Abstract: The present invention provides a bending device which is capable of easily controlling a bending motion with superior controllability. A portion of an elastic tube body (11) opposite a portion in which a non-stretching body (4) is fixed inflates in a circumferential direction of the elastic tube body (11) in response to increase in an internal pressure of the elastic tube body (11), and an elastic tube (1P) bends in a step-wise angle corresponding to the number of layers of a multi-layer structure. The portion of the elastic tube body (11) in which the non-stretching body (4) is fixed is thicker than the remaining portion of the elastic tube body (11).

Abstract: There is provided a medical device whose occupied space is reduced. According to an aspect of the present invention, a medical device (1) adjusts a position of a medical instrument including a rod-like insertion unit (201) for being inserted into a body. The medical device includes an ultrasonic actuator that holds the insertion unit of the medical instrument, and that displaces or rotates the insertion unit with respect to the ultrasonic actuator, and an actuator fixing unit (101 and 102) that fixes a position of the ultrasonic actuator to a surgical site.

Abstract: Provided is an actuator that is able to adjust a ratio of a speed in a rectilinear-direction and a speed in a rotation-direction of an operation element. A differential drive mechanism (110A) includes a front conveyance roller (1112) and a rear conveyance roller (1113) that are able to convey a rod-shaped insertion unit in a long axis direction thereof and rotate the insertion unit about the long axis, and an angle changing mechanism that changes crossing angles of the front conveyance roller and the rear conveyance roller with respect to the insertion unit.

Abstract: The present invention provides a bending device which is capable of easily controlling a bending motion with superior controllability. A portion of an elastic tube body (11) opposite a portion in which a non-stretching body (4) is fixed inflates in a circumferential direction of the elastic tube body (11) in response to increase in an internal pressure of the elastic tube body (11), and an elastic tube (1P) bends in a step-wise angle corresponding to the number of layers of a multi-layer structure. The portion of the elastic tube body (11) in which the non-stretching body (4) is fixed is thicker than the remaining portion of the elastic tube body (11).

Abstract: There is provided a medical device whose occupied space is reduced. According to an aspect of the present invention, a medical device (1) adjusts a position of a medical instrument including a rod-like insertion unit (201) for being inserted into a body. The medical device includes an ultrasonic actuator that holds the insertion unit of the medical instrument, and that displaces or rotates the insertion unit with respect to the ultrasonic actuator, and an actuator fixing unit (101 and 102) that fixes a position of the ultrasonic actuator to a surgical site.

Abstract: An expansible elastic tube (1) in which gas is encapsulated, a medical instrument (an endoscopic camera 2) secured to the tip of the elastic tube (1), a non-expansive tube (3) that is connected to the other end of the elastic tube (1) in such a way as to communicate therewith, the non-expansive tube (3) in which gas is encapsulated, an inextensible body (4) having flexibility, the inextensible body (4) fixed to the elastic tube (1) in a longitudinal direction, a connecting tube (5) having the shape of a hollow circular cylinder and having flexibility and a non-expansive property, the connecting tube (5) connected to the non-expansive tube (3), and a control device (20) which performs variable control of the air pressure inside the elastic tube (1) are provided, and the air pressure is controlled by the control device (20), whereby the elastic tube (1) is made to expand and contract on the side opposite to the inextensible body (4) and the elastic tube (1) is curved at an arbitrary angle.