator sheath according to claim 3, wherein the cushioning retaining portion comprises a protrusion disposed on the inner surface of the outer tube or the outer surface of the inner tube. ### Claim 5 (depends on 4) The flexible-manipulator sheath according to claim 4, wherein the protrusion comprises a plurality of protrusions. ### Claim 6 (depends on 4) The flexible-manipulator sheath according to claim 4, wherein the protrusion has a ring shape and extends all around a circumference on the outer surface of the inner tube. ### Claim 7 (depends on 4) The flexible-manipulator sheath according to claim 4, wherein the protrusion extends in a longitudinal direction on the outer surface of the inner tube. ### Claim 8 A manipulator comprising: a flexible sheath; an end effector disposed at a distal end of the flexible sheath; an actuator disposed at a proximal end of the flexible sheath, the actuator configured to actuate the end effector; a wire configured to transmit power to the end effector, wherein the flexible sheath comprises: a flexible inner tube having a lumen along a longitudinal direction thereof, the lumen configured to insert the wire; a flexible outer tube disposed to cover an outer circumferential surface of the inner tube, the outer tube having a higher compression stiffness than the inner tube; and a cushioning disposed at a space between an inner surface of the outer tube and an outer surface of the inner tube, the cushioning is formed by at least one of filling the space with a viscous material and disposing an elastic sheet at the space. ### Claim 9 (depends on 8) The manipulator according to claim 8, wherein the cushioning is formed of a silicone oil or a low-hardness silicone rubber. ### Claim 10 (depends on 8) The manipulator according to claim 8, further comprising a cushioning retaining portion configured to secure the space and retain the cushioning. ### Claim 11 (depends on 10) The manipulator according to claim 10, wherein the cushioning retaining portion comprises a protrusion disposed on the inner surface of the outer tube or the outer surface of the inner tube. ### Claim 12 A manipulator comprising: a flexible sheath; an end effector at a distal end of the flexible sheath; an actuator at a proximal end of the flexible sheath, the actuator configured to actuate the end effector; a wire configured to transmit power to the end effector, wherein the flexible sheath comprises: a flexible inner tube having a lumen along a longitudinal direction thereof, the lumen configured to insert the wire; a flexible outer tube disposed to cover an outer circumferential surface of the inner tube, the outer tube having a higher compression stiffness than the inner tube; and a protrusion formed on an inner surface of the outer tube, the protrusion being formed of an elastic material protruding in a radial direction of the outer tube. ### Claim 13 (depends on 12) The manipulator according to claim 12, wherein the protrusion comprises a plurality of protrusions. ### Claim 14 (depends on 12) The manipulator according to claim 12, wherein the protrusion has a ring shape and extends all around a circumference on the inner surface of the outer tube. ### Claim 15 (depends on 12) The manipulator according to claim 12, wherein the protrusion has a convex curved surface.