medical devices

Abstract

To reduce a possibility to allow a curved medical apparatus.SOLUTION: A medical device comprises: a curved medical apparatus including a curvable body and held sections; and an insertion unit including a mobile body to / from which the curved medical apparatus can be attached / detached and a drive section for moving the mobile body. The insertion unit can be inclined so as to allow an inclination angle of the curved medical apparatus mounted on the mobile body to be changed with respect to a horizontal direction. The mobile body includes: recessions for receiving the held sections; a lock member for locking the held section inside the recession; and restriction surfaces opposing to the recessions. In a state where the held section is positioned inside the recession and also the inclination angle is the maximum, the restriction surface is extended upward so as to allow an upper end of the restriction surface to be positioned upper than a lower end of the held section, and also the upper end of the restriction surface forms a lower end of an opening of the recession.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] Patent Document 1 describes a medical device that includes a bendable medical device and an insertion unit to which the bendable medical device can be attached or detached. According to this document, a user can switch between a usage method in which the user holds the bendable medical device detached from the insertion unit and manually inserts it into the patient's body, and a usage method in which the user attaches the bendable medical device to the insertion unit and robotically controls the insertion. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2021 / 0259794 Summary of the Invention [Problem to be solved by the invention]

[0004] When the bending medical instrument is configured to be detachable from the insertion unit as in the above document, it is necessary to reduce the possibility that the bending medical instrument will accidentally fall off.

[0005] The present invention provides a medical device that can reduce the possibility of a curved medical device being dropped. [Means for solving the problem]

[0006] One aspect of the present invention is a medical device comprising: a bendable medical device having a bendable body to be inserted into a target and a holdable portion; a movable body to which the bendable medical device can be attached or detached; and an insertion unit having a drive unit that moves the movable body so that the bendable body advances or retreats relative to the target, wherein the insertion unit is tiltable so that the inclination angle of the bendable medical device attached to the movable body with respect to the horizontal changes; the movable body has a recess that receives the holdable portion when the bendable medical device is attached to the movable body; a locking member that is movable to a locking position that locks the holdable portion within the recess and a release position that allows the holdable portion to be removed from the recess; and a regulating surface that faces the recess; wherein when the holdable portion is positioned within the recess and the inclination angle is at its maximum, the regulating surface extends upward so that the upper end of the regulating surface is positioned higher than the lower end of the holdable portion, and the upper end of the regulating surface forms the lower end of the opening of the recess. [Effects of the Invention]

[0007] According to the present invention, the possibility of the curved medical device falling can be reduced. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is an overall view of a medical device according to one embodiment. [Figure 2] 1 is a perspective view showing a curved medical instrument and an insertion unit of a medical device. [Figure 3] FIG. 2 is a side view of a curved medical device and an insertion unit. [Figure 4] FIG. 10 is a perspective view showing a mounting portion of the insertion unit. [Figure 5] FIG. 2 is a perspective view showing the mounting portion of the bent medical device. [Figure 6] 10A to 10C are diagrams for explaining the operation of the mounting portion. [Figure 7] 1A and 1B are schematic diagrams showing a mounting portion according to an embodiment and its modified examples (b and c). DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0010] (Overview of medical devices) First, a medical device 1A will be described with reference to Figures 1 and 2. Figure 1 is an overall view of the medical device 1A according to an embodiment of the present disclosure. Figure 2 is a perspective view showing a bendable medical instrument 1 and an insertion unit 2 of the medical device 1A according to this embodiment.

[0011] 1, the medical device 1A includes a bending medical device 1, an insertion unit 2 to which the bending medical device 1 can be attached or detached, and a control unit 3 (controller) that controls the bending medical device 1 and the insertion unit 2. The medical device 1A also includes an arm 6 that supports the insertion unit 2, a monitor 4 as a display device, and a support 7 that supports the monitor 4 and the arm 6. Note that the support configuration for the insertion unit 2 is not limited to this, and for example, the arm 6 may be supported on a movable base configured to be movable by casters.

[0012] The bendable medical device 1 includes a catheter unit 100 having a catheter 11 as a bendable body, and a base unit 200. The catheter unit 100 is configured to be detachable from the base unit 200.

[0013] In this embodiment, a user of the medical device 1A and the bendable medical equipment 1 can insert the catheter 11 into a subject to perform tasks such as observing the interior of the subject, collecting various specimens from the interior of the subject, and performing treatment on the interior of the subject. In one embodiment, the user can insert the catheter 11 into the interior of a patient. Specifically, by inserting the catheter 11 into the patient's bronchus via the oral cavity or nasal cavity, tasks such as observing, collecting, and resecting lung tissue can be performed.

[0014] The catheter 11 can be used as a guide (sheath) for guiding a medical tool for performing the above-mentioned procedure. Examples of the medical tool include an endoscope, forceps, an ablation device, etc. The catheter 11 itself may also function as the above-mentioned medical tool.

[0015] 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.

[0016] 2, the bending medical device 1 is electrically connected to the control unit 3 via a cable 5 that connects the base unit 200 of the bending medical device 1 to the insertion unit 2. The bending medical device 1 receives power and a drive command for driving the wire driving unit 300 (described later) from, for example, the control unit 3 via the cable 5. The bending medical device 1 and the control unit 3 may be directly connected by a cable. Alternatively, the bending medical device 1 and the control unit 3 may be connected wirelessly.

[0017] The insertion unit 2 has a moving stage 2a as a moving body, a slider 2b that supports the moving stage 2a so that it can move linearly (slide), and a motor 2c that serves as a drive unit (first drive unit) that drives the moving stage 2a (moving body). The motor 2c rotates based on a drive command from the control unit 3, and drives the moving stage 2a via a transmission mechanism (not shown).

[0018] The bending medical device 1 is removably attached to the insertion unit 2 via the base unit 200. More specifically, the base unit 200 of the bending medical device 1 is removably attached to an attachment section 500 (connection section) provided on the moving stage 2a of the insertion unit 2. The base unit 200 is provided with a gripping section 201 that is held by the user when attaching or detaching the bending medical device 1 to or from the insertion unit 2.

[0019] Even when the bending medical device 1 is detached from the attachment part 500 of the moving stage 2a, the connection between the bending medical device 1 and the control part 3 is maintained so that the bending medical device 1 can be controlled by the control part 3. In this embodiment, even when the bending medical device 1 is detached from the attachment part 500 of the moving stage 2a, the bending medical device 1 and the insertion unit 2 are connected by the cable 5. Therefore, even when the bending medical device 1 is detached from the insertion unit 2 (during manual insertion), the catheter 11 can be driven to be bent by the wire driving part 300 described later.

[0020] The bendable medical device 1 includes a wire driving unit 300 (second driving unit) for driving the catheter 11. The catheter 11 includes a bending portion (bending body, catheter main body) and a bending driving unit (catheter driving unit) made up of a plurality of driving wires (linear members) configured to bend the bending portion. In this embodiment, the bending portion is a flexible tubular member with a passage for inserting a medical instrument.

[0021] The bending medical device 1 of this embodiment is a robotic catheter device that drives the catheter 11 by a wire driving unit 300 controlled by a control unit 3. The control unit 3 controls the wire driving unit 300 to perform an operation to bend the catheter 11. More specifically, each of the multiple driving wires is driven by the driving force of the actuator of the wire driving unit 300, so that the bending driving unit can bend the bending portion in a direction intersecting the extension direction of the catheter 11. In this embodiment, the wire driving unit 300 is built into the base unit 200.

[0022] 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.

[0023] 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. 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.

[0024] For example, with an endoscope inserted in catheter 11, catheter 11 is inserted to a target position inside a subject. After catheter 11 reaches the target position, the endoscope is pulled out of catheter 11 through tool hole 16a. Then, medical instruments are inserted through tool hole 16a to perform operations such as collecting various specimens from inside the subject and performing treatment on the inside of the subject.

[0025] As will be described later, the catheter unit 100 is removably attached to the base unit 200. After the curved medical device 1 has been used, the user can remove the catheter unit 100 from the base unit 200, attach a new catheter unit 100 to the base unit 200, and use the curved medical device 1 again.

[0026] The bendable medical device 1 has an operating unit 400. In this embodiment, the operating unit 400 is provided in the catheter unit 100. The operating unit 400 is operated by the user when fixing the catheter unit 100 to the base unit 200 or removing the catheter unit 100 from the base unit 200.

[0027] 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 bending medical device 1 and information related to the control of the bending 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 insertion unit 2.

[0028] (Method of inserting a curved medical device) As described above, the user inserts the catheter 11 into the patient. Specifically, by inserting the catheter into the bronchi through the patient's oral or nasal cavity, it is possible to perform tasks such as observing, sampling, and resecting lung tissue. Two methods are available for inserting the catheter 11 into the patient. One method involves the user removing the bendable medical device 1 from the insertion unit 2, holding the bendable medical device 1 in their hand, and moving the bendable medical device 1 by moving their hand as intended. Hereinafter, this method will be referred to as manual insertion.

[0029] The other method is to have the slider 2b of the insertion unit 2 linearly move the moving stage 2a, to which the bending medical device 1 is attached. The movement by the slider 2b is driven by a motor (not shown) connected to the control unit 3, in response to a command from the user. Hereinafter, this method will be referred to as robot insertion.

[0030] Switching between the two insertion methods, manual insertion and robotic insertion, allows for flexible adaptation of catheter 11 insertion depending on the situation as needed. For example, when initially inserting catheter 11 through a larger / wider portion of the patient's anatomy, manual insertion can facilitate rapid advancement of catheter 11, thereby saving time. Once catheter 11 reaches a more tortuous portion of the patient's anatomy, catheter 11 can be switched to robotic insertion, which allows catheter 11 to be inserted into a smaller / narrower area. Additionally, robotic insertion is performed at a slower, more gradual speed to minimize abrasion and discomfort to the patient.

[0031] An imaginary line that passes through the center of the catheter 11 at the proximal end of the catheter 11 and extends along the extension direction (longitudinal direction) of the catheter 11 is defined as the reference axis A1 of the bendable medical device 1. The reference axis A1 is parallel to the extension direction of the catheter 11 when the catheter 11 is straight.

[0032] When inserting the robot, the bendable medical device 1 (base unit 200) moves together with the moving stage 2a to one side in the direction along the reference axis A1, causing the distal end of the catheter 11 to move (advance) so as to enter the interior of the subject. Conversely, the bendable medical device 1 (base unit 200) moves together with the moving stage 2a to the other side in the direction along the reference axis A1, causing the distal end of the catheter 11 to move (retreat) so as to be withdrawn from the interior of the subject. The movement of the moving stage 2a is achieved by the control unit 3 controlling the operation of the motor 2c.

[0033] 2, arrow D1 indicates the moving direction (advance direction) of the moving stage 2a when advancing the bending medical device 1. Arrow D2 indicates the moving direction (retract direction) of the moving stage 2a when retracting the bending medical device 1.

[0034] The forward direction (arrow D1) and backward direction (arrow D2) of the moving stage 2a are substantially parallel to the reference axis A1 of the bendable medical device 1. However, as long as the catheter 11 can be inserted and withdrawn by robot insertion, the moving stage 2a may be configured to move in a direction intersecting the direction along the reference axis A1. The moving stage 2a is moved in the forward direction (arrow D1) and backward direction (arrow D2) by a slider 2b. The slider 2b includes a rail (guide portion) that extends elongatedly in the forward direction (arrow D1) and backward direction (arrow D2), and a transmission mechanism that is connected to the moving stage 2a and moves the moving stage 2a along the rail using the driving force of a motor 2c.

[0035] (Angle of curved medical device) As shown in Fig. 1, the insertion unit 2 is rotatably supported by an arm 6. A user can tilt the insertion unit 2 by gripping the gripping portion 2h of the insertion unit 2. The tilt angle of the bending medical device 1 attached to the moving stage 2a of the insertion unit 2 is defined as the angle of the reference axis A1 of the bending medical device 1 relative to the horizontal (an imaginary horizontal plane perpendicular to the vertical direction).

[0036] The insertion unit 2 is tiltable (rotatable, position-changeable) around an axis perpendicular to the reference axis A1 between positions where the tilt angle of the bending medical device 1 is minimum and maximum. In this embodiment, the direction of the rotation axis of the insertion unit 2 when changing the tilt angle of the bending medical device 1 is a horizontal direction (Y direction described below) that is substantially perpendicular to the movement direction (arrows D1 and D2) of the moving stage 2a. The rotation range of the insertion unit 2 is restricted by a stopper (not shown) provided on the arm 6.

[0037] The insertion unit 2 of this embodiment can be tilted so that the tilt angle of the bending medical device 1 is a minimum of 0° and a maximum of 90° (FIG. 3). Note that the rotation range of the insertion unit 2 is not limited to this, and for example, the maximum value of the tilt angle of the bending medical device 1 may be less than 90°.

[0038] As described above, the movement direction (arrows D1 and D2) of the moving stage 2a in the insertion unit 2 is substantially parallel to the reference axis A1 of the bending medical device 1 attached to the moving stage 2a. In other words, the insertion unit 2 is configured to be tiltable (rotatable, position-changeable) so that the tilt angle of the moving direction of the moving stage 2a relative to the horizontal can be changed.

[0039] When the tilt angle of the bending medical device 1 is at its maximum, the forward direction (arrow D1) of the moving stage 2a is directed downward relative to the vertical direction. In this embodiment, when the tilt angle of the bending medical device 1 is at its maximum, the forward direction (arrow D1) and backward direction (arrow D2) of the moving stage 2a are approximately vertical.

[0040] (Mounting configuration for curved medical devices) As described above, the bending medical device 1 of this embodiment is configured to be switchable between two insertion methods: manual insertion and robotic insertion. Therefore, it is necessary to reduce the possibility of the bending medical device 1 being dropped inadvertently. For example, it is necessary to reduce the possibility of the bending medical device 1 being dropped against the user's intention when attaching the bending medical device 1 to the insertion unit 2 and when unlocking to remove the bending medical device 1 from the insertion unit 2. It is also desirable that the bending medical device 1 be easily attached to and detached from the insertion unit 2.

[0041] The connection portion (500, 600) between the bending medical device 1 and the insertion unit 2 will be described using Figs. 3 to 6. Fig. 3 is a side view of the bending medical device 1 and the insertion unit 2 according to this embodiment, and is a partial cross-sectional view showing the vicinity of the attachment portion 500 of the insertion unit 2. Fig. 4 is a perspective view showing the attachment portion 500 according to this embodiment with the bending medical device 1 removed. Fig. 5 is a perspective view showing the attachment receiving portion 600 of the bending medical device 1 attached to the attachment portion 500 with the attachment receiving portion 600 removed from the attachment portion 500. Figs. 6(a) to 6(c) are partial cross-sectional views for explaining the operation of the attachment portion 500 and the attachment receiving portion 600. Fig. 6(a) shows a state in which the bending medical device 1 is attached to the insertion unit 2 and the attachment portion 500 is in a locked state. Fig. 6(b) shows a state in which the bending medical device 1 is attached to the insertion unit 2 and the attachment portion 500 is in an unlocked state. FIG. 6( c ) shows the state in which the bendable medical device 1 is being removed from the insertion unit 2 .

[0042] 3 to 6(a to 6c), the medical device 1A is illustrated when the tilt angle of the bending medical device 1 is at its maximum. In the following explanation, unless otherwise specified, the shapes and positional relationships of the components of the attachment portion 500 and the attachment receiving portion 600 will be explained based on the state when the tilt angle of the bending medical device 1 is at its maximum. Furthermore, the vertically upward direction when the medical device 1A is placed on a horizontal surface is defined as the Z direction, and the directions perpendicular to the Z direction and perpendicular to each other are defined as the X direction and the Y direction. Furthermore, for the X, Y, and Z directions, the direction of the arrows shown in the drawings is defined as the positive (+) direction, and the direction opposite to the arrows is defined as the negative (-) direction, and + or - signs are added as necessary.

[0043] 3, the bending medical device 1 is detachably attached (connected) to a mounting part 500 of the insertion unit 2. The mounting part 500 is provided on the moving stage 2a. When the moving stage 2a is moved linearly by the slider 2b, the mounting part 500 moves linearly together with the moving stage 2a in the directions D1 and D2.

[0044] As shown in FIG. 4, the attachment portion 500 of the insertion unit 2 (moving stage 2a) has two recesses 503a and 503b, restriction surfaces 507a and 507b, a locking member 505, a release lever 504, and a frame 501.

[0045] The recess 503a (first recess) of the moving stage 2a has a recessed shape that receives the mounting shaft 601a (FIG. 5) of the bending medical device 1, which will be described later. When viewed in the Y direction, the recess 503a of this embodiment has a groove shape that is recessed downward (-Z direction) toward the -X direction. The recess 503a also opens toward the +X direction and upward (+Z direction).

[0046] The recess 503b (second recess) of the moving stage 2a has a recessed shape that receives the mounting shaft 601b (FIG. 5) of the bending medical device 1. When viewed in the Y direction, the recess 503b of this embodiment has a groove shape that is recessed downward (-Z direction) toward the -X direction. The recess 503b also opens toward the +X direction and upward (+Z direction).

[0047] The recesses 503a and 503b hold the held portions (mounting shafts 601a and 601b) of the bending medical device 1 so that the moving stage and the bending medical device 1 move together. The recesses 503a and 503b also support the weight of the bending medical device 1.

[0048] In this embodiment, the two recesses 503a, 503b have groove shapes that extend in a direction approximately parallel to each other when viewed in the Y direction. The recesses 503a, 503b are provided on the frame 501 of the moving stage 2a. In this embodiment, the attachment direction (mounting direction) of the bending medical device 1 (attached portion 600) to the insertion unit 2 (attaching portion 500) is the direction in which the attachment axes 601a, 601b move along the groove shapes toward the bottoms of the recesses 503a, 503b. In addition, the detachment direction of the bending medical device 1 (attached portion 600) from the insertion unit 2 (attaching portion 500) is the direction in which the attachment axes 601a, 601b move along the groove shapes from the bottoms of the recesses 503a, 503b toward the openings.

[0049] 5, the mounting portion 600 of the bendable medical device 1 has two mounting shafts 601a and 601b and a frame 602. The mounting shafts 601a and 601b are supported by the frame 602. In this embodiment, the mounting shafts 601a and 601b are cylindrical and elongated in the Y direction. The frame 602 is fixed to the frame of the base unit 200 of the bendable medical device 1.

[0050] The mounting shaft 601a is an example of a held portion (locked portion, first held portion) that is received in the recess 503a of the moving stage 2a when the bending medical device 1 is mounted on the moving stage 2a. The mounting shaft 601b is an example of a held portion (locked portion, second held portion) that is received in the recess 503b of the moving stage 2a when the bending medical device 1 is mounted on the moving stage 2a.

[0051] As shown in Figure 4, the locking member 505 of the moving stage 2a is movable between a position where it protrudes into the space inside the recessed portion 503a (locked position, protruding position; Figure 6(a)), and a position where it retracts from the space inside the recessed portion 503a (released position, retracted position; Figures 6(b) and 6(c)). The locking member 505 is supported by the frame 501 of the moving stage 2a so that it can move linearly (arrows R and K) between the locked and released positions. The locked position is a position where the locking member 505 locks the mounting shaft 601a in the recessed portion 503a (prevents removal), and the released position is a position where the locking member 505 allows the mounting shaft 601a to be removed from the recessed portion 503a.

[0052] The locking member 505 is biased in the direction (arrow R) from the release position to the locking position by a compression spring 506 (see FIG. 6(a)) serving as a biasing member. The compression spring 506 in this embodiment is a torsion coil spring arranged between the locking member 505 and the frame 501 of the moving stage 2a.

[0053] The locking member 505 has a locking claw 505a for locking the mounting shaft 601a. ​​The locking claw 505a protrudes into the recess 503a when the locking member 505 is in the locked position, and retracts from the recess 503a when the locking member 505 is in the unlocked position. When the locking member 505 is in the locked position, the locking claw 505a engages with the mounting shaft 601a at a position different from the wall surface of the recess 503a, and holds (sandwiches) the mounting shaft 601a together with the wall surface of the recess 503a.

[0054] Furthermore, the frame 501 of the movable stage 2a has a protrusion 501c that holds the surface of the locking member 505 opposite to the surface where the locking claw 505a faces the recess 503a. The protrusion 501c can restrict bending and change in posture of the locking member 505 so that the locking claw 505a of the locking member 505 does not move when it receives force from the mounting shaft 601a.

[0055] The release lever 504 of the moving stage 2a is an operating part that is operated by the user to move the locking member 505 from the locked position to the unlocked position. The user can move the locking member 505 from the locked position to the unlocked position by pressing the release lever 504 in the direction of arrow P against the biasing force of the compression spring 506. The release lever 504 in this embodiment is formed integrally with the locking member 505.

[0056] Instead of the configuration in which the locking member 505 and the release lever 504 are integrally formed, a configuration in which the locking member 505, which is a separate member from the operating unit, moves from the locked position to the released position in response to the operation of the operating unit may be used. Also, instead of the operating unit, a configuration in which an actuator provided in the insertion unit 2 moves the locking member 505 from the locked position to the released position based on an instruction input by the user via the input device 3b may be used.

[0057] The restricting surface 507a (first restricting surface) of the movable stage 2a is a surface facing the recessed portion 503a. The restricting surface 507a is provided on the frame 501 of the movable stage 2a. An end 507a1 of the restricting surface 507a in the direction from the bottom of the recessed portion 503a toward the opening forms part of the opening edge of the recessed portion 503a. When the tilt angle of the bendable medical device 1 is at its maximum (see, for example, FIGS. 3 and 4), the end 507a1, which is the upper end of the restricting surface 507a, forms the lower end of the opening of the recessed portion 503a.

[0058] The restriction surface 507b (second restriction surface) of the movable stage 2a is a surface facing the recessed portion 503b. The restriction surface 507b is provided on the frame 501 of the movable stage 2a. An end 507b1 of the restriction surface 507b in the direction from the bottom of the recessed portion 503b toward the opening forms part of the opening edge of the recessed portion 503b. When the tilt angle of the bendable medical device 1 is at its maximum (see, for example, FIGS. 3 and 4), the end 507b1, which is the upper end of the restriction surface 507b, forms the lower end of the opening of the recessed portion 503b.

[0059] With the above-described configuration, the restricting surfaces 507a and 507b reduce the possibility of the bendable medical device 1 accidentally falling off when the attachment section 500 is in the unlocked state (FIG. 6(b)), as will be described later.

[0060] The restricting surfaces 507a, 507b in this embodiment are inclined with respect to the horizontal so as to be inclined upward as they approach the openings of the recesses 503a, 503b when the inclination angle of the bendable medical device 1 is at its maximum. The inclination angle of the restricting surfaces 507a, 507b is arbitrary, but is set in consideration of preventing the bendable medical device 1 from falling and of the operability of attaching and detaching the bendable medical device 1 to and from the moving stage 2a.

[0061] As shown in Fig. 4, the frame 501 of the moving stage 2a has a first side surface 501a on the +Y direction side and a second side surface 501b on the -Y direction side. On the other hand, as shown in Fig. 5, the frame 602 of the bendable medical device 1 has a first side surface 602a on the +Y direction side and a second side surface 602b on the -Y direction side.

[0062] When the bending medical device 1 is attached to the moving stage 2a, the first side surface 501a of the moving stage 2a faces the first side surface 602a of the bending medical device 1 in the Y direction, and the second side surface 501b of the moving stage 2a faces the second side surface 602b of the bending medical device 1 in the Y direction. This positions the bending medical device 1 relative to the moving stage 2a in the Y direction.

[0063] That is, the first side surface 501a and the second side surface 501b of the moving stage 2a restrict the bending medical device 1 from shifting in position relative to the moving stage 2a in the Y direction, which is the axial direction of the attachment shafts 601a and 601b. The configuration for restricting the positional deviation of the bending medical device 1 in the Y direction is not limited to this, and for example, a thin rib (protrusion) that is long in the Z direction may be provided on the frame 501 of the moving stage 2a or the frame 602 of the bending medical device 1, and a groove that fits into this rib may be provided on the other frame.

[0064] The operation of the attachment part 500 will be described below with reference to FIGS. 6(a) to 6(c). As shown in FIG. 6(a), when the locking member 505 is in the locked position, the mounting part 500 is in a locked state in which the locking claw 505a at the tip of the locking member 505 locks the mounting shaft 601a of the bendable medical device 1.

[0065] In the locked state, when viewed from the opening side of the recess 503a (the upper right side in the figure), the locking claw 505a of the locking member 505 overlaps at least a part of the mounting shaft 601a located in the recess 503a. That is, in the locked state, the locking member 505 is located in a position where it interferes with the movement direction (arrow V in FIG. 6(c)) of the mounting shaft 601a when the bending medical device 1 is removed from the moving stage 2a. Therefore, the removal of the mounting shaft 601a from the recess 503a is restricted, and the removal of the bending medical device 1 from the moving stage 2a is also restricted.

[0066] When the bendable medical device 1 is at its maximum angle, gravity acts on the locking member 505 in the direction from the locked position to the unlocked position (arrow K). However, the locking member 505 is held in the locked position against gravity by the biasing force of the compression spring 506 in the direction of arrow R.

[0067] In this embodiment, the locking member 505 directly locks only one of the mounting shafts 601a, but the other mounting shaft 601b is fitted into the recess 503b, which also restricts rotation of the bending medical device 1 about the mounting shaft 601a. ​​That is, the recess 503b is a groove shape that extends in a direction (upper right-lower left in the figure) that intersects with the tangent direction (left-right direction in FIG. 6(a)) of an arc centered on the axis of the mounting shaft 601a fitted into the recess 503a. Therefore, even if an attempt is made to rotate the bending medical device 1 about the mounting shaft 601a with the mounting shaft 601a locked in the recess 503a, the mounting shaft 601b interferes with the wall surface of the recess 503b, and the bending medical device 1 does not rotate.

[0068] In addition to the locking member 505, an additional locking member may be disposed to lock the mounting shaft 601b in the recess 503b.

[0069] As shown in Figure 6(b), when the user operates the release lever 504 (Figure 4) in a predetermined operating direction (arrow P), the locking member 505 is moved from the locked position to the unlocked position (arrow K), causing the attachment part 500 to enter an unlocked state in which the attachment shaft 601a of the bendable medical device 1 is unlocked.

[0070] In the unlocked state, the locking claw 505a of the locking member 505, which overlapped the mounting shaft 601a in the locked state, retracts to a position where it does not overlap with the mounting shaft 601a. ​​That is, when the locked state is released, the locking member 505 is positioned so that it does not interfere with the movement direction (arrow V in FIG. 6(c)) of the mounting shaft 601a when the bending medical device 1 is removed from the moving stage 2a. Note that because the locking member 505 continues to receive the biasing force of the compression spring 506, when the user releases the release lever 504, the locking member 505 moves again from the unlocked position to the locked position, and the mounting part 500 returns to the locked state of FIG. 6(a).

[0071] 6(c), when the user grips the bending medical device 1 in the unlocked state of the mounting part 500 and moves it in the direction of arrow V, the mounting shafts 601a and 601b are released from the recesses 503a and 503b of the moving stage 2a, allowing the bending medical device 1 to be removed from the moving stage 2a.

[0072] To attach the bending medical device 1 to the moving stage 2a, simply follow the removal procedure described above in reverse. That is, the user presses the release lever 504 of the attachment unit 500 to release the attachment unit 500, and then moves the bending medical device 1 in the attachment direction opposite to the direction of arrow V, fitting the attachment shafts 601a and 601b into the recesses 503a and 503b of the moving stage 2a. After that, when the user releases the release lever 504, the biasing force of the compression spring 506 moves the locking member 505 from the release position to the lock position, and the attachment unit 500 enters the locked state. As a result, the bending medical device 1 is attached to the moving stage 2a and moves integrally with the moving stage 2a.

[0073] The locking member 505 may be provided with an abutment surface 505b (FIG. 4) that abuts against the mounting shaft 601a of the bending medical device 1, so that the locking member 505 automatically moves from the locked position to the unlocked position when the bending medical device 1 is attached. In this case, the user simply moves the bending medical device 1 in the attachment direction opposite to the direction of arrow V without operating the release lever 504. As the mounting shaft 601a moves toward the recess 503a, the mounting shaft 601a abuts against the abutment surface 505b of the locking member 505, which is located at the locked position. The locking member 505 then receives a force from the mounting shaft 601a in the direction toward the unlocked position (arrow K), and is pushed back by the mounting shaft 601a. ​​When the mounting shaft 601a engages the engaging claw 505a of the locking member 505, the locking member 505 moves to the locked position due to the biasing force of the compression spring 506, and the attachment section 500 enters the locked state.

[0074] (Regulatory influence) The function of the restriction surfaces 507a and 507b provided on the moving stage 2a will be described below. Figure 7(a) is a schematic diagram showing the mounting portion 500 according to this embodiment in a state corresponding to Figure 6(b).

[0075] As shown in Figures 6(b) and 7(a), when the mounting shaft 601a is positioned within the recess 503a and the inclination angle of the bending medical device 1 is at its maximum, the end 507a1, which is the upper end of the restricting surface 507a, is located above the lower end 601a1 of the mounting shaft 601a. ​​That is, in this embodiment, when the held portion is positioned within the recess and the inclination angle of the bending medical device is at its maximum, the restricting surface extends upward so that the upper end of the restricting surface is located above the lower end of the held portion. Also, when the held portion is positioned within the recess and the inclination angle of the bending medical device is at its maximum, the upper end (end 507a1) of the restricting surface forms the lower end of the opening of the recess. That is, the restricting surface is a surface different from the surface facing the recess and continuous with the upper end of the opening of the recess (the wall surface on the upper left side of the recess 503a in Figure 6(b)).

[0076] With this configuration, it is possible to reduce the possibility that the bendable medical device 1 will accidentally fall off.

[0077] As a comparative example, consider a configuration in which the recess 503a extends horizontally to the opening when the tilt angle of the bendable medical device 1 is at its maximum. In this case, when the locking member 505 is moved to the release position when the tilt angle of the bendable medical device 1 is at its maximum, the bendable medical device 1 receives a force in the X direction (the horizontal component toward the opening of the recess 503a). In this case, there is a possibility that the attachment shaft 601a will reach the opening of the recess 503a without being blocked by an obstacle and will be released from the recess 503a.

[0078] On the other hand, in this embodiment, when the locking member 505 is moved to the release position when the tilt angle of the bending medical device 1 is at its maximum, the bending medical device 1 receives a force in the X direction (the horizontal component in the direction toward the opening of the recess 503a). In this case, the movement of the attachment shaft 601a is restricted by the restricting surface 507a, reducing the possibility that the attachment shaft 601a will come off the recess 503a and the bending medical device 1 will accidentally fall. Here, Fig. 6(b) shows a state in the middle of the removal operation of the bending medical device 1, illustrating one scene where the restricting surface 507a has an effect of preventing the bending medical device 1 from falling. However, even in the attachment operation of the bending medical device 1, the presence of the restricting surface 507a reduces the possibility that the bending medical device 1 will fall.

[0079] Furthermore, in this embodiment, multiple restriction surfaces 507a, 507b (first restriction surface, second restriction surface) are arranged corresponding to multiple mounting shafts 601a, 601b (first held portion, second held portion), respectively. When the mounting shaft 601b is positioned within the recess 503b and the tilt angle of the bendable medical device 1 is at its maximum, the end 507b1, which is the upper end of the restriction surface 507b, is positioned above the lower end 601b1 of the mounting shaft 601b and forms the lower end of the opening of the recess 503b. This further reduces the possibility of the bendable medical device 1 accidentally falling.

[0080] Even when the inclination angle of the bending medical device 1 is at its maximum, the user can easily remove the bending medical device 1 from the insertion unit 2. In this case, the user only needs to move the locking member 505 to the release position and then move the bending medical device 1 in a predetermined removal direction (arrow V in FIG. 6(c)) that includes a vertically upward component.

[0081] (Variation) In the above-described embodiment, the restricting surfaces 507a, 507b are exemplified as inclined surfaces that are inclined with respect to the horizontal so as to extend upward as they approach the openings of the recesses 503a, 503b when the inclination angle of the bendable medical device 1 is at its maximum. The restricting surfaces are not limited to this, and may be, for example, those shown in Figures 7(b) and 7(c).

[0082] 7(b), the recesses 503a and 503b are curved (bent) between the opening and the bottom. When the bendable medical device 1 has a maximum tilt angle, the recesses 503a and 503b extend vertically upward (+Z direction) from the bottom and open to one side horizontally (+X direction).

[0083] The restricting surfaces 507a and 507b face the recesses 503a and 503b and extend substantially vertically when the inclination angle of the bendable medical device 1 is at its maximum. When the mounting shafts 601a and 601b are positioned within the recesses 503a and 503b and the inclination angle of the bendable medical device 1 is at its maximum, the upper ends 507a1 and 507b1 of the restricting surfaces 507a and 507b are positioned higher than the lower ends 601a1 and 601b1 of the mounting shafts. The upper ends 507a1 and 507b1 of the restricting surfaces 507a and 507b form the lower ends of the openings of the recesses 503a and 503b. Therefore, the restricting surfaces 507a and 507b can prevent the bendable medical device 1 from falling.

[0084] 7(c), the recess 503 is also bent between the opening and the bottom. When the tilt angle of the bendable medical device 1 is at its maximum, the recess 503 extends vertically upward from the bottom (+Z direction) and opens to one horizontal side (+X direction). The bendable medical device 1 has an L-shaped attachment member 601. When attaching the bendable medical device 1, the attachment member 601 is inserted into the opening of the recess 503 in the -X direction, and then moved in the -Z direction toward the bottom of the recess 503, thereby being positioned within the recess 503.

[0085] The restriction surface 507 is a surface facing the recess 503, and extends in a substantially vertical direction when the inclination angle of the curved medical device 1 is at its maximum. When the attachment member 601 is positioned within the recess 503 and the inclination angle of the curved medical device 1 is at its maximum, an upper end 5071 of the restriction surface 507 is located above a lower end 6011 of the attachment member. Furthermore, the upper end 5071 of the restriction surface 507 forms the lower end of the opening of the recess 503. Therefore, the restriction surface 507 can prevent the curved medical device 1 from falling.

[0086] In the embodiment of FIG. 7(a), the restricting surfaces 507a, 507b are inclined surfaces that extend linearly from the bottoms of the recesses 503a, 503b toward the openings. In other words, the recesses 503a, 503b are groove-shaped recessed in the inclined direction of the restricting surfaces 507a, 507b. In the modified example of FIGS. 7(b) and 7(c), when attaching or detaching the bendable medical device 1, the user moves the bendable medical device 1 so that the attachment shafts 601a, 601b move along the curves (curvatures) of the recesses 503a, 503b. In contrast, in the embodiment of FIG. 7(a), when attaching or detaching the bendable medical device 1, the user only needs to move the bendable medical device 1 so that the attachment shafts 601b, 601b move linearly along the restricting surfaces 507a, 507b, resulting in better operability.

[0087] The modified examples in Figures 7(b) and 7(c) are examples of configurations in which the shapes of the recessed portion and the restricting surface are different from those of the embodiment. The modified example in Figure 7(c) is an example of a configuration in which the bending medical device 1 has one held portion, and the insertion unit 2 has one recessed portion and one restricting surface. The shapes, number, arrangement, etc. of the held portion, recessed portion, restricting surface, and other components are not limited to those illustrated and can be changed as appropriate.

[0088] Furthermore, in the above-described embodiment, a configuration has been exemplified in which the locking member 505 directly engages with the held portion (mounting shaft 601a) to lock the held portion in the recess. However, the present invention is not limited to this, and the locking member 505 may engage with a portion of the bending medical device 1 other than the held portion to lock the held portion in the recess. For example, the frame 602 of the bending medical device 1 may have a recessed shape as an engaged portion with which the locking member 505 engages at a position different from the mounting shaft 601a. ​​In this case, fitting the locking member 505 into this recessed shape restricts movement of the bending medical device 1 in the direction in which the mounting shaft 601a moves from the bottom of the recess 503a toward the opening. [Explanation of symbols]

[0089] 1...Bending medical device / 1A...Medical device / 2...Insertion unit / 11...Bendable body (catheter) / 503a, 503b...Recess / 505...Lock member / 507a, 507b...Restriction surface / 601a, 601b...Holded portion (mounting shaft)

Claims

1. a bendable medical device having a bendable body to be inserted into a subject and a held portion; an insertion unit having a movable body to which the bendable medical device can be attached and detached, and a drive unit that moves the movable body so that the bendable body advances or retreats relative to the subject; A medical device comprising: the insertion unit is tiltable so that an angle of inclination of the curved medical device attached to the movable body relative to the horizontal is changed; The moving body is a recess that receives the held portion when the bendable medical device is attached to the movable body; a locking member that is movable between a locking position that locks the held portion in the recess and a release position that allows the held portion to be released from the recess; a restriction surface facing the recess; and When the held portion is positioned within the recess and the inclination angle is at a maximum, the regulating surface extends upward so that an upper end of the regulating surface is positioned higher than a lower end of the held portion, and the upper end of the regulating surface forms a lower end of an opening of the recess. A medical device characterized by:

2. the restriction surface is a surface that is inclined with respect to the horizontal so as to become more upward as it approaches the opening of the recess when the inclination angle is at a maximum. The medical device of claim 1 .

3. the recess has a groove shape recessed in an inclined direction of the restriction surface, When the bent medical device is moved in a direction along the inclination direction, the held portion is fitted into and disengaged from the recess. The medical device of claim 2 .

4. The held portion is a first held portion, the recess is a first recess, and the regulating surface is a first regulating surface, the bendable medical device has a second held portion, The moving body is a second recess that receives the second held portion when the bendable medical device is attached to the movable body; a second restriction surface facing the second recess; and When the second held portion is positioned in the second recess and the inclination angle is at a maximum, the second regulating surface extends upward so that an upper end of the second regulating surface is positioned higher than a lower end of the second held portion, and the upper end of the second regulating surface forms a lower end of an opening of the second recess. The medical device according to any one of claims 1 to 3.

5. The locking member has a locking claw for locking the held portion in the recess, and when the locking member is located at the lock position, the locking claw protrudes into the recess, and when the locking member is located at the release position, the locking claw retracts from the recess.

5. The medical device according to claim 1.

6. When the inclination angle is at a maximum, the movable body moves downward when the bendable body is moved forward, and the movable body moves upward when the bendable body is moved backward.

6. The medical device according to claim 1, wherein the medical device is a casing.

7. the insertion unit has a guide portion that guides the moving direction of the moving body, The state in which the tilt angle is maximum is a state in which the movement direction is substantially vertical.

7. The medical device according to claim 1.

8. the insertion unit has an operating portion that is operated to move the locking member from the lock position to the release position; A medical device according to any one of claims 1 to 7.

9. The drive unit is a first drive unit, the bending medical device has a second driving unit that bends the bendable body, the medical device further includes a control unit that controls the second drive unit, and a cable that electrically connects the control unit and the bending medical device, The bending medical device is capable of bending the bendable body by the second driving unit under the control of the control unit, both in a state where the bending medical device is attached to the insertion unit and in a state where the bending medical device is detached from the insertion unit.

9. The medical device according to any one of claims 1 to 8.

Images