medical devices

Abstract

To improve a property of attaching / detaching a bendable unit to / from a base unit.SOLUTION: A medical device comprises: a base unit comprising a connection part connected to a drive source; and a bendable unit detachably fitted to the base unit, and comprising a bendable bend part, and a linear member comprising a connected part capable of being connected to the connection part. The connection part comprises a pressing part capable of moving between a pressing position and a separated position, and a contact part in contact with the connected part pressed in an intersecting direction by the pressing part. One of the connected part and the contact part is provided with a concave part, and the other of the connected part and the contact part is provided with a convex part capable of engaging with the concave part. When the pressing part is located at the pressing position, the concave part and the convex part engage so as to overlap with each other as viewed in a moving direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a medical device having a bendable curved portion. [Background technology]

[0002] Patent Document 1 discloses a medical instrument that includes a bendable unit having a deformation portion and a base unit that deforms the deformation portion, and the bendable unit is detachable from the base unit. When the bendable unit is attached to the base unit, it is necessary to reliably connect the wire of the bendable unit to the connecting portion of the base unit. For this reason, the wire and the connecting portion are configured to engage with each other so that they overlap in a direction perpendicular to the movement direction (longitudinal direction) of the wire, i.e., in the cross-sectional direction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent Application Publication No. 2021 / 0121051 Summary of the Invention [Problem to be solved by the invention]

[0004] In the medical instrument described in Patent Document 1, the bendable unit can be attached and detached by rotating the bendable unit relative to the base unit. That is, when an operator rotates the bendable unit, the wire and the connecting part are connected. However, attaching and detaching the bendable unit relative to the base unit places a heavy operational burden on the operator, and there have been issues with the ease of attaching and detaching the bendable unit.

[0005] One object of the present invention is to improve the ease of attachment and detachment of a bendable unit to a base unit. [Means for solving the problem]

[0006] One aspect of the present invention is a medical device comprising: a base unit including a drive source and a coupling portion connected to the drive source; a bendable unit removably attached to the base unit, the bendable unit having a bendable bending portion and a coupled portion that can be coupled to the coupling portion, and a linear member that is moved in a movement direction by the drive source via the coupling portion to bend the bending portion; A rotatable operating unit; The connecting portion is a pressing portion that can be moved to a pressing position where the connecting portion can be pressed in a direction intersecting the movement direction when the bendable unit is attached to the base unit, and a separated position that is separated from the connecting portion more than the pressing position. a rotating body that rotates around a rotation axis in conjunction with the rotation of the operating unit; and an abutting portion that abuts against the connected portion pressed in the cross direction by the pressing portion, wherein a recess is provided in one of the connected portion and the abutting portion, and a convex portion that can engage with the recess is provided in the other of the connected portion and the abutting portion, and the recess and the convex portion engage so as to overlap each other when viewed in the movement direction when the pressing portion is located at the pressing position with the bendable unit attached to the base unit. [Effects of the Invention]

[0007] According to the present invention, it is possible to improve the ease of attachment and detachment of the bendable unit to the base unit. [Brief explanation of the drawings]

[0008] [Figure 1] Overall view of the healthcare system. [Figure 2] FIG. 1 is a perspective view showing a medical device and a support base. [Figure 3] FIG. 2( a ) is an overall perspective view showing the catheter, and FIG. 2( b ) is an enlarged perspective view showing the catheter. [Figure 4] FIG. 2A is a perspective view showing the catheter unit with the wire cover in the covering position, and FIG. 2B is a perspective view showing the catheter unit with the wire cover in the exposing position. [Figure 5]1A is a perspective view showing the internal structure of the base unit, FIG. 1B is a side view showing the internal structure of the base unit, and FIG. 1C is a view of the base unit as seen along the attachment / detachment direction DE. [Figure 6] 1A is a perspective view showing the drive source, the connecting portion, and the drive wire, FIG. 1B is an enlarged view showing the connecting portion and the drive wire, and FIG. 1C is a perspective view showing the wire drive portion, the connecting device, and the bending drive portion. [Figure 7] FIG. 1( a ) is a cross-sectional view showing the state before the catheter unit is attached to the base unit, and FIG. 1( b ) is a cross-sectional view showing the state after the catheter unit is attached to the base unit. [Figure 8] (a) is a cross-sectional view of the catheter unit and the base unit taken along the rotation axis of the control unit, and (b) is a cross-sectional view of the base unit taken in a direction perpendicular to the rotation axis. [Figure 9] FIG. 4 is an exploded perspective view showing the operating portion, the joint, and the internal gear. [Figure 10] 10A and 10B are diagrams illustrating fixing of the drive wire by a connecting portion. [Figure 11] 10A and 10B are diagrams illustrating fixing of the drive wire by a connecting portion. [Figure 12] 10A and 10B are diagrams illustrating fixing of the drive wire by a connecting portion. [Figure 13] 10A and 10B are diagrams illustrating fixing of the drive wire by a connecting portion. [Figure 14] 10A is a diagram for explaining the fixing of the drive wire by the connecting portion, and FIG. 10B is a cross-sectional view showing the state in which the recess of the held portion and the protrusion provided on the connecting base are engaged with each other. [Figure 15] 10A and 10B are diagrams illustrating fixing of the drive wire by a connecting portion. [Figure 16] (a) is a cross-sectional view of the catheter unit, (b) is a perspective view of the button, and (c) is a perspective view of the base unit. [Figure 17] FIG. 1A is a diagram showing the operating unit in a detached position, FIG. 1B is a diagram showing the operating unit in a released position, and FIG. 1C is a diagram showing the operating unit in a fixed position. [Figure 18]FIG. 1A is a cross-sectional view showing the operating unit in a detached position, FIG. 1B is a cross-sectional view showing the operating unit in a released position, and FIG. 1C is a cross-sectional view showing the operating unit in a fixed position. [Figure 19] FIG. 10 is a cross-sectional view showing a state in which the center of a recess and the center of a protrusion do not coincide in the Z direction. [Figure 20] FIG. 10 is a cross-sectional view showing a state in which the second inclined portion of the recess and the fourth inclined portion of the protrusion are in contact with each other. [Figure 21] 10 is a cross-sectional view showing a state in which a recessed portion of a held portion and a protruding portion provided on a connecting base are engaged with each other. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Note that the dimensions, materials, shapes, and arrangements of the components described in the present embodiments may be changed as appropriate depending on the configuration and various conditions of the device to which the present invention is applied.

[0010] <Medical Systems and Medical Devices> A medical system 1A and a medical device 1 according to this embodiment will be described with reference to Figures 1 and 2. Figure 1 is an overall view of the medical system 1A. Figure 2 is a perspective view showing the medical device 1 and the support base 2.

[0011] The medical system 1A includes a medical device 1, a support base 2 on which the medical device 1 is attached, and a control unit (control device) 3 that controls the medical device 1. In this embodiment, the medical system 1A includes a monitor 4 as a display device.

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

[0013] 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.

[0014] The catheter 11 can be used as a guide (sheath) for guiding a medical tool for performing the above-mentioned procedure. Examples of the medical tool include an endoscope, forceps, and an ablation device. The catheter 11 itself may also function as the above-mentioned medical tool, in which case the catheter 11 is not limited to being cylindrical, but may be, for example, cylindrical.

[0015] In this embodiment, the control unit 3 includes a calculation unit 3a and an input unit 3b. The input unit 3b receives commands and inputs for operating the catheter 11. The calculation unit 3a includes a storage for storing programs and various data for controlling the catheter, a random access memory, and a central processing unit for executing the programs. The control unit 3 may also include an output unit for outputting signals for displaying images on the monitor 4.

[0016] 2, 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] The control unit 3 controls the wire driving unit 300 to bend the catheter 11. In this embodiment, the wire driving unit 300 is built into the base unit 200. More specifically, the base unit 200 includes a base housing 200f that houses the wire driving unit 300. In other words, the base unit 200 includes the wire driving unit 300. The wire driving unit 300 and the base unit 200 can be collectively referred to as a catheter driving device (base device, main body).

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] As will be described later, the catheter unit 100 is removably attached to a catheter driving device (base device, main body), more specifically, the base unit 200. After the medical device 1 has been used, the user can remove the catheter unit 100 from the base unit 200 and attach a new catheter unit 100 to the base unit 200, thereby using the medical device 1 again. In other words, the catheter unit 100 can be used as a disposable unit. Here, disposable means that the catheter unit 100 used in a single treatment is discarded after use. This prevents the catheter unit 100 from being reused, and allows the medical device 1 to be kept constantly clean.

[0030] 2, the medical device 1 has an operation unit 400. In this embodiment, the operation unit 400 is provided in the catheter unit 100. The operation unit 400 is operated by a user when fixing the catheter unit 100 to the base unit 200 or removing the catheter unit 100 from the base unit 200.

[0031] 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.

[0032] <Catheter> A catheter 11 as a bendable body will be described using Figures 3(a) and (b). Figures 3(a) and (b) are explanatory views of the catheter 11. Figure 3(a) is a view explaining the entire catheter 11. Figure 3(b) is an enlarged view of the catheter 11.

[0033] The catheter 11 includes a bending section (bending body, catheter main body) 12 and a bending drive section (catheter drive section) 13 configured to bend the bending section 12. The bending drive section 13 is configured to receive a driving force from a wire drive section 300 via a connecting device 21, which will be described later, to bend the bending section 12.

[0034] 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.

[0035] 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.

[0036] Each of the first to ninth drive wires (W11 to W33) includes a holdable portion (holdable shaft, rod) Wa. Specifically, the first drive wire W11 includes a first holdable portion Wa11. The second drive wire W12 includes a second holdable portion Wa12. The third drive wire W13 includes a third holdable portion Wa13. The fourth drive wire W21 includes a fourth holdable portion Wa21. The fifth drive wire W22 includes a fifth holdable portion Wa22. The sixth drive wire W23 includes a sixth holdable portion Wa23. The seventh drive wire W31 includes a seventh holdable portion Wa31. The eighth drive wire W32 includes an eighth holdable portion Wa32. The ninth drive wire W33 includes a ninth holdable portion Wa33.

[0037] In this embodiment, the first to ninth held portions (Wa11 to Wa33) have the same shape.

[0038] Each of the first to ninth drive wires (W11 to W33) includes a flexible wire body (wire member, line body, linear body) Wb. Here, the wire body Wb is a member that allows an object connected thereto to be pushed or pulled, and has a certain degree of rigidity. On the other hand, it is a member that is deformable from a straight shape so that the bending portion 12 can be bent. The first drive wire W11 includes a first wire body Wb11. The second drive wire W12 includes a second wire body Wb12. The third drive wire W13 includes a third wire body Wb13. The fourth drive wire W21 includes a fourth wire body Wb21. The fifth drive wire W22 includes a fifth wire body Wb22. The sixth drive wire W23 includes a sixth wire body Wb23. The seventh drive wire W31 includes a seventh wire body Wb31. The eighth drive wire W32 includes an eighth wire body Wb32. The ninth drive wire W33 includes a ninth wire body Wb33.

[0039] 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.

[0040] The first to ninth held portions (Wa11 to Wa33) are attached to the proximal ends of the first to ninth wire bodies (Wb11 to Wb33). The first to ninth drive wires (W11 to W33) are inserted into the bending portion 12 via a wire guide 17 and fixed therein.

[0041] In this embodiment, the first to ninth wire bodies (Wb11 to Wb33) are each made of metal. However, the first to ninth wire bodies (Wb11 to Wb33) may also be made of resin. Furthermore, the first to ninth wire bodies (Wb11 to Wb33) may also be made of a material containing metal and resin.

[0042] Any one of the first to ninth drive wires (W11 to W33) can be referred to as a linear member, namely, 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).

[0043] In this embodiment, the bending portion 12 is a flexible tubular member having a passage Ht for inserting a medical instrument.

[0044] The wall surface of the bending portion 12 is provided with a plurality of wire holes for passing through each of the first to ninth drive wires (W11 to W33). Specifically, the wall surface of the bending portion 12 is provided with a first wire hole Hw11, a second wire hole Hw12, and a third wire hole Hw13. The wall surface of the bending portion 12 is further provided with a fourth wire hole Hw21, a fifth wire hole Hw22, and a sixth wire hole Hw23. The wall surface of the bending portion 12 is further provided with a seventh wire hole Hw31, an eighth wire hole Hw32, and a ninth wire hole Hw33. The first to ninth wire holes Hw (Hw11 to Hw33) correspond to the first to ninth drive wires (W11 to W33), respectively. The number after the symbol Hw indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first wire hole Hw11.

[0045] 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.

[0046] 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).

[0047] 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.

[0048] 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.

[0049] The first to ninth drive wires (W11 to W33) pass through the intermediate region 12a and are fixed to the first to third guide rings (J1 to J3), respectively. Specifically, the first drive wire W11, the second drive wire W12, and the third drive wire W13 are fixed to the first guide ring J1. The fourth drive wire W21, the fifth drive wire W22, and the sixth drive wire W23 pass through the first guide ring J1 and multiple auxiliary rings and are fixed to the second guide ring J2. The seventh drive wire W31, the eighth drive wire W32, and the ninth drive wire W33 pass through the first guide ring J1, the second guide ring J2, and multiple auxiliary rings and are fixed to the third guide ring J3.

[0050] The medical device 1 can bend the bending section 12 in a direction intersecting the extension direction of the catheter 11 by driving the bending drive section 13 with the wire drive section 300. Specifically, by moving each of the first to ninth drive wires (W11 to W33) in the extension direction of the bending section 12, the bending region 12b of the bending section 12 can be bent in a direction intersecting the extension direction via the first to third guide rings (J1 to J3).

[0051] 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.

[0052] In this embodiment, the first to third guide rings (J1 to J3) are moved by the first to ninth drive wires (W11 to W33) to bend the bending section 12, but this configuration is not limiting. Any one or two of the first to third guide rings (J1 to J3) and the drive wires fixed thereto may be omitted.

[0053] 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.

[0054] 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.

[0055] <Catheter unit> The catheter unit 100 will be described using Figures 4(a) and (b). Figures 4(a) and (b) are explanatory diagrams of the catheter unit 100. Figure 4(a) is an explanatory diagram of the catheter unit 100 in a state where a wire cover 14, which will be 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, which will be described later, is in an exposed position.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] The wire cover 14 can be moved between a covering position (see FIG. 14(a)) where it covers the first to ninth drive wires (W11 to W33) and a cover retracted position (see FIG. 14(b)) where it is retracted from the covering position. The cover retracted position can also be called an exposing position where the first to ninth drive wires (W11 to W33) are exposed.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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, connection between the bending drive portion 13 and a connecting device 21 (described later) is permitted. 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) and a portion of the wire body Wb protrude from the first to ninth exposure holes (14a11 to 14a33). More specifically, the first to ninth held portions (Wa11 to Wa33) protrude from the first to ninth exposure holes (14a11 to 14a33) in the attachment direction Da (described later).

[0066] As shown in FIG. 4(b), the first to ninth driving wires (W11 to W33) are aligned along a circle (a virtual circle) having a predetermined radius, and are supported by a wire guide 17.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] In this embodiment, the extension direction (longitudinal direction) of the bending portion 12 is defined as the Z direction as shown in Figures 4(a) and 4(b). The direction of a line perpendicular to the Z direction, connecting the center of the bending portion 12 and the center of the held portion Wa11, is defined as the Y direction. The direction of a line perpendicular to the Z direction and the Y direction is defined as the X direction. Of the X, Y, and Z directions, one side is defined as the + direction and the other side is defined as the - direction, as shown in Figures 4(a) and 4(b). The Z direction is parallel to the Dc direction, which is the movement direction shown in Figure 6(a) described later.

[0072] <Base unit> The base unit 200 and the wire driving section 300 will be described using Figures 5(a) to (c). Figures 5(a) to (c) are explanatory diagrams of the base unit 200 and the wire driving section 300. Figure 5(a) is a perspective view showing the internal structure of the base unit 200. Figure 5(b) is a side view showing the internal structure of the base unit 200. Figure 5(c) is a view of the base unit 200 as seen along the attachment / detachment direction DE.

[0073] 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.

[0074] The wire driving unit 300 has multiple driving sources (motors, actuators). In this embodiment, the wire driving unit 300 includes a first driving source M11, a second driving source M12, a third driving source M13, a fourth driving source M21, a fifth driving source M22, a sixth driving source M23, a seventh driving source M31, an eighth driving source M32, and a ninth driving source M33.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] As will be described later, a bending drive unit 13 including first to ninth drive wires (W11 to W33) is connected to the connection device 21. The bending drive unit 13 receives the driving force of the wire drive unit 300 via the connection device 21 and bends the bending portion 12.

[0080] The drive wire W is configured to be connectable to the connecting portion 21c via a held portion Wa serving as a connected portion. Each of the multiple drive wires is connected to each of the multiple connecting portions. Specifically, the first held portion Wa11 of the first drive wire W11 is connected to the first connecting portion 21c11. The second held portion Wa12 of the second drive wire W12 is connected to the second connecting portion 21c12. The third held portion Wa13 of the third drive wire W13 is connected to the third connecting portion 21c13. The fourth held portion Wa21 of the fourth drive wire W21 is connected to the fourth connecting portion 21c21. The fifth held portion Wa22 of the fifth drive wire W22 is connected to the fifth connecting portion 21c22. The sixth held portion Wa23 of the sixth drive wire W23 is connected to the sixth connecting portion 21c23. The seventh held portion Wa31 of the seventh drive wire W31 is connected to the seventh connecting portion 21c31. The eighth held portion Wa32 of the eighth drive wire W32 is connected to the eighth connecting portion 21c32. The ninth held portion Wa33 of the ninth drive wire W33 is connected to the ninth connecting portion 21c33.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] In this embodiment, the key shaft 15 has a protrusion that protrudes in a direction intersecting the attachment / detachment direction DE, and the key receiving portion 22 has a recess into which the protrusion is inserted. The position at which the protrusion and the recess engage in the circumferential direction is the position at which the drive wire W engages with the corresponding insertion hole 25a and the corresponding connecting portion 21c.

[0090] 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.

[0091] Furthermore, 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.

[0092] <Connection between motor and drive wire> The connection between the wire driving unit 300, the connecting device 21, and the bending driving unit 13 will be described using Figures 6(a) to 6(c). Figures 6(a) to 6(c) are explanatory diagrams of the wire driving unit 300, the connecting device 21, and the bending driving unit 13. Figure 6(a) is a perspective view of the driving source M, the connecting unit 21c, and the driving wire W. Figure 6(b) is an enlarged view of the connecting unit 21c and the driving wire W. Figure 6(c) is a perspective view showing the connection between the wire driving unit 300, the connecting device 21, and the bending driving unit 13.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] The connecting portion 21c has a rotating body 21cp for pressing the held portion Wa of the drive wire W. The drive wire W passes through an insertion hole 25a and engages with the connecting portion 21c. As will be described in detail later, the rotating body 21cp is supported by the connecting base 21cb so as to be rotatable about a rotation axis 21cpc. The rotating body 21cp can be in a fixed state (fixed state) by pressing the held portion Wa toward the connecting base 21cb to engage with the connecting base 21cb, or in a released state (released state) in which the held portion Wa is released. In this embodiment, the rotation axis 21cpc extends parallel to the Z direction (Dc direction), but it may extend along the Z direction (Dc direction).

[0097] The rotating body 21cp has a gear portion 21cg that meshes with an internal gear 29, which will be described later, and a cam 21cc that serves as a pressing portion for pressing the held portion Wa of the drive wire W. As will be described later, the cam 21cc can move relative to the held portion Wa. By moving the cam 21cc, the held portion Wa can be switched between a fixed state in which it is fixed to the connecting portion 21c and a released state in which it is released from the fixation to the connecting portion 21c.

[0098] The connecting portion 21c is supported by a first bearing B1, a second bearing B2, and a third bearing B3. The first bearing B1 is supported by a first bearing frame 200c of the base unit 200. The second bearing B2 is supported by a second bearing frame 200d of the base unit 200. The third bearing B3 is supported by a third bearing frame 200e of the base unit 200. Therefore, when the output shaft Ma rotates in the rotation direction Rm, the connecting portion 21c is restricted from rotating around the output shaft Ma. The first bearing B1, the second bearing B2, and the third bearing B3 are provided for each of the first to ninth connecting portions (21c11 to 21c33).

[0099] Because the rotation of the connecting portion 21c around the output shaft Ma is restricted, when the output shaft Ma rotates, a force along the rotational axis direction of the output shaft Ma acts on the tractor 21ct due to the spiral groove of the output shaft Ma. As a result, the connecting portion 21c moves along the rotational axis direction of the output shaft Ma (direction Dc). The movement of the connecting portion 21c moves the drive wire W, and the bending portion 12 bends. At this time, by switching the rotation direction of the drive source M, the connecting portion 21c can drive the drive wire W in either a direction that presses the drive wire W or a direction that pulls the drive wire W.

[0100] In other words, the output shaft Ma and the tractor 21ct constitute a so-called feed screw that converts the rotational motion transmitted from the drive source M into linear motion using a screw. In this embodiment, the output shaft Ma and the tractor 21ct are slide screws, but they may also be ball screws.

[0101] 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).

[0102] 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.

[0103] <Attaching the catheter unit> The operation of attaching the catheter unit 100 to the base unit 200 will be described using Figures 7(a) and (b). Figures 7(a) and (b) are explanatory views of attaching the catheter unit 100. Figure 7(a) is a view of the catheter unit 100 before it is attached to the base unit 200. Figure 7(b) is a view of the catheter unit 100 after it has been attached to the base unit 200.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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)).

[0108] 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.

[0109] 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 is inserted into the connecting base 21cb of the connecting portion 21c (see FIG. 6(b)).

[0110] 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.

[0111] 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.

[0112] <Fixing and releasing the bending drive unit> Next, a configuration for fixing the bending drive section 13 to the connecting device 21 and a configuration for releasing the fixing of the bending drive section 13 by the connecting device 21 will be described with reference to FIGS. 8(a) to 15. FIG.

[0113] 8(a) and 8(b) are diagrams illustrating the connection between the catheter unit 100 and the base unit 200. FIG. 8(a) is a cross-sectional view of the catheter unit 100 and the base unit 200 taken along the rotation axis 400r. FIG. 8(b) is a cross-sectional view of the base unit 200 taken at the connecting portion 21c in a direction perpendicular to the rotation axis 400r. FIG. 9 is an exploded perspective view showing the operation portion 400 provided in the catheter unit 100 and the joint 28 and internal gear 29 provided in the base unit 200. FIGS. 10, 11, 12, 13, 14(a) and 14(b), and 15 are diagrams illustrating the fixation of the drive wire W by the connecting portion 21c.

[0114] 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 operation unit 400 via the joint 28. The joint 28 has a plurality of (eight in this embodiment) transmission parts 28c, and the internal gear 29 has a plurality of (eight in this embodiment) transmitted parts 29c. The plurality of transmission parts 28c are engaged with the plurality of transmitted parts 29c, and when the joint 28 rotates, the internal gear 29 also rotates in interlock with the joint 28.

[0115] Furthermore, the joint 28 is provided with a pair of joint engaging portions 28j that are arranged 180 degrees out of phase with each other, and the operation section 400 is provided with a pair of engaging portions 400j that engage with the pair of joint engaging portions 28j. When the catheter unit 100 is attached to the base unit 200, the pair of joint engaging portions 28j engage with the pair of engaging portions 400j. This allows the operation section 400, joint 28, and internal gear 29 to rotate integrally in the same direction. In other words, when the operation section 400 is rotated with the catheter unit 100 attached to the base unit 200, the joint 28 and internal gear 29 also rotate in the same direction as the operation section 400.

[0116] A plurality of toothed portions 29g serving as gear portions are provided on the inner peripheral surface of the internal gear 29. The plurality of toothed portions 29g have the function of switching between a state in which the first to ninth connecting portions (21c11 to 21c33) respectively fix the first to ninth driving wires (W11 to W33) and a state in which the first to ninth driving wires (W11 to W33) are released. Each of these plurality of toothed portions (acting portion, switching gear portion) 29g engages with a gear portion 21cg of the rotating body 21cp of each of the first to ninth connecting portions (21c11 to 21c33).

[0117] 8(b), 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.

[0118] 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.

[0119] 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. Furthermore, the configurations in which the first to ninth drive wires (W11 to W33) are connected to the first to ninth linking portions (21c11 to 21c33) are the same. Furthermore, the configurations in which the first to ninth linking portions (21c11 to 21c33) are connected to the first to ninth tooth portions (29g11 to 29g33) are the same. Therefore, in the following explanation, the configuration in which one drive wire W, one linking portion 21c, and one tooth portion 29g are connected will be described.

[0120] In each of the first to ninth connecting portions (21c11 to 21c33), the gear portion 21cg is moved by the tooth portion 29g of the internal gear 29, thereby rotating the rotating body 21cp. As a result, the cam 21cc of the rotating body 21cp moves between a pressing position shown in Fig. 15 where it can press the held portion Wa in the -Y direction, which is the intersecting direction, and a separated position shown in Fig. 10 which is further away from the held portion Wa than the pressing position.

[0121] As described above, by rotating the operating unit 400, the internal gear 29 rotates integrally with the operating unit 400. The rotation of the internal gear 29 causes the first to ninth connecting portions (21c11 to 21c33) to move. In other words, by rotating one operating unit 400, the first to ninth connecting portions (21c11 to 21c33) can be moved.

[0122] The operating section 400 can move between a fixed position (locked position) and a detached position when the catheter unit 100 is attached to the base unit 200. As will be described later, the operating section 400 can also move to a released position when the catheter unit 100 is attached to the base unit 200. The released position is located between the fixed position and the detached position in the circumferential direction of the operating section 400. The catheter unit 100 is attached to the base unit 200 when the operating section 400 is located at the detached position.

[0123] When the catheter unit 100 is attached to the base unit 200, the drive wire W is released from its fixed (locked) state 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, and the state in which the drive wire W is released from its fixed state to the connecting portion 21c is called the released state of the connecting portion 21c.

[0124] 10, 11, 12, 13, 14, and 15, the operation of fixing the drive wire W to the connecting portion 21c will be described. After the catheter unit 100 has been attached to the base unit 200 and before the operation portion 400 has been 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.

[0125] Fig. 10 is a diagram showing the state of the internal gear 29 and the connecting portion 21c in a detachable state. That is, Fig. 10 is a diagram showing the internal gear 29 and the connecting portion 21c in a state in which the operating portion 400 is in the detachment position.

[0126] 10, the connecting base 21cb has a cam holding portion 21ce, a plurality of rod support surfaces 21cd (three for each wire in this embodiment) that support the held portion Wa of the drive wire W, and a clamping surface 21ch as an abutment portion. The cam 21cc provided on the rotating body 21cp has a holding surface 21cca and a pressing surface 21ccb. The holding surface 21cca is recessed to follow the shape of the cam holding portion 21ce.

[0127] As shown in FIG. 10, in the removable state (when the operating unit 400 is in the removable position), the rotating body 21cp is held in a position where the holding surface 21cca engages with the cam holding portion 21ce of the connecting base 21cb. In other words, the cam holding portion 21ce, which serves as a second restricting portion, restricts the counterclockwise rotation of the rotating body 21cp. The gear portion 21cg has teeth Zb1 as first teeth that can engage with the teeth portion 29g, and teeth Zb2 as second teeth that can engage with the teeth portion 29g and are positioned upstream of the teeth Zb1 in the clockwise direction CW, which serves as the first rotation direction. The teeth portion 29g of the internal gear 29 and the teeth Zb1 of the gear portion 21cg are stationary with a clearance La between them. The tooth portion 29g of the internal gear 29 is rotatable around a rotation axis 400r (see FIG. 8(a)) that is parallel to the rotation axis 21cpc of the rotor 21cp.

[0128] 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.

[0129] 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. The cam 21cc of the rotating body 21cp is located in a spaced position away from the held section Wa. At this time, the held section Wa is supported by the rod support surface 21cd provided on the connecting base 21cb, but the rod support surface 21cd is absent only in the -Y direction. In other words, a gap is left between the held section Wa and the clamping surface 21ch. This allows the held section Wa to be supported so as to be movable only in the -Y direction.

[0130] When the connecting portion 21c is in the released state, the cam 21cc is separated from the held portion Wa by a predetermined clearance. In other words, the fixation of the held portion Wa is released. When the connecting portion 21c is in the released state, if the catheter unit 100 is moved in the removal direction Dd relative to the base unit 200, the held portion Wa can be pulled out from the connecting base 21cb.

[0131] Fig. 11 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 is rotated in the locking direction from the detached position. Fig. 11 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 is in the released position.

[0132] When the operating part 400 is rotated in the locking direction while it is in the removal position (see FIG. 10), the internal gear 29 rotates clockwise, and the operating part 400 is then positioned in the release position.

[0133] 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.

[0134] As the internal gear 29 rotates clockwise, the clearance between the tooth portion 29g of the internal gear 29 and the tooth Zb1 of the gear portion 21cg decreases from clearance La to clearance Lb.

[0135] 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.

[0136] When the operating portion 400 is further rotated in the locking direction from the state shown in Fig. 11, the internal gear 29 further rotates clockwise. The state of the internal gear 29 and the connecting portion 21c at this time is shown in Fig. 12.

[0137] Fig. 12 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 is rotated in the locking direction from the release position. As shown in Fig. 12, when the operating portion 400 is rotated in the locking direction from the release position, the tooth portion 29g of the internal gear 29 comes into contact with the tooth Zb1 of the gear portion 21cg. Meanwhile, the connecting portion 21c is in the same state as shown in Figs. 10 and 11 and is maintained in the released state.

[0138] When the operating unit 400 is further rotated in the locking direction from the state shown in Fig. 12, the internal gear 29 further rotates in the clockwise direction. The state of the internal gear 29 and the connecting portion 21c at that time is shown in Fig. 13. Fig. 13 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating unit 400 is rotated in the locking direction from the state shown in Fig. 12. As shown in Fig. 13, when the operating unit 400 is further rotated in the locking direction from the state shown in Fig. 12, the internal gear 29 further rotates in the clockwise direction.

[0139] 13, the internal gear 29 rotates the gear portion 21cg in the clockwise direction CW. When the gear portion 21cg rotates, the engagement between the holding surface 21cca and the cam holding portion 21ce is released, and the cam 21cc comes into contact with the held portion Wa. As a result, the held portion Wa begins to receive force from the cam 21cc.

[0140] FIG. 14(a) 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 state of FIG. 13. As shown in FIG. 14(a), when the operating portion 400 is further rotated in the locking direction from the state of FIG. 13, the internal gear 29 further rotates in the clockwise direction. When the internal gear 29 moves from the state of FIG. 13 to the state of FIG. 14(a), the internal gear 29 rotates the gear portion 21cg in the clockwise direction CW. The rotation trajectory of the pressing surface 21ccb when the gear portion 21cg rotates overlaps with the position of the held portion Wa in the state of FIG. 13 (shown by a dotted line in FIG. 14(a)). Therefore, when the gear portion 21cg rotates, the pressing surface 21ccb rotates while interfering with the held portion Wa. At this time, the held portion Wa is guided in the -Y direction by a plurality of rod support surfaces 21cd serving as guides provided on the connecting base 21cb, and is pushed by the pressing surface 21ccb to move in the -Y direction, causing the held portion Wa to abut against the clamping surface 21ch.

[0141] FIG. 14(b) is a cross-sectional view showing the state of the internal gear 29 and the connecting portion 21c in FIG. 14(a). As shown in FIG. 14(b), when the held portion Wa moves in the −Y direction, the wire body Wb, which is a flexible member supported by the wire guide 17, elastically deforms. Specifically, the held portion Wa is located closer to the connecting portion 21c in the Z direction than the wire guide 17 and is located at the free end of the wire body Wb. When the held portion Wa is pressed by the cam 21cc, the wire body Wb bends in the −Y direction around the wire body support end Wba, which is the end of the wire guide 17 closer to the connecting portion 21c in the Z direction, as a fulcrum, so that the recessed portion Wc and the protruding portion 21ci approach each other. When the held portion Wa moves in the −Y direction due to being pressed by the cam 21cc, the recessed portion Wc provided in the held portion Wa and the protruding portion 21ci provided on the clamping surface 21ch engage with each other. As a result, the held portion Wa is fixed to the connection base 21cb.

[0142] The recesses Wc provided on the held portion Wa are formed around the entire outer periphery of the held portion Wa and are recessed in a direction intersecting the attachment / detachment direction DE. The protrusions 21ci protrude in a direction intersecting the attachment / detachment direction DE. Therefore, regardless of the phase of the held portion Wa in the rotational direction, the recesses Wc can engage with the protrusions 21ci. Furthermore, the engagement between the recesses Wc and the protrusions 21ci restricts the held portion Wa from moving relative to the connecting portion 21c in the attachment / detachment direction DE. In other words, the connecting portion 21c and the held portion Wa can move together in the direction Dc shown in FIG. 6(a) by the driving force from the wire driving unit 300.

[0143] Cam 21cc is configured to be elastically deformable when it presses held portion Wa in a state where held portion Wa abuts against clamping surface 21ch. Due to the elastic force of cam 21cc, held portion Wa is clamped between cam 21cc and clamping surface 21ch and firmly fixed to connecting base 21cb.

[0144] When the tooth portion 29g of the internal gear 29 separates from the tooth Zb1 of the gear portion 21cg, the transmission of the driving force from the internal gear 29 to the gear portion 21cg ends. At this time, the cam 21cc is elastically deformed, and therefore receives a reaction force F from the fixed held portion Wa. The reaction force F acts in a direction offset from the rotation axis 21cpc of the rotating body 21cp, and the rotating body 21cp is urged in the clockwise direction CW in FIG. 14(a) by the reaction force F. At this time, the rotating body 21cp rotates in the same direction as the direction in which it is rotated by the internal gear 29, which is rotating clockwise.

[0145] Fig. 15 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 has rotated in the lock direction from the state shown in Fig. 14(a) to the fixed position. As shown in Fig. 15, from the state shown in Fig. 14(a), the cam 21cc receives a reaction force F, causing the rotating body 21cp to further rotate in the clockwise direction CW.

[0146] As shown in FIG. 15, the rotating body 21cp stops rotating when the abutting surface Zb1a on the tooth Zb1 abuts against the abutted surface 21cf on the connecting base 21cb. That is, the abutted surface 21cf, which serves as a first restricting portion, restricts the clockwise CW rotation of the rotating body 21cp, which is biased in the clockwise CW direction by the reaction force F. At this time, the connecting portion 21c is in a locked state. When the connecting portion 21c is in the locked state, the cam 21cc of the rotating body 21cp is positioned in the pressing position, and the pressing surface 21ccb presses the held portion Wa toward the clamping surface 21ch of the connecting base 21cb. When the held portion Wa is pressed by the pressing surface 21ccb, the recessed portion Wc and the protruding portion 21ci engage with each other, as shown in FIG. 14(b). This allows the held portion Wa to be stably fixed to the connecting portion 21c. When the connecting portion 21c is in the locked state, the held portion Wa is restricted from being pulled out from the connecting base 21cb. The tooth portion 29g of the internal gear 29 and the tooth Zb2 of the gear portion 21cg are stopped at a position where a clearance Lc is generated between them.

[0147] 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. When the internal gear 29 rotates counterclockwise, the tooth portion 29g of the internal gear 29 abuts against the tooth Zb2 of the gear portion 21cg, and the rotating body 21cp is rotated counterclockwise CCW as a second rotation direction opposite to the clockwise direction.

[0148] By further rotating the internal gear 29 counterclockwise, the fixation of the drive wire W by the connecting portion 21c is released. The operation of the internal gear 29 and the rotating body 21cp at this time is the reverse of the operation 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] Specifically, when the catheter unit 100 is attached to the base unit 200, the internal gear 29 and the joint 28 move a part of the rotating body 21cp (cam 21cc) relative to the held portion Wa in conjunction with the movement of the operation portion 400. The movement of the cam 21cc switches the connecting portion 21c between a locked state and an unlocked state. Note that the joint 28 may be omitted, and the internal gear 29 may be configured to move directly from the operation portion 400. In this case, the internal gear 29 functions as the interlocking portion.

[0155] <Moving the control panel> Next, the movement of the operation unit 400 will be described with reference to FIGS. 16(a) to 16(c), 17(a) to 17(c), and 18(a) to 18(c).

[0156] 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.

[0157] 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.

[0158] 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.

[0159] Figures 16(a) to (c) are explanatory diagrams 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.

[0160] Figures 17(a) to (c) are diagrams 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.

[0161] Figures 18(a) to (c) are cross-sectional views illustrating the operation of the operating unit 400. Figure 18(a) is a cross-sectional view showing the operating unit 400 in a state where it is in the detached position. Figure 18(b) is a cross-sectional view showing the operating unit 400 in a state where it is in the released position. Figure 18(c) is a cross-sectional view showing the operating unit 400 in a state where it is in the fixed position.

[0162] 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).

[0163] When the operating unit 400 is in the released position, the connecting unit 21c is in the released state, and the lock between the held portion Wa of the driving wire W and the connecting unit 21c is released (see FIG. 11). In this state, the driving wire W is disconnected from the wire driving unit 300. Therefore, when the catheter 11 receives an external force, the bending section 12 can bend freely without receiving resistance from the wire driving unit 300.

[0164] When the operating section 400 is in the detachment position, the catheter unit 100 is allowed to be detached from the base unit 200. Furthermore, with the operating section 400 in the detachment position, the catheter unit 100 can be attached to the base unit 200. When the operating section 400 is in the detachment position, the connecting section 21c is in the released state, and the lock between the held section Wa of the drive wire W and the connecting section 21c is released (see FIG. 10).

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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).

[0169] 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.

[0170] The button 41 has a button protrusion (regulated portion) 41a. The button protrusion 41a has a slope 41a1 and a regulated surface 41a2.

[0171] 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.

[0172] 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.

[0173] 9 and 17(a) to (c), a lock groove 400a that engages with the lock shaft 26 is provided on the inside of the operating part 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 part 400. It can also be said that the lock groove 400a extends in a direction intersecting (perpendicular to) the attachment / detachment direction DE.

[0174] When a plurality of lock shafts 26 are provided, the lock groove 400a is provided for each of the plurality of lock shafts 26.

[0175] 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.

[0176] At this time, the operation unit 400 is in the detachment position, and the connecting portion 21c is in the released state (see FIG. 10). Therefore, the first to ninth connecting portions (21c11 to 21c33) are released from the fixation of the first to ninth driving wires (W11 to W33), respectively. Also, as shown in FIG. 18(a), the button protrusion 41a and the lock protrusion 26a face each other.

[0177] 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)).

[0178] At this time, the connecting portion 21c is in a released state (see FIG. 11). Therefore, the first to ninth connecting portions (21c11 to 21c33) are no longer fixed to the first to ninth driving wires (W11 to W33), respectively.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] When the operation unit 400 is in the fixed position, the connecting portion 21c is in a locked state (see FIG. 15). Therefore, the first to ninth drive wires (W11 to W33) are fixed to the first to ninth connecting portions (21c11 to 21c33), respectively. In this state, the drive force from the wire driving unit 300 can be transmitted to the bending drive unit 13. In other words, the drive force from each of the first to ninth drive sources (M11 to M33) can be transmitted to each of the first to ninth drive wires (W11 to W33) via the first to ninth connecting portions (21c11 to 21c33).

[0183] 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.

[0184] 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.

[0185] 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 lock protrusion 26a (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.

[0186] 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.

[0187] When the operating section 400 is positioned at the detachment position, the connecting section 21c is released. Therefore, when the catheter unit 100 is detached from or attached to the base unit 200, the load acting on the drive wire W (for example, the resistance received by the connecting section 21c) can be reduced. This allows the user to easily attach and detach the catheter unit 100.

[0188] 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.

[0189] 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.

[0190] 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.

[0191] In the present embodiment, the number of the lock protrusion 26a and the button 41 is one each. However, the medical device 1 may have a plurality of the lock protrusion 26a and the button 41.

[0192] <When the held portion Wa has a positional variation in the Z direction> In the present embodiment, by attaching the catheter unit 100 to the base unit 200 and operating the operation unit 400, the connection portion 21c can be switched between the locked state and the released state. At this time, as shown in FIGS. 10 to 13, when the connection portion 21c is in the released state, in the -Y direction, the center Wd of the concave portion Wc (see FIG. 19) and the center 21cj of the convex portion 21ci (see FIG. 19) are in substantially the same position. However, due to individual differences which are manufacturing variations, that is, variations in the dimensions of parts and positions due to assembly, the center Wd of the concave portion Wc and the center 21cj of the convex portion 21ci may not coincide. The operation at this time will be described in detail below.

[0193] FIG. 19 is a cross-sectional view showing the state of the held portion Wa and the connection portion 21c in the removable state. The basic configurations of the held portion Wa and the connection portion 21c are the same as those described in FIG. 10, but in FIG. 19, in the Z direction, the center Wd of the concave portion Wc and the center 21cj of the convex portion 21ci do not coincide. Specifically, the held portion Wa is shifted by a distance Ld in the +Z direction from the center 21cj of the convex portion 21ci.

[0194] The recess Wc has a first inclined portion SL1 that inclines toward the center of the wire body Wb in the -Z direction and a second inclined portion SL2 that inclines toward the center of the wire body Wb in the -Z direction. These first inclined portion SL1 and second inclined portion SL2 are formed on the entire outer periphery of the held portion Wa. For convenience, the portion inclined toward the +Y direction in the -Z direction will be referred to as the first inclined portion SL1, and the portion inclined toward the -Y direction in the -Z direction will be referred to as the second inclined portion SL2. The -Z direction as the first direction is the Z direction, which is the movement direction, from the bending portion 12 toward the held portion Wa. The +Y direction as the second direction is the Y direction, which is the direction from the clamping surface 21ch toward the center of the wire body Wb. The -Y direction as the third direction is the Y direction, which is the direction from the center of the wire body Wb toward the clamping surface 21ch.

[0195] The protrusion 21ci has a third inclined portion SL3 that slopes toward the +Y direction as it approaches the -Z direction and is engageable with the first inclined portion SL1, and a fourth inclined portion SL4 that slopes toward the -Y direction as it approaches the -Z direction and is engageable with the second inclined portion SL2. In this embodiment, the protrusion 21ci has a flat portion PL1 that connects the third inclined portion SL and the fourth inclined portion SL4 and extends parallel to the Z direction, but this is not limiting. For example, the flat portion PL1 may be omitted, and the third inclined portion SL and the fourth inclined portion SL4 may be formed continuously.

[0196] FIG. 20 is a cross-sectional view showing the state in which the recessed portion Wc of the held portion Wa is in the process of engaging with the protruding portion 21ci of the connecting base 21cb. In FIG. 20, as described in FIG. 14, the held portion Wa receives force from the pressing surface 21ccb of the rotating cam 21cc and moves in the -Y direction. At this time, because the center Wd of the recessed portion Wc and the center 21cj of the protruding portion 21ci do not coincide in the Z direction, the second inclined portion SL2 of the recessed portion Wc comes into contact with the fourth inclined portion SL4 of the protruding portion 21ci. Then, due to the force received from the pressing surface 21ccb, the held portion Wa moves so that the second inclined portion SL2 slides obliquely on the fourth inclined portion SL4. At this time, because the protruding portion 21ci provided on the connecting base 21cb is fixed, the held portion Wa moves in the -Z and -Y directions relative to the connecting base 21cb.

[0197] Fig. 21 is a cross-sectional view showing the recessed portion Wc and the protruding portion 21ci in a state where the held portion Wa is fixed to the connecting base 21cb. Fig. 21 shows the state where the abutting surface Zb1a provided on the tooth Zb1 and the abutted surface 21cf provided on the connecting base 21cb are in contact with each other, and the rotating body 21cp is stopped, as described in Fig. 15.

[0198] At this time, as described in FIG. 20, the held portion Wa moves in the -Z direction, so the center Wd of the recessed portion Wc and the center 21cj of the protruding portion 21ci coincide in the Z direction. At this time, the first inclined portion SL1 engages with the third inclined portion SL3, and the second inclined portion SL2 engages with the fourth inclined portion SL4. That is, the held portion Wa is pressed by the pressing surface 21ccb of the cam 21cc, and moves so as to increase the sum of the contact area between the first inclined portion SL1 and the third inclined portion SL3 and the contact area between the second inclined portion SL2 and the fourth inclined portion SL4. Then, when the sum of the contact area between the first inclined portion SL1 and the third inclined portion SL3 and the contact area between the second inclined portion SL2 and the fourth inclined portion SL4 reaches its maximum, the recessed portion Wc and the protruding portion 21ci firmly engage with each other. As a result, the held portion Wa engages with the connecting base 21cb and is fixed while being pressed by the cam 21cc.

[0199] As described above, by providing a slope on each of the recess Wc and the protrusion 21ci, it is possible to engage and fix the retained portion Wa and the connecting base 21cb even when the center Wd of the recess Wc and the center 21cj of the protrusion 21ci do not coincide in the Z direction.

[0200] Although the example described here is one in which the held portion Wa is shifted by the distance Ld in the +Z direction from the center 21cj, the above-described effect can be obtained as long as the second inclined portion SL2 of the recessed portion Wc and the fourth inclined portion SL4 of the protruding portion 21ci are in a positional relationship that allows them to come into contact with each other in the Z direction. Similarly, even if the held portion Wa is shifted in the -Z direction from the center 21cj, the above-described effect can be obtained as long as the first inclined portion SL1 of the recessed portion Wc and the third inclined portion SL3 of the protruding portion 21ci are in a positional relationship that allows them to come into contact with each other in the Z direction.

[0201] (Advantages of this embodiment) As described above, when the operating unit 400 is in the detachment position or the release position, the connecting portion 21c is in a release state in which it releases the fixation of the held portion Wa of the wire body Wb. Furthermore, when the operating unit 400 is in the locking position, the connecting portion 21c is in a locking state in which it fixes the held portion Wa. When the connecting portion 21c is in the release state, the cam 21cc of the rotating body 21cp is in a spaced position away from the held portion Wa. At this time, as shown in FIG. 10 , the held portion Wa is spaced from the clamping surface 21ch of the connecting base 21cb. Furthermore, the recessed portion Wc provided in the held portion Wa is spaced from the protruding portion 21ci provided on the clamping surface 21ch. Therefore, the wire body Wb can be inserted into or removed from the connecting portion 21c, but is not driven by the wire driving unit 300.

[0202] When the user rotates the operating unit 400 to the locked position, the connecting unit 21c changes from the unlocked state to the locked state. Specifically, the internal gear 29, which is interlocked with the operating unit 400, rotates the rotor 21cp in the clockwise direction CW, and the cam 21cc moves from the separated position to the pressed position. As a result, as shown in FIGS. 14(a) and 15, the held portion Wa moves in the -Y direction toward the clamping surface 21ch of the connecting base 21cb and is clamped in the Y direction by the cam 21cc and the clamping surface 21ch, which are in the pressed position. At this time, the cam 21cc elastically deforms, and the elastic force of the cam 21cc firmly fixes the held portion Wa to the connecting base 21cb.

[0203] Furthermore, when the cam 21cc presses the hold portion Wa, the wire body Wb bends in the -Y direction, with the wire body support end Wba (see FIG. 14(b)) of the wire guide 17, which serves as a support portion, as a fulcrum. Then, the recessed portion Wc of the hold portion Wa approaches the protruding portion 21ci of the clamping surface 21ch, and the recessed portion Wc and the protruding portion 21ci engage with each other. More specifically, when the cam 21cc is positioned in the pressing position with the catheter unit 100 attached to the base unit 200, the recessed portion Wc and the protruding portion 21ci engage with each other so that they overlap when viewed in the Z direction, which is the movement direction of the wire body Wb. This fixes the hold portion Wa to the connecting portion 21c. In particular, because the recessed portion Wc and the protruding portion 21ci engage with each other so that they overlap when viewed in the Z direction, the hold portion Wa is firmly fixed to the connecting portion 21c so as not to move relative to the connecting portion 21c in the Z direction.

[0204] Furthermore, by rotating the operating unit 400, the recessed portion Wc of the held portion Wa is moved in the -Y direction so as to engage with the protruding portion 21ci, but there is little resistance when the recessed portion Wc engages with the protruding portion 21ci. Therefore, the held portion Wa can be firmly fixed to the connecting portion 21c while reducing the operating force required by the user to operate the operating unit 400. Furthermore, when releasing the fixation of the held portion Wa to the connecting portion 21c, the operating force required by the user to operate the operating unit 400 can also be reduced. Therefore, the catheter unit 100 can be easily attached to and detached from the base unit 200.

[0205] (Other embodiments) In the above-described embodiment, the operating unit 400 is configured to be rotatable about the rotation axis 400r, but this is not limiting. For example, the operating unit 400 may be configured to transition the coupling portion 21c between the fixed state and the released state by linearly moving parallel to the rotation axis 400r (attachment / detachment direction DE). Also, a motion conversion mechanism may be provided to convert the linear movement of the operating unit 400 into rotation of the internal gear 29.

[0206] In the above-described embodiment, the operation section 400 is provided in the catheter unit 100, but this is not limiting. For example, the operation section 400 may be provided in the base unit 200.

[0207] In the above-described embodiment, the recessed portion Wc is provided on the held portion Wa, and the protruding portion 21ci is provided on the clamping surface 21ch, but this is not limited to this. For example, the held portion Wa may be provided with the protruding portion 21ci, and the recessed portion Wc may be provided on the clamping surface 21ch. Furthermore, the shape and material of the recessed portion Wc and the protruding portion 21ci are not limited as long as they can be engaged with each other so as to overlap when viewed in the Z direction.

[0208] In addition, in each of the above-described embodiments, the object to be operated is described as a bendable catheter 11. However, the object to be operated is not limited to this, and may include an articulated robot, etc. An example of such an articulated robot is a medical robot arm equipped with a surgical instrument (forceps, sharp blade, etc.) at its tip. [Explanation of symbols]

[0209] 12: bending portion / 17: support portion (wire guide) / 21c: connecting portion / 21cc: pressing portion (cam) / 21cd: guide portion (rod support surface) / 21ce: second restricting portion (cam holding portion) / 21cf: first restricting portion (butted surface) / 21ch: contact portion (clamping surface) / 21ci: convex portion / 21cp: rotating body / 21cpc: rotating shaft / 29g: gear portion (tooth portion) / 100: bending unit (catheter unit) / 200: base unit / 400: operating portion / 400r: shaft (rotating shaft) / CW: first rotating Direction (clockwise) / CCW: second rotation direction (counterclockwise) / F: reaction force / M: driving source / SL1: first inclined portion / SL2: second inclined portion / SL3: third inclined portion / SL4: fourth inclined portion / W: linear member (driving wire) / Wa: connected portion (held portion) / Wba: end (wire body support end) / Wc: recess / Y: intersecting direction (direction) / +Y: second direction (direction) / -Y: third direction (direction) / Z: moving direction (direction) / -Z: first direction (direction) / Zb1: first tooth (tooth) / Zb2: second tooth (tooth)

Claims

1. A driving source; a base unit having a coupling portion connected to the drive source; a bendable unit that is detachably attached to the base unit, the bendable unit having a bendable bending portion and a connected portion that can be connected to the connecting portion, and a linear member that is moved in a movement direction by the drive source via the connecting portion to bend the bending portion; a rotatable operating unit, The connecting portion has a pressing portion that is movable between a pressing position where the bendable unit can press the connected portion in a direction intersecting the movement direction and a separated position that is further away from the connected portion than the pressing position, and a rotating body that rotates around a rotation axis in conjunction with the rotation of the operating unit, and an abutment portion that abuts the connected portion pressed in the direction intersecting the movement direction by the pressing portion, A recess is provided in either the connected portion or the abutting portion, The other of the connected portion and the abutting portion is provided with a convex portion that can be engaged with the concave portion, the recessed portion and the protruding portion are engaged with each other so as to overlap each other when viewed in the movement direction when the pressing portion is located at the pressing position in a state where the bendable unit is attached to the base unit. A medical device characterized by:

2. the recessed portion and the protruding portion are spaced apart from each other when the pressing portion is located at the spaced position in a state where the bendable unit is attached to the base unit. The medical device of claim 1 .

3. When the pressing portion is located at the pressing position, the connected portion is sandwiched between the pressing portion and the abutting portion in the intersecting direction.

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

4. When the connected portion is pressed in the intersecting direction by the pressing portion, the linear member is bent in the intersecting direction so that the recessed portion and the protruding portion approach each other. The medical device according to any one of claims 1 to 3.

5. the bendable unit has a support portion that supports the linear member so as to be movable in the movement direction, the connected portion is located closer to the connecting portion than the support portion in the movement direction, When the connected portion is pressed in the intersecting direction by the pressing portion, the linear member bends in the intersecting direction such that the recessed portion and the protruding portion approach each other, with the end portion of the support portion closer to the connecting portion in the moving direction as a fulcrum. The medical device of claim 4 .

6. The connecting portion has a guide portion that guides the connected portion such that the linear member is bent so that the recessed portion and the protruding portion approach each other when the connected portion is pressed by the pressing portion in the intersecting direction.

6. The medical device according to claim 4 or 5.

7. The rotation axis extends along the movement direction.

7. The medical device according to claim 1.

8. The bendable unit further includes a gear unit that rotates integrally with the operation unit around an axis parallel to the rotation axis when the bendable unit is attached to the base unit, the rotating body has first teeth engageable with the gear portion and second teeth engageable with the gear portion and disposed upstream of the first teeth in the first rotation direction, the rotating body rotates in the first rotation direction with the first tooth and the gear portion engaged, thereby moving the pressing portion from the separated position toward the pressing position, and the rotating body rotates in a second rotation direction opposite to the first rotation direction with the second tooth and the gear portion engaged, thereby moving the pressing portion from the pressing position toward the separated position. A medical device according to any one of claims 1 to 7.

9. When the pressing portion is positioned at the pressing position, the pressing portion receives a reaction force from the connected portion, the connecting portion has a first restricting portion that restricts rotation in the first rotation direction of the rotating body that is biased to rotate in the first rotation direction by the reaction force, The medical device of claim 8 .

10. the connecting portion has a second restricting portion that restricts rotation of the rotating body in the second rotation direction when the pressing portion is located at the separated position. The medical device of claim 9 .

11. The operation unit is provided on the bendable unit.

11. The medical device according to any one of claims 1 to 10.

12. The operation unit is provided on the bendable unit, The gear portion is provided on the base unit.

11. The medical device according to any one of claims 8 to 10.

13. Among the movement directions, the direction from the curved portion toward the connected portion is defined as a first direction, among the intersecting directions, the direction from the abutting portion toward the center of the linear member is defined as a second direction, and among the intersecting directions, the direction from the center of the linear member toward the abutting portion is defined as a third direction. the recess has a first inclined portion inclined to extend in the second direction as it approaches the first direction, and a second inclined portion inclined to extend in the third direction as it approaches the first direction, the protrusion has a third inclined portion that is inclined to extend in the third direction as it approaches the first direction and is engageable with the first inclined portion, and a fourth inclined portion that is inclined to extend in the second direction as it approaches the first direction and is engageable with the second inclined portion, When pressed by the pressing portion, the connected portion moves so that the sum of a contact area between the first inclined portion and the third inclined portion and a contact area between the second inclined portion and the fourth inclined portion increases.

13. The medical device according to any one of claims 1 to 12.

14. The recess is provided in the connected portion, The protrusion is provided on the contact portion.

14. A medical device according to any one of claims 1 to 13.

15. The pressing portion is configured to be elastically deformable when pressing the connected portion.

15. A medical device according to any one of claims 1 to 14.

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