Rotatable around the longitudinal axis passing through the member associated with the member of the joint SOLUTION], operative joint having, for example, a transmission member is a ring gear is disclosed. In particular, around the body of the coupling device or and a tendon drive coupling structure transmission member disposed therein, and drives the rotational freedom of the coupling device by transmitting the force to the tendon of the two from the drive means, two degree of freedom operable joint is disclosed. Furthermore, a plurality of joints of this type to define a conduit and operable for flexible devices, such device segment is an endoscope is disclosed. [Selection Figure 7【解決手段】継手の部材と関連しこの部材を通る長手軸周りに回転可能な、例えばリングギアである伝動部材を有する動作可能な継手が開示される。特に、継手装置の本体の周りにまたは内部に伝動部材が配置された腱駆動継手構造を備え、駆動手段から二つの腱に力を伝達して継手装置の回転自由度を駆動する、二自由度の動作可能な継手が開示される。さらに、この種の継手を複数備え、機器のための柔軟かつ操作可能な管路を画成する、例えば内視鏡であるセグメントデバイスが開示される。【選択図】図7
