A manipulation rope having an excellent torque transmittability is provided. A manipulation rope is a rope that is advantageously used as a manipulation rope for a medical instrument, and includes a side wire or a side strand which is an outermost layer, the side wire or the side strand having a forming rate that is greater than 100% and not greater than 110%. The side wire or the side strand having been formed has a spiral shape in which a flatness that is an aspect ratio obtained by a major axis being divided by a minor axis is preferably not less than 1.01 and preferably not greater than 1.10. Further, an elongation of the rope at a time when a tensile load that is 1.0% of a breaking load is applied, is preferably not less than 0.04% and preferably not greater than 0.10%.

A cable includes a core with a plurality of first wires made of carbon steel and a plurality of strands surrounding the core. Each strand includes a plurality of second wires made of stainless steel. The cable has a maximum cross-sectional dimension less than 2 millimeters.

A cable includes a sheath, and a coating film covering a circumference of the sheath. The coating film adheres to the sheath. The static friction coefficient of a surface of the coating film is smaller than the static friction coefficient of a surface of the sheath. The adhesion strength between the sheath and the coating film is 0.30 MPa or more.

[Object] A hollow stranded wire line, for manipulation, having an excellent torque transmittability is provided. [Solution] A hollow stranded wire line 2 for manipulation is a hollow stranded wire line 2 that is advantageously used as a stranded wire line for manipulation in a medical instrument, and a side wire 4 or a side strand which is an outermost layer has a forming rate that is greater than 100% and not greater than 110%. The side wire 4 or the side strand having been formed has a spiral shape in which a flatness that is an aspect ratio obtained by a major axis being divided by a minor axis is preferably not less than 1.01 and preferably not greater than 1.10.

An operating wire has a multi-twisted structure constituted by twisting side strands, each formed by twisting element wires together around a core strand. A side element wire of the side strand faces the outside of the operating wire in the radial direction at a site located on the outer circumference of the operating wire and has a flattened surface where a flat portion provided in a portion of the side element wire in the circumferential direction extends in the X axis direction, the length in the X axis direction of the flattened surface being 4.8-11.0 times the diameter of the side element wire, and the pitch magnification of the side strand being 7.0-12.0 times the diameter.

[Object] A hollow stranded wire line, for manipulation, having an excellent torque transmittability is provided.

[Solution] A hollow stranded wire line 2 for manipulation is a hollow stranded wire line 2 that is advantageously used as a stranded wire line for manipulation in a medical instrument, and a side wire 4 or a side strand which is an outermost layer has a forming rate that is greater than 100% and not greater than 110%. The side wire 4 or the side strand having been formed has a spiral shape in which a flatness that is an aspect ratio obtained by a major axis being divided by a minor axis is preferably not less than 1.01 and preferably not greater than 1.10.

[Object] A manipulation rope having an excellent torque transmittability is provided.

[Solution] A manipulation rope 2 is a rope 2 that is advantageously used as a manipulation rope for a medical instrument, and includes a side wire 6 or a side strand which is an outermost layer, the side wire 6 or the side strand having a spiral shape in which a flatness that is an aspect ratio obtained by a major axis being divided by a minor axis is greater than 1.00 and not greater than 1.10. An elongation of the rope at a time when a tensile load that is 1.0% of a breaking load is applied, is preferably not less than 0.04% and preferably not greater than 0.10%.

[Object] A manipulation rope having an excellent torque transmittability is provided.

[Solution] A manipulation rope 2 is a rope 2 that is advantageously used as a manipulation rope for a medical instrument, and includes a side wire 6 or a side strand which is an outermost layer, the side wire 6 or the side strand having a forming rate that is greater than 100% and not greater than 110%. The side wire or the side strand having been formed has a spiral shape in which a flatness that is an aspect ratio obtained by a major axis being divided by a minor axis is preferably not less than 1.01 and preferably not greater than 1.10. Further, an elongation of the rope at a time when a tensile load that is 1.0% of a breaking load is applied, is preferably not less than 0.04% and preferably not greater than 0.10%.

An operating wire has a multi-twisted structure constituted by twisting side strands, each formed by twisting element wires together around a core strand. A side element wire of the side strand faces the outside of the operating wire in the radial direction at a site located on the outer circumference of the operating wire and has a flattened surface where a flat portion provided in a portion of the side element wire in the circumferential direction extends in the X axis direction, the length in the X axis direction of the flattened surface being 4.8-11.0 times the diameter of the side element wire, and the pitch magnification of the side strand being 7.0-12.0 times the diameter.

A muscle-like actuator comprises a motor with a rotatable drive shaft and a string with a shear thickening fluid (STF) embedded therein. One end of the string is attached to the drive shaft and the other end is connected to a load to form a twisted string actuator (TSA). By controlling the speed and current of the motor, the characteristics of the actuator can be changed. Multiple strings may be located in a flexible soft tube to improve the mechanical properties of the actuator.