Healthcare system

Abstract

To automatically execute optimum control according to a state, structure, and characteristics unique to a bendable unit, which is a replacement component.SOLUTION: A medical system of the present invention includes: a base unit; a bendable unit having a linear member that can be attached / detached to / from the base unit, which can be driven by a drive part in a state of being attached to the base unit, and a bending part that is bent when the linear member is driven; and a control part for controlling the drive part. The bendable unit includes a first information holding part for holding first information unique to the bendable unit. The first information includes history information indicating whether or not the bendable unit is unused or used. In the case where the history information indicates that the bendable unit is an unused one, the control part permits an operation of the drive part, and in the case where the history information indicates that the bendable unit is a used one, the control part does not permit the operation of the drive part.SELECTED DRAWING: Figure 17

Description

Technical Field

[0001] The present invention relates to a medical system including a medical device having a bendable unit that is detachable.

Background Art

[0002] Patent Document 1 discloses a medical instrument including an operating portion having a deformable portion that is bent and deformed by a wire, and an operating portion that deforms the deformable portion by operating the wire. The operating portion and the operating portion are configured to be detachable, and by connecting the operating portion and the operating portion with a magnet, power can be transmitted from the operating portion to the wire of the operating portion.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, the state, structure, and characteristics of the operating portion to be replaced are not always the same. For example, a component in a used state may be accidentally attached, or a replacement component having a different structure from before may be attached. Also, even if the replacement components have the same structure, their characteristics may not be the same due to factors such as manufacturing variations.

[0005] In such cases, conventionally, it has been necessary for the user to determine whether the replacement component is in a usable state and whether a new replacement component can be accurately controlled by the same control method as before, which has imposed a large burden on the user. Also, when the user has to change the settings of the operating portion himself / herself in order to adapt to the structure and characteristics of the new replacement component, the burden on the user has been even greater.

[0006] Therefore, the objective of the present invention is to automatically perform optimal control according to the unique state, structure, and characteristics of the flexible unit, which is a replacement part. [Means for solving the problem]

[0007] One invention relating to this application is a medical system comprising: a base unit having a drive unit inside; a bendable unit detachably mounted to the base unit, the bendable unit comprising a linear member driven by the drive unit while mounted on the base unit, and a bendable portion that bends when the linear member is driven; and a control unit that controls the drive unit, wherein the bendable unit has a first information storage unit that stores first information specific to the bendable unit, the first information includes history information indicating whether the bendable unit is unused or used, and if the history information indicates that the bendable unit is unused, the control unit permits the operation of the drive unit, and if the history information indicates that the bendable unit is used, the control unit permits the operation of the drive unit The base unit and the control unit are detachable, and the base unit includes a second information storage unit different from the first information storage unit, and the second information storage unit stores second information specific to the base unit. This is a medical system characterized by the following features.

[0008] Furthermore, one invention relating to this application is a medical system comprising: a base unit having a drive unit inside; a bendable unit detachably mounted to the base unit, the bendable unit comprising a linear member driven by the drive unit while mounted on the base unit, and a bendable portion that bends when the linear member is driven; and a control unit for controlling the drive unit, wherein the bendable unit has a first information storage unit that stores first information unique to the bendable unit, and the first information is the different positions in the longitudinal direction of the linear member The medical system is characterized in that the curved portion includes region number information indicating the number of regions that can be independently curved, the drive unit comprises a first drive source for driving a first curved region and a second drive source for driving a second curved region that is located closer to the base unit than the first curved region in the longitudinal direction, and when the region number information indicates a first region number, the control unit operates the first drive source and does not operate the second drive source, and when the region number information indicates a second region number that is greater than the first region number, the control unit operates both the first drive source and the second drive source.

[0009] Furthermore, one invention relating to this application is a medical system comprising: a base unit having a drive unit inside; a bendable unit detachably mounted to the base unit, the bendable unit comprising: a linear member driven by the drive unit while mounted on the base unit; and a bendable portion that bends when the linear member is driven; and a control unit for controlling the drive unit, wherein the bendable unit has a first information storage unit that stores first information specific to the bendable unit, and the first information includes length information indicating the length of a region in which the bendable portion can bend independently at different positions in the longitudinal direction of the linear member. The drive unit comprises a first drive source for driving a first curved region and a second drive source for driving a second curved region located on the base unit side of the first curved region in the longitudinal direction, wherein if the length information indicates that the length of the first curved region is a first length, the control unit drives the first drive source and then drives the second drive source after a predetermined time, and if the length information indicates that the length of the first curved region is a second length that is longer than the first length, the control unit drives the first drive source and then drives the second drive source after a time longer than the predetermined time has elapsed.

[0010] Furthermore, one invention relating to this application is a medical system comprising: a base unit having a drive unit inside; a bendable unit detachably mounted to the base unit, the bendable unit comprising a linear member driven by the drive unit while mounted on the base unit, and a bendable portion that bends when the linear member is driven; and a control unit that controls the drive unit, wherein the bendable unit has a first information storage unit that stores first information specific to the bendable unit, the first information includes response information relating to the response characteristics of the linear member, and the control unit adjusts the amount of drive of the drive unit based on the response information. The base unit and the control unit are detachable, and the base unit includes a second information storage unit different from the first information storage unit, and the second information storage unit stores second information specific to the base unit. This is a medical system characterized by the following: [Effects of the Invention]

[0011] As described above, according to the present invention, optimal control can be automatically performed according to the unique state, structure, and characteristics of the bendable unit, which is a replacement part.

Brief Description of the Drawings

[0012] [Figure 1] Overall view of the medical system [Figure 2] Perspective view showing the medical device and the support base [Figure 3] Explanatory drawing of the catheter [Figure 4] Explanatory drawing of the catheter unit [Figure 5] Explanatory drawing of the base unit and the wire drive unit [Figure 6] Explanatory drawing of the wire drive unit, the connecting device, and the bend drive unit [Figure 7] Explanatory drawing of the attachment of the catheter unit [Figure 8] Drawing for explaining the connection between the catheter unit and the base unit [Figure 9] Exploded view for explaining the connection between the catheter unit and the base unit [Figure 10] Drawing for explaining the fixing of the drive wire by the connecting part [Figure 11] Drawing for explaining the fixing of the drive wire by the connecting part [Figure 12] Drawing for explaining the fixing of the drive wire by the connecting part [Figure 13] Drawing for explaining the fixing of the drive wire by the connecting part [Figure 14] Drawing for explaining the fixing of the drive wire by the connecting part [Figure 15] Schematic configuration diagram of the medical system in Example 1 [Figure 16] Flowchart showing the usage procedure of the medical system [Figure 17] Flowchart of the control in Example 1 [Figure 18] Flowchart of the control in Example 2 [Figure 19]Flowchart of control in Example 3 [Figure 20] Diagram for explaining feedback control of drive source [Figure 21] Flowchart of control in Example 4 [Figure 22] Schematic configuration diagram of medical system in Example 5 [Figure 23] Configuration diagram of force sensor [Figure 24] Diagram showing output characteristics of force sensor [Figure 25] Flowchart of control in Example 6 [Figure 26] Flowchart of control in Example 7 [Figure 27] Perspective view showing arrangement example of electrical contacts in catheter unit and base unit

Mode for Carrying Out the Invention

[0013] The configuration of the present invention will be illustrated below with reference to the drawings. Note that dimensions, materials, shapes, arrangements, etc. of the components described in this embodiment should be appropriately changed according to the configuration of the device to which the present invention is applied and various conditions.

[0014] 〔Example 1〕 <Medical System and Medical Device> The medical system 1A and the medical device 1 will be described with reference to FIGS. 1 and 2. FIG. 1 is an overall view of the medical system 1A. FIG. 2 is a perspective view showing the medical device 1 and the support base 2.

[0015] The medical system 1A includes a medical device 1, a support base 2 for attaching the medical device 1, and a control unit 3 for controlling the medical device 1. In this embodiment, the medical system 1A includes a monitor 4 as a display device.

[0016] Medical device 1 comprises a catheter unit (bendable medical device) 100 equipped with a catheter 11 as a bendable body, and a base unit (base, drive unit, and mounting unit) 200. The catheter unit 100 is configured to be detachable from the base unit 200.

[0017] In this embodiment, the user of the medical system 1A and medical device 1 can perform tasks such as observing the inside of a target, collecting various specimens from the inside of the target, and performing procedures on the inside of the target by inserting the catheter 11 into the inside of the target. In one embodiment, the user can insert the catheter 11 into the inside of a patient who is the target. For example, by inserting it into the trachea through the patient's oral cavity or nasal cavity, tasks such as observing, collecting, and excising lung tissue can be performed.

[0018] The catheter 11 can be used as a guide (sheath) to guide medical instruments for performing the above-mentioned procedures. Examples of medical instruments (tools) include endoscopes, forceps, and ablation devices. The catheter 11 itself may also function as one of the above-mentioned medical instruments.

[0019] In this embodiment, the control unit 3 includes an arithmetic unit 3a and an input device 3b. The input device 3b receives commands and inputs for operating the catheter 11. The arithmetic unit 3a includes storage for storing programs and various data for controlling the catheter, random access memory, and a central processing unit for executing programs. The control unit 3 may also include an output unit that outputs signals for displaying images on the monitor 4.

[0020] As shown in Figure 2, in this embodiment, the medical device 1 is electrically connected to the control unit 3 via a cable 5 connecting the base unit 200 of the medical device 1 and the support base 2, and via the support base 2. Alternatively, the medical device 1 and the control unit 3 may be directly connected by a cable. They may also be connected wirelessly. Furthermore, although the control unit 3 is depicted as a separate component in Figures 1 and 2, it may be located inside the base unit 200 or the support base 2.

[0021] The medical device 1 is detachably mounted on the support base 2 via the base unit 200. More specifically, the mounting portion (connecting portion) 200a of the base unit 200 of the medical device 1 is detachably mounted on the movable stage (receiving portion) 2a of the support base 2. Even when the mounting portion 200a of the medical device 1 is detached from the movable stage 2a, the connection between the medical device 1 and the control unit 3 is maintained so that the medical device 1 can be controlled by the control unit 3. In this embodiment, even when the mounting portion 200a of the medical device 1 is detached from the movable stage 2a, the medical device 1 and the support base 2 are connected by a cable 5.

[0022] The user can manually move the medical device 1 when it is detached from the support stand 2 (when the medical device 1 is detached from the moving stage 2a) and insert the catheter 11 into the target.

[0023] The user can use the medical device 1 when the catheter 11 is inserted into the target and the medical device 1 is attached to the support base 2. Specifically, with the medical device 1 attached to the moving stage 2a, the medical device 1 moves as the moving stage 2a moves. Then, the device moves in the direction of inserting the catheter 11 into the target and in the direction of withdrawing the catheter 11 from the target.

[0024] The medical device 1 is fixed to the mobile stage 2a via a mounting part 200a and is moved by the mobile stage 2a, which is driven by a mobile motor (not shown) located inside the support base 2. The mobile motor is controlled by a control unit 3.

[0025] The medical device 1 includes a wire drive unit (linear member drive unit, line drive unit, main body drive unit) 300 for driving the catheter 11. In this embodiment, the medical device 1 is a robotic catheter device that drives the catheter 11 with a wire drive unit 300 controlled by a control unit 3.

[0026] The control unit 3 can control the wire drive unit 300 to perform the action of bending the catheter 11. In this embodiment, the wire drive unit 300 is built into the base unit 200. More specifically, the base unit 200 includes a base housing 200f that houses the wire drive unit 300. In other words, the base unit 200 includes the wire drive unit 300.

[0027] Here, regarding the extension direction of the catheter 11, the end where the tip of the catheter 11 to be inserted into the target is located is called the distal end. Regarding the extension direction of the catheter 11, the opposite side of the distal end is called the proximal end.

[0028] The catheter unit 100 has a proximal end cover 16 that covers the proximal end of the catheter 11. The proximal end cover 16 has a tool hole 16a. A medical instrument can be inserted into the catheter 11 through the tool hole 16a.

[0029] As described above, in this embodiment, the catheter 11 functions as a guide device for guiding a medical instrument to a desired position inside the target.

[0030] For example, with the endoscope inserted into the catheter 11, the catheter 11 is inserted to the target position inside the target. At this time, at least one of the following is used: manual operation by the user, movement of the moving stage 2a, or driving of the catheter 11 by the wire drive unit 300. After the catheter 11 reaches the target position, the endoscope is withdrawn from the catheter 11 through the tool hole 16a. Then, another medical instrument is inserted through the tool hole 16a, and operations such as collecting various specimens from inside the target or performing procedures on the inside of the target are performed.

[0031] As described later, the catheter unit 100 is detachably attached to the base unit 200. After the medical device 1 has been used, the user can remove the catheter unit 100 from the base unit 200, attach a new catheter unit 100 to the base unit 200, and use the medical device 1 again.

[0032] As shown in Figure 2, the medical device 1 has an operating unit 400. In this embodiment, the operating unit 400 is provided on the catheter unit 100. The operating unit 400 is operated by the user when fixing the catheter unit 100 to the base unit 200 and when removing the catheter unit 100 from the base unit 200.

[0033] By connecting the endoscope inserted into the catheter 11 to the monitor 4, images captured by the endoscope can be displayed on the monitor 4. Furthermore, by connecting the monitor 4 to the control unit 3, the status of the medical device 1 and information related to the control of the medical device 1 can be displayed on the monitor 4. For example, the position of the catheter 11 inside the target and information related to the navigation of the catheter 11 inside the target can be displayed on the monitor 4. The monitor 4, control unit 3, and endoscope may be connected by wire or wirelessly. The monitor 4 and control unit 3 may also be connected via the support base 2.

[0034] <Catheter> The catheter 11 as a flexible body will be explained using Figure 3. Figure 3 is an explanatory diagram of the catheter 11. Figure 3(a) is a diagram illustrating the catheter 11 as a whole. Figure 3(b) is a magnified view of the catheter 11.

[0035] The catheter 11 comprises a curved section (curved body, catheter body) 12 and a curved drive unit (catheter drive unit) 13 configured to curve the curved section 12. The curved drive unit 13 is configured to receive the driving force from the wire drive unit 300 via a connecting device 21, which will be described later, and to curve the curved section 12.

[0036] The catheter 11 is extended along the direction of insertion of the catheter 11 into the target. The extension direction (longitudinal direction) of the catheter 11 is the same as the extension direction (longitudinal direction) of the curved portion 12 and the extension direction (longitudinal direction) of the first to ninth drive wires (W11 to W33) described later.

[0037] The bending drive unit 13 includes a plurality of drive wires (drive lines, linear members, linear actuators) connected to the bending unit 12. Specifically, the bending drive unit 13 includes a first drive wire W11, a second drive wire W12, a third drive wire W13, a fourth drive wire W21, a fifth drive wire W22, a sixth drive wire W23, a seventh drive wire W31, an eighth drive wire W32, and a ninth drive wire W33.

[0038] Each of the first to ninth drive wires (W11 to W33) includes a held portion (held shaft, rod) Wa. Specifically, the first drive wire W11 includes the first held portion Wa11. The second drive wire W12 includes the second held portion Wa12. The third drive wire W13 includes the third held portion Wa13. The fourth drive wire W21 includes the fourth held portion Wa21. The fifth drive wire W22 includes the fifth held portion Wa22. The sixth drive wire W23 includes the sixth held portion Wa23. The seventh drive wire W31 includes the seventh held portion Wa31. The eighth drive wire W32 includes the eighth held portion Wa32. The ninth drive wire W33 includes the ninth held portion Wa33.

[0039] In this embodiment, each of the first to ninth held parts (Wa11 to Wa33) has the same shape.

[0040] Each of the first to ninth drive wires (W11 to W33) includes a flexible wire body (line body, linear body) Wb. Specifically, the first drive wire W11 includes the first wire body Wb11. The second drive wire W12 includes the second wire body Wb12. The third drive wire W13 includes the third wire body Wb13. The fourth drive wire W21 includes the fourth wire body Wb21. The fifth drive wire W22 includes the fifth wire body Wb22. The sixth drive wire W23 includes the sixth wire body Wb23. The seventh drive wire W31 includes the seventh wire body Wb31. The eighth drive wire W32 includes the eighth wire body Wb32. The ninth drive wire W33 includes the ninth wire body Wb33.

[0041] In this embodiment, the first to third wire bodies (Wb11 to Wb13) are all the same shape. The fourth to sixth wire bodies (Wb21 to Wb23) are all the same shape. The seventh to ninth wire bodies (Wb31 to Wb33) are all the same shape. In this embodiment, the first to ninth wire bodies (Wb11 to Wb33) are all the same shape except for their length.

[0042] The first to ninth retained parts (Wa11 to Wa33) are fixed to the first to ninth wire bodies (Wb11 to Wb33) at their proximal ends.

[0043] The first to ninth drive wires (W11 to W33) are inserted into and fixed in the curved section 12 via the wire guide 17.

[0044] Any one of the first to ninth drive wires (W11 to W33) can be called drive wire W. In this embodiment, each of the first to ninth drive wires (W11 to W33) has the same shape except for the length of the first to ninth wire bodies (Wb11 to Wb33).

[0045] In this embodiment, the curved portion 12 is a tubular member that is flexible and has a passage Ht for inserting a medical instrument.

[0046] The wall surface of the curved section 12 is provided with multiple wire holes for passing through the first to ninth drive wires (W11 to W33). Specifically, the wall surface of the curved section 12 is provided with a first wire hole Hw11, a second wire hole Hw12, and a third wire hole Hw13. Furthermore, the wall surface of the curved section 12 is provided with a fourth wire hole Hw21, a fifth wire hole Hw22, and a sixth wire hole Hw23. Furthermore, the wall surface of the curved section 12 is provided with a seventh wire hole Hw31, an eighth wire hole Hw32, and a ninth wire hole Hw33. Each of the first to ninth wire holes Hw (Hw11 to Hw33) corresponds to each of the first to ninth drive wires (W11 to W33). The number after the symbol Hw indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first wire hole Hw11.

[0047] Any one of the first to ninth wire holes (Hw11 to Hw33) can be called wire hole Hw. In this embodiment, each of the first to ninth wire holes (Hw11 to Hw33) has the same shape.

[0048] The curved section 12 has an intermediate region 12a and a curved region 12b. The curved region 12b is located at the distal end of the curved section 12, and the first guide ring J1, the second guide ring J2, and the third guide ring J3 are located in the curved region 12b. The curved region 12b is a region in which the magnitude and direction of the bending of the curved section 12 can be controlled by moving the first guide ring J1, the second guide ring J2, and the third guide ring J3 by the bending drive unit 13. Figure 3(b) shows the curved section 12 with a portion of the section covering the first to third guide rings (J1 to J3) omitted.

[0049] The medical device is guided to the tip of the catheter 11 by the passage Ht and the first to third guide rings (J1 to J3).

[0050] Each of the first to ninth drive wires (W11 to W33) is fixed to each of the first to third guide rings (J1 to J3) by passing through the intermediate region 12a.

[0051] Specifically, the first drive wire W11, the second drive wire W12, and the third drive wire W13 are fixed to the first guide ring J1. The fourth drive wire W21, the fifth drive wire W22, and the sixth drive wire W23 pass through the first guide ring J1 and are fixed to the second guide ring J2. The seventh drive wire W31, the eighth drive wire W32, and the ninth drive wire W33 pass through the first guide ring J1 and the second guide ring J2 and are fixed to the third guide ring J3.

[0052] The medical device 1 can bend the curved portion 12 in a direction intersecting the extension direction of the catheter 11 by driving the bending drive unit 13 with the wire drive unit 300. Specifically, by moving each of the first to ninth drive wires (W11 to W33) in the extension direction of the curved portion 12, the curved region 12b of the curved portion 12 can be bent in a direction intersecting the extension direction via the first to third guide rings (J1 to J3).

[0053] The user can insert the catheter 11 to the desired portion inside the target object by using at least one of the following: moving the medical device 1 manually or by the moving stage 2a, and bending the curved section 12.

[0054] <Catheter Unit> The catheter unit 100 will be explained using Figure 4.

[0055] Figure 4 is an explanatory diagram of the catheter unit 100. Figure 4(a) is an explanatory diagram of the catheter unit 100 with the wire cover 14 (described later) in the cover position. Figure 4(b) is an explanatory diagram of the catheter unit 100 with the wire cover 14 (described later) in the exposed position.

[0056] The catheter unit 100 includes a catheter 11 having a curved section 12 and a curved drive section 13, and a proximal end cover 16 that supports the proximal end of the catheter 11. The catheter unit 100 also includes a cover (wire cover) 14 for covering and protecting the first to ninth drive wires (W11 to W33) which serve as multiple drive wires.

[0057] The catheter unit 100 is detachable from the base unit 200 along the attachment / detachment direction DE. The direction in which the catheter unit 100 is attached to the base unit 200 and the direction in which the catheter unit 100 is removed from the base unit 200 are parallel to the attachment / detachment direction DE.

[0058] The proximal end cover (frame, curved section housing, catheter housing) 16 is a cover that covers a portion of the catheter 11. The proximal end cover 16 has a tool hole 16a for inserting a medical instrument into the passage Ht of the curved section 12.

[0059] The wire cover 14 is provided with multiple exposed holes (wire cover holes, cover holes) for passing each of the first to ninth drive wires (W11 to W33). The wire cover 14 is provided with a first exposed hole 14a11, a second exposed hole 14a12, a third exposed hole 14a13, a fourth exposed hole 14a21, a fifth exposed hole 14a22, a sixth exposed hole 14a23, a seventh exposed hole 14a31, an eighth exposed hole 14a32, and a ninth exposed hole 14a33. Each of the first to ninth exposed holes (14a11 to 14a33) corresponds to each of the first to ninth drive wires (W11 to W33). The number after the reference numeral 14a indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first exposed hole 14a11.

[0060] Any one of the first to ninth exposure holes (14a11 to 14a33) can be called exposure hole 14a. In this embodiment, each of the first to ninth exposure holes (14a11 to 14a33) has the same shape.

[0061] The wire cover 14 can move between a cover position that covers the first to ninth drive wires (W11 to W33) (see Figure 14(a)) and a cover retracted position that is retracted from the cover position (see Figure 14(b)). The cover retracted position can also be called an exposed position that exposes the first to ninth drive wires (W11 to W33).

[0062] Before attaching the catheter unit 100 to the base unit 200, the wire cover 14 is in the covered position. When the catheter unit 100 is attached to the base unit 200, the wire cover 14 moves from the covered position to the exposed position along the attachment / detachment direction DE.

[0063] In this embodiment, the wire cover 14 moves from the covered position to the exposed position and is then retained in the exposed position. Therefore, even after attaching the catheter unit 100 to the base unit 200, the catheter unit 100 is removed from the base unit 200, and the wire cover 14 remains in the exposed position.

[0064] When the wire cover 14 is in the exposed position, the first to ninth held portions (Wa11 to Wa33) of the first to ninth drive wires (W11 to W33) are exposed. As a result, connection between the curved drive unit 13 and the coupling device 21, which will be described later, is permitted. When the wire cover 14 is in the exposed position, the first to ninth held portions (Wa11 to Wa33) of the first to ninth drive wires (W11 to W33) protrude from the first to ninth exposed holes (14a11 to 14a33). More specifically, the first to ninth held portions (Wa11 to Wa33) protrude from the first to ninth exposed holes (14a11 to 14a33) toward the mounting direction Da, which will be described later.

[0065] As shown in Figure 4(b), each of the first to ninth drive wires (W11 to W33) is arranged along a circle (virtual circle) having a predetermined radius.

[0066] In this embodiment, the catheter unit 100 has a key shaft (key, catheter-side key) 15. In this embodiment, the key shaft 15 extends in the attachment / detachment direction DE. The wire cover 14 is provided with a shaft hole 14b through which the key shaft 15 passes. The key shaft 15 can engage with a key receiving portion 22, which will be described later. By engaging the key shaft 15 with the key receiving portion 22, the movement of the catheter unit 100 relative to the base unit 200 is restricted within a predetermined range in the circumferential direction of the circle (virtual circle) in which the first to ninth drive wires (W11 to W33) are arranged.

[0067] In this embodiment, the catheter unit 100 includes an operating section 400. The operating section 400 is configured to be movable (rotatable) relative to the proximal end cover 16 and the bending drive section 13. The operating section 400 is rotatable around a rotation axis 400r. The rotation axis 400r of the operating section 400 extends in the attachment / detachment direction DE.

[0068] With the catheter unit 100 attached to the base unit 200, the operating unit 400 is configured to be movable (rotatable) relative to the base unit 200. More specifically, the operating unit 400 is configured to be movable (rotatable) relative to the base housing 200f, the wire drive unit 300, and the coupling device 21, which will be described later.

[0069] <Base Unit> The base unit 200 and the wire drive unit 300 will be described using Figure 5.

[0070] Figure 5 is an explanatory diagram of the base unit 200 and the wire drive unit 300. Figure 5(a) is a perspective view showing the internal structure of the base unit 200. Figure 5(b) is a side view showing the internal structure of the base unit 200. Figure 5(c) is a view of the base unit 200 along the attachment / detachment direction DE.

[0071] The wire drive unit 300 has multiple drive sources (motors). In this embodiment, the wire drive unit 300 includes a first drive source M11, a second drive source M12, a third drive source M13, a fourth drive source M21, a fifth drive source M22, a sixth drive source M23, a seventh drive source M31, an eighth drive source M32, and a ninth drive source M33.

[0072] Any one of the first to ninth drive sources (M11 to M33) can be called drive source M. In this embodiment, each of the first to ninth drive sources (M11 to M33) has the same configuration.

[0073] The base unit 200 includes a coupling device 21. The coupling device 21 is housed in the base housing 200f. The coupling device 21 is connected to the wire drive unit 300. The coupling device 21 has a plurality of coupling parts. In this embodiment, the coupling device 21 includes a first coupling part 21c11, a second coupling part 21c12, a third coupling part 21c13, a fourth coupling part 21c21, a fifth coupling part 21c22, a sixth coupling part 21c23, a seventh coupling part 21c31, an eighth coupling part 21c32, and a ninth coupling part 21c33.

[0074] Any one of the first to ninth connecting parts (21c11 to 21c33) can be called connecting part 21c. In this embodiment, each of the first to ninth connecting parts (21c11 to 21c33) has the same configuration.

[0075] Each of the multiple connection points is connected to and driven by each of the multiple drive sources. Specifically, the first connection point 21c11 is connected to and driven by the first drive source M11. The second connection point 21c12 is connected to and driven by the second drive source M12. The third connection point 21c13 is connected to and driven by the third drive source M13. The fourth connection point 21c21 is connected to and driven by the fourth drive source M21. The fifth connection point 21c22 is connected to and driven by the fifth drive source M22. The sixth connection point 21c23 is connected to and driven by the sixth drive source M23. The seventh connecting section 21c31 is connected to the seventh drive source M31 and driven by the seventh drive source M31. The eighth connecting section 21c32 is connected to the eighth drive source M32 and driven by the eighth drive source M32. The ninth connecting section 21c33 is connected to the ninth drive source M33 and driven by the ninth drive source M33.

[0076] As will be described later, the coupling device 21 is connected to a bending drive unit 13 which includes the first to ninth drive wires (W11 to W33). The bending drive unit 13 receives the driving force from the wire drive unit 300 via the coupling device 21 and bends the bending unit 12.

[0077] The drive wire W is connected to the connecting part 21c via the held part Wa. Each of the multiple drive wires is connected to each of the multiple connecting parts.

[0078] Specifically, the first held portion Wa11 of the first drive wire W11 is connected to the first connecting portion 21c11. The second held portion Wa12 of the second drive wire W12 is connected to the second connecting portion 21c12. The third held portion Wa13 of the third drive wire W13 is connected to the third connecting portion 21c13. The fourth held portion Wa21 of the fourth drive wire W21 is connected to the fourth connecting portion 21c21. The fifth held portion Wa22 of the fifth drive wire W22 is connected to the fifth connecting portion 21c22. The sixth held portion Wa23 of the sixth drive wire W23 is connected to the sixth connecting portion 21c23. The seventh held portion Wa31 of the seventh drive wire W31 is connected to the seventh connecting portion 21c31. The eighth retained portion Wa32 of the eighth drive wire W32 is connected to the eighth connecting portion 21c32. The ninth retained portion Wa33 of the ninth drive wire W33 is connected to the ninth connecting portion 21c33.

[0079] The base unit 200 has a base frame 25. The base frame 25 is provided with a number of insertion holes for passing each of the first to ninth drive wires (W11 to W33). The base frame 25 is provided with a first insertion hole 25a11, a second insertion hole 25a12, a third insertion hole 25a13, a fourth insertion hole 25a21, a fifth insertion hole 25a22, a sixth insertion hole 25a23, a seventh insertion hole 25a31, an eighth insertion hole 25a32, and a ninth insertion hole 25a33. Each of the first to ninth insertion holes (25a11 to 25a33) corresponds to each of the first to ninth drive wires (W11 to W33). The number after the designation 25a indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first insertion hole 25a11.

[0080] Any one of the first to ninth insertion holes (25a11 to 25a33) can be called insertion hole 25a. In this embodiment, each of the first to ninth insertion holes (25a11 to 25a33) has the same shape.

[0081] The base frame 25 is provided with a mounting opening 25b into which the wire cover 14 is inserted. The first to ninth insertion holes (25a11 to 25a33) are located at the bottom of the mounting opening 25b.

[0082] Furthermore, the base unit 200 includes a motor frame 200b, a first bearing frame 200c, a second bearing frame 200d, and a third bearing frame 200e. The motor frame 200b, the first bearing frame 200c, the second bearing frame 200d, and the third bearing frame 200e are connected to each other.

[0083] The base frame 25 has a key receiving portion (key hole, base-side key, body-side key) 22 for receiving the key shaft 15. The engagement of the key shaft 15 with the key receiving portion 22 prevents the catheter unit 100 from being mounted to the base unit 200 in the wrong phase.

[0084] The engagement between the key shaft 15 and the key receiving portion 22 restricts the movement of the catheter unit 100 relative to the base unit 200 within a predetermined range in the circumferential direction of the circle (virtual circle) in which each of the first to ninth drive wires (W11 to W33) is arranged.

[0085] As a result, each of the first to ninth drive wires (W11 to W33) engages with each of the corresponding first to ninth insertion holes (25a11 to 25a33) and each of the corresponding first to ninth connecting parts (21c11 to 21c33). In other words, it is prevented that the drive wire W engages with an insertion hole 25a other than the corresponding insertion hole 25a, and with a connecting part 21c other than the corresponding connecting part 21c.

[0086] The user can correctly connect each of the first to ninth drive wires (W11 to W33) to each of the first to ninth connecting parts (21c11 to 21c33) by engaging the key shaft 15 with the key receiving part 22. Therefore, the user can easily attach the catheter unit 100 to the base unit 200.

[0087] In this embodiment, the key shaft 15 has a protrusion that extends in a direction intersecting the attachment / detachment direction DE, and the key receiving portion 22 has a recess into which the protrusion is inserted. In the circumferential direction, the position where the protrusion and the recess engage is the position where the drive wire W engages with the corresponding insertion hole 25a and the corresponding connecting portion 21c.

[0088] <Connection between the drive source and the drive wire> The connection of the wire drive unit 300, the coupling device 21, and the bending drive unit 13 will be explained using Figure 6. Figure 6 is an explanatory diagram of the wire drive unit 300, the coupling device 21, and the bending drive unit 13. Figure 6(a) is a perspective view of the drive source M, the coupling unit 21c, and the drive wire W. Figure 6(b) is an enlarged view of the coupling unit 21c and the drive wire W. Figure 6(c) is a perspective view showing the connection of the wire drive unit 300, the coupling device 21, and the bending drive unit 13.

[0089] In this embodiment, the configurations in which each of the first to ninth drive wires (W11 to W33) is connected to each of the first to ninth connecting parts (21c11 to 21c33) are the same. Similarly, the configurations in which each of the first to ninth connecting parts (21c11 to 21c33) is connected to each of the first to ninth drive sources (M11 to M33) are the same. Therefore, in the following description, we will explain the configuration in which one drive wire W, one connecting part 21c, and one drive source M are connected.

[0090] As shown in Figure 6(a), the drive source M has a motor shaft Ma and a motor body Mb that rotates the motor shaft Ma in the rotational direction Rm. The surface of the motor shaft Ma is provided with a helical groove. The motor shaft Ma has a so-called screw shape. The motor body Mb is fixed to the motor frame 200b.

[0091] The connecting section 21c has a tractor 21ct connected to a motor shaft Ma, and a tractor support shaft 21cs that supports the tractor 21ct. The tractor support shaft 21cs is connected to the connecting base 21cb via a force sensor 21cf. The force sensor 21cf converts the tension received by the drive wire W into an electrical signal and outputs it to the control unit 3. Further details will be described later in Embodiment 6.

[0092] The connecting portion 21c has a leaf spring 21ch as a retaining part for holding the retained portion Wa of the drive wire W. The drive wire W engages with the connecting portion 21c through the insertion hole 25a. More specifically, the retained portion Wa engages with the leaf spring 21ch. As will be described later, the leaf spring 21ch can take on a state in which the retained portion Wa is clamped and fixed (fixed state) and a state in which the retained portion Wa is released (released state).

[0093] The connecting portion 21c has a pressing member 21cp. The pressing member 21cp has a gear portion 21cg that meshes with the internal gear 29 described later, and a cam 21cc which serves as a pressing portion for pressing the leaf spring 21ch.

[0094] As will be described later, the cam 21cc can move relative to the leaf spring 21ch. By moving the cam 21cc, the fixed state and the released state of the leaf spring 21ch can be switched.

[0095] The connecting portion 21c is supported by a first bearing B1, a second bearing B2, and a third bearing B3. The first bearing B1 is supported by the first bearing frame 200c of the base unit 200. The second bearing B2 is supported by the second bearing frame 200d of the base unit 200. The third bearing B3 is supported by the third bearing frame 200e of the base unit 200. Therefore, when the motor shaft Ma rotates in the rotational direction Rm, the connecting portion 21c is restricted from rotating around the motor shaft Ma. The first bearing B1, the second bearing B2, and the third bearing B3 are provided for each of the first to ninth connecting portions (21c11 to 21c33).

[0096] Because the connecting portion 21c is restricted from rotating around the motor shaft Ma, when the motor shaft Ma rotates, a force acts on the tractor 21ct along the rotation axis direction of the motor shaft Ma due to the helical grooves of the motor shaft Ma. As a result, the connecting portion 21c moves along the rotation axis direction of the motor shaft Ma (in the Dc direction). As the connecting portion 21c moves, the drive wire W also moves in the Dc direction, causing the curved portion 12 to curve. In other words, the motor shaft Ma and the tractor 21ct constitute a so-called lead screw, which converts the rotational motion transmitted from the drive source M into linear motion using a screw.

[0097] As shown in Figure 6(c), by attaching the catheter unit 100 to the base unit 200, the first to ninth drive wires (W11 to W33) are connected to the first to ninth connecting parts (21c11 to 21c33).

[0098] The control unit 3 can control each of the first to ninth drive sources (M11 to M33) independently of each other. In other words, any of the first to ninth drive sources (M11 to M33) can operate or stop independently, regardless of whether the other drive sources are stopped or not. To put it another way, the control unit 3 can control each of the first to ninth drive wires (W11 to W33) independently of each other. As a result, each of the first to third guide rings (J1 to J3) is controlled independently of each other, and the curved region 12b of the curved section 12 can be bent in any direction.

[0099] More specifically, the third guide ring J3 is located at the distal end of the curved section 12. The seventh to ninth drive wires (W31 to W33) are connected to the third guide ring J3, and the seventh to ninth drive sources (M31 to M33) are connected to these three drive wires. In other words, by controlling these three drive sources (M31 to M33), the orientation of the third guide ring can be changed to any direction, and the curved region 12b curves in an arc accordingly. Similarly, the second guide ring J2 can be changed to any direction by controlling the fourth to sixth drive sources (M21 to M23). The first guide ring J1 can also be changed to any direction by controlling the first to third drive sources (M11 to M13).

[0100] As described above, since the three guide rings (J1-J3) can each independently orient themselves in any direction, the curved region 12b can take on a complex shape. This allows the catheter 11 to be inserted into and moved through long, narrow, and complexly shaped organs in the patient's body, such as the bronchi and digestive tract.

[0101] <Catheter unit attachment> Using Figure 7, we will explain the process of attaching the catheter unit 100 to the base unit 200.

[0102] Figure 7 is an explanatory diagram of the installation of the catheter unit 100. Figure 7(a) shows the catheter unit 100 before it is installed on the base unit 200. Figure 7(b) shows the catheter unit 100 after it has been installed on the base unit 200.

[0103] In this embodiment, the attachment / detachment direction DE of the catheter unit 100 is the same as the direction of the rotation axis 400r of the operating unit 400. Of the attachment / detachment directions DE, the direction in which the catheter unit 100 is attached to the base unit 200 is called the attachment direction Da. Of the attachment / detachment directions DE, the direction in which the catheter unit 100 is removed from the base unit 200 (the opposite direction of the attachment direction Da) is called the removal direction Dd.

[0104] As shown in Figure 7(a), before the catheter unit 100 is attached to the base unit 200, the wire cover 14 is in the cover position. At this time, the wire cover 14 covers the first to ninth drive wires (W11 to W33) so that the first to ninth retained parts (Wa11 to Wa33) do not protrude from the first to ninth exposed holes (14a11 to 14a33) of the wire cover 14. Therefore, the first to ninth drive wires (W11 to W33) can be protected before the catheter unit 100 is attached to the base unit 200.

[0105] When the catheter unit 100 attaches to the base unit 200, the key shaft 15 engages with the key receiving portion 22. The key shaft 15 protrudes from the wire cover 14. In this embodiment, when the key shaft 15 reaches the entrance of the key receiving portion 22, the wire cover 14 does not engage with the mounting opening 25b. In other words, when the phase of the catheter unit 100 relative to the base unit 200 is such that the key shaft 15 and the key receiving portion 22 cannot engage, the wire cover 14 does not engage with the mounting opening 25b and remains in the cover position. Therefore, even when the catheter unit 100 is moved so that the key shaft 15 and the key receiving portion 22 engage, the first to ninth drive wires (W11 to W33) are protected.

[0106] When the key shaft 15 and the key receiving portion 22 engage and the catheter unit 100 is moved in the mounting direction Da relative to the base unit 200, the catheter unit 100 is attached to the base unit 200. By attaching the catheter unit 100 to the base unit 200, the wire cover 14 moves to the exposed position. In this embodiment, the wire cover 14 moves from the covered position to the exposed position by coming into contact with the base frame 25 (see Figure 7(b)).

[0107] More specifically, when the catheter unit 100 is attached, the wire cover 14 comes into contact with the base frame 25 and stops. In this state, when the catheter unit 100 is moved in the attachment direction Da, the wire cover 14 moves relative to the rest of the catheter unit 100. As a result, the wire cover 14 moves from the covered position to the exposed position.

[0108] As the wire cover 14 moves from the covered position to the exposed position, the retained portion Wa of the drive wire W protrudes from the exposed hole 14a of the wire cover 14 and is inserted into the insertion hole 25a. Then, the retained portion Wa engages with the leaf spring 21ch of the connecting portion 21c (see Figure 6(b)).

[0109] With the catheter unit 100 simply attached to the base unit 200, the catheter unit 100 can be removed by moving it in the removal direction Dd relative to the base unit 200. Also, as will be described later, with the catheter unit 100 simply attached to the base unit 200, the drive wire W and the connecting part 21c are released from their fixed position.

[0110] With the catheter unit 100 attached to the base unit 200, operating the control unit 400 prevents the catheter unit 100 from being removed from the base unit 200. Furthermore, with the catheter unit 100 attached to the base unit 200, operating the control unit 400 fixes the bending drive unit 13 to the coupling device 21, and connects the bending drive unit 13 to the wire drive unit 300 via the coupling device 21.

[0111] <Securing and releasing the bending drive unit> Using Figures 8, 9, 10, 11, 12, 13, and 14, the configuration for fixing the bending drive unit 13 to the coupling device 21 and the configuration for releasing the bending drive unit 13 from the coupling device 21 will be explained.

[0112] Figure 8 illustrates the connection between the catheter unit 100 and the base unit 200. Figure 8(a) is a cross-sectional view of the catheter unit 100 and the base unit 200. Figure 8(a) is a cross-sectional view of the catheter unit 100 and the base unit 200 cut along the rotation axis 400r. Figure 8(b) is a cross-sectional view of the base unit 200. This is a cross-sectional view of the base unit 200 cut at the connecting portion 21c in a direction perpendicular to the rotation axis 400r.

[0113] Figure 9 is an exploded view illustrating the connection between the catheter unit 100 and the base unit 200.

[0114] Figures 10, 11, 12, 13, and 14 illustrate the fixing of the drive wire W by the connecting portion 21c.

[0115] As shown in Figures 8(a) and 9, the base unit 200 has a joint (intermediate member, second transmission member) 28 and an internal gear 29 as a moving gear (interlocking gear, transmission member, first transmission member) that is interlocked with the operating unit 400 via the joint 28.

[0116] The joint 28 has multiple transmission parts 28c, and the internal gear 29 has multiple transmission parts 29c. The multiple transmission parts 28c engage with the multiple transmission parts 29c, and when the joint 28 rotates, the rotation of the joint 28 is transmitted to the internal gear 29.

[0117] When the catheter unit 100 is attached to the base unit 200, the engaging portion 400j on the operating portion 400 engages with the joint engaging portion 28j on the joint 28. When the operating portion 400 rotates, the rotation of the operating portion 400 is transmitted to the joint 28. The operating portion 400, the joint 28, and the internal gear 29 rotate in the same direction.

[0118] The internal gear 29 has multiple teeth in each of its first to ninth connecting parts (21c11 to 21c33) for switching between a state in which each of the first to ninth drive wires (W11 to W33) is fixed and a state in which each of the first to ninth drive wires (W11 to W33) is released. Each of the multiple teeth (acting part, switching gear part) of the internal gear 29 engages with the gear part 21cg of the pressing member 21cp that each of the first to ninth connecting parts (21c11 to 21c33) has.

[0119] Specifically, in this embodiment, the internal gear 29 comprises a first tooth portion 29g11, a second tooth portion 29g12, a third tooth portion 29g13, a fourth tooth portion 29g21, a fifth tooth portion 29g22, a sixth tooth portion 29g23, a seventh tooth portion 29g31, an eighth tooth portion 29g32, and a ninth tooth portion 29g33. Each of the first to ninth tooth portions (29g11 to 29g33) is formed with a gap between them.

[0120] The first tooth 29g11 meshes with the gear portion 21cg of the first connecting portion 21c11. The second tooth 29g12 meshes with the gear portion 21cg of the second connecting portion 21c12. The third tooth 29g13 meshes with the gear portion 21cg of the third connecting portion 21c13. The fourth tooth 29g21 meshes with the gear portion 21cg of the fourth connecting portion 21c21. The fifth tooth 29g22 meshes with the gear portion 21cg of the fifth connecting portion 21c22. The sixth tooth 29g23 meshes with the gear portion 21cg of the sixth connecting portion 21c23. The seventh tooth 29g31 meshes with the gear portion 21cg of the seventh connecting portion 21c31. The eighth tooth portion 29g32 meshes with the gear portion 21cg of the eighth connecting portion 21c32. The ninth tooth portion 29g33 meshes with the gear portion 21cg of the ninth connecting portion 21c33.

[0121] Any one of the first to ninth tooth sections (29g11 to 29g33) can be called tooth section 29g. In this embodiment, each of the first to ninth tooth sections (29g11 to 29g33) has the same configuration.

[0122] In this embodiment, the configurations in which the first to ninth drive wires (W11 to W33) are connected to the first to ninth connecting parts (21c11 to 21c33) are identical. Similarly, the configurations in which the first to ninth connecting parts (21c11 to 21c33) are connected to the first to ninth tooth sections (29g11 to 29g33) are identical. Therefore, in the following description, we will explain the configuration in which one drive wire W, one connecting part 21c, and one tooth section 29g are connected.

[0123] In each of the first to ninth connecting sections (21c11 to 21c33), the gear section 21cg is moved by the internal gear 29, causing the pressing member 21cp to rotate and the cam 21cc to move between the pressing position and the retracted position, which is moved away from the pressing position.

[0124] By rotating the operating unit 400, the internal gear 29 rotates. The rotation of the internal gear 29 causes each of the first to ninth connecting parts (21c11 to 21c33) to operate. In other words, the first to ninth connecting parts (21c11 to 21c33) can be operated by rotating one operating unit 400.

[0125] The operating unit 400 can be moved between a fixed position (locked position) and a detachable position while the catheter unit 100 is attached to the base unit 200. Furthermore, as will be described later, the operating unit 400 can be moved to a release position while the catheter unit 100 is attached to the base unit 200. In the circumferential direction of the operating unit 400, the release position is located between the fixed position and the detachable position. With the operating unit 400 in the detachable position, the catheter unit 100 is attached to the base unit 200.

[0126] When the catheter unit 100 is attached to the base unit 200, the drive wire W is released from its connection to the coupling portion 21c. This state is referred to as the released state of the coupling portion 21c. The state in which the drive wire W is fixed (locked) to the coupling portion 21c is referred to as the locked state of the coupling portion 21c.

[0127] The operation of fixing the drive wire W to the connecting part 21c will be explained using Figures 10, 11, 12, 13, and 14.

[0128] After the catheter unit 100 is attached to the base unit 200, and before the operating unit 400 is operated, the catheter unit 100 can be removed from the base unit 200. Hereinafter, the state in which the catheter unit 100 can be removed from the base unit 200 will be referred to as the removable state.

[0129] Figure 10 shows the internal gear 29 and the connecting part 21c in a removable state. Figure 10 also shows the internal gear 29 and the connecting part 21c with the operating part 400 in a fixed position.

[0130] The leaf spring 21ch of the connecting portion 21c has a fixed portion 21cha fixed to the connecting base 21cb and a pressed portion 21chb that contacts the cam 21cc of the pressing member 21cp. The leaf spring 21ch has a first portion 21chd1 and a second portion 21chd2. When the catheter unit 100 is attached to the base unit 200, the retained portion Wa is inserted between the first portion 21chd1 and the second portion chd2.

[0131] The cam 21cc has a retaining surface 21cca and a pressing surface 21ccb. With respect to the radial rotation direction of the pressing member 21cp, the retaining surface 21cca is positioned closer to the rotation center 21cpc of the pressing member 21cp than the pressing surface 21ccb.

[0132] As shown in Figure 10, in the removable state (when the operating part 400 is in the removable position), the leaf spring 21ch is held in a position where the pressed part 21chb is in contact with the holding surface 21cca. Also, the teeth Za1 of the internal gear 29 and the teeth Zb1 of the gear part 21cg are stopped with a clearance La between them.

[0133] In the rotational direction of the operating unit 400, the direction in which the operating unit 400 moves from the removal position to the release position and the fixed position is called the locking direction (fixed direction), and the direction in which the operating unit 400 moves from the fixed position to the release position and the removal position is called the release direction. The operating unit 400 rotates from the release position in the release direction to move to the removal position. The operating unit 400 rotates from the release position in the locking direction to move to the fixed position.

[0134] When the catheter unit 100 is attached to the base unit 200 and the operating unit 400 is in the detachment position, the connecting part 21c is in the released state, and the drive wire W is released from being fixed by the connecting part 21c.

[0135] When the connecting portion 21c is in the released state, the cam 21cc is in a retracted position, which is moved away from the pressed position described later. At this time, the fixing of the retained portion Wa by the leaf spring 21ch is released. The force with which the first portion 21chd1 and the second portion 21chd2 tighten the retained portion Wa when the connecting portion 21c is in the released state is smaller than the force with which the first portion 21chd1 and the second portion 21chd2 tighten the retained portion Wa when the connecting portion 21c is in the locked state.

[0136] When the connecting portion 21c is in the released state, if the catheter unit is moved in the removal direction Dd relative to the base unit 200, the retained portion Wa can be pulled out from between the first portion 21chd1 and the second portion 21chd2.

[0137] Figure 11 shows the state of the internal gear 29 and the connecting part 21c when the operating part 400 is rotated from the release position in the locking direction. Figure 11 also shows the state of the internal gear 29 and the connecting part 21c when the operating part 400 is in the release position.

[0138] With the operating unit 400 in the detachment position (Figure 10), rotating the operating unit 400 in the locking direction causes the internal gear 29 to rotate clockwise. The operating unit 400 then moves to the release position.

[0139] Even when the operating section 400 is rotated, the key shaft 15 and the key receiving section 22 are engaged, so the entire catheter unit 100 (excluding the operating section 400) is restricted from rotating relative to the base unit 200. In other words, the operating section 400 can rotate relative to the entire catheter unit 100 (excluding the operating section 400) and the base unit 200 when they are stationary.

[0140] As the internal gear 29 rotates clockwise, the clearance between the teeth Za1 of the internal gear 29 and the teeth Zb1 of the gear portion 21cg decreases from clearance La to clearance Lb.

[0141] The teeth Zb2 of the gear portion 21cg are positioned with a clearance Lz between them and the tip circle (dotted line) of the teeth portion 29g of the internal gear 29. Therefore, the internal gear 29 can rotate without interfering with the teeth Zb2. On the other hand, the connecting portion 21c is kept in the same state as shown in Figure 10 (released state).

[0142] From the state shown in Figure 11, if the operating part 400 is rotated further in the locking direction, the internal gear 29 rotates further clockwise. The state of the internal gear 29 and the connecting part 21c at that time is shown in Figure 12.

[0143] Figure 12 shows the state of the internal gear 29 and the connecting part 21c when the operating part 400 is rotated from the unlocked position in the locked direction.

[0144] As shown in Figure 12, when the operating part 400 is rotated from the unlocked position in the locked direction, the teeth Za1 of the internal gear 29 and the teeth Zb1 of the gear part 21cg come into contact. Meanwhile, the connecting part 21c remains in the same state as shown in Figures 10 and 11, and is kept in the unlocked state.

[0145] Figure 13 shows the state in which the pressing member 21cp rotates as the operating unit 400 rotates in the locking direction.

[0146] As shown in Figure 13, when the operating unit 400 is rotated further in the locking direction from the state shown in Figure 12, the internal gear 29 rotates further clockwise.

[0147] As the internal gear 29 moves from the state shown in Figure 12 to the state shown in Figure 13, the internal gear 29 rotates the gear portion 21cg clockwise. As the gear portion 21cg rotates, the holding surface 21cca moves away from the pressed portion 21chb, and the pressing surface 21ccb moves closer to the pressed portion 21chb. Then, the clamping of the held portion Wa by the first portion 21chd1 and the second portion 21chd2 begins.

[0148] Then, the part to be pressed 21chb is pressed by the corner portion 21ccb1 located at the end of the pressing surface 21ccb, and the teeth Za3 of the internal gear 29 move to a position where they are separated from the teeth Zb3 of the gear portion 21cg. At this time, the part to be held Wa is sandwiched between the first portion 21chd1 and the second portion 21chd2.

[0149] When the tooth Za3 of the internal gear 29 separates from the tooth Zb3 of the gear portion 21cg, the transmission of driving force from the internal gear 29 to the gear portion 21cg ends. At this time, the cam 21cc is in a state where the corner portion 21ccb1 is receiving a reaction force from the leaf spring 21ch.

[0150] In the radial direction of rotation of the pressing member 21cp, the reaction force of the leaf spring 21ch acting on the corner portion 21ccb1 acts at a position away from the rotation center 21cpc of the pressing member 21cp, causing the pressing member 21cp to rotate clockwise. At this time, the pressing member 21cp rotates in the same direction as the direction in which it is rotated by the clockwise rotating internal gear 29.

[0151] Figure 14 shows the state of the internal gear 29 and the connecting part 21c when the operating part 400 is in a fixed position.

[0152] As shown in Figure 14, from the state shown in Figure 13, the pressing member 21cp rotates further due to the reaction force of the leaf spring 21ch.

[0153] As shown in Figure 14, the pressing member 21cp stops with the pressing surface 21ccb of the cam 21cc and the pressed portion 21chb of the leaf spring 21ch in surface contact. In other words, the surfaces of the pressing surface 21ccb and the pressed portion 21chb are aligned on the same plane.

[0154] At this time, the connecting portion 21c is in a locked state. When the connecting portion 21c is in a locked state, the cam 21cc of the pressing member 21cp is in the pressing position, and the pressing surface 21ccb presses against the pressed portion 21chb.

[0155] When the connecting portion 21c is in the locked state, the retained portion Wa is sandwiched between the first portion 21chd1 and the second portion 21chd2. In other words, the leaf spring 21ch is pressed by the cam 21cc, and the retained portion Wa is tightened by the leaf spring 21ch. As a result, the retained portion Wa is fixed by the leaf spring 21ch.

[0156] In this embodiment, the leaf spring 21ch has a first portion 21chd1 and a second portion 21chd2 that press against the part to be held Wa at positions separated from each other. Furthermore, a bent portion 21chc is positioned between the first portion 21chd1 and the second portion 21chd2, connecting the two portions. The bent portion 21chc is positioned with a gap G between it and the part to be held Wa. In this way, the part to be held Wa can be stably fixed by the first portion 21chd1 and the second portion 21chd2.

[0157] When the connecting portion 21c is locked, it is restricted from pulling out the retained portion Wa from between the first portion 21chd1 and the second portion 21chd2.

[0158] Furthermore, the teeth Za3 of the internal gear 29 and the teeth Zb4 of the gear portion 21cg are stopped at a position where a clearance Lc is created between them.

[0159] When releasing the connection between the drive wire W and the connecting portion 21c, the operating portion 400, which is located in the fixed position, is rotated in the release direction. At this time, the internal gear 29 rotates counterclockwise from the state shown in Figure 14. When the internal gear 29 rotates counterclockwise, the teeth Za3 of the internal gear 29 come into contact with the teeth Zb4 of the gear portion 21cg, causing the pressing member 21cp to rotate counterclockwise.

[0160] By further rotating the internal gear 29 counterclockwise, the drive wire W is released from being fixed by the connecting portion 21c. The operation of the internal gear 29 and the pressing member 21cp at this time is the reverse of the operation described above. In other words, the drive wire W is released from being fixed by the connecting portion 21c by the reverse of the operation described above when the drive wire W is fixed by the connecting portion 21c.

[0161] The above operations are performed for each of the 1st to 9th connecting parts (21c11 to 21c33). That is, as the operating unit 400 moves from the detachment position to the fixed position, the movement (rotation) of the operating unit 400 causes the 1st to 9th connecting parts (21c11 to 21c33) to switch from the unlocked state to the locked state. As the operating unit 400 moves from the fixed position to the detachment position, the movement (rotation) of the operating unit 400 causes the 1st to 9th connecting parts (21c11 to 21c33) to switch from the locked state to the unlocked state. In other words, the user can switch between the unlocked and locked states of multiple connecting parts by operating a single operating unit 400.

[0162] In other words, each of the multiple connecting parts does not require the user to operate an operating button to switch between the unlocked and locked states. Therefore, the user can easily attach and detach the catheter unit 100 to the base unit 200.

[0163] The state in which each of the 1st to 9th drive wires (W11 to W33) is fixed by each of the 1st to 9th connecting parts (21c11 to 21c33) is called the 1st state. The state in which the fixing of each of the 1st to 9th drive wires (W11 to W33) by each of the 1st to 9th connecting parts (21c11 to 21c33) is released is called the 2nd state.

[0164] The first state and the second state are switched in conjunction with the movement of the operating unit 400. In other words, the first state and the second state are switched in conjunction with the movement of the operating unit 400 between the removal position and the fixed position.

[0165] The internal gear 29 is configured to interlock with the operating unit 400. In this embodiment, the joint 28 functions as a transmission member for interlocking the operating unit 400 and the internal gear 29. The internal gear 29 and the joint 28 function as an interlocking part that interlocks with the operating unit 400 so as to switch between a first state and a second state in conjunction with the movement of the operating unit 400.

[0166] Specifically, the internal gear 29 and joint 28, in conjunction with the movement of the operating unit 400, move a part of the leaf spring 21ch (pressed portion 21chb) relative to the holding portion Wa, while the catheter unit 100 is attached to the base unit 200. The movement of the pressed portion 21chb switches between the locked and unlocked states of the connecting portion 21c.

[0167] <Explanation from the Information Storage Department> The catheter unit 100 is equipped with an information storage unit 110, which serves as a first information storage unit for storing information (first information) related to the catheter unit 100. When the catheter unit 100 is mounted on the base unit 200, the control unit 3 controls the wire drive unit 300 based on the first information obtained from the information storage unit 110.

[0168] Figure 15 shows an overview of the medical system 1A in this embodiment. When the catheter unit 100 is attached to the base unit 200, the control unit 3 and the information storage unit 110 are connected by the information communication means 210 shown by the dotted line in the figure, allowing the control unit 3 to acquire the information stored in the information storage unit 110. The information storage unit 110 can be any device that can store information such as non-volatile memory, RFID, or barcodes. The information communication means 210 should be configured to be optimal for the implementation of the information storage unit 110, for example, a communication line for non-volatile memory, a communication antenna and communication line for RFID, or a barcode reader and communication line for barcodes.

[0169] In this embodiment, the communication method between the control unit 3 and the information storage unit 110 can be either wired or wireless. In the case of wired communication, communication takes place when the catheter unit 100 is attached to the base unit 200. In the case of wireless communication, communication is possible even before the catheter unit 100 is attached to the base unit 200.

[0170] Furthermore, in the case of a wired system, the catheter unit 100 and the base unit 200 are each provided with electrical contacts and communication interfaces for exchanging information. As an example, Figure 27(a) shows the catheter-side electrical contact 130 provided on the catheter unit 100, and Figure 27(b) shows the base unit-side electrical contact 230 provided on the base unit 200.

[0171] As shown in Figure 27(a), the catheter-side electrical contact 130 can be provided, for example, on the bottom surface 14c of the wire cover 14. The position of the catheter-side electrical contact 130 is not limited to this, and it may also be provided on the outer surface of the wire cover 14 or the inner surface of the operating section 400.

[0172] As shown in Figure 27(b), the base unit side electrical contact 230 can be provided, for example, on the inner bottom surface 25c of the base frame 25. The position of the base unit side electrical contact 230 is not limited to this, and it may also be provided, for example, on the inner circumferential surface (mounting opening 25b) of the base frame 25 or on the outer circumferential surface of the base frame 25.

[0173] To use medical system 1A, follow the procedure shown in Figure 16. The user positions medical system 1A in a location where catheter 11 can be inserted into the target area (such as the patient's oral or nasal cavity) (S001).

[0174] Once the installation of medical system 1A is complete, the user powers on medical system 1A and starts up control unit 3 (S002).

[0175] Once the control unit 3 has finished starting up, it performs a startup check to use the medical device 1 (S003). In the startup check (S003), the catheter unit 100 is attached to the base unit 200, and information is acquired from the information storage unit 110 and actions are performed based on that information. This process will be described in more detail later.

[0176] Once the startup check (S003) is complete, the initial operation (S004) is performed. The initial operation (S004) performs the tasks and processes necessary to use the medical system 1A. Specifically, it checks the status and operation of the sensors, units, and software necessary to use the medical system 1A.

[0177] Once the necessary preparations for using the medical system 1A are completed in the initial operation (S004), the user operates the medical device 1 and inserts the catheter 11 into the body of the subject. This allows for tasks such as observing the inside of the subject, collecting various specimens from the inside of the subject, and performing procedures on the inside of the subject (S005).

[0178] Once the user has finished their work, they perform a shutdown operation (S006) to shut down the medical system 1A. In the shutdown operation (S006), the catheter unit 100 is removed from the base unit 200, and the necessary tasks and processes are performed to shut down the medical system 1A. Specifically, the status and operation of sensors, units, and software necessary to shut down the medical system 1A are checked.

[0179] <Control based on historical information> As described above, the catheter unit 100 is detachable from the base unit 200. From a hygienic standpoint, it is preferable to replace the catheter unit 100, which is inserted into the body of the target, for each surgery or procedure.

[0180] Therefore, in this embodiment, the information storage unit 110 stores history information indicating whether the catheter unit is unused or used, and the operation of the medical device 1 is determined based on this information. In other words, the first information includes history information.

[0181] During the manufacturing of the catheter unit 100, the information storage unit 110 stores history information indicating that it is unused. Figure 17 shows the control flowchart in this embodiment. The flowchart shown in Figure 17 is realized by the CPU (not shown) included in the control unit 3 executing a program stored in the ROM (not shown). This control corresponds to the startup check (S003) in the usage procedure of the medical system 1A shown in Figure 16.

[0182] The control unit 3 retrieves the history information stored in the information storage unit 110 (S101) and determines from the history information whether the attached catheter unit 100 is unused (S102). If the history information indicates that it is unused (YES in S102), the control unit 3 determines that the catheter unit 100 is usable and permits the operation of the medical device 1 thereafter (S103). If the history information indicates that it is not unused, i.e., has been used (NO in S102), the control unit 3 determines that the catheter unit 100 is unusable and does not permit the operation of the medical device 1 thereafter (S104). Alternatively, for example, the monitor 4 may be used to notify the user that the catheter unit 100 has been used and display a message or image indicating that the medical device 1 cannot be operated (S105).

[0183] Here, the state in which the operation of medical device 1 is not permitted specifically means that the operation of the wire drive unit 300 is not permitted, and the bending movement of the catheter 11 is suppressed. Thus, in S104, it is sufficient that the system transitions to a state in which the user cannot perform a procedure using the catheter unit 100 currently attached. In other words, it does not prevent other operations of medical device 1, such as the user checking the status of medical device 1 via buttons on the input device 3b or the monitor 4.

[0184] Incidentally, after the catheter unit 100 is used, it is necessary to write and save the used history information to the information storage unit 110. This is done by writing the information to the information storage unit 110 from the control unit 3 using the information communication means 210. The timing of this writing should be when the catheter unit 100 is removed and then reattached and it can be determined that it is unusable. For example, it could be immediately after the catheter unit 100 is attached to the base unit 200 and the history information of whether it is unused or used is acquired during the startup check, or it could be when the catheter unit 100 is used and inserted into the target. Note that the deleted unused history information may be used as used history information. It is also possible to use different addresses in the information storage unit 110 for used history information and unused history information. In this case, the unused history information may or may not be deleted.

[0185] As explained above, in this embodiment, the information storage unit 110 within the catheter unit 100 stores the usage / unused history information of the catheter unit 100. Based on this information, the catheter unit 100 is deemed usable if it is unused, and unusable if it has been used, and the operation of the medical device 1 is determined accordingly. This prevents the accidental reuse of used catheter units, thus ensuring the safe and hygienic use of the medical device.

[0186] [Example 2] In the section on the catheter in Embodiment 1 described above, the first to ninth drive wires (W11 to W33) are used to move the first to third guide rings (J1 to J3) and bend the curved portion 12. The present invention is not limited to this configuration. One or two of the first to third guide rings (J1 to J3) may be omitted.

[0187] For example, the catheter 11 may have seventh to ninth drive wires (W31 to W33) and a third guide ring J3, while the first to sixth drive wires (W11 to W23) and the first to second guide rings (J1 to J2) may be omitted. Alternatively, the catheter 11 may have fourth to ninth drive wires (W21 to W33) and second to third guide rings (J2 to J3), while the first to third drive wires (W11 to W13) and the first guide ring J1 may be omitted. Depending on the shape of the internal pathway of the object into which the catheter 11 is inserted, and the intended use, it is possible to provide an inexpensive catheter unit 100 by omitting the guide rings and drive wires W as described above.

[0188] In this embodiment, when there are multiple types of catheter units 100 with different numbers of guide rings, i.e., different numbers of bending regions, the control unit 3 controls only the drive source M corresponding to the existing guide rings. Here, the number of bending regions corresponds to the number of regions in which the catheter unit 100 can bend independently at different positions in the longitudinal direction.

[0189] The information storage unit 110 stores region number information indicating the number of guide rings in the catheter unit 100 (which of the first to third guide rings are present). Figure 18 shows the control flowchart in this embodiment. The flowchart shown in Figure 18 is realized by the CPU (not shown) included in the control unit 3 executing a program stored in the ROM (not shown). This control corresponds to the startup check (S003) in the usage procedure of the medical system 1A in Figure 16.

[0190] The control unit 3 acquires the region number information stored in the information storage unit 110 (S201) and determines from that region number information whether the first guide ring J1 exists (S202). If the first guide ring J1 exists (YES in S202), then the first to third drive wires (W11 to W13) connected to it exist, so the control unit 3 controls the first to third drive sources (M11 to M13) connected to them (S203). In other words, the control unit 3 permits the operation of the first to third drive sources (M11 to M13) from S004 onwards in Figure 16. If the first guide ring J1 does not exist (NO in S202), then the first to third drive wires (W11 to W13) connected to it do not exist, so there is nothing to connect to the first to third drive sources (M11 to M13). Therefore, since the first to third drive sources (M11 to M13) do not need to be controlled, the control unit 3 does not control them (S204). In other words, the control unit 3 does not allow the operation of the first to third drive sources (M11 to M13) from S004 onwards in Figure 16.

[0191] Thus, according to this embodiment, when the first guide ring J1 is absent, the first to third drive sources (M11 to M13) are not operated unnecessarily. Normally, the control unit 3 controls the movement of the first guide ring J1 to follow the movement of the second guide ring J2 and the third guide ring J3, but such unnecessary operation control is eliminated. As a result, the amount of power required to operate the first to third drive sources (M11 to M13) can be reduced, and a more energy-efficient medical system 1A can be provided than in the conventional configuration.

[0192] Next, the presence or absence of the second guide ring J2 is determined from the area number information obtained from the information storage unit 110 (S205). If the second guide ring J2 is present (YES in S205), then the fourth to sixth drive wires (W21 to W23) connected to it exist, and the control unit 3 controls the fourth to sixth drive sources (M21 to M23) connected to them (S206). In other words, the control unit 3 permits the operation of the fourth to sixth drive sources (M21 to M23) from S004 onwards in Figure 16. If the second guide ring J2 is absent (NO in S205), then the fourth to sixth drive wires (W21 to W23) connected to it do not exist, and therefore there is nothing to connect to the fourth to sixth drive sources (M21 to M23). Therefore, there is no need to control the fourth to sixth drive sources (M21 to M23), and the control unit 3 does not control them (S207). In other words, the control unit 3 does not allow the operation of the 4th to 6th drive sources (M21 to M23) from S004 onwards in Figure 16.

[0193] Thus, according to this embodiment, when the second guide ring J2 is absent, the fourth to sixth drive sources (M21 to M23) are not operated unnecessarily. Normally, the control unit 3 controls the movement of the second guide ring J2 to follow the movement of the third guide ring J3, but such unnecessary operation control is eliminated. As a result, the amount of power required to operate the fourth to sixth drive sources (M21 to M23) can be reduced, and a more energy-efficient medical system 1A can be provided than in the conventional configuration.

[0194] Furthermore, the third guide ring J3 is located at the distal tip of the catheter and is necessary for controlling the curvature of the catheter; therefore, the third guide ring is present in this embodiment. Consequently, the seventh to ninth drive sources (M31 to M33) that drive it are always subject to control. This is because the catheter unit 100 has at least one curvature region.

[0195] As described above, according to this embodiment, the control unit 3 can determine whether to permit or disperform the operation of each drive source M based on the number of regions information stored in the information storage unit 110. In other words, the same base unit 200 and control unit 3 can be used for multiple types of catheter units 100 with different numbers of guide rings. By automatically determining this, optimal control can be performed for different types of catheter units 100.

[0196] [Example 3] In this embodiment, when there are multiple catheter units 100 with different spacings between the guide rings, control is performed according to that spacing.

[0197] As described above, the medical device 1 of the present invention is a device intended for insertion into the bronchi or the like, and the catheter 11 moves within a long, narrow space. For example, when the catheter 11 is inserted into the target, it is necessary to control the subsequent curved regions (second guide ring J2 and first guide ring J1) so that they follow the same path as the third guide ring J3, which is the distal tip portion of the curved region 12b of the catheter 11. This is called leading-follow control, and it is achieved by propagating the control of the leading third guide ring J3 to the control of the subsequent second guide ring J2 and first guide ring J1 with a time lag. This time lag is determined by the insertion speed of the catheter 11 and the spacing between each guide ring. The spacing between the guide rings is the length of the curved region.

[0198] The insertion speed of the catheter 11 is the movement speed of the movement stage 2a. On the other hand, the spacing between each guide ring is a value determined by the configuration of the catheter unit 100. The catheter unit 100 requires that the bending radius of the curved portion 12 of the catheter 11 is small compared to the minimum radius of the path through which the catheter 11 is to be inserted. The bending radius of the catheter 11 is determined by the spacing between each guide ring; if the spacing between the guide rings is narrow, the bending radius is small, and if it is wide, the bending radius is large.

[0199] In this embodiment, when there are multiple types of catheter units 100 with different spacings of guide rings within the curved region 12b of the curved portion 12 of the catheter 11, the control unit 3 performs leading-off tracking control that matches the spacing of each guide ring.

[0200] Figure 19 shows a control flowchart in this embodiment. The flowchart in Figure 19 is realized by the CPU (not shown) included in the control unit 3 executing a program stored in the ROM (not shown). This control corresponds to the startup check (S003) in the usage procedure of the medical system 1A in Figure 16.

[0201] The control unit 3 acquires length information stored in the information storage unit 110 (S301). The acquired length information (the distance between each guide ring) is set as a parameter to calculate the time difference in control propagation between each guide ring in lead-following control (S302).

[0202] For example, when a catheter unit 100A is attached in which the length of the curved region at the distal tip of the catheter 11, which is curved by moving the third guide ring (the distance between the third guide ring J3 and the second guide ring J2), is relatively long, it is controlled as follows: First, the drive source connected to the third guide ring is activated, and then, after a predetermined time has elapsed, the drive source connected to the second guide ring is activated.

[0203] On the other hand, when catheter unit 100B is attached, in which the length of the curved region at the distal tip of catheter 11 (the distance between the third guide ring J3 and the second guide ring J2) is longer than that of catheter unit 100A, the control is performed as follows: First, the drive source connected to the third guide ring is activated, and then, after a time longer than a predetermined time has elapsed, the drive source connected to the second guide ring is activated.

[0204] As described above, according to this embodiment, the control unit 3 can determine the timing for driving each drive source M based on the length information of the curved region stored in the information storage unit 110. In other words, the same base unit 200 and control unit 3 can be used for multiple types of catheter units 100 with different guide ring spacings. By automatically detecting this, optimal control can be performed for different types of catheter units 100.

[0205] [Example 4] The bending motion of the catheter 11 of the medical device 1 described in Example 1 is performed by nine drive wires W, and the drive source M that moves each drive wire W is controlled independently. When making the catheter 11 perform a desired bending motion, for example, when transitioning from one bending state to another, if the movements of the nine drive wires W and the drive source M are not synchronized, unintended vibrations may occur, making a smooth transition impossible.

[0206] Each drive wire W is inserted through the wire hole Hw from the proximal end to the distal end of the catheter 11. Due to variations in the diameter, shape, rigidity, and surface roughness of each drive wire W and wire hole Hw, the amount of friction between each drive wire W and wire hole Hw differs, and the catheter 11 may be twisted, resulting in each of the nine drive wires W being in a different state. In other words, since the response characteristics of each drive wire W to the drive source M are different, if optimal control is not performed for each drive wire W, the bending motion of the catheter 11 may become unstable. Therefore, in this embodiment, information on the response characteristics of each drive wire W is stored in the information storage unit 110, and the control unit 3 controls each drive source M based on this response information.

[0207] There are various methods for controlling the drive source M, but one example is the feedback control method shown in Figure 20. The amount of rotation of the drive source M, which is the object to be controlled, is detected by an encoder attached to the drive source M, and a certain calculation (called the control gain g) is performed on the difference between the detected amount of rotation and the target amount of rotation, and the amount of drive of the drive source M is determined based on this. In this way, the rotation of the drive source M is made to match and follow the target value calculated by the control unit 3. Note that instead of the amount of rotation, the torque generated by the drive source M and the tension generated in the drive wire W may be used as parameters for feedback control.

[0208] The control gain g is determined by pre-measuring the response characteristics of this control system (catheter unit 100 and drive source M). During the manufacturing of the catheter unit 100, it is mounted on a base unit 200 for measuring response characteristics and the response characteristics are measured. The control gain g is calculated and determined from the response characteristics obtained from this measurement, and this value is stored in the information storage unit 110.

[0209] Figure 21 shows a control flowchart in this embodiment. The flowchart in Figure 21 is realized by the CPU (not shown) included in the control unit 3 executing a program stored in the ROM (not shown). This control corresponds to the startup check (S003) in the usage procedure of the medical system 1A in Figure 16.

[0210] The control unit 3 acquires response information stored in the information storage unit 110 (S401). Based on the acquired information, which is the response characteristics (control gain g) of each drive wire W, the control unit 3 sets the control gain g for each drive source M (S402). From S004 onwards in Figure 16, the control unit 3 adjusts the drive amount of each drive source M according to the set control gain g.

[0211] As described above, in this embodiment, the characteristics of each drive wire W in the catheter unit 100 are individually stored in the information storage unit 110, and the control unit 3 individually sets and controls the control parameters of the multiple drive sources M based on these values. This makes it possible to match the characteristics of each drive wire W as much as possible, enabling stable bending of the catheter 11.

[0212] [Example 5] As explained above, in the medical system of the present invention, the catheter unit 100 is replaced each time it is used, so information specific to the catheter unit 100 is stored in the information storage unit 110 provided inside the catheter unit 100. On the other hand, the base unit 200 does not need to be replaced, but there is a possibility that the base unit 200 itself may become unusable due to damage or failure of its components. Therefore, making the base unit 200 and the control unit 3 detachable and replaceable is effective from the viewpoint of reducing the number of replacement parts in the event of a failure.

[0213] For example, by providing a connector on at least one side of the cable 5 in Figure 1, either on the base unit 200 side or the support base 2 side, and making it detachable, the base unit 200 can be replaced. Of course, other methods are also acceptable.

[0214] Therefore, in this embodiment, an information storage unit 220 is provided within the base unit 200 as a second information storage unit, and information specific to the base unit 200 is stored, specifically information relating to the output characteristics of the drive source M within the base unit 200 is stored and used for control.

[0215] In the above embodiment 4, the variation in the characteristics of each drive wire W was stored in the information storage unit 110 within the catheter unit 100 and used for control. However, since the drive source M is also included in the feedback control system described above, the variation in the output characteristics of the drive source M should also be considered in order to achieve more optimal control. However, since the drive source M is located in the base unit 200, information regarding its output characteristics needs to be stored in the information storage unit 220 provided in the base unit 200, rather than in the information storage unit 110 within the catheter unit 100.

[0216] Figure 22 shows an overview of the medical device 1 in this embodiment. An information storage unit 220 is provided within the base unit 200. Similar to the information storage unit 110 in the catheter unit 100, it is connected to the control unit 3 via an information communication means 210. The information communication means 210 may be shared with the information communication means 210 of the information storage unit 110 in the catheter unit 100, as shown in Figure 22, or it may be newly provided independently. Furthermore, the communication method between the information storage unit 220 of the base unit 200 and the control unit 3 may be either wired or wireless.

[0217] The control gain g of the feedback control system described above has a portion contributed by the drive wire W and a portion contributed by the drive source M. In Example 4, only the contribution of the drive wire W is considered, while in this example, the contribution of the drive source M is considered. The contribution of the drive source M to the control gain g is calculated from the torque-speed characteristics and torque-current characteristics of each drive source M.

[0218] The control flowchart in this embodiment is the same as that in Figure 21 of Embodiment 4, except for the difference between the information storage unit 110 and the information storage unit 220, so its explanation will be omitted. This control corresponds to the startup check (S003) in the usage procedure of the medical system 1A in Figure 16. Furthermore, since communication between the control unit 3 and the information storage unit 220 is possible even before the catheter unit 100 is attached to the base unit 200, this control may be performed immediately after the power is turned on (S002) of the medical system 1A in Figure 16.

[0219] As described above, according to this embodiment, the characteristics of each drive source M within the base unit 200 are individually stored in the information storage unit 220 provided within the base unit 200, and the control unit 3 individually sets the control parameters of the multiple drive sources M based on these values ​​and performs control. This makes it possible to match the characteristics of each drive source M as much as possible, enabling stable bending of the catheter 11.

[0220] [Example 6] In Figure 6(b) of Embodiment 1, a force sensor 21cf (detection unit) for detecting tension in the drive wire W is provided inside the connecting portion 21c of the base unit 200. The force sensor 21cf consists of a strain generating body 21cl and a strain gauge 21csg attached thereto. The strain gauge 21csg detects the minute elastic deformation of the strain generating body 21cl caused by tension in the drive wire W and transmits this information to the control unit 3.

[0221] While the catheter 11 is being inserted into the target, it may hit or bump against the internal wall of the target, causing it to press against the wall. In such a situation, insertion of the catheter 11 may become difficult. When this happens, tension is generated in each drive wire W, which is detected by the force sensor 21cf. If the force detected by the force sensor 21cf exceeds a predetermined value, the drive wire W is moved to reduce the value of the force sensor 21cf to below a certain value, that is, to relieve the tension, thereby controlling the bending of the catheter 11. In addition, the force sensor 21cf can also be used for the parameters of the feedback control of the drive source M described in Example 4.

[0222] Figure 23 shows a diagram of the configuration of the force sensor 21cf. The strain generating body 21cl is a square-shaped metal component with a gap in the middle. The strain generating body 21cl is provided with an upper wall 21cl1 and a lower wall 21cl2 extending horizontally in Figure 23, and a left wall 21cl3 and a right wall 21cl4 extending vertically in Figure 23, surrounding the gap.

[0223] The tension generated in the drive wire W deforms the strain body 21cl. For example, if the strain body 21cl is pulled outward in the left-right direction, the upper wall 21cl1 moves to the right and the lower wall 21cl2 moves to the left. The left wall 21cl3 and right wall 21cl4 of the strain body 21cl also undergo small elastic deformations due to the displacement of the upper wall 21cl1 and the lower wall 21cl2. This elastic deformation is detected by strain gauges 21csg attached to the left wall 21cl3 and right wall 21cl4.

[0224] In Figure 23, two strain gauges 21csg1 and 21csg2 are attached to the right wall 21cl4. The strain gauges 21csg deform in accordance with the expansion and contraction of the object to which they are attached, and measure the amount of strain of the object by changing their own resistance value. These strain gauges 21csg1 and 21csg2, together with resistors R3 and R4, form a Wheatstone bridge circuit 21cw, and the slight change in the resistance value of the strain gauges 21csg1 and 21csg2 is converted into a voltage. A voltage is applied between the input terminals 21cw1 and 21cw2 of the Wheatstone bridge circuit 21cw, and the potential difference generated between the output terminals 21cw3 and 21cw4 is amplified by a differential amplifier 21cd, and the output voltage is output to the control unit 3. The control unit 3 calculates the value of the tension generated in the drive wire W based on this detected value.

[0225] In this embodiment, two strain gauges 21csg are attached, but the strain of the strain-generating body 21cl can be detected if at least one of the four resistors forming the Wheatstone bridge circuit 21cw is a strain gauge. Therefore, one or more strain gauges 21csg are sufficient. Also, in Figure 23, a strain gauge 21csg is attached only to the right wall 21cl4, but a strain gauge 21csg may also be attached to the left wall 21cl3. Alternatively, two strain gauges 21csg may be attached to the left wall 21cl3, and the remaining resistors R3 and R4 of the Wheatstone bridge circuit 21cw may be replaced with the strain gauges 21csg on the left wall 21cl3.

[0226] The output of the force sensor 21cf generates a voltage proportional to the tension. Figure 24 shows a graph of the detection characteristics when the horizontal axis is tension and the vertical axis is the output voltage of the force sensor 21cf. Ideally, as shown by the solid line in the figure, when the tension is zero, the output voltage is also zero and has a predetermined slope. However, due to variations in the resistance values ​​of the strain gauge 21csg and resistors R3 and R4, and the accuracy of attaching the strain gauge 21csg to the strain-generating body 21cl (position and tilt), the characteristics may be offset or the slope may change, as shown by the dotted line in the figure. Since this variation in characteristics affects the tension detection accuracy, a feature of this embodiment is that this variation is stored as detection information in the information storage unit 220 of the base unit 200 where the force sensor 21cf is located. The characteristics of the force sensor 21cf are measured using a measuring tool that is designed to apply force to the force sensor 21cf during the manufacturing of the force sensor 21cf or the base unit 200.

[0227] Figure 25 shows a flowchart of the control in this embodiment. The flowchart in Figure 25 is realized by the CPU (not shown) included in the control unit 3 executing a program stored in the ROM (not shown). This control corresponds to the startup check (S003) in the usage procedure of the medical system 1A in Figure 16. Furthermore, since communication between the control unit 3 and the information storage unit 220 is possible even before the catheter unit 100 is attached to the base unit 200, this control may be performed immediately after the medical system 1A is powered on (S002).

[0228] The control unit 3 acquires detection information stored in the information storage unit 220 (S601). Based on the acquired detection information, which is the detection characteristics (offset amount and tilt amount) of each force sensor 21cf, parameters are set to correct the detection value (detection result) of each force sensor 21cf (S602).

[0229] As described above, according to this embodiment, the characteristics of each force sensor 21cf in the base unit 200 are individually stored in the information storage unit 220 provided in the base unit 200, and the control unit 3 automatically corrects the detected value of each force sensor 21cf based on these values. This makes it possible to increase the detection accuracy of the force sensor 21cf as much as possible.

[0230] [Example 7] If a component such as the drive source M or force sensor 21cf within the base unit 200 malfunctions, the control unit 3 needs to disable the base unit 200. Therefore, in this embodiment, when a component malfunctions within the base unit 200, the malfunction information is stored in the information storage unit 220 within the base unit 200, and if the control unit 3 acquires this information, it is characterized by disallowing the operation of the medical device 1.

[0231] Figure 26 shows a flowchart of the control in this embodiment. The flowchart in Figure 26 is realized by the CPU (not shown) included in the control unit 3 executing a program stored in the ROM (not shown). This control corresponds to the startup check (S003) in the usage procedure of the medical system 1A in Figure 16. Furthermore, since communication between the control unit 3 and the information storage unit 220 is possible even before the catheter unit 100 is attached to the base unit 200, this control may be performed immediately after the medical system 1A is powered on (S002).

[0232] The control unit 3 retrieves fault information stored in the information storage unit 220 (S701). If the retrieved fault information indicates that a fault has occurred (YES in S702), the control unit 3 denies operation of the medical device 1 (S703) and notifies the user that the base unit 200 is faulty and unusable (S704). At this time, the control unit 3 may use the monitor 4 or the like to notify the user that the base unit 200 is faulty and display a message or image indicating that the medical device 1 cannot be operated. If the retrieved fault information does not indicate that a fault has occurred (NO in S702), the control unit 3 allows operation of the medical device 1 because it is usable (S705).

[0233] As mentioned above, this control is performed during the startup check of the medical system 1A (S003). If a malfunction is detected while the medical system 1A is operating, the operation of the medical device 1 is immediately stopped. The control unit 3 then writes and saves the malfunction information to the information storage unit 220 in the base unit 200. After the malfunction is resolved, a limited number of people, such as a service technician, will erase the malfunction information from the information storage unit 220.

[0234] As described above, according to this embodiment, fault information generated in the base unit 200 is stored in the information storage unit 220, and the control unit 3 stops operation and renders the device unusable when it acquires this fault information. This prevents unintended problems from occurring if the user continues to use the medical device 1 while it is malfunctioning.

[0235] In the above embodiments 1 to 4, the control unit 3 performed different controls based on the unique information of the catheter unit 100 stored in the information storage unit 110. Here, two or more of the controls from embodiments 1 to 4 may be combined and executed.

[0236] Furthermore, in Examples 5 to 7, the control unit 3 performed different controls based on the unique information of the base unit 200 stored in the information storage unit 220. Here, two or more of the controls from Examples 5 to 7 may be combined and executed.

[0237] Furthermore, the control based on the unique information of the catheter unit 100 in Examples 1 to 4 and the control based on the unique information of the base unit 200 in Examples 5 to 7 may be combined and executed in two or more ways. [Explanation of Symbols]

[0238] 1A Medical System 100 catheter units 110 Information Storage Department 12 Curved section 13. Curved drive unit 200 Base Unit 3. Control Unit 300 Wire drive unit W drive wire

Claims

1. A base unit with an internal drive unit, A bendable unit that is detachably attached to the base unit, comprising: a linear member that is driven by the drive unit while attached to the base unit; and a bendable portion that bends when the linear member is driven; In a medical system having a control unit that controls the drive unit, The bendable unit has a first information storage unit that stores first information specific to the bendable unit, The first information includes historical information indicating whether the flexible unit is unused or used. If the history information indicates that the bendable unit is unused, the control unit permits the operation of the drive unit; if the history information indicates that the bendable unit has been used, the control unit does not permit the operation of the drive unit. The base unit and the control unit are detachable. The base unit includes a second information storage unit, which is different from the first information storage unit, and the second information storage unit stores second information specific to the base unit. A medical system characterized by the following features.

2. A base unit having a drive unit inside, A bendable unit that is detachably attached to the base unit, comprising: a linear member that is driven by the drive unit while attached to the base unit; and a bendable portion that bends when the linear member is driven; In a medical system having a control unit that controls the drive unit, The flexible unit has a first information storage unit that stores first information specific to the flexible unit, The first information includes information regarding the response characteristics when the drive unit drives the linear member, The control unit adjusts the drive amount of the drive unit based on the information regarding the response characteristics. The base unit and the control unit are detachable. The base unit includes a second information storage unit, which is different from the first information storage unit, and the second information storage unit stores second information specific to the base unit. A medical system characterized by the following.

3. The second information includes information relating to the output characteristics of the drive unit, The medical system according to claim 1 or 2, characterized in that the control unit adjusts the drive amount of the drive unit based on the information regarding the output characteristics.

4. The base unit includes a detection unit for detecting tension generated in the linear member, The second information includes information relating to the detection characteristics of the detection unit, The medical system according to any one of claims 1 to 3, characterized in that the control unit corrects the detection result by the detection unit based on the information regarding the detection characteristics.

5. The second information includes fault information indicating whether or not a failure has occurred in a component included in the base unit, The medical system according to any one of claims 1 to 4, characterized in that if the failure information indicates that a failure has occurred in a component included in the base unit, the control unit does not permit the operation of the drive unit, and if the failure information indicates that no failure has occurred in a component included in the base unit, the control unit permits the operation of the drive unit.

6. A base unit with an internal drive unit, A bendable unit that is detachably attached to the base unit, comprising: a linear member that is driven by the drive unit while attached to the base unit; and a bendable portion that bends when the linear member is driven; In a medical system having a control unit that controls the drive unit, The flexible unit has a first information storage unit that stores first information specific to the flexible unit, The first information includes region number information indicating the number of regions in which the curved portion can be independently curved at different positions in the longitudinal direction of the linear member. The drive unit comprises a first drive source for driving a first curved region and a second drive source for driving a second curved region located closer to the base unit than the first curved region in the longitudinal direction. A medical system characterized in that, when the information regarding the number of regions indicates a first number of regions, the control unit permits the operation of the first drive source and does not permit the operation of the second drive source, and when the information regarding the number of regions indicates a second number of regions greater than the first number of regions, the control unit permits the operation of both the first and second drive sources.

7. A base unit with an internal drive unit, A bendable unit that is detachably attached to the base unit, comprising: a linear member that is driven by the drive unit while attached to the base unit; and a bendable portion that bends when the linear member is driven; In a medical system having a control unit that controls the drive unit, The flexible unit has a first information storage unit that stores first information specific to the flexible unit, The first information includes length information indicating the length of the region in which the curved portion can be independently curved at different positions in the longitudinal direction of the linear member. The drive unit comprises a first drive source for driving a first curved region and a second drive source for driving a second curved region located closer to the base unit than the first curved region in the longitudinal direction. A medical system characterized in that, when the length information indicates that the length of the first curved region is a first length, the control unit operates the second drive source at a predetermined time after the first drive source has been driven, and when the length information indicates that the length of the first curved region is a second length which is longer than the first length, the control unit operates the second drive source at a time longer than the predetermined time after the first drive source has been driven.

8. In a medical system in which the base unit and the control unit are detachable, The medical system according to claim 6 or 7, wherein the base unit comprises a second information storage unit different from the first information storage unit, and the second information storage unit stores second information specific to the base unit.

9. The second information includes information relating to the output characteristics of the drive unit, The medical system according to claim 8, characterized in that the control unit adjusts the drive amount of the drive unit based on the information regarding the output characteristics.

10. The base unit includes a detection unit for detecting tension generated in the linear member, The second information includes information relating to the detection characteristics of the detection unit, The medical system according to claim 8 or 9, characterized in that the control unit corrects the detection result by the detection unit based on the information regarding the detection characteristics.

11. The second information includes fault information indicating whether or not a failure has occurred in a component included in the base unit. The medical system according to any one of claims 8 to 10, characterized in that if the failure information indicates that a failure has occurred in a component included in the base unit, the control unit does not permit the operation of the drive unit, and if the failure information indicates that no failure has occurred in a component included in the base unit, the control unit permits the operation of the drive unit.

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