Healthcare system

Abstract

To provide a medical system in which a bendable unit can be fitted more reliably.SOLUTION: A medical system comprises: a drive unit comprising a drive source, and a first member connected to the drive source; a bendable unit comprising a bendable bend part, a linear body for bending the bend part, and a second member connected to the linear body, and attachable / detachable to / from the drive unit; and a control part for controlling the drive source. While the bendable unit is fitted to the drive unit, the first member and the second member can engage so as to integrally move in a longitudinal direction. When the bendable unit is fitted to the drive unit, the control part moves the first member toward a position in the longitudinal direction where it can engage with the second member, by the drive source according to the position of the second member in the longitudinal direction.SELECTED DRAWING: Figure 19

Description

Technical Field

[0001] The present invention relates to a medical system having a bendable unit that can be bent and deformed.

Background Art

[0002] As a medical device having a bendable unit that can be bent and deformed, such as a catheter unit, a configuration is known in which the bendable unit is detachable from a base unit (actuator main body) provided with a drive source. Patent Document 1 discloses a configuration in which the catheter unit can be attached and detached by rotating the catheter unit with respect to the actuator main body. According to this document, a rod connected to the drive wire of the catheter is provided on the catheter unit side, and the rod fits into a groove provided in the drive stage on the actuator main body side, so that the bending of the catheter can be controlled by the driving force of the drive source.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the configuration described in the above document, due to reasons such as manufacturing tolerances of the catheter unit, there is variation in the position of the rod before the catheter unit is attached to the actuator main body. If the rod interferes with a member on the actuator main body side at an unexpected location during the attachment of the catheter unit due to misalignment of the rod, the rod may not fit into the groove of the drive stage, or a part of the device may be damaged.

[0005] In the above-mentioned literature, the ends of the grooves in the drive stage are chamfered to absorb positional displacement of the rod in the longitudinal direction, thereby facilitating engagement with the grooves. However, if the rod position is significantly misaligned, it may exceed the range that can be accommodated by the chamfered shape.

[0006] Therefore, one of the objectives of the present invention is to provide a medical system that enables more reliable attachment of a flexible unit. [Means for solving the problem]

[0007] One aspect of the present invention is a medical system comprising: a drive unit having a drive source and a first member connected to the drive source; a bendable unit having a bendable curved portion, a linear body for curving the curved portion, and a second member connected to the linear body, and a control unit for controlling the drive source, wherein the second member has a first contact portion and a second contact portion, the first member has a first contact portion for contacting the first contact portion and pressing the second member to one side in the longitudinal direction of the linear body, and a second contact portion for contacting the second contact portion and pressing the second member to the other side in the longitudinal direction, and the first member and the second member are engageable such that, when the bendable unit is mounted on the drive unit, the first contact portion contacts the first contact portion and the second contact portion contacts the second contact portion, so as to move together in the longitudinal direction. The first member is configured to be engageable with the second member at a position in the longitudinal direction such that the first contact portion faces the first contacted portion and the second contact portion faces the second contacted portion in a direction intersecting the longitudinal direction, the bendable unit has a recording medium on which the position information of the second member is recorded, and the medical system is, When the flexible unit is mounted on the drive unit The control unit further comprises a reading means for reading the position information from the recording medium, wherein the position information is information that can identify the positions of the first contact portion and the second contact portion in the longitudinal direction, and when the bendable unit is mounted on the drive unit, the control unit moves the first member in the longitudinal direction by the drive source based on the position information read by the reading means, such that the first contact portion faces the first contact portion and the second contact portion faces the second contact portion in a direction intersecting the longitudinal direction. This is a medical system characterized by the following features. Another aspect of the present invention is a medical system comprising: a drive unit having a drive source and a first member connected to the drive source; a bendable unit having a bendable curved portion, a linear body for bending the curved portion, and a second member connected to the linear body, and a control unit for controlling the drive source, wherein the second member has a first contact portion and a second contact portion, and the first member has a first contact portion for contacting the first contact portion and pressing the second member to one side in the longitudinal direction of the linear body, and a second contact portion for contacting the second contact portion and pressing the second member to the other side in the longitudinal direction, The first member and the second member are engaged such that, when the bendable unit is mounted on the drive unit, the first contact portion contacts the first contacted portion and the second contact portion contacts the second contacted portion, allowing them to move together in the longitudinal direction; the first member is configured to be engaged with the second member at a position in the longitudinal direction where the first contact portion faces the first contacted portion and the second contact portion faces the second contacted portion in a direction intersecting the longitudinal direction; the bendable unit has a recording medium on which identification information of the bendable unit is recorded; and the medical system is When the flexible unit is mounted on the drive unit The medical system further comprises a reading means for reading the identification information from the recording medium, wherein the control unit acquires position information of the second member by communicating with an external information processing device based on the identification information read by the reading means, the position information is information that can specify the positions of the first contact portion and the second contact portion in the longitudinal direction, and the control unit moves the first member in the longitudinal direction by the drive source based on the position information acquired by the communication when the bendable unit is mounted on the drive unit, such that the first contact portion faces the first contact portion and the second contact portion faces the second contact portion in a direction intersecting the longitudinal direction. Another aspect of the present invention is a medical system comprising: a drive unit having a drive source and a first member connected to the drive source; a bendable unit having a bendable curved portion, a linear body that curves the curved portion, and a second member connected to the linear body, and being detachable from the drive unit; and a control unit that controls the drive source, wherein the second member has a first contact portion and a second contact portion, and the first member contacts the first contact portion and presses the second member to one side in the longitudinal direction of the linear body. The first member and the second member have a first contact portion for pressing the second member against the second contacted portion to the other side in the longitudinal direction, and when the bendable unit is mounted on the drive unit, the first contact portion contacts the first contacted portion and the second contact portion contacts the second contacted portion so that they move together in the longitudinal direction, and the drive unit has a longitudinal direction acting between the first member and the second member The medical system is characterized by having a force detection means capable of detecting a force, the first member having a part of the second member and abutment portion facing the second member in the longitudinal direction, the first member being configured to be engageable with the second member at the longitudinal position where the abutment portion abuts the second member, the control unit positioning the first member in a position where the abutment portion does not contact the second member even when the bendable unit is mounted on the drive unit during the period when the bendable unit is not mounted on the drive unit, the control unit starting to move the first member toward one side in the longitudinal direction so that the abutment portion abuts the second member when the bendable unit is mounted on the drive unit, based on the detection result of the force detection means, and stopping the movement of the first member when the force detection means detects that a compressive force of a first predetermined value or more has acted between the first member and the second member after the first member has started to move toward one side in the longitudinal direction. Another aspect of the present invention is a medical system comprising: a drive unit having a drive source and a first member connected to the drive source; a bendable unit having a bendable curved portion, a linear body for bending the curved portion, and a second member connected to the linear body, and a control unit for controlling the drive source, wherein the second member has a first contact portion and a second contact portion, and the first member has a first contact portion for contacting the first contact portion and pressing the second member to one side in the longitudinal direction of the linear body, and a second contact portion for contacting the second contact portion The first member and the second member are engaged such that, when the bendable unit is mounted on the drive unit, the first contact portion abuts against the first contacted portion and the second contact portion abuts against the second contacted portion, thereby moving together in the longitudinal direction; the drive unit has force sensing means capable of detecting the longitudinal force acting between the first member and the second member; and the first member has a projection facing the longitudinal direction from a part of the second member. The medical system is characterized by having a stopper portion, wherein the first member is configured to be able to engage with the second member at a position moved a predetermined distance to the other side in the longitudinal direction relative to the second member from the longitudinal position where the stopper portion abuts against the second member, and the control unit positions the first member in a position where the stopper portion does not come into contact with the second member even when the bendable unit is mounted on the drive unit during the period when the bendable unit is not mounted on the drive unit, and when the bendable unit is mounted on the drive unit, the control unit starts moving the first member toward one side in the longitudinal direction so that the stopper portion abuts against the second member based on the detection result of the force detection means, and after starting to move the first member toward one side in the longitudinal direction, the force detection means detects that a compressive force of a first predetermined value or more has been applied between the first member and the second member, and then stops the movement of the first member while it has been moved a predetermined distance toward the other side in the longitudinal direction. Another aspect of the present invention is a medical system comprising: a drive unit having a drive source and a first member connected to the drive source; a bendable unit having a bendable curved portion, a linear body for bending the curved portion, and a second member connected to the linear body, and detachably attached to the drive unit; and a control unit for controlling the drive source, wherein the second member has a first contact portion and a second contact portion, and the first member abuts the first contact portion and the second member on one side in the longitudinal direction of the linear body. The first member and the second member have a first contact portion for pressing against the first member and a second contact portion for pressing the second member to the other side in the longitudinal direction, and when the bendable unit is mounted on the drive unit, the first contact portion contacts the first member and the second contact portion contacts the second member, so that they move together in the longitudinal direction, and the drive unit acts between the first member and the second member. The medical system is characterized by having a force detection means capable of detecting the longitudinal force, the first member having a part of the second member and abutting portion facing the second member in the longitudinal direction, the first member being configured to be engageable with the second member at the longitudinal position where the abutting portion abuts the second member, the control unit positioning the first member at a point where the abutting portion contacts the second member while the bendable unit is being mounted to the drive unit during the period when the bendable unit is not mounted to the drive unit, and when the bendable unit is mounted to the drive unit, the force detection means detecting that a compressive force of a second predetermined value or more is acting between the first member and the second member, causing the first member to start moving toward the other side in the longitudinal direction, and then stopping the movement of the first member when the force detection means detects that the force acting between the first member and the second member has become less than the second predetermined value. Another aspect of the present invention is a medical system comprising: a drive unit having a drive source and a first member connected to the drive source; a bendable unit having a bendable curved portion, a linear body for bending the curved portion, and a second member connected to the linear body, and a control unit for controlling the drive source, wherein the second member has a first contact portion and a second contact portion, and the first member has a first contact portion for contacting the first contact portion and pressing the second member to one side in the longitudinal direction of the linear body, and the second The first member and the second member have a second contact portion for contacting a contacted portion and pressing the second member to the other side in the longitudinal direction, and when the bendable unit is mounted on the drive unit, the first contact portion contacts the first contacted portion and the second contact portion contacts the second contacted portion so that they move together in the longitudinal direction, and the drive unit has force sensing means capable of detecting the longitudinal force acting between the first member and the second member, and the first member is the second member The medical system is characterized in that the first member has a part of it and a part of it that faces the longitudinal direction, and the first member is configured to be able to engage with the second member at a position moved a predetermined distance to the other side in the longitudinal direction relative to the second member from the position in the longitudinal direction where the abutment portion abuts the second member, and the control unit positions the first member at a position where the abutment portion contacts the second member while the bendable unit is being mounted to the drive unit during the period when the bendable unit is not mounted to the drive unit, and when the bendable unit is mounted to the drive unit, the force detection means detects that a compressive force of a second predetermined value or more is acting between the first member and the second member, and starts moving the first member toward the other side in the longitudinal direction, and then stops moving the first member at a position where it has been moved a further predetermined distance toward the other side in the longitudinal direction relative to the first member from the point in time when the force detection means detects that the force acting between the first member and the second member has become less than the second predetermined value. [Effects of the Invention]

[0008] According to the present invention, the attachment of the bendable unit can be performed more reliably.

Brief Description of the Drawings

[0009] [Figure 1] Overall view of the medical system [Figure 2] Perspective view showing the medical device and the support base [Figure 3] Explanatory drawing of the catheter [Figure 4] Explanatory drawing of the catheter unit [Figure 5] Explanatory drawing of the base unit and the wire drive unit [Figure 6] Explanatory drawing of the wire drive unit, the connecting device, and the bend drive unit [Figure 7] Explanatory drawing of the attachment of the catheter unit [Figure 8] Diagram for explaining the connection between the catheter unit and the base unit [Figure 9] Exploded view for explaining the connection between the catheter unit and the base unit [Figure 10] Explanatory drawing of the fixing of the drive wire by the connecting portion [Figure 11] Explanatory drawing of the fixing of the drive wire by the connecting portion [Figure 12] Explanatory drawing of the fixing of the drive wire by the connecting portion [Figure 13] Explanatory drawing of the fixing of the drive wire by the connecting portion [Figure 14] Explanatory drawing of the fixing of the drive wire by the connecting portion [Figure 15] Explanatory drawing of the fixing of the drive wire by the connecting portion [Figure 16] Explanatory drawing of the catheter unit and the base unit [Figure 17] Diagram for explaining the operation of the operation unit [Figure 18] Cross-sectional view for explaining the operation of the operation unit [Figure 19] Explanatory drawing of the misalignment correction configuration according to Example 1 [Figure 20] Explanatory drawing of the misalignment correction configuration according to Example 1 [Figure 21] Diagram illustrating the locked state of the connecting part according to Example 1 [Figure 22] Diagram illustrating the positional misalignment correction configuration related to the modified example. [Figure 23] Diagram illustrating the positional misalignment correction configuration according to Example 2 [Figure 24] Diagram illustrating the positional misalignment correction configuration according to Example 2 [Figure 25] Diagram illustrating the positional misalignment correction configuration according to Example 3 [Figure 26] Diagram illustrating the positional misalignment correction configuration according to Example 3 [Modes for carrying out the invention]

[0010] The embodiments relating to this disclosure will be described below with reference to the drawings. Note that the dimensions, materials, shapes, and arrangements of the components described in the embodiments should be appropriately modified depending on the configuration of the device to which this technology is applied and various other conditions.

[0011] [Example 1] <Medical systems and medical devices> The medical system 1A and medical device 1 will be explained using 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 support base 2.

[0012] The medical system 1A comprises a medical device 1, a support base 2 on which the medical device 1 is mounted, and a control unit 3 (control device, controller) for controlling the medical device 1. In this embodiment, the medical system 1A also includes a monitor 4 as a display device.

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

[0014] In this embodiment, the user of the medical system 1A and medical device 1 can perform tasks such as observing the inside of a target, collecting various specimens from the inside of the target, and performing procedures on the inside of the target by inserting the catheter 11 into the inside of the target. In one embodiment, the user can insert the catheter 11 into the inside of a patient who is the target. Specifically, by inserting it into the trachea through the patient's oral cavity or nasal cavity, tasks such as observing, collecting, and excising lung tissue can be performed.

[0015] The catheter 11 can be used as a guide (sheath) to guide medical instruments for performing the above-mentioned procedures. Examples of medical instruments (tools) include endoscopes, forceps, and ablation devices. The flexible body itself may also function as one of the above-mentioned medical instruments, in which case the flexible body is not limited to a tubular shape but may be cylindrical, for example.

[0016] In this embodiment, the control unit 3 includes an arithmetic unit 3a and an input device 3b. The input device 3b receives commands and inputs for operating the catheter 11. The arithmetic unit 3a includes storage for storing programs and various data for controlling the catheter, random access memory, and a central processing unit for executing programs. The control unit 3 may also include an output unit that outputs signals for displaying images on the monitor 4.

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

[0018] The medical device 1 is removably mounted on the support base 2 via the base unit 200. More specifically, the mounting portion (connecting portion) 200a of the base unit 200 of the medical device 1 is removably mounted on the movable stage (receiving portion) 2a of the support base 2. Even when the mounting portion 200a of the medical device 1 is detached from the movable 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 mounting portion 200a of the medical device 1 is detached from the movable stage 2a, the medical device 1 and the support base 2 are connected by a cable 5.

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

[0020] The user can use the medical device 1 when the catheter 11 is inserted into the target and the medical device 1 is attached to the support base 2. Specifically, with the medical device 1 attached to the moving stage 2a, the medical device 1 moves as the moving stage 2a moves. Then, actions are performed to move the catheter 11 in the direction of insertion into the target and to move the catheter 11 in the direction of withdrawal from the target. The movement of the moving stage 2a is controlled by the control unit 3.

[0021] The medical device 1 includes a wire drive unit (linear member drive unit, line drive unit, main body drive unit) 300 for driving the catheter 11. In this embodiment, the medical device 1 is a robotic catheter device that drives the catheter 11 with a wire drive unit 300 controlled by a control unit 3.

[0022] The control unit 3 can control the wire drive unit 300 to perform the action of bending the catheter 11. In this embodiment, the wire drive unit 300 is built into the base unit 200. More specifically, the base unit 200 includes a base housing 200f that houses the wire drive unit 300. In other words, the base unit 200 includes the wire drive unit 300. The wire drive unit 300 and the base unit 200 together can be called a catheter drive device (base device, main body).

[0023] Regarding the extension direction of the catheter 11, the end where the tip of the catheter 11 to be inserted into the target is located is called the distal end. Regarding the extension direction of the catheter 11, the opposite side of the distal end is called the proximal end.

[0024] The catheter unit 100 has a proximal end cover 16 that covers the proximal end 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.

[0025] As described above, in this embodiment, the catheter 11 functions as a guide device for guiding a medical instrument to a desired position inside the target.

[0026] For example, with the endoscope inserted into the catheter 11, the catheter 11 is inserted to the target position inside the target. At this time, at least one of the following is used: manual operation by the user, movement of the moving stage 2a, or driving of the catheter 11 by the wire drive unit 300. After the catheter 11 reaches the target position, the endoscope is withdrawn from the catheter 11 through the tool hole 16a. Then, medical instruments are inserted through the tool hole 16a, and operations such as collecting various specimens from inside the target or performing procedures on the inside of the target are carried out.

[0027] As described later, the catheter unit 100 is detachably attached to the catheter drive device (base device, main body), more specifically to the base unit 200. After the medical device 1 is used, the user can remove the catheter unit 100 from the base unit 200, attach a new catheter unit 100 to the base unit 200, and use the 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 procedure is discarded after use. This prevents the reuse of the catheter unit 100 and keeps the medical device 1 clean at all times.

[0028] As shown in Figure 2, the medical device 1 has an operating unit 400. In this embodiment, the operating unit 400 is provided on the catheter unit 100. The operating unit 400 is operated by the user when fixing the catheter unit 100 to the base unit 200 and when removing the catheter unit 100 from the base unit 200.

[0029] By connecting the endoscope inserted into the catheter 11 to the monitor 4, images captured by the endoscope can be displayed on the monitor 4. Furthermore, by connecting the monitor 4 to the control unit 3, the status of the medical device 1 and information related to the control of the medical device 1 can be displayed on the monitor 4. For example, the position of the catheter 11 inside the target and information related to the navigation of the catheter 11 inside the target can be displayed on the monitor 4. The monitor 4, control unit 3, and endoscope may be connected by wire or wirelessly. The monitor 4 and control unit 3 may also be connected via the support base 2.

[0030] <Catheter> Figure 3 will be used to explain the catheter 11 as a flexible body. Figure 3 is an explanatory diagram of the catheter 11. Figure 3(a) is a diagram illustrating the entire catheter 11. Figure 3(b) is a magnified view of the catheter 11.

[0031] The catheter 11 comprises a curved section (curved body, catheter body) 12 and a curved drive unit (catheter drive unit) 13 configured to curve the curved section 12. The curved drive unit 13 is configured to receive the driving force from the wire drive unit 300 via a connecting device 21, which will be described later, and to curve the curved section 12.

[0032] The catheter 11 is extended along the direction of insertion of the catheter 11 into the target. The extension direction (longitudinal direction) of the catheter 11 is the same as the extension direction (longitudinal direction) of the curved portion 12 and the extension direction (longitudinal direction) of the first to ninth drive wires (W11 to W33) described later.

[0033] The bending drive unit 13 includes a plurality of drive wires (drive lines, linear members, linear actuators) connected to the bending unit 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.

[0034] Each of the first to ninth drive wires (W11 to W33) includes a held portion (held shaft, rod) Wa. Specifically, the first drive wire W11 includes the first held portion Wa11. The second drive wire W12 includes the second held portion Wa12. The third drive wire W13 includes the third held portion Wa13. The fourth drive wire W21 includes the fourth held portion Wa21. The fifth drive wire W22 includes the fifth held portion Wa22. The sixth drive wire W23 includes the sixth held portion Wa23. The seventh drive wire W31 includes the seventh held portion Wa31. The eighth drive wire W32 includes the eighth held portion Wa32. The ninth drive wire W33 includes the ninth held portion Wa33.

[0035] In this embodiment, each of the first to ninth held parts (Wa11 to Wa33) has the same shape.

[0036] Each of the first to ninth drive wires (W11 to W33) includes a flexible wire body (line body, linear body) Wb. Here, the wire body Wb is a member that allows the object connected through it to be pushed or pulled, and has a certain degree of rigidity. On the other hand, it is a member that can be deformed from a straight shape so that the curved portion 12 can be curved. Specifically, the first drive wire W11 includes the first wire body Wb11. The second drive wire W12 includes the second wire body Wb12. The third drive wire W13 includes the third wire body Wb13. The fourth drive wire W21 includes the fourth wire body Wb21. The fifth drive wire W22 includes the fifth wire body Wb22. The sixth drive wire W23 includes the sixth wire body Wb23. The seventh drive wire W31 includes the seventh wire body Wb31. The eighth drive wire W32 includes the eighth wire body Wb32. The ninth drive wire W33 includes the ninth wire body Wb33.

[0037] In this embodiment, the first to third wire bodies (Wb11 to Wb13) are all the same shape. The fourth to sixth wire bodies (Wb21 to Wb23) are all the same shape. The seventh to ninth wire bodies (Wb31 to Wb33) are all the same shape. In this embodiment, the first to ninth wire bodies (Wb11 to Wb33) are all the same shape except for their length.

[0038] The first to ninth retained parts (Wa11 to Wa33) are fixed to the first to ninth wire bodies (Wb11 to Wb33) at their proximal ends.

[0039] The first to ninth drive wires (W11 to W33) are inserted into and fixed in the curved section 12 via the wire guide 17.

[0040] In this embodiment, the material of each wire body Wb of the first to ninth drive wires (W11 to W33) is metal. However, the material of each wire body Wb of the first to ninth drive wires (W11 to W33) may be resin. The material of each wire body Wb of the first to ninth drive wires (W11 to W33) may include both metal and resin.

[0041] Any one of the first to ninth drive wires (W11 to W33) can be called drive wire W. In this embodiment, each of the first to ninth drive wires (W11 to W33) has the same shape except for the length of the first to ninth wire bodies (Wb11 to Wb33).

[0042] In this embodiment, the curved portion 12 is a tubular member that is flexible and has a passage Ht for inserting a medical instrument.

[0043] The wall surface of the curved section 12 is provided with multiple wire holes for passing through the first to ninth drive wires (W11 to W33). Specifically, the wall surface of the curved section 12 is provided with a first wire hole Hw11, a second wire hole Hw12, and a third wire hole Hw13. Furthermore, the wall surface of the curved section 12 is provided with a fourth wire hole Hw21, a fifth wire hole Hw22, and a sixth wire hole Hw23. Furthermore, the wall surface of the curved section 12 is provided with a seventh wire hole Hw31, an eighth wire hole Hw32, and a ninth wire hole Hw33. Each of the first to ninth wire holes Hw (Hw11 to Hw33) corresponds to each of the first to ninth drive wires (W11 to W33). The number after the symbol Hw indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first wire hole Hw11.

[0044] Any one of the first to ninth wire holes (Hw11 to Hw33) can be called wire hole Hw. In this embodiment, each of the first to ninth wire holes (Hw11 to Hw33) has the same shape.

[0045] The curved section 12 has an intermediate region 12a and a curved region 12b. The curved region 12b is located at the distal end of the curved section 12, and the first guide ring J1, the second guide ring J2, and the third guide ring J3 are located in the curved region 12b. The curved region 12b is a region in which the magnitude and direction of the bending of the curved section 12 can be controlled by moving the first guide ring J1, the second guide ring J2, and the third guide ring J3 by the bending drive unit 13. Figure 3(b) shows the curved section 12 with a portion of the section covering the first to third guide rings (J1 to J3) omitted.

[0046] In this embodiment, the curved section 12 is equipped with a plurality of auxiliary rings (not shown). In the curved region 12b, the first guide ring J1, the second guide ring J2, and the third guide ring J3 are fixed to the wall surface of the curved section 12. In this embodiment, the plurality of auxiliary rings are positioned 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.

[0047] The medical device is guided to the tip of the catheter 11 by the passage Ht, the first to third guide rings (J1 to J3), and multiple auxiliary rings.

[0048] Each of the first to ninth drive wires (W11 to W33) is fixed to each of the first to third guide rings (J1 to J3) by passing through the intermediate region 12a.

[0049] 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 are fixed to the second guide ring J2, passing through the first guide ring J1 and several auxiliary rings. The seventh drive wire W31, the eighth drive wire W32, and the ninth drive wire W33 are fixed to the third guide ring J3, passing through the first guide ring J1, the second guide ring J2, and several auxiliary rings.

[0050] The medical device 1 can bend the curved portion 12 in a direction intersecting the extension direction of the catheter 11 by driving the bending drive unit 13 with the wire drive unit 300. Specifically, by moving each of the first to ninth drive wires (W11 to W33) in the extension direction of the curved portion 12, the curved region 12b of the curved portion 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 the target area inside the target by using at least one of the following: moving the medical device 1 manually or by the moving stage 2a, and bending the curved section 12.

[0052] In this embodiment, the first to ninth drive wires (W11 to W33) move the first to third guide rings (J1 to J3) to bend the curved section 12, but this technology is not limited to this configuration. One or two of the first to third guide rings (J1 to J3) and the drive wires fixed to them may be omitted.

[0053] For example, the catheter 11 may have a configuration in which the 7th to 9th drive wires (W31 to W33) and the 3rd guide ring J3 are present, and the 1st to 6th drive wires (W11 to W23) and the 1st to 2nd guide rings (J1 to J2) are omitted. Alternatively, the catheter 11 may have a configuration in which the 4th to 9th drive wires (W21 to W33) and the 2nd to 3rd guide rings (J2 to J3) are present, and the 1st to 3rd drive wires (W11 to W13) and the 1st guide ring J1 are omitted.

[0054] Alternatively, the catheter 11 may be configured to drive one guide ring with two drive wires. In this case as well, the number of guide rings may be one or more.

[0055] <Catheter Unit> The catheter unit 100 will be explained using Figure 4. Figure 4 is an explanatory diagram of the catheter unit 100. Figure 4(a) is an explanatory diagram of the catheter unit 100 with the wire cover 14 (described later) in the cover position. Figure 4(b) is an explanatory diagram of the catheter unit 100 with the wire cover 14 in the exposed position.

[0056] The catheter unit 100 includes a catheter 11 having a curved section 12 and a curved 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 for covering and protecting the first to ninth drive wires (W11 to W33) which serve as multiple drive wires.

[0057] The catheter unit 100 is detachable from the base unit 200 along the attachment / detachment direction D. 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 D.

[0058] The proximal end cover (frame, curved section housing, catheter housing) 16 is a cover that covers a portion 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 curved section 12.

[0059] The wire cover 14 is provided with multiple exposed holes (wire cover holes, cover holes) for passing each of 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. Each of the first to ninth exposed holes (14a11 to 14a33) corresponds to each of the first to ninth drive wires (W11 to W33). The number after the reference numeral 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 called exposure hole 14a. In this embodiment, each of the first to ninth exposure holes (14a11 to 14a33) has the same shape.

[0061] The wire cover 14 can move between a cover position that covers the first to ninth drive wires (W11 to W33) (see Figure 14(a)) and a cover retracted position that is retracted from the cover position (see Figure 14(b)). The cover retracted position can also be called an exposed position that exposes the first to ninth drive wires (W11 to W33).

[0062] Before attaching the catheter unit 100 to the base unit 200, the wire cover 14 is in the covered position. 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 D.

[0063] 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 curved drive unit 13 and the coupling device 21, which will be 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 part of the wire body Wb protrude from the first to ninth exposed holes (14a11 to 14a33). More specifically, the first to ninth held portions (Wa11 to Wa33) protrude from the first to ninth exposed holes (14a11 to 14a33) toward the mounting direction Da, which will be described later.

[0064] As shown in Figure 4(b), each of the first to ninth drive wires (W11 to W33) is arranged along a circle (virtual circle) having a predetermined radius and is supported by a wire guide 17.

[0065] 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 D. The wire cover 14 is provided with a shaft hole 14b through which the key shaft 15 passes. The key shaft 15 can engage with a key receiving portion 22, which will be described later. 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 restricted within a predetermined range in the circumferential direction of the circle (virtual circle) in which the first to ninth drive wires (W11 to W33) are arranged.

[0066] In this embodiment, when viewed in the attachment / detachment direction D, the first to ninth drive wires (W11 to W33) are arranged outside the key shaft 15 so as to surround it. In other words, the key shaft 15 is positioned inside the circle (virtual circle) in which the first to ninth drive wires (W11 to W33) are arranged.

[0067] 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 about a rotation axis 400r. The rotation axis 400r of the operating section 400 extends in the attachment / detachment direction D.

[0068] With the catheter unit 100 attached to the base unit 200, the operating unit 400 is configured to be movable (rotatable) relative to the base unit 200. More specifically, the operating unit 400 is configured to be movable (rotatable) relative to the base housing 200f, the wire drive unit 300, and the coupling device 21, which will be described later.

[0069] <Base Unit> The base unit 200 and the wire drive unit 300 will be explained using Figure 5. Figure 5 is an explanatory diagram of the base unit 200 and the wire drive unit 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 along the attachment / detachment direction D.

[0070] As described above, the medical device 1 has a base unit 200 and a wire drive unit 300. In this embodiment, the wire drive unit 300 is housed in a base housing 200f and is provided inside the base unit 200. In other words, the base unit 200 includes the wire drive unit 300.

[0071] The wire drive unit 300 has multiple motors as multiple drive sources (actuators). In this embodiment, the wire drive unit 300 includes a first drive source M11, a second drive source M12, a third drive source M13, a fourth drive source M21, a fifth drive source M22, a sixth drive source M23, a seventh drive source M31, an eighth drive source M32, and a ninth drive source M33.

[0072] Any one of the first to ninth drive sources (M11 to M33) can be called drive source M. In this embodiment, each of the first to ninth drive sources (M11 to M33) has the same configuration.

[0073] The base unit 200 includes a coupling device 21. The coupling device 21 is housed in the base housing 200f. The coupling device 21 is connected to the wire drive unit 300. The coupling device 21 has a plurality of coupling parts. In this embodiment, the coupling device 21 includes a first coupling part 21c11, a second coupling part 21c12, a third coupling part 21c13, a fourth coupling part 21c21, a fifth coupling part 21c22, a sixth coupling part 21c23, a seventh coupling part 21c31, an eighth coupling part 21c32, and a ninth coupling part 21c33.

[0074] Any one of the first to ninth connecting parts (21c11 to 21c33) can be called connecting part 21c. In this embodiment, each of the first to ninth connecting parts (21c11 to 21c33) has the same configuration.

[0075] Each of the multiple connection points is connected to and driven by each of the multiple drive sources. Specifically, the first connection point 21c11 is connected to and driven by the first drive source M11. The second connection point 21c12 is connected to and driven by the second drive source M12. The third connection point 21c13 is connected to and driven by the third drive source M13. The fourth connection point 21c21 is connected to and driven by the fourth drive source M21. The fifth connection point 21c22 is connected to and driven by the fifth drive source M22. The sixth connection point 21c23 is connected to and driven by the sixth drive source M23. The seventh connecting section 21c31 is connected to the seventh drive source M31 and driven by the seventh drive source M31. The eighth connecting section 21c32 is connected to the eighth drive source M32 and driven by the eighth drive source M32. The ninth connecting section 21c33 is connected to the ninth drive source M33 and driven by the ninth drive source M33.

[0076] As will be described later, the coupling device 21 is connected to a bending drive unit 13 which includes the first to ninth drive wires (W11 to W33). The bending drive unit 13 receives the driving force from the wire drive unit 300 via the coupling device 21 and bends the bending unit 12.

[0077] The drive wire W is connected to the connecting part 21c via the held part Wa. Each of the multiple drive wires is connected to each of the multiple connecting parts.

[0078] 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 retained portion Wa32 of the eighth drive wire W32 is connected to the eighth connecting portion 21c32. The ninth retained portion Wa33 of the ninth drive wire W33 is connected to the ninth connecting portion 21c33.

[0079] The base unit 200 has a base frame 25. The base frame 25 is provided with a number of insertion holes for passing each of 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. Each of the first to ninth insertion holes (25a11 to 25a33) corresponds to each of the first to ninth drive wires (W11 to W33). The number after the designation 25a indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first insertion hole 25a11.

[0080] Any one of the first to ninth insertion holes (25a11 to 25a33) can be called insertion hole 25a. In this embodiment, each of the first to ninth insertion holes (25a11 to 25a33) has the same shape.

[0081] The base frame 25 is provided with a mounting opening 25b into which the wire cover 14 is inserted. The first to ninth insertion holes (25a11 to 25a33) are located at the bottom of the mounting opening 25b.

[0082] Furthermore, the base unit 200 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 (fastened) to each other.

[0083] The base frame 25 has a key receiving portion (key hole, base-side key, body-side key) 22 for receiving the key shaft 15. The engagement of the key shaft 15 with the key receiving portion 22 prevents the catheter unit 100 from being mounted to the base unit 200 in the wrong phase.

[0084] The engagement between the key shaft 15 and the key receiving portion 22 restricts the movement of the catheter unit 100 relative to the base unit 200 within a predetermined range in the circumferential direction of the circle (virtual circle) in which each of the first to ninth drive wires (W11 to W33) is arranged.

[0085] As a result, each of the first to ninth drive wires (W11 to W33) engages with each of the corresponding first to ninth insertion holes (25a11 to 25a33) and each of the corresponding first to ninth connecting parts (21c11 to 21c33). In other words, the drive wire W engages with a different insertion hole 25a than the corresponding insertion hole 25a and a different connecting part 21c than the corresponding connecting part 21c. Connecting part This prevents engagement with 21c.

[0086] The user can correctly connect each of the first to ninth drive wires (W11 to W33) to each of the first to ninth connecting parts (21c11 to 21c33) by engaging the key shaft 15 with the key receiving part 22. Therefore, the user can easily attach the catheter unit 100 to the base unit 200.

[0087] In this embodiment, the key shaft 15 has a protrusion that extends in a direction intersecting the attachment / detachment direction D, and the key receiving portion 22 has a recess into which the protrusion is inserted. In the circumferential direction, the position where the protrusion and the recess engage is the position where the drive wire W engages with the corresponding insertion hole 25a and the corresponding connecting portion 21c.

[0088] The key shaft 15 can be placed on either the base unit 200 or the catheter unit 100, and the key receiving portion 22 can be placed on the other. For example, the key shaft 15 may be placed on the base unit 200 side, and the key receiving portion 22 may be placed on the catheter unit 100 side.

[0089] The base unit 200 has a joint 28 with a joint engagement portion 28j. The base frame 25 has a locking shaft 26 with a locking projection 26a. These functions will be described later.

[0090] <Connecting the motor and drive wire> The connection of the wire drive unit 300, the coupling device 21, and the bending drive unit 13 will be explained using Figure 6.

[0091] Figure 6 is an explanatory diagram of the wire drive unit 300, the coupling device 21, and the bending drive unit 13. Figure 6(a) is a perspective view of the drive source M, the coupling unit 21c, and the drive wire W. Figure 6(b) is an enlarged view of the coupling unit 21c and the drive wire W. Figure 6(c) is a perspective view showing the connection of the wire drive unit 300, the coupling device 21, and the bending drive unit 13.

[0092] In this embodiment, the configurations in which each of the first to ninth drive wires (W11 to W33) is connected to each of the first to ninth connecting parts (21c11 to 21c33) are the same. Similarly, the configurations in which each of the first to ninth connecting parts (21c11 to 21c33) is connected to each of the first to ninth drive sources (M11 to M33) are the same. Therefore, in the following description, we will explain the configuration in which one drive wire W, one connecting part 21c, and one drive source M are connected.

[0093] As shown in Figures 6(a) and 6(b), the drive source M has an output shaft Ma and a motor body Mb that rotates the output shaft Ma in the rotational direction Rm. The surface of the output shaft Ma is provided with a helical groove. The output shaft Ma has a so-called screw shape. The motor body Mb is fixed to the motor frame 200b (Figures 5(a, b)).

[0094] The connecting section 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 the connecting base 21cb.

[0095] The connecting portion 21c has a first rotating body 21cp for pressing the held portion Wa of the drive wire W. The drive wire W is connected to the connecting portion 21c through the insertion hole 25a (Figure 6(c)) of the base frame 25. As will be described in detail later, the rotation of the first rotating body 21cp switches between a state in which the held portion Wa is fixed to the connecting base 21cb (locked state, engaged state) and a state in which the fixedness of the held portion Wa to the connecting base 21cb is released (released state).

[0096] When the held portion Wa is fixed to the connecting base 21cb, the relative movement of the held portion Wa with respect to the connecting base 21cb in the longitudinal direction of the drive wire W is restricted. When the held portion Wa is released from the connecting base 21cb, relative movement of the held portion Wa with respect to the connecting base 21cb in the longitudinal direction is permitted.

[0097] The first rotating body 21cp has a gear portion 21cg that meshes with an internal gear 29 (described later), and a cam 21cc that acts as a pressing portion for pressing the held portion Wa of the drive wire W. The cam 21cc is movable between a pressing position that presses the held portion Wa to fix it to the connecting base 21cb, and a retracted position that moves away from the held portion Wa to release the fixed position of the held portion Wa to the connecting base 21cb. In other words, by moving the cam 21cc, the held portion Wa can be fixed to and released from the connecting base 21cb.

[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 the first bearing frame 200c of the base unit 200. The second bearing B2 is supported by the second bearing frame 200d of the base unit 200. The third bearing B3 is supported by the third bearing frame 200e of the base unit 200. Therefore, when the output shaft Ma rotates in the rotational 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 all provided for the first to ninth connecting portions (21c11 to 21c33).

[0099] Because the coupling portion 21c is restricted from rotating around the output shaft Ma, when the output shaft Ma rotates, the helical grooves of the output shaft Ma cause a force to act on the tractor 21ct along the rotation axis direction of the output shaft Ma. As a result, the coupling portion 21c moves along the rotation axis direction of the output shaft Ma (Dc direction). The rotation axis direction of the output shaft Ma is substantially parallel to the extension direction (longitudinal direction) of the drive wire W in the coupling portion 21c. As the coupling portion 21c moves to one side or the other in the Dc direction, the drive wire W moves to one side or the other in the longitudinal direction, causing the curved portion 12 to curve.

[0100] In other words, the output shaft Ma and the tractor 21ct constitute a so-called lead screw, which 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 sliding screws, but ball screws may also be used.

[0101] As shown in Figure 6(c), by attaching the catheter unit 100 to the base unit 200, the first to ninth drive wires (W11 to W33) are connected to the first to ninth connecting parts (21c11 to 21c33).

[0102] The control unit 3 can control each of the first to ninth drive sources (M11 to M33) independently of each other. In other words, 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. To put it another way, the control unit 3 can control each of the first to ninth drive wires (W11 to W33) independently of each other. As a result, each of the first to third guide rings (J1 to J3) is controlled independently of each other, and the curved region 12b of the curved section 12 can be bent in any direction.

[0103] <Catheter unit attachment> Using Figure 7, we will explain the process of attaching the catheter unit 100 to the base unit 200.

[0104] Figure 7 is an explanatory diagram of the installation of the catheter unit 100. Figure 7(a) shows the catheter unit 100 before it is installed on the base unit 200. Figure 7(b) shows the catheter unit 100 after it has been installed on the base unit 200.

[0105] In this embodiment, the attachment / detachment direction D of the catheter unit 100 is the same as the direction of the rotation axis 400r of the operating section 400. Also, the attachment / detachment direction D is the same as the extension direction (longitudinal direction) of each drive wire W in the connecting section 21c. Of the attachment / detachment directions D, 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 D, the direction in which the catheter unit 100 is removed from the base unit 200 (opposite direction to attachment direction Da) is called the removal direction Dd.

[0106] As shown in Figure 7(a), before the catheter unit 100 is attached to the base unit 200, the wire cover 14 is 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 retained parts (Wa11 to Wa33) do not protrude from the first to ninth exposed holes (14a11 to 14a33) of the wire cover 14.

[0107] When the key shaft 15 and the key receiving portion 22 engage and the catheter unit 100 is moved in the mounting direction Da relative to the base unit 200, the catheter unit 100 is attached to the base unit 200. By attaching the catheter unit 100 to the base unit 200, the wire cover 14 moves to the exposed position. In this embodiment, the wire cover 14 moves from the covered position to the exposed position by coming into contact with the base frame 25 (see Figure 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, when the catheter unit 100 is moved in the attachment direction Da, the wire cover 14 moves relative to the rest of the catheter unit 100. As a result, the wire cover 14 moves from the covered position to the exposed position.

[0109] As the wire cover 14 moves from the covered position to the exposed position, the retained 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 of the base frame 25. Then, the retained portion Wa engages with the connecting base 21cb of the connecting portion 21c (see Figure 6(b)).

[0110] With the catheter unit 100 simply attached to the base unit 200, the catheter unit 100 can be removed by moving it in the removal direction Dd relative to the base unit 200. Also, as will be described later, with the catheter unit 100 simply attached to the base unit 200, the drive wire W and the connecting part 21c are not fixed.

[0111] With the catheter unit 100 attached to the base unit 200, operating the control unit 400 prevents the catheter unit 100 from detaching (being removed) from the base unit 200. Furthermore, with the catheter unit 100 attached to the base unit 200, operating the control unit 400 fixes the drive wire W to the connecting part 21c, and connects the bending drive unit 13 to the wire drive unit 300 via the connecting device 21.

[0112] <Connecting and disconnecting the curved drive unit> Using Figures 8, 9, 10, 11, 12, 13, and 14, the configuration for fixing and releasing the drive wire W from the connecting portion 21c (the configuration for connecting and unconnecting the curved drive portion 13 by the connecting device 21) will be explained.

[0113] Figure 8 is a diagram illustrating the connection between the catheter unit 100 and the base unit 200. Figure 8(a) is a cross-sectional view of the catheter unit 100 and the base unit 200. Figure 8(a) is a cross-sectional view of the catheter unit 100 and the base unit 200 cut along the rotation axis 400r. Figure 8(b) is a cross-sectional view of the base unit 200. This is a cross-sectional view of the base unit 200 cut through a virtual plane passing through the connecting portion 21c and perpendicular to the rotation axis 400r.

[0114] In Figures 8 and subsequent figures, the axial direction of the rotation axis 400r of the operating unit 400 is shown as the Z direction. In this embodiment, the Z direction is substantially parallel to the attachment / detachment direction D of the catheter unit 100 and the extension direction (longitudinal direction) of each drive wire W in the connecting part 21c. The directions that are perpendicular to the Z direction and perpendicular to each other are shown as the X and Y directions. If necessary, the signs + or - are used to distinguish between one side and the other side of each direction based on the direction of the illustrated arrows. For example, the +Z direction is the side on which the catheter unit 100 is located relative to the base unit 200, and the -Z direction is the opposite side (the side on which the base unit 200 is located relative to the catheter unit 100).

[0115] Figure 9 is an exploded view illustrating the connection between the catheter unit 100 and the base unit 200. Figures 10, 11, 12, 13, and 14 illustrate the fixing of the drive wire W by the connecting portion 21c.

[0116] As shown in Figures 8(a) and 9, the base unit 200 includes a joint 28 (intermediate member, second transmission member) and an internal gear 29 which acts as a moving gear (interlocking gear, transmission member, first transmission member) that is interlocked with the operating unit 400 via the joint 28.

[0117] The joint 28 has a plurality of transmission parts 28c, and the internal gear 29 has a plurality of 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 rotation of the joint 28 is transmitted to the internal gear 29.

[0118] When the catheter unit 100 is attached to the base unit 200, the engaging portion 400j on the operating portion 400 engages with the joint engaging portion 28j of the joint 28. When the operating portion 400 rotates around the rotation axis 400r, the rotation of the operating portion 400 is transmitted to the internal gear 29 via the joint 28. That is, with the catheter unit 100 attached to the base unit 200, the operating portion 400, the joint 28, and the internal gear 29 rotate integrally in the same direction.

[0119] The internal gear 29 has multiple teeth for switching between a state in which each of the first to ninth connecting parts (21c11 to 21c33) is fixed to each of the first to ninth drive wires (W11 to W33) and a state in which each of the first to ninth drive wires (W11 to W33) is released. Each of the multiple teeth (acting part, switching gear part) of the internal gear 29 engages with the gear part 21cg of the first rotating body 21cp that each of the first to ninth connecting parts (21c11 to 21c33) has.

[0120] Specifically, the internal gear 29 of this embodiment comprises a first tooth section 29g11, a second tooth section 29g12, a third tooth section 29g13, a fourth tooth section 29g21, a fifth tooth section 29g22, a sixth tooth section 29g23, a seventh tooth section 29g31, an eighth tooth section 29g32, and a ninth tooth section 29g33 (Figure 8(b)). Each of the first to ninth tooth sections (29g11 to 29g33) is formed on a circle (virtual circle) centered on the rotation axis 400r, with gaps between them.

[0121] The first tooth 29g11 meshes with the gear portion 21cg of the first connecting portion 21c11. The second tooth 29g12 meshes with the gear portion 21cg of the second connecting portion 21c12. The third tooth 29g13 meshes with the gear portion 21cg of the third connecting portion 21c13. The fourth tooth 29g21 meshes with the gear portion 21cg of the fourth connecting portion 21c21. The fifth tooth 29g22 meshes with the gear portion 21cg of the fifth connecting portion 21c22. The sixth tooth 29g23 meshes with the gear portion 21cg of the sixth connecting portion 21c23. The seventh tooth 29g31 meshes with the gear portion 21cg of the seventh connecting 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.

[0122] Any one of the first to ninth tooth sections (29g11 to 29g33) can be called tooth section 29g. In this embodiment, each of the first to ninth tooth sections (29g11 to 29g33) has the same configuration.

[0123] In this embodiment, the configurations in which the first to ninth drive wires (W11 to W33) are connected to the first to ninth connecting parts (21c11 to 21c33) are identical. Similarly, the configurations in which the first to ninth connecting parts (21c11 to 21c33) are connected to the first to ninth tooth sections (29g11 to 29g33) are identical. Therefore, in the following description, we will explain the configuration in which one drive wire W, one connecting part 21c, and one tooth section 29g are connected.

[0124] Due to the configuration of the joint 28 and internal gear 29 described above, rotating the operating part 400 causes the internal gear 29 to rotate. As the internal gear 29 rotates, each of the first to ninth connecting parts (21c11 to 21c33) operates. Specifically, in each of the first to ninth connecting parts (21c11 to 21c33), the gear part 21cg is moved by the internal gear 29, causing the first rotating body 21cp to rotate and the cam 21cc to move to the pressed position and retracted position described later.

[0125] The operating unit 400 can move between a fixed position (locked position) and a detached position while the catheter unit 100 is attached to the base unit 200. Furthermore, as will be described later, the operating unit 400 can move to a release position while the catheter unit 100 is attached to the base unit 200. Regarding the rotational direction of the operating unit 400 (rotational direction around the rotation axis 400r), the release position is located between the fixed position and the detached position. With the operating unit 400 in the detached position, the catheter unit 100 is attached to the base unit 200.

[0126] Immediately after attaching the catheter unit 100 to the base unit 200, the drive wire W is released from its connection to the coupling portion 21c. This state is referred to as the released state of the coupling portion 21c. The state in which the drive wire W is fixed (locked) to the coupling portion 21c is referred to as the locked state of the coupling portion 21c.

[0127] The operation of fixing the drive wire W to the connecting part 21c will be explained using Figures 10, 11, 12, 13, 14, and 15. Figures 10(a), 11-13, 14(a), and 15 are cross-sectional views of the catheter unit 100 and base unit 200 in a virtual plane perpendicular to the Z direction. In Figures 10(a), 11-13, 14(a), and 15, for a pair of drive wires W and connecting part 21c of interest, the side on which the drive wire W is located with respect to the rotation axis 400r of the operating part 400 is defined as the +Y direction. Figures 10(b) and 14(b) are cross-sectional views of the catheter unit 100 and base unit 200 in the YZ plane passing through the pair of drive wires W and connecting part 21c of interest.

[0128] After the catheter unit 100 is attached to the base unit 200, and before the operating unit 400 is operated, the catheter unit 100 can be removed from the base unit 200. Hereinafter, the state in which the catheter unit 100 can be removed from the base unit 200 will be referred to as the removable state.

[0129] Figures 10(a) and 10(b) show the state of the internal gear 29 and the connecting part 21c in the removable state. Figure 10(a) shows the positional relationship between the internal gear 29 and the connecting part 21c when the operating part 400 is in the removable position. Figure 10(b) is a cross-sectional view of the catheter unit 100 and the base unit 200 along the BB line in Figure 10(a).

[0130] The connecting base 21cb has a cam holding portion 21ce (see also Figure 6(b)) and a plurality of rod support surfaces 21cd that support the held portion Wa of the drive wire W. The cam 21cc provided on the first rotating body 21cp has a holding surface 21cca and a pressing surface 21ccb. The plurality of rod support surfaces 21cd support the held portion Wa while restricting its movement in directions that intersect with the Z direction (the longitudinal direction of the drive wire W), except for the direction in which the held portion Wa engages with the connecting base 21cb (the -Y direction in the figure). That is, the plurality of rod support surfaces 21cd in this embodiment, when viewed in the Z direction, constitute a substantially C-shaped (U-shaped) concave shape that is open to the -Y direction side (the side of the convex portion 21ci on the connecting base 21cb described later). Furthermore, the multiple rod support surfaces 21cd extend in the Z direction so as to form a space through which the held portion Wa enters the internal space of the connecting portion 21c when the catheter unit 100 is attached to the base unit 200.

[0131] As shown in Figure 10(a), in the removable state (when the operating unit 400 is in the removable position), the first rotating body 21cp is held in a position where the retaining surface 21cca is engaged with the cam retaining portion 21ce of the connecting base 21cb. Specifically, the retaining surface 21cca is a recess into which the cam retaining portion 21ce fits, and the elasticity of the cam 21cc prevents the cam retaining portion 21ce from detaching from the retaining surface 21cca, thereby preventing the rotation of the first rotating body 21cp. In addition, the teeth Za1 of the internal gear 29 and the teeth Zb1 of the gear portion 21cg are stopped with a clearance of distance La between them.

[0132] In the rotational direction of the operating unit 400, the direction in which the operating unit 400 moves from the removal position to the release position and the fixed position is called the locking direction R1 (fixed direction), and the direction in which the operating unit 400 moves from the fixed position to the release position and the removal position is called the release direction R2 (see also Figure 8(b)). The operating unit 400 rotates from the release position in the release direction R2 to move to the removal position. The operating unit 400 rotates from the release position in the locking direction R1 to move to the fixed position.

[0133] When the catheter unit 100 is attached to the base unit 200 and the operating unit 400 is in the detachment position, the connecting part 21c is in the released state, and the drive wire W is released from being fixed by the connecting part 21c. At this time, the held part Wa is supported by the rod support surface 21cd provided on the connecting base 21cb, but the -Y direction side in Figure 10(a) is not supported by the rod support surface 21cd. As a result, the held part Wa is supported so that it can move only in the -Y direction.

[0134] As shown in Figure 10(b), the retained portion Wa has a recess Wc, and the connecting base 21cb has a protrusion 21ci that can be fitted (engaged) into the recess Wc. The protrusion 21ci is a convex shape that protrudes in a direction intersecting the extension direction (longitudinal direction, Z direction) of the drive wire W. The recess Wc is a concave shape that is recessed in a direction intersecting the extension direction (longitudinal direction, Z direction) of the drive wire W.

[0135] When the protrusion 21ci is fitted into the recess Wc, the held portion Wa and the connecting base 21cb do not move relative to each other in the Z direction, and the held portion Wa moves together with the connecting base 21cb. That is, the held portion Wa and the connecting base 21cb are configured to be engaged with each other in such a state that the driving force of the drive source M can be transmitted to the drive wire W when the protrusion 21ci is fitted into the recess Wc. In this embodiment, the locked state of the connecting portion 21c refers to the state in which the cam 21cc is in the pressed position and the held portion Wa and the connecting base 21cb are engaged.

[0136] When the operating unit 400 is in the removal position, the cam 21cc is in a retracted position with clearance from the retained part Wa. That is, as shown in Figure 10(b), the recess Wc of the retained part Wa is located spaced apart in the +Y direction from the protrusion 21ci of the connecting base 21cb. In other words, the retained part Wa is released (the retained part Wa and the connecting base 21cb are not engaged). Therefore, when the catheter unit 100 is moved in the removal direction Dd relative to the base unit 200 while the operating unit 400 is in the removal position, the retained part Wa can be pulled out from the connecting base 21cb.

[0137] Figure 11 shows the state of the internal gear 29 and the connecting part 21c when the operating part 400 is rotated in the locking direction R1 from the removal position to the release position. Figure 11 shows the state of the internal gear 29 and the connecting part 21c when the operating part 400 is in the release position.

[0138] When the operating unit 400 is rotated from the removal position (Figure 10(a, b)) in the locking direction R1, the internal gear 29 rotates in the locking direction R1 (clockwise in the figure) in conjunction with the operating unit 400. Then, the operating unit 400 moves to the release position.

[0139] 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 base unit 200 while the parts of the catheter unit 100 excluding the operating section 400 and the base unit 200 are stationary.

[0140] As the internal gear 29 rotates clockwise in the figure, the clearance between the tooth Za1 of the internal gear 29 and the tooth Zb1 (first tooth) of the gear portion 21cg decreases from distance La to distance Lb, but the tooth Zb1 does not come into contact with the gear. Therefore, the cam 21cc of the first rotating body 21cp is in the same retracted position as in Figure 10(a). That is, even when the operating part 400 moves from the removal position to the release position, the cam 21cc remains in the retracted position. Also, the connecting part 21c is kept in the same state (released state) as shown in Figure 10(a).

[0141] The tooth Zb2 (second tooth) of the gear portion 21cg is positioned with a clearance of distance Lz between it and the 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.

[0142] From the state shown in Figure 11, if the operating part 400 is further rotated in the locking direction R1, the internal gear 29 rotates further clockwise in the figure. Figure 12 shows the state of the internal gear 29 and the connecting part 21c at that time.

[0143] Figure 12 shows the state of the internal gear 29 and the connecting part 21c when the operating part 400 is rotated from the release position in the locking direction R1. When the operating part 400 is rotated from the release position in the locking direction R1, the teeth Za1 of the internal gear 29 and the teeth Zb1 of the gear part 21cg come into contact. Meanwhile, the cam 21cc remains in the retracted position, and the connecting part 21c is kept in the same released state as shown in Figures 10 and 11.

[0144] Figure 13 shows the state of the internal gear 29 and the connecting part 21c when the operating part 400 is rotated further in the locking direction R1 from the state shown in Figure 12. By rotating the operating part 400 further in the locking direction R1 from the state shown in Figure 12, the internal gear 29 rotates further clockwise in the figure.

[0145] As the internal gear 29 moves from the state shown in Figure 12 to the state shown in Figure 13, the internal gear 29 presses against the gear portion 21cg of the first rotating body 21cp, causing the first rotating body 21cp to rotate clockwise in the figure. When the first rotating body 21cp rotates, the engagement between the retaining surface 21cca of the cam 21cc and the cam retaining portion 21ce of the connecting base 21cb is released. In other words, the internal gear 29 moves the cam 21 such that the retaining surface 21cca disengages from the cam retaining portion 21ce. c The first rotating body 21cp is rotated against the elastic force of c. Then, the cam 21cc of the first rotating body 21cp comes into contact with the held part Wa, and the held part Wa begins to receive a force from the cam 21cc. In other words, the cam 21cc begins to move from the retracted position to the pressed position.

[0146] Figure 14(a) shows the state of the internal gear 29 and the connecting part 21c when the operating part 400 is rotated in the locking direction R1 from the state shown in Figure 13. When the operating part 400 is rotated further in the locking direction R1 from the state shown in Figure 13, the internal gear 29 rotates further clockwise in the figure.

[0147] As the internal gear 29 moves from the state shown in Figure 13 to the state shown in Figure 14(a), the internal gear 29 further rotates the gear portion 21cg clockwise in the figure. The rotational trajectory of the pressing surface 21ccb when the gear portion 21cg rotates overlaps with the position of the held portion Wa (dotted line) in the state shown in Figure 13. Therefore, when the gear portion 21cg rotates, the pressing surface 21ccb rotates while interfering with (pressing on) the held portion Wa. Here, the held portion Wa is supported by the rod support surface 21cd provided on the connecting base 21cb in a state where it can move in the -Y direction but is restricted from moving in other directions. Therefore, the held portion Wa is pushed by the pressing surface 21ccb and moves in the -Y direction.

[0148] Figure 14(b) is a cross-sectional view of the catheter unit 100 and base unit 200 along the BB line in Figure 14(a), showing the state of the internal gear 29 and the connecting portion 21c. 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, undergoes elastic deformation. Specifically, the wire body Wb, which is in a cantilever state with the wire body support end Wba supported by the wire guide 17 as the fulcrum, bends so that the held portion Wa at the tip is displaced in the -Y direction. In Figure 14(a), the dashed circle represents the position of the held portion Wa before it is pressed by the cam 21cc (see Figure 10(a)).

[0149] Furthermore, when the held portion Wa moves in the -Y direction, the recess Wc provided on the held portion Wa engages with the protrusion 21ci provided on the connecting base 21cb. This results in a state where the held portion Wa cannot move relative to the connecting base 21cb in the Z direction, i.e., the connecting portion 21c is locked. In other words, the cam 21cc presses the held portion Wa to fix it to the connecting base 21cb.

[0150] The engagement shape of the held portion Wa and the connecting base 21cb in this embodiment will be described in detail. As shown in Figure 14(b), the convex portion 21ci of the connecting base 21cb has a first inclined surface 21ci1 which is the surface on the +Z direction side and a second inclined surface 21ci2 which is the surface on the -Z direction side. The concave portion Wc of the held portion Wa has a first inclined surface Wc1 which is the surface on the +Z direction side and a second inclined surface Wc2 which is the surface on the -Z direction side.

[0151] The first inclined surface 21ci1 of the connecting base 21cb is a surface that intersects the Z direction such that its normal direction is oriented towards the +Z direction with respect to the Z direction. The second inclined surface 21ci2 of the connecting base 21cb is a surface that intersects the Z direction such that its normal direction is oriented towards the -Z direction with respect to the Z direction. The first inclined surface Wc1 of the held portion Wa is a surface that intersects the Z direction such that its normal direction is oriented towards the -Z direction with respect to the Z direction. The second inclined surface Wc2 of the held portion Wa is a surface that intersects the Z direction such that its normal direction is oriented towards the +Z direction with respect to the Z direction. The recess Wc of the held portion Wa is an annular groove formed on the outer circumference of the substantially cylindrical held portion Wa, and the first inclined surface Wc1 and the second inclined surface Wc2 are conical curved surfaces centered on the axis of the drive wire W.

[0152] In the engaged state of the connecting base 21cb (first member) and the held portion Wa (second member), the first inclined surface 21ci1 of the convex portion 21ci abuts against the first inclined surface Wc1 of the concave portion Wc, and the second inclined surface 21ci2 of the convex portion 21ci abuts against the second inclined surface Wc2 of the concave portion Wc. In the engaged state, when the connecting base 21cb is driven in the +Z direction by the driving force of the drive source M, the first inclined surface 21ci1 (first contact portion) of the connecting base 21cb presses against the first inclined surface Wc1 (first contact portion) of the held portion Wa in the +Z direction. As a result, the held portion Wa moves in the +Z direction together with the connecting base 21cb. Furthermore, when the connecting base 21cb is driven in the -Z direction by the driving force of the drive source M in the engaged state, the second inclined surface 21ci2 (second contact portion) of the connecting base 21cb presses the second inclined surface Wc2 (second contact portion) of the held portion Wa in the -Z direction. As a result, the held portion Wa moves in the -Z direction together with the connecting base 21cb. Thus, in the engaged state of the connecting base 21cb (first member) and the held portion Wa (second member), the connecting base 21cb and the held portion Wa move together in the +Z and -Z directions.

[0153] The first inclined surface Wc1 of the held portion Wa is an example of a first contact portion that can receive a force from the connecting base 21cb on one side (+Z direction) of the longitudinal direction of the drive wire W by contacting the first inclined surface 21ci1, which serves as the first contact portion. The second inclined surface Wc2 of the held portion Wa is an example of a second contact portion that can receive a force from the connecting base 21cb on the other side (-Z direction) of the longitudinal direction of the drive wire W by contacting the second inclined surface 21ci2, which serves as the second contact portion. In this embodiment, the driving force of the drive source M is transmitted to the drive wire W by mechanical engagement (physical contact) between the connecting base 21cb (first member) and the held portion Wa (second member), thus enabling low-cost and highly reliable drive transmission.

[0154] Incidentally, the rotational trajectory of the pressing surface 21ccb of the cam 21cc also overlaps with the position of the retained part Wa in the locked state. That is, in the locked state, the cam 21cc is elastically deformed by the width of the interference between the rotational trajectory of the pressing surface 21ccb and the retained part Wa. Therefore, in the locked state, the elastic force of the cam 21cc causes the pressing surface 21ccb to press against the retained part Wa, thereby firmly fixing the retained part Wa to the connecting base 21cb.

[0155] When the teeth Za1 of the internal gear 29 separate from the teeth Zb1 of the gear portion 21cg, the transmission of 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 f1 from the fixed held portion Wa. In the radial direction of rotation of the first rotating body 21cp, the reaction force f1 acting on the cam 21cc acts at a position away from the rotation center 21cpc of the first rotating body 21cp, so the first rotating body 21cp rotates clockwise in Figure 14(a). At this time, the first rotating body 21cp is biased in the same direction as the direction in which it is rotated by the clockwise rotating internal gear 29.

[0156] Figure 15 shows the state of the internal gear 29 and the connecting part 21c when the operating part 400 is rotated in the locking direction R1 from the state shown in Figure 14(a). Figure 15 also shows the state of the internal gear 29 and the connecting part 21c when the operating part 400 is in the fixed position.

[0157] As shown in Figure 14(a), when the operating part 400 rotates in the locking direction R1, the reaction force f1 received by the cam 21cc on the first rotating body 21cp from the held part Wa causes the first rotating body 21cp to rotate further in a clockwise direction in the figure. Then, as shown in Figure 15, the first rotating body 21cp rotates until the abutment surface Zb1a on the tooth Zb1 comes into contact with the abutment surface 21cf on the connecting base 21cb (see also Figure 6(b)). In other words, the first rotating body 21cp stops when the abutment surface Zb1a and the abutment surface 21cf are aligned on the same plane.

[0158] At this time, the cam 21cc of the first rotating body 21cp is positioned in a pressing position in which the pressing surface 21ccb presses the held portion Wa toward the connecting base 21cb in the -Y direction. That is, the cam 21cc is configured to move to the pressing position by the reaction force f1 received by the pressing surface 21ccb from the held portion Wa after the teeth Za1 of the internal gear 29 separate from the teeth Zb1 of the gear portion 21cg, and to be held in the pressing position.

[0159] Furthermore, since the engagement between the held portion Wa and the connecting base 21cb is maintained by the cam 21cc located in the pressing position, the connecting portion 21c is in a locked state.

[0160] As shown in Figure 14(b), when the retained portion Wa is pressed by the cam 21cc located in the pressing position, the recess Wc of the retained portion Wa engages with the protrusion 21ci of the connecting base 21cb. This fixes the retained portion Wa to the connecting base 21cb.

[0161] With this fixing method, the direction in which the elastic force of the cam 21cc presses on the held part Wa is perpendicular to the driving direction of the drive wire W (Dc direction, Z direction). Therefore, when the drive wire W is driven, it is difficult for a force to be generated that would loosen the fixing of the held part Wa against the elastic force of the cam 21cc, and the held part Wa can be stably fixed to the connecting base 21cb. Furthermore, it is difficult for the held part Wa to detach from the connected part 21c when it is locked.

[0162] Furthermore, the teeth Za1 of the internal gear 29 and the teeth Zb2 of the gear portion 21cg are stopped at a position where a clearance of distance Lc exists between them.

[0163] When releasing the connection between the drive wire W and the connecting part 21c, the operating part 400, which is located in the fixed position, is rotated in the release direction R2. At this time, the internal gear 29 rotates counterclockwise from the state shown in Figure 15. When the internal gear 29 rotates counterclockwise, the teeth Za3 of the internal gear 29 come into contact with the teeth Zb4 of the gear part 21cg, causing the first rotating body 21cp to rotate counterclockwise.

[0164] As the internal gear 29 rotates further counterclockwise, the drive wire W is released from its fixation by the connecting portion 21c. The operation of the internal gear 29 and the first rotating body 21cp at this time is the reverse of the operation described above. In other words, the drive wire W is released from its fixation by the connecting portion 21c by the reverse of the operation described above when the drive wire W is fixed by the connecting portion 21c.

[0165] The above operations are performed on each of the first to ninth connecting parts (21c11 to 21c33). Specifically, as the operating unit 400 moves from the detachment position to the fixed position, the movement (rotation) of the operating unit 400 causes the first to ninth connecting parts (21c11 to 21c33) to move from the unlocked state to the locked state. As the operating unit 400 moves from the fixed position to the detachment position, the movement (rotation) of the operating unit 400 causes the first to ninth connecting parts (21c11 to 21c33) to move from the locked state to the unlocked state.

[0166] The state in which each of the 1st to 9th drive wires (W11 to W33) is fixed by each of the 1st to 9th connecting parts (21c11 to 21c33) is called the 1st state. The state in which the fixing of each of the 1st to 9th drive wires (W11 to W33) by each of the 1st to 9th connecting parts (21c11 to 21c33) is released is called the 2nd state.

[0167] The first state and the second state are switched in conjunction with the movement of the operating unit 400. In other words, the first state and the second state are switched in conjunction with the movement of the operating unit 400 between the removal position and the fixed position.

[0168] As described above, the internal gear 29 is configured to interlock with the operating unit 400 via a joint 28 which acts as a transmission member. The internal gear 29 and the joint 28 function as an interlocking part that interlocks with the operating unit 400 so as to switch between a first state and a second state in conjunction with the movement of the operating unit 400.

[0169] Specifically, with the catheter unit 100 attached to the base unit 200, the internal gear 29 and joint 28 move a part of the first rotating body 21cp (cam 21cc) relative to the held part Wa in conjunction with the movement of the operating part 400. The movement of the cam 21cc switches between the locked state and the unlocked state of the connecting part 21c.

[0170] Alternatively, the internal gear 29 may be moved directly from the operating section 400. In that case, the internal gear 29 functions as an interlocking part.

[0171] <Movement of the control panel> The movement of the operating unit 400 will be explained using Figures 16, 17, and 18. Figure 16 is an explanatory diagram for explaining the operation of the operating unit 400. Figure 16(a) shows the operating unit 400 in the detachment position. Figure 16(b) shows the operating unit 400 in the release position. Figure 16(c) shows the operating unit 400 in the fixed position.

[0172] Figure 17 is a cross-sectional view illustrating the operation of the operating unit 400. Figure 17(a) is a cross-sectional view showing the operating unit 400 in the detachment position. Figure 17(b) is a cross-sectional view showing the operating unit 400 in the release position. Figure 17(c) is a cross-sectional view showing the operating unit 400 in the fixed position.

[0173] As shown in Figure 16(a), the catheter unit 100 includes an operating unit biasing spring 43 that biases the operating unit 400, a button 41 as a movable member, and a button spring 42 that biases the button 41.

[0174] In this embodiment, the operating unit biasing spring 43 is a compression spring. The operating unit 400 is biased by the operating unit biasing spring 43 in the direction Dh toward the proximal end cover 16.

[0175] In this embodiment, the button 41 and the button spring 42 are provided on the operating unit 400. When the operating unit 400 moves to the removal position, release position, and fixed position, the button 41 and the button spring 42 move together with the operating unit 400.

[0176] 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. Button 41 is biased by a button spring 42 toward the outside of the catheter unit 100 (away from the rotation axis 400r).

[0177] As described later, the button 41 restricts the operation unit 400 from moving from the release position to the removal position. Conversely, moving the button 41 relative to the operation unit 400 allows the operation unit 400 to move from the release position to the removal position.

[0178] As shown in Figure 16(b), the button 41 has a button projection (restricted portion) 41a. The button projection 41a has a sloped surface 41a1 and a restricted surface 41a2.

[0179] As shown in Figure 16(c), the base frame 25 of the base unit 200 is provided with a locking shaft 26. The locking shaft 26 is provided with a locking projection (restricting portion) 26a.

[0180] In this embodiment, there are multiple locking shafts 26 (two in this embodiment). All locking shafts 26 may be equipped with locking projections 26a, or some locking shafts 26 may be equipped with locking projections 26a.

[0181] On the other hand, as shown in Figures 9, 16(a), 16(b), and 16(c), the inside of the operating section 400 is provided with a lock groove 400a that engages with the lock shaft 26. The lock groove 400a extends in a direction different from the attachment / detachment direction D. In this embodiment, it extends in the rotational direction of the operating section 400. It can also be said that the lock groove 400a extends in a direction intersecting (orthogonal to) the attachment / detachment direction D.

[0182] If multiple lock shafts 26 are provided, the lock groove 400a is provided for each of the multiple lock shafts 26.

[0183] As shown in Figure 17(a), when the catheter unit 100 is attached to the base unit 200, the lock shaft 26 engages with the lock groove 400a via the entrance 400a1 of the lock groove 400a.

[0184] At this time, the operating unit 400 is in the detachment position, and the connecting unit 21c is in the released state (see Figure 10). Therefore, the fixing of the first to ninth drive wires (W11 to W33) by each of the first to ninth connecting units (21c11 to 21c33) is released. Also, as shown in Figure 17(a), the button projection 41a and the lock projection 26a face each other.

[0185] When the operating unit 400 is rotated from the release position in the locking direction R1, the inclined surface 41a1 of the button projection 41a comes into contact with the inclined surface 26a1 of the lock projection 26a. Against the biasing force of the button spring 42, the button 41 moves inward (towards the rotation axis 400r) of the operating unit 400. Then, the button projection 41a overcomes the lock projection 26a, and the operating unit 400 moves to the release position (see Figure 17(b)).

[0186] When the operating unit 400 is in the release position, the connecting unit 21c is in the released state (see Figure 11). Therefore, the fixing of the first to ninth drive wires (W11 to W33) by each of the first to ninth connecting units (21c11 to 21c33) is released.

[0187] When the operating part 400 is rotated from the release position in the locking direction R1, the operating part 400 moves to the fixed position. As shown in Figure 17(c), with the operating part 400 in the fixed position, the positioning part 400a2 of the lock groove 400a is positioned to correspond to the lock shaft 26. The operating part 400 is biased by the operating part biasing spring 43 in the direction Dh toward the proximal end cover 16. As a result, the positioning part 400a2 engages with the lock shaft 26.

[0188] As the operating unit 400 moves 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.

[0189] When the operating unit 400 is in the fixed position, the connecting unit 21c is locked (see Figure 15). Therefore, each of the first to ninth drive wires (W11 to W33) is fixed to each of the first to ninth connecting units (21c11 to 21c33). In this state, the driving force from the wire drive unit 300 can be transmitted to the bending drive unit 13. In other words, the driving 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 units (21c11 to 21c33).

[0190] When the operating unit 400 is in the release position (Figure 17(b)), in the removal direction Dd of the catheter unit 100, the wall 400a3 forming the lock groove 400a is located upstream of the lock shaft 26. When the operating unit 400 is in the fixed position (Figure 17(c)), in the removal direction Dd, the positioning part 400a2 is located upstream of the lock shaft 26. As a result, when the operating unit 400 is in the release position or in the fixed position, removal of the catheter unit 100 from the base unit 200 is restricted. On the other hand, when the operating unit 400 is in the removal position (Figure 17(a)), in the removal direction Dd, the entrance 400a1 of the lock groove 400a is located upstream of the lock shaft 26. As a result, removal of the catheter unit 100 from the base unit 200 is permitted.

[0191] When the operating unit 400 is rotated from its fixed position toward the release direction R2, the held portion Wa of the drive wire W is released from the connecting portion 21c, as described above.

[0192] When the operating unit 400 is in the release position, the restricted surface 41a2 of the button projection 41a contacts the restricted surface 26a2 of the lock projection 26a (see Figure 17(b)). In this state, rotation of the operating unit 400 in the release direction R2 is restricted. Also, removal of the catheter unit 100 from the base unit 200 is restricted.

[0193] With the operating unit 400 in the release position, the user pushes the button 41 inward toward the operating unit 400, causing the restricted surface 41a2 to separate from the restricted surface 26a2 and the button projection 41a to move over the lock projection 26a. As a result, the operating unit 400 is allowed to rotate in the release direction R2, and the operating unit 400 can move from the release position to the removal position.

[0194] In this embodiment, there is one locking projection 26a and one button 41. However, the medical device 1 may have multiple locking projections 26a and buttons 41.

[0195] <Sequence control of catheter unit attachment> As described above, in this embodiment, after attaching the catheter unit 100 to the base unit 200, the coupling portion 21c can be switched from the unlocked state to the locked state by rotating the operating portion 400.

[0196] In the design, in the released state shown in Figure 10(b), the center Wd of the recess of the held part Wa and the center 21cj of the convex part of the connecting base 21cb coincide. That is, after attaching the catheter unit 100 to the base unit 200 and before rotating the operating part 400, the assumed position (design nominal position) of the held part Wa in the Z direction is the position where it can engage with the connecting base 21cb. Here, the center Wd of the recess is the center position of the recess Wc in the Z direction, and the center 21cj of the convex part is the center position of the convex part 21ci in the Z direction. Furthermore, the center position of the recess Wc refers to the midpoint in the Z direction between the center (face center) of the first slope Wc1 and the center (face center) of the second slope Wc2. The center position of the convex part 21ci refers to the first slope 21c i Center of 1 (face center) and second slope 21ci This refers to the midpoint in the Z direction with respect to the center (face center) of 2.

[0197] However, due to individual differences resulting from manufacturing variations in the catheter unit 100 or base unit 200, i.e., dimensional tolerances and assembly tolerances of the parts, the center Wd of the recess of the retained part Wa and the center 21cj of the convex part of the connecting base 21cb do not necessarily coincide.

[0198] Suppose that when the catheter unit 100 is attached to the base unit 200, the center Wd of the recess in the held part Wa and the center 21cj of the convex part of the connecting base 21cb are misaligned beyond the allowable range. In this case, even if the operating unit 400 is rotated in the locking direction R1, the recess Wc of the held part Wa may not smoothly engage with the convex part 21ci of the connecting base 21cb. In that case, even if the operating unit 400 is moved to the fixed position, the engagement between the recess Wc of the held part Wa and the convex part 21ci of the connecting base 21cb will not be established (poor engagement), and the driving force of the drive source M may not be transmitted to the catheter 46. Also, if the operating unit 400 is forcibly moved to the fixed position, a strong load may be placed on the cam 21cc and other components, potentially causing damage. It is also conceivable to configure the device to stop the operation of the drive source M upon detecting a poor engagement between the held portion Wa and the connecting base 21cb (poor fixing of the drive wire W) or damage to the device, but this would require at least the replacement of the catheter unit 100.

[0199] Therefore, during the process of attaching the catheter unit 100 to the base unit 200, it is desirable to move (adjust the position of) the connecting base 21cb to a position in the Z direction that can engage with the retained portion Wa, in accordance with the position of the retained portion Wa. The "position in the Z direction that can engage with the retained portion Wa" of the connecting base 21cb is the position in the direction intersecting the Z direction (Y direction) where the first bevel surface 21ci1 (first contact portion) of the connecting base 21cb faces the first bevel surface Wc1 (first contact portion) of the retained portion Wa, and the second bevel surface 21ci2 (second contact portion) of the connecting base 21cb faces the second bevel surface Wc2 (second contact portion) of the retained portion Wa. By adjusting the position of the connecting base 21cb to target such a position, the retained portion Wa and the connecting base 21cb can be engaged more reliably when the retained portion Wa or the connecting base 21cb is moved in the direction intersecting the Z direction (Y direction). Furthermore, the target position for position adjustment may be offset from the ideal engagement position of the connecting base 21cb with respect to the retained portion Wa (the position where the center of the convex portion 21cj coincides with the center of the concave portion Wd), provided that it does not interfere with the engagement of the retained portion Wa and the connecting base 21cb.

[0200] In this embodiment, after the catheter unit 100 is attached to the base unit 200, and before the user moves the operating unit 400 to a fixed position, the center Wd of the recess of the held portion Wa and the center 21cj of the convex portion of the connecting base 21cb are aligned in the Z direction. The configuration and operation for adjusting the position of the connecting base 21cb in this embodiment will be described in detail below.

[0201] Figure 19(a) is a cross-sectional view showing the state of the held portion Wa and the connecting base 21cb in the removable state of the catheter unit 100. Figure 19(b) is a schematic diagram showing the configuration of the sequence control for position adjustment of the connecting base 21cb in this embodiment.

[0202] As shown in Figure 19(a), the catheter unit 100 includes at least one memory element 61 (memory chip) that stores position information of the retained portion Wa. The position information of the retained portion Wa is data that can identify the position in the Z direction of all retained portion Wa, measured at least after the unit has been assembled. The position information of the retained portion Wa is, for example, a set of numerical values ​​representing the amount of positional deviation of the recess center Wd of the retained portion Wa, measured for each actual retained portion Wa, relative to the nominal position of the recess center Wd of the retained portion Wa.

[0203] On the other hand, the base unit 200 includes at least one reading unit 62 as a reading means for reading information stored in the memory element 61. The reading unit 62 is electrically connected to the control unit 3, for example, via a cable 5. The reading unit 62 is fixed to the frame (base frame 25) of the base unit 200. In this embodiment, the reading unit 62 is a connecting means (conducting means) that electrically connects the control unit 3 and the memory element 61. The reading unit 62 is not limited to a connecting means (conducting means); a reading unit that issues commands to the memory element 61, processes signals from the memory element 61, extracts necessary information, and transmits it to the control unit 3 may also be provided.

[0204] Furthermore, it is desirable that the catheter unit 100 be stored in a state that minimizes exposure to external forces and environmental influences, so that the positional relationship of the retained portion Wa is maintained after measurement until it is attached to the base unit 200.

[0205] Furthermore, all the position information of the held portion Wa can be stored in a single memory element 61. In that case, the base unit 200 only needs to have one reading unit 62 corresponding to the memory element 61.

[0206] The reading unit 62 includes an elastically deformable terminal portion 62e (contact portion) for contacting the contact portion of the memory element 61, and a conductor portion 62c for transmitting signals between the terminal portion 62e and the control unit 3. The terminal portion 62e is positioned to contact the contact portion of the memory element 61 when the catheter unit 100 is attached to the base unit 200. Furthermore, the terminal portion 62e has a length in the Z direction that ensures electrical connection with the contact portion of the memory element 61 within the range of the expected maximum displacement of the held portion Wa.

[0207] Figure 19(a) shows the state in which the catheter unit 100 is in a removable state (immediately after attachment to the base unit 200), where the center Wd of the recess of the retained part Wa and the center 21cj of the convex part of the connecting base 21cb do not coincide in the Z direction. Specifically, the center Wd of the recess of the retained part Wa is shifted by Ld in the +Z direction relative to the center 21cj of the convex part of the connecting base 21cb.

[0208] If the operating unit 400 is rotated towards the locked position by the user while the device is in the state shown in Figure 19(a), there is a possibility that the held part Wa and the connecting base 21cb will not engage properly, as described above. In contrast, in this embodiment, after the catheter unit 100 is attached to the base unit 200, and before the operating unit 400 is rotated towards the locked position, the control unit 3 adjusts the position of the connecting base 21cb based on the information read from the memory element 61.

[0209] The sequence control performed in this embodiment will be explained using Figure 19(b). (1) After an electrical connection is established with the memory element 61, the control unit 3 immediately reads the position information of each of the held parts Wa from the memory element 61 via the reading unit 62. (2) Next, the control unit 3 calculates the amount of movement required to move the connecting base 21cb corresponding to each of the held portion Wa based on the position information read. The calculated amount of movement is, for example, the distance required to move the connecting base 21cb so as to cancel out the Z-direction positional difference (Ld in Figure 19(a)) between the center Wd of the recess of the held portion Wa and the center 21cj of the convex portion of the connecting base 21cb. (3) Next, the control unit 3 instructs the wire drive unit 300 to rotate each of the drive sources M in the direction and amount of rotation corresponding to the amount of movement calculated in (2).

[0210] As a result of the sequence control described above, the connecting base 21cb is driven in the +Z direction to cancel out the misalignment of the held portion Wa (Ld in Figure 19(a)), as shown in Figure 20. The center of the recess Wd of the held portion Wa and the center 21cj of the convex portion of the connecting base 21cb are brought into approximately coincidence (or at least the misalignment is reduced to less than Ld). Since the processing speed of the control unit 3 and the response speed of the drive source M are usually sufficiently faster than the user's movements, the position adjustment of the connecting base 21cb by sequence control is completed before the user starts rotating the operating unit 400.

[0211] Then, after the position of the connecting base 21cb is adjusted, when the user rotates the operating unit 400 toward the locked position, as shown in Figure 21, the cam 21cc moves from the retracted position to the pressed position in conjunction with the rotation of the operating unit 400. The cam 21cc then presses the held part Wa in the -Y direction, and the recess Wc of the held part Wa engages with the protrusion 21ci of the connecting base 21cb, locking the drive wire W to the connecting part 21c.

[0212] At this time, because the connecting base 21cb is positioned by the sequence control described above, the possibility of poor engagement between the held portion Wa and the connecting base 21cb is reduced, and the held portion Wa and the connecting base 21cb can be engaged more reliably. In other words, according to this embodiment, the bendable unit (catheter unit 100) can be attached more reliably.

[0213] Furthermore, since the operating unit 400 is operated with the center Wd of the recess in the held part Wa and the center 21cj of the convex part of the connecting base 21cb substantially aligned, the recess Wc and the convex part 21ci engage more smoothly. As a result, the operating force (operating load) required when the user rotates the operating unit 400 can be stabilized, and operability can be improved.

[0214] (Variation 1) In the above-described embodiment 1, an electrical connection between the control unit 3 and the memory element 61 is established during the catheter unit 100 attachment process. However, the configuration in which the control unit 3 acquires positional information of the held portion Wa of the catheter unit 100 is not limited to this.

[0215] Figure 22 is a schematic diagram showing one modified example in which information is read from a memory element (storage means) via contactless communication, and position information of the held part Wa is acquired from a storage device (server) separate from the memory element of the catheter unit 100.

[0216] In this modified example, the catheter unit 100 is equipped with a memory element 61s, such as a passive RFID. The memory element 61s stores information such as the manufacturing ID number as identification information for identifying individual catheter units 100. That is, unlike in Embodiment 1, the memory element 61s does not store numerical values ​​or the like representing the position information of the held part Wa. Instead, the ID number of the catheter unit 100 and the position information of each held part Wa of the unit are stored in a server S, which is an external information processing device that the control unit 3 can communicate with via a network. The server S holds the position information of each held part Wa, obtained by measurement after the catheter unit 100 is manufactured, linked to the ID number of the unit. The base unit 200 is equipped with a reader 62s that can read the information in the memory element 61s using contactless communication with radio waves. The reader 62s, which communicates with the memory element 61s using contactless communication, is another example of a reading means.

[0217] The sequence control in this modified example will be explained. (1) When the catheter unit 100 is attached to the base unit 200, the reading unit 62s detects the memory element 61s of the approaching catheter unit and reads the ID number. (2) The reading unit 62s transmits the read ID number to the control unit 3. (3) The control unit 3, having received the ID number from the reading unit 62s, accesses the server S and verifies the ID number to obtain the position information of the held portion Wa of the catheter unit 100 that has been attached. (4) Next, the control unit calculates the amount of movement required to move the connecting base 21cb corresponding to each of the held parts Wa, based on the position information obtained from the server S. (5) Next, the control unit 3 instructs the wire drive unit 300 to rotate each of the drive sources M in the direction and amount of rotation corresponding to the amount of movement calculated in (5).

[0218] This configuration also allows for more secure attachment of the flexible unit (catheter unit 100).

[0219] In the above modified example, it was explained that the memory element 61s does not store the position information of the held part Wa. However, the memory element 61s may store the position information of the held part Wa, and the reading unit 62s may read the position information of the held part Wa via contactless communication. In this case, the control unit 3 may calculate the amount of movement of the connecting base 21cb based on the position information of the held part Wa acquired via the reading unit 62s, as in the first embodiment, and issue an instruction to the wire drive unit 300.

[0220] Alternatively, in Example 1, only the ID number of the catheter unit 100 may be stored in the memory element 61, and the control unit 3 may obtain the position information of the held part Wa from the server S based on the ID number read from the memory element 61.

[0221] Furthermore, the memory elements 61 and 61s described above are examples of recording media on which position information of the held part Wa or information necessary for acquiring position information is recorded, and other media may be used in addition to memory elements (semiconductor elements). For example, the position information of the held part Wa of the catheter unit 100 or the ID number of the catheter unit 100 may be embedded in an image such as a two-dimensional barcode printed on the surface of the catheter unit 100. In that case, an optical sensor (barcode reader) capable of reading the image can be used as the reading unit.

[0222] (Modification 2) In the configuration of Embodiment 1, the connecting portion (engaging portion) consisting of the connecting base 21cb and the held portion Wa can be provided with a breakaway mechanism or a detachment mechanism that disconnects the connection between the drive source M and the drive wire W when an overload is applied to the drive wire W. In the engaged state shown in Figure 14(b), suppose that a load (overload) exceeding a predetermined threshold is applied to the drive wire W due to an abnormal operation of the drive source M or an external force on the catheter 11. At this time, the held portion Wa moves in the +Z direction or -Z direction so as to overcome the convex portion 21ci while elastically deforming the cam 21cc, thereby releasing the engagement between the connecting base 21cb and the held portion Wa.

[0223] This allows the connection between the drive source M and the drive wire W to be severed. This reduces the possibility that the curved portion 12 of the catheter 11 may bend with excessive force due to a malfunction of the drive source M, or that the connecting portion 21c or the drive wire W may be damaged when the catheter 11 is subjected to a strong external force.

[0224] In the above configuration, the force in the Z direction required to move the retained portion Wa so that the engagement between the convex portion 21ci and the concave portion Wc is released against the elastic force of the cam 21cc corresponds to the load threshold at which the breakaway mechanism operates. This threshold is greater than the assumed maximum values ​​of tension and compressive forces acting on the drive wire W in the bending control of the catheter unit 100 under normal operating conditions.

[0225] Alternatively, instead of providing the breakaway mechanism function to the connecting base 21cb and the held part Wa, the drive source M may be driven to alleviate the load when the load detected by a force detection means such as the force measuring unit 39 described in Embodiment 2 below exceeds a threshold. Furthermore, the connecting base 21cb and the held part Wa, which have the breakaway mechanism function, may be used in combination with a load mitigation function (back drive control) using a force detection means. In this case, the load threshold at which the back drive control is activated is set lower than the load threshold at which the breakaway mechanism is activated.

[0226] [Example 2] Next, a second embodiment (Example 2) of the present disclosure will be described. Hereinafter, elements having substantially the same configuration and function as those in Example 1 will be omitted from the illustration or will be denoted by the same reference numerals.

[0227] In Example 1, the position of the connecting base 21cb was adjusted based on the position information of the held portion Wa of the catheter unit 100. In this example, the position of the connecting base 21cb is adjusted based on the detection result of a force detection means that detects tension or compression force acting on the connecting base 21cb.

[0228] Figure 23 is a cross-sectional view showing the state (removable state) immediately after the catheter unit 100 is attached to the base unit 200 in the medical device 1 according to this embodiment. In a configuration different from Embodiment 1, the connecting base 21cb has abutment surface 21cw as a contact surface that can be contacted by the proximal end of the drive wire W, i.e., the proximal end Wan of the held portion Wa. The abutment surface 21cw is positioned such that the distance Lh in the Z direction from the center 21cj of the convex portion of the connecting base 21cb to the abutment surface 21cw coincides with the distance Lc in the Z direction from the center Wd of the concave portion Wa to the proximal end Wan.

[0229] Furthermore, the wire drive unit 300 of the base unit 200 includes a force measuring unit 39 as a force detection means (load measuring means) for monitoring (detecting) the tension or compressive force generated in the drive wire W. The force measuring unit 39 includes a strain generating body 39e and a strain gauge 39g. When tension or compressive force is generated in the drive wire W, the strain generating body 39e undergoes minute elastic deformation according to the magnitude of the tension or compressive force. The force measuring unit 39 detects the elastic deformation of the strain generating body 39e using the strain gauge 39g and transmits an electrical signal to the control unit 3. As a result, the control unit 3 can determine the tension or compressive force generated in each of the multiple drive wires W.

[0230] Furthermore, the force measuring unit 39 can be used as a trigger for control that drives the drive source M in a direction to alleviate the load when a load exceeding a predetermined value is applied to the drive wire W during use of the medical device 1, that is, during operations involving the movement of the medical device 1 or the driving of the bending drive unit 13. In this embodiment, this control is called back drive control. In back drive control, for example, if a large tension is applied to any of the drive wires W due to the distal end of the catheter 11 coming into contact with an obstacle, the tension is alleviated by moving the corresponding connecting base 21cb in the +Z direction. This configuration reduces the possibility of the catheter 11 coming into strong contact with the patient's body into which it is being inserted, or of damage to the drive configuration of the drive wire W.

[0231] Furthermore, the base unit 200 has an insertion / removal sensor 35 as an insertion / removal detection means (insertion / removal detection means) that detects when the catheter unit 100 has been inserted in the -Z direction to a predetermined mounting position. The predetermined mounting position is the position in which the catheter unit 100 has been inserted in the -Z direction relative to the base unit 200 until the operating unit 400 can be rotated from the removal position to the fixed position.

[0232] The insertion / removal sensor 35 can be a switch (limit switch) that detects contact with a part of the catheter unit 100 (for example, the end face of the key shaft 15 in the -Z direction). Alternatively, the insertion / removal sensor 35 may be an optical sensor having a light-emitting part and a light-receiving part that is shielded by a part of the catheter unit 100 when the catheter unit 100 is in a predetermined mounting position. Not limited to this, any configuration capable of detecting the position of the catheter unit 100 relative to the base unit 200 in the Z direction can be used as the insertion / removal detection means.

[0233] In this embodiment, when the catheter unit 100 is not attached to the base unit 200, i.e., in the attachment standby state, all connecting bases 21cb are retracted to the limit position on the proximal end side (-Z direction side) of the movable range. Figure 23 shows the position of the connecting bases 21cb in the attachment standby state. The position to which the connecting bases 21cb are retracted in the attachment standby state is such that even if there is variation in the position of the held portion Wa due to individual differences in the catheter unit 100, the proximal end Wan of the held portion Wa will not come into contact with the abutment surface 21cw of the connecting base 21cb.

[0234] When the insertion / removal sensor 35 detects that the catheter unit 100 has been inserted to a predetermined mounting position, the control unit 3 issues a command to the wire drive unit 300 to start moving all the connecting bases 21cb toward the distal end side (+Z direction side). The connecting bases 21cb then move to a position where the proximal end Wan of the retained part Wa contacts the abutment surface 21cw. In other words, in this embodiment, the control unit 3 moves the connecting base 21cb (first member) toward one side in the longitudinal direction (+Z direction) so that the abutment surface 21cw (abutment part) abuts against the retained part Wa (second member).

[0235] Figure 24 shows the state in which the connecting base 21cb has moved to a position where the proximal end Wan of the held portion Wa is in contact with the abutment surface 21cw. If the connecting base 21cb attempts to move further toward the distal end (+Z direction) from this state, a compressive force is generated in the drive wire W because the distal end of the drive wire W is fixed to the guide ring as explained using Figure 3, and deformation of the strain body 39e begins.

[0236] Therefore, after starting the movement of the connecting base 21cb toward the distal end (+Z direction), if the compressive force of the drive wire W measured by the force measuring unit 39 exceeds a first predetermined value, the movement of the connecting base 21cb corresponding to the drive wire W should be stopped. As a result, the connecting base 21cb stops near the position at which the proximal end Wan of the held portion Wa contacts the abutment surface 21cw.

[0237] The "first predetermined value" mentioned above is a threshold value that is set in advance to determine whether or not there is contact between the abutment surface 21cw of the connecting base 21cb and the proximal end Wan of the held part Wa. The first predetermined value can be determined, for example, based on the measurement results of the force measuring unit 39 when the connecting base 21cb is repeatedly moved to contact and separate from the proximal end Wan of the held part Wa. The determined first predetermined value is stored in the memory area of ​​the control unit 3 and is referenced when the control unit 3 performs sequence control.

[0238] As described above, the distance Lh in the Z direction from the center 21cj of the convex portion of the connecting base 21cb to the abutment surface 21cw is configured to coincide with the distance Lc in the Z direction from the center Wd of the concave portion Wa to the proximal end Wan. Therefore, when the movement of the connecting base 21cb is stopped, the center Wd of the concave portion Wa and the center 21cj of the convex portion of the connecting base 21cb are in a state of approximately coincidence in the Z direction, as shown in Figure 24.

[0239] As shown in Figure 24(b), the sequence control in this embodiment is as follows. (1) During the period when the catheter unit 100 is not attached to the base unit 200, the control unit 3 has previously retracted the connecting base 21cb to the retracted position on the proximal end side (-Z direction side). (2) The insertion / removal sensor 35 detects that the catheter unit 100 has been attached to the base unit 200. (3) Based on the detection by the insertion / removal sensor 35, the control unit 3 instructs the wire drive unit 300 to start moving the connecting base 21cb toward the distal end side (+Z direction side). (4) The control unit 3 determines, based on the detection result of the force measuring unit 39, that a load of a predetermined value (first predetermined value) or more has been applied to the drive wire W. (5) The control unit 3 then instructs the wire drive unit 300 to stop the movement of the connecting base 21cb.

[0240] As shown in Figure 24(a), the sequence control described above ensures that even if there is a misalignment of the held portion Wa, the center Wd of the recess of the held portion Wa and the center 21cj of the convex portion of the connecting base 21cb are approximately aligned. Furthermore, since the sequence control is performed independently for each of the multiple connecting bases 21cb, the position of the corresponding connecting base 21cb can be adjusted to match each of the held portion Wa, regardless of the positional differences between the multiple held portion Was. Note that the processing speed of the control unit 3 and the response speed of the drive source M are usually sufficiently faster than the user's movements, so the position adjustment of the connecting bases 21cb by sequence control is completed before the user starts rotating the operation unit 400.

[0241] After the position of the connecting base 21cb is adjusted, when the user rotates the operating unit 400 toward the locked position, the cam 21cc moves from the retracted position to the pressed position in conjunction with the rotation of the operating unit 400, as described above. Then, the held part Wa is pressed in the -Y direction by the cam 21cc, the recess Wc of the held part Wa and the protrusion 21ci of the connecting base 21cb engage, and the drive wire W is locked to the connecting part 21c.

[0242] In this case, the position of the connecting base 21cb is adjusted by the sequence control described above, which reduces the possibility of poor engagement between the held portion Wa and the connecting base 21cb, and allows for more reliable engagement between the held portion Wa and the connecting base 21cb. In other words, this embodiment also allows for more reliable attachment of the bendable unit (catheter unit 100).

[0243] Furthermore, since the operating unit 400 is operated with the center Wd of the recess in the held part Wa and the center 21cj of the convex part of the connecting base 21cb substantially aligned, the recess Wc and the convex part 21ci engage more smoothly. As a result, the operating force (operating load) required when the user rotates the operating unit 400 can be stabilized, and operability can be improved.

[0244] In this embodiment, the distance Lh in the Z direction from the center 21cj of the convex portion of the connecting base 21cb to the abutment surface 21cw was configured to coincide with the distance Lc in the Z direction from the center Wd of the concave portion Wa to the proximal end Wan, but this is not limited to this configuration. Considering part tolerances and assembly tolerances, it is preferable that the distance Lh be slightly larger than the distance Lc.

[0245] This is because, if the actual distance Lh is smaller than the distance Lc due to part tolerances or assembly tolerances, there is a possibility that the abutment surface 21cw and the proximal end Wan may interfere when the connecting base 21cb and the held part Wa are engaged. In other words, if the center of the convex part 21cj and the center of the concave part Wd are to be precisely aligned, the abutment surface 21cw and the proximal end Wan will be in a positional relationship that causes interference, so even if the cam 21cc moves from the retracted position to the pressed position, the convex part 21ci may not fit sufficiently with the concave part Wc. In addition, there is a possibility that excessive tension will be applied to the drive wire W in the engaged state.

[0246] When the held portion Wa is pressed in the -Y direction by the cam 21cc, a force acts on the convex portion 21ci and concave portion Wc described above, causing them to move relative to each other so that the center of the convex portion 21cj and the center of the concave portion Wd coincide between the connecting base 21cb and the held portion Wa. That is, if the center of the concave portion Wd is shifted toward the -Z direction relative to the center of the convex portion 21cj, the contact between the first inclined surfaces 21ci1 and Wc1 of the convex portion 21ci and concave portion Wc generates a force that attempts to move the held portion Wa toward the +Z direction relative to the connecting base 21cb. Conversely, if the center of the concave portion Wd is shifted toward the +Z direction relative to the center of the convex portion 21cj, the contact between the second inclined surfaces 21ci2 and Wc2 of the convex portion 21ci and concave portion Wc generates a force that attempts to move the held portion Wa toward the -Z direction relative to the connecting base 21cb.

[0247] Therefore, as described above, by configuring the distance Lh to be slightly larger than the distance Lc, the connecting base 21cb and the held portion Wa can move relative to each other so that the center of the convex portion 21cj and the center of the concave portion Wd coincide during the process in which the cam 21cc moves from the retracted position to the pressed position. This makes it possible to achieve a desirable engagement state in which the concave portion Wc of the held portion Wa and the convex portion 21ci of the connecting base 21cb are sufficiently fitted together.

[0248] Furthermore, if the distance Lh is greater than the distance Lc, the control unit 3 may temporarily suspend the movement of the connecting base 21cb in step (3) of the sequence control in Embodiment 2, then move the connecting base 21cb a predetermined distance in the -Z direction and then stop. The predetermined distance is the length corresponding to the difference between the distance Lh and the distance Lc (Lh-Lc). This makes it possible to bring the center of the convex portion 21cj of the connecting base 21cb and the center of the concave portion Wd of the held portion Wa to approximately coincide.

[0249] As a variation, the connecting base 21cb and the held portion Wa may be provided with a breakaway mechanism. In that case, the distance Lh is made larger than the distance Lc so that space is secured for the held portion Wa to detach from the convex portion 21ci in the -Z direction. For example, the distance Lh is set so that when the proximal end Wan of the held portion Wa is in contact with the abutment surface 21cw of the connecting base 21cb, the distal end of the held portion Wa is located on the -Z side of the convex portion 21ci of the connecting base 21cb. Even in this case, the position of the connecting base 21cb can be adjusted by the above control, which involves temporarily stopping the movement of the connecting base 21cb and then moving the connecting base 21cb a predetermined distance in the -Z direction.

[0250] Furthermore, as a variation, the trigger for initiating movement of the connecting base 21cb toward the distal end (+Z direction) may be a means other than the insertion / removal detection means. For example, the same operation can be achieved by inputting a command to start moving the connecting base 21cb via a user interface such as the input device 3b when the catheter unit 100 has been installed.

[0251] [Example 3] Next, a third embodiment (Example 3) of the present disclosure will be described. Hereinafter, elements having substantially the same configuration and function as those in Example 1 or 2 will be omitted from the illustration or will be denoted by the same reference numerals.

[0252] Figure 25 is a cross-sectional view showing the catheter unit 100 in the process of being attached to the base unit 200 in Example 3.

[0253] In Example 3, as in Example 2, the connecting base 21cb has abutment surface 21cw that can contact the proximal end Wan of the part to be held. The abutment surface 21cw is provided such that the distance Lh in the Z direction from the center 21cj of the convex portion of the connecting base 21cb to the proximal end Wan of the part to be held coincides with the distance Lc in the Z direction from the center Wd of the concave portion Wa to the proximal end Wan.

[0254] Furthermore, similar to Example 2, the wire drive unit 300 of the base unit 200 is equipped with a force measuring unit 39 as a force detection means (load measuring means) for monitoring (detecting) the tension or compressive force generated in the drive wire W. The force measuring unit 39 is used for back drive control as described in Example 2 while the medical device 1 is in use.

[0255] Example 3 applies this backdrive control even when the catheter unit 100 is attached.

[0256] In this embodiment, when the catheter unit 100 is not attached to the base unit 200, i.e., in the attachment standby state, all connecting bases 21cb are retracted to the distal end (+Z direction) limit position in the movable range. Figure 25 shows the position of the connecting bases 21cb in the attachment standby state.

[0257] When the catheter unit 100 is attached to the base unit 200 in this state, as shown in Figure 25, the proximal end Wan of the retained portion Wa comes into contact with the abutment surface 21cw before the catheter unit 100 reaches the aforementioned attachment position.

[0258] If the user moves the catheter unit 100 further in the attachment direction (-Z direction) from the state shown in Figure 25, a compressive force is generated on the drive wire W because the distal end of the drive wire W is fixed to the guide ring as explained using Figure 3, and deformation of the strain body 39e begins.

[0259] Therefore, when the compressive force of the drive wire W measured by the force measuring unit 39 exceeds a second predetermined value, the connecting base 21cb corresponding to the drive wire W should be moved to the proximal end side (-Z direction side). In other words, the position of the connecting base 21cb should be adjusted in accordance with the movement of the held part Wa when the catheter unit 100 is attached, using the same control as the back drive control during use of the medical device 1. That is, in this embodiment, the control unit 3 moves the connecting base 21cb (first member) toward the other side in the longitudinal direction (-Z direction) when the abutment surface 21cw (abutment part) abuts against the held part Wa (second member).

[0260] The second predetermined value is a threshold value of the load at which the backdrive control operates in the sequence control when the catheter unit 100 is attached. The second predetermined value is set to be smaller than the threshold value of the load at which the backdrive control operates during the use of the medical device 1. Thereby, when the proximal end Wan of the held portion Wa contacts the abutting surface 21cw at the time of attaching the catheter unit 100, the connection base 21cb can be quickly started to move.

[0261] After the start of the movement of the connection base 21cb toward the proximal end side (-Z direction side), the movement of the connection base 21cb is continued until the load measured by the force measurement unit 39 falls below the second predetermined value. When the load falls below the preset value, the movement of the connection base 21cb is stopped.

[0262] [[ID=!1]]Therefore, when the user tries to attach the catheter unit 100 to the base unit 200, for a moment, the user will feel the resistance to the attachment when the proximal end Wan of the held portion Wa contacts the abutting surface 21cw. Also, after such resistance occurs, until the catheter unit 100 reaches the attachment position, the generation of large resistance is suppressed by the backdrive control, and the user can perform the attachment operation with a certain operating feeling.

[0263] Also, during the attachment operation of the catheter unit 100, the proximal end Wan of the held portion Wa and the abutting surface 21cw move together while being in contact with each other. When the catheter unit 100 stops, since the load measured by the force measurement unit 39 is below the second predetermined value, the proximal end Wan of the held portion Wa and the abutting surface 21cw stop in a state where they are in contact with or close to each other, and the held portion Wa and the connection base 21bc stop. Therefore, when the movement of the connection base 21cb stops, as shown in FIG. 26, the center Wd of the concave portion of the held portion Wa and the center 21cj of the convex portion of the connection base 21cb are substantially aligned in the Z direction.

[0264] As shown in FIG. 26(b), the sequence control in this embodiment is as follows. (1) During the period when the catheter unit 100 is not attached to the base unit 200, the control unit 3 has previously retracted the connecting base 21cb to the retracted position on the distal end side (+Z direction side). (2) During the process of attaching the catheter unit 100 to the base unit 200, the control unit 3 determines, based on the measurement results of the force measuring unit 39, that a load of a predetermined value (second predetermined value) or more has been applied to the drive wire W. (3) The control unit 3 then instructs the wire drive unit 300 to start moving the connecting base 21cb toward the proximal end side (-Z direction side). (4) The control unit 3 determines that the load on the drive wire W has fallen below a predetermined value (second predetermined value) based on the detection result of the force measuring unit 39. (5) The control unit 3 then instructs the wire drive unit 300 to stop the movement of the connecting base 21cb.

[0265] As shown in Figure 26(a), the sequence control described above ensures that even if there is a misalignment of the held portion Wa, the center Wd of the recess of the held portion Wa and the center 21cj of the convex portion of the connecting base 21cb are approximately aligned. Furthermore, since the sequence control is performed independently for each of the multiple connecting bases 21cb, the position of the corresponding connecting base 21cb can be adjusted to match each of the held portion Wa, regardless of the positional differences between the multiple held portion Was. Note that the processing speed of the control unit 3 and the response speed of the drive source M are usually sufficiently faster than the user's movements, so the position adjustment of the connecting bases 21cb by sequence control is completed before the user starts rotating the operation unit 400.

[0266] After the position of the connecting base 21cb is adjusted, when the user rotates the operating unit 400 toward the locked position, the cam 21cc moves from the retracted position to the pressed position in conjunction with the rotation of the operating unit 400, as described above. Then, the held part Wa is pressed in the -Y direction by the cam 21cc, the recess Wc of the held part Wa and the protrusion 21ci of the connecting base 21cb engage, and the drive wire W is locked to the connecting part 21c.

[0267] In this case, the position of the connecting base 21cb is adjusted by the sequence control described above, which reduces the possibility of poor engagement between the held portion Wa and the connecting base 21cb, and allows for more reliable engagement between the held portion Wa and the connecting base 21cb. In other words, this embodiment also allows for more reliable attachment of the bendable unit (catheter unit 100).

[0268] Furthermore, according to the configuration of this embodiment, there is an advantage in that, from the standpoint of adjusting the position of the connecting base 21cb, it is not necessary to arrange the insertion / removal detection means described in Embodiment 2.

[0269] Furthermore, in this embodiment, the position adjustment of the connecting base 21cb is completed almost simultaneously with the catheter unit 100 reaching its mounting position, enabling rotation of the operating unit 400. Therefore, in embodiments 1 and 2, depending on the amount of movement of the connecting base 21cb in the sequence control, the possibility of a waiting time occurring between the catheter unit 100 reaching its mounting position and the operation of the operating unit 400 becoming possible can be reduced. This further improves the user's operability.

[0270] In this embodiment as well, it is preferable that the distance Lh be slightly larger than the distance Lc. This makes it possible to achieve a desirable engagement state in which the recess Wc of the retained part Wa and the protrusion 21ci of the connecting base 21cb are sufficiently fitted together, regardless of part tolerances or assembly tolerances.

[0271] Furthermore, if the distance Lh is greater than the distance Lc, the control unit 3 may move the connecting base 21cb an additional predetermined distance in the -Z direction from the point in step (3) of the sequence control in Embodiment 3 when it determines that the load on the drive wire W has fallen below a predetermined value (second predetermined value). The predetermined distance is the length corresponding to the difference between the distance Lh and the distance Lc (Lh-Lc). The center of the convex portion 21cj of the connecting base 21cb and the center of the concave portion Wd of the held portion Wa can be brought into approximately coincidence.

[0272] As a modification, the connecting base 21cb and the held portion Wa may be provided with a breakaway mechanism. In this case, the distance Lh is made greater than the distance Lc so that space is secured for the held portion Wa to detach from the protrusion 21ci in the -Z direction. Even in this case, the position of the connecting base 21cb can be adjusted by the above control which moves the connecting base 21cb an additional predetermined distance in the -Z direction even after the load on the drive wire W falls below a predetermined value (second predetermined value).

[0273] Furthermore, in Examples 2 and 3, the contact point on the held portion Wa side with respect to the abutment surface 21cw of the connecting base 21cb was the proximal end Wan, but this is not limited to this. For example, a flange shape may be provided on the held portion Wa, and an abutment surface that contacts this flange shape may be provided on other members of the connecting base 21b or connecting portion 21c. Even with such a configuration, it is possible to achieve control similar to the sequence control described in Examples 2 and 3.

[0274] (Other examples) In Examples 1 to 3, a configuration in which a convex portion 21ci and a concave portion Wc fit together was illustrated as an example of a configuration in which the driving force of the drive source M is transmitted to the drive wire W by mechanical engagement (physical contact) between the connecting base 21cb (first member) and the held portion Wa (second member). The configuration for engaging the first member and the second member in a way that enables drive transmission is not limited to this.

[0275] For example, a protrusion (e.g., an annular protrusion) may be provided on the outer circumference of the part to be held Wa, and a recess that fits with this protrusion may be provided on the connecting base 21cb.

[0276] Alternatively, two protrusions may be arranged adjacent to each other on one of the held portion Wa and the connecting base 21cb in the extension direction (longitudinal direction, Z direction) of the drive wire W, and a protrusion that fits into a recess formed between these two may be arranged on the other of the held portion Wa and the connecting base 21cb.

[0277] Furthermore, the portion of the held portion Wa that receives a force in the +Z direction from the connecting base 21cb and the portion of the held portion Wa that receives a driving force in the -Z direction from the connecting base 21cb may be separated. For example, the first and second protrusions are arranged on the connecting base 21cb at a distance from each other in the Z direction. The held portion Wa is also provided with a third protrusion that abuts the first protrusion from the +Z direction side and a fourth protrusion that abuts the second protrusion from the -Z direction side. In this case, the third protrusion functions as a first contact portion that can receive a force on one side (the +Z direction side) of the longitudinal direction of the drive wire W by abutting the first protrusion, which acts as the first contact portion. The fourth protrusion functions as a second contact portion that can receive a force on one side (the -Z direction side) of the longitudinal direction of the drive wire W by abutting the second protrusion, which acts as the second contact portion.

[0278] Thus, regardless of the specific shapes of the first and second members, it is sufficient that the first and second members are engaged in contact with each other at least at two locations, thereby transmitting the forces on one and the other sides of the drive wire W in the longitudinal direction from the first member to the second member. In such a configuration, the same effects as in each embodiment can be obtained by adjusting the position of the first member to match the position of the second member of the bendable unit using the sequence control described in each embodiment.

[0279] Furthermore, in each of the embodiments described above, a configuration using a cam mechanism was exemplified as an example of a configuration in which the first member and the second member engage in conjunction with the operation of the operating unit 400. However, the configuration is not limited to this, and for example, after the catheter unit 100 is attached, the first member and the second member may be engaged by the operation of an actuator such as a solenoid in response to a button operation on the operating unit 400 or a command signal from the control unit 3.

[0280] (Other embodiments) The present invention can also be realized by supplying a program that implements one or more functions of the above-described embodiments to a system or apparatus via a network or a storage medium, and causing one or more processors in a computer of the system or apparatus to read and execute the program. It can also be realized by a circuit (e.g., ASIC) that implements one or more functions.

Explanation of Reference Numerals

[0281] 3... Control unit / 12... Curved portion / 21cb... First member (connection base) / 21ci1... First contact portion (first inclined surface) / 21ci2... Second contact portion (second inclined surface) / 100... Curvable unit (catheter unit) / 200... Driving unit (base unit) / M... Driving source / Wb... Linear body (wire body) / Wa... Second member (held portion) / Wc1... First contacted portion (first inclined surface) / Wc2... Second contacted portion (second inclined surface)

Claims

1. A drive unit having a drive source and a first member connected to the drive source, A bendable unit having a bendable curved portion, a linear body for bending the curved portion, and a second member connected to the linear body, and which is detachable from the drive unit, A control unit that controls the drive source, A medical system equipped with, The second member has a first contact portion and a second contact portion, The first member has a first contact portion for contacting the first contact portion and pressing the second member to one side in the longitudinal direction of the linear body, and a second contact portion for contacting the second contact portion and pressing the second member to the other side in the longitudinal direction. The first member and the second member are engaged such that, when the bendable unit is mounted on the drive unit, the first contact portion contacts the first contacted portion and the second contact portion contacts the second contacted portion, thereby allowing them to move together in the longitudinal direction. The first member is configured to be able to engage with the second member at a position in the longitudinal direction such that the first contact portion faces the first contacted portion and the second contact portion faces the second contacted portion in a direction intersecting the longitudinal direction. The flexible unit has a recording medium on which the position information of the second member is recorded. The medical system further includes a reading means for reading the position information from the recording medium when the bendable unit is mounted on the drive unit. The position information is information that can identify the positions of the first contact portion and the second contact portion in the longitudinal direction. When the bendable unit is mounted on the drive unit, the control unit moves the first member in the longitudinal direction using the drive source based on the position information read by the reading means, such that the first contact portion faces the first contacted portion and the second contact portion faces the second contacted portion in a direction intersecting the longitudinal direction. A medical system characterized by the following features.

2. A drive unit having a drive source and a first member connected to the drive source, A bendable unit having a bendable curved portion, a linear body for bending the curved portion, and a second member connected to the linear body, and which is detachable from the drive unit, A control unit that controls the drive source, A medical system equipped with, The second member has a first contact portion and a second contact portion, The first member has a first contact portion for contacting the first contact portion and pressing the second member to one side in the longitudinal direction of the linear body, and a second contact portion for contacting the second contact portion and pressing the second member to the other side in the longitudinal direction. The first member and the second member are engaged such that, when the bendable unit is mounted on the drive unit, the first contact portion contacts the first contacted portion and the second contact portion contacts the second contacted portion, thereby allowing them to move together in the longitudinal direction. The first member is configured to be able to engage with the second member at a position in the longitudinal direction such that the first contact portion faces the first contacted portion and the second contact portion faces the second contacted portion in a direction intersecting the longitudinal direction. The flexible unit has a recording medium on which identification information of the flexible unit is recorded. The medical system further includes a reading means for reading the identification information from the recording medium when the bendable unit is mounted on the drive unit. The control unit acquires the position information of the second member by communicating with an external information processing device based on the identification information read by the reading means. The position information is information that can identify the positions of the first contact portion and the second contact portion in the longitudinal direction. When the bendable unit is mounted on the drive unit, the control unit moves the first member in the longitudinal direction by the drive source based on the position information obtained by the communication, such that the first contact portion faces the first contacted portion and the second contact portion faces the second contacted portion in a direction intersecting the longitudinal direction. A medical system characterized by the following features.

3. The reading means has a contact portion that contacts the recording medium when the bendable unit is mounted on the drive unit, The recording medium is a memory element electrically connected to the control unit via the contact portion. The medical system according to claim 1 or 2, characterized by the above.

4. The recording medium is a memory element from which information is read by the reading means via contactless communication. The medical system according to claim 1 or 2, characterized by the above.

5. A drive unit having a drive source and a first member connected to the drive source, A bendable unit having a bendable curved portion, a linear body for bending the curved portion, and a second member connected to the linear body, and which is detachable from the drive unit, A control unit that controls the drive source, A medical system equipped with, The second member has a first contact portion and a second contact portion, The first member has a first contact portion for contacting the first contact portion and pressing the second member to one side in the longitudinal direction of the linear body, and a second contact portion for contacting the second contact portion and pressing the second member to the other side in the longitudinal direction. The first member and the second member are engaged such that, when the bendable unit is mounted on the drive unit, the first contact portion contacts the first contacted portion and the second contact portion contacts the second contacted portion, thereby allowing them to move together in the longitudinal direction. The drive unit has force detection means capable of detecting the longitudinal force acting between the first member and the second member, The first member has a part of the second member and a part of it that abuts against it in the longitudinal direction, The first member is configured to be able to engage with the second member at the longitudinal position where the abutting portion abuts against the second member. The control unit, During the period when the bendable unit is not mounted on the drive unit, the first member is positioned so that even when the bendable unit is mounted on the drive unit, the abutment portion does not come into contact with the second member. When the flexible unit is mounted on the drive unit, based on the detection result of the force detection means, the first member is moved toward one side in the longitudinal direction so that the abutment portion abuts the second member. After the first member is moved toward one side in the longitudinal direction, the force detection means detects that a compressive force of a first predetermined value or greater is acting between the first member and the second member, and the movement of the first member is stopped. A medical system characterized by the following features.

6. A drive unit having a drive source and a first member connected to the drive source, A bendable unit having a bendable curved portion, a linear body for bending the curved portion, and a second member connected to the linear body, and which is detachable from the drive unit, A control unit that controls the drive source, A medical system equipped with, The second member has a first contact portion and a second contact portion, The first member has a first contact portion for contacting the first contact portion and pressing the second member to one side in the longitudinal direction of the linear body, and a second contact portion for contacting the second contact portion and pressing the second member to the other side in the longitudinal direction. The first member and the second member are engaged such that, when the bendable unit is mounted on the drive unit, the first contact portion contacts the first contacted portion and the second contact portion contacts the second contacted portion, thereby allowing them to move together in the longitudinal direction. The drive unit has force detection means capable of detecting the longitudinal force acting between the first member and the second member, The first member has a part of the second member and a part of it that abuts against it in the longitudinal direction, The first member is configured to be able to engage with the second member at a position where the abutment portion moves a predetermined distance from the longitudinal position where it abuts the second member to the other side in the longitudinal direction relative to the second member, The control unit, During the period when the bendable unit is not mounted on the drive unit, the first member is positioned so that even when the bendable unit is mounted on the drive unit, the abutment portion does not come into contact with the second member. When the flexible unit is mounted on the drive unit, based on the detection result of the force detection means, the first member is moved toward one side in the longitudinal direction so that the abutment portion abuts the second member. After the first member is moved toward one side in the longitudinal direction, if the force detection means detects that a compressive force of a first predetermined value or more is acting between the first member and the second member, the movement of the first member is temporarily stopped, and then the movement of the first member is stopped when it has been moved a predetermined distance toward the other side in the longitudinal direction. A medical system characterized by the following features.

7. The drive unit has mounting detection means for detecting when the bendable unit has been mounted to a predetermined mounting position. When the mounting detection means detects that the bendable unit has been mounted to the mounting position, the control unit starts moving the first member toward one side in the longitudinal direction. The medical system according to claim 5 or 6, characterized by the features described herein.

8. A drive unit having a drive source and a first member connected to the drive source, A bendable unit having a bendable curved portion, a linear body for bending the curved portion, and a second member connected to the linear body, and which is detachable from the drive unit, A control unit that controls the drive source, A medical system equipped with, The second member has a first contact portion and a second contact portion, The first member has a first contact portion for contacting the first contact portion and pressing the second member to one side in the longitudinal direction of the linear body, and a second contact portion for contacting the second contact portion and pressing the second member to the other side in the longitudinal direction. The first member and the second member are engaged such that, when the bendable unit is mounted on the drive unit, the first contact portion contacts the first contacted portion and the second contact portion contacts the second contacted portion, thereby allowing them to move together in the longitudinal direction. The drive unit has force detection means capable of detecting the longitudinal force acting between the first member and the second member, The first member has a part of the second member and a part of it that abuts against it in the longitudinal direction, The first member is configured to be able to engage with the second member at the longitudinal position where the abutting portion abuts against the second member. The control unit, During the period when the bendable unit is not mounted on the drive unit, the first member is positioned so that the abutment portion contacts the second member while the bendable unit is being mounted on the drive unit. When the flexible unit is mounted on the drive unit, if the force detection means detects that a compressive force of a second predetermined value or more is acting between the first member and the second member, the first member is started to move toward the other side in the longitudinal direction. Then, if the force detection means detects that the force acting between the first member and the second member has become less than the second predetermined value, the movement of the first member is stopped. A medical system characterized by the following features.

9. A drive unit having a drive source and a first member connected to the drive source, A bendable unit having a bendable curved portion, a linear body for bending the curved portion, and a second member connected to the linear body, and which is detachable from the drive unit, A control unit that controls the drive source, A medical system equipped with, The second member has a first contact portion and a second contact portion, The first member has a first contact portion for contacting the first contact portion and pressing the second member to one side in the longitudinal direction of the linear body, and a second contact portion for contacting the second contact portion and pressing the second member to the other side in the longitudinal direction. The first member and the second member are engaged such that, when the bendable unit is mounted on the drive unit, the first contact portion contacts the first contacted portion and the second contact portion contacts the second contacted portion, thereby allowing them to move together in the longitudinal direction. The drive unit has force detection means capable of detecting the longitudinal force acting between the first member and the second member, The first member has a part of the second member and a part of it that abuts against it in the longitudinal direction, The first member is configured to be able to engage with the second member at a position where the abutment portion moves a predetermined distance from the longitudinal position where it abuts the second member to the other side in the longitudinal direction relative to the second member, The control unit, During the period when the bendable unit is not mounted on the drive unit, the first member is positioned so that the abutment portion contacts the second member while the bendable unit is being mounted on the drive unit. When the bendable unit is mounted on the drive unit, if the force detection means detects that a compressive force greater than or equal to a second predetermined value is acting between the first member and the second member, the first member is moved toward the other side in the longitudinal direction, and then, when the force detection means detects that the force acting between the first member and the second member has become less than the second predetermined value, the first member is moved a further predetermined distance toward the other side in the longitudinal direction, and the movement of the first member is stopped. A medical system characterized by the following features.

10. When the control unit controls the drive source to bend the curved portion after the bendable unit is mounted on the drive unit and the first member and the second member are engaged, if the force detection means detects that a load exceeding a predetermined value is acting on the linear body, the control unit drives the drive source in a direction that reduces the load acting on the linear body. The medical system according to any one of claims 5 to 9, characterized by the features described herein.

11. The drive unit comprises a plurality of drive sources and a plurality of first members connected to each of the plurality of drive sources, The bendable unit comprises a plurality of linear bodies corresponding to the plurality of drive sources, and a plurality of second members connected to each of the plurality of linear bodies, each of which is capable of engaging with the plurality of first members. When the bendable unit is mounted on the drive unit, the control unit independently controls the plurality of drive sources according to the position of each of the plurality of second members in the longitudinal direction, moving each of the plurality of first members toward a position in the longitudinal direction that allows it to engage with the corresponding second member. A medical system according to any one of claims 1 to 10.

12. The aforementioned flexible unit has an operating part that can be rotated, With the flexible unit mounted on the drive unit, the operating part is rotated, thereby engaging the first member and the second member. A medical system according to any one of claims 1 to 11, characterized by the features described herein.

13. The drive unit includes a cam that is rotatable between a pressing position in which the second member is pressed to engage with the first member and a retracted position in which the second member is retracted, and an interlocking part that rotates the cam in conjunction with the rotation operation of the operating part. The medical system according to feature 12.

14. The operating unit is rotated about the axis extending in the longitudinal direction. When the cam moves from the retracted position to the pressing position, it presses the second member in a direction perpendicular to the longitudinal direction. The medical system according to feature 13.

15. One of the first member and the second member has a protrusion that extends in a direction intersecting the longitudinal direction, The other of the first member and the second member has a recess that fits with the protrusion, The first contact portion and the second contact portion are parts of the convex portion or concave portion provided on the first member, The first contact portion and the second contact portion are parts of the convex portion or concave portion provided on the second member. A medical system according to any one of claims 1 to 14.

16. The second member has the recess formed in an annular shape on the outer circumference of the second member, The first member has the protrusion that protrudes in a direction perpendicular to the longitudinal direction, The medical system according to feature 15.

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