Device

Abstract

To improve operability of a bending apparatus.SOLUTION: The present invention provides an apparatus including a bendable instrument including a bendable body and a base portion provided with the bendable body, a moving stage configured to support the bendable instrument, and a support base including a support portion configured to support the moving stage, wherein the moving stage is supported by the support portion so as to be movable on the support base portion along a straight line in a predetermined direction, and the bendable instrument is supported by the moving stage so as to be slidable on the moving stage along a straight line in the predetermined direction.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an apparatus. [Background technology]

[0002] Medical devices with bendable medical instruments are known. In the medical device of Patent Document 1, when passing the bendable medical instrument through a relatively wide patient lumen, the operator detaches the bendable medical instrument from an insertion unit, holds the bendable medical instrument by hand, and manually inserts it into the patient lumen. Next, when the delicate site is reached, the operator attaches the bendable medical instrument to the insertion unit and switches to robotic control to continue the insertion process. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2021 / 259794 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the medical device disclosed in Patent Document 1, the operator needs to detach the bending medical device from the insertion unit in order to manually insert the bending medical device, so there is room for improvement in operability.

[0005] An object of the present invention is to improve the operability of a bending device. [Means for solving the problem]

[0006] The present invention is an apparatus comprising a bending device having a bendable body and a base on which the bendable body is provided, a movable stage that supports the bending device, and a support base having a support part that supports the movable stage, wherein the movable stage is supported by the support part so as to be movable along a straight line in a predetermined direction on the support base part, and the bending device is supported by the movable stage so as to be slidable along a straight line in the predetermined direction on the movable stage. [Effects of the Invention]

[0007] According to the present invention, the operability of a bending device can be improved. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is an overall view of a medical device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a perspective view of a bendable medical instrument and a support base according to the present embodiment. [Figure 3] 10A to 10C are diagrams illustrating the operation of the support base according to the present embodiment. [Figure 4] 1 is a perspective view showing the configuration of a bending medical device according to an embodiment of the present invention. [Figure 5] FIG. 2 is a cross-sectional view of a base unit and a moving stage according to the present embodiment. [Figure 6] 10A and 10B are diagrams illustrating the configuration of a locking tooth and a movable locking tooth according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the dimensions, materials, shapes, arrangements, etc. of the components described in the embodiments may be changed as appropriate depending on the configuration of the device to which the present invention is applied, various conditions, etc. A medical device 1A according to this embodiment will be described with reference to Figures 1 and 2. Figure 1 is an overall view of the medical device 1A. Figure 2 is a perspective view of the bendable medical device 1 and the support base 2. The medical device 1A includes a bendable medical device 1, a support base 2 that supports the bendable medical device 1, and a control unit 3 that controls the bendable medical device 1 and the support base 2. The medical device 1A also includes a monitor 4 as a display device, and an arm 6 that supports the monitor 4 and the support base 2.

[0010] The bendable medical device 1 has a catheter unit (bendable unit) 100 having a catheter 11 as a bendable body, and a base unit (drive unit, attached unit) 200 that serves as a base. The catheter unit 100 is configured to be detachable from the base unit 200. In this embodiment, an operator of the medical device 1A and the bendable medical equipment 1 can insert the catheter 11 into the interior of a subject to perform tasks such as observing the interior of the subject, collecting various specimens from the interior of the subject, and performing treatment on the interior of the subject. In one embodiment, the operator can insert the catheter 11 into the interior of a patient. Specifically, by inserting the catheter 11 into the bronchi through the patient's oral cavity or nasal cavity, tasks such as observing, collecting, and resecting lung tissue can be performed.

[0011] The catheter 11 can be used as a guide (sheath) for guiding a medical tool for performing the above-mentioned procedure. Examples of the medical tool include an endoscope, forceps, an ablation device, etc. The catheter 11 itself may also function as the above-mentioned medical tool.

[0012] In this embodiment, the control unit 3 includes a calculation unit 3a and an input unit 3b. The input unit 3b receives commands and inputs for operating the catheter 11. The calculation unit 3a includes a storage for storing programs and various data for controlling the catheter 11, a random access memory, and a central processing unit for executing the programs. The control unit 3 may also include an output unit for outputting signals for displaying images on the monitor 4.

[0013] 2, in this embodiment, the bending medical device 1 is electrically connected to the control unit 3 via a cable 5 that connects the base unit 200 of the bending medical device 1 to the support base 2. The bending medical device 1 and the control unit 3 may be directly connected by a cable. The bending medical device 1 and the control unit 3 may also be connected wirelessly.

[0014] The bendable medical device 1 includes a wire driving unit 300 for driving the catheter 11. In this embodiment, the bendable medical device 1 is a robot catheter device that drives the catheter 11 by the wire driving unit 300 controlled by the control unit 3.

[0015] The control unit 3 controls the wire driving unit 300 to bend the catheter 11. In this embodiment, the wire driving unit 300 is built into the base unit 200.

[0016] The end where the tip of the catheter 11 inserted into the subject is located is called the distal end in the extending direction of the catheter 11. The opposite side of the distal end in the extending direction of the catheter 11 is called the proximal end. The catheter unit 100 has a proximal end cover 16 that covers the proximal end side of the catheter 11. The proximal end cover 16 has a tool hole 16a. A medical instrument can be inserted into the catheter 11 through the tool hole 16a.

[0017] As described above, in this embodiment, the catheter 11 functions as a guide device for guiding a medical instrument to a desired position inside a subject. For example, with an endoscope inserted in catheter 11, catheter 11 is inserted to a target position inside a subject. After catheter 11 reaches the target position, the endoscope is pulled out of catheter 11 through tool hole 16a. Then, medical instruments are inserted through tool hole 16a to perform operations such as collecting various specimens from inside the subject and performing treatment on the inside of the subject.

[0018] As will be described later, the catheter unit 100 is removably attached to the base unit 200. After the curved medical device 1 has been used, the operator can remove the catheter unit 100 from the base unit 200, attach a new catheter unit 100 to the base unit 200, and use the curved medical device 1 again.

[0019] The bendable medical device 1 has an operating unit 400. In this embodiment, the operating unit 400 is provided in the catheter unit 100. The operating unit 400 is operated by an operator when fixing the catheter unit 100 to the base unit 200 or removing the catheter unit 100 from the base unit 200. By connecting the monitor 4 to the endoscope inserted into the catheter 11, it is possible to display images captured by the endoscope on the monitor 4. Furthermore, by connecting the monitor 4 to the control unit 3, it is possible to display on the monitor 4 the state of the bendable medical device 1 and information related to the control of the bendable medical device 1. For example, it is possible to display on the monitor 4 the position of the catheter 11 inside the subject and information related to the navigation of the catheter 11 inside the subject. The monitor 4, the control unit 3, and the endoscope may be connected by wire or wirelessly. Furthermore, the monitor 4 and the control unit 3 may be connected via the support base 2.

[0020] Next, the support table 2 will be described with reference to FIG. 3. FIG. 3 is a diagram illustrating the operation of the support table 2 according to this embodiment. As shown in FIG. 3, the support table 2 has a moving stage 25 that is elongated along the Z direction (and W direction), and a support unit 20 that supports the moving stage 25 so that it can move along a straight line. The support unit 20 has a motor 21 that is a drive source connected to the control unit 3, and the driving force of the motor 21 causes a cylinder 22 to protrude in the Z direction and retract in the W direction, which is opposite to the Z direction. The cylinder 22 is connected to the moving stage 25 at its tip 22a in the Z direction. Therefore, the support unit 20 allows the moving stage 25 to move in the Z direction (and W direction).

[0021] The bending medical device 1 is detachably attached to the support base 2 via a base unit 200. More specifically, the bending medical device 1 is detachably attached to a guide rail 26 provided on a moving stage 25 of the support base 2 by an attachment portion (connection portion) 201 of the base unit 200. Even when the attachment portion 201 of the bending medical device 1 is detached from the moving stage 25, the connection between the bending medical device 1 and the control unit 3 is maintained so that the bending medical device 1 can be controlled by the control unit 3. In this embodiment, even when the attachment portion 201 of the bending medical device 1 is detached from the moving stage 25, the bending medical device 1 and the support base 2 are connected by a cable 5.

[0022] The guide rail 26 is provided over the entire longitudinal length in the Z direction of the moving stage 25. The operator can attach the bending medical device 1 at any position in the Z direction of the guide rail 26. For example, as shown in FIG. 2, the bending medical device 1 may be attached to the tip of the guide rail 26 in the W direction, or as shown in FIG. 3(a), the bending medical device 1 may be attached to the tip of the guide rail 26 in the Z direction.

[0023] With the bending medical device 1 attached to the moving stage 25, the bending medical device 1 moves as the moving stage 25 moves. The bending medical device 1 then moves in the direction (Z direction) in which the catheter 11 is inserted into the subject, and in the direction (W direction) in which the catheter 11 is pulled out from the subject. The movement of the moving stage 25 is driven by a motor 21 controlled by the control unit 3.

[0024] The mounting portion 201 of the base unit 200 is detachably and movably supported by the guide rails 26 of the moving stage 25. The support configuration of the mounting portion 201 will be described with reference to Figs. 4, 5, and 6. Fig. 4 is a perspective view of the bending medical device 1 according to this embodiment. Fig. 5 is a diagram for explaining the attachment / detachment configuration of the bending medical device 1 according to this embodiment relative to the moving stage 25. Fig. 6 is a diagram for explaining the movement configuration of the bending medical device 1 according to this embodiment relative to the moving stage 25.

[0025] First, a configuration in which the mounting portion 201 of the base unit 200 is detachably supported by the guide rail 26 of the moving stage 25 will be described. FIG. 5 is a cross-sectional view of the mounting portion 201 of the base unit 200 and the guide rail 26 of the moving stage 25 cut along a plane perpendicular to the Z direction. FIG. 5(a) shows a state in which the bending medical device 1 is mounted on the guide rail 26 of the moving stage 25. Protrusions 26a are provided on the left and right sides of the guide rail 26. As shown in FIG. 4, a plurality of pressure rollers 202 (four in this example) are arranged on the mounting portion 201 of the base unit 200. The pressure rollers 202 lock the attachment and detachment of the bending medical device 1 to the moving stage 25. As shown in FIG. 5(a), when the bending medical device 1 is mounted on the guide rail 26 of the moving stage 25, the pressure rollers 202 are arranged to face each other on both the left and right sides of the guide rail 26. Protrusions 202a are also provided on the pressure rollers 202.

[0026] The pressing roller 202 is pressed in the P direction by a pressing member (spring) (not shown) so as to sandwich the guide rail 26. Due to the pressure, the side surface 202d of the pressing roller 202 comes into contact with the side surface 26d of the protrusion 26a of the guide rail 26. As shown in FIG. 5(a), when the bending medical device 1 is attached to the guide rail 26 of the moving stage 25, the protrusion 26a of the guide rail 26 and the protrusion 202a of the pressing roller 202 are engaged. Therefore, even if an attempt is made to remove the bending medical device 1 in the Y direction with the protrusion 26a and the protrusion 202a engaged, the surface 26c of the protrusion 26a of the guide rail 26 abuts against the surface 202c of the protrusion 202a of the pressing roller 202, preventing removal. In other words, removal of the bending medical device 1 from the guide rail 26 is locked.

[0027] As shown in Fig. 4, the mounting portion 201 of the base unit 200 is provided with a detachable lock release button 204, which is a detachable lock release member. The detachable lock release button 204 is connected to the pressing roller 202 by a link mechanism (not shown). When the detachable lock release button 204 is pressed, the pressing roller 202 moves in the Q direction against the pressing force of the spring in the P direction, as shown in Fig. 5(b). Therefore, the engagement between the protrusion 26a of the guide rail 26 and the protrusion 202a of the pressing roller 202 is released, and the bendable medical device 1 can be removed in the Y direction from the guide rail 26 (i.e., the support base 2).

[0028] 5(c) will be used to explain the operation of attaching the curved medical device 1 in the V direction after it has been removed from the support base 2. A stopper 206 is provided on the attachment portion 201 of the base unit 200, and when the pressing roller 202 is pressed in the P direction, the side surface 202d of the pressing roller 202 abuts against the stopper 206, thereby determining the position of the pressing roller 202 in the P direction.

[0029] When the curved medical device 1 is moved in the V direction to attach it to the guide rail 26, the inclined surface 202b of the protrusion 202a of the pressing roller 202 comes into contact with the inclined surface 26b of the protrusion 26a of the guide rail 26. When the curved medical device 1 is further moved in the V direction, the pressing roller 202 expands in the Q direction along the inclined surface 26b of the guide rail 26, resisting the pressing force of the spring in the P direction. When the pressing roller 202 overcomes the inclined surface 26b of the protrusion 26a of the guide rail 26, it moves in the P direction due to the pressing force of the spring, reaching the state shown in FIG. 5(a). This attaches the curved medical device 1 to the guide rail 26 (i.e., the support base 2). In FIG. 5(c), the trajectory of the pressing roller 202 during attachment is represented by R.

[0030] Next, a configuration will be described in which the mounting portion 201 of the base unit 200 is supported movably in the Z direction (and W direction) relative to the guide rail 26 of the moving stage 25. As shown in Fig. 2, the guide rail 26 of the moving stage 25 is provided with locking teeth 27 over the entire longitudinal length in the Z direction. Also, as shown in Fig. 4, the mounting portion 201 of the base unit 200 is provided with movable locking teeth 203. To explain the configuration and operation of the locking teeth 27 and the movable locking teeth 203, Fig. 6 shows a cross-sectional view cut along a plane perpendicular to the Y direction in Fig. 5.

[0031] FIG. 6(a) shows a state in which the curved medical device 1 is attached to the support base 2. As shown in FIG. 6(a), the locking tooth 27 has many teeth. The locking tooth 27 is shaped to have a surface 27a perpendicular to the Z direction and a sloped surface 27b. The movable locking tooth 203 is movable in the P (and Q) direction perpendicular to the Z direction, and is provided at a position opposite the locking tooth 27. The movable locking tooth 203 is pressed in the P direction by a spring (not shown) (different from the spring described above). The movable locking tooth 203 is shaped to have a surface 203a perpendicular to the Z direction and a sloped surface 203b.

[0032] 6(a), when the curved medical device 1 is attached to the support base 2, the locking tooth 27 and the movable locking tooth 203 are engaged with each other. That is, the locking tooth 27 and the movable locking tooth 203 are in contact with each other, with the surfaces 27a and 203a engaging with each other and the inclined surfaces 27b and 203b engaging with each other. When the locking teeth 27 and the movable locking teeth 203 are engaged, even if an attempt is made to move the bending medical device 1 in the Z direction relative to the moving stage 25, the surfaces 27a and 203a of the locking teeth 27 and the movable locking teeth 203, which are perpendicular to the Z direction, come into contact with each other, restricting the movement. Therefore, the bending medical device 1 cannot be moved in the Z direction relative to the moving stage 25.

[0033] When moving the bending medical device 1 in the W direction, a force of a certain level or more is applied to the bending medical device 1 in the W direction. At this time, the locking tooth 27 and the movable locking tooth 203 are in contact with each other via the inclined surfaces 27b and 203b, so the movable locking tooth 203 climbs up the inclined surface 27b of the locking tooth 27 and moves in the Q direction against the pressing force of the spring (not shown) in the P direction. At this time, there is nothing to restrict the movement of the movable locking tooth 203, so the bending medical device 1 can move in the W direction. In other words, the locking tooth 27 and the movable locking tooth 203 act as a ratchet, and movement of the bending medical device 1 in the Z direction is locked, but movement in the W direction is possible.

[0034] As shown in Fig. 4, a movement lock release button 205, which is a movement lock release member, is provided on the mounting portion 201 of the base unit 200. The movement lock release button 205 is connected to the movable locking tooth 203 by a link mechanism (not shown). Therefore, when the movement lock release button 205 is pressed, the movable locking tooth 203 moves in the Q direction against the pressing force of the spring in the P direction, as shown in Fig. 6(b). Therefore, the engagement between the locking tooth 27 and the movable locking tooth 203 is released, and the bending medical device 1 can be freely moved in the Z direction and the W direction relative to the guide rail 26 of the moving stage 25.

[0035] The movable locking tooth 203 can be disengaged from the locking tooth 27 by moving in the Q direction by pressing not only the movement lock release button 205 but also the detachment lock release button 204. That is, the detachment lock release button 204 is connected not only to the pressing roller 202 but also to the movable locking tooth 203 by a link mechanism (not shown). Therefore, when the detachment lock release button 204 is pressed from the state shown in FIG. 5(a), the pressing roller 202 and the movable locking tooth 203 move in the Q direction as shown in FIG. 5(b). This disengages the projection 26a of the guide rail 26 from the projection 202a of the pressing roller 202 and the locking tooth 27 from the movable locking tooth 203, making it possible to remove the curved medical device 1 from the support base 2 in the Y direction.

[0036] On the other hand, the movement lock release button 205 is not connected to the pressing roller 202 by a link mechanism, and even if the movement lock release button 205 is pressed, the pressing roller 202 does not move in the Q direction, so the bending medical device 1 will not unexpectedly come off the guide rail 26. Therefore, it is possible to safely move the bending medical device 1 in the Z direction and the W direction.

[0037] As described above, the operator inserts the catheter 11 into the patient. Specifically, by inserting the catheter into the patient's bronchus via the oral or nasal cavity, the operator can perform operations such as observing, sampling, and resecting lung tissue. Two methods are available for inserting the catheter 11 into the patient.

[0038] One method is for the operator to press a movement lock release button 205 provided on the mounting part 201 of the base unit 200, thereby moving the bendable medical device 1 on the guide rail 26 shown in FIG. 3. Hereinafter, this method will be referred to as manual insertion. The other method is for the support part 20 of the support base 2 to move the moving stage 25, on which the bendable medical device 1 is mounted, along a straight line in the Z direction. The movement by the support part 20 is driven by a motor 21 connected to the control part 3, in response to instructions from the operator. Hereinafter, this method will be referred to as robot insertion.

[0039] Switching between the two insertion methods, manual and robotic, allows for flexible adaptation of catheter 11 insertion depending on the situation. For example, when initially inserting catheter 11 through a large / wide portion of the patient's anatomy, manual insertion can facilitate rapid advancement of catheter 11, thereby saving time. Once catheter 11 reaches a more tortuous portion of the patient's anatomy, catheter 11 can be switched to robotic insertion. This allows for more limited insertion of catheter 11, which can be done at a slower, more gradual speed to minimize abrasion and discomfort to the patient.

[0040] First, manual insertion will be described in detail. First, as shown in Fig. 1, the posture and position of the support base 2 are adjusted so that the catheter 11 faces the target insertion port (for example, the patient's oral cavity or nasal cavity). The posture and position of the support base 2 are adjusted by moving the arm 6. Fig. 1 shows the medical device 1A in a state where the posture and position of the support base 2 have been adjusted. As shown in Fig. 2, the bendable medical device 1 is attached to the tip of the guide rail 26 in the W direction.

[0041] Next, while the movement lock release button 205 on the mounting part 201 of the base unit 200 is pressed, the bending medical device 1 is moved in the Z direction relative to the guide rail 26. At this time, because the bending medical device 1 is locked from being removed from the guide rail 26, the bending medical device 1 moves in the Z direction while still attached to the guide rail 26. The position of the bending medical device 1 after manual insertion is shown in Figure 3(a).

[0042] Next, the insertion of the robot will be described. The driving force of the motor 21 provided on the support part 20 of the support base 2 pushes the cylinder 22 in the Z direction. As a result, the moving stage 25 on which the bendable medical device 1 is mounted moves in the Z direction. The position of the bendable medical device 1 after the robot has been inserted is shown in Figure 3(b).

[0043] After inserting the catheter 11 into the patient, the operator performs operations such as observing, sampling, and resecting lung tissue. After completing the operations, the operator removes the catheter 11 from the patient. The catheter 11 is removed, for example, by reversing the procedure of insertion. In other words, the support part 20 of the support base 2 moves the moving stage 25 on which the bendable medical device 1 is mounted. Thereafter, the operator manually moves the bendable medical device 1 in the W direction while it remains attached to the guide rail 26, and removes the catheter 11 from inside the patient. During this manual removal, the bendable medical device 1 can be moved in the W direction without pressing the movement lock release button 205, because the locking teeth 27 and the movable locking teeth 203 function as a ratchet, as described above.

[0044] As described above, according to this embodiment, the medical device 1A includes the moving stage 25 that detachably supports the bending medical device 1, and the support base 2 that has the support part 20 that supports the moving stage 25 so that it can move along a straight line in predetermined directions (Z direction and W direction). Because the moving stage 25 supports the bending medical device 1 so that it can move along a straight line in the predetermined directions (Z direction and W direction), the operator can manually move the bending medical device 1 along the moving stage 25. Therefore, the operator does not need to perform operations such as attaching and detaching the bending medical device 1, which improves the operability of the bending medical device 1.

[0045] Furthermore, according to this embodiment, the moving stage 25 itself is configured to move by the driving force of the motor 21 of the support unit 20. Therefore, regardless of the position of the bending medical device 1 relative to the moving stage 25 at the start of manual insertion or the distance moved by manual insertion, it is possible to freely set the distance moved by robotic insertion. Therefore, it is possible to improve flexibility in terms of the structure of the insertion target and operability of insertion.

[0046] Furthermore, according to this embodiment, during manual insertion and manual removal, the bending medical device 1 moves in the Z direction and the W direction while remaining attached to the guide rail 26. At that time, the bending medical device 1 is provided with a protrusion 202a of the pressing roller 202 as a locking member that locks the bending medical device 1 against attachment and detachment to the moving stage 25, and the protrusion 202a engages with the protrusion 26a of the guide rail 26. Therefore, the bending medical device 1 does not unexpectedly come off the guide rail 26, and the bending medical device 1 can be safely moved in the Z direction and the W direction.

[0047] Furthermore, according to this embodiment, the bending medical device 1 is provided with movable locking teeth 203 as a locking member that locks the linear movement of the bending medical device 1 relative to the moving stage 25, and the movable locking teeth 203 engage with the locking teeth 27. Therefore, when inserting the robot, it is possible to prevent the bending medical device 1 from moving unexpectedly relative to the moving stage 25.

[0048] The locking member that locks the linear movement described above only locks the bending medical device 1 in the direction (Z direction) in which it is inserted into the target, and does not lock the bending medical device 1 in the direction (W direction) in which it is removed from the target. Therefore, if the operator wants to quickly remove the bending medical device 1, they can do so without pressing the movement lock release button. This improves the operability of manual removal.

[0049] Furthermore, in this embodiment, the insertion of the catheter 11 is described as being performed by a procedure of manual insertion followed by robotic insertion, but this is not limited to this. For example, robotic insertion may be performed first, then switched to manual insertion, and then robotic insertion may be performed again. Furthermore, the removal of the catheter 11 is not limited to a method of performing the insertion procedure in reverse, and may be performed by other procedures.

[0050] As described above, the bendable medical device 1 is detachable from the support base 2, and the connection between the bendable medical device 1 and the control unit 3 is maintained even when the bendable medical device 1 is detached from the support base 2 (detached state). That is, the control unit 3 is always electrically connected to the bendable medical device 1 regardless of whether the bendable medical device 1 is attached to or detached from the support base 2 (movable stage 25). With this configuration, an operator can manually insert and remove the catheter 11 into and from a patient while holding the bendable medical device 1 in their hand. This allows a combination of manual insertion and removal on the moving stage 25 and manual insertion and removal while the operator is holding the bendable medical device 1 in their hand. For example, when inserting the catheter 11, the catheter can be advanced by manual insertion and robotic insertion on the moving stage 25, and when removing the catheter 11, the operator can manually remove the bendable medical device 1 while holding it in their hand. This further improves flexibility in inserting and removing the catheter 11.

[0051] Furthermore, in this embodiment, the moving stage 25 is moved relative to the support unit 20 by the driving force of the motor 21 of the support unit 20, and the bending medical device 1 is moved relative to the moving stage 25 manually. However, the moving stage 25 may be moved manually relative to the support unit 20, and the bending medical device 1 may be moved relative to the moving stage 25 by the driving force of a motor or the like. When the bending medical device 1 is driven relative to the moving stage 25 by the motor 21, the weight of the object to be driven is small, and therefore the driving source can be made smaller. On the other hand, the operating force required for manual insertion and removal is large, so the configuration can be changed according to the priority specifications.

[0052] In addition, in this embodiment, a configuration has been described in which the detachment lock release button 204 and the movement lock release button 205 are provided, but a single button may be configured to serve as both buttons. For example, the button may be configured so that the movement lock is released when pressed halfway and the detachment lock is released when pressed fully.

[0053] Although the present invention has been described above in conjunction with the above-mentioned embodiments, the present invention is not limited to the above-mentioned embodiments, and modifications and the like are possible within the scope of the present invention. [Explanation of symbols]

[0054] 1: Bendable medical device 1A: Medical device 2: Support base 11: Catheter (bendable body) 20: Support part 25: Moving stage

Claims

1. a bending device having a bendable body and a base provided with the bendable body; An apparatus comprising: a moving stage that supports the bending device; and a support base having a support portion that supports the moving stage, the moving stage is supported by the support section so as to be movable along a straight line in a predetermined direction on the support base section, The bending device is supported by the moving stage so as to be slidable along a straight line in the predetermined direction on the moving stage.

2. the support portion has a drive source, 2. The apparatus according to claim 1, wherein the moving stage moves relative to the support by a driving force of the driving source.

3. 3. The apparatus according to claim 1, wherein the bending device is manually moved relative to the moving stage.

4. the bending device is detachable from the moving stage; 4. The apparatus according to claim 1, wherein the bending device is provided with a detachable locking member that locks the bending device against detachment from the moving stage.

5. The moving stage has an elongated shape along the predetermined direction, 5. The apparatus according to claim 1, wherein the bending device can be attached to the moving stage at any position in the predetermined direction.

6. 6. The apparatus according to claim 1, wherein the bending device is provided with a second locking member that locks the bending device against movement relative to the moving stage.

7. The device according to claim 6, wherein the movement locking member locks the movement of the bending device in a direction toward the object, but does not lock the movement of the bending device in a direction away from the object.

8. The bending device is provided with a movement lock release member, The device described in claim 6 or 7, characterized in that the movement locking member locks the movement of the bending device when the operator is not pressing the movement lock releasing member, and does not lock the movement of the bending device while the operator is pressing the movement lock releasing member.

9. a control unit electrically connected to the bending device and the support base, 9. The apparatus according to claim 1, wherein the control unit is always electrically connected to the bending device regardless of whether the bending device is attached to or detached from the moving stage.

Images