Medical device and bendable unit

Abstract

To stably fix a linear member connected to a curved part relative to a coupling portion connected to a drive source.SOLUTION: A medical device includes: (i) a linear member which is connected to a curved portion, curves the curved portion by moving in an extension direction, and has an engaged portion; (ii) a coupling portion which is connected to a drive source and includes an elastic member configured to hold an engaged portion and a first rotating body which can rotate to a pressing position for pressing the elastic member and a retracted position retracted from the pressing position; and (iii) a second rotating body which can move to a first position at which the first rotating body is positioned in the pressing position and a second position at which the first rotating body is positioned in the retracted position. The engaged portion and the elastic member are overlapped as viewed in the extension direction such that the engaged portion is restricted not to move in the extension direction relative to the elastic member, when the first rotating body is in the pressing position.SELECTED DRAWING: Figure 15

Description

[Technical Field]

[0001] The present invention relates to a medical device having a linear member connected to a curved section. [Background technology]

[0002] Patent Document 1 discloses a medical device in which a connecting shaft having a wire for bending a bending portion and a rod connected to the wire is attached to a connecting receiving portion having a drive stage connected to an actuator.

[0003] In the medical device of Patent Document 1, the connecting shaft is inserted linearly in one direction into the connecting receiving portion, and then rotated, whereby the rod and the drive stage engage with each other, and the wire and the actuator are connected. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] U.S. Patent Application Publication No. 2021 / 0121051 Summary of the Invention [Problem to be solved by the invention]

[0005] One object of the present invention is to use an elastic member to stably fix a linear member connected to a bending portion to a connecting portion connected to a drive source. [Means for solving the problem]

[0006] One of the inventions of the present application is as follows.

[0007] A curved portion; a linear member connected to the bending portion and moving along an extension direction to bend the bending portion, the linear member having an engaged portion; a coupling portion connected to a drive source, the coupling portion including an elastic member configured to hold the engaged portion, and a first rotating body rotatable between a pressing position where the elastic member is pressed and a retracted position retracted from the pressing position; a second rotating body that is movable between a first position where the first rotating body is positioned at the pressing position and a second position where the first rotating body is positioned at the retracted position; have When the first rotating body is in the pressing position, the engaged portion and the elastic member overlap as viewed in the extension direction so that movement of the engaged portion relative to the elastic member in the extension direction is restricted. A medical device characterized by: [Effects of the Invention]

[0008] As described above, according to the present invention, the linear member connected to the bending portion can be stably fixed to the connecting portion connected to the drive source using the elastic member. [Brief explanation of the drawings]

[0009] [Figure 1] Overview of the healthcare system [Figure 2] FIG. 1 is a perspective view showing a medical device and a support base; [Figure 3] Catheter illustration [Figure 4] Illustration of the catheter unit [Figure 5] Illustration of the base unit and wire drive unit [Figure 6] Explanatory diagram of the wire drive unit, connecting device, and bending drive unit [Figure 7] Illustration of catheter unit installation [Figure 8] A diagram illustrating the connection between the catheter unit and the base unit. [Figure 9] Exploded view illustrating the connection between the catheter unit and the base unit [Figure 10] A diagram illustrating how a plate spring holds a held part. [Figure 11]FIG. 10 is a diagram illustrating the fixing of the drive wire by the connecting portion. [Figure 12] FIG. 10 is a diagram illustrating the fixing of the drive wire by the connecting portion. [Figure 13] FIG. 10 is a diagram illustrating the fixing of the drive wire by the connecting portion. [Figure 14] FIG. 10 is a diagram illustrating the fixing of the drive wire by the connecting portion. [Figure 15] FIG. 10 is a diagram illustrating the fixing of the drive wire by the connecting portion. [Figure 16] Diagram of catheter unit and base unit [Figure 17] Diagram explaining the operation of the operation unit [Figure 18] Cross-sectional view explaining the operation of the operation unit DETAILED DESCRIPTION OF THE INVENTION

[0010] The following describes an example of the configuration of the present invention with reference to the drawings. Note that the dimensions, materials, shapes, and arrangement of the components described in this embodiment may be changed as appropriate depending on the configuration and various conditions of the device to which the present invention is applied.

[0011] Example 1 <Medical Systems and Devices> The medical system 1A and the medical device 1 will be described with reference to Figures 1 and 2. Figure 1 is an overall view of the medical system 1A. Figure 2 is a perspective view showing the medical device 1 and the support base 2.

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

[0013] The medical device 1 includes a catheter unit (bendable unit, bendable body unit) 100 that includes a catheter 11 as a bendable body (bendable body), and a base unit (drive unit, attached unit, connection 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, an ablation device, etc. The catheter 11 itself may also function as the above-mentioned medical tool.

[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 device 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, to a 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, and then use the medical device 1 again.

[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 the 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 with reference to Figure 3. Figure 3 is an explanatory diagram of the catheter 11. Figure 3(a) is a diagram illustrating 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 bend the bending section 12 by receiving a driving force from a wire drive section 300 via a connecting device 21, which will be described later.

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

[0040] 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.

[0041] The first to ninth held portions (Wa11 to Wa33) are fixed to the first to ninth wire bodies (Wb11 to Wb33) at the proximal ends of the first to ninth wire bodies (Wb11 to Wb33).

[0042] The first to ninth driving wires (W11 to W33) are inserted into the bending portion 12 via a wire guide 17 and fixed therein.

[0043] In this embodiment, the first to ninth drive wires (W11 to W33) are each made of metal. However, the first to ninth drive wires (W11 to W33) may also be made of resin. The first to ninth drive wires (W11 to W33) may also be made of a material containing metal and resin.

[0044] 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).

[0045] In this embodiment, the bending portion 12 is a flexible tubular member having a passage Ht for inserting a medical instrument.

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

[0047] Any one of the first to ninth wire holes (Hw11 to Hw33) can be referred to as a wire hole Hw. In this embodiment, the first to ninth wire holes (Hw11 to Hw33) have the same shape.

[0048] 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).

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] In the medical device 1, the bending drive unit 13 is driven by the wire drive unit 300, thereby bending the bending portion 12 in a direction intersecting the extension direction of the catheter 11. Specifically, by moving each of the first to ninth drive wires (W11 to W33) in the extension direction of the bending portion 12, the bending region 12b of the bending portion 12 can be bent in a direction intersecting the extension direction via the first to third guide rings (J1 to J3). In other words, by moving the first to ninth drive wires (W11 to W33) along the extension direction of the first to ninth drive wires (W11 to W33), the bending region 12b of the bending portion 12 can be bent.

[0054] 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.

[0055] 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 the present invention is not limited to this configuration. Any one or two of the first to third guide rings (J1 to J3) and the drive wires fixed thereto may be omitted.

[0056] 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.

[0057] 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.

[0058] <Catheter unit> The catheter unit 100 will be described with reference to FIG.

[0059] Figure 4 is an explanatory diagram 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. 15(a)) where it covers the first to ninth drive wires (W11 to W33) and a cover retracted position (see FIG. 15(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 with reference to FIG.

[0076] Fig. 5 is an explanatory diagram of the base unit 200 and the wire driving unit 300. Fig. 5(a) is a perspective view showing the internal structure of the base unit 200. Fig. 5(b) is a side view showing the internal structure of the base unit 200. Fig. 5(c) is a view of the base unit 200 as seen along the attachment / detachment direction DE.

[0077] 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.

[0078] The wire driving unit 300 has multiple driving sources (motors). 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] As will be described later, the 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 drive unit 12.

[0084] The driving wire W is connected to the connecting portion 21c via the held portion Wa. Each of the plurality of driving wires is connected to each of the plurality of connecting portions.

[0085] Specifically, the first holdable portion Wa11 of the first drive wire W11 is connected to the first connecting portion 21c11. The second holdable portion Wa12 of the second drive wire W12 is connected to the second connecting portion 21c12. The third holdable portion Wa13 of the third drive wire W13 is connected to the third connecting portion 21c13. The fourth holdable portion Wa21 of the fourth drive wire W21 is connected to the fourth connecting portion 21c21. The fifth holdable portion Wa22 of the fifth drive wire W22 is connected to the fifth connecting portion 21c22. The sixth holdable portion Wa23 of the sixth drive wire W23 is connected to the sixth connecting portion 21c23. The seventh holdable portion Wa31 of the seventh drive wire W31 is connected to the seventh connecting portion 21c31. An eighth held portion Wa32 of the eighth drive wire W32 is connected to the eighth connecting portion 21c32. A ninth held portion Wa33 of the ninth drive wire W33 is connected to the ninth connecting portion 21c33.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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 driving wire W engages with the corresponding insertion hole 25a and the corresponding connecting portion 21c.

[0095] 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.

[0096] 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.

[0097] <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 with reference to FIG.

[0098] 6A and 6B are explanatory diagrams of the wire driving unit 300, the connecting device 21, and the bending driving unit 13. Fig. 6A is a perspective view of the driving source M, the connecting unit 21c, and the driving wire W. Fig. 6B is an enlarged view of the connecting unit 21c and the driving wire W. Fig. 6C is a perspective view showing the connection between the wire driving unit 300, the connecting device 21, and the bending driving unit 13.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] The connecting portion 21c has a leaf spring 21ch as a holding portion configured to hold 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 fixes the held portion Wa (fixed state) and a state where it releases the held portion Wa (released state).

[0103] The connecting portion 21c has a pressing member (first rotor) 21cp. The pressing member 21cp has a gear portion 21cg that meshes with an internal gear 29 (described later) and a cam 21cc that serves as a pressing portion for pressing the leaf spring 21ch.

[0104] 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.

[0105] 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 motor shaft Ma rotates in the rotation direction Rm, the connecting portion 21c is restricted from rotating around the motor shaft Ma. The first bearing B1, the second bearing B2, and the third bearing B3 are provided for each of the first to ninth connecting portions (21c11 to 21c33).

[0106] Because the rotation of the connecting portion 21c around the motor shaft Ma is restricted, when the motor shaft Ma rotates, a force along the rotational axis direction of the motor shaft Ma acts on the tractor 21ct due to the spiral groove of the motor shaft Ma. As a result, the connecting portion 21c moves along the rotational axis direction of the motor shaft Ma (direction Dc). The movement of the connecting portion 21c moves the drive wire W, and the bending portion 12 bends.

[0107] In other words, the motor shaft Ma and the tractor 21ct constitute a so-called feed screw that converts the rotational motion transmitted from the drive source M into linear motion using a screw. In this embodiment, the motor shaft Ma and the tractor 21ct are slide screws, but they may also be ball screws.

[0108] 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).

[0109] 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.

[0110] <Attaching the catheter unit> The operation of attaching the catheter unit 100 to the base unit 200 will be described with reference to FIG.

[0111] Figure 7 is an explanatory diagram of the attachment of the catheter unit 100. Figure 7(a) is a diagram of the catheter unit 100 before it is attached to the base unit 200. Figure 7(b) is a diagram of the catheter unit 100 after it has been attached to the base unit 200.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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)).

[0116] 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.

[0117] 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)).

[0118] 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.

[0119] 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.

[0120] <Fixing and releasing the bending drive unit> Using Figures 8, 9, 10, 11, 12, 13, 14, and 15, 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.

[0121] Figure 8 is a diagram illustrating the connection between the catheter unit 100 and the base unit 200. Figure 8(a) is a cross-sectional view of the catheter unit 100 and the base unit 200. Figure 8(a) is a cross-sectional view of the catheter unit 100 and the base unit 200 taken along the rotation axis 400r. Figure 8(b) is a cross-sectional view of the base unit 200. Figure 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.

[0122] FIG. 9 is an exploded view illustrating the connection between the catheter unit 100 and the base unit 200. As shown in FIG.

[0123] Fig. 10 is a diagram illustrating the holding of the held portion Wa by the leaf spring 21ch in this embodiment. Fig. 10(a) shows a state in which the leaf spring 21ch and the held portion Wa are separated, and Fig. 10(b) shows a state in which the leaf spring 21ch and the held portion Wa are engaged. Fig. 10(c) is a diagram illustrating the convex portion 21d formed by the convex forming member 21d1 fixed to the leaf spring 21ch. Figs. 10(d) and 10(e) are diagrams illustrating the convex portion 21d formed by the bent portion of the leaf spring 21ch.

[0124] 11, 12, 13, 14, and 15 are diagrams illustrating the fixing of the driving wire W by the connecting portion 21c.

[0125] 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.

[0126] The joint 28 has a plurality of transmitting portions 28c, and the internal gear 29 has a plurality of transmitted portions 29c. The plurality of transmitting portions 28c are engaged with a plurality of transmitting portions 29c, and when the joint 28 rotates, the rotation of the joint 28 is transmitted to the internal gear 29.

[0127] 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.

[0128] 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).

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] In each of the first to ninth connecting portions (21c11 to 21c33), the pressing member 21cp rotates as the gear portion 21cg is moved by the internal gear 29. The pressing member 21cp is rotatable between a pressing position where the cam 21cc presses the leaf spring 21ch and a retracted position where it is retracted from the pressing position.

[0134] 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.

[0135] The operation unit 400 is movable between a fixed position (locked position, first position) and a detached position (second position, detachable position) when the catheter unit 100 is attached to the base unit 200. As will be described later, the operation unit 400 is also movable to a released position (third 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 operation unit 400. As will be described later, when the operation unit 400 is located in the detached position, attachment and detachment of the catheter unit 100 to and from the base unit 200 is permitted. When the operation unit 400 is located in the fixed position or released position, attachment and detachment of the catheter unit 100 to and from the base unit 200 is restricted.

[0136] When the catheter unit 100 is attached to the base unit 200, the operation unit 400 is positioned at the detachment position. When the catheter unit 100 is attached to the base unit 200 and the operation unit 400 is positioned at the detachment position, 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.

[0137] It can be said that the operating portion 400, the joint 28, and the internal gear 29 function as a second rotating body that moves the pressing member 21cp between the pressing position and the retracted position.

[0138] 10, 11, 12, 13, 14, and 15, the operation of fixing the drive wire W to the connecting portion 21c will be described.

[0139] As shown in Figures 10(a) and 10(b), the second portion 21chd2 of the leaf spring 21ch is provided with a convex portion 21d as an insertion portion. Meanwhile, the held portion Wa is provided with a concave portion Wf as an insertion portion. The concave portion Wf is provided over the entire circumference (360°) of the held portion Wa, which has a cylindrical shape. Therefore, if the concave portion Wf and the convex portion 21d are aligned in the axial direction of the held portion Wa, the concave portion Wf and the convex portion 21d can engage with each other.

[0140] As shown in FIG. 10(c), in this embodiment, the protrusion 21d is formed by a protrusion-forming member 21d1 integrated with the leaf spring 21ch. The protrusion-forming member 21d1 that forms the protrusion 21d is fixed to the leaf spring 21ch. The protrusion-forming member 21d1 can be fixed to the leaf spring 21ch by using adhesive, welding, double-sided tape, or the like. In this configuration, the protrusion 21d (protrusion-forming member 21d1) moves integrally with the leaf spring 21ch. The protrusion-forming member 21d1 and the leaf spring 21ch can be called part of the elastic member that holds the held portion Wa. In other words, the elastic member that holds the held portion Wa of the drive wire W includes the protrusion-forming member 21d1 (protrusion 21d) and the leaf spring 21ch.

[0141] As shown in FIG. 10(d) and FIG. 10(e), the protrusion 21d may be formed by bending a part of the leaf spring 21ch.

[0142] By attaching the catheter unit 100 to the base unit 200, the convex portion 21d and the concave portion Wf overlap with each other in the attachment / detachment direction DE.

[0143] 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.

[0144] FIG. 11(a) is a diagram showing the internal gear 29 and the connecting portion 21c in a detachable state. FIG. 11(a) is a diagram showing the internal gear 29 and the connecting portion 21c in a state in which the operation portion 400 is positioned at the detachment position. FIG. 11(a) is a diagram showing the connecting portion 21c viewed along the attachment / detachment direction DE. FIG. 11(a) can also be said to be a diagram showing the connecting portion 21c viewed along the extension direction of the drive wire W. The same applies to FIGS. 12 to 15 described below. In other words, in this embodiment, the attachment / detachment direction DE is the direction along the extension direction of the drive wire W. FIG. 11(b) is a cross-sectional view showing the relationship between the recessed portion Wf and the protruding portion 21d when the connecting portion 21c is in a released state.

[0145] 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 21chd2.

[0146] 11(a), when the operating unit 400 is in the removal position, the pressing member 21cp is in a retracted position, retracted from the pressing position where the cam 21cc presses the leaf spring 21ch. In this state, the held portion Wa is allowed to move relative to the leaf spring 21ch in the extension direction of the drive wire W, and the held portion Wa is allowed to move relative to the leaf spring 21ch in the removal direction Dd.

[0147] More specifically, as shown in Figure 11(b), when the connecting portion 21c is in the released state, the convex portion 21d is retracted from the concave portion Wf, and the convex portion 21d is not in contact with the concave portion Wf (is separated from the concave portion Wf).

[0148] 11(b), the held portion Wa has a first restriction wall Wf1 on one side of the recess Wf in the attachment / detachment direction DE and a second restriction wall Wf2 on the other side of the recess Wf. In other words, the recess Wf is formed between the first restriction wall Wf1 and the second restriction wall Wf2 in the attachment / detachment direction DE.

[0149] As will be described later, the held portion Wa is fixed to the leaf spring 21ch by inserting the protrusion 21d into the recess Wf. The first and second restriction walls Wf1 and Wf2 extend in a direction intersecting the attachment / detachment direction DE, and by abutting against the protrusion 21d inserted into the recess Wf, they restrict the held portion Wa from moving along the extension direction of the drive wire W or the attachment / detachment direction DE.

[0150] In this embodiment, the first and second restriction walls Wf1 and Wf2 are inclined in a direction perpendicular to the attachment / detachment direction DE and with respect to the attachment / detachment direction DE. The width of the recess Wf in the extension direction of the drive wire W or the attachment / detachment direction DE narrows from the upstream side to the downstream side in the insertion direction of the protrusion 21d. This allows the protrusion 21d to engage with the recess Wf even if the centers of the protrusion 21d and the recess Wf are misaligned in the extension direction of the drive wire W or the attachment / detachment direction DE.

[0151] 11(a), 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.

[0152] 11(a), 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.

[0153] 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.

[0154] 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.

[0155] When the connecting portion 21c is in the released state, the cam 21cc is located in a retracted position retracted from the pressing position described below. At this time, the fixation of the held portion Wa by the leaf spring 21ch and the protrusion 21d is released. When the connecting portion 21c is in the released state, the protrusion 21d is retracted from the recess Wf. Therefore, when viewed along the extension direction of the drive wire W or the attachment / detachment direction DE, the leaf spring 21ch and the protrusion 21d do not overlap with the held portion Wa. More specifically, the protrusion 21d is located in a position where it does not overlap with the recess Wf. In this state, the movement of the held portion Wa in the extension direction of the drive wire W or the detachment direction Dd is not restricted by the leaf spring 21ch and the protrusion 21d.

[0156] 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.

[0157] 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.

[0158] 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 detached position. Fig. 12 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.

[0159] When the operating part 400 is rotated in the locking direction while it is in the removal position (FIG. 11(a)), the internal gear 29 rotates clockwise, and the operating part 400 is then positioned in the release position.

[0160] 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.

[0161] 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.

[0162] 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. 11(a).

[0163] 12, when the operating portion 400 is further rotated in the locking direction, the internal gear 29 further rotates clockwise. The state of the internal gear 29 and the connecting portion 21c at that time is shown in FIG.

[0164] FIG. 13 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.

[0165] 13, when the operating part 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 part 21cg. Meanwhile, the connecting part 21c is in the same state as shown in FIGS. 11(a) and 12, and is maintained in the release state.

[0166] FIG. 14 is a diagram showing a state in which the pressing member 21cp is rotated as a result of the operation portion 400 being rotated in the locking direction.

[0167] As shown in FIG. 14, when the operating portion 400 is further rotated in the locking direction from the state shown in FIG. 13, the internal gear 29 further rotates clockwise.

[0168] 14, the internal gear 29 rotates the gear portion 21cg clockwise. When 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 protrusion 21d moves closer to the recess Wf.

[0169] 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 where it is separated from the tooth Zb3 of the gear portion 21cg. At this time, the protrusion 21d is inserted into the recess Wf. In this state, when viewed along the extending direction or removal direction Dd of the drive wire W, the protrusion 21d and the leaf spring 21ch overlap. More specifically, the recess Wf and the protrusion 21d are at least partially overlapping.

[0170] 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.

[0171] 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.

[0172] Fig. 15(a) is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 is in a fixed position. Fig. 15(b) is a cross-sectional view showing the relationship between the recessed portion Wf and the protruding portion 21d when the connecting portion 21c is in a locked state.

[0173] As shown in FIG. 15(a), the pressing member 21cp receives the reaction force of the leaf spring 21ch and further rotates from the state shown in FIG.

[0174] 15(a), the pressing member 21cp is located at the pressing position, and stops with the pressing surface 21ccb of the cam 21cc and the pressed portion 21chb of the leaf spring 21ch in surface contact with each other. In other words, the pressing surface 21ccb and the surface of the pressed portion 21chb are aligned on the same plane.

[0175] At this time, the connecting portion 21c is in a locked state. When the connecting portion 21c is in a locked state, the cam portion 21cc of the pressing member 21cp is located at the pressing position, and the pressing surface 21ccb presses the pressed portion 21chb.

[0176] When the connecting portion 21c is in the locked state, the protrusion 21d is fitted into the recess Wf. In this state, when viewed along the extending direction of the drive wire W or the detachment direction Dd, the held portion Wa and the protrusion 21d overlap. More specifically, the recess Wf and the protrusion 21d are at least partially overlapped. As a result, the held portion Wa is fixed by the leaf spring 21ch and the protrusion 21d, and movement of the held portion Wa along the attachment / detachment direction DE relative to the connecting portion 21c is restricted.

[0177] Here, "one part overlaps with another part when viewed along a predetermined direction" means that when one part and another part are projected onto a plane perpendicular to the predetermined direction, the area where one part overlaps and the area where the other part overlaps overlap.

[0178] 10(b), in this embodiment, when the pressing member 21cp is in the pressing position, the leaf spring 21ch and the held portion Wa can abut at portions located on both sides of the recess Wf in the extension direction of the drive wire W (the same as the attachment / detachment direction DE in the figure). Furthermore, the extension direction length of the region where the leaf spring 21ch and the held portion Wa abut is longer than the extension direction length of the recess Wf. This allows the leaf spring 21ch to stably support the held portion Wa.

[0179] Also, as shown in Figure 15(b), when the connecting portion 21c is in a locked state, i.e., when the convex portion 21d is inserted into the concave portion Wf, the convex portion 21d is in contact with the first restricting wall Wf1 and the second restricting wall Wf2 of the held portion Wa.

[0180] The contact between the protrusion 21d and the first restriction wall Wf1 restricts the movement of the held portion Wa of the drive wire W in the attachment direction Da relative to the leaf spring 21ch of the connecting portion 21c and the protrusion 21d. The contact between the protrusion 21d and the second restriction wall Wf2 restricts the movement of the held portion Wa of the drive wire W in the removal direction Dd relative to the leaf spring 21ch of the connecting portion 21c and the protrusion 21d.

[0181] As described above, the first and second restriction walls Wf1 and Wf2 are arranged so that the recess Wf has a tapered shape. Furthermore, when the protrusion 21d abuts against the first and second restriction walls Wf1 and Wf2, the leaf spring 21ch is elastically deformed. As a result, even if there is variation in the width of the protrusion 21d or the width of the recess Wf in the extending direction of the drive wire W or the attachment / detachment direction DE, the protrusion 21d can abut against the first and second restriction walls Wf1 and Wf2.

[0182] In this embodiment, both the first restriction wall Wf1 and the second restriction wall Wf2 are inclined in a direction perpendicular to the attachment / detachment direction DE and with respect to the attachment / detachment direction DE. However, one of the first restriction wall Wf1 and the second restriction wall Wf2 may be inclined in a direction perpendicular to the attachment / detachment direction DE and with respect to the attachment / detachment direction DE, and the other may be provided along a direction perpendicular to the attachment / detachment direction DE.

[0183] In addition, although the recessed portion Wf has a tapered shape in this embodiment, the protruding portion 21d may have a tapered shape, or both the recessed portion Wf and the protruding portion 21d may have a tapered shape.

[0184] In this embodiment, a bent portion 21chc that connects 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.

[0185] When the pressing member 21cp moves to the pressing position, the pressing member 21cp rotates in a direction such that the portion of the pressing member 21cp that abuts against the leaf spring 21ch moves away from the bent portion 21chc. Therefore, the pressing member 21cp can rotate smoothly even while receiving a reaction force from the leaf spring 21ch.

[0186] The material of the leaf spring 21ch can be resin or metal, but it is preferable to use metal.

[0187] 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.

[0188] The tooth Za3 of the internal gear 29 and the tooth Zb4 of the gear portion 21cg are stopped at a position where a clearance Lc is generated between them.

[0189] 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. 15(a). 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.

[0190] 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.

[0191] 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.

[0192] 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.

[0193] 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.

[0194] 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.

[0195] 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.

[0196] 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.

[0197] 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.

[0198] As described above, when the operating unit 400 is positioned at the fixed position, the pressing member 21cp is positioned at the pressing position where the cam 21cc presses the leaf spring 21ch. When the pressing member 21cp is positioned at the pressing position and the connecting portion 21c is in the locked state, the protrusion 21d is inserted into the recess Wf. In this state, when viewed along the extending direction of the drive wire W or the attachment / detachment direction DE (the removal direction Dd and the attachment direction Da), the protrusion 21d and the leaf spring 21ch overlap. More specifically, the recess Wf and the protrusion 21d are at least partially overlapped. As a result, movement of the held portion Wa relative to the leaf spring 21ch along the extending direction of the drive wire W or the attachment / detachment direction DE (the removal direction Dd and the attachment direction Da) is restricted.

[0199] That is, in the configuration of this embodiment, when the held portion Wa attempts to move in the extending direction of the drive wire W or the attachment / detachment direction DE, the held portion Wa interferes with the convex portion 21d, which is part of the elastic member, and the movement of the held portion Wa is restricted. Therefore, the held portion Wa can be stably fixed to the connecting portion 21c regardless of the magnitude of the force with which the leaf spring 21ch tightens the held portion Wa or the coefficient of friction between the held portion Wa and the leaf spring 21ch.

[0200] Furthermore, whether the connecting portion 21c moves in the removal direction Dd to push the driving wire W or whether the connecting portion 21c moves in the attachment direction Da to pull the driving wire W, the connecting portion 21c can move the held portion Wa with greater precision.

[0201] In other words, unlike a configuration in which the held portion Wa is held by the force of the first portion 21chd1 and the second portion 21chd2 fastening the held portion Wa, the pressing member 21cp does not need to press the leaf spring 21ch with a strong force. Therefore, the force that the pressing member 21cp receives from the leaf spring 21ch when rotating the pressing member 21cp can be reduced. Therefore, the force required to operate the operating unit 400 can be reduced.

[0202] In this embodiment, the direction in which the bent portion 21chc of the leaf spring 21ch extends is the direction in which the driving wire W extends or the direction of removal Dd. Therefore, it is possible to reduce deformation of the leaf spring 21ch when the held portion Wa interferes with a part of the leaf spring 21ch serving as an elastic member, and it is possible to stably fix the held portion Wa to the connecting portion 21c.

[0203] <Moving the control panel> The movement of the operation unit 400 will be described with reference to FIGS.

[0204] 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.

[0205] 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.

[0206] 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.

[0207] Figure 16 is an explanatory diagram of the catheter unit 100 and the base unit 200. Figure 16(a) is a cross-sectional view of the catheter unit 100. Figure 16(b) is a perspective view of the button 41. Figure 16(c) is a perspective view of the base unit 200.

[0208] Figure 17 is a diagram illustrating the operation of the operating unit 400. Figure 17(a) is a diagram illustrating a state in which the operating unit 400 is in the detached position. Figure 17(b) is a diagram illustrating a state in which the operating unit 400 is in the released position. Figure 17(c) is a diagram illustrating a state in which the operating unit 400 is in the fixed position.

[0209] Figure 18 is a cross-sectional view illustrating the operation of the operating unit 400. Figure 18(a) is a cross-sectional view showing the operating unit 400 in the detached position. Figure 18(b) is a cross-sectional view showing the operating unit 400 in the released position. Figure 18(c) is a cross-sectional view showing the operating unit 400 in the fixed position.

[0210] 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. 15(a)).

[0211] When the operating unit 400 is in the released position, the pressing member 21cp is in the retracted 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. 12). In this state, the driving wire W is disconnected from the wire driving unit 300. Therefore, when the catheter 11 is subjected to an external force, the bending portion 12 can bend freely without receiving resistance from the wire driving unit 300.

[0212] 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. 11(a)).

[0213] As shown in FIG. 16(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.

[0214] 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.

[0215] 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.

[0216] 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).

[0217] 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.

[0218] The button 41 has a button protrusion (regulated portion) 41a. The button protrusion 41a has a button inclined surface 41a1 and a regulated surface 41a2.

[0219] 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.

[0220] 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.

[0221] 9, 17(a), 17(b), and 17(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.

[0222] When a plurality of lock shafts 26 are provided, the lock groove 400a is provided for each of the plurality of lock shafts 26.

[0223] As shown in FIG. 17(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.

[0224] At this time, the operation unit 400 is in the detachment position, and the connecting portion 21c is in the released state (see FIG. 11(a)). 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. 18(a), the button protrusion 41a and the lock protrusion 26a face each other.

[0225] 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. 18(b)).

[0226] At this time, the connecting portion 21c is in a released state (see FIG. 12). 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.

[0227] 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.

[0228] 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.

[0229] 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.

[0230] When the operation unit 400 is in the fixed position, the connecting portion 21c is in a locked state (see FIG. 15(a)). 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 drive 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).

[0231] 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.

[0232] 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.

[0233] 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 26 (see FIG. 18(b)). In this state, rotation of the operating unit 400 in the release direction R2 is restricted. In addition, removal of the catheter unit 100 from the base unit 200 is restricted.

[0234] 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.

[0235] When the operating section 400 is located at the detachment position, the connecting section 21c is in a released state. 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.

[0236] 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.

[0237] 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.

[0238] 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.

[0239] 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.

[0240] (Variation) In the above-described embodiment, the held portion Wa has the recess Wf, and the leaf spring 21ch has the protrusion 21d. However, the held portion Wa may have a protrusion, and the leaf spring 21ch may have a shape such as a hole or groove into which the protrusion is inserted. [Explanation of symbols]

[0241] 100 catheter unit 200 base unit 21 Coupling device 21c Connecting part 400 Control unit 41 Button W Drive wire Wa Holding part

Claims

1. A curved portion; a linear member connected to the bending portion and moving along an extension direction to bend the bending portion, the linear member having an engaged portion; a coupling portion connected to a drive source, the coupling portion including: an elastic member configured to hold the engaged portion; and a first rotating body rotatable between a pressing position where the elastic member is pressed and a retracted position retracted from the pressing position; a second rotating body that is movable between a first position where the first rotating body is positioned at the pressing position and a second position where the first rotating body is positioned at the retracted position; have When the first rotating body is in the pressing position, the engaged portion and the elastic member overlap each other as viewed in the extension direction so that movement of the engaged portion relative to the elastic member in the extension direction is restricted. A medical device characterized by:

2. The elastic member has an insertion portion, and the engaged portion has an inserted portion, When the first rotating body is in the pressing position, the inserting portion is inserted into the inserted portion, and the inserted portion and the inserted portion overlap each other when viewed in the extension direction. The medical device of claim 1 .

3. The medical device according to claim 2, wherein when the first rotating body is in the pressing position, the elastic member and the engaged portion can abut at portions located on both sides of the inserted portion in the extension direction.

4. A medical device as described in claim 2 or 3, characterized in that when the first rotating body is in the pressing position, the length in the extension direction of the area where the elastic member and the engaged portion abut is longer than the length in the extension direction of the inserted portion.

5. 5. The medical device according to claim 2, wherein the elastic member includes a leaf spring, and the leaf spring is bent to form the insertion portion.

6. When the second rotating body is in the second position and the first rotating body is in the retracted position, The engaged portion is allowed to move in a removal direction relative to the elastic member, When the first rotating body is in the pressing position, the engaged portion and the elastic member overlap each other as viewed in the removal direction so that movement of the engaged portion relative to the elastic member in the removal direction is restricted. The medical device according to any one of claims 1 to 5.

7. a bending body unit having the bending portion and the linear member; a connecting unit having the connecting portion, The medical device according to claim 6, wherein the flexure unit is removably attached to the connection unit.

8. the second rotating body is movable to a third position between the first position and the second position, When the second rotating body is in the second position, attachment and detachment of the bending body unit to the connecting unit is permitted, The medical device according to claim 7, wherein when the second rotating body is in the third position, the first rotating body is positioned in the retracted position, and attachment and detachment of the bending body unit to the connecting unit is restricted.

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