Continuum robot, control method, and computer program

Abstract

To provide a continuum robot that is constituted in such a manner that a bendable unit is attachable / detachable to / from a base unit, and allows the attachment / detachment work to be supported.SOLUTION: A medical device 1 comprises: a base unit (200) comprising a drive source (M), and a connection part (21) connected to the drive source (M); a bendable unit (100) comprising a bend part (12) constituted so as to bend, and a held part (Wa) connected to the connection part (21) to move so as to bend the bend part (12), and attachable / detachable to / from the base unit (200); an operation part (400) capable of moving between a fixing position where the connection part (21) and the held part (Wa) are fixed, and a position where the connection part (21) and the held part (Wa) are not fixed, while the bendable unit (100) and the base unit (200) are fitted; and fixing detection means (26b) for detecting whether the operation part (400) is located at the fixing position or not.SELECTED DRAWING: Figure 17

Description

Technical Field

[0001] The present invention relates to a continuum robot , control method and computer program.

Background Art

[0002] A medical device composed of a continuum robot is used. Patent Document 1 discloses a medical instrument including an operating portion having a deformable portion and an operating portion for deforming the deformable portion, wherein the operating portion and the operating portion are detachable.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In Patent Document 1, the user performs the attachment / detachment work of the operating portion and the operating portion, but the configuration for detecting the situation of the attachment / detachment work is not provided. Therefore, although the attachment / detachment work has not been correctly completed, the user may proceed to the next work, and re-setup or the like may occur.

[0005] The present invention has been made in view of the above points, and an object thereof is to enable support for the attachment / detachment work in a continuum robot in which a bendable unit is detachably configured with respect to a base unit.

Means for Solving the Problems

[0006] The continuous robot of the present invention comprises a base unit having a drive source and a connecting portion connected to the drive source; a bendable unit having a curved portion configured to bend and a held portion connected to the connecting portion and moving to bend the curved portion, and which is detachable from the base unit; an operating unit that is movable between a fixed position in which the connecting portion and the held portion are fixed and a position in which the connecting portion and the held portion are not fixed, with the bendable unit and the base unit mounted; and a fixed detection means for detecting whether the operating unit is in the fixed position. A control unit that, based on the detection result of the fixed detection means, prohibits the operation of the drive source if the operation unit is not in the fixed position, It is characterized by having the following features. [Effects of the Invention]

[0007] According to the present invention, in a continuous robot in which a bendable unit is configured to be detachable from a base unit, the attachment and detachment operation can be supported. [Brief explanation of the drawing]

[0008] [Figure 1] This is an overview of the healthcare system. [Figure 2] This is a perspective view showing a medical device and support stand. [Figure 3] This is a diagram illustrating a catheter. [Figure 4] This is an explanatory diagram of a catheter unit. [Figure 5] This is an explanatory diagram of the base unit and wire drive unit. [Figure 6] This is an explanatory diagram of the wire drive unit, coupling device, and curved drive unit. [Figure 7] This is an explanatory diagram for attaching the catheter unit. [Figure 8] This diagram illustrates the connection between the catheter unit and the base unit. [Figure 9] This is an exploded view illustrating the connection between the catheter unit and the base unit. [Figure 10] This diagram illustrates how the drive wire is secured by the connecting part. [Figure 11]It is a diagram for explaining the fixing of the drive wire by the connecting part. [Figure 12] It is a diagram for explaining the fixing of the drive wire by the connecting part. [Figure 13] It is a diagram for explaining the fixing of the drive wire by the connecting part. [Figure 14] It is a diagram for explaining the fixing of the drive wire by the connecting part. [Figure 15] It is an explanatory diagram of the catheter unit and the base unit. [Figure 16] It is a diagram for explaining the operation of the operation part. [Figure 17] It is a diagram for explaining the operation of the operation part. [Figure 18] It is a cross-sectional view for explaining the operation of the operation part. [Figure 19] It is a flowchart showing the usage procedure of the medical system. [Figure 20] It is a flowchart showing the mounting confirmation of the catheter unit and the base unit in Example 1. [Figure 21] It is a flowchart showing the removal confirmation of the catheter unit and the base unit in Example 1. [Figure 22] It is a flowchart showing the mounting monitoring of the catheter unit and the base unit in Example 1. [Figure 23] It is an explanatory diagram of the mounting of the catheter unit in Example 2. [Figure 24] It is a flowchart showing the mounting confirmation of the catheter unit and the base unit in Example 2. [Figure 25] It is a flowchart showing the removal confirmation of the catheter unit and the base unit in Example 2. [Figure 26] It is a flowchart showing the mounting monitoring of the catheter unit and the base unit in Example 2. [Figure 27] It is a diagram showing an example of the hardware configuration of the information processing apparatus.

Modes for Carrying Out the Invention

[0009] The embodiments of the present invention will be described below with reference to the drawings. Note that the dimensions, materials, shapes, arrangements, etc., of the components described in these embodiments should be appropriately modified depending on the configuration of the apparatus to which the present invention is applied and various other conditions. [Example 1] <Medical systems and medical devices> The medical device 1, which consists of a medical system 1A and a continuous robot, will be described 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. The medical system 1A comprises a medical device 1, a support base 2 for supporting the medical device 1, and a control device 3 for controlling the medical device 1. In this embodiment, the medical system 1A includes a monitor 4 as a display device.

[0010] 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. 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. 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, ablation devices, etc. The catheter 11 itself may also function as one of the above-mentioned medical instruments.

[0011] In this embodiment, the control device 3 is an example of an information processing device to which the present invention is applied, and includes an arithmetic unit 3a and an input device 3b. The input device 3b receives commands and inputs for operating the catheter 11. The input device 3b receives the detection result of the fixed detection sensor 26b provided on the operation unit 400, for example, as will be described later, and acquires the detection result. The arithmetic unit 3a includes storage for storing programs and various data for controlling the catheter, a random access memory, and a central processing unit for executing the program. The control device 3 may also include an output unit that outputs a signal for displaying an image on the monitor 4.

[0012] As shown in Figure 2, in this embodiment, the medical device 1 is electrically connected to the control device 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 device 3 may be directly connected by a cable. Alternatively, the medical device 1 and the control device 3 may be connected wirelessly.

[0013] The medical device 1 is detachably mounted on the support base 2 via a base unit 200. More specifically, the mounting portion (connecting portion) 200a of the base unit 200 of the medical device 1 is detachably 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 device 3 is maintained so that the medical device 1 can be controlled by the control device 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.

[0014] 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. 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 mobile stage 2a, the medical device 1 moves as the mobile 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 mobile stage 2a is controlled by the control device 3.

[0015] The mounting portion 200a of the base unit 200 is equipped with a release switch and a removal switch (not shown). With the mounting portion 200a attached to the moving stage 2a, the user can manually move the medical device 1 along the guide direction of the moving stage 2a while continuously pressing the release switch. That is, the moving stage 2a is equipped with a guide configuration that guides the movement of the medical device 1. When the user stops pressing the release switch, the medical device 1 is fixed to the moving stage 2a. On the other hand, when the removal switch is pressed while the mounting portion 200a is attached to the moving stage 2a, the user can remove the medical device 1 from the moving stage 2a. Furthermore, a single switch may have both the functions of a release switch and a removal switch. Also, if a mechanism for switching between pressed and unpressed states is provided in the release switch, the user will no longer need to continuously press the release switch when manually sliding the medical device 1. With the mounting part 200a attached to the moving stage 2a and the release switch and removal switch not pressed, the medical device 1 is fixed to the moving stage 2a and moved by the moving stage 2a, which is driven by a motor (not shown).

[0016] 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 device 3.

[0017] The control device 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).

[0018] In the direction of extension 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. In the direction of extension of the catheter 11, the end opposite the distal end is called the proximal end. 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 device can be inserted into the catheter 11 through the tool hole 16a.

[0019] 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. 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.

[0020] As will be described later, the catheter unit 100 is configured to be detachable from the catheter drive device (base device, main body), more specifically from the base unit 200. After the medical device 1 has been used, the user can remove the catheter unit 100 from the base unit 200, attach a new catheter unit 100 to the base unit 200, and use the medical device 1 again.

[0021] 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 to fix and release the catheter unit 100 from the base unit 200 when attaching and detaching the catheter unit 100 from the base unit 200.

[0022] In this medical system 1A, for example, by connecting the endoscope inserted into the catheter 11 to the monitor 4, images taken by the endoscope can be displayed on the monitor 4. Furthermore, by connecting the monitor 4 to the control device 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, the control device 3, and the endoscope may be connected by wire or wirelessly. In addition, the monitor 4 and the control device 3 may be connected via the support base 2.

[0023] <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 catheter 11 as a whole. Figure 3(b) is a magnified view of the catheter 11. 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. 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.

[0024] 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.

[0025] 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. In this embodiment, each of the first to ninth held parts (Wa11 to Wa33) has the same shape.

[0026] Each of the first to ninth drive wires (W11 to W33) includes a flexible wire body (line body, linear body) Wb. Specifically, the first drive wire W11 includes 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. 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.

[0027] 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. The first to ninth drive wires (W11 to W33) are inserted into and fixed in the curved section 12 via the wire guide 17. In this embodiment, the material of each of the first to ninth drive wires (W11 to W33) is metal. However, the material of each of the first to ninth drive wires (W11 to W33) may be resin. The material of each of the first to ninth drive wires (W11 to W33) may include both metal and resin. 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).

[0028] In this embodiment, the curved portion 12 is a tubular member that is flexible and has a passage Ht for inserting a medical instrument. 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 the first wire hole Hw11, the second wire hole Hw12, the third wire hole Hw13, the fourth wire hole Hw21, the fifth wire hole Hw22, the sixth wire hole Hw23, the seventh wire hole Hw31, the eighth wire hole Hw32, and the 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. 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.

[0029] 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. 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 proximal to the first guide ring J1, 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.

[0030] 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.

[0031] 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. 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 by passing through multiple auxiliary rings. The fourth drive wire W21, the fifth drive wire W22, and the sixth drive wire W23 are fixed to the second guide ring J2 by ​​passing through the first guide ring J1 and multiple 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 by passing through the first guide ring J1, the second guide ring J2, and multiple auxiliary rings.

[0032] 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). 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.

[0033] 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 the present invention 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. For example, the catheter 11 may be configured such that the first to sixth drive wires (W11 to W23) and the first to second guide rings (J1 to J2) are omitted, and only the seventh to ninth drive wires (W31 to W33) and the third guide ring J3 are present. Alternatively, the catheter 11 may be configured such that the first to third drive wires (W11 to W13) and the first guide ring J1 are omitted, and only the fourth to ninth drive wires (W21 to W33) and the second to third guide rings (J2 to J3) are present. 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.

[0034] <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 (described later) in the retracted position. 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.

[0035] The catheter unit 100 is detachable from the base unit 200 along the attachment / detachment direction DE. The direction in which the catheter unit 100 is attached to the base unit 200 and the direction in which the catheter unit 100 is removed from the base unit 200 are parallel to the attachment / detachment direction DE. 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.

[0036] The wire cover 14 is provided with multiple 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 the first wire cover hole 14a11, the second wire cover hole 14a12, the third wire cover hole 14a13, the fourth wire cover hole 14a21, the fifth wire cover hole 14a22, the sixth wire cover hole 14a23, the seventh wire cover hole 14a31, the eighth wire cover hole 14a32, and the ninth wire cover hole 14a33. Each of the first to ninth wire cover 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 wire cover hole 14a11. Any one of the first to ninth wire cover holes (14a11 to 14a33) can be called wire cover hole 14a. In this embodiment, each of the first to ninth wire cover holes (14a11 to 14a33) has the same shape.

[0037] 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 retracted position that is moved away from the cover position (see Figure 14(b)). The retracted position can also be called an exposed position that exposes the first to ninth drive wires (W11 to W33). Before attaching the catheter unit 100 to the base unit 200, the wire cover 14 is in the cover position. When the catheter unit 100 is attached to the base unit 200, the wire cover 14 moves from the cover position to the retracted position along the attachment / detachment direction DE.

[0038] In this embodiment, the wire cover 14 moves from the cover position to the retracted position and then remains in the retracted position. Therefore, even after the catheter unit 100 is attached to the base unit 200, the catheter unit 100 is removed from the base unit 200, and the wire cover 14 remains in the retracted position. However, the wire cover 14 may be configured to move from the cover position to the retracted position and then return to the cover position. For example, the catheter unit 100 may include a biasing member that biases the wire cover 14 from the retracted position toward the cover position. In this case, after the catheter unit 100 is attached to the base unit 200, when the catheter unit 100 is removed from the base unit 200, the wire cover 14 moves from the retracted position toward the cover position. When the wire cover 14 is in the retracted position, the first to ninth held portions (Wa11 to Wa33) of the first to ninth drive wires (W11 to W33) protrude from the wire cover 14. 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 retracted position, the first to ninth held portions (Wa11 to Wa33) of the first to ninth drive wires (W11 to W33) protrude from the first to ninth wire cover holes (14a11 to 14a33). More specifically, the first to ninth held portions (Wa11 to Wa33) protrude from the first to ninth wire cover holes (14a11 to 14a33) toward the mounting direction Da, which will be described later.

[0039] 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. In this embodiment, the catheter unit 100 has a key shaft (key, catheter-side key) 15. In this embodiment, the key shaft 15 extends in the attachment / detachment direction DE. The wire cover 14 is provided with a shaft hole 14b through which the key shaft 15 passes. The key shaft 15 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. In this embodiment, when viewed in the attachment / detachment direction DE, the first to ninth drive wires (W11 to W33) are arranged outside the key shaft 15, surrounding 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. Therefore, the key shaft 15 and the first to ninth drive wires (W11 to W33) can be arranged in a space-saving manner.

[0040] 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 DE. With the catheter unit 100 mounted on 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.

[0041] <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 DE.

[0042] 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. The wire drive unit 300 has multiple drive sources (motors). 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. 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.

[0043] 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. 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.

[0044] 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.

[0045] 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 drive unit 12. 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. 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.

[0046] 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. 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.

[0047] 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. 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 to each other.

[0048] 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 catheter unit 100 is mounted to the base unit 200 in the correct phase when the key shaft 15 and the key receiving portion 22 engage. 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. 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, it is prevented that the drive wires W do not engage with the insertion holes 25a or the connecting parts 21c that do not correspond to them.

[0049] 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. In this embodiment, the key shaft 15 has a protrusion that extends in a direction intersecting the attachment / detachment direction DE, 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. 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. The base unit 200 has a joint 28 which includes a joint engagement portion 28j, which will be described later. Furthermore, the base frame 25 is provided with two connecting shafts 26c and 26d, which will be described later.

[0050] <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. 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.

[0051] 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.

[0052] As shown in Figure 6(a), the drive source M has an output shaft Ma, which is the motor shaft, 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.

[0053] 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. The connecting portion 21c has a leaf spring 21ch as a retaining part for holding the retained portion Wa of the drive wire W. The drive wire W engages with the connecting portion 21c through the insertion hole 25a. More specifically, the retained portion Wa engages with the leaf spring 21ch. As will be described later, the leaf spring 21ch can take on a state in which the retained portion Wa is clamped and fixed (fixed state) and a state in which the retained portion Wa is released (released state).

[0054] The connecting portion 21c has a pressing member 21cp. As shown in Figure 6(b), the pressing member 21cp has a gear portion 21cg that meshes with the internal gear 29 described later, and a cam 21cc which serves as a pressing portion for pressing the leaf spring 21ch. As will be described later, the cam 21cc can move relative to the leaf spring 21ch. By moving the cam 21cc, the fixed state and the released state of the leaf spring 21ch can be switched.

[0055] 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 provided for each of the first to ninth connecting portions (21c11 to 21c33).

[0056] Because the connecting 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 connecting portion 21c moves along the rotation axis direction of the output shaft Ma (in the Dc direction). As the connecting portion 21c moves, the drive wire W moves, causing the curved portion 12 to curve. 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.

[0057] 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) and the first to ninth connecting parts (21c11 to 21c33) are connected to each of them.

[0058] The control device 3 independently controls each of the first to ninth drive sources (M11 to M33). 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 device 3 can independently control each of the first to ninth drive wires (W11 to W33). As a result, each of the first to third guide rings (J1 to J3) is controlled independently, and the curved region 12b of the curved section 12 can be bent in any direction.

[0059] <Catheter unit attachment> Using Figure 7, we will explain the process of attaching the catheter unit 100 to the base unit 200. 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.

[0060] In this embodiment, the attachment / detachment direction DE of the catheter unit 100 is the same as the direction of the rotation axis 400r of the operating unit 400. Of the attachment / detachment directions DE, the direction in which the catheter unit 100 is attached to the base unit 200 is called the mounting direction Da. Of the attachment / detachment directions DE, the direction in which the catheter unit 100 is removed from the base unit 200 (the opposite direction of the mounting direction Da) is called the removal direction Dd.

[0061] 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 wire cover holes (14a11 to 14a33) of the wire cover 14. Therefore, the first to ninth drive wires (W11 to W33) can be protected before the catheter unit 100 is attached to the base unit 200. When attaching the catheter unit 100 to the base unit 200, the key shaft 15 is engaged with the key receiving portion 22. The key shaft 15 protrudes from the wire cover 14. The keyhole 22a forming the key receiving portion 22 extends in the mounting direction Da of the key shaft 15. In this embodiment, when the key shaft 15 reaches the entrance of the key receiving portion 22, the wire cover 14 does not engage with the mounting opening 25b. In other words, when the phase of the catheter unit 100 relative to the base unit 200 is such that the key shaft 15 and the key receiving portion 22 cannot engage, the wire cover 14 does not engage with the mounting opening 25b and remains in the cover position. Therefore, even when the catheter unit 100 is moved so that the key shaft 15 and the key receiving portion 22 engage, the first to ninth drive wires (W11 to W33) are protected.

[0062] 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 mounted on the base unit 200. By mounting the catheter unit 100 on the base unit 200, the wire cover 14 moves to the retracted position. In this embodiment, the wire cover 14 moves from the cover position to the retracted position by contacting the base frame 25 (see Figure 7(b)). 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 cover position to the retracted position.

[0063] As the wire cover 14 moves from the cover position to the retracted position, the retained portion Wa of the drive wire W protrudes from the wire cover hole 14a of the wire cover 14 and is inserted into the insertion hole 25a. Then, the retained portion Wa engages with the leaf spring 21ch of the connecting portion 21c (see Figure 6(b)).

[0064] Here, the attachment of the catheter unit 100 and the base unit 200 involves, in detail, a temporary attachment state and a completed attachment state. In other words, 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. This state is called the temporary attachment state. In the temporary attachment state, 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, in the temporary attachment state, the drive wire W and the connecting portion 21c are released from their fixed position. In the temporarily attached state, the operating unit 400 is operated to move it to the fixed position described later, thereby completing the attachment and preventing the catheter unit 100 from being removed from the base unit 200. In the completed attachment state, the bending drive unit 13 is fixed to the coupling device 21, and the bending drive unit 13 is connected to the wire drive unit 300 via the coupling device 21.

[0065] <Securing and releasing the bending drive unit> Using Figures 8, 9, 10, 11, 12, 13, and 14, the configuration for fixing the bending drive unit 13 to the coupling device 21 and the configuration for releasing the bending drive unit 13 from the coupling device 21 will be explained. Figure 8 illustrates 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 at the connecting portion 21c in a direction perpendicular to the rotation axis 400r. 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.

[0066] As shown in Figures 8(a) and 9, the base unit 200 has a joint (intermediate member, second transmission member) 28 and an internal gear 29 as a moving gear (interlocking gear, transmission member, first transmission member) that is interlocked with the operating unit 400 via the joint 28. The joint 28 has multiple transmission parts 28c, and the internal gear 29 has multiple transmission parts 29c. The multiple transmission parts 28c engage with the multiple transmission parts 29c, and when the joint 28 rotates, the rotation of the joint 28 is transmitted to the internal gear 29.

[0067] 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, the rotation of the operating portion 400 is transmitted to the joint 28. The operating portion 400, the joint 28, and the internal gear 29 rotate in the same direction. The internal gear 29 has multiple teeth in each of its first to ninth connecting parts (21c11 to 21c33) for switching between a state in which each of the first to ninth drive wires (W11 to W33) is fixed 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 pressing member 21cp that each of the first to ninth connecting parts (21c11 to 21c33) has.

[0068] Specifically, in this embodiment, the internal gear 29 comprises a first tooth portion 29g11, a second tooth portion 29g12, a third tooth portion 29g13, a fourth tooth portion 29g21, a fifth tooth portion 29g22, a sixth tooth portion 29g23, a seventh tooth portion 29g31, an eighth tooth portion 29g32, and a ninth tooth portion 29g33. Each of the first to ninth tooth portions (29g11 to 29g33) is formed with a gap between them. 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. 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.

[0069] 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, the following description will explain the configuration in which one drive wire W, one connecting part 21c, and one tooth section 29g are connected. In each of the first to ninth connecting sections (21c11 to 21c33), the gear section 21cg is moved by the internal gear 29, causing the pressing member 21cp to rotate and the cam 21cc to move between the pressing position and the retracted position, which is moved away from the pressing position.

[0070] By rotating the operating unit 400, the internal gear 29 rotates. As the internal gear 29 rotates, each of the first to ninth connecting parts (21c11 to 21c33) operates. In this way, the first to ninth connecting parts (21c11 to 21c33) can be operated by rotating a single operating unit 400. The operating unit 400 can move between a fixed position and a detachable 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. In the rotational direction of the operating unit 400, the release position is located between the fixed position and the detachable position. With the operating unit 400 in the detachable position, the catheter unit 100 is attached to the base unit 200 (temporary attachment state).

[0071] In the temporary installation state, the drive wire W is not fixed (locked) to the connecting part 21c. This state is called the unlocked state of the connecting part 21c. The state in which the drive wire W is fixed (locked) to the connecting part 21c is called the locked state of the connecting part 21c.

[0072] The operation of fixing the drive wire W to the connecting part 21c will be explained using Figures 10, 11, 12, 13, and 14. In the temporary attachment state, that is, after the catheter unit 100 has been attached to the base unit 200 and before the operating unit 400 has been operated, the catheter unit 100 can be removed from the base unit 200. Hereinafter, the state in which the catheter unit 100 can be removed from the base unit 200 will be referred to as the removable state.

[0073] Figure 10 shows the internal gear 29 and the connecting part 21c in the removable state. Figure 10 shows the internal gear 29 and the connecting part 21c in the state where the operating part 400 is in the removable position. The leaf spring 21ch of the connecting portion 21c has a fixed portion 21cha fixed to the connecting base 21cb and a pressed portion 21chb that contacts the cam 21cc of the pressing member 21cp. The leaf spring 21ch has a first portion 21chd1 and a second portion 21chd2. When the catheter unit 100 is attached to the base unit 200, the retained portion Wa is inserted between the first portion 21chd1 and the second portion chd2. The cam 21cc has a retaining surface 21cca and a pressing surface 21ccb. With respect to the radial rotation direction of the pressing member 21cp, the retaining surface 21cca is positioned closer to the rotation center 21cpc of the pressing member 21cp than the pressing surface 21ccb.

[0074] As shown in Figure 10, in the removable state (when the operating part 400 is in the removable position), the leaf spring 21ch is held in a position where the pressed part 21chb is in contact with the holding surface 21cca. Also, the teeth Za1 of the internal gear 29 and the teeth Zb1 of the gear part 21cg are stopped with a clearance La between them.

[0075] 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 (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. The operating unit 400 rotates from the release position in the release direction to move to the removal position. The operating unit 400 rotates from the release position in the locking direction to move to the fixed position.

[0076] In the temporary mounting state, the connecting portion 21c is in a released state, and the drive wire W is released from being fixed by the connecting portion 21c. When the connecting portion 21c is in the released state, the cam 21cc is in a retracted position, which is moved away from the pressed position described later. At this time, the fixing of the retained portion Wa by the leaf spring 21ch is released. The force with which the first portion 21chd1 and the second portion 21chd2 tighten the retained portion Wa when the connecting portion 21c is in the released state is smaller than the force with which the first portion 21chd1 and the second portion 21chd2 tighten the retained portion Wa when the connecting portion 21c is in the locked state. When the connecting portion 21c is in the released state, if the catheter unit is moved in the removal direction Dd relative to the base unit 200, the retained portion Wa can be pulled out from between the first portion 21chd1 and the second portion 21chd2. When the connecting portion 21c is in the released state, it is preferable that the first portion 21chd1 and the second portion 21chd2 do not generate a force that tightens the held portion Wa (i.e., the force is zero). When the connecting portion 21c is in the released state, it is preferable that there is a gap between at least one of the first portion 21chd1 and the second portion 21chd2 and the held portion Wa.

[0077] Figure 11 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. Figure 11 also shows the state of the internal gear 29 and the connecting part 21c when the operating part 400 is in the release position. With the operating unit 400 in the detachment position (Figure 10), rotating the operating unit 400 in the locking direction causes the internal gear 29 to rotate clockwise. The operating unit 400 is then in the release position. Even when the operating section 400 is rotated, the key shaft 15 and the key receiving section 22 are engaged, so the entire catheter unit 100 (excluding the operating section 400) is restricted from rotating relative to the base unit 200. In other words, the operating section 400 can rotate relative to the entire catheter unit 100 (excluding the operating section 400) and the base unit 200 when they are stationary.

[0078] As the internal gear 29 rotates clockwise, the clearance between the teeth Za1 of the internal gear 29 and the teeth Zb1 of the gear portion 21cg decreases from clearance La to clearance Lb. The teeth Zb2 of the gear portion 21cg are positioned with a clearance Lz between them and the tip circle (dotted line) of the teeth portion 29g of the internal gear 29. Therefore, the internal gear 29 can rotate without interfering with the teeth Zb2. On the other hand, the connecting portion 21c is kept in the same state as shown in Figure 10 (released state).

[0079] From the state shown in Figure 11, if the operating part 400 is rotated further in the locking direction, the internal gear 29 rotates further clockwise. The state of the internal gear 29 and the connecting part 21c at that time is shown in Figure 12. Figure 12 shows the state of the internal gear 29 and the connecting part 21c when the operating part 400 is rotated from the unlocked position in the locked direction. As shown in Figure 12, when the operating part 400 is rotated from the unlocked position in the locked direction, the teeth Za1 of the internal gear 29 and the teeth Zb1 of the gear part 21cg come into contact. Meanwhile, the connecting part 21c remains in the same state as shown in Figures 10 and 11, and is kept in the unlocked state.

[0080] Figure 13 shows the state in which the pressing member 21cp rotates as the operating unit 400 rotates in the locking direction. As shown in Figure 13, when the operating unit 400 is rotated further in the locking direction from the state shown in Figure 12, the internal gear 29 rotates further clockwise. As the internal gear 29 moves from the state shown in Figure 12 to the state shown in Figure 13, the internal gear 29 rotates the gear portion 21cg clockwise. As the gear portion 21cg rotates, the holding surface 21cca moves away from the pressed portion 21chb, and the pressing surface 21ccb moves closer to the pressed portion 21chb. Then, the clamping of the held portion Wa by the first portion 21chd1 and the second portion 21chd2 begins.

[0081] Then, the part to be pressed 21chb is pressed by the corner portion 21ccb1 located at the end of the pressing surface 21ccb, and the teeth Za3 of the internal gear 29 move to a position where they are separated from the teeth Zb3 of the gear portion 21cg. At this time, the part to be held Wa is sandwiched between the first portion 21chd1 and the second portion 21chd2. When the tooth Za3 of the internal gear 29 separates from the tooth Zb3 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 in a state where the corner portion 21ccb1 is receiving a reaction force from the leaf spring 21ch. In the radial direction of rotation of the pressing member 21cp, the reaction force of the leaf spring 21ch acting on the corner portion 21ccb1 acts at a position away from the rotation center 21cpc of the pressing member 21cp, causing the pressing member 21cp to rotate clockwise. At this time, the pressing member 21cp rotates in the same direction as the direction in which it is rotated by the clockwise rotating internal gear 29.

[0082] Figure 14 shows the state of the internal gear 29 and the connecting part 21c when the operating part 400 is in a fixed position. As shown in Figure 14, from the state shown in Figure 13, the pressing member 21cp rotates further due to the reaction force of the leaf spring 21ch. As shown in Figure 14, the pressing member 21cp stops with the pressing surface 21ccb of the cam 21cc and the pressed portion 21chb of the leaf spring 21ch in surface contact. In other words, the surfaces of the pressing surface 21ccb and the pressed portion 21chb are aligned on the same plane. At this time, the connecting portion 21c is in a locked state. When the connecting portion 21c is in a locked state, the cam portion 21cc of the pressing member 21cp is in the pressing position, and the pressing surface 21ccb presses against the pressed portion 21chb.

[0083] When the connecting portion 21c is in the locked state, the retained portion Wa is sandwiched between the first portion 21chd1 and the second portion 21chd2. In other words, the leaf spring 21ch is pressed by the cam 21cc, and the retained portion Wa is tightened by the leaf spring 21ch. As a result, the retained portion Wa is fixed by the leaf spring 21ch. After the catheter unit 100 is attached to the base unit 200 in this manner, the operating unit 400 moves to a fixed position, completing the attachment process.

[0084] In this embodiment, the leaf spring 21ch has a first portion 21chd1 and a second portion 21chd2 that press against the part to be held Wa at positions separated from each other. Furthermore, a bent portion 21chc is positioned between the first portion 21chd1 and the second portion 21chd2, connecting the two portions. The bent portion 21chc is positioned with a gap G between it and the part to be held Wa. In this way, the part to be held Wa can be stably fixed by the first portion 21chd1 and the second portion 21chd2. The leaf spring 21ch can be made of resin or metal, but metal is preferred. When the connecting portion 21c is locked, it is restricted from pulling out the retained portion Wa from between the first portion 21chd1 and the second portion 21chd2. Furthermore, the teeth Za3 of the internal gear 29 and the teeth Zb4 of the gear portion 21cg are stopped at a position where a clearance Lc is created between them.

[0085] When releasing the connection between the drive wire W and the connecting portion 21c, the operating portion 400, which is in the fixed position, is rotated in the release direction. At this time, the internal gear 29 rotates counterclockwise from the state shown in Figure 14. 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 portion 21cg, causing the pressing member 21cp to rotate counterclockwise. By further rotating the internal gear 29 counterclockwise, the drive wire W is released from being fixed by the connecting portion 21c. The operation of the internal gear 29 and the pressing member 21cp at this time is the reverse of the operation described above. In other words, the drive wire W is released from being fixed 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.

[0086] The above operations are performed for each of the first to ninth connecting parts (21c11 to 21c33). That is, 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 switch 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 switch from the locked state to the unlocked state. In this way, the unlocked and locked states of the first to ninth connecting parts (21c11 to 21c33) can be switched by rotating a single operating unit 400. In other words, each of the multiple connecting parts 21c does not need to have an operating part to switch between unlocked and locked states, eliminating the need for the user to operate it. Therefore, the user can easily attach and detach the catheter unit 100 to the base unit 200. Furthermore, the medical device 1 can be simplified.

[0087] 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. 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.

[0088] The internal gear 29 is configured to interlock with the operating unit 400. In this embodiment, the joint 28 functions as a transmission member for interlocking the operating unit 400 and the internal gear 29. The internal gear 29 and the joint 28 function as an interlocking part that interlocks with the operating unit 400 so that the first state and the second state are switched in conjunction with the movement of the operating unit 400. Specifically, with the catheter unit 100 mounted on the base unit 200, the internal gear 29 and joint 28 move a portion of the leaf spring 21ch (pressed portion 21chb) relative to the held portion Wa in conjunction with the movement of the operating portion 400. The movement of the held portion 21chb switches between the locked and unlocked states of the connecting portion 21c. 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.

[0089] <Movement and fixation detection of the control unit> Figures 15, 16, 17, and 18 will be used to explain the movement and fixation detection of the operating unit 400. In this embodiment, the operating unit 400 is configured to move between a removal position, a release position, and a fixed position while the catheter unit 100 is attached to the base unit 200. The release position is located between the removal position and the fixed position. In this embodiment, the first state and the second state are switched in conjunction with the movement of the operating unit 400 between the release position and the fixed position. In this embodiment, the operating unit 400 can move between the removal position and the fixed position by moving in a direction different from the attachment / detachment direction DE. The operating unit 400 moves between the removal position and the fixed position by moving in a direction intersecting (preferably perpendicular to) the attachment / detachment direction DE. In this embodiment, the operating unit 400 moves between the removal position and the fixed position by rotating around a rotation axis 400r extending in the attachment / detachment direction DE. Therefore, the operability when the user operates the operating unit 400 is good.

[0090] Figure 15 is an explanatory diagram of the catheter unit 100 and the base unit 200. Figure 15(a) is a cross-sectional view of the catheter unit 100. Figure 15(b) is a perspective view of the button 41. Figure 15(c) is a perspective view of the base unit 200. Figure 16 is a diagram illustrating the operation of the operating unit 400, and is a view from the connecting shaft 26c side. 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. Figure 17 is a diagram illustrating the operation of the operating unit 400, and is a view from the side of the connecting shaft 26d. Figure 17(a) shows the operating unit 400 in the detachment position. Figure 17(b) shows the operating unit 400 in the release position. Figure 17(c) shows the operating unit 400 in the fixed position. Figure 18 is a cross-sectional view illustrating the operation of the operating unit 400. Figure 18(a) is a cross-sectional view showing the operating unit 400 in the detachment position. Figure 18(b) is a cross-sectional view showing the operating unit 400 in the release position. Figure 18(c) is a cross-sectional view showing the operating unit 400 in the fixed position.

[0091] When the operating unit 400 is in the fixed position, the connecting unit 21c is locked, and the held portion Wa of the drive wire W is fixed to the corresponding connecting unit 21c (see Figure 14). When the operating unit 400 is in the release position, the connecting unit 21c is in a released state, and the lock between the held portion Wa of the drive wire W and the connecting unit 21c is released (see Figure 11). In this state, the connection between the drive wire W and the wire drive unit 300 is broken. Therefore, when the catheter 11 is subjected to an external force, the curved portion 12 can be freely bent without resistance from the wire drive unit 300.

[0092] When the operating unit 400 is in the detachment position, the catheter unit 100 can be removed from the base unit 200. Also, with the operating unit 400 in the detachment position, the catheter unit 100 can be attached to the base unit 200. When the operating unit 400 is in the detachment position, the connecting part 21c is in a released state, and the lock between the held part Wa of the drive wire W and the connecting part 21c is released (see Figure 10). As shown in Figure 15(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.

[0093] 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. 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. 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).

[0094] 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. The button 41 has a button projection (restricted portion) 41a. The button projection 41a has a button slope 41a1 and a restricted surface 41a2.

[0095] The base unit 200 includes a base frame 25. The base frame 25 is provided with two connecting shafts 26c and 26d. The connecting shaft 26c is provided with a locking projection (restricting part) 26a. The connecting shaft 26d is provided with a fixed detection sensor 26b. In this embodiment, the fixed detection sensor 26b is a push-button switch and is a fixed detection means that detects whether or not the operating unit 400 is in a fixed position. Although an example with two connecting shafts 26c and 26d has been described, there may be multiple connecting shafts, and all connecting shafts may be equipped with a locking projection 26a, or some connecting shafts may be equipped with a locking projection 26a. Also, only one fixed detection sensor 26b is needed, and both a locking projection 26a and a fixed detection sensor 26b may be provided on a single connecting shaft.

[0096] On the other hand, as shown in Figures 9, 16(a), 16(b), 16(c), 17(a), 17(b), and 17(c), the inside of the operating section 400 is provided with a connecting groove 400a that engages with the connecting shaft 26c and a detection groove 400b that engages with the connecting shaft 26d. The connecting groove 400a and the detection groove 400b extend in a direction different from the attachment / detachment direction DE. In this embodiment, they extend in the rotational direction of the operating section 400. It can also be said that the connecting groove 400a and the detection groove 400b extend in a direction intersecting (orthogonal to) the attachment / detachment direction DE. If multiple connecting shafts are provided, a connecting groove 400a and a detection groove 400b are selectively provided for each of the multiple connecting shafts.

[0097] As shown in Figure 16(a), when the catheter unit 100 is attached to the base unit 200, the connecting shaft 26c engages with the connecting groove 400a via the inlet 400a1 of the connecting groove 400a. Similarly, as shown in Figure 17(a), the connecting shaft 26d engages with the detection groove 400b via the inlet 400b1 of the detection groove 400b. 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 each of the first to ninth connecting units (21c11 to 21c33) to each of the first to ninth drive wires (W11 to W33) is released. At this time, as shown in Figure 17(a), the button part 26b2 of the fixing detection sensor 26b is in the open state (OFF). Therefore, the control device 3 can recognize that the connecting unit 21c is in the released state. Also, as shown in Figure 18(a), the button projection 41a and the lock projection 26a face each other.

[0098] When the operating unit 400 is in the detachment position, rotating the operating unit 400 in the locking direction R1 causes the inclined surface 41a1 of the button projection 41a to come 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 18(b)). As shown in Figure 17(b), the connecting shaft 26d moves within the detection groove 400b a distance equivalent to the distance the operating unit 400 moves in the locking direction R1. At this time, the coupling portion 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 coupling portions (21c11 to 21c33) is released. At this time, the button portion 26b2 of the fixing detection sensor 26b is in the open state (OFF). Therefore, the control device 3 can recognize that the coupling portion 21c is in the released state. In this embodiment, the operating unit 400 can be moved from the removal position to the release position without operating button 41. In other words, when moving the operating unit 400 from the removal position to the release position, the user does not need to operate button 41.

[0099] When the operating part 400 is in the released position, rotating it in the locking direction R1 moves the operating part 400 to the fixed position. When the operating part 400 is in the fixed position, the positioning part 400a2 of the connecting groove 400a is in a position corresponding to the connecting shaft 26c. Similarly, when the operating part 400 is in the fixed position, the positioning part 400b2 of the detection groove 400b is in a position corresponding to the connecting shaft 26d. 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 connecting shaft 26c, and the positioning part 400b2 engages with the connecting shaft 26d. 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.

[0100] When the operating unit 400 is in a fixed position, the connecting unit 21c is locked (see Figure 14). 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). At this time, as shown in Figure 17(c), the button portion 26b2 of the fixed detection sensor 26b is pressed (ON) by the wall 400b4 that forms the detection groove 400b. Therefore, the control device 3 can recognize that the connecting unit 21c is locked.

[0101] When the operating unit 400 is in the release position, in the removal direction Dd of the catheter unit 100, the wall 400a3 forming the connection groove 400a and the wall 400b3 forming the detection groove 400b are located upstream of the respective connection shafts 26. When the operating unit 400 is in the fixed position, in the removal direction Dd, the positioning unit 400a2 is located upstream of the connection shaft 26c, and the positioning unit 400b2 is located upstream of the connection shaft 26d. As a result, when the operating unit 400 is in the release position and 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, in the removal direction Dd, the entrance 400a1 of the connection groove 400a is located upstream of the connection shaft 26c, and the entrance 400b1 of the detection groove 400b is located upstream of the connection shaft 26d. As a result, it is permissible to remove the catheter unit 100 from the base unit 200.

[0102] When the operating unit 400 is rotated in the release direction R2 while it is in the fixed position, the operating unit 400 moves to the release position. In the process of the operating unit 400 moving from the fixed position to the release position, the held portion Wa of the drive wire W is released from the connecting portion 21c, as described above. Furthermore, the button portion 26b2 of the fixed detection sensor 26b separates from the wall 400b4 that forms the detection groove 400b, and is therefore in an open state (OFF). Consequently, the control device 3 can recognize that the coupling portion 21c is in a released state.

[0103] With the operating unit 400 in the release position, the restricted surface 41a2 of the button projection 41a contacts the restricted surface 26a2 of the lock projection 26 (see Figure 18(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.

[0104] With the operating unit 400 in the release position, the user pushes the button 41 toward the inside of 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.

[0105] When the operating unit 400 is in the detachment position, the connecting unit 21c is released. Therefore, when removing the catheter unit 100 from the base unit 200 and when attaching it, the load acting on the drive wire W (for example, the resistance received by the connecting unit 21c) can be reduced. As a result, the user can easily attach and detach the catheter unit 100. With the operating unit 400 in the release position, the catheter unit 100 is prevented from being removed from the base unit 200, and the connecting portion 21c is released. As described above, when the connecting portion 21c is released, the connection between the drive wire W and the wire drive unit 300 is broken, and the curved portion 12 can be freely bent without resistance from the wire drive unit 300. The user can stop the wire drive unit 300 from driving the catheter 11 by positioning the operating unit 400 in the release position while the catheter 11 is inserted inside the target. Furthermore, since the catheter unit 100 is restricted from being removed from the base unit 200, the user can pull the catheter 11 out of the target by holding the base unit 200. Furthermore, in the configuration of this embodiment, if the button 41 is not operated, the operating unit 400 is restricted from moving from the release position to the removal position. Therefore, when the user moves the operating unit 400 from the fixed position to the release position, it is possible to prevent the operating unit 400 from being accidentally moved to the removal position.

[0106] 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. Furthermore, although this embodiment describes an example where the fixed detection sensor 26b is a push-button switch, it is not limited to this. For example, a transmissive light sensor and a sensor flag or light-shielding wall may be used, and the transmissive and light-shielding modes may be switched by the movement of the operating unit 400. A reflective light sensor and a reflector may be used, and the opposing arrangement of the reflective light sensor and the reflector may change by the movement of the operating unit 400. Alternatively, a pressure sensor that detects the pressure generated by the movement of the operating unit 400 may be used. Alternatively, a spring contact and a contact plate may be provided, and the operation may be transmitted by the movement of the operating unit 400, which causes the spring contact and the contact plate to come into contact and conduct electricity. Alternatively, an encoder may be used to detect the rotational phase of the operating unit 400.

[0107] The following describes the procedure for using medical system 1A and the processes performed by control device 3. <Instructions for using the medical system> Figure 19 will be used to explain the procedure for using medical system 1A. In step S1, the user positions the medical system 1A in a location where the catheter 11 can be inserted into the target. Specifically, the catheter 11 is positioned so that it can be inserted into the trachea through the patient's oral cavity or nasal cavity. After the installation of medical system 1A is complete, in step S2, the user turns on the power to medical system 1A and starts up medical system 1A. After the medical system 1A is started, in step S3, the user performs a startup check to enable the use of the medical system 1A. At this time, the control device 3 performs the necessary processing to enable the use of the medical system 1A, including confirming the attachment of the catheter unit 100 and base unit 200 (step S7), which will be described later. Specifically, it checks the status and operation of sensors, units, and software necessary for using the medical system 1A. After the startup check, in step S4, the user operates the medical device 1 and inserts the catheter 11 into the target, thereby performing tasks such as observing the inside of the target, collecting various specimens from the inside of the target, and performing procedures on the inside of the target. After using medical system 1A, step S5 performs an end-of-service check to terminate the user and medical system 1A. At this time, the control device 3 performs the necessary processes to terminate medical system 1A, including confirming the removal of the catheter unit 100 and base unit 200 (step S8), which will be described later. Specifically, it checks the status and operation of sensors, units, and software necessary to terminate medical system 1A. After the final check, in step S6, the user removes the medical system 1A if necessary.

[0108] Furthermore, at the user's instruction, the startup check (step S3) and shutdown check (step S5) can be skipped depending on the previous shutdown status. However, even if the startup check or shutdown check is skipped at the user's discretion, the control device 3 monitors the status of sensors and other components located in various places and notifies the user if there are any problems.

[0109] <Confirmation of catheter unit and base unit attachment> Using Figure 20, the confirmation of the attachment of the catheter unit 100 and the base unit 200 in Example 1 (Step S7: hereinafter referred to as attachment confirmation) will be explained. The fitting confirmation can be performed at any time. In this embodiment, it is performed during the startup check (step S3) or when a re-setup is required due to some system trouble. For example, the control device 3 performs the fitting confirmation in accordance with the instruction to start fitting the catheter unit 100 and the base unit 200. The user can instruct the control device 3 to start the fitting confirmation by pressing an fitting start button (not shown) provided on the medical system 1A. The instruction to start fitting can be any method that the user can communicate to the control device 3, for example, by selecting it on the operation screen shown on the monitor 4. Alternatively, the control device 3 may be configured to automatically perform the fitting confirmation while the startup check (step S3) is being performed.

[0110] In step S7-1, the control device 3 checks the detection result of the fixed detection sensor 26b. If the detection result of the fixed detection sensor 26b is open (OFF), the device proceeds to step S7-2; if it is pressed (ON), the device proceeds to step S7-5.

[0111] In step S7-2, the control device 3 determines that the attachment is not complete, that is, the attachment of the catheter unit 100 and the base unit 200 is incomplete (attachment incomplete). In step S7-3, the control device 3 prohibits control input to the first to ninth drive sources (M11 to M33). At this time, control input to components or units that may cause failure, such as motors (not shown) that move the moving stage 2a, may also be prohibited. In this way, from the time the medical system 1A is started until the installation is complete, the control device 3 prohibits control of the first to ninth drive sources (M11 to M33). By prohibiting control of the first to ninth drive sources (M11 to M33), failure of the device due to unintended operation of the drive sources is prevented during the installation of the catheter unit 100 and the base unit 200, and the removal operation described later. In step S7-4, the control device 3 notifies the user, for example using the monitor 4, that the attachment is incomplete, and returns to step S7-1. At this time, the control device may also notify the user of a message prompting them to attach the catheter unit 100 to the base unit 200, or a message guiding them to complete the attachment (such as a message guiding them to rotate the operating unit 400 toward the locking direction R1 and move it to the fixed position). The method of notification to the user may be visual information such as an LED display, or it may be notification by sound or vibration. The same applies to the notifications described below. The user confirms the notification from the control device 3 and attaches the catheter unit 100 to the base unit 200. The control device 3 repeats the series of processes in steps S7-1 to S7-4 until the detection result of the fixed detection sensor 26b becomes a pressed state (ON).

[0112] In step S7-5, the control device 3 determines that the catheter unit 100 and the base unit 200 have been successfully attached (attachment complete). In step S7-6, the control device 3 allows control input to the first to ninth drive sources (M11 to M33). In step S7-7, the control device 3 notifies, for example using the monitor 4, that the installation is complete, and terminates this flow.

[0113] Note that the catheter unit 100 and base unit 200 may already be installed when the installation confirmation in step S7 begins. For example, this may occur if the installation of the catheter unit 100 and base unit 200 was performed before the start of the startup check (step S3). Alternatively, this may occur if the catheter unit 100 and base unit 200 were not removed at the end of the previous medical system 1A. In this case, the detection result of the fixed detection sensor 26b will be in the pressed state (ON) during the initial judgment process (step S7-1), and the system will immediately proceed to step S7-5.

[0114] <Confirmation of removal of catheter unit and base unit> Using Figure 21, the removal confirmation of the catheter unit 100 and base unit 200 in Example 1 (Step S8: hereinafter referred to as "removal confirmation") will be explained. The removal confirmation can be performed at any time. In this embodiment, it is performed during the execution of the end check (step S5) or when it becomes necessary to evacuate the device due to some system trouble (emergency stop). For example, the control device 3 performs the removal confirmation in accordance with the instruction to start the removal of the catheter unit 100 and the base unit 200. The user can instruct the control device 3 to start the removal confirmation by pressing an unillustrated removal start button provided on the medical system 1A. The instruction to start removal only needs to be one that the user can communicate to the control device 3, for example, by selecting it on the operation screen shown on the monitor 4. Alternatively, the control device 3 may be configured to automatically perform the removal confirmation while the end check (step S5) is being executed or in the event of an emergency stop.

[0115] In step S8-1, the control device 3 prohibits control input to the first to ninth drive sources (M11 to M33). At this time, control input to components or units that may cause failure, such as motors (not shown) that move the moving stage 2a, may also be prohibited. In step S8-2, the control device 3 checks the detection result of the fixed detection sensor 26b. If the detection result of the fixed detection sensor 26b is in the pressed state (ON), the device proceeds to step S8-3; if it is in the released state (OFF), the device proceeds to step S8-5.

[0116] In step S8-3, the control device 3 determines that the catheter unit 100 and the base unit 200 have been attached (attached), meaning they have not been released from their fixed position. In step S8-4, the control device 3 notifies, for example using the monitor 4, that the attachment is complete, or in other words, that the fixation has not been released, and returns to step S8-2. At this time, a message prompting the user to remove the catheter unit 100 from the base unit 200, or a message guiding the user to remove it (such as a message guiding the user to rotate the operating unit 400 from the fixed position toward the release direction R2 and move it to the removal position) may also be notified. The user confirms the notification from the control device 3 and removes the catheter unit 100 and the base unit 200. The control device 3 repeats the series of processes in steps S8-2 to S8-4 until the detection result of the fixed detection sensor 26b becomes open (OFF).

[0117] In step S8-5, the control device 3 determines that the attachment of the catheter unit 100 and the base unit 200 is incomplete (attachment incomplete), that is, that the fixation has been released. In step S8-6, the control device 3 notifies, for example using the monitor 4, that the attachment is incomplete, or in other words, that the fixation has been released, and terminates this flow. At this time, a message prompting the user to remove the catheter unit 100 from the base unit 200 may also be notified. The user confirms the notification from the control device 3 and completes the removal of the catheter unit 100 and the base unit 200.

[0118] Note that the removal of the catheter unit 100 and base unit 200 may have already been completed by the time the removal confirmation in step S8 is started. For example, this may occur if the removal of the catheter unit 100 and base unit 200 has been performed before the start of the final check (step S5). In this case, the detection result of the fixed detection sensor 26b will be in the open state (OFF) during the initial judgment process (step S8-2), and the process will immediately proceed to step S8-5.

[0119] <Monitoring the attachment of the catheter unit and base unit> Using Figure 22, the fitting monitoring of the catheter unit 100 and base unit 200 in Example 1 (Step S9: hereinafter referred to as fitting monitoring) will be explained. The control device 3 performs continuous monitoring of the medical system 1A while it is in use (step S4), from the completion of the startup check (step S3) until the start of the shutdown check (step S5). Alternatively, periodic checks may be performed at regular intervals or triggered by user operations.

[0120] In step S9-1, the control device 3 checks the detection result of the fixed detection sensor 26b. If the detection result of the fixed detection sensor 26b is in the pressed state (ON), the device proceeds to step S9-2; if it is in the released state (OFF), the device proceeds to step S9-4.

[0121] In step S9-2, the control device 3 determines that the catheter unit 100 and the base unit 200 have been attached (attachment complete), that is, that the state of attachment complete is being maintained. In step S9-3, the control device 3 permits the continued use of the medical system 1A.

[0122] In step S9-4, the control device 3 determines that the catheter unit 100 and the base unit 200 have not been fully attached (attachment incomplete), meaning that the state of attachment completion has not been maintained and an error state is in place (attachment error). In step S9-5, the control device 3 causes the medical system 1A to be shut down as an emergency. In step S9-6, the control device 3 disables control input to the first to ninth drive sources (M11 to M33). At this time, control input to components or units that may cause failure, such as motors (not shown) that move the moving stage 2a, may also be disabled. In step S9-7, the control device 3 notifies, for example using the monitor 4, that the medical system 1A has been emergency stopped due to an installation error, and terminates this flow. The user confirms the notification from the control device 3, stops operating the medical system 1A, and moves the medical system 1A to a safe place. In this embodiment, the user's safe place operation refers to rotating the operating unit 400 in the release direction R2, bringing it to a second state in which the fixing of the first to ninth connecting parts (21c11 to 21c33) to the first to ninth drive wires (W11 to W33) is released, and then moving the catheter unit 100 to a position a certain distance away from the work object. If it is determined that the safety of the user and the work object can be ensured when the medical system 1A is restarted, it is not limited to moving to a certain distance away from the work object. After the safe place operation, the user can resume work by resetting the medical system 1A. Alternatively, the user may confirm the notification from the control device 3 and terminate the medical system 1A without resetting it.

[0123] As described above, in a medical device 1 in which the catheter unit 100 is configured to be detachable from the base unit 200, the attachment and detachment process can be supported and work efficiency can be improved by notifying the completion and non-complete attachment of the catheter unit 100 and the base unit 200.

[0124] [Example 2] Next, Example 2 will be described. The basic configuration and processing operation of the medical system 1A and medical device 1 are the same as in Example 1. In the following, components common to both Example 1 and Example 2 will be denoted by the same reference numerals, and their descriptions will be omitted. The focus will be on the differences from Example 1. <Catheter unit attachment and attachment detection> Using Figure 23, we will explain the process of attaching the catheter unit 100 to the base unit 200. Figure 23 is an explanatory diagram of the installation of the catheter unit 100. Figure 23(a) shows the catheter unit 100 before it is installed on the base unit 200. Figure 23(b) shows the catheter unit 100 after it has been installed on the base unit 200. Inside the keyhole 22a forming the key receiving portion 22, there is a mounting detection unit 30 comprising a mounting detection sensor 30a, a passive spring 30b, and a passive plate 30c. The mounting detection unit 30 is a mounting detection means that detects whether or not the catheter unit 100 and the base unit 200 are mounted. The passive spring 30b expands and contracts with the movement of the key shaft 15. The passive plate 30c receives the reaction force from the compression of the passive spring 30b and presses down the button portion 30a2 of the mounting detection sensor 30a. In this way, the mounting detection unit 30 detects the mounting of the catheter unit 100 by the entry of the key shaft 15 into the keyhole 22a.

[0125] The attachment detection unit 30 is not limited to being placed inside the key receiving unit 22. The attachment detection unit 30 can be placed where the attachment detection sensor 30a can detect the attachment of the catheter unit 100 when the catheter unit 100 and the base unit 200 are attached, and where the detection result is not affected by the movement of the operating unit 400. In this embodiment, the mounting detection sensor 30a is a push-button switch. The mounting detection sensor 30a is fixed to the base unit 200. The passive spring 30b is a compression spring. The passive spring 30a is movably positioned in the space between the inner wall forming the keyhole 22a and the passive plate 30c, and when the key shaft 15 and the key receiving portion 22 are not engaged, the passive spring 30a is at its free length. Therefore, it does not generate enough pressure to press down the button portion 30a2 of the mounting detection sensor 30a, and the mounting detection sensor 30a is in the open state (OFF). At this time, since the operating portion 400 is in the removal position, the detection result of the fixed detection sensor 26b is the open state (OFF). The control device 3 recognizes that the catheter unit 100 is in an unattached state, meaning it is not attached to the base unit 200, if the detection result of the attachment detection sensor 30a is in an open state (OFF) and the detection result of the fixation detection sensor 26b is also in an open state (OFF).

[0126] As the catheter unit 100 is attached to the base unit 200, the key shaft 15 enters the keyhole 22a, compressing the passive spring 30b within the space between the key shaft 15, the inner wall forming the keyhole 22a, and the passive plate 30c. Receiving the reaction force from the compression of the passive spring 30b, the passive plate 30c moves in the attachment direction Da within the keyhole 22a, pressing the button portion 30a2 of the attachment detection sensor 30a. The control device 3 detects that the catheter unit 100 has been attached when the attachment detection sensor 30a is in the pressed state (ON). With the catheter unit 100 attached to the base unit 200, the user completes the attachment of the catheter unit 100 and the base unit 200 by moving the operating unit 400. The state in which the catheter unit 100 is attached, the operating section 400 is not in a fixed position (i.e., the operating section 400 is in a detachable or released position), and the connecting section 21c is in a released state is called the temporary attachment state. The state in which the catheter unit 100 is attached, the operating section 400 is in a fixed position, and the connecting section 21c is in a locked state is called the completed attachment state.

[0127] On the other hand, if the detection result of the attachment detection sensor 30a is in the open state (OFF) and the detection result of the fixed detection sensor 26b is in the pressed state (ON), it indicates that the catheter unit 100 and the base unit 200 are not attached, but the connecting part 21c is locked by the operating part 400. In this embodiment, since the catheter unit 100 is equipped with an operating part 400, it is impossible for the operating part 400 to press the fixed detection sensor 26b when the catheter unit 100 is detached from the base unit 200. The control device 3 recognizes that if the detection result of the attachment detection sensor 30a is in the open state (OFF) and the detection result of the fixed detection sensor 26b is in the pressed state (ON), it is an unexpected state, i.e., an attachment error state.

[0128] In this embodiment, the mounting detection sensor 30a and the fixed detection sensor 26b are described as push-button switches, but the invention is not limited to this. For example, a transmissive light sensor and a sensor flag or light-shielding wall may be used to switch between transmission and shielding when the catheter unit 100 is mounted or the operating unit 400 is moved. A reflective light sensor and a reflector may be used to change the opposing arrangement of the reflective light sensor and the reflector when the catheter unit 100 is mounted or the operating unit 400 is moved. Alternatively, a pressure sensor may be used to detect the pressure generated when the catheter unit 100 is mounted or the operating unit 400 is moved. Furthermore, a spring contact and a contact plate may be provided, and when the catheter unit 100 is mounted or the operating unit 400 is moved, the spring contact and the contact plate come into contact, making electrical conductivity and transmitting a signal. Additionally, an encoder may be used to detect the rotational phase of the operating unit 400.

[0129] <Confirmation of catheter unit and base unit attachment> Using Figure 24, the confirmation of the attachment of the catheter unit 100 and the base unit 200 in Example 2 (Step S17: hereinafter referred to as attachment confirmation) will be explained. In step S17-1, the control device 3 checks the detection result of the mounting detection sensor 30a and the detection result of the fixed detection sensor 26b.

[0130] If, in step S17-1, the detection result of the mounting detection sensor 30a is open (OFF) and the detection result of the fixed detection sensor 26b is also open (OFF), proceed to step S17-2. In step S17-2, the control device 3 determines that it is not installed. In step S17-3, the control device 3 prohibits control input to the first to ninth drive sources (M11 to M33). Thus, from the time the medical system 1A is started up until it is in an unattached state, the control device 3 prohibits control of the first to ninth drive sources (M11 to M33). By prohibiting control of the first to ninth drive sources (M11 to M33), the control device 3 prevents equipment failure due to unintended operation of the drive sources during the attachment work of the catheter unit 100 and the base unit 200, or the removal work described later. At this time, control input to components or units that may cause failure, such as a motor (not shown) that moves the moving stage 2a, may also be prohibited. In step S17-4, the control device 3 notifies, for example using the monitor 4, that the catheter unit 100 is not attached, and returns to step S17-1. At this time, a message prompting the user to attach the catheter unit 100 to the base unit 200 may also be notified. The user confirms the notification from the control device 3 and attaches the catheter unit 100 to the base unit 200.

[0131] If, in step S17-1, the detection result of the mounting detection sensor 30a is in the pressed state (ON) and the detection result of the fixed detection sensor 26b is in the released state (OFF), proceed to step S17-5. In step S17-5, the control device 3 determines that the device is in a temporary installation state. In step S17-6, the control device 3, similar to step S17-3, prohibits control input to the first to ninth drive sources (M11 to M33). At this time, control input to components or units that may cause failure, such as motors (not shown) that move the moving stage 2a, may also be prohibited. In step S17-7, the control device 3 notifies, for example using the monitor 4, that the device is in a temporary attachment state, and returns to step S17-1. At this time, it may also notify the user of a message guiding them to complete the attachment (such as a message instructing them to rotate the operating unit 400 toward the locking direction R1 and move it to the fixed position). The user confirms the notification from the control device 3 and completes the attachment of the catheter unit 100 and the base unit 200.

[0132] If, in step S17-1, the detection result of the mounting detection sensor 30a is in the pressed state (ON), and the detection result of the fixed detection sensor 26b is also in the pressed state (ON), then proceed to step S17-8. In step S17-8, the control device 3 determines that the installation is complete. In step S17-9, the control device 3 allows control input to the first to ninth drive sources (M11 to M33). At this time, if control input to components or units that could cause failure, such as motors (not shown) that move the moving stage 2a, had been prohibited, the control device 3 may also allow control input to those components at the same time. In step S17-10, the control device 3 notifies, for example using the monitor 4, that the installation is complete, and terminates this flow.

[0133] If, in step S17-1, the detection result of the mounting detection sensor 30a is in the open state (OFF) and the detection result of the fixed detection sensor 26b is in the pressed state (ON), the process proceeds to step S17-11. In step S17-11, the control device 3 determines that there is an installation error. The installation error is not limited to the installation process, but can occur during the removal of the catheter unit 100 and the base unit 200, or during the use of the medical system 1A, or at any time from the start to the end of the medical system 1A operation. In step S17-12, the control device 3, similar to step S17-3, prohibits control input to the first to ninth drive sources (M11 to M33). At this time, similar to the response in the event of an emergency stop, control input to components or units that may cause failure, such as motors (not shown) that move the moving stage 2a, may also be prohibited. In step S17-13, the control device 3 notifies, for example using the monitor 4, that there is an installation error and terminates this flow. At this time, it may also notify a message prompting the user to check the installation status of the catheter unit 100 and the base unit 200. The user checks the notification from the control device 3 and confirms the installation status of the catheter unit 100 and the base unit 200. Furthermore, if an installation error occurs, the control device 3 may be configured to automatically execute a predetermined installation error recovery process. Alternatively, it may be configured to wait for a start instruction from the user before starting the installation error recovery process. In addition, the installation error recovery process may involve redoing the installation process. Alternatively, the medical system 1A may be restarted and the setup may be redone.

[0134] <Confirmation of removal of catheter unit and base unit> Using Figure 25, the removal confirmation of the catheter unit 100 and base unit 200 in Example 2 (Step S18: hereinafter referred to as "removal confirmation") will be explained. In step S18-1, the control device 3 prohibits control input to the first to ninth drive sources (M11 to M33). At this time, control input to components or units that may cause failure, such as motors (not shown) that move the moving stage 2a, may also be prohibited. In step S18-2, the control device 3 checks the detection result of the mounting detection sensor 30a and the detection result of the fixed detection sensor 26b.

[0135] If, in step S18-2, the detection result of the mounting detection sensor 30a is in the pressed state (ON), and the detection result of the fixed detection sensor 26b is also in the pressed state (ON), then proceed to step S18-3. In step S18-3, the control device 3 determines that the installation is complete. In step S18-4, the control device 3 notifies, for example using the monitor 4, that the installation is complete, and returns to step S18-2. At this time, it may also notify a message to guide the user to remove the device (such as a message instructing the user to rotate the operating unit 400 from the fixed position toward the release direction R2 and move it to the removal position). The user confirms the notification from the control device 3 and moves the operating unit 400 to the removal position.

[0136] If, in step S18-2, the detection result of the mounting detection sensor 30a is in the pressed state (ON) and the detection result of the fixed detection sensor 26b is in the released state (OFF), the process proceeds to step S18-5. In step S18-5, the control device 3 determines that it is in a temporary installation state. In step S18-6, the control device 3 notifies, for example using the monitor 4, that the device is in a temporary attachment state, and returns to step S18-2. At this time, it may also notify a message prompting the user to remove the catheter unit 100 from the base unit 200. Specifically, it confirms that the operating unit 400 is in the removal position and guides the user to remove the catheter unit 100 from the base unit 200. The user confirms the notification from the control device 3 and removes the catheter unit 100 and the base unit 200.

[0137] If, in step S18-2, the detection result of the mounting detection sensor 30a is open (OFF) and the detection result of the fixed detection sensor 26b is also open (OFF), proceed to step S18-7. In step S18-7, the control device 3 determines that it is not installed. In step S18-8, the control device 3 notifies, for example using the monitor 4, that the catheter unit 100 and base unit 200 have been removed, and terminates this flow.

[0138] If, in step S18-2, the detection result of the mounting detection sensor 30a is in the open state (OFF) and the detection result of the fixed detection sensor 26b is in the pressed state (ON), proceed to step S18-9. In step S18-9, the control device 3 determines that there is an installation error. In step S18-10, the control device 3 notifies, for example using the monitor 4, that there is an installation error and terminates this flow. At this time, it may also notify a message prompting the user to check the installation status of the catheter unit 100 and the base unit 200. The user checks the notification from the control device 3 and confirms the installation status of the catheter unit 100 and the base unit 200. Furthermore, if an installation error occurs, the control device 3 may be configured to automatically execute a predetermined installation error recovery process. Alternatively, it may be configured to wait for a start instruction from the user before starting the installation error recovery process.

[0139] <Monitoring the attachment of the catheter unit and base unit> Using Figure 26, the fitting monitoring of the catheter unit 100 and base unit 200 in Example 2 (step S19: hereinafter referred to as fitting monitoring) will be explained. The control device 3 performs continuous monitoring of the medical system 1A while it is in use (step S4), from the completion of the startup check (step S3) until the start of the shutdown check (step S5). Alternatively, periodic checks may be performed at regular intervals or triggered by user operations. In step S19-1, the control device 3 checks the detection result of the mounting detection sensor 30a and the detection result of the fixed detection sensor 26b.

[0140] If, in step S19-1, the detection result of the mounting detection sensor 30a is in the pressed state (ON), and the detection result of the fixed detection sensor 26b is also in the pressed state (ON), then proceed to step S19-2. In step S19-2, the control device 3 determines that the installation is complete. In step S19-3, the control device 3 allows continued use of the medical system 1A and returns to step S19-1.

[0141] If, in step S19-1, the detection result of the mounting detection sensor 30a is not in the pressed state (ON), and the detection result of the fixed detection sensor 26b is not in the pressed state (ON), then proceed to step S19-4. In step S19-4, the control device 3 determines that there is an installation error. In step S19-5, the control device 3 causes the medical system 1A to be shut down in an emergency. In step S19-6, the control device 3 prohibits control input to the first to ninth drive sources (M11 to M33). At this time, control input to components or units that may cause failure, such as motors (not shown) that move the moving stage 2a, may also be prohibited. In step S19-7, the control device 3 notifies, for example using the monitor 4, that the medical system 1A has been emergency shut down due to an installation error, and terminates this flow.

[0142] As described above, based on the detection results of the attachment detection sensor 30a and the fixation detection sensor 26b, it is possible to notify the user of more detailed status regarding the attachment of the catheter unit 100 and the base unit 200, specifically, the status of attachment completion, temporary attachment, not attached, and attachment error.

[0143] Figure 27 shows an example of a hardware configuration for realizing the information processing apparatus of the present invention. The control device 3 comprises a CPU 2701, a memory 2702, a storage device 2703, an input device 2704, and an output device 2705, each of which is interconnected by a bus 2706. The CPU 2701 executes the program stored in the memory device 2703. This executes the processing shown in the flowchart described above. By the CPU 2701 executing the program in this way, the functions of acquisition means, notification means, and control prohibition means as defined in this invention are realized. Memory 2702 temporarily stores the program and data read by the CPU 2701 from the memory device 2703. Memory 2702 is also used as an area for the CPU 2701 to execute various programs. Memory device 2703 stores the operating system (OS), various programs, and various data. The input device 2704 is a functional unit that receives input from the user, such as a keyboard or mouse. The output device 2705 outputs the information input by the input device 2704 and the execution results of the program executed by the CPU 2701.

[0144] Although the present invention has been described above along with its embodiments, these embodiments are merely examples of how the present invention can be implemented, and the technical scope of the present invention should not be interpreted as being limited by them. In other words, the present invention can be implemented in various forms without departing from its technical concept or its main features. (Other embodiments) The present invention can also be realized by supplying a program that implements one or more of the functions of the above-described embodiments to a system or device via a network or storage medium, and by having one or more processors in the computer of that system or device read and execute the program. It can also be realized by a circuit (e.g., an ASIC) that implements one or more functions. [Explanation of symbols]

[0145] 1: Medical device, 1A: Medical system, 3: Control device, 11: Catheter, 12: Bending section, 13: Bending drive section, 21: Coupling device, 21c: Coupling section, 26b: Fixation detection sensor, 30a: Attachment detection sensor, 100: Catheter unit, 200: Base unit, 400: Operating section, M: Drive source, W: Drive wire, Wa: Holding section

Claims

1. A base unit comprising a drive source and a connecting portion connected to the drive source, A bendable unit that is detachable from the base unit, comprising a curved portion configured to bend, and a holding portion connected to the connecting portion and moving so as to bend the curved portion, With the flexible unit and the base unit mounted, the operating unit is movable between a fixed position in which the connecting portion and the held portion are fixed, and a position in which the connecting portion and the held portion are not fixed. A fixing detection means for detecting whether the operating unit is in the fixed position, A control unit that, based on the detection result of the fixed detection means, prohibits the operation of the drive source if the operation unit is not in the fixed position, A continuous robot characterized by having the following features.

2. The continuous robot according to claim 1, further comprising mounting detection means for detecting whether or not the bendable unit and the base unit are mounted.

3. The system has multiple of the aforementioned drive sources, It has a plurality of connecting parts connected to each of the plurality of drive sources, It has a plurality of retained parts that are connected to each of the plurality of connecting parts, The continuous robot according to claim 1 or 2, characterized in that when the operating unit is moved to the fixed position, the plurality of connecting units and the plurality of held units are fixed, respectively.

4. The continuous robot according to any one of claims 1 to 3, further comprising a notification means for notifying whether the bending unit and the base unit have been installed or not, based on the detection result of the fixed detection means.

5. The continuous robot according to claim 4, characterized in that the notification means notifies of an attachment error when the fixing detection means detects that the operating unit is not in the fixed position while the continuous robot is in use.

6. The continuous robot according to claim 2, further comprising notification means for notifying the mounting completion state, temporary mounting state, unmounted state, and mounting error state of the bending unit and the base unit based on the detection result of the mounting detection means and the detection result of the fixing detection means.

7. The continuous robot according to claim 6, wherein the notification means notifies that the bendable unit and the base unit are in a completed mounting state when the mounting detection means detects that the bendable unit and the base unit are mounted and the fixing detection means detects that the operating unit is in the fixed position.

8. The continuous robot according to claim 7, characterized in that the notification means notifies that the bendable unit and the base unit are in a temporary mounting state when the mounting detection means detects that the bendable unit and the base unit are mounted and the fixing detection means detects that the operating unit is not in the fixed position.

9. The notification means, when the mounting detection means detects that the bendable unit and the base unit are not mounted, and the fixing detection means detects that the operating unit is not in the fixed position, will indicate that the bendable unit and the base unit are in an unmounted state. The continuous robot according to claim 7 or 8, characterized in that it notifies a certain thing.

10. The continuous robot according to any one of claims 7 to 9, characterized in that the notification means notifies that an installation error is occurring when the mounting detection means detects that the bendable unit and the base unit are not mounted, and the fixing detection means detects that the operating unit is in the fixed position.

11. The continuous robot according to any one of claims 1 to 10, wherein the operating unit is movable between the fixed position and the release position located between the fixed position, the connecting portion and the held portion and the position where the fixed position, the connecting portion and the held portion are not fixed, and in the release position, the removal of the bendable unit from the base unit is restricted.

12. The continuous robot according to any one of claims 1 to 11, characterized in that when the operating unit is in the fixed position, the fixed detection means outputs a signal indicating a pressed state, and when the operating unit is not in the fixed position, the fixed detection means outputs a signal indicating an open state.

13. A method for controlling a continuum robot, The aforementioned continuous robot is A base unit comprising a drive source and a connecting portion connected to the drive source, A bendable unit that is detachable from the base unit, comprising a curved portion configured to bend, and a holding portion connected to the connecting portion and moving so as to bend the curved portion, With the flexible unit and the base unit mounted, the operating unit is movable between a fixed position in which the connecting portion and the held portion are fixed, and a position in which the connecting portion and the held portion are not fixed. Equipped with, The control method described above is A fixing detection step for detecting whether the operating unit is in the fixed position, A control step which, based on the detection result of the fixed detection step, prohibits the operation of the drive source if the operating unit is not in the fixed position, A control method characterized by having the following features.

14. A computer program for causing a computer to execute the control method described in Claim 13.

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