Medical equipment, catheter kits and catheter housings

Abstract

The catheter kit includes a catheter section and a catheter housing. The catheter section includes a linear member, a frame for guiding the linear member, a first bendable portion that bends when a first linear member of the linear members is driven, and an intermediate portion that supports between the first bendable portion and the frame. The catheter housing is provided with an accommodation space that accommodates the catheter section. A limiting portion is provided within the accommodation space, and the limiting portion is used to calibrate a coupling state between the linear member and the driving source when the catheter section and a base portion including a driving source that drives the linear member are coupled to each other.

Description

[Technical field]

[0001] Priority and Incorporation by Reference This application claims priority to U.S. Provisional Patent Application No. 63 / 314,763, filed February 28, 2022, the disclosure of which is incorporated by reference in its entirety herein.

[0002] The present disclosure relates to a medical device and a catheter kit for use with the medical device. [Background technology]

[0003] Patent Document 1 describes a medical tool. The medical tool includes a catheter portion having a deformation portion and a base portion that deforms the deformation portion. In the medical tool, the catheter portion is detachable from the base portion. When the catheter portion is attached to the base portion, the wire of the catheter portion and the coupling portion of the base portion need to be securely coupled to each other. For this reason, the wire and the coupling portion are configured to engage with each other so that they overlap in a direction perpendicular to the movement direction (longitudinal direction) of the wire, i.e., in the cross-sectional direction.

[0004] In Patent Document 1, when an attempt is made to attach the catheter portion to the base portion while the catheter portion is bent, a misalignment occurs between the wire of the catheter portion and the connecting portion of the base portion, resulting in difficulty in connecting the catheter portion. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] US Patent Application Publication No. 2021 / 0121051 Summary of the Invention

[0006] An object of the present disclosure is to provide a catheter section that facilitates attachment of a base section to the catheter section, and a medical device that includes the catheter section.

[0007] The catheter kit includes a catheter portion and a catheter housing. The catheter portion includes a linear member, a frame for guiding the linear member, a first bendable portion that bends when a first linear member of the linear members is driven, and an intermediate portion for supporting between the first bendable portion and the frame. The catheter housing is provided with an accommodation space for accommodating the catheter portion.

[0008] A limiting portion is provided within the accommodation space, and the limiting portion is used to calibrate the coupling state between the linear member and the driving source when the catheter portion and the base portion including the driving source that drives the linear member are coupled to each other.

[0009] As described above, according to the embodiment, by using the catheter kit including the restricting portion used for calibrating the coupling state between the linear member and the driving source, the user can easily attach and detach the catheter portion including the multiple linear members to and from the base portion. Furthermore, it is possible to provide a medical device including the catheter kit. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is an overall view of a medical system. [Diagram 2] FIG. 2 is a perspective view showing the medical device and the support. [Diagram 3] 3A and 3B are diagrams illustrating a catheter. [Figure 4] 4A and 4B are diagrams illustrating a catheter portion. [Diagram 5] 5A to 5C are diagrams illustrating a base portion and a wire driving portion. [Figure 6] 6A-6C are diagrams illustrating a wire drive section, a coupling device, and a bending drive section. [Figure 7] 7A and 7B are diagrams illustrating the attachment of the catheter portion. [Figure 8] 8A-8B are diagrams illustrating the connection of the catheter portion and the base portion. [Figure 9] FIG. 9 is an exploded view illustrating the connection of the catheter section and the base section. [Figure 10] FIG. 10 is a diagram illustrating the fixation of the drive wire by the coupling portion. [Figure 11] FIG. 11 is a diagram illustrating the fixation of the drive wire by the coupling portion. [Figure 12] FIG. 12 is a diagram illustrating the fixation of the drive wire by the coupling portion. [Figure 13] FIG. 13 is a diagram illustrating the fixation of the drive wire by the coupling portion. [Figure 14] 14A-14B are diagrams illustrating the fixing of the drive wire by a coupling portion. [Figure 15] FIG. 15 is a diagram illustrating the fixation of the drive wire by the coupling portion. [Figure 16] FIG. 16 is a diagram illustrating the fixation of the drive wire by the coupling portion. [Figure 17] FIG. 17 is a diagram illustrating the fixation of the drive wire by the coupling portion. [Figure 18] FIG. 18 is a diagram illustrating the fixation of the drive wire by the coupling portion. [Figure 19] 19A-19B are diagrams illustrating a retracted configuration of the catheter portion. [Figure 20] 20A-20C are diagrams illustrating the retracted configuration of the catheter portion. [Figure 21] FIG. 21 is a diagram illustrating a retracted configuration of the catheter portion. [Figure 22] 22A-22B are diagrams illustrating a retracted configuration of the catheter portion. [Diagram 23] FIG. 23 is a diagram illustrating a retracted configuration of the catheter portion. [Figure 24] 24A-24B are diagrams illustrating a retracted configuration of the catheter portion. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The configuration of the present disclosure will be described below with reference to the drawings. The dimensions, materials, shapes, and layout of the components described in the present embodiment may be changed as appropriate depending on the configuration and various conditions of the device to which the present disclosure is applied.

[0012] First embodiment

[0013] <Medical systems and medical equipment>

[0014] A medical system 1A and a medical device 1 will be described with reference to Figures 1 and 2. Figure 1 is an overall view of the medical system 1A. Figure 2 is a perspective view showing the medical device 1 and a support 2.

[0015] The medical system 1A includes a medical device 1, a support 2 on which the medical device 1 is mounted, and a control device 3 that controls the medical device 1. In this embodiment, the medical system 1A includes a monitor 4 that functions as a display device.

[0016] The medical device 1 includes a catheter portion (bendable portion) 100, which includes a catheter 11 that functions as a bendable body, and a base portion (drive portion or mounting portion) 200. The catheter portion 100 is configured to be detachable from the base portion 200.

[0017] In this embodiment, a user of the medical system 1A and the medical device 1 can perform tasks such as observing the inside of the target, collecting various samples from the inside of the target, and treating 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 as a target. Specifically, by inserting the catheter 11 into the bronchi through the patient's oral cavity or nasal cavity, tasks such as observing, collecting, and removing lung tissue can be performed.

[0018] The catheter 11 may be used as a guide (sheath) for guiding a medical tool to perform the above-mentioned operation. Examples of the medical tool include an endoscope, a forceps, and an ablation device. The catheter 11 itself may have the function of the above-mentioned medical tool.

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

[0020] 2, in this embodiment, the medical device 1 is electrically connected to the control device 3 via a support 2 and a cable 5 that connects a base portion 200 of the medical device 1 to the support 2. The medical device 1 and the control device 3 may be directly connected to each other by a cable. The medical device 1 and the control device 3 may be wirelessly connected to each other.

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

[0022] In a state where the medical device 1 is detached from the support 2 (a state where the medical device 1 is detached from the movable stage 2a), the user can manually operate the medical device 1 and insert the catheter 11 into the inside of the target.

[0023] A user can use the medical device 1 with the catheter 11 inserted into the target and the medical device 1 attached to the support 2. Specifically, when the movable stage 2a moves with the medical device 1 attached to it, the medical device 1 also moves. Next, an operation of moving the catheter 11 in a direction to insert it into the target and an operation of moving the catheter 11 in a direction to withdraw it from the target are performed. The operation of the movable stage 2a is controlled by the control device 3.

[0024] The mounting part 200a of the base part 200 includes an unlocking switch (not shown) and a detachment switch (not shown). When the mounting part 200a is mounted on the movable stage 2a, the user can manually move the medical device 1 in the guide direction of the movable stage 2a while pressing the unlocking switch. In other words, the movable stage 2a includes a guide structure that guides the operation of the medical device 1. When the user stops pressing the unlocking switch, the medical device 1 is fixed to the movable stage 2a. On the other hand, when the detachment switch is pressed with the mounting part 200a mounted on the movable stage 2a, the user can detach the medical device 1 from the movable stage 2a.

[0025] A single switch may have the functions of both the unlock switch and the breakaway switch. If the unlock switch is provided with a mechanism for switching between a pressed state and a non-pressed state, the user does not need to keep pressing the unlock switch when manually sliding the medical device 1.

[0026] When the mounting portion 200a is attached to the movable stage 2a and neither the unlock switch nor the detachment switch is pressed, the medical device 1 is fixed to the movable stage 2a and moved by the movable stage 2a driven by a motor (not shown).

[0027] The medical device 1 includes a wire-driven portion (a linear member-driven portion, a line-driven portion, or a main body-driven portion) 300 for driving the catheter 11. In this embodiment, the medical device 1 is a robotic catheter device that drives the catheter 11 using the wire-driven portion 300 controlled by a control device 3.

[0028] The control device 3 can control the wire driving portion 300 to perform an operation of bending the catheter 11. In this embodiment, the wire driving portion 300 is assembled into the base portion 200. More specifically, the base portion 200 includes a base housing 200f that houses the wire driving portion 300. In other words, the base portion 200 includes the wire driving portion 300. The wire driving portion 300 and the base portion 200 may be collectively referred to as a catheter driving device (a base device or a main body).

[0029] In the extending direction of the catheter 11, the end where the distal end of the catheter 11 to be inserted into the target is provided is called the distal end. In the extending direction of the catheter 11, the end opposite to the distal end is called the proximal end.

[0030] The catheter portion 100 has a proximal end cover 16 that covers the proximal end side of the catheter 11. A tool hole 16a is provided in the proximal end cover 16. A medical tool can be inserted into the catheter 11 through the tool hole 16a.

[0031] As described above, in this embodiment, the catheter 11 functions as a guide device for guiding a medical tool to a desired location inside a target.

[0032] For example, with an endoscope inserted into the catheter 11, the catheter 11 is inserted to a desired position within the target. At this time, at least one of manual operation by the user, operation of the movable stage 2a, and driving of the catheter 11 by the wire-driven portion 300 is used. After the catheter 11 reaches the desired position, the endoscope is withdrawn from the catheter 11 via the tool hole 16a. Next, a medical tool is inserted from the tool hole 16a, and work such as taking various samples from within the target and treating the inside of the target is performed.

[0033] As described below, the catheter portion 100 is detachably attached to a catheter driving device (a base device or main body), more specifically, to a base portion 200. After using the medical device 1, the user can remove the catheter portion 100 from the base portion 200 and attach a new catheter portion 100 to the base portion 200, and use the medical device 1 again.

[0034] 2, the medical device 1 includes an operation portion 400. In this embodiment, the operation portion 400 is provided in the catheter portion 100. The operation portion 400 is operated by a user when the catheter portion 100 is fixed to the base portion 200 or when the catheter portion 100 is detached from the base portion 200.

[0035] By connecting the endoscope inserted into the catheter 11 to the monitor 4, the monitor 4 can display an image captured by the endoscope. By connecting the monitor 4 to the control device 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 within the target and information related to the navigation of the catheter 11 within the target can be displayed on the monitor 4. The monitor 4 may be connected to both the control device 3 and the endoscope by wires or wirelessly. The monitor 4 and the control device 3 may be directly connected via the support 2.

[0036] <Catheter>

[0037] The catheter 11 functioning as a bendable body will be described with reference to Fig. 3. Fig. 3 is a diagram illustrating the catheter 11. Fig. 3(a) is a diagram illustrating the entire catheter 11. Fig. 3(b) is an enlarged view of the catheter 11.

[0038] Catheter 11 includes a bendable portion (bendable body or catheter body) 12 and a bending drive portion (catheter drive portion) 13 configured to bend bendable portion 12. Bending drive portion 13 is configured to bend bendable portion 12 upon receiving a driving force of wire drive portion 300 via coupling device 21 (described below).

[0039] The catheter 11 extends along a direction in which the catheter 11 is inserted into a target. The extension direction (longitudinal direction) of the catheter 11 is the same as the extension direction (longitudinal direction) of the bendable portion 12, and is the same as the extension direction (longitudinal direction) of each of the first to ninth driving wires (W11 to W33) (described later).

[0040] The bending drive portion 13 includes a plurality of drive wires (drive lines, linear members or linear actuators) connected to the bendable portion 12. Specifically, the bending drive portion 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.

[0041] Each of the first to ninth drive wires (W11 to W33) includes a held portion (held shaft or rod) Wa. Specifically, the first drive wire W11 includes a first held portion Wa11. The second drive wire W12 includes a second held portion Wa12. The third drive wire W13 includes a third held portion Wa13. The fourth drive wire W21 includes a fourth held portion Wa21. The fifth drive wire W22 includes a fifth held portion Wa22. The sixth drive wire W23 includes a sixth held portion Wa23. The seventh drive wire W31 includes a seventh held portion Wa31. The eighth drive wire W32 includes an eighth held portion Wa32. The ninth drive wire W33 includes a ninth held portion Wa33.

[0042] In this embodiment, the first to ninth held portions (Wa11 to Wa33) each have the same shape.

[0043] Each of the first to ninth drive wires (W11 to W33) includes a flexible wire body (line body or linear body) Wb. Specifically, the first drive wire W11 includes a first wire body Wb11. The second drive wire W12 includes a second wire body Wb12. The third drive wire W13 includes a third wire body Wb13. The fourth drive wire W21 includes a fourth wire body Wb21. The fifth drive wire W22 includes a fifth wire body Wb22. The sixth drive wire W23 includes a sixth wire body Wb23. The seventh drive wire W31 includes a seventh wire body Wb31. The eighth drive wire W32 includes an eighth wire body Wb32. The ninth drive wire W33 includes a ninth wire body Wb33.

[0044] In this embodiment, the first to third wire bodies (Wb11 to Wb13) each have the same shape and the same length. The fourth to sixth wire bodies (Wb21 to Wb23) each have the same shape and the same length. The seventh to ninth wire bodies (Wb31 to Wb33) each have the same shape and the same length. In this embodiment, the first to third wire bodies (Wb11 to Wb13), the fourth to sixth wire bodies (Wb21 to Wb23), and the seventh to ninth wire bodies (Wb31 to Wb33) also have the same shape except for their lengths.

[0045] The first to ninth held portions (Wa11 to Wa33) are each fixed to a corresponding one of the first to ninth wire bodies (Wb11 to Wb33) at a proximal end of the corresponding one of the first to ninth wire bodies (Wb11 to Wb33).

[0046] The first to ninth driving wires (W11 to W33) are inserted into the bendable portion 12 via a wire guide 17 and fixed therein.

[0047] In this embodiment, the material of each of the first to ninth driving wires (W11 to W33) is metal. The material of each of the first to ninth driving wires (W11 to W33) may be resin. The material of each of the first to ninth driving wires (W11 to W33) may contain metal and resin.

[0048] A selected one of the first to ninth driving wires (W11 to W33) may be referred to as driving wire W. In this embodiment, the first to ninth driving wires (W11 to W33) have the same shape except for the length of each of the first to ninth driving wires (Wb11 to Wb33).

[0049] In this embodiment, the bendable portion 12 is a flexible tubular member having a passage Ht for inserting a medical tool.

[0050] The wall of the bendable portion 12 is provided with a plurality of wire holes for passing the first to ninth drive wires (W11 to W33). Specifically, the wall of the bendable portion 12 is provided with a first wire hole Hw11, a second wire hole Hw12, a third wire hole Hw13, a fourth wire hole Hw21, a fifth wire hole Hw22, a sixth wire hole Hw23, a seventh wire hole Hw31, an eighth wire hole Hw32, and a ninth wire hole Hw33. The first to ninth wire holes Hw (Hw11 to Hw33) correspond to the first to ninth drive wires (W11 to W33), respectively. The number at the end of the symbol Hw represents the number of the corresponding one of the drive wires. For example, the first drive wire W11 is inserted into the first wire hole Hw11.

[0051] A selected one of the first to ninth wire holes (Hw11 to Hw33) may be referred to as the wire hole Hw. In this embodiment, the first to ninth wire holes (Hw11 to Hw33) each have the same shape.

[0052] The bendable portion 12 has an intermediate region 12a and a bendable region 12b. The bendable region 12b is provided at the distal end of the bendable portion 12. A first guide ring J1, a second guide ring J2, and a third guide ring J3 are provided in the bendable region 12b. The bendable region 12b means a region in which the degree and direction of bending of the bendable portion 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 portion 13. FIG. 3(b) is a diagram in which the portion of the bendable portion 12 that covers the first to third guide rings (J1 to J3) is omitted.

[0053] In this embodiment, the bendable portion 12 includes a plurality of sub-rings (not shown). In the bendable region 12b, a first guide ring J1, a second guide ring J2, and a third guide ring J3 are fixed to the wall of the bendable portion 12. In this embodiment, the sub-rings are provided between the first guide ring J1 and the second guide ring J2, and between the second guide ring J2 and the third guide ring J3, respectively.

[0054] The medical tool is guided to the distal end of the catheter 11 by the passage Ht, the first to third guide rings (J1 to J3), and a plurality of sub-rings.

[0055] Each of the first to ninth drive wires (W11 to W33) passes through the intermediate region 12a and is fixed to a corresponding one of the first to third guide rings (J1 to J3).

[0056] 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 extend through the first guide ring J1 and a number of sub-rings 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 extend through the first guide ring J1, the second guide ring J2, and a number of sub-rings and are fixed to the third guide ring J3.

[0057] The medical device 1 can bend the bendable portion 12 in a direction intersecting the extension direction of the catheter 11 by driving the bending drive portion 13 with the wire drive portion 300. Specifically, by moving each of the first to ninth drive wires (W11 to W33) in the extension direction of the bendable portion 12, the bendable region 12b of the bendable portion 12 is bent in a direction intersecting the extension direction via the first to third guide rings (J1 to J3).

[0058] A user can insert the catheter 11 into a desired location within a target by moving the medical device 1 manually or by using the movable stage 2a and / or by bending the bendable portion 12.

[0059] In this embodiment, the bendable portion 12 is bent by moving the first to third guide rings (J1 to J3) with the first to ninth drive wires (W11 to W33), but the present disclosure is not limited to this configuration. Any one or two of the first to third guide rings (J1 to J3) and the drive wires fixed thereto may be omitted.

[0060] For example, the catheter 11 may be configured such that the seventh to ninth drive wires (W31 to W33) and the third guide ring J3 are provided, and the first to sixth drive wires (W11 to W23) and the first and second guide rings (J1, J2) are omitted. Alternatively, the catheter 11 may be configured such that the fourth to ninth drive wires (W21 to W33) and the second and third guide rings (J2, J3) are provided, and the first to third drive wires (W11 to W13) and the first guide ring J1 are omitted.

[0061] Alternatively, the catheter 11 may have a configuration in which a single guide ring is driven by two drive wires. In this case as well, the number of guide rings may be one or more.

[0062] <Catheter section>

[0063] The catheter portion 100 will be described with reference to FIG.

[0064] Fig. 4 is a diagram illustrating the catheter portion 100. Fig. 4(a) is a diagram illustrating the catheter portion 100 in a state in which the wire cover 14 (described later) is in a covered position. Fig. 4(b) is a diagram illustrating the catheter portion 100 in a state in which the wire cover 14 (described later) is in an exposed position.

[0065] The catheter portion 100 includes a catheter 11 including a bendable portion 12 and a bending drive portion 13, and a proximal end cover 16 that supports the proximal end of the catheter 11. The catheter portion 100 includes a cover (wire cover) 14 for covering and protecting first to ninth drive wires (W11 to W33) that function as a plurality of drive wires.

[0066] The catheter portion 100 is attachable to and detachable from the base portion 200 along an attachment / detachment direction DE. The direction in which the catheter portion 100 is attached to the base portion 200 and the direction in which the catheter portion 100 is detached from the base portion 200 are parallel to the attachment / detachment direction DE.

[0067] The proximal end cover (frame, bendable portion housing, or catheter housing) 16 is a cover that covers a part of the catheter 11. The proximal end cover 16 is provided with a tool hole 16a for inserting a medical tool into the passage Ht of the bendable portion 12.

[0068] The wire cover 14 is provided with a plurality of exposure holes (wire cover holes or cover holes) for passing the first to ninth driving wires (W11 to W33). The wire cover 14 is provided with a first exposure hole 14a11, a second exposure hole 14a12, a third exposure hole 14a13, a fourth exposure hole 14a21, a fifth exposure hole 14a22, a sixth exposure hole 14a23, a seventh exposure hole 14a31, an eighth exposure hole 14a32, and a ninth exposure hole 14a33. The first to ninth exposure holes (14a11 to 14a33) correspond to the first to ninth driving wires (W11 to W33), respectively. The number at the end of the symbol 14a represents the number of the corresponding one of the driving wires. For example, the first driving wire W11 is inserted into the first exposure hole 14a11.

[0069] A selected one of the first to ninth exposure holes (14a11 to 14a33) may be referred to as exposure hole 14a. In this embodiment, the first to ninth exposure holes (14a11 to 14a33) each have the same shape.

[0070] The wire cover 14 is movable between a covering position (see FIG. 14(a)) where the first to ninth drive wires (W11 to W33) are covered, and a covering retracted position (see FIG. 14(b)) where the wire cover 14 is retracted from the covering position. The covering retracted position is sometimes called an exposing position where the first to ninth drive wires (W11 to W33) are exposed.

[0071] The wire cover 14 is disposed in a covered position before the catheter portion 100 is attached to the base portion 200. When the catheter portion 100 is attached to the base portion 200, the wire cover 14 moves from the covered position to the exposed position along the attachment / detachment direction DE.

[0072] In this embodiment, after the wire cover 14 moves from the covered position to the exposed position, the wire cover 14 is held at the exposed position. Therefore, even when the catheter portion 100 is attached to the base portion 200 and then the catheter portion 100 is detached from the base portion 200, the wire cover 14 is held at the exposed position.

[0073] However, the wire cover 14 may be configured to move from the covered position to the exposed position and then return to the covered position. For example, the catheter section 100 may include a biasing member that biases the wire cover 14 from the exposed position toward the covered position. In this case, when the catheter section 100 is attached to the base section 200 and then detached from the base section 200, the wire cover 14 is moved from the exposed position to the covered position.

[0074] When the wire cover 14 is in the exposed position, the first to ninth held portions (Wa11 to Wa33) of the first to ninth driving wires (W11 to W33) are exposed. As a result, the bending driving portion 13 can be connected to the connecting device 21 (described later). When the wire cover 14 is in the exposed position, the first to ninth held portions (Wa11 to Wa33) of the first to ninth driving wires (W11 to W33) and a part of the wire body Wb protrude from the first to ninth exposure holes (14a11 to 14a33). More specifically, the first to ninth held portions (Wa11 to Wa33) protrude from the first to ninth exposure holes (14a11 to 14a33) in the mounting direction Da (described later).

[0075] As shown in FIG. 4(b), the first to ninth driving wires (W11 to W33) are arranged along a circle (imaginary circle) having a predetermined radius, and are supported by the wire guide 17.

[0076] In this embodiment, the catheter portion 100 includes a key shaft (key or catheter side key) 15. In this embodiment, the key shaft 15 extends in the attachment / detachment direction DE. A shaft hole 14b is provided in the wire cover 14, and the key shaft 15 extends through the shaft hole 14b. The key shaft 15 is engageable with a key receiving portion 22 (described below). When the key shaft 15 engages with the key receiving portion 22, the movement of the catheter portion 100 relative to the base portion 200 is limited to within a predetermined range in the circumferential direction of a circle (imaginary circle) on which the first to ninth driving wires (W11 to W33) are arranged.

[0077] In this embodiment, when viewed from the attachment / detachment direction DE, the first to ninth drive wires (W11 to W33) are arranged outside the key shaft 15 so as to surround the key shaft 15. In other words, the key shaft 15 is arranged inside the circle (imaginary circle) in which the first to ninth drive wires (W11 to W33) are arranged. Therefore, the key shaft 15 and the first to ninth drive wires (W11 to W33) can be arranged in a space-saving manner.

[0078] In this embodiment, the catheter portion 100 includes an operating portion 400. The operating portion 400 is configured to be movable (rotatable) relative to the proximal end cover 16 and the bending drive portion 13. The operating portion 400 is rotatable about a rotation axis 400r. The rotation axis 400r of the operating portion 400 extends in the attachment / detachment direction DE.

[0079] The operation portion 400 is configured to be movable (rotatable) relative to the base portion 200 in a state in which the catheter portion 100 is attached to the base portion 200. More specifically, the operation portion 400 is configured to be movable (rotatable) relative to the base housing 200f, the wire driving portion 300, and the coupling device 21 (described later).

[0080] In this embodiment, as shown in Fig. 4, the extension direction (longitudinal direction) of the bendable portion 12 is defined as the positive Z direction. The direction of a straight line that is straight in the positive Z direction and connects the center of the bendable portion 12 and the center of the engagement portion Wa11 is defined as the positive Y direction. The direction of a straight line that is straight in the positive Z direction and the positive Y direction is defined as the positive X direction.

[0081] <Base section>

[0082] With reference to FIG. 5, the base portion 200 and the wire drive portion 300 will be described.

[0083] Fig. 5 is a diagram illustrating the base unit 200 and the wire driving portion 300. Fig. 5(a) is a perspective view showing the internal structure of the base unit 200. Fig. 5(b) is a side view showing the internal structure of the base unit 200. Fig. 5(c) is a diagram of the base unit 200 as viewed along the attachment / detachment direction DE.

[0084] As described above, the medical device 1 includes the base portion 200 and the wire-driven portion 300. In this embodiment, the wire-driven portion 300 is housed within the base housing 200f and is provided inside the base portion 200. In other words, the base portion 200 includes the wire-driven portion 300.

[0085] The wire driving portion 300 includes a plurality of driving sources (motors). In this embodiment, the wire driving portion 300 includes a first driving source M11, a second driving source M12, a third driving source M13, a fourth driving source M21, a fifth driving source M22, a sixth driving source M23, a seventh driving source M31, an eighth driving source M32, and a ninth driving source M33.

[0086] A selected one of the first to ninth driving sources (M11 to M33) may be referred to as driving source M. In this embodiment, the first to ninth driving sources (M11 to M33) each have the same configuration.

[0087] The base portion 200 includes a coupling device 21. The coupling device 21 is accommodated in the base housing 200f. The coupling device 21 is connected to the wire driving portion 300. The coupling device 21 includes a plurality of coupling portions. In this embodiment, the coupling device 21 includes a first coupling portion 21c11, a second coupling portion 21c12, a third coupling portion 21c13, a fourth coupling portion 21c21, a fifth coupling portion 21c22, a sixth coupling portion 21c23, a seventh coupling portion 21c31, an eighth coupling portion 21c32, and a ninth coupling portion 21c33.

[0088] A selected one of the first to ninth bonding portions (21c11 to 21c33) may be referred to as bonding portion 21c. In this embodiment, the first to ninth bonding portions (21c11 to 21c33) each have the same configuration.

[0089] Each of the multiple coupling parts is connected to a corresponding one of the multiple driving sources and driven by the corresponding one of the multiple driving sources. Specifically, the first coupling part 21c11 is connected to the first driving source M11 and driven by the first driving source M11. The second coupling part 21c12 is connected to the second driving source M12 and driven by the second driving source M12. The third coupling part 21c13 is connected to the third driving source M13 and driven by the third driving source M13. The fourth coupling part 21c21 is connected to the fourth driving source M21 and driven by the fourth driving source M21. The fifth coupling part 21c22 is connected to the fifth driving source M22 and driven by the fifth driving source M22. The sixth coupling part 21c23 is connected to the sixth driving source M23 and driven by the sixth driving source M23. The seventh connecting portion 21c31 is connected to and driven by a seventh driving source M31. The eighth connecting portion 21c32 is connected to and driven by an eighth driving source M32. The ninth connecting portion 21c33 is connected to and driven by a ninth driving source M33.

[0090] As described below, the bending drive portion 13 including first to ninth drive wires (W11 to W33) is coupled to the coupling device 21. The bending drive portion 13 receives a drive force of the wire drive portion 300 via the coupling device 21 to bend the bending drive portion 13.

[0091] The driving wire W is coupled to the coupling portion 21c via the held portion Wa. Each of the multiple driving wires is coupled to a corresponding one of the multiple coupling portions.

[0092] Specifically, the first held portion Wa11 of the first driving wire W11 is connected to the first connecting portion 21c11. The second held portion Wa12 of the second driving wire W12 is connected to the second connecting portion 21c12. The third held portion Wa13 of the third driving wire W13 is connected to the third connecting portion 21c13. The fourth held portion Wa21 of the fourth driving wire W21 is connected to the fourth connecting portion 21c21. The fifth held portion Wa22 of the fifth driving wire W22 is connected to the fifth connecting portion 21c22. The sixth held portion Wa23 of the sixth driving wire W23 is connected to the sixth connecting portion 21c23. The seventh held portion Wa31 of the seventh driving wire W31 is connected to the seventh connecting portion 21c31. An eighth held portion Wa32 of the eighth drive wire W32 is coupled to the eighth coupling portion 21c32. A ninth held portion Wa33 of the ninth drive wire W33 is coupled to the ninth coupling portion 21c33.

[0093] The base portion 200 includes a base frame 25. The base frame 25 is provided with a plurality of insertion holes for passing 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. The first to ninth insertion holes (25a11 to 25a33) correspond to the first to ninth drive wires (W11 to W33), respectively. The number at the end of the symbol 25a indicates the number of the corresponding drive wire. For example, the first driving wire W11 is inserted into the first insertion hole 25a11.

[0094] A selected one of the first to ninth insertion holes (25a11 to 25a33) may be referred to as the insertion hole 25a. In this embodiment, the first to ninth insertion holes (25a11 to 25a33) each have the same shape.

[0095] The base frame 25 is provided with an attachment opening 25b into which the wire cover 14 is inserted. The first to ninth insertion holes (25a11 to 25a33) are provided in the bottom of the attachment opening 25b.

[0096] Further, the base portion 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 coupled to each other.

[0097] The base frame 25 is provided with a key receiving portion (key hole, base side key, or main body side key) 22 for receiving the key shaft 15. When the key shaft 15 and the key receiving portion 22 engage with each other, the catheter portion 100 is prevented from being attached to the base portion 200 in an incorrect phase.

[0098] When the key shaft 15 engages with the key receiving portion 22, movement of the catheter portion 100 relative to the base portion 200 is restricted within a predetermined range in the circumferential direction of a circle (imaginary circle) in which the first to ninth driving wires (W11 to W33) are arranged.

[0099] As a result, each of the first to ninth driving wires (W11 to W33) engages with a corresponding one of the first to ninth insertion holes (25a11 to 25a33) and engages with a corresponding one of the first to ninth coupling portions (21c11 to 21c33). In other words, the driving wire W is prevented from engaging with an insertion hole 25a other than the corresponding one of the insertion holes 25a or a coupling portion 21c other than the corresponding one of the coupling portions 21c.

[0100] The user can properly couple each of the first to ninth driving wires (W11 to W33) to a corresponding one of the first to ninth coupling portions (21c11 to 21c33) by engaging the key shaft 15 with the key receiving portion 22. Thus, the user can easily attach the catheter portion 100 to the base portion 200.

[0101] In this embodiment, the key shaft 15 is provided with a protruding portion that protrudes in a direction intersecting with the attachment / detachment direction DE, and the key receiving portion 22 is provided with a recessed portion into which the protruding portion is inserted. The positions at which the protruding portion and the recessed portion engage with each other in the circumferential direction are positions at which each of the driving wires W engages with a corresponding one of the insertion holes 25a and a corresponding one of the coupling portions 21c.

[0102] The key shaft 15 may be provided on either the base portion 200 or the catheter portion 100, and the key receiving portion 22 may be provided on the other. For example, the key shaft 15 may be provided on the base portion 200 side, and the key receiving portion 22 may be provided on the catheter portion 100 side.

[0103] The base portion 200 has a joint 28 including a joint engaging portion 28j. The base frame 25 has a lock shaft 26 having a lock protrusion 26a. The functions of these will be described later.

[0104] <Connecting the motor and drive wire>

[0105] With reference to FIG. 6, the connection between the wire drive section 300, the connection device 21 and the bending drive section 13 will now be described.

[0106] 6 is a diagram illustrating the wire driving portion 300, the coupling device 21, and the bending driving portion 13. Fig. 6(a) is a perspective view of the driving source M, the coupling portion 21c, and the driving wire W. Fig. 6(b) is an enlarged view of the coupling portion 21c and the driving wire W. Fig. 6(c) is a perspective view showing the coupling of the wire driving portion 300, the coupling device 21, and the bending driving portion 13.

[0107] In this embodiment, the configuration in which each of the first to ninth driving wires (W11 to W33) is connected to a corresponding one of the first to ninth connecting parts (21c11 to 21c33) is the same. The configuration in which each of the first to ninth connecting parts (21c11 to 21c33) is connected to a corresponding one of the first to ninth driving sources (M11 to M33) is the same. Therefore, in the following description, a configuration in which the driving wire W, the connecting part 21c, and the driving source M are connected will be described using one driving wire W, one connecting part 21c, and one driving source M.

[0108] As shown in Fig. 6(a) and Fig. 6(b), the driving source M includes an output shaft Ma and a motor body Mb that rotates the output shaft Ma in a rotation direction Rm. A spiral groove is provided on the surface of the output shaft Ma. The output shaft Ma has a so-called screw shape. The motor body Mb is fixed to a motor frame 200b.

[0109] The coupling portion 21c has a tractor 21ct connected to the output shaft Ma and a tractor support shaft 21cs supporting the tractor 21ct. The tractor support shaft 21cs is connected to the coupling base 21cb.

[0110] The connecting portion 21c includes a first rotating member 21cp that presses the held portion Wa of the drive wire W. The drive wire W passes through an insertion hole 25a and engages with the connecting portion 21c. As described below, the first rotating member 21cp can be placed in a state where the held portion Wa is pressed and engaged with the connecting base 21cb (fixed state), and a state where the held portion Wa is released (released state).

[0111] The first rotating member 21cp has a gear portion 21cg that meshes with an internal gear 29 (described later) and a cam 21cc that functions as a pressing portion that presses the held portion Wa of the drive wire W.

[0112] As will be described later, the cam 21cc is movable relative to the held portion Wa. When the cam 21cc moves, the held portion Wa switches between a fixed state and a released state.

[0113] 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 a first bearing frame 200c of the base portion 200. The second bearing B2 is supported by a second bearing frame 200d of the base portion 200. The third bearing B3 is supported by a third bearing frame 200e of the base portion 200. Therefore, when the motor shaft Ma rotates in the rotation direction Rm, the rotation of the connecting portion 21c around the motor shaft Ma is limited. The first bearing B1, the second bearing B2, and the third bearing B3 are provided in each of the first to ninth connecting portions (21c11 to 21c33).

[0114] Since the rotation of the coupling part 21c around the motor shaft Ma is restricted, when the motor shaft Ma rotates, a force along the rotation axis direction of the motor shaft Ma is applied to the tractor 21ct by the spiral groove of the motor shaft Ma. As a result, the coupling part 21c moves along the rotation axis direction (Dc direction) of the motor shaft Ma. When the coupling part 21c moves, the drive wire W moves and the bendable part 12 bends.

[0115] In other words, the motor shaft Ma and the tractor 21ct constitute a so-called feed screw that converts the rotational motion transmitted from the drive source M into linear motion by a screw. In this embodiment, the motor shaft Ma and the tractor 21ct are slide screws. Alternatively, the motor shaft Ma and the tractor 21ct may be ball screws.

[0116] As shown in FIG. 6(c), by attaching the catheter portion 100 to the base portion 200, each of the first to ninth driving wires (W11 to W33) and a corresponding one of the first to ninth coupling portions (21c11 to 21c33) are coupled to one another.

[0117] The control device 3 can control the first to ninth driving sources (M11 to M33) independently of one another. In other words, a selected one of the first to ninth driving sources (M11 to M33) can operate or stop independently, regardless of whether the other driving sources are stopped. In other words, the control device 3 can control each of the first to ninth driving wires (W11 to W33) independently of one another. As a result, each of the first to third guide rings (J1 to J3) is controlled independently of one another, and it becomes possible to bend the bendable region 12b of the bendable portion 12 in a selected direction.

[0118] <Attaching the catheter part>

[0119] The operation of mounting the catheter portion 100 to the base portion 200 will be described with reference to FIG.

[0120] Fig. 7 is a diagram illustrating the attachment of the catheter portion 100. Fig. 7(a) is a diagram before the catheter portion 100 is attached to the base portion 200. Fig. 7(b) is a diagram after the catheter portion 100 has been attached to the base portion 200.

[0121] In this embodiment, the attachment / detachment direction DE of the catheter portion 100 is the same as the direction of the rotation axis 400r of the operation portion 400. Of the attachment / detachment directions DE, the direction in which the catheter portion 100 is attached to the base portion 200 is referred to as the attachment direction Da. Of the attachment / detachment directions DE, the direction in which the catheter portion 100 is detached from the base portion 200 (the direction opposite to the attachment direction Da) is referred to as the detachment direction Dd.

[0122] 7(a), before the catheter portion 100 is attached to the base portion 200, the wire cover 14 is placed 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 held portions (Wa11 to Wa33) do not protrude from the first to ninth exposure holes (14a11 to 14a33) of the wire cover 14. Therefore, before the catheter portion 100 is attached to the base portion 200, the first to ninth drive wires (W11 to W33) are protected.

[0123] When the catheter section 100 is attached to the base section 200, the key shaft 15 engages with the key receiving section 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 section 22, the wire cover 14 does not engage with the attachment opening 25b. In other words, when the phase of the catheter section 100 with respect to the base section 200 is such that the key shaft 15 and the key receiving section 22 do not engage with each other, the wire cover 14 does not engage with the attachment opening 25b, and the wire cover 14 is maintained in the covered position. Therefore, even when the catheter section 100 operates so that the key shaft 15 and the key receiving section 22 engage with each other, the first to ninth driving wires (W11 to W33) are protected.

[0124] When the key shaft 15 and the key receiving portion 22 engage with each other and the catheter portion 100 moves in the mounting direction Da relative to the base portion 200, the catheter portion 100 is mounted to the base portion 200. When the catheter portion 100 is mounted to the base portion 200, the wire cover 14 moves to the exposed position. In this embodiment, the wire cover 14 comes into contact with the base frame 25 and moves from the covered position to the exposed position (see FIG. 7(b)).

[0125] More specifically, when the catheter portion 100 is attached, the wire cover 14 comes into contact with the base frame 25 and stops. In this state, by moving the catheter portion 100 in the attachment direction Da, the wire cover 14 moves relatively with respect to the portion of the catheter portion 100 other than the wire cover 14. As a result, the wire cover 14 moves from the covered position to the exposed position.

[0126] While the wire cover 14 moves from the covered position to the exposed position, the held portion Wa of the driving wire W protrudes from the exposed hole 14a of the wire cover 14 and is inserted into the insertion hole 25a. Then, the held portion Wa engages with the coupling base 21cb of the coupling portion 21c (see FIG. 6(b)).

[0127] Immediately after the catheter portion 100 is attached to the base portion 200, the catheter portion 100 can be detached by moving the catheter portion 100 in the detachment direction Dd relative to the base portion 200. As will be described later, immediately after the catheter portion 100 is attached to the base portion 200, the fixation between the driving wire W and the coupling portion 21c is in an unlocked state.

[0128] When the catheter portion 100 is attached to the base portion 200, the catheter portion 100 is prevented from being detached from the base portion 200 through operation of the operation portion 400. Furthermore, by operating the operation portion 400 with the catheter portion 100 attached to the base portion 200, the bending drive portion 13 is fixed to the coupling device 21, and the bending drive portion 13 is coupled to the wire drive portion 300 via the coupling device 21.

[0129] <Fixing and releasing the bending drive part>

[0130] With reference to Figures 8, 9, 10, 11, 12, 13 and 14, the configuration for fixing the bending drive portion 13 to the connecting device 21 and the configuration for releasing the fixation between the bending drive portion 13 and the connecting device 21 will be described.

[0131] Fig. 8 is a diagram illustrating the connection between the catheter portion 100 and the base portion 200. Fig. 8(a) is a cross-sectional view of the catheter portion 100 and the base portion 200. Fig. 8(a) is a cross-sectional view of the catheter portion 100 and the base portion 200 along the rotation axis 400r. Fig. 8(b) is a cross-sectional view of the base portion 200. Fig. 8(b) is a cross-sectional view of the base portion 200 as viewed from a direction perpendicular to the rotation axis 400r at a part of the connection portion 21c.

[0132] FIG. 9 is an exploded view illustrating the connection of the catheter portion 100 and the base portion 200.

[0133] 10, 11, 12, 13 and 14 are diagrams illustrating the fixing of the drive wire W to the coupling portion 21c.

[0134] As shown in Figures 8(a) and 9, the base part 200 includes a joint (intermediate member or second transmission member) 28 and an internal gear 29 that functions as a movable gear (interlocking gear, transmission member or first transmission member) that is interlocked with the operating part 400 via the joint 28.

[0135] The joint 28 has a plurality of transmitting parts 28c. The internal gear 29 has a plurality of transmitted parts 29c. The plurality of transmitting parts 28c engage with the plurality of transmitted parts 29c, and the rotation of the joint 28 is transmitted to the internal gear 29 when the joint 28 rotates.

[0136] When the catheter portion 100 is attached to the base portion 200, an engagement portion 400j provided on the operation portion 400 engages with a joint engagement portion 28j of the joint 28. When the operation portion 400 rotates, the rotation of the operation portion 400 is transmitted to the joint 28. The operation portion 400, the joint 28, and the internal gear 29 rotate in the same direction.

[0137] The internal gear 29 has a plurality of teeth portions for switching between a state in which each of the first to ninth coupling portions (21c11 to 21c33) fixes a corresponding one of the first to ninth drive wires (W11 to W33) and a state in which each of the first to ninth coupling portions (21c11 to 21c33) releases a corresponding one of the first to ninth drive wires (W11 to W33). Each of the plurality of teeth portions (acting portion or gear switching portion) of the internal gear 29 engages with a gear portion 21cg of a corresponding one of the first rotating member 21cp of the first to ninth coupling portions (21c11 to 21c33).

[0138] Specifically, in this embodiment, the internal gear 29 has 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. The first to ninth tooth portions (29g11 to 29g33) are formed spaced apart from one another.

[0139] The first tooth portion 29g11 meshes with the gear portion 21cg of the first coupling portion 21c11. The second tooth portion 29g12 meshes with the gear portion 21cg of the second coupling portion 21c12. The third tooth portion 29g13 meshes with the gear portion 21cg of the third coupling portion 21c13. The fourth tooth portion 29g21 meshes with the gear portion 21cg of the fourth coupling portion 21c21. The fifth tooth portion 29g22 meshes with the gear portion 21cg of the fifth coupling portion 21c22. The sixth tooth portion 29g23 meshes with the gear portion 21cg of the sixth coupling portion 21c23. The seventh tooth portion 29g31 meshes with the gear portion 21cg of the seventh coupling portion 21c31. The eighth tooth portion 29g32 meshes with the gear portion 21cg of the eighth coupling portion 21c32. The ninth tooth portion 29g33 meshes with the gear portion 21cg of the ninth coupling portion 21c33.

[0140] A selected one of the first to ninth tooth portions (29g11 to 29g33) may be referred to as tooth portion 29g. In this embodiment, the first to ninth tooth portions (29g11 to 29g33) each have the same configuration.

[0141] In this embodiment, the configuration in which each of the first to ninth driving wires (W11 to W33) is connected to a corresponding one of the first to ninth coupling portions (21c11 to 21c33) is the same. The configuration in which each of the first to ninth coupling portions (21c11 to 21c33) is connected to a corresponding one of the first to ninth tooth portions (29g11 to 29g33) is the same. Therefore, in the following description, a configuration in which the driving wire W, the coupling portion 21c, and the tooth portion 29g are connected using one driving wire W, one coupling portion 21c, and one tooth portion 29g will be described.

[0142] In each of the first to ninth coupling portions (21c11 to 21c33), when the gear portion 21cg is moved by the internal gear 29, the first rotating member 21cp rotates and the cam 21cc moves to the pressing position or to a retracted position retracted from the pressing position. The state in which the cam 21cc has moved to the pressing position is shown in Fig. 14(b), and the state in which the cam 21cc has moved to the retracted position is shown in Fig. 10.

[0143] Rotating operation portion 400 rotates internal gear 29. When internal gear 29 rotates, each of the first to ninth coupling portions (21c11 to 21c33) operates. In other words, by operating one operation portion 400 to rotate, the first to ninth coupling portions (21c11 to 21c33) are actuated.

[0144] The operating portion 400 can be moved to a fixed position (locked position) and a detached position when the catheter portion 100 is attached to the base portion 200. As described below, the operating portion 400 can be moved to an unlocked position when the catheter portion 100 is attached to the base portion 200. In the circumferential direction of the operating portion 400, the unlocked position is between the fixed position and the detached position. When the operating portion 400 is in the detached position, the catheter portion 100 is attached to the base portion 200.

[0145] When the catheter portion 100 is attached to the base portion 200, the fixation (lock) between the driving wire W and the coupling portion 21c is released. This state is called the unlocked state of the coupling portion 21c. The state in which the driving wire W is fixed (locked) to the coupling portion 21c is called the locked state of the coupling portion 21c.

[0146] The operation of fixing the driving wire W to the connecting portion 21c will be described with reference to FIGS.

[0147] After the catheter portion 100 is attached to the base portion 200, but before the operation portion 400 is operated, the catheter portion 100 can be detached from the base portion 200. Hereinafter, the state in which the catheter portion 100 can be detached from the base portion 200 will be referred to as a detachable state.

[0148] Fig. 10 is a diagram showing the state of the internal gear 29 and the coupling portion 21c in a detachable state Fig. 10 is a diagram showing the state of the internal gear 29 and the coupling portion 21c in a state in which the operating portion 400 is in a fixed position.

[0149] The coupling base 21cb is provided with a cam portion holding portion 21ce and a plurality of rod support surfaces 21cd each supporting a held portion Wa of the drive wire W. The cam 21cc provided on the first rotating member 21cp is provided with a holding surface 21cca and a pressing surface 21ccb.

[0150] 10, in the disengageable state (state in which the operating portion 400 is in the disengaged position), the first rotating member 21cp is held at a position where the holding surface 21cca engages with the cam portion holding portion 21ce of the coupling base 21cb. The tooth Za1 of the internal gear 29 and the tooth Zb1 of the gear portion 21cg stop with a gap La between them.

[0151] In the rotation direction of the operation part 400, the direction in which the operation part 400 moves from the detached position toward the unlocked position and the fixed position is called the lock direction (fixed direction), and the direction in which the operation part 400 moves from the fixed position toward the unlocked position and the detached position is called the unlock direction. The operation part 400 rotates from the unlocked position in the unlock direction and moves to the detached position. The operation part 400 rotates from the unlocked position in the lock direction and moves to the fixed position.

[0152] When the catheter portion 100 is attached to the base portion 200 and the operation portion 400 is in the detached position, the coupling portion 21c is in an unlocked state, and the drive wire W is released from the coupling portion 21c. At this time, the held portion Wa is supported by the rod support surface 21cd provided on the coupling base 21cb, and the rod support surface 21cd does not exist only in the negative Y direction. Therefore, the held portion Wa is supported so as to be movable only in the negative Y direction.

[0153] When the connecting portion 21c is in the unlocked state, the cam 21cc is disposed at a position where a gap is generated between the connecting portion 21c and the held portion Wa. In other words, the fixation of the held portion Wa is released.

[0154] When the catheter portion 100 moves in the removal direction Dd relative to the base portion 200 while the coupling portion 21c is in the unlocked state, the held portion Wa can be pulled out from the coupling base 21cb.

[0155] Fig. 11 is a diagram showing the state of the internal gear 29 and the coupling portion 21c when the operating portion 400 rotates in the locking direction from the disengaged position. Fig. 11 is a diagram showing the state of the internal gear 29 and the coupling portion 21c when the operating portion 400 is in the unlocked position.

[0156] When the operating portion 400 is rotated in the locking direction in a state where the operating portion 400 is in the disengaged position (FIG. 10), the internal gear 29 rotates in a clockwise direction. Then, the operating portion 400 is placed in the unlocked position.

[0157] Even if the operation portion 400 rotates, the key shaft 15 and the key receiving portion 22 are engaged with each other, so that rotation of the entire catheter portion 100 (excluding the operation portion 400) relative to the base portion 200 is restricted. In other words, in a state in which the entire catheter portion 100 (excluding the operation portion 400) and the base portion 200 are stationary, the operation portion 400 is rotatable relative to the entire catheter portion 100 (excluding the operation portion 400) and the base portion 200.

[0158] When the internal gear 29 rotates in the clockwise direction, the gap between the tooth Za1 of the internal gear 29 and the tooth Zb1 of the gear portion 21cg narrows from the gap La to a gap Lb.

[0159] The tooth Zb2 of the gear portion 21cg is located at a position spaced apart by a gap Lz from the tip circle (dotted line) of the tooth portion 29g of the internal gear 29. Therefore, the internal gear 29 can rotate without interfering with the tooth Zb2. Meanwhile, the coupling portion 21c is maintained in the same state (unlocked state) as that shown in FIG.

[0160] When the operating portion 400 is further rotated in the locking direction from the state shown in Fig. 11, the internal gear 29 further rotates in the clockwise direction. Fig. 12 shows the state of the internal gear 29 and the coupling portion 21c at that time.

[0161] FIG. 12 is a diagram showing the state of the internal gear 29 and the coupling portion 21c when the operating portion 400 rotates in the locking direction from the unlocked position.

[0162] 12, when the operating portion 400 rotates in the locking direction from the unlocked position, the tooth Za1 of the internal gear 29 and the tooth Zb1 of the gear portion 21cg come into contact with each other. Meanwhile, the coupling portion 21c is maintained in the unlocked state, which is the same state as that shown in FIGS.

[0163] When the operating portion 400 is further rotated in the locking direction from the state shown in Fig. 12, the internal gear 29 further rotates in the clockwise direction. Fig. 13 shows the state of the internal gear 29 and the coupling portion 21c at that time.

[0164] FIG. 13 is a diagram showing the state of the internal gear 29 and the coupling portion 21c when the operating portion 400 rotates in the locking direction from the state shown in FIG.

[0165] As shown in FIG. 13, when the operating portion 400 is further rotated in the locking direction from the state shown in FIG. 12, the internal gear 29 further rotates in the clockwise direction.

[0166] The internal gear 29 transitions from the state shown in Fig. 12 to the state shown in Fig. 13, and as a result, the internal gear 29 rotates the gear portion 21cg in a clockwise direction. When the gear portion 21cg rotates, the engagement between the holding surface 21cca and the cam portion holding portion 21ce is released, and the cam 21cc comes into contact with the held portion Wa. Therefore, the held portion Wa starts to receive a force from the cam 21cc.

[0167] FIG. 14(a) is a diagram showing the state of the internal gear 29 and the coupling portion 21c when the operating portion 400 rotates in the locking direction from the state shown in FIG.

[0168] As shown in FIG. 14(a), when the operating portion 400 further rotates in the locking direction from the state shown in FIG. 13, the internal gear 29 further rotates in the clockwise direction. The internal gear 29 transitions from the state shown in FIG. 13 to the state shown in FIG. 14(a), and as a result, the internal gear 29 rotates the gear portion 21cg in the clockwise direction. The rotation orbit of the pressing surface 21ccb when the gear portion 21cg rotates overlaps with the position (dotted line) of the held portion Wa in the state shown in FIG. 13. Therefore, when the gear portion 21cg rotates, the pressing surface 21ccb rotates while interfering with the held portion Wa. At this time, the held portion Wa is supported by a rod support surface provided on the coupling base 21cb so as to be movable only in the negative Y direction, so that the held portion Wa is pressed by the pressing surface 21ccb and moves in the negative Y direction.

[0169] Fig. 14(b) is a cross-sectional view showing the state of the internal gear 29 and the coupling part 21c shown in Fig. 14(a). As shown in Fig. 14(b), when the held part Wa moves in the negative Y direction, the wire body Wb, which is a flexible member supported by the wire guide 17, is elastically deformed. Specifically, the held part Wa in a cantilever state is deflected with the wire body support end Wba supported by the wire guide 17 as a fulcrum. When the held part Wa moves in the negative Y direction, the held part recess Wc provided on the held part Wa and the coupling base protrusion 21ci provided on the coupling base 21cb engage with each other. Thus, the held part Wa is fixed to the coupling base 21cb.

[0170] The rotational orbit of the pressing surface 21ccb also overlaps with the position of the fixed held portion Wa, and the cam 21cc elastically deforms by the amount of interference. Therefore, the held portion Wa is firmly fixed to the coupling base 21cb by the elastic force of the cam 21cc.

[0171] When the tooth Za1 of the internal gear 29 separates from the tooth Zb1 of the gear portion 21cg, the transmission of the driving force from the internal gear 29 to the gear portion 21cg stops. At this time, the cam 21cc is elastically deformed, so that the cam 21cc receives a reaction force from the fixed held portion Wa. In the radial direction of the rotation of the first rotating member 21cp, the reaction force applied to the cam 21cc is applied to a position away from the rotation center 21cpc of the first rotating member 21cp, so that the first rotating member 21cp rotates in a clockwise direction. At this time, the first rotating member 21cp rotates in the same direction as the direction in which it is rotated by the internal gear 29 rotating in a clockwise direction.

[0172] FIG. 15 is a diagram showing the state of the internal gear 29 and the coupling portion 21c when the operating portion 400 rotates in the locking direction from the state shown in FIG. 14(a).

[0173] As shown in FIG. 15, the cam 21cc provided on the first rotating member 21cp receives a reaction force from the state shown in FIG. 14(a), and the first rotating member 21cp further rotates.

[0174] 15, after the first rotating member 21cp rotates, the first rotating member 21cp rotates until the stop surface Zb1a provided on the tooth Zb1 contacts the stopped surface 21cf provided on the coupling base 21cb. In other words, the first rotating member 21cp stops with the stop surface Zb1a and the stopped surface 21cf arranged in the same plane.

[0175] At this time, the coupling part 21c is in a locked state. When the coupling part 21c is in a locked state, the cam 21cc of the first rotating member 21cp is in a pressing position, and the pressing surface 21ccb presses the held part Wa against the coupling base 21cb. In the pressed state, as shown in FIG. 14(b), the held part recess Wc and the coupling base protrusion 21ci engage with each other, so that the held part Wa is stably fixed. When the coupling part 21c is in a locked state, the held part Wa is restricted from being pulled out of the coupling base 21cb.

[0176] The tooth Za1 of the internal gear 29 and the tooth Zb2 of the gear portion 21cg stop at a position where a gap Lc is formed therebetween.

[0177] When the drive wire W and the coupling portion 21c are released from the fixed position, the operating portion 400 rotates in the unlocking direction. At this time, the internal gear 29 rotates counterclockwise from the state shown in Fig. 15. When the internal gear 29 rotates counterclockwise, the tooth Za1 of the internal gear 29 comes into contact with the tooth Zb2 of the gear portion 21cg, and the first rotating member 21cp rotates counterclockwise.

[0178] By further rotating the internal gear 29 in the counterclockwise direction, the fixation between the drive wire W and the connecting portion 21c is released. The operation of the internal gear 29 and the first rotating member 21cp at this time is the reverse of the operation described above. In other words, the fixation between the drive wire W and the connecting portion 21c is released by the reverse operation of the operation when fixing the drive wire W and the connecting portion 21c described above.

[0179] The above-mentioned operation is executed in each of the first to ninth coupling parts (21c11 to 21c33). In other words, in the process in which the operation part 400 moves from the detached position to the fixed position, the first to ninth coupling parts (21c11 to 21c33) transition from the unlocked state to the locked state by the operation (rotation) of the operation part 400. In the process in which the operation part 400 moves from the fixed position to the detached position, the first to ninth coupling parts (21c11 to 21c33) transition from the locked state to the unlocked state by the operation (rotation) of the operation part 400. In other words, the user can switch the multiple coupling parts between the unlocked state and the locked state by operating a single operation part 400.

[0180] In other words, it is not necessary to provide an operating portion for switching between the unlocked state and the locked state for each of the multiple coupling portions, and the user does not need to operate the multiple coupling portions. Therefore, the user can easily attach and detach the catheter portion 100 to the base portion 200. Furthermore, the medical device 1 is simplified.

[0181] A state in which each of the first to ninth driving wires (W11 to W33) is fixed by a corresponding one of the first to ninth coupling portions (21c11 to 21c33) is referred to as a first state. A state in which each of the first to ninth driving wires (W11 to W33) is released from the corresponding one of the first to ninth coupling portions (21c11 to 21c33) is referred to as a second state.

[0182] The state is switched between the first state and the second state in conjunction with the operation of the operating portion 400. In other words, the state is switched between the first state and the second state in conjunction with the transition of the operating portion 400 between the release position and the fixed position.

[0183] The internal gear 29 is configured to interlock with the operating portion 400. In this embodiment, the joint 28 functions as a transmission member that interlocks the operating portion 400 with the internal gear 29. The internal gear 29 and the joint 28 function as an interlocking portion that interlocks with the operating portion 400 so that the state is switched between the first state and the second state in conjunction with the operation of the operating portion 400.

[0184] Specifically, in a state in which the catheter portion 100 is attached to the base portion 200, the internal gear 29 and the joint 28 operate a part (cam 21cc) of the first rotating member 21cp toward the held portion Wa in conjunction with the operation of the operation portion 400. When the cam 21cc operates, the coupling portion 21c is switched between a locked state and an unlocked state.

[0185] Alternatively, the internal gear 29 may be configured to be directly moved by the operating portion 400. In this case, the internal gear 29 has the function of the interlocking portion.

[0186] <When there is variation in the Z-direction position of the held part Wa>

[0187] In this embodiment, when the catheter section 100 is attached to the base section 200 and the operating section 400 is operated, the state is switched between the fixed state and the unlocked state. At this time, in the unlocked state shown in FIG. 11, the held portion recess center Wd of the held portion Wa and the coupling base protrusion center 21cj are in positions that substantially coincide with each other in the negative Y direction. However, due to individual differences that are manufacturing variations, that is, variations in the dimensions of parts and positions due to assembly, the held portion recess center Wd and the coupling base protrusion center 21cj may not coincide with each other. The operation in this case will be described in detail.

[0188] 16, 17 and 18, a configuration for fixing the bending drive portion 13 to the connecting device 21 and a configuration for releasing the fixing between the bending drive portion 13 and the connecting device 21 will be described.

[0189] FIG. 16 is a cross-sectional view showing the state of the held portion Wa and the coupling base 21cb in the detachable state.

[0190] The basic configuration is the same as that described with reference to Fig. 10, but in Fig. 16, the center Wd of the recess of the held portion and the center 21cj of the coupling base protrusion do not coincide in the Z direction. Specifically, the held portion Wa is shifted by Ld in the positive Z direction from the normal position.

[0191] FIG. 17 is a cross-sectional view showing a state in which the held portion Wa and the coupling base 21cb are in the process of engaging with each other.

[0192] In Fig. 17, the held part Wa receives a force from the pressing surface 21ccb of the rotating cam 21cc, and moves in the negative Y direction as described with reference to Fig. 14. At this time, the held part recess center Wd and the coupling base protrusion center 21cj do not coincide in the Z direction, so the recess slope Wf provided in the held part recess Wc and the protrusion part slope 21ck provided in the coupling base protrusion 21ci come into contact with each other. Next, due to the force received from the pressing surface 21ccb of the rotating cam 21cc, the held part Wa slides obliquely while the recess slope Wf and the protrusion part slope 21ck are in contact with each other. At this time, since the coupling base 21cb is fixed, the held part Wa engages with the coupling base 21cb while moving in the negative Z direction.

[0193] FIG. 18 is a cross-sectional view showing the state of the held portion Wa and the coupling base 21cb in the fixed position.

[0194] Fig. 18 shows a state where the first rotating member 21cp rotates and stops with the stop surface Zb1a on the tooth Zb1 in contact with the stopped surface 21cf on the coupling base 21cb, as described with reference to Fig. 15. At this time, the held part Wa moves in the negative Z direction as described with reference to Fig. 17, so that the held part recess center Wd and the coupling base protrusion center 21cj engage with each other at positions that coincide with each other in the Z direction. In this way, the held part Wa engages with the coupling base 21cb and is fixed in a state where it is pressed by the cam 21cc.

[0195] In this way, by providing a slope in each of the held portion recess Wc and the coupling base protrusion 21ci, the held portion Wa and the coupling base can be engaged and fixed to each other even if the held portion recess center Wd and the coupling base protrusion center 21cj do not coincide with each other in the Z direction.

[0196] This time, as an example, a position where the held portion Wa is shifted by Ld in the positive Z direction has been described. The above-mentioned advantage is obtained when the recess slope Wf and the protrusion portion slope 21ck are in a positional relationship where they can contact each other in the Z direction. The recess slope Wf of the held portion Wa is provided at a position opposite the held portion recess center Wd, and the protrusion portion slope 21ck of the coupling base is also provided at a position opposite the coupling base protrusion center 21cj. In this way, even if the held portion Wa is shifted in the negative Z direction instead of the positive Z direction, the same advantage can be obtained as long as the recess slope Wf and the protrusion portion slope 21ck are in a positional relationship where they can contact each other.

[0197] <Storage of unattached catheter>

[0198] 19 and 20, the storage configuration of the catheter portion 100 when not attached to the base portion 200 will be described.

[0199] The medical device 1 of this embodiment is an instrument that can freely change the posture of the bendable portion 12 by independently controlling multiple driving sources M after the driving wire W is coupled to the wire-driven portion 300 and operating the driving wire W in the extension direction of the catheter 11 using the coupling device 21 described with reference to Figure 6 and the operating configuration of the coupling device 21 described with reference to Figures 9 to 15.

[0200] On the other hand, when the catheter portion 100 is not attached to the base portion 200, the movement of the driving wire W in the extension direction of the catheter 11 is not restricted, so the driving wire W and the held portion Wa are configured to be movable when the posture of the bendable portion 12 changes. Therefore, after the assembly of the catheter portion 100 is completed, it is desirable to prevent a situation in which the bendable portion 12 is deformed by the action of some external force before attachment to the base portion 200, causing the held portion Wa to be joined to the joining portion 21c at an unintended position.

[0201] For this reason, as shown in FIG. 19 , the catheter portion 100 of this embodiment is configured to enable the attachment of a catheter housing 500 that prevents the application of external forces to the catheter 11 after assembly is completed in the manufacturing process and before the user attaches the catheter portion 100 to the base portion 200.

[0202] Fig. 19(a) is an external view of the catheter portion 100 before it is attached to the catheter housing 500. Fig. 19(b) is an external view after attachment. To explain the positional relationship (described later) of the multiple held portions Wa of the catheter portion 100, the wire cover 14 that covers the held portions Wa is omitted in Fig. 19 and subsequent figures. In Fig. 19 and subsequent figures, the extension direction of the catheter 11 is shown as the Z direction. Directions perpendicular to the Z direction and perpendicular to each other are shown as the X direction and the Y direction.

[0203] Fig. 20(a) is a cross-sectional view perpendicular to the X direction in the state shown in Fig. 19(b), Fig. 20(b) is an enlarged view of the proximal end side cross-section in Fig. 20(a), and Fig. 20(c) is an enlarged view of the distal end side cross-section.

[0204] As shown in FIG. 19(a), the catheter housing 500 includes a housing base 501 whose position is determined when attached to the catheter section 100 and which is fixed to the catheter section 100, a catheter accommodating section 502 that accommodates the catheter 11 with the position of the bendable section 12 being straight in the extension direction of the catheter 11, and a housing fixing device 503 consisting of a screw for fixing the housing base 501 to the proximal end cover 16 of the catheter section 100.

[0205] 20(b), the housing base 501 is provided with a cover accommodating area 501s capable of accommodating the proximal end cover 16 of the catheter section 100. As shown in Fig. 20(c), the catheter accommodating portion 502 is provided with a catheter insertion hole 502s capable of accommodating the bendable portion 12 of the catheter 11.

[0206] The catheter portion 100 is inserted into the catheter housing 500 to a predetermined position in the direction of the arrow indicated by the dotted line in Figure 19, i.e., in the Z direction, and then the housing fixing device 503 is operated, so that the housing base 501 is fixed to the proximal end cover 16, as shown in Figure 20(b), and installation is completed.

[0207] In this embodiment, the housing fixing part 501a has a configuration in which the housing base 501 is fixed to the proximal end cover 16 by a screw, but the configuration is not limited to this. The housing fixing part 501a may have a configuration in which a fixing device using an elastic engagement part such as a magnet or a snap fit is provided, and the movement of the housing base 501 in the Z direction after attachment is limited. This simplifies the attachment and detachment operations.

[0208] 20(c), the catheter insertion hole 502s is configured to cover the outer shape of the bendable portion 12 as a result of the attachment of the catheter housing 500 so that the intermediate region 12a and the bendable region 12b of the bendable portion 12 maintain a straight posture without displacement. When the bendable portion 12 is accommodated in the catheter insertion hole 502s, deformation of the bendable region 12b is limited. In addition, the intermediate region 12b is easily bent mainly because it is composed of multiple driving wires W, but since the housing base 501 integrated with the catheter accommodation portion 502 is fixed to the proximal end cover 16, bending of the intermediate region 12b is limited, and the linearity of the entire bendable portion 12 is ensured.

[0209] Therefore, the movement of the driving wire W is restricted by the attachment of the catheter housing 500, and the position of the held portions Wa in the Z direction is maintained at a preset optimum position at the time when the catheter portion 100 is attached to the base portion 200. In the medical device 1 according to this embodiment, the components of the coupling device 21 on the base portion 200 side that correspond to the multiple driving wires W that make up the catheter 11 are common, so that when the catheter portion 100 is attached to the base portion 200, the Z directions of the multiple held portions Wa are aligned, as shown in Fig. 20(b).

[0210] Furthermore, the catheter housing 500 is configured to be disposed in a region where the catheter housing 500 does not interfere with the attachment to the base part 200 when attached to the catheter part 100. Specifically, as shown in FIG. 20(b), the operation part 400 is configured to be exposed to the outside even when the catheter housing 500 is attached to the catheter part 100. Therefore, the catheter part 100 can be attached to the base part 200 mainly by the process described with reference to FIG. 9 while the catheter housing 500 is attached to the catheter part 100. The above-mentioned configuration reliably prevents unintended movement of the held part Wa during the attachment work of the unit. In other words, the catheter part 100 is easily attached to the base part.

[0211] In this embodiment, a configuration in which the catheter housing 500 is provided with a hole and a recess through which the catheter section 100 can be inserted in the Z direction has been described, but the configuration is not limited to this. The housing configuration of the catheter housing 500 may be such that the catheter housing 500 is composed of two members divided by a plane passing through the center of the cylindrical shape of the catheter insertion hole 502s, and the catheter section 100 is housed in accordance with the groove shape of one of the members having the cover housing region 501s and the catheter insertion hole 502s, and assembled so that the other member covers it. This simplifies the installation work of the catheter housing 500.

[0212] Second embodiment

[0213] Next, a second embodiment of the present disclosure (second embodiment) will be described. In the following, elements whose configurations and operations are substantially the same as those of the first embodiment will be described with the same reference numerals or will be omitted from the illustration.

[0214] In the first embodiment, a configuration has been described in which the unit is inserted into and stored in the catheter housing 500 while the catheter 11 remains in a straight position upon completion of manufacturing of the catheter portion 100. In the present embodiment, a storage configuration will be described in which the catheter 11 is stored without maintaining the straight position of the catheter 11.

[0215] 21 is an exploded view illustrating the structure of the catheter housing 510 according to this embodiment, and is an outline drawing of the catheter section 100 when the catheter housing 510 is not attached. The configuration differs from that of the first embodiment in that in the catheter housing 510, a catheter accommodating groove for accommodating the bendable portion 12 is formed by two non-linear housing members 510b, 510t that are formed symmetrically to each other.

[0216] More specifically, a cover accommodating groove 511b and a catheter accommodating groove 512b are formed on a surface 513b of the housing member 510b, and a cover accommodating groove 511t and a catheter accommodating groove 512t are formed on a surface 513t of the housing member 510t. The housing members 510b and 510t are combined so that the surfaces 513b and 513t fit together to form the catheter housing 510. At this time, the catheter accommodating groove 512b and the catheter accommodating groove 512t form a shape symmetrical with respect to the fitting surfaces of the housing members 510b and 510t, forming a space capable of accommodating the bendable portion 12.

[0217] As shown in FIG. 21, the storage shape of the bendable portion 12 of the catheter 11 in this embodiment is such that in the first embodiment, the storage portion of the intermediate region 12b other than the proximal and distal ends of the bendable portion 12 is formed into a wavy curve rather than a straight line shape.

[0218] The step of attaching the catheter housing 510 to the catheter portion 100 includes accommodating the proximal end cover 16 of the catheter portion 100 in the cover accommodating groove 511b, and then accommodating the bendable portion 12 in the catheter accommodating groove 512b, starting from the proximal side of the bendable portion 12, while elastically deforming the bendable portion 12.

[0219] 22(a) shows a state in which the catheter portion 100 is housed in the housing member 510b. In this state, in the housing member 510t, the surface 513t fits with the surface 513b so that the bendable portion 12 is housed in the catheter housing groove 512t, and the housing members 510b and 510t are fixed by means of screws or the like.

[0220] Fig. 22(b) is an external view showing a state where mounting of the housing member 510t has been completed from the state shown in Fig. 22(a). Finally, as in the first embodiment, the housing fixing device 503 provided on the catheter housing 510 is operated to fix the catheter housing 510 to the catheter section 100, completing the mounting operation.

[0221] As described above, when the housing portion of the bendable portion 12 of the catheter 11 is configured in a wavy curved shape, the overall length of the catheter 11 in the extension direction (Z direction) when the catheter housing 510 is attached is shorter than that of the catheter portion 100 alone, thereby reducing the packaged size during transportation.

[0222] In this embodiment, the wavy shape of the accommodated portion of the bendable portion 12 is configured to describe a sinusoidal periodic pattern with the central axis 11c of the catheter 11 in the straight shape before being accommodated excluding the proximal end and the distal end of the bendable portion 12 as a reference line, and the wavy shape is provided so that the total length of the concave groove in each of the positive X-side region and the negative X-side region with respect to the central axis 11c is equal.

[0223] With this configuration, the arc length difference between the inner drive wire W and the outer drive wire W (which occurs when the bendable portion 12 bends) is offset between the positive X-side region and the negative X-side region, and the positions of the held portions Wa in the Z direction at the proximal ends of the multiple drive wires W can be made to match each other. Therefore, the catheter portion 100 can be attached to the base portion 200 in a process similar to that of the first embodiment.

[0224] In this embodiment, the wavy shape of the accommodated portion of the bendable portion 12 is a sine curve, but the configuration is not limited to this. Regardless of the periodicity, the catheter housing 510 is provided with a shape for guiding the driving wire W so that the total length of the driving wire W accommodated in each of the positive X-side region and the negative X-side region with respect to the central axis 11c is equal. Therefore, the catheter portion 100 can be held in the same manner with the positions of the held portions Wa aligned in the Z direction.

[0225] Third embodiment

[0226] Next, a third embodiment of the present disclosure will be described. In the following, elements that are substantially the same in configuration and operation as those in the first embodiment will be described with the same reference numerals or will be omitted from the illustration.

[0227] In the second embodiment, a configuration has been described in which the catheter 11 is bent on both sides and stored with equal overall length with respect to the central axis of the catheter 11 in a straight state before storage upon completion of manufacturing of the catheter portion 100. In the present embodiment, a storage configuration for the catheter 11 will be described in which the catheter 11 is gently curved and has a short overall length.

[0228] 23 is an exploded view illustrating the structure of the catheter housing 520 according to this embodiment, and is an outline view of the catheter section 100 with the catheter housing 510 not attached. As in the second embodiment, the catheter housing 520 is composed of two housing members 520b, 520t in which catheter accommodating grooves for accommodating the bendable portion 12 are formed symmetrically. On the other hand, a configuration different from that of the second embodiment is that the catheter accommodating groove is formed in a spiral shape.

[0229] More specifically, a cover accommodating groove 511b and a catheter accommodating groove 522b are formed on a surface 513b of the housing member 520b, and a cover accommodating groove 511t and a catheter accommodating groove 522t are formed on a surface 513t of the housing member 520t. The housing members 520b and 520t are combined so that the surfaces 513b and 513t fit together to form the catheter housing 520. At this time, the catheter accommodating groove 522b and the catheter accommodating groove 522t form a shape symmetrical with respect to the fitting surfaces of the housing members 520b and 520t, forming a space capable of accommodating the bendable portion 12.

[0230] As shown in FIG. 23, in comparison with the second embodiment, the storage shape of the bendable portion 12 of the catheter 11 in this embodiment is not a shape that extends while drawing a curve in the Z direction, but a shape in which the storage portion of the bendable portion 12 is formed in a spiral shape so that it extends inward relative to the proximal end of the catheter 11.

[0231] When implementing a stored shape in which the bendable portions 12 are bent as described in the second embodiment, the curvature of bending is restricted by the material and shape of the parts constituting the catheter 11 so as to prevent buckling or elastic deformation of the parts, and therefore the material and structure of the catheter 11 affect the overall length in the Z direction of the catheter housing 510. On the other hand, by forming the stored shape of the bendable portions 12 into a spiral shape as in this embodiment, the stored shapes of the multiple bendable portions 12 are formed in the OL region in the Z direction, and therefore the overall length in the Z direction of the catheter housing 520 can be further shortened.

[0232] 24(a) shows a state in which the catheter portion 100 is housed in the housing member 520b. In this state, in the housing member 520t, the surface 513t fits with the surface 513b so that the bendable portion 12 is housed in the catheter housing groove 522t, and the housing members 520b and 520t are fixed by means of a screw or the like.

[0233] Fig. 24(b) is an external view showing a state where mounting of the housing member 520t has been completed from the state shown in Fig. 24(a). Finally, as in the first and second embodiments, the housing fixing device 503 provided on the catheter housing 510 is operated to fix the catheter housing 520 to the catheter section 100, completing the mounting operation.

[0234] As described above, in the first and second embodiments, the stored shape of the catheter 11 is configured symmetrically about the central axis 11c (see FIG. 21), so when the catheter housing 500 or the catheter housing 510 is attached, the positions of the held portions Wa of the driving wires W in the Z direction match each other. On the other hand, the stored shape of the catheter 11 according to this embodiment is asymmetric as shown in FIG. 23, so the positions of the held portions Wa in the Z direction do not match each other.

[0235] Specifically, for the multiple driving wires W constituting the inner part of the bendable portion 12, an arc length difference occurs between the driving wires passing outside the spiral storage shape and the driving wires passing inside, so that the stored position of the corresponding held portion Wa shifts by the arc length difference compared to the non-stored position. The arc length difference is a value that can be known in advance according to the setting of each shape of the catheter storage grooves 522b, 522t.

[0236] Therefore, when the catheter section 100 equipped with the catheter housing 520 described in this embodiment is attached to the base section 200, the wire driving section 300 described with reference to Fig. 6 can be driven by the control device 3 to move the coupling devices 21 corresponding to each of the driving wires W by a predetermined distance. With this configuration, even when a catheter housing 520 in which the catheter 11 is housed in an asymmetric shape is used, it is possible to realize reliable attachment of the unit while preventing unintended movement of the held portion Wa before attachment. [Explanation of symbols]

[0237] 100 Catheter section 200 Base 21 Coupling device 21c Joining part 400 Operation part 500 Catheter housing W Drive Wire Wa Part to be held

Claims

1. a catheter section including a linear member, a frame for guiding the linear member, a first bendable portion that bends when a first linear member of the linear members is driven, and an intermediate portion for supporting between the first bendable portion and the frame; a catheter housing provided in an accommodation space that accommodates the catheter portion; A catheter kit comprising: a limiting portion is provided in the accommodation space, and the limiting portion is used to calibrate a coupling state between the linear member and the driving source when the catheter portion and a base portion including a driving source that drives the linear member are coupled to each other. Catheter kit.

2. The first linear members each corresponding to the first bendable portion have a first length that is substantially equal to each other. The catheter kit according to claim 1 .

3. A second bendable portion is further provided between the first bendable portion and the intermediate portion, the second bendable portion being bent when a second linear member of the linear members is driven, The second linear members each corresponding to the second bendable portion have a second length that is substantially equal to each other. The catheter kit according to claim 2.

4. a position of an engagement portion of each of the plurality of linear members and a position of a coupling portion of the base portion having the driving source that drives the linear members are configured to coincide with each other. The catheter kit according to claim 1 .

5. the first bendable portion of the catheter portion is straightened; The catheter kit according to claim 1 .

6. The bendable portion correction housing is openable and closable. The catheter kit according to claim 1 .

7. The bendable portion correction housing also functions as a packaging box or a shipping box. The catheter kit according to claim 1 .

8. an accommodation space for accommodating a catheter portion, the catheter portion including a linear member, a frame for guiding the linear member, a first bendable portion that bends when the linear member is driven, and an intermediate portion for providing support between the first bendable portion and the frame; A catheter housing comprising: a limiting portion is provided in the accommodation space, and the limiting portion is used to calibrate a coupling state between the linear member and the driving source when the catheter portion and a base portion including a driving source that drives the linear member are coupled to each other. Catheter housing.

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