medical devices

Abstract

To shut down connection between a drive source and a linear body both for an overload in a direction for pressing the linear body and for an overload in a direction for pulling the linear body.SOLUTION: A medical device includes: a drive source; a bendable bending part; a linear body for bending the bending part by driving force of the drive source; and a connection part in which a first member connected to the drive source and a second member connected to the linear body are connected. The connection part maintains a state that a convex part engages with a concave part and transmits driving force from the drive source to the linear body when tensile force of a first threshold or less, or compression force of a second threshold or less is applied between the first member and the second member, and separates the convex part and the concave part, and shuts down the transmission of the driving force from the drive source to the linear body when tensile force exceeding the first threshold or compression force exceeding the second threshold is applied between the first member and the second member.SELECTED DRAWING: Figure 18

Description

[Technical Field]

[0001] The present invention relates to bendable medical devices. [Background technology]

[0002] A medical device such as an endoscope or a catheter has a bending section at a part of an insertion section inserted into a human body, the bending section being configured to be bendable by a linear body connected to a drive source. Patent Document 1 describes a configuration in which a drive wire connected to a drive source and a control wire connected to the bending section of the insertion section are connected via a breaker section having a lower breaking strength than the control wire. According to this document, when tension equal to or greater than a threshold acts on the control wire, the breaker section breaks, thereby preventing the tip of the insertion section from strongly pressing against an object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-248116 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the configuration of the above document, the connection of the breaker portion is not broken even when a strong compressive force is applied to the breaker portion.

[0005] An object of the present invention is to provide a medical device that can cut off the connection between a drive source and a linear body in response to either an overload in the direction pressing the linear body or an overload in the direction pulling the linear body. [Means for solving the problem]

[0006] A first aspect of the present invention provides a linear body that bends the bending portion by a driving force of the driving source, a first member connected to the driving source, a second member connected to the linear body, a connecting portion including a convex portion provided on one of the first member and the second member and protruding in a direction intersecting with an extension direction of the linear body, and a concave portion provided on the other of the first member and the second member, wherein the convex portion fits into the concave portion to connect the first member and the second member, and the connecting portion is configured to connect the first member and the second member when a tensile force of not more than a first threshold value is applied between the first member and the second member. Power When the tension exceeds the first threshold, the driving force is transmitted from the driving source to the linear body while the protrusion is kept fitted in the recess. Power When the force acts, the convex portion separates from the concave portion, and the transmission of the driving force from the driving source to the linear body is interrupted. When a compressive force equal to or less than a second threshold acts between the first member and the second member, the convex portion remains fitted in the concave portion to transmit the driving force from the driving source to the linear body, and when a compressive force exceeding the second threshold acts between the first member and the second member, the convex portion disengages from the concave portion to interrupt the transmission of the driving force from the driving source to the linear body. The medical device is characterized in that it is configured to

[0007] A second aspect of the present invention is a connecting portion including a drive source, a bendable bending portion, a linear body that bends the bending portion by a driving force of the drive source, a first member connected to the drive source, a second member connected to the linear body, first and second convex portions provided on the first member and protruding in a direction intersecting an extension direction of the linear body, and third and fourth convex portions provided on the second member, wherein the first and second members are connected by the first and second convex portions engaging with the third and fourth convex portions, and wherein the connecting portion maintains the first and second convex portions engaged with the third convex portions when a tensile force equal to or less than a first threshold acts between the first and second members. This medical device is configured to transmit the driving force from the driving source to the linear body, and when a tensile force exceeding the first threshold acts between the first member and the second member, the first convex portion disengages from the third convex portion to block the transmission of the driving force from the driving source to the linear body, and when a compressive force equal to or less than a second threshold acts between the first member and the second member, the second convex portion remains engaged with the fourth convex portion to transmit the driving force from the driving source to the linear body, and when a compressive force exceeding the second threshold acts between the first member and the second member, the second convex portion disengages from the fourth convex portion to block the transmission of the driving force from the driving source to the linear body. [Effects of the Invention]

[0008] According to the present invention, the connection between the drive source and the linear object can be cut off in response to either an overload in the direction pressing the linear object or an overload in the direction pulling the linear object. [Brief explanation of the drawings]

[0009] [Figure 1] Overall view of the healthcare system. [Figure 2] FIG. 1 is a perspective view showing a medical device and a support base. [Figure 3] FIG. 1 is an explanatory diagram of a catheter. [Figure 4] FIG. [Figure 5] FIG. 4 is an explanatory diagram of a base unit and a wire driving unit. [Figure 6] FIG. 4 is an explanatory diagram of a wire driving unit, a connecting device, and a bending driving unit. [Figure 7] FIG. 10 is an explanatory diagram of the installation of the catheter unit. [Figure 8] FIG. 4 is a diagram illustrating the connection between the catheter unit and the base unit. [Figure 9] FIG. 10 is an exploded view illustrating the connection between the catheter unit and the base unit. [Figure 10] 10A and 10B are diagrams illustrating fixing of the drive wire by a connecting portion. [Figure 11] 10A and 10B are diagrams illustrating fixing of the drive wire by a connecting portion. [Figure 12] 10A and 10B are diagrams illustrating fixing of the drive wire by a connecting portion. [Figure 13] 10A and 10B are diagrams illustrating fixing of the drive wire by a connecting portion. [Figure 14] 10A and 10B are diagrams illustrating fixing of the drive wire by a connecting portion. [Figure 15] FIG. 2 is an explanatory diagram of a catheter unit and a base unit. [Figure 16] FIG. 3 is a diagram illustrating the operation of the operation unit. [Figure 17] 5A and 5B are cross-sectional views illustrating the operation of the operation unit. [Figure 18] FIG. 2 is a diagram illustrating a connection portion according to the first embodiment. [Figure 19] 5A to 5C are diagrams illustrating the operation of a connection unit according to the first embodiment. [Figure 20] 5A to 5C are diagrams illustrating the operation of a connection unit according to the first embodiment. [Figure 21] 10A and 10B are diagrams illustrating a modified example of a connection portion according to the second embodiment. [Figure 22] FIG. 10 is a diagram illustrating a connection portion according to a second embodiment. [Figure 23] 10A to 10C are diagrams illustrating the operation of a connection unit according to the second embodiment. [Figure 24] 10A and 10B are diagrams illustrating a connection portion according to a third embodiment. [Figure 25]10A to 10C are diagrams illustrating the operation of a connection unit according to the third embodiment. [Figure 26] 10A and 10B are diagrams illustrating a connection portion according to a fourth embodiment. [Figure 27] 10A to 10C are diagrams illustrating the operation of a connection unit according to the fourth embodiment. [Figure 28] 10A and 10B are diagrams illustrating a connection portion according to a modified example. [Figure 29] 10A and 10B are diagrams illustrating a connection portion according to a modified example. [Figure 30] 10A to 10C are diagrams illustrating the operation of a connection unit according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0011] [First embodiment] <Medical Systems and Medical Devices> A medical system 1A and a medical device 1 according to the first embodiment 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 the support base 2.

[0012] The medical system 1A includes a medical device 1, a support base 2 on which the medical device 1 is attached, and a control unit (control device) 3 that controls the medical device 1. In this embodiment, the medical system 1A includes a monitor 4 as a display device.

[0013] The medical device 1 includes a catheter unit (bendable unit) 100 having a catheter 11 as a bendable body, and a base unit (drive unit, attached unit) 200. The catheter unit 100 is configured to be detachable from the base unit 200.

[0014] In this embodiment, a user of the medical system 1A and the medical device 1 can 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 by inserting the catheter 11 into the interior of the subject. In one embodiment, the user 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.

[0015] 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, and an ablation device. The bendable body itself may have the function of the above-mentioned medical tool, in which case the bendable body is not limited to a cylindrical shape and may be, for example, a cylindrical shape.

[0016] 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, 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.

[0017] 2, in this embodiment, the medical device 1 is electrically connected to the control unit 3 via a cable 5 that connects the base unit 200 of the medical device 1 to the support base 2, and the support base 2. The medical device 1 and the control unit 3 may be directly connected by a cable. Alternatively, the medical device 1 and the control unit 3 may be connected wirelessly.

[0018] The medical device 1 is removably mounted to the support base 2 via the base unit 200. More specifically, the medical device 1 is removably mounted to a moving stage (receiving portion) 2a of the support base 2 via an attachment portion (connecting portion) 200a of the base unit 200. Even when the attachment portion 200a of the medical device 1 is detached from the moving stage 2a, the connection between the medical device 1 and the control unit 3 is maintained so that the medical device 1 can be controlled by the control unit 3. In this embodiment, even when the attachment portion 200a of the medical device 1 is detached from the moving stage 2a, the medical device 1 and the support base 2 are connected by a cable 5.

[0019] The user can manually move the medical device 1 when it is removed from the support base 2 (when the medical device 1 is removed from the moving stage 2a) and insert the catheter 11 into the subject.

[0020] A user can use the medical device 1 with the catheter 11 inserted into the subject and the medical device 1 attached to the support base 2. Specifically, with the medical device 1 attached to the moving stage 2a, the moving stage 2a moves, causing the medical device 1 to move. The catheter 11 then moves in the direction of inserting it into the subject, and in the direction of withdrawing it from the subject. The movement of the moving stage 2a is controlled by the control unit 3.

[0021] The mounting portion 200a of the base unit 200 is equipped with a release switch and a removal switch (not shown). With the mounting portion 200a attached to the moving stage 2a, the user can manually move the medical device 1 along the guide direction of the moving stage 2a while continuing to press the release switch. In other words, the moving stage 2a is equipped with a guide structure that guides the movement of the medical device 1. When the user stops pressing the release switch, the medical device 1 is fixed to the moving stage 2a. On the other hand, when the removal switch is pressed with the mounting portion 200a attached to the moving stage 2a, the user can remove the medical device 1 from the moving stage 2a.

[0022] A single switch may have the functions of both the release switch and the removal switch. If the release switch is provided with a mechanism for switching between a pressed state and a non-pressed state, the user will not need to keep pressing the release switch when manually sliding the medical device 1.

[0023] When the mounting part 200a is attached to the moving stage 2a and the release switch and removal switch are not pressed, the medical device 1 is fixed to the moving stage 2a and moved by the moving stage 2a driven by a motor not shown.

[0024] The medical device 1 includes a wire driving unit (linear member driving unit, line driving unit, main body driving unit) 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 driving unit 300 controlled by the control unit 3.

[0025] 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. More specifically, the base unit 200 includes a base housing 200f that houses the wire driving unit 300. In other words, the base unit 200 includes the wire driving unit 300. The wire driving unit 300 and the base unit 200 can be collectively referred to as a catheter driving device (base device, main body).

[0026] 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.

[0027] 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.

[0028] 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.

[0029] For example, with an endoscope inserted in the catheter 11, the catheter 11 is inserted to a target position inside the subject. At this time, at least one of manual operation by the user, movement of the moving stage 2a, and driving of the catheter 11 by the wire driving unit 300 is used. After the catheter 11 reaches the target position, the endoscope is pulled out of the catheter 11 through the tool hole 16a. Then, medical instruments are inserted through the tool hole 16a, and various specimens are collected from inside the subject, and treatments on the inside of the subject are performed.

[0030] As will be described later, the catheter unit 100 is removably attached to a catheter driving device (base device, main body), more specifically, the base unit 200. After the medical device 1 has been used, the user can remove the catheter unit 100 from the base unit 200 and attach a new catheter unit 100 to the base unit 200, thereby using the medical device 1 again. In other words, the catheter unit 100 can be used as a disposable unit. Here, disposable means that the catheter unit 100 used in a single treatment is discarded after use. This prevents the catheter unit 100 from being reused, and allows the medical device 1 to be kept constantly clean.

[0031] 2, the medical device 1 has an operation unit 400. In this embodiment, the operation unit 400 is provided in the catheter unit 100. The operation unit 400 is operated by a user when fixing the catheter unit 100 to the base unit 200 or removing the catheter unit 100 from the base unit 200.

[0032] 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 medical device 1 and information related to the control of the 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.

[0033] <Catheter> A catheter 11 as a bendable body will be described using Figure 3. Figures 3(a) and 3(b) are explanatory views of the catheter 11. Figure 3(a) is a view explaining the entire catheter 11. Figure 3(b) is an enlarged view of the catheter 11.

[0034] The catheter 11 includes a bending section (bending body, catheter main body) 12 and a bending drive section (catheter drive section) 13 configured to bend the bending section 12. The bending drive section 13 is configured to receive a driving force from a wire drive section 300 via a connecting device 21, which will be described later, to bend the bending section 12.

[0035] The catheter 11 is extended along the insertion direction of the catheter 11 into the subject. The extension direction (longitudinal direction) of the catheter 11 is the same as the extension direction (longitudinal direction) of the bending section 12 and the extension directions (longitudinal directions) of the first to ninth driving wires (W11 to W33) described below.

[0036] The bending drive unit 13 includes a plurality of drive wires (drive lines, linear members, linear actuators) connected to the bending portion 12. Specifically, the bending drive unit 13 includes a first drive wire W11, a second drive wire W12, a third drive wire W13, a fourth drive wire W21, a fifth drive wire W22, a sixth drive wire W23, a seventh drive wire W31, an eighth drive wire W32, and a ninth drive wire W33.

[0037] Each of the first to ninth drive wires (W11 to W33) includes a holdable portion (holdable shaft, rod) Wa. Specifically, the first drive wire W11 includes a first holdable portion Wa11. The second drive wire W12 includes a second holdable portion Wa12. The third drive wire W13 includes a third holdable portion Wa13. The fourth drive wire W21 includes a fourth holdable portion Wa21. The fifth drive wire W22 includes a fifth holdable portion Wa22. The sixth drive wire W23 includes a sixth holdable portion Wa23. The seventh drive wire W31 includes a seventh holdable portion Wa31. The eighth drive wire W32 includes an eighth holdable portion Wa32. The ninth drive wire W33 includes a ninth holdable portion Wa33.

[0038] In this embodiment, the first to ninth held portions (Wa11 to Wa33) have the same shape.

[0039] Each of the first to ninth drive wires (W11 to W33) includes a flexible wire body (wire member, line body, linear body) Wb. Here, the wire body Wb is a member that allows an object connected thereto to be pushed or pulled, and has a certain degree of rigidity. On the other hand, it is a member that is deformable from a straight shape so that the bending portion 12 can be bent. 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.

[0040] Furthermore, in this embodiment, each pair of a driving source M and a driving wire W is provided with a connection part Wc that transmits a driving force from the driving source to the wire body and cuts off the transmission of the driving force from the driving source to the linear body when a load equal to or greater than a threshold value is applied. Specifically, the first wire body Wb11 is connected to the first driving source M11 via the first connection part Wc11. The second wire body Wb12 is connected to the second driving source M12 via the second connection part Wc12. The third wire body Wb13 is connected to the third driving source M13 via the third connection part Wc13. The fourth wire body Wb21 is connected to the fourth driving source M21 via the fourth connection part Wc21. The fifth wire body Wb22 is connected to the fifth driving source M22 via the fifth connection part Wc22. The sixth wire body Wb23 is connected to the sixth driving source M23 via the sixth connection part Wc23. The seventh wire body Wb31 is connected to the seventh driving source M31 via the seventh connecting portion Wc31. The eighth wire body Wb32 is connected to the eighth driving source M32 via the eighth connecting portion Wc11. The ninth wire body Wb33 is connected to the ninth driving source M33 via the ninth connecting portion Wc11.

[0041] In the following embodiments, the threshold value is not limited to a preset fixed value (constant value). Depending on the device specifications and manufacturing conditions, the threshold value may barely change, or may change dynamically. In other words, although there are target values ​​set when designing a product, the threshold value at which the connection between the drive source M and the wire body Wb is actually cut off may vary slightly from device to device due to factors such as tolerance variations. Furthermore, these threshold values ​​may vary slightly depending on the surrounding environment (temperature, humidity, etc.), so even within the same device, the threshold value may change depending on the timing of operation. Therefore, the medical device 1 described in each of the above embodiments may be designed or manufactured so that the threshold value falls within a predetermined range, taking these factors into consideration, and the threshold value may also change dynamically. The threshold value may also be referred to as a limit value.

[0042] The connection part Wc functions as a breakaway mechanism or a release mechanism that cuts off the connection (coupling, drive transmission) between the drive source and the wire body when a load exceeding a predetermined threshold acts on the drive wire due to an operational abnormality of the drive source or an external force on the catheter 11. The detailed configuration and operation of the connection part Wc will be described later.

[0043] In this embodiment, the first to third wire bodies (Wb11 to Wb13) have the same shape. The fourth to sixth wire bodies (Wb21 to Wb23) have the same shape. The seventh to ninth wire bodies (Wb31 to Wb33) have the same shape. In this embodiment, the first to ninth wire bodies (Wb11 to Wb33) have the same shape except for their lengths.

[0044] The first to ninth held portions (Wa11 to Wa33) are attached to the proximal ends of the first to ninth wire bodies (Wb11 to Wb33) via the first to ninth connecting portions (Wc11 to Wc33). The first to ninth driving wires (W11 to W33) are inserted into the bending portion 12 via the wire guide 17 and fixed therein.

[0045] In this embodiment, the first to ninth wire bodies (Wb11 to Wb33) are each made of metal. However, the first to ninth wire bodies (Wb11 to Wb33) may each be made of resin. The first to ninth wire bodies (Wb11 to Wb33) may each be made of a material containing metal and resin.

[0046] Any one of the first to ninth drive wires (W11 to W33) can be referred to as a drive wire W. In this embodiment, the first to ninth drive wires (W11 to W33) have the same shape except for the lengths of the first to ninth wire bodies (Wb11 to Wb33).

[0047] In this embodiment, the bending portion 12 is a flexible tubular member having a passage Ht for inserting a medical instrument.

[0048] The wall surface of the bending portion 12 is provided with a plurality of wire holes for passing through each of the first to ninth drive wires (W11 to W33). Specifically, the wall surface of the bending portion 12 is provided with a first wire hole Hw11, a second wire hole Hw12, and a third wire hole Hw13. The wall surface of the bending portion 12 is further provided with a fourth wire hole Hw21, a fifth wire hole Hw22, and a sixth wire hole Hw23. The wall surface of the bending portion 12 is further provided with 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 after the symbol Hw indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first wire hole Hw11.

[0049] Any one of the first to ninth wire holes (Hw11 to Hw33) can be referred to as a wire hole Hw. In this embodiment, the first to ninth wire holes (Hw11 to Hw33) have the same shape.

[0050] The bending portion 12 has an intermediate region 12a and a bending region 12b. The bending region 12b is located at the distal end of the bending portion 12, and a first guide ring J1, a second guide ring J2, and a third guide ring J3 are located in the bending region 12b. The bending region 12b refers to a region where the magnitude and direction of bending of the bending portion 12 can be controlled by moving the first guide ring J1, the second guide ring J2, and the third guide ring J3 using the bending drive unit 13. FIG. 3(b) omits a portion of the bending portion 12 that covers the first to third guide rings (J1 to J3).

[0051] In this embodiment, the bending portion 12 includes a plurality of auxiliary rings (not shown). In the bending region 12b, a first guide ring J1, a second guide ring J2, and a third guide ring J3 are fixed to the wall surface of the bending portion 12. In this embodiment, the plurality of auxiliary rings are disposed 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.

[0052] The medical instrument is guided to the tip of the catheter 11 by the passage Ht, the first to third guide rings (J1 to J3), and a plurality of auxiliary rings.

[0053] The first to ninth drive wires (W11 to W33) pass through the intermediate region 12a and are fixed to the first to third guide rings (J1 to J3), respectively. Specifically, the first drive wire W11, the second drive wire W12, and the third drive wire W13 are fixed to the first guide ring J1. The fourth drive wire W21, the fifth drive wire W22, and the sixth drive wire W23 pass through the first guide ring J1 and multiple auxiliary 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 pass through the first guide ring J1, the second guide ring J2, and multiple auxiliary rings and are fixed to the third guide ring J3.

[0054] The medical device 1 can bend the bending section 12 in a direction intersecting the extension direction of the catheter 11 by driving the bending drive section 13 with the wire drive section 300. Specifically, by moving each of the first to ninth drive wires (W11 to W33) in the extension direction of the bending section 12, the bending region 12b of the bending section 12 can be bent in a direction intersecting the extension direction via the first to third guide rings (J1 to J3).

[0055] The user can insert the catheter 11 to a desired portion inside the subject by moving the medical device 1 manually or by using the moving stage 2a and / or by bending the bending portion 12.

[0056] In this embodiment, the first to third guide rings (J1 to J3) are moved by the first to ninth drive wires (W11 to W33) to bend the bending section 12, but this configuration is not limiting. Any one or two of the first to third guide rings (J1 to J3) and the drive wires fixed thereto may be omitted.

[0057] For example, the catheter 11 may have the seventh to ninth drive wires (W31 to W33) and the third guide ring J3, and may omit the first to sixth drive wires (W11 to W23) and the first and second guide rings (J1 to J2). Alternatively, the catheter 11 may have the fourth to ninth drive wires (W21 to W33) and the second and third guide rings (J2 to J3), and may omit the first to third drive wires (W11 to W13) and the first guide ring J1.

[0058] Alternatively, catheter 11 may have a configuration in which one guide ring is driven by two drive wires. In this case, the number of guide rings may be one or more.

[0059] <Catheter unit> The catheter unit 100 will be described using Figures 4(a) and 4(b). Figures 4(a) and 4(b) are explanatory diagrams of the catheter unit 100. Figure 4(a) is an explanatory diagram of the catheter unit 100 in a state where a wire cover 14 (described later) is in a covered position. Figure 4(b) is an explanatory diagram of the catheter unit 100 in a state where a wire cover 14 (described later) is in an exposed position.

[0060] The catheter unit 100 includes a catheter 11 having a bending section 12 and a bending drive section 13, and a proximal end cover 16 that supports the proximal end of the catheter 11. The catheter unit 100 also includes a cover (wire cover) 14 that covers and protects first to ninth drive wires (W11 to W33) that serve as a plurality of drive wires.

[0061] The catheter unit 100 is attachable to and detachable from the base unit 200 along an attachment / detachment direction DE. The direction in which the catheter unit 100 is attached to the base unit 200 and the direction in which the catheter unit 100 is removed from the base unit 200 are parallel to the attachment / detachment direction DE.

[0062] The proximal end cover (frame body, bending portion housing, catheter housing) 16 is a cover that covers a part of the catheter 11. The proximal end cover 16 has a tool hole 16a for inserting a medical instrument into the passage Ht of the bending portion 12.

[0063] The wire cover 14 is provided with a plurality of exposed holes (wire cover holes, cover holes) for passing through the first to ninth drive wires (W11 to W33). The wire cover 14 is provided with a first exposed hole 14a11, a second exposed hole 14a12, a third exposed hole 14a13, a fourth exposed hole 14a21, a fifth exposed hole 14a22, a sixth exposed hole 14a23, a seventh exposed hole 14a31, an eighth exposed hole 14a32, and a ninth exposed hole 14a33. The first to ninth exposed holes (14a11 to 14a33) correspond to the first to ninth drive wires (W11 to W33), respectively. The number after the symbol 14a indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first exposed hole 14a11.

[0064] Any one of the first to ninth exposure holes (14a11 to 14a33) can be referred to as exposure hole 14a. In this embodiment, the first to ninth exposure holes (14a11 to 14a33) have the same shape.

[0065] The wire cover 14 can be moved between a covering position (see FIG. 14(a)) where it covers the first to ninth drive wires (W11 to W33) and a cover retracted position (see FIG. 14(b)) where it is retracted from the covering position. The cover retracted position can also be called an exposing position where the first to ninth drive wires (W11 to W33) are exposed.

[0066] The wire cover 14 is located in the covered position before the catheter unit 100 is attached to the base unit 200. When the catheter unit 100 is attached to the base unit 200, the wire cover 14 moves from the covered position to the exposed position along the attachment / detachment direction DE.

[0067] In the present embodiment, the wire cover 14 is moved from the covered position to the exposed position and then remains at the exposed position. Therefore, after the catheter unit 100 is attached to the base unit 200, the wire cover 14 remains at the exposed position even if the catheter unit 100 is removed from the base unit 200.

[0068] 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 unit 100 may be provided with a biasing member that biases the wire cover 14 from the exposed position toward the covered position. In this case, after the catheter unit 100 is attached to the base unit 200, when the catheter unit 100 is removed from the base unit 200, the wire cover 14 is moved from the exposed position to the covered position.

[0069] When the wire cover 14 is in the exposed position, the first to ninth held portions (Wa11 to Wa33) of the first to ninth drive wires (W11 to W33) are exposed. As a result, the bending drive portion 13 is allowed to be connected to a connecting device 21, which will be 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 drive wires (W11 to W33) protrude from the first to ninth exposed holes (14a11 to 14a33). More specifically, the first to ninth held portions (Wa11 to Wa33) protrude from the first to ninth exposed holes (14a11 to 14a33) in the attachment direction Da, which will be described later.

[0070] As shown in FIG. 4(b), each of the first to ninth driving wires (W11 to W33) is arranged along a circle (imaginary circle) having a predetermined radius.

[0071] In this embodiment, the catheter unit 100 has a key shaft (key, catheter side key) 15. In this embodiment, the key shaft 15 extends in the attachment / detachment direction DE. The wire cover 14 is provided with a shaft hole 14b through which the key shaft 15 passes. The key shaft 15 is engageable with a key receiving portion 22, which will be described later. By engaging the key shaft 15 with the key receiving portion 22, movement of the catheter unit 100 relative to the base unit 200 is limited within a predetermined range in the circumferential direction of a circle (imaginary circle) on which the first to ninth drive wires (W11 to W33) are arranged.

[0072] In this embodiment, when viewed in 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 a circle (a virtual 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.

[0073] In this embodiment, the catheter unit 100 includes an operating section 400. The operating section 400 is configured to be movable (rotatable) relative to the proximal end cover 16 and the bending drive section 13. The operating section 400 is rotatable around a rotation axis 400r. The rotation axis 400r of the operating section 400 extends in the attachment / detachment direction DE.

[0074] With the catheter unit 100 attached to the base unit 200, the operation unit 400 is configured to be movable (rotatable) relative to the base unit 200. More specifically, the operation unit 400 is configured to be movable (rotatable) relative to the base housing 200f, the wire driving unit 300, and the connecting device 21, which will be described later.

[0075] <Base unit> The base unit 200 and the wire driving section 300 will be described using Figures 5(a) to 5(c). Figures 5(a) to 5(c) are explanatory diagrams of the base unit 200 and the wire driving section 300. Figure 5(a) is a perspective view showing the internal structure of the base unit 200. Figure 5(b) is a side view showing the internal structure of the base unit 200. Figure 5(c) is a view of the base unit 200 as seen along the attachment / detachment direction DE.

[0076] As described above, the medical device 1 includes the base unit 200 and the wire driving unit 300. In this embodiment, the wire driving unit 300 is housed in the base housing 200f and provided inside the base unit 200. In other words, the base unit 200 includes the wire driving unit 300.

[0077] The wire driving unit 300 has multiple driving sources (motors, actuators). In this embodiment, the wire driving unit 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.

[0078] Any one of the first to ninth driving sources (M11 to M33) can be referred to as driving source M. In this embodiment, the first to ninth driving sources (M11 to M33) have the same configuration.

[0079] The base unit 200 includes a coupling device 21. The coupling device 21 is housed in a base housing 200f. The coupling device 21 is connected to the wire driving unit 300. The coupling device 21 has 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.

[0080] Any one of the first to ninth connecting portions (21c11 to 21c33) can be called a connecting portion 21c. In this embodiment, the first to ninth connecting portions (21c11 to 21c33) have the same configuration.

[0081] Each of the multiple connecting portions 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 connecting portion 21c11 is connected to and driven by the first driving source M11. The second connecting portion 21c12 is connected to and driven by the second driving source M12. The third connecting portion 21c13 is connected to and driven by the third driving source M13. The fourth connecting portion 21c21 is connected to and driven by the fourth driving source M21. The fifth connecting portion 21c22 is connected to and driven by the fifth driving source M22. The sixth connecting portion 21c23 is connected to 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.

[0082] As will be described later, a bending drive unit 13 including first to ninth drive wires (W11 to W33) is connected to the connection device 21. The bending drive unit 13 receives the driving force of the wire drive unit 300 via the connection device 21 and bends the bending portion 12.

[0083] The drive wire W is connected to the connecting portion 21c via the hold portion Wa. Each of the multiple drive wires is connected to each of the multiple connecting portions. Specifically, the first hold portion Wa11 of the first drive wire W11 is connected to the first connecting portion 21c11. The second hold portion Wa12 of the second drive wire W12 is connected to the second connecting portion 21c12. The third hold portion Wa13 of the third drive wire W13 is connected to the third connecting portion 21c13. The fourth hold portion Wa21 of the fourth drive wire W21 is connected to the fourth connecting portion 21c21. The fifth hold portion Wa22 of the fifth drive wire W22 is connected to the fifth connecting portion 21c22. The sixth hold portion Wa23 of the sixth drive wire W23 is connected to the sixth connecting portion 21c23. The seventh held portion Wa31 of the seventh drive wire W31 is connected to the seventh connecting portion 21c31. The eighth held portion Wa32 of the eighth drive wire W32 is connected to the eighth connecting portion 21c32. The ninth held portion Wa33 of the ninth drive wire W33 is connected to the ninth connecting portion 21c33.

[0084] The base unit 200 has 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 after the symbol 25a indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first insertion hole 25a11.

[0085] Any one of the first to ninth insertion holes (25a11 to 25a33) can be referred to as an insertion hole 25a. In this embodiment, the first to ninth insertion holes (25a11 to 25a33) have the same shape.

[0086] The base frame 25 is provided with an attachment opening 25b into which the wire cover 14 is inserted. First to ninth insertion holes (25a11 to 25a33) are arranged at the bottom of the attachment opening 25b.

[0087] The base unit 200 further includes a motor frame 200b, a first bearing frame 200c, a second bearing frame 200d, and a third bearing frame 200e. The motor frame 200b, the first bearing frame 200c, the second bearing frame 200d, and the third bearing frame 200e are connected to each other.

[0088] The base frame 25 has a key receiving portion (key hole, base side key, main body side key) 22 that receives the key shaft 15. The engagement between the key shaft 15 and the key receiving portion 22 prevents the catheter unit 100 from being attached to the base unit 200 in the wrong phase.

[0089] By engaging the key shaft 15 with the key receiving portion 22, the movement of the catheter unit 100 relative to the base unit 200 is limited within a predetermined range in the circumferential direction of the circle (imaginary circle) on which each of the first to ninth drive wires (W11 to W33) is arranged.

[0090] As a result, the first to ninth drive wires (W11 to W33) are engaged with the corresponding first to ninth insertion holes (25a11 to 25a33) and the corresponding first to ninth connecting portions (21c11 to 21c33), respectively. In other words, the drive wire W is prevented from engaging with an insertion hole 25a other than the corresponding insertion hole 25a and a connecting portion 21c other than the corresponding connecting portion 21c.

[0091] The user can correctly connect each of the first to ninth drive wires (W11 to W33) to each of the first to ninth connecting portions (21c11 to 21c33) by engaging the key shaft 15 with the key receiving portion 22. Therefore, the user can easily attach the catheter unit 100 to the base unit 200.

[0092] In this embodiment, the key shaft 15 has a protrusion that protrudes in a direction intersecting the attachment / detachment direction DE, and the key receiving portion 22 has a recess into which the protrusion is inserted. The position at which the protrusion and the recess engage in the circumferential direction is the position at which the drive wire W engages with the corresponding insertion hole 25a and the corresponding connecting portion 21c.

[0093] The key shaft 15 may be disposed in either the base unit 200 or the catheter unit 100, and the key receiving portion 22 may be disposed in the other. For example, the key shaft 15 may be disposed on the base unit 200 side, and the key receiving portion 22 may be disposed on the catheter unit 100 side.

[0094] The base unit 200 has a joint 28 with a joint engagement portion 28j. The base frame 25 has a lock shaft 26 with a lock protrusion 26a. The functions of these will be described later.

[0095] <Connection between motor and drive wire> The connection between the wire driving unit 300, the connecting device 21, and the bending driving unit 13 will be described using Figures 6(a) to 6(c). Figures 6(a) to 6(c) are explanatory diagrams of the wire driving unit 300, the connecting device 21, and the bending driving unit 13. Figure 6(a) is a perspective view of the driving source M, the connecting unit 21c, and the driving wire W. Figure 6(b) is an enlarged view of the connecting unit 21c and the driving wire W. Figure 6(c) is a perspective view showing the connection between the wire driving unit 300, the connecting device 21, and the bending driving unit 13.

[0096] In this embodiment, the first to ninth drive wires (W11 to W33) are connected to the first to ninth connecting portions (21c11 to 21c33) in the same configuration. Also, the first to ninth connecting portions (21c11 to 21c33) are connected to the first to ninth drive sources (M11 to M33) in the same configuration. Therefore, the following description will be given of the configuration in which one drive wire W, one connecting portion 21c, and one drive source M are connected.

[0097] As shown in Fig. 6(a), the driving source M has 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.

[0098] The connecting portion 21c has a tractor 21ct connected to the output shaft Ma and a tractor support shaft 21cs that supports the tractor 21ct. The tractor support shaft 21cs is connected to a connecting base 21cb.

[0099] The connecting portion 21c has a leaf spring 21ch as a holding portion for holding 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. More specifically, the held portion Wa engages with the leaf spring 21ch. As will be described later, the leaf spring 21ch can be in a state where it clamps and fixes the held portion Wa (fixed state), or in a state where it releases the held portion Wa (released state).

[0100] The connecting portion 21c has a pressing member 21cp. The pressing member 21cp has a gear portion 21cg that meshes with an internal gear 29, which will be described later, and a cam 21cc that serves as a pressing portion for pressing the leaf spring 21ch.

[0101] As will be described later, the cam 21cc can move relative to the leaf spring 21ch. The movement of the cam 21cc switches the leaf spring 21ch between a fixed state and a released state.

[0102] 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 unit 200. The second bearing B2 is supported by a second bearing frame 200d of the base unit 200. The third bearing B3 is supported by a third bearing frame 200e of the base unit 200. Therefore, when the output shaft Ma rotates in the rotation direction Rm, the connecting portion 21c is restricted from rotating around the output shaft Ma. The first bearing B1, the second bearing B2, and the third bearing B3 are provided for each of the first to ninth connecting portions (21c11 to 21c33).

[0103] Because the rotation of the connecting portion 21c around the output shaft Ma is restricted, when the output shaft Ma rotates, a force along the rotational axis direction of the output shaft Ma acts on the tractor 21ct due to the spiral groove of the output shaft Ma. As a result, the connecting portion 21c moves along the rotational axis direction of the output shaft Ma (direction Dc). The movement of the connecting portion 21c moves the drive wire W, and the bending portion 12 bends. At this time, by switching the rotation direction of the drive source M, the connecting portion 21c can drive the drive wire W in either a direction that presses the drive wire W (direction Dc1) or a direction that pulls the drive wire W (direction Dc2).

[0104] In other words, the output 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 using a screw. In this embodiment, the output shaft Ma and the tractor 21ct are slide screws, but they may also be ball screws.

[0105] As shown in FIG. 6(c), by attaching the catheter unit 100 to the base unit 200, the first to ninth driving wires (W11 to W33) are respectively connected to the first to ninth connecting portions (21c11 to 21c33).

[0106] The control unit 3 can control each of the first to ninth drive sources (M11 to M33) independently of one another. That is, any of the first to ninth drive sources (M11 to M33) can operate or stop independently, regardless of whether the other drive sources are stopped or not. In other words, the control unit 3 can control each of the first to ninth drive 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 the bending region 12b of the bending portion 12 can be bent in any direction.

[0107] <Attaching the catheter unit> The operation of attaching the catheter unit 100 to the base unit 200 will be described using Figures 7(a) and 7(b). Figures 7(a) and 7(b) are explanatory views of attaching the catheter unit 100. Figure 7(a) is a view of the catheter unit 100 before it is attached to the base unit 200. Figure 7(b) is a view of the catheter unit 100 after it has been attached to the base unit 200.

[0108] In this embodiment, the attachment / detachment direction DE of the catheter unit 100 is the same as the direction of the rotation axis 400r of the operation section 400. Of the attachment / detachment directions DE, the direction in which the catheter unit 100 is attached to the base unit 200 is called the attachment direction Da. Of the attachment / detachment directions DE, the direction in which the catheter unit 100 is removed from the base unit 200 (the opposite direction to the attachment direction Da) is called the removal direction Dd.

[0109] 7(a), before the catheter unit 100 is attached to the base unit 200, the wire cover 14 is located 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 unit 100 is attached to the base unit 200, the first to ninth drive wires (W11 to W33) can be protected.

[0110] When the catheter unit 100 is attached to the base unit 200, the key shaft 15 is engaged with the key receiver 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 receiver 22, the wire cover 14 does not engage with the attachment opening 25b. In other words, when the phase of the catheter unit 100 relative to the base unit 200 is such that the key shaft 15 and the key receiver 22 cannot engage with each other, the wire cover 14 does not engage with the attachment opening 25b and remains positioned in the covered position. Therefore, even when the catheter unit 100 is moved so that the key shaft 15 and the key receiver 22 engage with each other, the first to ninth drive wires (W11 to W33) are protected.

[0111] When the key shaft 15 and the key receiving portion 22 engage and the catheter unit 100 is moved in the attachment direction Da relative to the base unit 200, the catheter unit 100 is attached to the base unit 200. Attaching the catheter unit 100 to the base unit 200 moves the wire cover 14 to the exposed position. In this embodiment, the wire cover 14 moves from the covered position to the exposed position by abutting against the base frame 25 (see FIG. 7(b)).

[0112] More specifically, when the catheter unit 100 is attached, the wire cover 14 comes into contact with the base frame 25 and stops. In this state, by moving the catheter unit 100 in the attachment direction Da, the wire cover 14 moves relative to the other portions of the catheter unit 100. As a result, the wire cover 14 moves from the covered position to the exposed position.

[0113] While the wire cover 14 moves from the covered position to the exposed position, the held portion Wa of the drive wire W protrudes from the exposed hole 14a of the wire cover 14 and is inserted into the insertion hole 25a. Then, the held portion Wa engages with the leaf spring 21ch of the connecting portion 21c (see FIG. 6(b)).

[0114] When the catheter unit 100 is simply attached to the base unit 200, it can be removed by moving the catheter unit 100 in the removal direction Dd relative to the base unit 200. Furthermore, as will be described later, when the catheter unit 100 is simply attached to the base unit 200, the drive wire W and the connecting portion 21c are released from their fixed state.

[0115] With the catheter unit 100 attached to the base unit 200, operating the operation unit 400 prevents the catheter unit 100 from being removed from the base unit 200. Furthermore, with the catheter unit 100 attached to the base unit 200, operating the operation unit 400 fixes the bending drive unit 13 to the connecting device 21, and connects the bending drive unit 13 to the wire drive unit 300 via the connecting device 21.

[0116] <Fixing and releasing the bending drive unit> Using Figures 8(a, b), 9, 10, 11, 12, 13, and 14, we will explain the configuration for fixing the bending drive unit 13 to the connecting device 21 and the configuration for releasing the fixing of the bending drive unit 13 by the connecting device 21.

[0117] 8(a) and 8(b) are diagrams illustrating the connection between the catheter unit 100 and the base unit 200. FIG. 8(a) is a cross-sectional view of the catheter unit 100 and the base unit 200. FIG. 8(a) is a cross-sectional view of the catheter unit 100 and the base unit 200 taken along the rotation axis 400r. FIG. 8(b) is a cross-sectional view of the base unit 200. FIG. 8(b) is a cross-sectional view of the base unit 200 taken at the connecting portion 21c in a direction perpendicular to the rotation axis 400r. FIG. 9 is an exploded view illustrating the connection between the catheter unit 100 and the base unit 200. FIGS. 10, 11, 12, 13, and 14 are diagrams illustrating the fixation of the drive wire W by the connecting portion 21c.

[0118] As shown in Figures 8(a) and 9, the base unit 200 has a joint (intermediate member, second transmission member) 28 and an internal gear 29 as a movable gear (interlocking gear, transmission member, first transmission member) that interlocks with the operating part 400 via the joint 28.

[0119] The joint 28 has a plurality of transmitting parts 28c, and the internal gear 29 has a plurality of transmitted parts 29c. The plurality of transmitting parts 28c are engaged with the plurality of transmitted parts 29c, and when the joint 28 rotates, the rotation of the joint 28 is transmitted to the internal gear 29.

[0120] When the catheter unit 100 is attached to the base unit 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.

[0121] The internal gear 29 has a plurality of teeth for switching between a state in which each of the first to ninth connecting portions (21c11 to 21c33) fixes each of the first to ninth driving wires (W11 to W33) and a state in which each of the first to ninth driving wires (W11 to W33) is released. Each of the plurality of teeth (action portion, switching gear portion) of the internal gear 29 engages with the gear portion 21cg of the pressing member 21cp of each of the first to ninth connecting portions (21c11 to 21c33).

[0122] Specifically, in this embodiment, the internal gear 29 includes 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 with gaps between them.

[0123] The first tooth portion 29g11 meshes with the gear portion 21cg of the first linking portion 21c11. The second tooth portion 29g12 meshes with the gear portion 21cg of the second linking portion 21c12. The third tooth portion 29g13 meshes with the gear portion 21cg of the third linking portion 21c13. The fourth tooth portion 29g21 meshes with the gear portion 21cg of the fourth linking portion 21c21. The fifth tooth portion 29g22 meshes with the gear portion 21cg of the fifth linking portion 21c22. The sixth tooth portion 29g23 meshes with the gear portion 21cg of the sixth linking portion 21c23. The seventh tooth portion 29g31 meshes with the gear portion 21cg of the seventh linking portion 21c31. The eighth tooth portion 29g32 meshes with the gear portion 21cg of the eighth connecting portion 21c32. The ninth tooth portion 29g33 meshes with the gear portion 21cg of the ninth connecting portion 21c33.

[0124] Any one of the first to ninth tooth portions (29g11 to 29g33) can be referred to as tooth portion 29g. In this embodiment, the first to ninth tooth portions (29g11 to 29g33) have the same configuration.

[0125] In this embodiment, the first to ninth drive wires (W11 to W33) are connected to the first to ninth coupling portions (21c11 to 21c33) in the same configuration. Also, the first to ninth coupling portions (21c11 to 21c33) are connected to the first to ninth tooth portions (29g11 to 29g33) in the same configuration. Therefore, the following description will be given of the configuration in which one drive wire W, one coupling portion 21c, and one tooth portion 29g are connected.

[0126] In each of the first to ninth connecting portions (21c11 to 21c33), the gear portion 21cg is moved by the internal gear 29, whereby the pressing member 21cp rotates and the cam 21cc moves between the pressing position and a retracted position retracted from the pressing position.

[0127] Rotating the operating unit 400 rotates the internal gear 29. The first to ninth connecting portions (21c11 to 21c33) are operated by the rotation of the internal gear 29. In other words, the first to ninth connecting portions (21c11 to 21c33) can be operated by rotating one operating unit 400.

[0128] The operating section 400 can move between a fixed position (locked position) and a detached position when the catheter unit 100 is attached to the base unit 200. As will be described later, the operating section 400 can also move to a released position when the catheter unit 100 is attached to the base unit 200. The released position is located between the fixed position and the detached position in the circumferential direction of the operating section 400. The catheter unit 100 is attached to the base unit 200 when the operating section 400 is located at the detached position.

[0129] When the catheter unit 100 is attached to the base unit 200, the drive wire W is released from being fixed (locked) to the connecting portion 21c. This state is called the released state of the connecting portion 21c. The state in which the drive wire W is fixed (locked) to the connecting portion 21c is called the locked state of the connecting portion 21c.

[0130] 10, 11, 12, 13, and 14, the operation of fixing the drive wire W to the connecting portion 21c will be described.

[0131] After the catheter unit 100 is attached to the base unit 200 and before the operation section 400 is operated, the catheter unit 100 can be removed from the base unit 200. Hereinafter, the state in which the catheter unit 100 can be removed from the base unit 200 will be referred to as the removable state.

[0132] Fig. 10 is a diagram showing the state of the internal gear 29 and the connecting portion 21c in a removable state. Fig. 10 is a diagram showing the internal gear 29 and the connecting portion 21c in a state in which the operating portion 400 is positioned at a fixed position.

[0133] The leaf spring 21ch of the connecting portion 21c has a fixed portion 21cha fixed to the connecting base 21cb and a pressed portion 21chb that abuts against the cam 21cc of the pressing member 21cp. The leaf spring 21ch has a first portion 21chd1 and a second portion 21chd2. When the catheter unit 100 is attached to the base unit 200, the held portion Wa is inserted between the first portion 21chd1 and the second portion chd2.

[0134] The cam 21cc has a holding surface 21cca and a pressing surface 21ccb. In the direction of the radius of rotation of the pressing member 21cp, the holding surface 21cca is located closer to the rotation center 21cpc of the pressing member 21cp than the pressing surface 21ccb.

[0135] 10, in the removable state (when the operating unit 400 is in the removable position), the leaf spring 21ch is held in a position where the pressed portion 21chb abuts against the holding surface 21cca. Also, the tooth Za1 of the internal gear 29 and the tooth Zb1 of the gear portion 21cg are stationary with a clearance La between them.

[0136] In terms of the rotation direction of the operating unit 400, the direction in which the operating unit 400 moves from the detached position toward the unlocked position and the locked position is called the locking direction (locking direction), and the direction in which the operating unit 400 moves from the locked position toward the unlocked position and the operating unit 400 toward the detached position is called the unlocking direction. The operating unit 400 rotates from the unlocked position in the unlocking direction to move to the detached position. The operating unit 400 rotates from the unlocked position in the locking direction to move to the locked position.

[0137] When the catheter unit 100 is attached to the base unit 200 and the operation section 400 is in the detached position, the connecting section 21c is in the released state, and the fixation of the drive wire W by the connecting section 21c is released.

[0138] When connecting portion 21c is in the released state, cam 21cc is located in a retracted position retracted from a pressing position (described later). At this time, fixation of held portion Wa by leaf spring 21ch is released. The force with which first portion 21chd1 and second portion 21chd2 fasten held portion Wa when connecting portion 21c is in the released state is smaller than the force with which first portion 21chd1 and second portion 21chd2 fasten held portion Wa when connecting portion 21c is in the locked state.

[0139] When the connecting portion 21c is in the released state, if the catheter unit is moved in the removal direction Dd relative to the base unit 200, the held portion Wa can be pulled out from between the first portion 21chd1 and the second portion 21chd2.

[0140] When the connecting portion 21c is in the released state, it is preferable that the first portion 21chd1 and the second portion 21chd2 do not generate a force tightening the held portion Wa (the force is zero). When the connecting portion 21c is in the released state, it is preferable that a gap is generated between at least one of the first portion 21chd1 and the second portion 21chd2 and the held portion Wa.

[0141] Fig. 11 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 is rotated in the locking direction from the detached position. Fig. 11 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 is in the released position.

[0142] When the operating part 400 is rotated in the locking direction while it is in the removal position (FIG. 10), the internal gear 29 rotates clockwise, and the operating part 400 is then positioned in the release position.

[0143] Even when the operating section 400 is rotated, the key shaft 15 and the key receiving section 22 are engaged, so the entire catheter unit 100 (excluding the operating section 400) is restricted from rotating relative to the base unit 200. In other words, the operating section 400 can rotate relative to the entire catheter unit 100 (excluding the operating section 400) and the base unit 200 when they are stationary.

[0144] As the internal gear 29 rotates clockwise, the clearance between the tooth Za1 of the internal gear 29 and the tooth Zb1 of the gear portion 21cg decreases from the clearance La to a clearance Lb.

[0145] The tooth Zb2 of the gear portion 21cg is disposed at a position with a clearance Lz between it and the tooth 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 connecting portion 21c is maintained in the same state (released state) as shown in FIG.

[0146] 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 clockwise. The state of the internal gear 29 and the connecting portion 21c at this time is shown in Fig. 12.

[0147] Fig. 12 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 is rotated in the locking direction from the release position. As shown in Fig. 12, when the operating portion 400 is rotated in the locking direction from the release position, the tooth Za1 of the internal gear 29 comes into contact with the tooth Zb1 of the gear portion 21cg. Meanwhile, the connecting portion 21c is in the same state as shown in Figs. 10 and 11 and is maintained in the released state.

[0148] Fig. 13 is a diagram showing a state in which the pressing member 21cp is rotated as a result of the operation unit 400 being rotated in the locking direction. As shown in Fig. 13, when the operation unit 400 is further rotated in the locking direction from the state in Fig. 12, the internal gear 29 further rotates clockwise.

[0149] 12 to the state shown in FIG. 13, the internal gear 29 rotates the gear portion 21cg clockwise. As the gear portion 21cg rotates, the holding surface 21cca moves away from the pressed portion 21chb, and the pressing surface 21ccb moves closer to the pressed portion 21chb. Then, the first portion 21chd1 and the second portion 21chd2 start to sandwich the held portion Wa.

[0150] Then, while the corner 21ccb1 arranged at the end of the pressing surface 21ccb presses the pressed portion 21chb, the tooth Za3 of the internal gear 29 moves to a position away from the tooth Zb3 of the gear portion 21cg. At this time, the held portion Wa is sandwiched between the first portion 21chd1 and the second portion 21chd2.

[0151] When the tooth Za3 of the internal gear 29 separates from the tooth Zb3 of the gear portion 21cg, the transmission of the driving force from the internal gear 29 to the gear portion 21cg ends. At this time, the corner portion 21ccb1 of the cam 21cc receives a reaction force from the leaf spring 21ch.

[0152] The reaction force of the leaf spring 21ch acting on the corner 21ccb1 in the direction of the rotation radius of the pressing member 21cp acts at a position away from the rotation center 21cpc of the pressing member 21cp, causing the pressing member 21cp to rotate clockwise. At this time, the pressing member 21cp rotates in the same direction as the direction in which it is rotated by the internal gear 29, which rotates clockwise.

[0153] 14 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 is in the fixed position. As shown in Fig. 14, the pressing member 21cp receives the reaction force of the leaf spring 21ch and further rotates from the state shown in Fig. 13.

[0154] As shown in Figure 14, the pressing member 21cp stops with the pressing surface 21ccb of the cam 21cc and the pressed portion 21chb of the leaf spring 21ch in surface contact. In other words, the pressing surface 21ccb and the surface of the pressed portion 21chb are aligned on the same plane. At this time, the connecting portion 21c is in a locked state. When the connecting portion 21c is in the locked state, the cam 21cc of the pressing member 21cp is positioned in the pressing position, and the pressing surface 21ccb presses the pressed portion 21chb.

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

[0156] In this embodiment, the first portion 21chd1 and the second portion 21chd2 of the leaf spring 21ch press the held portion Wa at positions spaced apart from each other. Furthermore, a bent portion 21chc connecting the first portion 21chd1 and the second portion 21chd2 is disposed between the first portion 21chd1 and the second portion 21chd2. The bent portion 21chc is disposed with a gap G between it and the held portion Wa. This allows the held portion Wa to be stably fixed by the first portion 21chd1 and the second portion 21chd2.

[0157] The material of the leaf spring 21ch can be resin or metal, but it is preferable to use metal.

[0158] When the connecting portion 21c is in the locked state, the held portion Wa is restricted from being pulled out from between the first portion 21chd1 and the second portion 21chd2.

[0159] The tooth Za3 of the internal gear 29 and the tooth Zb4 of the gear portion 21cg stop at a position where a clearance Lc is created between them. The tip surface of this tooth Za3 is inclined away from the rotation axis downstream in the release direction with respect to a cylindrical surface that is in contact with the tip surfaces of the other teeth Za1 and Za2 about the rotation axis of the internal gear 29. As a result, when the internal gear 29 is rotated in the release direction from the state in FIG. 14 as described below, the tooth Za3 of the internal gear 29 can reach the tooth Zb4 beyond the tooth Zb3 of the gear portion 21cg without prying on it.

[0160] When releasing the fixation between the drive wire W and the connecting portion 21c, the operating portion 400, which is located in the fixed position, is rotated in the release direction. At this time, the internal gear 29 rotates counterclockwise from the state shown in Fig. 14. When the internal gear 29 rotates counterclockwise, the tooth Za3 of the internal gear 29 abuts against the tooth Zb4 of the gear portion 21cg, and the pressing member 21cp is rotated counterclockwise.

[0161] By further rotating the internal gear 29 counterclockwise, the fixation of the drive wire W by the connecting portion 21c is released. The operations of the internal gear 29 and the pressing member 21cp at this time are the reverse of the operations described above. In other words, the fixation of the drive wire W by the connecting portion 21c is released by the operation reverse to the operation when the drive wire W is fixed by the connecting portion 21c described above.

[0162] The above operation is performed for each of the first to ninth connecting parts (21c11 to 21c33). That is, in the process of moving operation unit 400 from the detachment position to the fixed position, the movement (rotation) of operation unit 400 causes the first to ninth connecting parts (21c11 to 21c33) to change from the unlocked state to the locked state. In the process of moving operation unit 400 from the fixed position to the detachment position, the movement (rotation) of operation unit 400 causes the first to ninth connecting parts (21c11 to 21c33) to change from the locked state to the unlocked state. That is, by operating one operation unit 400, the user can switch between the unlocked state and the locked state of multiple connecting parts.

[0163] That is, each of the multiple connecting parts is provided with an operating part for switching between the unlocked state and the locked state, eliminating the need for the user to operate it. Therefore, the user can easily attach and detach the catheter unit 100 to and from the base unit 200. Furthermore, the medical device 1 can be simplified.

[0164] The state in which the first to ninth drive wires (W11 to W33) are fixed by the first to ninth connecting portions (21c11 to 21c33), respectively, is called a first state. The state in which the first to ninth drive wires (W11 to W33) are released from the first to ninth connecting portions (21c11 to 21c33), respectively, is called a second state.

[0165] The first state and the second state are switched in conjunction with the movement of the operating unit 400. That is, the first state and the second state are switched in conjunction with the movement of the operating unit 400 between the detached position and the fixed position.

[0166] The internal gear 29 is configured to interlock with the operating unit 400. In this embodiment, the joint 28 functions as a transmission member for interlocking the operating unit 400 and the internal gear 29. The internal gear 29 and the joint 28 function as an interlocking unit that interlocks with the operating unit 400 so that the first state and the second state are switched in conjunction with the movement of the operating unit 400.

[0167] Specifically, with the catheter unit 100 attached to the base unit 200, the internal gear 29 and the joint 28 move a part of the leaf spring 21ch (pressed portion 21chb) relative to the held portion Wa in conjunction with the movement of the operation portion 400. The movement of the pressed portion 21chb switches the connecting portion 21c between a locked state and an unlocked state.

[0168] The internal gear 29 may be configured to be moved directly from the operating unit 400. In this case, the internal gear 29 functions as an interlocking unit.

[0169] <Moving the control panel> The movement of the operation unit 400 will be described with reference to FIGS. 15(a) to 15(c), 16(a) to 16(c), and 17(a) to 17(c).

[0170] In this embodiment, the operation section 400 is configured to be movable between a detached position, a released position, and a fixed position when the catheter unit 100 is attached to the base unit 200. The released position is located between the detached position and the fixed position.

[0171] In this embodiment, the operation unit 400 is switched between the first state and the second state in conjunction with the movement of the operation unit 400 between the release position and the fixed position.

[0172] In this embodiment, the operation unit 400 can move between the detachment position and the fixed position by moving in a direction different from the attachment / detachment direction DE. The operation unit 400 moves between the detachment position and the fixed position by moving in a direction intersecting (preferably perpendicular to) the attachment / detachment direction DE. In this embodiment, the operation unit 400 moves between the detachment position and the fixed position by rotating around a rotation axis 400r extending in the attachment / detachment direction DE. Therefore, the operability when the user operates the operation unit 400 is good.

[0173] Figures 15(a) to 15(c) are explanatory diagrams of the catheter unit 100 and the base unit 200. Figure 15(a) is a cross-sectional view of the catheter unit 100. Figure 15(b) is a perspective view of the button 41. Figure 15(c) is a perspective view of the base unit 200.

[0174] Figures 16(a) to 16(c) are diagrams illustrating the operation of the operating unit 400. Figure 16(a) is a diagram illustrating a state in which the operating unit 400 is in a detached position. Figure 16(b) is a diagram illustrating a state in which the operating unit 400 is in a released position. Figure 16(c) is a diagram illustrating a state in which the operating unit 400 is in a fixed position.

[0175] Figures 17(a) to 17(c) are cross-sectional views illustrating the operation of the operating unit 400. Figure 17(a) is a cross-sectional view showing the operating unit 400 in a detached position. Figure 17(b) is a cross-sectional view showing the operating unit 400 in a released position. Figure 17(c) is a cross-sectional view showing the operating unit 400 in a fixed position.

[0176] When the operation portion 400 is in the fixed position, the connection portion 21c is in a locked state, and the held portion Wa of the drive wire W is fixed to the corresponding connection portion 21c (see FIG. 14).

[0177] When the operating unit 400 is in the released position, the connecting unit 21c is in the released state, and the lock between the held portion Wa of the driving wire W and the connecting unit 21c is released (see FIG. 11). In this state, the driving wire W is disconnected from the wire driving unit 300. Therefore, when the catheter 11 receives an external force, the bending section 12 can bend freely without receiving resistance from the wire driving unit 300.

[0178] When the operating section 400 is in the detachment position, the catheter unit 100 is allowed to be detached from the base unit 200. Furthermore, with the operating section 400 in the detachment position, the catheter unit 100 can be attached to the base unit 200. When the operating section 400 is in the detachment position, the connecting section 21c is in the released state, and the lock between the held section Wa of the drive wire W and the connecting section 21c is released (see FIG. 10).

[0179] As shown in FIG. 15(a), the catheter unit 100 has an operation part biasing spring 43 that biases the operation part 400, a button 41 as a moving member, and a button spring 42 that biases the button 41.

[0180] In this embodiment, the operation portion biasing spring 43 is a compression spring. The operation portion 400 is biased by the operation portion biasing spring 43 in a direction Dh toward the proximal end cover 16.

[0181] In this embodiment, the button 41 and the button spring 42 are provided on the operation unit 400. When the operation unit 400 moves to the detached position, the released position, or the fixed position, the button 41 and the button spring 42 move together with the operation unit 400.

[0182] The button 41 is configured to be movable relative to the operating unit 400 in a direction intersecting the direction of the rotation axis 400r of the operating unit 400. The button 41 is biased by a button spring 42 toward the outside of the catheter unit 100 (in a direction away from the rotation axis 400r).

[0183] As will be described later, the button 41 restricts the operation unit 400 from moving from the release position to the detachment position. In addition, by moving the button 41 relative to the operation unit 400, the operation unit 400 is allowed to move from the release position to the detachment position.

[0184] The button 41 has a button protrusion (regulated portion) 41a. The button protrusion 41a has a slope 41a1 and a regulated surface 41a2.

[0185] The base unit 200 includes a base frame 25. The base frame 25 includes a lock shaft 26. The lock shaft 26 includes a lock protrusion (restriction portion) 26a.

[0186] In this embodiment, there are provided a plurality of (two in this embodiment) lock shafts 26. All of the lock shafts 26 may be provided with the lock protrusions 26a, or only some of the lock shafts 26 may be provided with the lock protrusions 26a.

[0187] 9, 16(a), 16(b), and 16(c), a lock groove 400a that engages with the lock shaft 26 is provided on the inside of the operating unit 400. The lock groove 400a extends in a direction different from the attachment / detachment direction DE. In this embodiment, it extends in the rotation direction of the operating unit 400. It can also be said that the lock groove 400a extends in a direction intersecting (perpendicular to) the attachment / detachment direction DE.

[0188] When a plurality of lock shafts 26 are provided, the lock groove 400a is provided for each of the plurality of lock shafts 26.

[0189] As shown in FIG. 16(a), when the catheter unit 100 is attached to the base unit 200, the lock shaft 26 engages with the lock groove 400a through the entrance 400a1 of the lock groove 400a.

[0190] At this time, the operation unit 400 is in the detachment position, and the connecting portion 21c is in the released state (see FIG. 10). Therefore, the first to ninth connecting portions (21c11 to 21c33) are released from the fixation of the first to ninth driving wires (W11 to W33), respectively. Also, as shown in FIG. 17(a), the button protrusion 41a and the lock protrusion 26a face each other.

[0191] When the operating unit 400 is rotated in the locking direction R1 while it is in the detached position, the inclined surface 41a1 of the button protrusion 41a comes into contact with the inclined surface 26a1 of the locking protrusion 26a. The button 41 moves toward the inside of the operating unit 400 (toward the rotation shaft 400r) against the biasing force of the button spring 42. Then, the button protrusion 41a moves over the locking protrusion 26a, and the operating unit 400 moves to the unlocked position (see FIG. 17(b)).

[0192] At this time, the connecting portion 21c is in a released state (see FIG. 11). Therefore, the first to ninth connecting portions (21c11 to 21c33) are no longer fixed to the first to ninth driving wires (W11 to W33), respectively.

[0193] In this embodiment, the operation unit 400 is allowed to be moved from the detached position to the released position without operating the button 41. In other words, the user does not need to operate the button 41 when moving the operation unit 400 from the detached position to the released position.

[0194] When the operating unit 400 is rotated in the locking direction R1 while it is in the release position, the operating unit 400 moves to the locking position. With the operating unit 400 in the locking position, the positioning portion 400a2 of the lock groove 400a is located at a position corresponding to the locking shaft 26. The operating unit 400 is biased by the operating unit biasing spring 43 in the direction Dh toward the proximal end cover 16. As a result, the positioning portion 400a2 engages with the locking shaft 26.

[0195] In the process of the operation portion 400 moving from the release position to the fixed position, the held portion Wa of the drive wire W is fixed to the connecting portion 21c as described above.

[0196] When the operation unit is in the fixed position, the connecting portion 21c is in a locked state (see FIG. 14). Therefore, the first to ninth drive wires (W11 to W33) are fixed to the first to ninth connecting portions (21c11 to 21c33), respectively. In this state, the drive force from the wire driving unit 300 can be transmitted to the bending drive unit 13. In other words, the drive force from each of the first to ninth drive sources (M11 to M33) can be transmitted to each of the first to ninth drive wires (W11 to W33) via the first to ninth connecting portions (21c11 to 21c33).

[0197] When the operating section 400 is in the release position, a wall 400a3 forming the lock groove 400a is located upstream of the lock shaft 26 in the removal direction Dd of the catheter unit 100. When the operating section 400 is in the fixed position, the positioning section 400a2 is located upstream of the lock shaft 26 in the removal direction Dd. As a result, when the operating section 400 is in the release position or the fixed position, removal of the catheter unit 100 from the base unit 200 is restricted. On the other hand, when the operating section 400 is in the removal position, an entrance 400a1 of the lock groove 400a is located upstream of the lock shaft 26 in the removal direction Dd. As a result, removal of the catheter unit 100 from the base unit 200 is permitted.

[0198] When the operating unit 400 is rotated in the release direction R2 while it is in the fixed position, the operating unit 400 is positioned at the release position. In the process of the operating unit 400 moving from the fixed position to the release position, the held portion Wa of the driving wire W is released from the connecting portion 21c as described above.

[0199] When the operating unit 400 is positioned at the release position, the regulated surface 41a2 of the button protrusion 41a abuts against the regulated surface 26a2 of the locking protrusion 26a (see FIG. 17(b)). In this state, rotation of the operating unit 400 in the release direction R2 is restricted. Also, removal of the catheter unit 100 from the base unit 200 is restricted.

[0200] When the operating unit 400 is in the release position, the user can press the button 41 toward the inside of the operating unit 400, causing the regulated surface 41a2 to separate from the regulating surface 26a2 and the button protrusion 41a to climb over the lock protrusion 26a. As a result, the operating unit 400 is allowed to rotate in the release direction R2, and the operating unit 400 can be moved from the release position to the detachment position.

[0201] When the operating section 400 is positioned at the detachment position, the connecting section 21c is released. Therefore, when the catheter unit 100 is detached from or attached to the base unit 200, the load acting on the drive wire W (for example, the resistance received by the connecting section 21c) can be reduced. This allows the user to easily attach and detach the catheter unit 100.

[0202] When the operation section 400 is located in the release position, the catheter unit 100 is restricted from being removed from the base unit 200, and the connecting section 21c is in the release state. As described above, when the connecting section 21c is in the release state, the connection between the driving wire W and the wire driving section 300 is cut off, and the bending section 12 can be bent freely without receiving resistance from the wire driving section 300.

[0203] With the catheter 11 inserted inside the subject, the user can stop driving the catheter 11 by the wire driving unit 300 by positioning the operating unit 400 in the release position. Furthermore, because removal of the catheter unit 100 from the base unit 200 is restricted, the user can hold the base unit 200 and pull out the catheter 11 from inside the subject.

[0204] Furthermore, in the configuration of this embodiment, the operation unit 400 is restricted from moving from the release position to the detachment position unless the button 41 is operated. Therefore, when the user moves the operation unit 400 from the fixed position to the release position, it is possible to prevent the operation unit 400 from being moved to the detachment position by mistake.

[0205] In this embodiment, there is one locking protrusion 26a and one button 41. However, the medical device 1 may have a plurality of locking protrusions 26a and buttons 41.

[0206] <Connection> Next, the connection portion Wc of this embodiment will be described with reference to Figures 18(a-c), 19(a-c), and 20(a-c). Figure 18(a) is a schematic diagram of a drive wire W having a connection portion Wc according to this embodiment. Figure 18(b) is a perspective view of a holder Wc1 and a rod Wc2 that constitute the connection portion Wc. Figure 18(c) is a cross-sectional view of the holder Wc1 and the rod Wc2 that constitute the connection portion Wc. Figure 18(a) shows a state in which the rod Wc2 is held by the holder Wc1 (connected state), and Figures 18(b, c) show a state in which the rod Wc2 is not held by the holder Wc1 (disconnected state).

[0207] The following description will focus on the connection part Wc provided on the drive wire W, which is any one of the first to ninth drive wires (W11 to W33) included in the catheter unit 100 of this embodiment. In a configuration example of this embodiment, a connection part Wc having substantially the same configuration as that described below is provided on each of the nine drive wires (W11 to W33).

[0208] 18(a), the connection part Wc has a holder Wc1 as a first member (engaging member, holding member) connected to the drive source M, and a rod Wc2 as a second member (engaged member, held member) connected to the wire body Wb of the drive wire W. Here, "connected to the drive source M" and "connected to the wire body Wb" refer to whether they are located on the upstream side (drive source side) or downstream side (wire body side) of the drive transmission path from the drive source M to the wire body Wb, and do not necessarily have to be in direct physical contact.

[0209] In this embodiment, the holder Wc1 is a member formed integrally with the held portion Wa of the drive wire W. Therefore, the holder Wc1 is connected to the drive source M via the held portion Wa and the connecting portion 21c (FIGS. 6(a) to 6(c)). The holder Wc1 and the held portion Wa may be separate bodies. On the other hand, the rod Wc2 is fixed to the proximal end of the wire body Wb by any fixing method such as crimping (caulking) or adhesive.

[0210] In a connected state in which the rod Wc2 is held by the holder Wc1 as shown in FIG. 18(a), the driving force of the driving source M is transmitted to the wire body Wb via the connection part Wc. As described above, by switching the rotation direction of the driving source M, the driving wire W is driven in either the Dc1 direction, which is a direction that presses the proximal end of the wire body Wb toward the distal end, or the Dc2 direction, which is a direction that pulls the proximal end of the wire body Wb in the opposite direction to the Dc1 direction. The extension direction of the wire body Wb at the connection part Wc is the Dc direction, which is substantially the same as the axial direction of the output shaft Ma of the driving source (FIG. 6(a)). The Dc1 direction is one side of the Dc direction, and the Dc2 direction is the other side of the Dc direction.

[0211] As shown in Figures 18(b) and 18(c), the holder Wc1 has a cylindrical portion c11 that extends in the Dc direction and is a generally bottomed cylinder that opens toward the Dc1 direction. The cylindrical portion c11 is arranged coaxially with the held portion Wa in the Dc direction, and the held portion Wa extends from the bottom of the cylindrical portion c11 in the Dc2 direction. The cylindrical portion c11 is an example of a tubular portion that extends in the extension direction of the wire body Wb and forms a space into which the second member can be inserted, and may be, for example, a square tube. Compared to a protruding piece c22 (described later) of the rod Wc2, the cylindrical portion c11 has higher bending rigidity in the Df direction, which is the main deformation direction of the protruding piece c22.

[0212] The holder Wc1 also has a protrusion c13 formed on the inside of the cylindrical portion c11. The protrusion c13 protrudes from the inner surface of the cylindrical portion c11 toward the axial center. That is, the protrusion c13 is an example of a protrusion protruding in a direction intersecting the extending direction (Dc direction) of the wire body Wb in the connection portion Wc.

[0213] When viewed in the Dc direction, the protrusions c13 are disposed at positions corresponding to recesses c23 (described later) on the rod Wc2. In this embodiment, the protrusions c13 are provided at two positions 180 degrees apart in the circumferential direction of the cylindrical portion c11, corresponding to the recesses c23 provided at two positions 180 degrees apart. However, it is sufficient that the protrusions c13 are provided at positions that can engage with the recesses c23; for example, the protrusions c13 may be formed in an annular shape around the entire inner circumference of the cylindrical portion c11.

[0214] 18(b) and 18(c), the rod Wc2 has a substantially cylindrical base portion c21 extending in the Dc2 direction from the proximal end of the wire body Wb, and two protruding pieces c22 each protruding in the Dc2 direction from the base portion c21. The protruding pieces c22 have a shape obtained by dividing a cylindrical shape having an outer diameter smaller than that of the base portion c21 into two by a plane extending in the Dc direction. In other words, when viewed from the Dc2 direction, the two protruding pieces c22 are two arcs located opposite each other on a common circumference.

[0215] Therefore, when the protruding pieces c22 are subjected to an external force, the protruding pieces c22 are primarily deformed in the Df direction, which is the direction in which the two protruding pieces c22 face each other through the center of the common circumference. In other words, the protruding pieces c22 function as deformation elements that can deform to allow the convex portions c13 to separate from the concave portions c23. The Df direction is a direction that perpendicularly intersects with the extension direction (Dc direction) of the wire body Wb at the connection portion Wc. However, the shape of the protruding pieces c22 is not limited to the above-described one, as long as the shape allows elastic deformation in the Df direction with appropriate rigidity.

[0216] The rod Wc2 also has a recess c23 on the outer side of each protruding piece c22. The recess c23 is formed between protrusions p1 and p2 that protrude outward from the outer surface of the protruding piece c22. The protrusions p1 and p2 are arranged side by side in the Dc direction.

[0217] The rod Wc2 is attached to the holder Wc1 by inserting it in the direction Dc2 toward the space c11s inside the cylindrical portion c11 of the holder Wc1 and pushing it in until the convex portion c13 of the holder Wc1 fits into the concave portion c23 of the rod Wc2. In this embodiment, the entire rod Wc2, that is, the portion from the base portion c21 to the protruding piece c22, is the insertion portion that is inserted into the cylindrical portion c11. Therefore, the concave portion c23 of the protruding piece c22 is provided on the outer surface of the insertion portion that is inserted into the cylindrical portion c11.

[0218] Hereinafter, the state in which the rod Wc2 is held by the holder Wc1 so that the driving force in the Dc1 or Dc2 direction transmitted from the driving source M can be transmitted to the wire body Wb will be referred to as the connected state (engaged state, attached state) of the connection part Wc. Also, the state in which the convex part c13 is disengaged from the concave part c23 and the connection between the driving source M and the wire body Wb is cut off will be referred to as the cut off state (disconnected state, detached state, removed state) of the connection part Wc.

[0219] Next, the connected state of the connection part Wc and its behavior under an overload will be described with reference to Figures 19(a)-19(c) and 20(a)-20(c). Figure 19(a) is a schematic diagram showing a cross section of the connection part Wc in the connected state. Figure 19(b) is a schematic diagram showing the state of the connection part Wc when an overload acts in the direction pressing the wire body Wb (direction Dc1). Figure 19(c) is a schematic diagram showing the state of the connection part Wc when an overload acts in the direction pulling the wire body Wb (direction Dc2). Figure 20(a) is a schematic diagram for explaining the behavior of the catheter 11 when the connection part Wc is in the connected state. Figure 20(b) is a schematic diagram for explaining the behavior of the catheter 11 when an overload acts in the direction pressing the wire body Wb (direction Dc1). FIG. 20(c) is a schematic diagram for explaining the behavior of the catheter 11 when an overload acts in the direction pulling the wire body Wb (direction Dc2).

[0220] As described above, in this embodiment, the catheter 11 is operated by pushing or pulling the wire body Wb. However, a configuration in which the catheter 11 is operated by simply pulling the wire body Wb without pushing it is also possible. However, such a configuration would increase the number of actuators and drive wires, which would increase the size and cost of the medical device 1. For these reasons, this embodiment employs a configuration in which the catheter 11 is operated by pushing or pulling the wire body Wb.

[0221] (Connection status) As shown in FIG. 19(a), in the connected state of the connection part Wc, the convex portion c13 of the holder Wc1 is fitted into the concave portion c23 of the rod Wc2. Specifically, the convex portion c13 is held between the protrusions p1 and p2 in the Dc direction. Here, as shown in FIG. 18(c), when the rod Wc2 is not attached to the holder Wc1, the distance between the vertices of the protrusions p1 in the Df direction and the distance between the vertices of the protrusions p2 in the Df direction are substantially the same distance Y2. This distance Y2 is greater than the distance Y1 between the convex portions c13 of the holder Wc1 in the Df direction when the rod Wc2 is not attached to the holder Wc1. Therefore, in the connected state shown in FIG. 19(a), the convex portion c13 of the holder Wc1 and parts of the rod Wc2 (protrusions p1 and p2) are in a positional relationship where they interfere with each other in the Dc direction. In other words, when viewed in the extension direction (Dc direction) of the wire body in the connected state, at least a portion of the convex portion provided on one of the first member or the second member overlaps with the concave portion provided on the other of the first member or the second member.

[0222] With this configuration, when the connection portion Wc is in a connected state, the holder Wc1 and the rod Wc2 move together in the Dc1 and Dc2 directions. That is, when the connection portion Wc is in a connected state, as shown in FIG. 20(a), a driving force from the driving source M causes the leaf spring 21ch of the coupling portion 21c to move the held portion Wa, thereby transmitting a driving force to the wire body Wb via the connection portion Wc. At this time, when a driving force is transmitted in a direction that presses the wire body Wb (Dc1 direction), the bending portion 12 of the catheter 11 bends so that the side through which the wire body Wb is inserted becomes the outer side of the curve. On the other hand, when a driving force is transmitted in a direction that pulls the wire body Wb (Dc2 direction), the bending portion 12 of the catheter 11 bends so that the side through which the wire body Wb is inserted becomes the outer side of the curve.

[0223] 19(a), the convex portion c13 of the holder Wc1 is preferably configured to fit into the concave portion c23 of the rod Wc2 with little play. In this embodiment, the protruding piece c22 provided with the concave portion c23 is made of an elastic material, and in the connected state, the protruding piece c22 is slightly elastically deformed in the Df direction, so that the elastic force of the protruding piece c22 presses the protruding portion c13 against the protrusions p1 and p2 on both sides.

[0224] That is, in this embodiment, the holder Wc1 as the first member and the rod Wc2 as the second member are engaged by a mechanism (snap-fit ​​mechanism) using a deformation element (elastic element) made of an elastic material. In other words, when a force equal to or less than a threshold value (a tensile force equal to or less than a first threshold value or a compressive force equal to or less than a second threshold value described below) acts between the first member and the second member, the elastic force of the elastic element maintains the state in which the convex portion is fitted into the concave portion. By using a snap-fit ​​mechanism for the connection part Wc, the connection part Wc can be assembled by the simple operation of inserting the rod Wc2 into the holder Wc1.

[0225] 19(a) in which the rod Wc2 is attached to the holder Wc1, the protrusions p1 and p2 of the rod Wc2 come into contact with the convex portion c13 of the holder Wc1, causing the protruding piece c22 to be slightly bent compared to the state before attachment (FIG. 18(c)). In other words, the distance Y2' between the vertices of the protrusions p1 when the rod Wc2 is attached to the holder Wc1 is slightly smaller than the distance Y2 between the vertices of the protrusions p1 when the rod Wc2 is not attached to the holder Wc1.

[0226] In this way, by employing a configuration in which the holder Wc1 and the rod Wc2 are engaged in a state in which there is little play, the responsiveness of the bending portion 12 of the catheter 11 to the driving of the driving source M can be improved.

[0227] (When an overload occurs in the pressing direction) Next, we will explain what happens when an excessive force acts on the connection part Wc in the direction (Dc1 direction) that presses the wire body Wb. As shown in Fig. 19(b), when a driving force is transmitted from the driving source M to the holder Wc1 in the direction (Dc1 direction) that presses the wire body Wb, a compressive force Fc acts between the holder Wc1 and the rod Wc2.

[0228] If the compressive force Fc does not exceed a predetermined threshold (second threshold), the compressive force Fc is received by the rod Wc2 via the contact portion between the convex portion c13 of the holder Wc1 and the protrusion p2 of the rod Wc2. In other words, the connection portion Wc of this embodiment is configured to transmit the driving force from the driving source M to the wire body Wb while maintaining the convex portion c13 fitted in the concave portion c23 when a compressive force Fc equal to or less than the second threshold acts.

[0229] However, when a large compressive force Fc exceeding a predetermined threshold (second threshold) is applied, the protrusion p2 of the rod Wc2 is pressed against the protrusion c13 of the holder Wc1, causing the protruding piece c22 of the rod Wc2 to elastically deform inward. As a result, the holder Wc1 and the rod Wc2 move relative to each other as the protrusion c13 climbs over the protrusion p2, and the protrusion c13 is released from the recess c23. In a state where the protrusion c13 is released from the recess c23 (disconnected state), the rod Wc2 does not move in the Dc1 direction even if the holder Wc1 moves in the Dc1 direction. In other words, the connection part Wc of this embodiment is configured so that when a compressive force Fc exceeding the second threshold is applied, the protrusion c13 is released from the recess c23, thereby interrupting the transmission of the driving force from the driving source M to the wire body Wb (FIG. 20(b)).

[0230] By switching the connection part Wc from a connected state to a disconnected state during an overload, an excessively large driving force is prevented from being transmitted to the wire body Wb, even if the holder Wc1 is driven in the Dc1 direction with an excessively large driving force due to, for example, an operational abnormality in the driving source M. This makes it possible to prevent the bending part 12 of the catheter 11 from being bent with an excessively strong force.

[0231] Furthermore, as described above, the connection portion Wc switches from a connected state to a disconnected state depending on the magnitude of the compressive force Fc acting between the holder Wc1 and the rod Wc2. Therefore, the connection portion Wc is disconnected even when an excessively large external force is applied to the wire body Wb due to an object coming into contact with the catheter 11. Even when the proximal end of the wire body Wb is pulled strongly in the Dc1 direction due to the external force applied to the wire body Wb, the possibility of damage to components such as the coupling portion 21c can be reduced.

[0232] 19(a), a clearance Ld is provided between the tip of the rod Wc2 in the Dc2 direction in the connected state and the wall surface c118 at the bottom of the space c11s of the holder Wc1, allowing relative movement between the holder Wc1 and the rod Wc2. The length of the clearance Ld in the Dc2 direction is set based on the position X0 of the convex portion c13 in the connected state so that the wall surface c118 does not come into contact with the rod Wc2 even if the holder Wc1 moves a predetermined distance in the Dc1 direction after the convex portion c13 has completely disengaged from the concave portion c23. By providing such clearance Ld, it is possible to prevent the rod Wc2 from being pressed against the wall surface c118 of the holder Wc1 and transmitting a driving force in the Dc1 direction even if the convex portion c13 has disengaged from the concave portion c23.

[0233] In addition, the control unit 3 of the medical device 1 may have a detection means for detecting that the connection of the connection part Wc has been interrupted, and may be configured to stop driving each driving source M when it detects that the connection of the connection part Wc has been interrupted.

[0234] (When an overload occurs in the tensile direction) Next, we will explain what happens when an excessive force acts on the connection part Wc in the direction that pulls the wire body Wb (direction Dc2). As shown in Figure 19(c), when a driving force in the direction that pulls the wire body Wb (direction Dc2) is transmitted from the driving source M to the holder Wc1, a tensile force Ft acts between the holder Wc1 and the rod Wc2.

[0235] If the tensile force Ft does not exceed a preset threshold (first threshold), the tensile force Ft is received by the rod Wc2 via the contact portion between the convex portion c13 of the holder Wc1 and the protrusion p1 of the rod Wc2. In other words, the connection portion Wc of this embodiment is configured to transmit the driving force from the driving source M to the wire body Wb while maintaining the state in which the convex portion c13 is fitted into the concave portion c23 when a tensile force Ft equal to or less than the first threshold acts.

[0236] However, when a large tensile force Ft exceeding a preset threshold (first threshold) is applied, the protrusion p1 of the rod Wc2 is pressed against the protrusion c13 of the holder Wc1, causing the protruding piece c22 of the rod Wc2 to elastically deform inward. This causes relative movement between the holder Wc1 and the rod Wc2, with the protrusion c13 climbing over the protrusion p1, and the protrusion c13 disengaging from the recess c23. In a state where the protrusion c13 is disengaged from the recess c23 (disconnected state), the rod Wc2 does not move in the Dc2 direction even if the holder Wc1 moves in the Dc2 direction. In other words, the connection Wc of this embodiment is configured such that when a tensile force Ft exceeding a second threshold is applied, the protrusion c13 disengages from the recess c23, interrupting the transmission of the driving force from the driving source M to the wire body Wb ( FIG. 20( c) ).

[0237] By switching the connection part Wc from a connected state to a disconnected state during an overload, an excessively large driving force is prevented from being transmitted to the wire body Wb, even if the holder Wc1 is driven in the Dc2 direction with an excessively large driving force due to, for example, an operational abnormality in the driving source M. This makes it possible to prevent the bending part 12 of the catheter 11 from being bent with an excessively strong force.

[0238] Furthermore, as described above, the connection portion Wc switches from a connected state to a disconnected state depending on the magnitude of the tensile force Ft acting between the holder Wc1 and the rod Wc2. Therefore, the connection portion Wc is disconnected even when an excessively large external force is applied to the wire body Wb due to an object coming into contact with the catheter 11. This reduces the possibility of damage to components such as the coupling portion 21c, even when the proximal end of the wire body Wb is pushed strongly in the Dc2 direction due to the external force applied to the wire body Wb.

[0239] In the configuration example of this embodiment, the threshold value (first threshold value) of the tensile force Ft is set to the same value as the threshold value (second threshold value) of the compressive force Fc. In this case, a configuration is obtained in which the connection between the drive source M and the wire body Wb is cut off when a load exceeding a predetermined threshold value acts on the connection part Wc regardless of the direction of the load.

[0240] (Advantages of this embodiment) As described above, according to this embodiment, the connection between the drive source M and the wire body Wb can be cut off in the event of either an overload in the direction pressing the wire body Wb or an overload in the direction pulling the wire body Wb.

[0241] Furthermore, in this embodiment, the components constituting the connection part Wc are part of the catheter unit 100, which is a unit that is detachable from other units (such as the base unit 200) of the medical device 1. Therefore, when a load exceeding a threshold acts on any of the connection parts Wc of the catheter unit 100, causing a disconnection state, the disconnected catheter unit 100 can be removed and a new catheter unit 100 can be attached.

[0242] As an alternative configuration to this embodiment, it is possible to arrange magnets in both the first member connected to the drive source M and the second member connected to the wire body Wb, and connect the first member and the second member by magnetic force. In this case, when a load that exceeds the force of attraction between the magnets acts between the first member and the second member, the magnetic force is overcome and the first member and the second member are separated, thereby cutting off the connection between the drive source M and the wire body Wb.

[0243] However, because the strength of the magnetic force between magnets is inversely proportional to the square of the distance between the magnet poles, the alternative configuration described above requires the magnets to be spaced apart by a certain distance or more to fully disconnect the drive source M and the wire body Wb. In other words, ensuring the distance required to separate the magnets may require space for the connection part. In contrast, in this embodiment, once the convex portion c13 is released from the concave portion c23, the interaction between the first member (holder Wc1) and the second member (rod Wc2) essentially ceases, completely disconnecting the drive source M and the wire body Wb. Therefore, it is only necessary to ensure enough space for the first member and the second member to move relative to each other in the event of an overload, allowing the convex portion c13 to release from the concave portion c23, making it easy to arrange the connection part Wc even in a small space.

[0244] Furthermore, in a configuration using magnets, the magnetic force of a connection portion connecting a pair of a driving source M and a wire body Wb may interfere with the magnetic force of a connection portion connecting another pair of a driving source M and a wire body Wb, potentially causing the connection portions to function unstably. In contrast, in this embodiment, even if multiple connection portions are spatially close to each other, they do not affect each other. Therefore, when the catheter 11 has multiple wire bodies Wb, this embodiment makes it easy to arrange multiple connection portions in a small space.

[0245] Furthermore, to connect a first member on the drive source side and a second member on the wire body side with sufficient connection strength using magnets, it is considered necessary to face the magnets in the Dc direction, which is the load direction, and to ensure a sufficient surface area where the magnets face each other. However, this configuration results in a large installation area for the connection when viewed in the Dc direction. In contrast, in this embodiment, the relative movement between the first member and the second member is restricted by physical interference between the convex portion c13 and the concave portion c23, so sufficient connection strength can be ensured with a small amount of interference. Therefore, the connection portion Wc can be arranged with a small installation area when viewed in the Dc direction.

[0246] Another alternative configuration to this embodiment is to combine a detection element (such as a strain gauge) with an electrically controllable clutch (such as an electromagnetic clutch), and disengage the clutch when an overload is detected to cut off the connection between the drive source M and the wire body Wb. However, such a configuration would require the provision of a detection element and clutch, making the device larger and more complex. In contrast, this embodiment achieves the function of cutting off the connection between the drive source M and the wire body Wb with a simple configuration in which the convex portion c13 disengages from the concave portion c23 when an overload occurs.

[0247] (Variation) As a modification of the first embodiment, a configuration in which separation of the first member and the second member is restricted even when the connection at the connection portion Wc is interrupted will be described using Figures 28(a-c), 29, and 30(a-c). Below, elements with the same reference numerals as those in the first embodiment have substantially the same configurations and functions as those described in the first embodiment, and differences from the first embodiment will be mainly described.

[0248] Fig. 28(a) is a schematic diagram of a driving wire W having a connecting portion Wc according to this modified example. Fig. 28(b) is a perspective view of a holder Wc1 and a rod Wc2 that constitute the connecting portion Wc. Fig. 28(c) is a cross-sectional view of the holder Wc1 and the rod Wc2 that constitute the connecting portion Wc. Fig. 28(a) shows a state in which the rod Wc2 is held by the holder Wc1 (connected state), and Figs. 28(b) and 28(c) show a state in which the rod Wc2 is not attached to the holder Wc1 (unattached state). Fig. 29 is a perspective view of a driving wire W according to this modified example.

[0249] 28(a-c) and 29, the rod Wc2 serving as the second member according to this modification is provided with a pin c21a that protrudes outward from the outer circumferential surface of the base portion c21. Meanwhile, the cylindrical portion c11 of the holder Wc1 serving as the first member according to this modification is formed with a slit c11a that receives the pin c21a. The slit c11a is an elongated hole that extends in the extension direction (Dc direction) of the wire body Wb.

[0250] As shown in FIG. 29, the rod Wc2 is attached to the holder Wc1 with the pin c21a fitted into the slit c11a. To attach the rod Wc2 having the pin c21a to the holder Wc1, for example, an elastic member such as a coil spring is disposed between the bottom of the pin c21a and the base portion c21 to bias the pin c21a toward the tip (upward in FIG. 28(c)). In this case, the pin c21a is pushed in while compressing the elastic member, and the rod Wc2 is inserted into the cylindrical portion c11. This allows the pin c21a to pass through the opening of the cylindrical portion c11 and fit into the slit c11a. Alternatively, for example, the rod Wc2 without the pin c21a attached may be inserted into the cylindrical portion c11 of the holder Wc1, and then the pin c21a may be inserted from the outside of the cylindrical portion c11 through the slit c11a and fixed with an adhesive or the like.

[0251] 28(c), the tip of the pin c21a protrudes outward from the inner circumferential surface of the cylindrical portion c11 of the holder Wc1. In other words, the height Yp of the rod Wc2 in a direction perpendicular to the extension direction (Dc direction) of the wire body Wb at the position of the pin c21a is greater than the inner diameter Ys of the cylindrical portion c11 of the holder Wc1 in the range where the slit c11a is provided. Furthermore, the pin c21a is configured not to come off from the slit c11a at least at the load thresholds (first and second thresholds) at which the convex portion c13 comes off from the concave portion c23.

[0252] The connection state of the connection part Wc in this modified example and its behavior under an overload will be described using Figures 30(a) to 30(c). Figure 30(a) is a schematic diagram showing a cross section of the connection part Wc in a connected state. Figure 30(b) is a schematic diagram showing the state of the connection part Wc when an overload acts in a direction that presses the wire body Wb (Dc1 direction). Figure 30(c) is a schematic diagram showing the state of the connection part Wc when an overload acts in a direction that pulls the wire body Wb (Dc2 direction).

[0253] As shown in Figure 30(a), in the connected state of the connection part Wc, as in the first embodiment, the convex part c13 of the holder Wc1 is fitted into the concave part c23 of the rod Wc2. Therefore, in the connected state, the relative movement of the holder Wc1 and the rod Wc2 is restricted, and the holder Wc1 and the rod Wc2 move together in the Dc1 and Dc2 directions. In other words, the driving force from the driving source M is transmitted to the wire body Wb via the connection part Wc. In the connected state, the pin c21a of the rod Wc2 is located between the ends of the slit c11a of the holder Wc1 and does not contact either end.

[0254] As shown in Figure 30(b, c), when an overload acts on the connection portion Wc in the Dc1 or Dc2 direction, the convex portion c13 disengages from the concave portion c23, and the transmission of the driving force from the driving source M to the wire body Wb is interrupted (interrupted state), as in the first embodiment.

[0255] However, even when the connection part Wc is in the disconnected state, the pin c21a remains fitted in the slit c11a. Therefore, when the connection part Wc is in the disconnected state, the holder Wc1 and the rod Wc2 are connected to each other, with relative movement between the holder Wc1 and the rod Wc2 permitted within the range in which the pin c21a slides inside the slit c11a.

[0256] When the connection part Wc of any of the drive wires W is in the disconnected state, the catheter unit 100 can be removed from the base unit 200 by operating the operating part 400 described above. In this modification, since the holder Wc1 and the rod Wc2 remain connected even after the connection part Wc is in the disconnected state, the holder Wc1 and the held part Wa are removed together with the rod Wc2 when the catheter unit 100 is removed. Specifically, when the catheter unit 100 is removed in the Dc1 direction after the connection part Wc is in the disconnected state, the holder Wc1 and the held part Wa are pulled out together with the rod Wc2 connected to the wire body Wb with the pin c21a engaged with the end part c11b of the slit c11a on the Dc1 direction side, as shown in Figure 30(c).

[0257] That is, when the connection part Wc is configured as a part of the catheter unit 100, it is possible to prevent the first member from being left behind on the base unit 200 side when the catheter unit 100 is removed. This makes it easier to replace the catheter unit 10, improving usability.

[0258] The pin c21a described in this modified example is an example of a stopper (a retaining portion, a separation restricting portion) that restricts separation between the first member and the second member when the connection portion Wc is in a disconnected state. This is not a limitation, and for example, a pin serving as a stopper may be disposed in the holder Wc1, and a slit for receiving the pin may be formed in the rod Wc2. Furthermore, the slit c11a is not limited to a through hole, but may also be a groove. Furthermore, multiple pairs of pins c21a and slits c11a may be disposed to more reliably prevent separation. Furthermore, the stopper is not limited to a pin, and may have any shape that can restrict separation between the first member and the second member. For example, an annular protrusion such as a snap ring may be used.

[0259] (Other variations) In the first embodiment, the connecting portion Wc has a configuration in which the convex portion c13 is arranged inside the cylindrical holder Wc1 and the concave portion c23 is arranged in the two protruding pieces c22 of the rod Wc2, but other configurations that exhibit similar functions may also be used. Modified examples of the connecting portion Wc are shown in Figures 21(a) to 21(g).

[0260] 21(a) is a schematic diagram illustrating the connection configuration between the holder Wc1 and the rod Wc2 exemplified in the first embodiment. As described above, the convex portion c13 provided on the holder Wc1 fits into the concave portion c23 provided on the rod Wc2, so that the holder Wc1 and the rod Wc2 are connected and move together in the Dc direction.

[0261] 21(b) shows a modified example in which the protrusion c13 provided on the holder Wc1 is biased toward the recess c23 by an elastic member c131 such as a spring. In this case, by changing the spring constant of the elastic member c131 or the amount of deformation in the connected state, it is possible to change the magnitude of the load at which the protrusion c13 separates from the recess c23, i.e., the load thresholds (first threshold and second threshold) at which the connection of the connection part Wc is cut off.

[0262] 21(c) shows a modified example in which the protrusion c14 provided on the holder Wc1 is a spherical or cylindrical rotating member rotatably supported by a support portion of the holder Wc1. In this case, the influence of friction at the contact surface when the protrusion c13 disengages from the recess c23 is reduced. Therefore, the magnitude of the load at which the protrusion c13 disengages from the recess c23, i.e., the load thresholds (first threshold and second threshold) at which the connection of the connection portion Wc is interrupted, can be set with higher accuracy.

[0263] 21(d) shows a modified example in which the convex portion c14 provided on the holder Wc1 is a rotating member, and the convex portion c13 is biased toward the concave portion c23 by an elastic member c131 such as a spring. In this case, by changing the elastic member c131, it is possible to change the load thresholds (first threshold, second threshold) at which the connection of the connection portion Wc is cut off, and it is possible to set the load thresholds (first threshold, second threshold) with higher accuracy.

[0264] FIG. 21(e) shows a modified example in which a recess c15 is arranged in the first member Wc1′ and a protrusion c25 is arranged in the second member Wc2′. This modified example can be realized, for example, by interchanging the holder Wc1 used as the first member in the first embodiment with the rod Wc2 used as the second member. That is, a member having the same shape as the holder Wc1 of the first embodiment is attached to the proximal end of the wire body Wb as the first member Wc1′, and a member having the same shape as the rod Wc2 of the first embodiment is formed as the second member Wc2′ integrally with the held portion Wa. Note that the second member Wc2′ and the held portion Wa may be separate bodies.

[0265] As another configuration for realizing the modification example of FIG. 21(e), instead of the convex portion c13, two protrusions may be arranged in the Dc direction inside the cylindrical portion c11 of the holder Wc1 of the first embodiment to form a concave portion c15, and a convex portion that fits into this concave portion may be arranged on the protruding piece c22 of the rod Wc2. That is, in this case, similar to the configurations of FIGS. 21(a) to (d), the holder Wc1 is integrally formed with the held portion Wa, and the rod Wc2 is attached to the proximal end of the wire body Wb. Thus, by arranging a convex portion on either one of the first member and the second member and arranging a concave portion that fits with the convex portion on the other of the first member and the second member, a connecting portion having the same function as the first embodiment can be configured. Regarding the second to fourth embodiments described below, the arrangements of the convex portion and the concave portion can be interchanged, and any configuration may be adopted as long as a convex portion is arranged on either one of the first member and the second member and a concave portion that fits with the convex portion is arranged on the other of the first member and the second member.

[0266] FIG. 21(f) shows a modification example in which the convex portions c16 and c17 are arranged at different positions on the first member Wc1″, and the convex portions c26 and c27 are arranged at different positions on the second member Wc2″. This modification example can be realized, for example, by integrally forming a member in which the convex portions c16 and c17 are arranged instead of the convex portion c13 in the holder Wc1 of the first embodiment with the held portion Wa as the first member Wc1″. Then, by attaching a member in which the convex portions c26 and c27 are arranged instead of the protrusions p1 and p2 in the rod Wc2 of the first embodiment to the proximal end of the wire body Wb as the second member Wc2′. Note that the first member Wc1′ and the held portion Wa may be separate bodies.

[0267] The convex portion c16 is an example of the first convex portion, the convex portion c17 is an example of the second convex portion, the convex portion c26 is an example of the third convex portion that engages with the first convex portion, and the convex portion c27 is an example of the fourth convex portion that engages with the second convex portion. Regarding the second to fourth embodiments described below, by arranging the first convex portion and the second convex portion instead of the "convex portion" of the first member and arranging the third convex portion and the fourth convex portion instead of the "concave portion" of the second member, a function similar to the combination of the convex portion and the concave portion can be obtained.

[0268] In the first embodiment and the modified example described above, the connection portion Wc is formed by fitting a protrusion and a recess. However, this configuration is not limited thereto. The connection portion Wc may be formed by engaging a protrusion with a protrusion at two different positions, as exemplified in this modified example and the modified example shown in FIG. 21(f) below. In other words, regardless of the specific shapes of the first and second members, the connection portion Wc may be formed by engaging the shape of the first member with the shape of the second member so as to restrict relative movement between the first and second members in the Dc1 and Dc2 directions. In this case, as long as there is a location where a portion of the second member abuts against a portion of the first member from the Dc1 direction and a location where a portion of the second member abuts against a portion of the first member from the Dc2 direction, the relative movement between the first and second members in the Dc1 and Dc2 directions is restricted. In addition, by configuring the former contact point to separate due to an overload in the Dc1 direction, and the latter contact point to separate due to an overload in the Dc2 direction, the connection between the first member and the second member is cut off in response to the overload.

[0269] In the configuration of FIG. 21(f), when a driving force is applied in the Dc1 direction, the first member Wc1" attempts to move in the Dc1 direction, and the engagement between the convex portion c17 and the convex portion c27 causes the first member Wc1" and the second member Wc2" to move together. If an overload occurs, the convex portion c17 moves further in the Dc1 direction, climbing over the convex portion c27, and the connection between the first member Wc1" and the second member Wc2" is severed. On the other hand, when a driving force is applied in the Dc2 direction, the first member Wc1" attempts to move in the Dc2 direction, and the engagement between the convex portion c16 and the convex portion c26 causes the first member Wc1" and the second member Wc2" to move together. If an overload occurs, the convex portion c16 moves further in the Dc2 direction, climbing over the convex portion c26, and the connection between the first member Wc1" and the second member Wc2" is severed.

[0270] In the configuration of FIG. 21(f), the protrusions c26 and c27 are provided at positions opposite to each other in the circumferential direction of the substantially cylindrical second member Wc2″, but this is not limiting. As shown in FIG. 21(g), the protrusions c28 and c29 may be provided at different positions in the extension direction of the second member Wc2″. FIG. 21(g) shows a modified example in which the protrusions c18 and c19 are arranged at different positions on the first member Wc1″, and the protrusions c28 and c29 are arranged at different positions on the second member Wc2″. The protrusions c18 are an example of a first protrusion, the protrusions c19 are an example of a second protrusion, the protrusions c28 are an example of a third protrusion that engages with the first protrusion, and the protrusions c29 are an example of a fourth protrusion that engages with the second protrusion.

[0271] In the configuration of FIG. 21(g), when a driving force is applied in the Dc1 direction, the first member Wc1" attempts to move in the Dc1 direction, and the engagement between the convex portion c19 and the convex portion c29 causes the first member Wc1" and the second member Wc2" to move together. If an overload occurs, the convex portion c19 moves further in the Dc1 direction, climbing over the convex portion c29, and the connection between the first member Wc1" and the second member Wc2" is severed. On the other hand, when a driving force is applied in the Dc2 direction, the first member Wc1" attempts to move in the Dc2 direction, and the engagement between the convex portion c18 and the convex portion c28 causes the first member Wc1" and the second member Wc2" to move together. If an overload occurs, the convex portion c18 moves further in the Dc2 direction, climbing over the convex portion c28, and the connection between the first member Wc1" and the second member Wc2" is severed.

[0272] Furthermore, with this configuration, even if an overload occurs in the Dc1 direction and the engagement between the convex portion c19 and the convex portion c29 is released, the convex portion c19 will next engage with the convex portion c28. Similarly, even if an overload occurs in the Dc2 direction and the engagement between the convex portion c18 and the convex portion c28 is released, the convex portion c18 will next engage with the convex portion c29. In other words, even if the breakaway mechanism functions and the transmission of the driving force is temporarily interrupted, the first member Wc1″ and the second member Wc2″ remain integral, and the first member Wc1″ and the second member Wc2″ do not become completely separated. This has the following effect, for example, when the catheter 11 is removed from the patient's body and the catheter unit 100 is detached from the base unit 200 to replace it with a new one. That is, the possibility that the first member Wc1″ connected to the held portion Wa will remain on the base unit 200 can be reduced. Therefore, usability is improved.

[0273] Although Figures 21(f) and (g) show a configuration in which the first member Wc1" and the second member Wc2" are engaged at two positions, they may of course be engaged at three or more positions, and the shape of the convex portion is not limited. Furthermore, an elastic member such as a spring as shown in Figures 21(b) and (d) may be attached to the convex portion.

[0274] As yet another modification, when a compressive or tensile force equal to or greater than a threshold value is applied between the first and second members, the convex or concave portion may undergo plastic deformation (yield) and separate from the concave portion. Even with such irreversible deformation, the function of disconnecting the drive source M from the wire body Wb when an overload occurs can be realized.

[0275] [Second embodiment] A medical device according to a second embodiment will be described with reference to Figures 22(a) to 22(c) and 23(a) to 23(c). This embodiment differs from the first embodiment in the configuration of the connection part Wc that connects the drive source M and the wire body Wb. Hereinafter, elements that are given the same reference numerals as those in the first embodiment have substantially the same configurations and functions as those described in the first embodiment, and differences from the first embodiment will be mainly described.

[0276] Fig. 22(a) is a schematic diagram of a drive wire W having a connection portion Wc according to this embodiment. Fig. 22(b) is a perspective view of a holder Wc3 and a rod Wc4 that constitute the connection portion Wc. Fig. 22(c) is a cross-sectional view of the holder Wc3 and the rod Wc4 that constitute the connection portion Wc. Fig. 22(a) shows a state in which the rod Wc4 is held by the holder Wc3 (connected state), and Figs. 22(b) and 22(c) show a state in which the rod Wc4 is not held by the holder Wc3 (disconnected state).

[0277] The following description will focus on the connection part Wc provided on the drive wire W, which is any one of the first to ninth drive wires (W11 to W33) included in the catheter unit 100 of this embodiment. In a configuration example of this embodiment, a connection part Wc having substantially the same configuration as that described below is provided on each of the nine drive wires (W11 to W33).

[0278] As shown in FIG. 22(a), the connection portion Wc has a holder Wc3 as a first member (engaging member, holding member) connected to the drive source M, and a rod Wc4 as a second member (engaged member, held member) connected to the wire body Wb of the drive wire W. In this embodiment, at least a portion of the holder Wc3 is a member formed integrally with the held portion Wa of the drive wire W. Therefore, the holder Wc3 is connected to the drive source M via the held portion Wa and the connecting portion 21c (FIGS. 6(a) to 6(c)). Note that the holder Wc3 and the held portion Wa may be separate bodies. Meanwhile, the rod Wc4 is fixed to the proximal end of the wire body Wb by any fixing method such as crimping (caulking) or adhesive.

[0279] As shown in Figures 22(b) and 22(c), the holder Wc3 includes a main body (base) c31 integrally formed with the retained portion Wa, and a leaf spring c32 attached to the main body c31 by a fastening mechanism such as a screw c321. When viewed in the Dc direction, the main body c31 has a groove-shaped U-shaped cross section (a rectangular shape open on one side) surrounded by a bottom c311 and sidewall c312. When viewed in the Df direction, the leaf spring c32 is attached so as to cover the opening of the main body c31, and extends from the screw c321 in the Dc1 direction. Therefore, a space c31s for receiving a rod Wc4 (described below) is formed between the bottom c311 and sidewall c312 of the main body c31 and the leaf spring c32. The main body portion c31 is arranged alongside the held portion Wa in the Dc direction, and the held portion Wa extends in the Dc2 direction from the end of the main body portion c31 in the Dc2 direction.

[0280] The holder Wc3 also has a protrusion c33 at the tip of the leaf spring c32. The protrusion c33 protrudes from the tip of the leaf spring c32 in the Dc2 direction toward the space c31s between the main body c31 and the leaf spring c32. That is, the protrusion c33 is an example of a protrusion that protrudes in a direction intersecting the extension direction (Dc direction) of the wire body Wb in the connection portion Wc.

[0281] The leaf spring c32 is deformed mainly in the direction Df when subjected to an external force. That is, the leaf spring c32 functions as a deformable element that allows the protrusion c33 to separate from the recess c43 described below.

[0282] When viewed in the Dc direction, the protrusion c33 is disposed at a position corresponding to a recess c43 (described later) on the rod Wc4. In this embodiment, the protrusion c33 is provided at one location corresponding to the recess c43 provided at one location. However, it is sufficient that the protrusion c33 is provided at a position that can engage with the recess c43. For example, a plurality of leaf springs c32 each having a protrusion c33 may be disposed, and a plurality of corresponding recesses c43 may be disposed on the rod Wc4.

[0283] 22(b) and 22(c), the rod Wc4 has a substantially rectangular prism-shaped base portion c41 extending in the Dc2 direction from the proximal end of the wire body Wb, and a recess c43 provided on the side surface of the base portion c41 in the Df direction (the surface facing the leaf spring c32). The recess c43 is formed between protrusions p3 and p4 protruding from the base portion c41 in the Df direction. The protrusions p3 and p4 are arranged side by side in the Dc direction.

[0284] The rod Wc4 is attached to the holder Wc3 by inserting it in the Dc2 direction toward the space c31s between the main body c31 of the holder Wc3 and the leaf spring c32 and pushing it in until the protrusion c33 of the holder Wc3 fits into the recess c43 of the rod Wc4. In this embodiment, a part of the rod Wc4 on the Dc2 direction side serves as an insertion part that is inserted into the space c31s within the holder Wc3.

[0285] Next, the connection state of the connection part Wc and its behavior under an overload will be described with reference to Figures 23(a-c). Figure 23(a) is a schematic diagram showing a cross section of the connection part Wc in a connected state. Figure 23(b) is a schematic diagram showing the state of the connection part Wc when an overload acts in a direction that presses the wire body Wb (direction Dc1). Figure 23(c) is a schematic diagram showing the state of the connection part Wc when an overload acts in a direction that pulls the wire body Wb (direction Dc2).

[0286] As shown in FIG. 23(a), in the connected state of the connection portion Wc, the convex portion c33 of the holder Wc3 is fitted into the concave portion c43 of the rod Wc4. Specifically, the convex portion c33 is held between the protrusions p3 and p4 in the Dc direction. Here, as shown in FIG. 22(c), when the rod Wc4 is not attached to the holder Wc3, the distance in the Df direction from the bottom surface of the base portion c41 to the apexes of the protrusions p3 and p4 is defined as Y4. This distance Y4 is greater than the distance Y3 in the Df direction from the convex portion c33 of the leaf spring c32 of the holder Wc3 to the bottom c311 of the main body portion c31. Therefore, in the connected state shown in FIG. 23(a), the convex portion c33 of the holder Wc3 and a part of the rod Wc4 (the protrusions p3 and p4) are in a positional relationship where they interfere with each other in the Dc direction. In other words, when viewed in the extension direction (Dc direction) of the wire body in the connected state, at least a portion of the convex portion provided on one of the first member or the second member overlaps with the concave portion provided on the other of the first member or the second member.

[0287] With this configuration, when the connection part Wc is in the connected state, the relative movement of the holder Wc3 and the rod Wc4 is restricted, and the holder Wc3 and the rod Wc4 move together in the Dc1 and Dc2 directions. In other words, when the connection part Wc is in the connected state, the driving force from the driving source M is transmitted to the wire body Wb via the connection part Wc.

[0288] In the connected state shown in Fig. 23(a), the convex portion c33 of the holder Wc3 is preferably configured to fit into the concave portion c43 of the rod Wc4 with minimal play. In this embodiment, the convex portion c33 is provided at the tip of an elastic leaf spring c32, and in the connected state, the leaf spring c32 is slightly elastically deformed in the Df direction (upward in the figure), so that the elastic force of the leaf spring c32 presses the convex portion c33 against the protrusions p3 and p4 on both sides. In other words, the connection portion Wc according to this embodiment connects the holder Wc3 as the first member and the rod Wc4 as the second member using a mechanism (snap-fit ​​mechanism) that uses a deformation element made of an elastic material.

[0289] In this way, by employing a configuration in which the holder Wc3 and the rod Wc4 are engaged with each other in a loosely fitted state, the responsiveness of the bending portion 12 of the catheter 11 to the driving of the driving source M can be improved.

[0290] (When an overload occurs in the pressing direction) Next, we will explain what happens when an excessive force acts on the connection part Wc in the direction (Dc1 direction) that presses the wire body Wb. As shown in Figure 23(b), when a driving force is transmitted from the driving source M to the holder Wc3 in the direction (Dc1 direction) that presses the wire body Wb, a compressive force Fc acts between the holder Wc3 and the rod Wc4.

[0291] If the compressive force Fc does not exceed a predetermined threshold (second threshold), the compressive force Fc is received by the rod Wc4 via the contact portion between the convex portion c33 of the holder Wc3 and the protrusion p4 of the rod Wc4. In other words, the connection portion Wc of this embodiment is configured to transmit the driving force from the driving source M to the wire body Wb while maintaining the convex portion c33 fitted in the concave portion c43 when a compressive force Fc equal to or less than the second threshold acts.

[0292] However, when a large compressive force Fc exceeding a predetermined threshold (second threshold) is applied, the leaf spring c32 elastically deforms so that the convex portion c33 climbs onto the protrusion p4 of the rod Wc4. As a result, the holder Wc3 and the rod Wc4 move relative to each other while the convex portion c33 climbs over the protrusion p4, and the convex portion c33 disengages from the recess c43. In a state in which the convex portion c33 is disengaged from the recess c43 (disconnected state), the rod Wc4 does not move in the Dc1 direction even if the holder Wc3 moves in the Dc1 direction. In other words, the connection portion Wc of this embodiment is configured so that when a compressive force Fc exceeding the second threshold is applied, the convex portion c33 disengages from the recess c43, interrupting the transmission of the driving force from the driving source M to the wire body Wb (FIG. 23(b)).

[0293] By switching the connection part Wc from a connected state to a disconnected state in the event of an overload, the possibility of the bending part 12 of the catheter 11 being bent with excessively strong force due to abnormal operation of the drive source M, or of components such as the connecting part 21c being damaged when the wire body Wb is subjected to an external force, can be reduced.

[0294] 23(a), a clearance Ld is provided between the tip of the rod Wc4 in the Dc2 direction in the connected state and the wall surface c318 located at the bottom of the space c31s of the holder Wc3, allowing relative movement between the holder Wc3 and the rod Wc4. The length of the clearance Ld in the Dc2 direction is set based on the position X0 of the convex portion c33 in the connected state so that the wall surface c318 does not come into contact with the rod Wc4 even if the holder Wc3 further moves a predetermined distance in the Dc1 direction after the convex portion c33 has completely disengaged from the concave portion c43. By providing such clearance Ld, it is possible to prevent the rod Wc4 from being pressed against the wall surface c318 of the holder Wc3 and transmitting a driving force in the Dc1 direction even when the convex portion c33 has disengaged from the concave portion c43.

[0295] (When an overload occurs in the tensile direction) Next, we will explain what happens when an excessive force acts on the connection part Wc in the direction that pulls the wire body Wb (direction Dc2). As shown in Figure 23(c), when a driving force in the direction that pulls the wire body Wb (direction Dc2) is transmitted from the driving source M to the holder Wc3, a tensile force Ft acts between the holder Wc3 and the rod Wc4.

[0296] If the tensile force Ft does not exceed a preset threshold (first threshold), the tensile force Ft is received by the rod Wc4 via the contact portion between the convex portion c33 of the holder Wc3 and the protrusion p3 of the rod Wc4. In other words, the connection portion Wc of this embodiment is configured to transmit the driving force from the driving source M to the wire body Wb while maintaining the state in which the convex portion c33 is fitted into the concave portion c43 when a tensile force Ft equal to or less than the first threshold acts.

[0297] However, when a large tensile force Ft exceeding a preset threshold (first threshold) is applied, the leaf spring c32 elastically deforms so that the convex portion c33 climbs onto the protrusion p3 of the rod Wc4. As a result, the holder Wc3 and the rod Wc4 move relative to each other while the convex portion c33 climbs over the protrusion p3, and the convex portion c33 disengages from the recess c43. In a state where the convex portion c33 is disengaged from the recess c43 (disconnected state), the rod Wc4 does not move in the Dc2 direction even if the holder Wc3 moves in the Dc2 direction. In other words, the connection portion Wc of this embodiment is configured so that when a tensile force Ft exceeding a second threshold is applied, the convex portion c33 disengages from the recess c43, interrupting the transmission of the driving force from the driving source M to the wire body Wb (FIG. 23(c)).

[0298] By switching the connection part Wc from a connected state to a disconnected state in the event of an overload, the possibility of the bending part 12 of the catheter 11 being bent with excessively strong force due to abnormal operation of the drive source M, or of components such as the connecting part 21c being damaged when the wire body Wb is subjected to an external force, can be reduced.

[0299] As described above, this embodiment also makes it possible to cut off the connection between the drive source M and the wire body Wb in the event of an overload in the direction of pressing the wire body Wb or an overload in the direction of pulling the wire body Wb.

[0300] [Third embodiment] A medical device according to a third embodiment will be described with reference to Figures 24(a) to 24(c) and 25(a) to 25(c). This embodiment differs from the first embodiment in the configuration of the connection part Wc that connects the drive source M and the wire body Wb. Hereinafter, elements that are given the same reference numerals as those in the first embodiment have substantially the same configurations and functions as those described in the first embodiment, and differences from the first embodiment will be mainly described.

[0301] Fig. 24(a) is a schematic diagram of a drive wire W having a connection portion Wc according to this embodiment. Fig. 24(b) is a perspective view of a holder Wc5 and a rod Wc6 that constitute the connection portion Wc. Fig. 24(c) is a cross-sectional view of the holder Wc5 and the rod Wc6 that constitute the connection portion Wc. Fig. 24(a) shows a state in which the rod Wc6 is held by the holder Wc5 (connected state), and Figs. 24(b) and 24(c) show a state in which the rod Wc6 is not held by the holder Wc5 (disconnected state).

[0302] The following description will focus on the connection part Wc provided on the drive wire W, which is any one of the first to ninth drive wires (W11 to W33) included in the catheter unit 100 of this embodiment. In a configuration example of this embodiment, a connection part Wc having substantially the same configuration as that described below is provided on each of the nine drive wires (W11 to W33).

[0303] As shown in FIG. 24(a), the connection portion Wc has a holder Wc5 as a first member (engaging member, holding member) connected to the drive source M, and a rod Wc6 as a second member (engaged member, held member) connected to the wire body Wb of the drive wire W. In this embodiment, at least a portion of the holder Wc5 is a member formed integrally with the held portion Wa of the drive wire W. Therefore, the holder Wc5 is connected to the drive source M via the held portion Wa and the connecting portion 21c (FIGS. 6(a) to 6(c)). Note that the holder Wc5 and the held portion Wa may be separate bodies. Meanwhile, the rod Wc6 is fixed to the proximal end of the wire body Wb by any fixing method such as crimping (caulking) or adhesive.

[0304] As shown in FIGS. 24(b) and 24(c), the holder Wc5 includes a main body (base) c51 integrally formed with the retained portion Wa and a torsion spring (torsion coil spring) c52 supported by the main body c51. When viewed in the Dc direction, the main body c51 has a groove-like U-shaped cross section (a rectangular shape open on one side) surrounded by a bottom c511 and a side wall c512. The torsion spring c52 is attached to the open portion of the main body c51 in the Df direction. Therefore, a space c51s for receiving the rod Wc6 (described below) is formed between the bottom c511 and side wall c512 of the main body c51 and the torsion spring c52. The main body c51 is arranged alongside the retained portion Wa in the Dc direction, and the retained portion Wa extends in the Dc2 direction from the Dc2-direction end of the main body c51.

[0305] The torsion spring c52 has a coil portion c521 supported by a shaft portion c513 attached to the main body portion c51, an arm portion c522 extending in the Dc1 direction from the coil portion c521, and an arm portion c523 extending in the Dc2 direction from the coil portion c521. The arm portion c522 on the Dc1 direction side is supported by a support portion 514 of the main body portion c51 and is a free end that can elastically deform so as to move away from the support portion 514 when pressed by the rod Wc6. The arm portion c523 on the Dc2 direction side is supported by a support portion c515 of the main body portion c51 and is a fixed end that remains in contact with the support portion c515 even when the other arm portion c522 is pressed by the rod Wc6.

[0306] The holder Wc5 also has a bent protrusion c53 formed on the arm c523 on the free end side of the torsion spring c52. The protrusion c53 protrudes toward the space c51s between the torsion spring c52 and the main body c51, between the tip of the arm c523 and the coil c521. That is, the protrusion c53 is an example of a protrusion protruding in a direction intersecting the extension direction (Dc direction) of the wire body Wb in the connection portion Wc.

[0307] The torsion spring c52 is deformed mainly in the direction Df when subjected to an external force. That is, the torsion spring c52 functions as a deformable element that allows the protrusion c53 to separate from the recess c63 described below.

[0308] When viewed in the Dc direction, the protrusion c53 is disposed at a position corresponding to a recess c63 (described later) on the rod Wc6. In this embodiment, the protrusion c53 is provided in one location corresponding to the recess c63 provided in one location. However, it is sufficient that the protrusion c53 is provided at a position that can engage with the recess c63. For example, a plurality of torsion springs c52 each having a protrusion c53 may be disposed, and a plurality of corresponding recesses c63 may be disposed on the rod Wc6.

[0309] 25(b) and 25(c), the rod Wc6 has a substantially rectangular prism-shaped base portion c61 extending in the Dc2 direction from the proximal end of the wire body Wb, and a recess c63 provided on the Df-direction side surface of the base portion c61 (the surface facing the torsion spring c52). The recess c63 is formed between protrusions p5 and p6 protruding in the Df direction from the base portion c61. The protrusions p5 and p6 are arranged side by side in the Dc direction.

[0310] The rod Wc6 is attached to the holder Wc5 by inserting it in the Dc2 direction toward the space c51s between the main body c51 of the holder Wc5 and the torsion spring c52 and pushing it in until the convex portion c53 of the holder Wc5 fits into the concave portion c63 of the rod Wc6. In this embodiment, a part of the rod Wc6 on the Dc2 direction side serves as an insertion portion that is inserted into the space c51s within the holder Wc5.

[0311] Next, the connection state of the connection part Wc and its behavior under an overload will be described with reference to Figures 25(a-c). Figure 25(a) is a schematic diagram showing a cross section of the connection part Wc in a connected state. Figure 25(c) is a schematic diagram showing the state of the connection part Wc when an overload acts in a direction that presses the wire body Wb (direction Dc1). Figure 25(c) is a schematic diagram showing the state of the connection part Wc when an overload acts in a direction that pulls the wire body Wb (direction Dc2).

[0312] As shown in FIG. 25(a), in the connected state of the connection portion Wc, the convex portion c53 of the holder Wc5 is fitted into the concave portion c63 of the rod Wc6. Specifically, the convex portion c53 is held between the protrusions p5 and p6 in the Dc direction. Here, as shown in FIG. 24(c), when the rod Wc6 is not attached to the holder Wc5, the distance in the Df direction from the bottom surface of the base portion c61 to the apexes of the protrusions p5 and p6 is defined as Y6. This distance Y6 is greater than the distance Y5 in the Df direction from the convex portion c53 of the torsion spring c52 of the holder Wc5 to the bottom c511 of the main body portion c51. Therefore, in the connected state shown in FIG. 25(a), the convex portion c53 of the holder Wc5 and a part of the rod Wc6 (the protrusions p5 and p6) are in a positional relationship where they interfere with each other in the Dc direction. In other words, when viewed in the extension direction (Dc direction) of the wire body in the connected state, at least a portion of the convex portion provided on one of the first member or the second member overlaps with the concave portion provided on the other of the first member or the second member.

[0313] With this configuration, when the connection part Wc is in the connected state, the relative movement of the holder Wc5 and the rod Wc6 is restricted, and the holder Wc5 and the rod Wc6 move together in the Dc1 and Dc2 directions. In other words, when the connection part Wc is in the connected state, the driving force from the driving source M is transmitted to the wire body Wb via the connection part Wc.

[0314] In the connected state shown in FIG. 25(a), the convex portion c53 of the holder Wc5 is preferably configured to fit into the concave portion c63 of the rod Wc6 with minimal play. In this embodiment, the convex portion c53 is provided on the arm portion c522 of the elastic torsion spring c52, and in the connected state, the torsion spring c52 is slightly elastically deformed so that the arm portion c522 is lifted in the Df direction (upward in the figure). Therefore, the elastic force of the torsion spring c52 presses the convex portion c53 against the protrusions p5 and p6 on both sides. In other words, the connection portion Wc according to this embodiment connects the holder Wc5 as the first member and the rod Wc6 as the second member using a mechanism (snap-fit ​​mechanism) that uses a deformation element made of an elastic material.

[0315] In this way, by employing a configuration in which the holder Wc5 and the rod Wc6 are engaged in a loosely fitted state, the responsiveness of the bending portion 12 of the catheter 11 to the driving of the driving source M can be improved.

[0316] (When an overload occurs in the pressing direction) Next, we will explain what happens when an excessive force acts on the connection part Wc in the direction (Dc1 direction) that presses the wire body Wb. As shown in Figure 25(b), when a driving force is transmitted from the driving source M to the holder Wc5 in the direction (Dc1 direction) that presses the wire body Wb, a compressive force Fc acts between the holder Wc5 and the rod Wc6.

[0317] If the compressive force Fc does not exceed a predetermined threshold (second threshold), the compressive force Fc is received by the rod Wc6 via the contact portion between the convex portion c53 of the holder Wc5 and the protrusion p6 of the rod Wc6. In other words, the connection portion Wc of this embodiment is configured to transmit the driving force from the driving source M to the wire body Wb while maintaining the convex portion c53 fitted in the concave portion c63 when a compressive force Fc equal to or less than the second threshold acts.

[0318] However, when a large compressive force Fc exceeding a predetermined threshold (second threshold) is applied, the torsion spring c52 elastically deforms so that the convex portion c53 climbs onto the protrusion p6 of the rod Wc6. As a result, the holder Wc5 and the rod Wc6 move relative to each other while the convex portion c53 climbs over the protrusion p6, and the convex portion c53 disengages from the recess c63. In a state where the convex portion c53 is disengaged from the recess c63 (disconnected state), the rod Wc6 does not move in the Dc1 direction even if the holder Wc5 moves in the Dc1 direction. In other words, the connection portion Wc of this embodiment is configured so that when a compressive force Fc exceeding the second threshold is applied, the convex portion c53 disengages from the recess c63, interrupting the transmission of the driving force from the driving source M to the wire body Wb (FIG. 25(b)).

[0319] By switching the connection part Wc from a connected state to a disconnected state in the event of an overload, the possibility of the bending part 12 of the catheter 11 being bent with excessively strong force due to abnormal operation of the drive source M, or of components such as the connecting part 21c being damaged when the wire body Wb is subjected to an external force, can be reduced.

[0320] 25(a), a clearance Ld is provided between the tip of the rod Wc6 in the Dc2 direction in the connected state and the wall surface c518 located at the bottom of the space c51s of the holder Wc5, allowing relative movement between the holder Wc5 and the rod Wc6. The length of the clearance Ld in the Dc2 direction is set based on the position X0 of the convex portion c53 in the connected state so that the wall surface c518 does not come into contact with the rod Wc6 even if the holder Wc5 moves a predetermined distance in the Dc1 direction after the convex portion c53 has completely disengaged from the concave portion c63. By providing such clearance Ld, it is possible to prevent the rod Wc6 from being pressed against the wall surface c518 of the holder Wc5 and transmitting a driving force in the Dc1 direction even when the convex portion c53 has disengaged from the concave portion c63.

[0321] (When an overload occurs in the tensile direction) Next, we will explain what happens when an excessive force acts on the connection part Wc in the direction that pulls the wire body Wb (direction Dc2). As shown in Figure 25(c), when a driving force in the direction that pulls the wire body Wb (direction Dc2) is transmitted from the driving source M to the holder Wc5, a tensile force Ft acts between the holder Wc5 and the rod Wc6.

[0322] If the tensile force Ft does not exceed a preset threshold (first threshold), the tensile force Ft is received by the rod Wc6 via the contact portion between the convex portion c53 of the holder Wc5 and the protrusion p5 of the rod Wc6. In other words, the connection portion Wc of this embodiment is configured to transmit the driving force from the driving source M to the wire body Wb while maintaining the state in which the convex portion c53 is fitted into the concave portion c63 when a tensile force Ft equal to or less than the first threshold acts.

[0323] However, when a large tensile force Ft exceeding a preset threshold (first threshold) is applied, the torsion spring c52 elastically deforms so that the convex portion c53 climbs onto the protrusion p5 of the rod Wc6. As a result, the holder Wc5 and the rod Wc6 move relative to each other while the convex portion c53 climbs over the protrusion p5, and the convex portion c53 disengages from the recess c63. When the convex portion c53 is disengaged from the recess c63 (disconnected state), the rod Wc6 does not move in the Dc2 direction even if the holder Wc5 moves in the Dc2 direction. In other words, the connection portion Wc of this embodiment is configured so that when a tensile force Ft exceeding a second threshold is applied, the convex portion c53 disengages from the recess c63, interrupting the transmission of the driving force from the driving source M to the wire body Wb (FIG. 25(c)).

[0324] By switching the connection part Wc from a connected state to a disconnected state in the event of an overload, the possibility of the bending part 12 of the catheter 11 being bent with excessively strong force due to abnormal operation of the drive source M, or of components such as the connecting part 21c being damaged when the wire body Wb is subjected to an external force, can be reduced.

[0325] As described above, this embodiment also makes it possible to cut off the connection between the drive source M and the wire body Wb in the event of an overload in the direction of pressing the wire body Wb or an overload in the direction of pulling the wire body Wb.

[0326] [Fourth embodiment] A medical device according to a fourth embodiment will be described with reference to Figures 26(a) to 26(c) and 27(a) to 27(c). This embodiment differs from the first embodiment in the configuration of the connection part Wc that connects the drive source M and the wire body Wb. Hereinafter, elements that are given the same reference numerals as those in the first embodiment have substantially the same configurations and functions as those described in the first embodiment, and differences from the first embodiment will be mainly described.

[0327] Fig. 26(a) is a schematic diagram of a drive wire W having a connection portion Wc according to this embodiment. Fig. 26(b) is a perspective view of a holder Wc7 and a rod Wc8 that constitute the connection portion Wc. Fig. 26(c) is a cross-sectional view of the holder Wc7 and the rod Wc8 that constitute the connection portion Wc. Fig. 26(a) shows a state in which the rod Wc8 is held by the holder Wc7 (connected state), and Figs. 26(b) and 26(c) show a state in which the rod Wc8 is not held by the holder Wc7 (disconnected state).

[0328] The following description will focus on the connection part Wc provided on the drive wire W, which is any one of the first to ninth drive wires (W11 to W33) included in the catheter unit 100 of this embodiment. In a configuration example of this embodiment, a connection part Wc having substantially the same configuration as that described below is provided on each of the nine drive wires (W11 to W33).

[0329] As shown in FIG. 26(a), the connection portion Wc has a holder Wc7 as a first member (engaging member, holding member) connected to the drive source M, and a rod Wc8 as a second member (engaged member, held member) connected to the wire body Wb of the drive wire W. In this embodiment, at least a portion of the holder Wc7 is a member formed integrally with the held portion Wa of the drive wire W. Therefore, the holder Wc7 is connected to the drive source M via the held portion Wa and the connecting portion 21c (FIGS. 6(a) to 6(c)). Note that the holder Wc7 and the held portion Wa may be separate bodies. Meanwhile, the rod Wc8 is fixed to the proximal end of the wire body Wb by any fixing method such as crimping (caulking) or adhesive.

[0330] As shown in Figures 26(b) and 26(c), the holder Wc7 includes a main body (base) c71 integrally formed with the held portion Wa, a torsion coil spring c72 supported by the main body c71, and a rotating member c730. When viewed in the Dc direction, the main body c71 has a groove-shaped U-shaped cross section (a rectangular shape open on one side) surrounded by a bottom c711 and sidewall c712. The torsion coil spring c72 and the rotating member c730 are attached to the opening in the Df direction of the main body c71. Therefore, a space c71s for receiving the rod Wc8 (described below) is formed between the bottom c711 and sidewall c712 of the main body c71 and the torsion coil spring c72 and the rotating member c730. The main body portion c71 is arranged alongside the held portion Wa in the Dc direction, and the held portion Wa extends in the Dc2 direction from the end of the main body portion c71 in the Dc2 direction.

[0331] The torsion coil spring c72 is disposed with its axial direction (expansion / contraction direction) in the Dc direction, with its end in the Dc2 direction supported by a support portion c713 of the main body portion c71 and its end in the Dc1 direction attached to the rotation member c730. The rotation member c730 is rotatable around a support shaft c714 provided on the main body portion c71. The rotation member c730 is biased in the clockwise direction in the figure by the elastic force of the torsion coil spring c72, and is positioned by being locked by a locking portion c715 provided on the main body portion c71.

[0332] The holder Wc7 also has a protrusion c73 formed on the rotating member c730. When the rotating member c730 is locked by the locking portion c715, the protrusion c73 protrudes toward the bottom c711 of the main body c71 beyond the support shaft c714. That is, the protrusion c73 is an example of a protrusion protruding in a direction intersecting the extension direction (Dc direction) of the wire body Wb in the connection portion Wc.

[0333] When the convex portion c73 of the rotating member c730 is pressed by the rod Wc8 and rotated counterclockwise so that the convex portion c73 retracts upward in the figure, the torsion coil spring c72 deforms in accordance with the rotation of the rotating member c730. In other words, the torsion coil spring c72 functions as a deformation element that can deform to allow the convex portion c73 to disengage from the concave portion c83 described below.

[0334] When viewed in the Dc direction, the protrusion c73 is disposed at a position corresponding to a recess c83 (described later) on the rod Wc8. In this embodiment, the protrusion c73 is provided at one location corresponding to the recess c83 provided at one location. However, it is sufficient that the protrusion c73 is provided at a position where it can engage with the recess c83.

[0335] 27(b, c), the rod Wc8 has a substantially rectangular prism-shaped base portion c81 extending in the Dc2 direction from the proximal end of the wire body Wb, and a recess c83 provided on the Df-direction side surface of the base portion c81 (the surface facing the rotating member c730). The recess c83 is formed between protrusions p7 and p8 protruding from the base portion c81 in the Df direction. The protrusions p7 and p8 are arranged side by side in the Dc direction.

[0336] The rod Wc8 is inserted in the Dc2 direction toward the space c71s between the main body c71 of the holder Wc7 and the rotating member c730 and torsion coil spring c72. The rod Wc8 is then attached to the holder Wc7 by being pushed in until the protrusion c73 of the holder Wc7 engages with the recess c83 of the rod Wc8. In this embodiment, a portion of the rod Wc8 on the Dc2 direction side serves as an insertion portion that is inserted into the space c71s within the holder Wc7.

[0337] Next, the connection state of the connection part Wc and its behavior under an overload will be described with reference to Figures 27(a-c). Figure 27(a) is a schematic diagram showing a cross section of the connection part Wc in a connected state. Figure 27(c) is a schematic diagram showing the state of the connection part Wc when an overload acts in a direction that presses the wire body Wb (direction Dc1). Figure 27(c) is a schematic diagram showing the state of the connection part Wc when an overload acts in a direction that pulls the wire body Wb (direction Dc2).

[0338] As shown in FIG. 27(a), in the connected state of the connection portion Wc, the convex portion c73 of the holder Wc7 is fitted into the concave portion c83 of the rod Wc8. Specifically, the convex portion c73 is held between the protrusions p7 and p8 in the Dc direction. Here, as shown in FIG. 26(c), when the rod Wc8 is not attached to the holder Wc7, the distance in the Df direction from the bottom surface of the base portion c81 to the apexes of the protrusions p7 and p8 is defined as Y8. This distance Y8 is greater than the distance Y7 in the Df direction from the convex portion c73 of the holder Wc7 to the bottom c711 of the main body portion c71. Therefore, in the connected state shown in FIG. 27(a), the convex portion c73 of the holder Wc7 and a part of the rod Wc8 (the protrusions p7 and p8) interfere with each other in the Dc direction. In other words, when viewed in the extension direction (Dc direction) of the wire body in the connected state, at least a portion of the convex portion provided on one of the first member or the second member overlaps with the concave portion provided on the other of the first member or the second member.

[0339] With this configuration, when the connection part Wc is in the connected state, the relative movement of the holder Wc7 and the rod Wc8 is restricted, and the holder Wc7 and the rod Wc8 move together in the Dc1 and Dc2 directions. In other words, when the connection part Wc is in the connected state, the driving force from the driving source M is transmitted to the wire body Wb via the connection part Wc.

[0340] In the connected state shown in FIG. 27(a), the convex portion c73 of the holder Wc7 is preferably configured to fit into the concave portion c83 of the rod Wc8 with minimal play. In this embodiment, the convex portion c73 is connected to an elastic torsion coil spring c72, and in the connected state, the torsion coil spring c72 is slightly elastically deformed so that the convex portion c73 is lifted in the Df direction (upward in the figure). Therefore, the elastic force of the torsion coil spring c72 presses the convex portion c73 against the protrusions p7 and p8 on both sides. In other words, the connection portion Wc according to this embodiment connects the holder Wc7 as the first member and the rod Wc8 as the second member using a mechanism (snap-fit ​​mechanism) that uses a deformation element made of an elastic material.

[0341] In this way, by configuring the holder Wc7 and the rod Wc8 to engage with each other in a loosely fitted state, the responsiveness of the bending portion 12 of the catheter 11 to the driving of the driving source M can be improved.

[0342] (When an overload occurs in the pressing direction) Next, we will explain what happens when an excessive force acts on the connection part Wc in the direction (Dc1 direction) that presses the wire body Wb. As shown in Fig. 27(b), when a driving force is transmitted from the driving source M to the holder Wc7 in the direction (Dc1 direction) that presses the wire body Wb, a compressive force Fc acts between the holder Wc7 and the rod Wc8.

[0343] If the compressive force Fc does not exceed a preset threshold (second threshold), the compressive force Fc is received by the rod Wc8 via the contact portion between the convex portion c73 of the holder Wc7 and the protrusion p8 of the rod Wc8. In other words, the connection portion Wc of this embodiment is configured to transmit the driving force from the driving source M to the wire body Wb while maintaining the convex portion c73 fitted in the concave portion c83 when a compressive force Fc equal to or less than the second threshold acts.

[0344] However, when a large compressive force Fc exceeding a predetermined threshold (second threshold) is applied, the rotating member c730 rotates so that the convex portion c73 rides up on the protrusion p8 of the rod Wc8, and the torsion coil spring c72 elastically deforms accordingly. As a result, the holder Wc7 and the rod Wc8 move relative to each other as the convex portion c73 rides up on the protrusion p8, and the convex portion c73 disengages from the recess c83. When the convex portion c73 is disengaged from the recess c83 (disconnected state), the rod Wc8 does not move in the Dc1 direction even if the holder Wc7 moves in the Dc1 direction. In other words, the connection portion Wc of this embodiment is configured so that when a compressive force Fc exceeding the second threshold is applied, the convex portion c73 disengages from the recess c83, interrupting the transmission of the driving force from the driving source M to the wire body Wb (FIG. 27(b)).

[0345] By switching the connection part Wc from a connected state to a disconnected state in the event of an overload, the possibility of the bending part 12 of the catheter 11 being bent with excessively strong force due to abnormal operation of the drive source M, or of components such as the connecting part 21c being damaged when the wire body Wb is subjected to an external force, can be reduced.

[0346] 27(a), a clearance Ld is provided between the tip of the rod Wc8 in the Dc2 direction in the connected state and a wall surface c718 located at the bottom of the space c71s of the holder Wc7, allowing relative movement between the holder Wc7 and the rod Wc8. The length of the clearance Ld in the Dc2 direction is set based on the position X0 of the convex portion c73 in the connected state so that the wall surface c718 will not come into contact with the rod Wc8 even if the holder Wc7 moves a predetermined distance in the Dc1 direction after the convex portion c73 has completely disengaged from the concave portion c83. By providing such clearance Ld, it is possible to prevent the rod Wc8 from being pressed against the wall surface c718 of the holder Wc7 and transmitting a driving force in the Dc1 direction even when the convex portion c73 has disengaged from the concave portion c83.

[0347] (When an overload occurs in the tensile direction) Next, we will explain what happens when an excessive force acts on the connection part Wc in the direction that pulls the wire body Wb (direction Dc2). As shown in Figure 27(c), when a driving force in the direction that pulls the wire body Wb (direction Dc2) is transmitted from the driving source M to the holder Wc7, a tensile force Ft acts between the holder Wc7 and the rod Wc8.

[0348] If the tensile force Ft does not exceed a preset threshold (first threshold), the tensile force Ft is received by the rod Wc8 via the contact portion between the convex portion c73 of the holder Wc7 and the protrusion p7 of the rod Wc8. In other words, the connection portion Wc of this embodiment is configured to transmit the driving force from the driving source M to the wire body Wb while maintaining the convex portion c73 fitted in the concave portion c83 when a tensile force Ft equal to or less than the first threshold acts.

[0349] However, when a large tensile force Ft exceeding a preset threshold (first threshold) is applied, the rotating member c730 rotates so that the protrusion c73 rides over the protrusion p7 of the rod Wc8, and the torsion coil spring c72 elastically deforms accordingly. As a result, the holder Wc7 and the rod Wc8 move relative to each other as the protrusion c73 rides over the protrusion p7, and the protrusion c73 disengages from the recess c83. When the protrusion c73 is disengaged from the recess c83 (disconnected state), the rod Wc8 does not move in the Dc2 direction even if the holder Wc7 moves in the Dc2 direction. In other words, the connection portion Wc of this embodiment is configured so that when a tensile force Ft exceeding a second threshold is applied, the protrusion c73 disengages from the recess c83, interrupting the transmission of the driving force from the driving source M to the wire body Wb (FIG. 27(c)).

[0350] By switching the connection part Wc from a connected state to a disconnected state in the event of an overload, the possibility of the bending part 12 of the catheter 11 being bent with excessively strong force due to abnormal operation of the drive source M, or of components such as the connecting part 21c being damaged when the wire body Wb is subjected to an external force, can be reduced.

[0351] As described above, this embodiment also makes it possible to cut off the connection between the drive source M and the wire body Wb in the event of an overload in the direction of pressing the wire body Wb or an overload in the direction of pulling the wire body Wb.

[0352] (Other embodiments) In the above-described embodiments, the elements of the connection part Wc are described as being arranged in the catheter unit 100, which is a replaceable unit, but, for example, the connection part Wc may be arranged in the base unit 200. For example, the tractor support shaft 21cs (FIG. 6(a)) provided in the coupling part 21c may be configured to be divided into two members, a holder and a rod, as described in the above-described embodiments.

[0353] In the above-described embodiments, the load thresholds at which the connection of the connection portion Wc is broken are described as being the same: the first threshold when a tensile force acts between the first and second members, and the second threshold when a compressive force acts between the first and second members. However, the first and second thresholds may be set to different values. For example, if the load expected under normal use conditions varies depending on the direction in which the wire body Wb is driven, the first and second thresholds are set according to the range of expected loads.

[0354] In addition, in each of the above-described embodiments, the first and second threshold values ​​at the connection portions are common to each pair of a plurality of drive sources (M11 to M33) and a plurality of wire bodies (Wb11 to Wb33). However, the first and second threshold values ​​at the connection portions may be different between each pair of drive sources and wire bodies. For example, if the expected load differs between the wire body connected to the guide ring closer to the distal end of the bending section 12 of the catheter 11 and the wire body connected to the guide ring closer to the proximal end, the first and second threshold values ​​are set according to the range of the expected load.

[0355] In the above-described embodiments, the drive sources (M11 to M33) and the wire bodies (Wb11 to Wb33) are connected to each other via a connecting portion for each pair of the drive sources and the wire bodies. However, the connecting portion may be provided for only some of the pairs of the drive sources and the wire bodies.

[0356] Furthermore, in the above-described embodiments, the bendable catheter 11 has been described as an example of the object to be operated. However, the present invention is not limited to this, and the object to be operated may also include an articulated robot. An example of such an articulated robot is a medical robot arm equipped with a surgical instrument (forceps, sharp blade, etc.) at its tip. When bending the joints of this robot using a wire or the like, the breakaway mechanism described in the above-described embodiments may be applied. [Explanation of symbols]

[0357] 12...Bending portion / M...Drive source / Wb...Wire body / Wc...Connection portion / Wc1, Wc3, Wc5, Wc7...First member / Wc2, Wc4, Wc6, Wc8...Second member / c13, c33, c53, c73...Convex portion / c23, c43, c63, c83...Concave portion

Claims

1. A driving source; a bendable bending portion; a linear body that bends the bending portion by a driving force of the driving source; a connecting portion including a first member connected to the drive source, a second member connected to the linear body, a convex portion provided on one of the first member and the second member and protruding in a direction intersecting with the extension direction of the linear body, and a concave portion provided on the other of the first member and the second member, wherein the convex portion fits into the concave portion, thereby connecting the first member and the second member; and The connection portion is When a tensile force equal to or less than a first threshold acts between the first member and the second member, the convex portion is kept fitted in the concave portion, and the driving force is transmitted from the driving source to the linear body; when a tensile force exceeding the first threshold acts between the first member and the second member, the convex portion disengages from the concave portion to interrupt transmission of the driving force from the driving source to the linear body; When a compressive force equal to or less than a second threshold acts between the first member and the second member, the convex portion is kept fitted in the concave portion, and the driving force is transmitted from the driving source to the linear body; When a compressive force exceeding the second threshold acts between the first member and the second member, the convex portion is disengaged from the concave portion to interrupt transmission of the driving force from the driving source to the linear body. A medical device characterized by:

2. the connecting portion has an elastic element that is elastically deformable, When a tensile force equal to or less than the first threshold acts between the first member and the second member, the state in which the convex portion is fitted into the concave portion is maintained by the elastic force of the elastic element, When a tensile force exceeding the first threshold acts between the first member and the second member, the convex portion is allowed to separate from the concave portion due to elastic deformation of the elastic element, When a compressive force equal to or less than the second threshold acts between the first member and the second member, the elastic force of the elastic element maintains the state in which the convex portion is fitted into the concave portion, When a compressive force exceeding the second threshold acts between the first member and the second member, the elastic deformation of the elastic element allows the convex portion to separate from the concave portion. The medical device of claim 1 .

3. the first member is provided with a space into which the second member can be inserted from one side in the extension direction of the linear body, When the second member is inserted into the space of the first member, the convex portion is fitted into the concave portion.

3. The medical device according to claim 1 or 2.

4. the first member has a cylindrical portion that extends in the extension direction of the linear body and forms the space, the second member has an insertion portion that is inserted into the space inside the cylindrical portion, the protrusion is provided on one of the inner surface of the cylindrical portion and the outer surface of the insertion portion, The recess is provided on the other of the inner surface of the cylindrical portion and the outer surface of the insertion portion. The medical device of claim 3 .

5. the first member has a groove-shaped main body portion that extends in the extension direction of the linear body and is open in a direction intersecting the extension direction, and a leaf spring that is arranged to cover the groove shape, and the space is formed between the main body portion and the leaf spring, the second member has an insertion portion that is inserted into the space, the protrusion is provided on one of a surface of the leaf spring facing the space and a surface of the insertion portion facing the leaf spring, the recess is provided on the other of a surface of the leaf spring facing the space and a surface of the insertion portion facing the leaf spring; The medical device of claim 3 .

6. the first member has a groove-shaped main body portion that extends in the extension direction of the linear body and is open in a direction intersecting the extension direction, and a torsion spring that is arranged in the open portion of the groove shape, and the space is formed between the main body portion and the torsion spring, the second member has an insertion portion that is inserted into the space, the protrusion is provided on one of a surface of the torsion spring facing the space and a surface of the insertion portion facing the torsion spring, the recess is provided on the other of a surface of the torsion spring facing the space and a surface of the insertion portion facing the torsion spring. The medical device of claim 3 .

7. the first member has a groove-shaped main body portion that extends in the extension direction of the linear body and is open in a direction intersecting the extension direction, a rotatable rotating member that is disposed in the open portion of the groove shape, and a torsion coil spring that biases the rotating member, and the space is formed between the main body portion and the rotating member, the second member has an insertion portion that is inserted into the space, the protrusion is provided on one of a surface of the rotation member facing the space and a surface of the insertion portion facing the rotation member, the recess is provided on the other of a surface of the rotation member facing the space and a surface of the insertion portion facing the rotation member; The medical device of claim 3 .

8. When the protrusion is fitted into the recess, no clearance is provided between the protrusion and the recess in the extension direction of the linear body, and relative movement between the first member and the second member is restricted. A medical device according to any one of claims 1 to 7.

9. A driving source; a bendable bending portion; a linear body that bends the bending portion by a driving force of the driving source; a connecting portion including a first member connected to the drive source, a second member connected to the linear body, first and second convex portions provided on the first member and protruding in a direction intersecting with an extension direction of the linear body, and third and fourth convex portions provided on the second member, wherein the first and second members are connected by engaging the first and second convex portions with each other and the second convex portions with each other; and The connection portion is When a tensile force equal to or less than a first threshold value acts between the first member and the second member, the first convex portion maintains a state in which it is engaged with the third convex portion, and the driving force is transmitted from the driving source to the linear body; when a tensile force exceeding the first threshold acts between the first member and the second member, the first convex portion separates from the third convex portion to interrupt transmission of the driving force from the driving source to the linear body; When a compressive force equal to or less than a second threshold acts between the first member and the second member, the second convex portion maintains a state in which it is engaged with the fourth convex portion, and the driving force is transmitted from the driving source to the linear body; when a compressive force exceeding the second threshold acts between the first member and the second member, the second convex portion is disengaged from the fourth convex portion to interrupt transmission of the driving force from the driving source to the linear body. A medical device characterized by:

10. the connecting portion has an elastic element that is elastically deformable, When a tensile force equal to or less than the first threshold value or a compressive force equal to or less than the second threshold value acts between the first member and the second member, a state in which the first convex portion engages with the third convex portion and the second convex portion engages with the fourth convex portion is maintained by the elastic force of the elastic element, When a tensile force exceeding the first threshold value or a compressive force exceeding the second threshold value acts between the first member and the second member, the first convex portion is allowed to separate from the third convex portion, or the second convex portion is allowed to separate from the fourth convex portion due to elastic deformation of the elastic element. The medical device of claim 9 .

11. the first member is provided with a space into which the second member can be inserted from one side in the extension direction of the linear body, When the second member is inserted into the space of the first member, the first convex portion is engaged with the third convex portion, and the second convex portion is engaged with the fourth convex portion.

11. The medical device according to claim 9 or 10.

12. the first member has a cylindrical portion that extends in the extension direction of the linear body and forms the space, the second member has an insertion portion that is inserted into the space inside the cylindrical portion, the first protrusion and the second protrusion are provided on an inner surface of the cylindrical portion, the third protrusion and the fourth protrusion are provided on an outer surface of the insertion portion; The medical device of claim 11 .

13. the first member has a groove-shaped main body portion that extends in the extension direction of the linear body and is open in a direction intersecting the extension direction, and a leaf spring that is arranged to cover the groove shape, and the space is formed between the main body portion and the leaf spring, the second member has an insertion portion that is inserted into the space, the first protrusion and the second protrusion are provided on a surface of the leaf spring facing the space, the third protrusion and the fourth protrusion are provided on a surface of the insertion portion facing the leaf spring; The medical device of claim 11 .

14. the first member has a groove-shaped main body portion that extends in the extension direction of the linear body and is open in a direction intersecting the extension direction, and a torsion spring that is arranged in the open portion of the groove shape, and the space is formed between the main body portion and the torsion spring, the second member has an insertion portion that is inserted into the space, the first convex portion and the second convex portion are provided on a surface of the torsion spring facing the space, the third protrusion and the fourth protrusion are provided on the other of the surfaces of the insertion portion that face the torsion spring; The medical device of claim 11 .

15. the first member has a groove-shaped main body portion that extends in the extension direction of the linear body and is open in a direction intersecting the extension direction, a rotatable rotating member that is disposed in the open portion of the groove shape, and a torsion coil spring that biases the rotating member, and the space is formed between the main body portion and the rotating member, the second member has an insertion portion that is inserted into the space, the first convex portion and the second convex portion are provided on a surface of the rotating member facing the space, the third convex portion and the fourth convex portion are provided on a surface of the insertion portion facing the rotation member; The medical device of claim 11 .

16. When the first convex portion is engaged with the third convex portion and the second convex portion is engaged with the fourth convex portion, no clearance is provided between the first convex portion and the third convex portion and between the second convex portion and the fourth convex portion in the extension direction of the linear body, and relative movement between the first member and the second member is restricted.

16. The medical device according to any one of claims 9 to 15.

17. A plurality of drive sources; a plurality of linear bodies that are driven by the plurality of drive sources, respectively, to bend the bending portion; and the connection portion is provided for each pair of a driving source and a linear body, the pair being configured by one driving source among the plurality of driving sources and one linear body among the plurality of linear bodies driven by the driving source; 17. A medical device according to any one of claims 1 to 16.

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