Medical devices

Abstract

To inhibit a curved unit from being brought into a state in which it can be removed from a coupling unit by an operation for releasing the fixing of a linear member to a coupling part.SOLUTION: A medical device includes: (i) a coupling unit equipped with a coupling part connected to a drive source; (ii) a curved unit having a linear member connected to a curved part; (iii) a first operation part that can be moved to a fixed position in which the linear member is fixed to the coupling part and an attaching / detaching position at which the fixing between the coupling part and the linear member is released; (iv) a lock member that can be moved to a lock position for regulating removal of the curved unit from the coupling unit, and to an unlock position; and (v) a second operation part for moving the lock member to the unlock position. In a state that the curved unit is attached to the coupling unit, the first operation part is in the attaching / detaching position, and the lock member is at the unlock position, removal of the curved unit from the coupling unit is permitted.SELECTED DRAWING: Figure 13

Description

Technical Field

[0001] The present invention relates to a medical device having a linear member for bending a curved portion.

Background Art

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

[0003] In the medical device of Patent Document 1, after the connecting shaft is linearly inserted into the connecting receiver along one direction and then rotated, the rod and the drive stage are engaged, and the wire and the actuator are connected.

[0004] On the other hand, when disconnecting the connection between the wire and the actuator, the connecting shaft is rotated to release the engagement between the rod and the drive stage. However, the position where the engagement between the rod and the drive stage is released is also a position where the connecting shaft can be removed from the connecting receiver.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] When a curved unit having a linear member connected to a curved portion is removable with respect to a connecting unit provided with a connecting portion connected to a drive source, it is preferable to suppress the removal of the curved unit from the connecting unit against the intention of the user.

[0007] The present invention aims to prevent the curved unit from becoming detachable from the connecting unit by an operation to release the fixing of the linear member to the connecting portion. [Means for solving the problem]

[0008] One of the inventions related to this application is as follows:

[0009] A coupling unit having a coupling part connected to a power source, A curved unit that is detachably attached to the connecting unit, comprising a curved portion and a linear member connected to the curved portion, With the curved unit attached to the connecting unit, the first operating part is movable between a fixed position in which the linear member is fixed to the connecting portion and a detachable position in which the fixing between the connecting portion and the linear member is released. With the curved unit attached to the connecting unit and the first operating part in the attachment / detachment position, a locking member is provided that is movable between a locked position and an unlocked position, thereby restricting the removal of the curved unit from the connecting unit. The locking member comprises a second operating unit for moving the locking member from the locked position to the unlocked position, When the curved unit is attached to the connecting unit and the first operating part is positioned in the fixed position, the movement of the locking member from the locked position to the unlocked position is restricted. When the curved unit is attached to the connecting unit, the first operating part is in the attachment / detachment position, and the locking member is in the unlocked position only The removal of the curved unit from the connecting unit is permitted. With the curved unit attached to the connecting unit and the locking member positioned in the locked position only The first operating unit is movable between the fixed position and the detachable position. A medical device characterized by the following features.

[0010] One of the inventions related to this application is as follows:

[0011] A coupling unit having a coupling part connected to a power source, A curved unit that is detachably attached to the connecting unit, comprising a curved portion and a linear member connected to the curved portion, With the curved unit attached to the connecting unit, the first operating part is movable between a fixed position in which the linear member is fixed to the connecting portion and a detachable position in which the fixing between the connecting portion and the linear member is released. With the curved unit attached to the connecting unit and the first operating part in the attachment / detachment position, a locking member is provided that is movable between a locked position and an unlocked position, thereby restricting the removal of the curved unit from the connecting unit. A second operating unit for moving the locking member from the locked position to the unlocked position, Equipped with, When the curved unit is attached to the connecting unit and the first operating part is positioned in the fixed position, the movement of the locking member from the locked position to the unlocked position is restricted. When the curved unit is attached to the connecting unit, the first operating part is in the attachment / detachment position, and the locking member is in the unlocked position only The removal of the curved unit from the connecting unit is permitted. The second operating unit is positioned away from the first operating unit. A medical device characterized by the following features. [Effects of the Invention]

[0012] As described above, according to the present invention, it is possible to prevent the curved unit from becoming detachable from the connecting unit by the operation to release the fixing of the linear member to the connecting portion. [Brief explanation of the drawing]

[0013] [Figure 1] Overall diagram of the healthcare system [Figure 2] Perspective view showing medical device and support stand [Figure 3] Catheter diagram [Figure 4] Diagram illustrating the catheter unit. [Figure 5] Explanatory drawing of the base unit and the wire driving unit [Figure 6] Explanatory drawing of the wire driving unit, the connecting device, and the bending driving unit [Figure 7] Explanatory drawing of the attachment of the catheter unit [Figure 8] Exploded perspective view showing the first operation unit and the components around the first operation unit [Figure 9] Diagram explaining the relationship between the first operation unit, the locking member, and the second operation unit [Figure 10] Diagram explaining the relationship between the first operation unit, the locking member, and the second operation unit [Figure 11] Cross-sectional view of the catheter unit and the base unit [Figure 12] Cross-sectional view of the catheter unit and the base unit [Figure 13] Cross-sectional view of the catheter unit and the base unit [Figure 14] Cross-sectional view of the catheter unit and the base unit [Figure 15] Diagram explaining the connection part between the catheter unit and the base unit [Figure 16] Diagram explaining the fixing of the drive wire by the connection part [Figure 17] Diagram explaining the fixing of the drive wire by the connection part [Figure 18] Diagram explaining the fixing of the drive wire by the connection part [Figure 19] Diagram explaining the fixing of the drive wire by the connection part [Figure 20] Diagram explaining the fixing of the drive wire by the connection part

Mode for Carrying Out the Invention

[0014] The configuration of the present invention will be illustrated below with reference to the drawings. Note that the dimensions, materials, shapes, arrangements, etc. of the components described in this embodiment should be appropriately changed according to the configuration of the device to which the present invention is applied and various conditions.

[0015] 〔Example 1〕 <Medical systems and medical devices> The medical system 1A and medical device 1 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.

[0016] The medical system 1A comprises a medical device 1, a support base 2 for mounting the medical device 1, and a control device 3 for controlling the medical device 1. In this embodiment, the medical system 1A also includes a monitor 4 as a display device.

[0017] The medical device 1 comprises a catheter unit (bendable unit, bending unit, bending body unit) 100 equipped with a catheter 11 as a bendable body, and a base unit (drive unit, mounting unit, connecting unit) 200. The catheter unit 100 is configured to be detachable from the base unit 200.

[0018] 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 bronchus through the patient's oral cavity or nasal cavity, tasks such as observing, collecting, and excising lung tissue can be performed.

[0019] The catheter 11 can be used as a guide (sheath) to guide medical instruments for performing the above-mentioned procedures. Examples of medical instruments (tools) include endoscopes, forceps, and ablation devices. The catheter 11 itself may also function as one of the above-mentioned medical instruments.

[0020] In this embodiment, the control unit 3 includes an arithmetic unit 3a and an input device 3b. The input device 3b receives commands and inputs for operating the catheter 11. The arithmetic unit 3a includes storage for storing programs and various data for controlling the catheter, a random access memory, and a central processing unit for executing the programs. The control unit 3 may also include an output unit that outputs signals for displaying images on the monitor 4.

[0021] As shown in Figure 2, in this embodiment, the medical device 1 is electrically connected to the control unit 3 via a cable 5 connecting the base unit 200 of the medical device 1 and the support base 2, and via the support base 2. Alternatively, the medical device 1 and the control unit 3 may be directly connected by a cable. Alternatively, the medical device 1 and the control unit 3 may be connected wirelessly.

[0022] The medical device 1 is detachably mounted on the support base 2 via the base unit 200. More specifically, the mounting portion (connecting portion) 200a of the base unit 200 of the medical device 1 is 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 unit 3 is maintained so that the medical device 1 can be controlled by the control unit 3. In this embodiment, even when the mounting portion 200a of the medical device 1 is detached from the movable stage 2a, the medical device 1 and the support base 2 are connected by a cable 5.

[0023] 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.

[0024] The user can use the medical device 1 when the catheter 11 is inserted into the target and the medical device 1 is attached to the support base 2. Specifically, with the medical device 1 attached to the moving stage 2a, the medical device 1 moves as the moving stage 2a moves. Then, actions are performed to move the catheter 11 in the direction of insertion into the target and to move the catheter 11 in the direction of withdrawal from the target. The movement of the moving stage 2a is controlled by the control unit 3.

[0025] The medical device 1 includes a wire drive unit (linear member drive unit, line drive unit, main body drive unit) 300 for driving the catheter 11. In this embodiment, the medical device 1 is a robotic catheter device that drives the catheter 11 with a wire drive unit 300 controlled by a control unit 3.

[0026] 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).

[0027] Regarding the extension direction of the catheter 11, the end where the tip of the catheter 11 to be inserted into the target is located is called the distal end. Regarding the extension direction of the catheter 11, the opposite end from the distal end is called the proximal end.

[0028] The catheter unit 100 has a proximal end cover 16 that covers the proximal end of the catheter 11. The proximal end cover 16 has a tool hole 16a. A medical instrument can be inserted into the catheter 11 through the tool hole 16a.

[0029] 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.

[0030] 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.

[0031] As described later, the catheter unit 100 is detachably attached to the catheter drive device (base device, main body), more specifically to the base unit 200. After the medical device 1 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.

[0032] As shown in Figure 2, the medical device 1 has a first operating unit 400. In this embodiment, the first operating unit 400 is provided on the catheter unit 100. The first operating unit 400 is operated by the user when connecting the catheter 11 to the wire drive unit 300 and when disconnecting the catheter 11 to the wire drive unit 300.

[0033] <Catheter> The catheter 11 as a flexible body will be explained using Figure 3. 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] In this embodiment, each of the first to ninth retained parts (Wa11 to Wa33) has the same shape.

[0039] Each of the first to ninth drive wires (W11 to W33) includes a flexible wire body (line body, linear body) Wb. Specifically, the first drive wire W11 includes 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.

[0040] In this embodiment, each of the first to third wire bodies (Wb11 to Wb13) has the same shape. Each of the fourth to sixth wire bodies (Wb21 to Wb23) has the same shape. Each of the seventh to ninth wire bodies (Wb31 to Wb33) has the same shape. In this embodiment, the first to ninth wire bodies (Wb11 to Wb33) have the same shape except for their length.

[0041] 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.

[0042] The first to ninth drive wires (W11 to W33) are inserted into and fixed in the curved section 12 via the wire guide 17.

[0043] 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.

[0044] 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).

[0045] In this embodiment, the curved portion 12 is a tubular member that is flexible and has a passage Ht for inserting a medical instrument.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] In this embodiment, the curved section 12 includes a plurality of auxiliary rings (not shown). In the curved region 12b, the first guide ring J1, the second guide ring J2, and the third guide ring J3 are fixed to the wall surface of the curved section 12. In this embodiment, the plurality of auxiliary rings are positioned between the first guide ring J1 and the second guide ring J2, and between the second guide ring J2 and the third guide ring J3.

[0050] 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.

[0051] 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.

[0052] Specifically, the first drive wire W11, the second drive wire W12, and the third drive wire W13 are fixed to the first guide ring J1. The fourth drive wire W21, the fifth drive wire W22, and the sixth drive wire W23 are fixed to the second guide ring J2, passing through the first guide ring J1 and several auxiliary rings. The seventh drive wire W31, the eighth drive wire W32, and the ninth drive wire W33 are fixed to the third guide ring J3, passing through the first guide ring J1, the second guide ring J2, and several auxiliary rings.

[0053] 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).

[0054] The user can insert the catheter 11 to the desired portion inside the target object 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.

[0055] 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.

[0056] For example, the catheter 11 may have a configuration in which the 7th to 9th drive wires (W31 to W33) and the 3rd guide ring J3 are present, and the 1st to 6th drive wires (W11 to W23) and the 1st to 2nd guide rings (J1 to J2) are omitted. Alternatively, the catheter 11 may have a configuration in which the 4th to 9th drive wires (W21 to W33) and the 2nd to 3rd guide rings (J2 to J3) are present, and the 1st to 3rd drive wires (W11 to W13) and the 1st guide ring J1 are omitted.

[0057] 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.

[0058] <Catheter Unit> The catheter unit 100 will be explained using Figure 4.

[0059] 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 exposed position.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] The wire cover 14 is provided with multiple exposed holes (wire cover holes, cover holes) for passing each of the first to ninth drive wires (W11 to W33). The wire cover 14 is provided with a first exposed hole 14a11, a second exposed hole 14a12, a third exposed hole 14a13, a fourth exposed hole 14a21, a fifth exposed hole 14a22, a sixth exposed hole 14a23, a seventh exposed hole 14a31, an eighth exposed hole 14a32, and a ninth exposed hole 14a33. Each of the first to ninth exposed holes (14a11 to 14a33) corresponds to each of the first to ninth drive wires (W11 to W33). The number after the reference numeral 14a indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first exposed hole 14a11.

[0064] Any one of the first to ninth exposure holes (14a11 to 14a33) can be called exposure hole 14a. In this embodiment, each of the first to ninth exposure holes (14a11 to 14a33) has the same shape.

[0065] The wire cover 14 can move between a cover position that covers the first to ninth drive wires (W11 to W33) (see Figure 14(a)) and a cover retracted position that is retracted from the cover position (see Figure 14(b)). The cover retracted position can also be called an exposed position that exposes the first to ninth drive wires (W11 to W33).

[0066] Before attaching the catheter unit 100 to the base unit 200, the wire cover 14 is in the covered position. When the catheter unit 100 is attached to the base unit 200, the wire cover 14 moves from the covered position to the exposed position along the attachment / detachment direction DE.

[0067] When the wire cover 14 is in the exposed position, the first to ninth held portions (Wa11 to Wa33) of the first to ninth drive wires (W11 to W33) are exposed. As a result, connection between the curved drive unit 13 and the coupling device 21, which will be described later, is permitted. When the wire cover 14 is in the exposed position, the first to ninth held portions (Wa11 to Wa33) and a portion of the wire body (Wb11 to Wb33) of the first to ninth drive wires (W11 to W33) protrude from the first to ninth exposed holes (14a11 to 14a33). More specifically, the first to ninth held portions (Wa11 to Wa33) protrude from the first to ninth exposed holes (14a11 to 14a33) toward the mounting direction Da, which will be described later.

[0068] As shown in Figure 4(b), each of the first to ninth drive wires (W11 to W33) is arranged along a circle (virtual circle) having a predetermined radius and is supported by a wire guide 17, which will be described later.

[0069] 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.

[0070] In this embodiment, when viewed in the attachment / detachment direction DE, the first to ninth drive wires (W11 to W33) are arranged outside the key shaft 15 so as to surround 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.

[0071] In this embodiment, the catheter unit 100 includes a first operating section 400. The first operating section 400 is configured to be movable (rotatable) relative to the proximal end cover 16 and the bending drive section 13. The first operating section 400 is rotatable about a rotation axis 400r. The rotation axis 400r of the first operating section 400 extends in the attachment / detachment direction DE.

[0072] With the catheter unit 100 attached to the base unit 200, the first operating unit 400 is configured to be movable (rotatable) relative to the base unit 200. More specifically, the first 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.

[0073] Furthermore, the catheter unit 100 includes a connecting cover 18, a locking member 401, a locking biasing member (biasing member) 402 that biases the locking member 401, and a second operating section 404. The connecting cover 18 holds the locking member 401, the locking biasing member 402, and the second operating section 404.

[0074] The locking member 401 locks the catheter unit 100 to the base unit 200 to prevent the catheter unit 100 from detaching from the base unit 200 when the catheter unit 100 is attached to the base unit 200. The second operating unit 404 releases the lock by the locking member 401.

[0075] The locking of the catheter unit 100 to the base unit 200, and the detachment (removal) of the catheter unit 100 from the base unit 200, will be described later.

[0076] <Base Unit> The base unit 200 and the wire drive unit 300 will be described using Figure 5.

[0077] 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.

[0078] 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.

[0079] The wire drive unit 300 has a plurality of 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.

[0080] 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.

[0081] 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.

[0082] Any one of the first to ninth connecting parts (21c11 to 21c33) can be called a connecting part 21c. In this embodiment, each of the first to ninth connecting parts (21c11 to 21c33) has the same configuration.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] The base frame 25 is provided with a mounting opening 25b into which the wire cover 14 is inserted. The bottom 25i of the mounting opening 25b has 1st to 9th insertion holes (25a11 to 25a33).

[0090] 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.

[0091] The base frame 25 has a key receiving portion (key hole, base-side key, body-side key) 22 for receiving the key shaft 15. The engagement of the key shaft 15 with the key receiving portion 22 prevents the catheter unit 100 from being mounted to the base unit 200 in the wrong phase.

[0092] 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.

[0093] 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 wire W engages with an insertion hole 25a other than the corresponding insertion hole 25a, and with a connecting part 21c other than the corresponding connecting part 21c.

[0094] 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.

[0095] In this embodiment, the key shaft 15 has a projection that protrudes in a direction intersecting the attachment / detachment direction DE, and the key receiving portion 22 has a recess into which the projection is inserted. In the circumferential direction, the position where the projection 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.

[0096] 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.

[0097] The base unit 200 has a joint 28 with a joint engagement portion 28j. The base frame 25 has an engagement shape (engagement portion) 25c that engages with the locking member 401 of the catheter unit 100. The engagement of the locking member 401 and the engagement shape 25c prevents the catheter unit 100 from detaching from the base unit 200.

[0098] The locking of the catheter unit 100 to the base unit 200, and the detachment (removal) of the catheter unit 100 from the base unit 200, will be described later.

[0099] <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.

[0100] 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.

[0101] 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 a configuration in which one drive wire W, one connecting part 21c, and one drive source M are connected.

[0102] As shown in Figure 6(a), the drive source M has an output shaft Ma and a motor body Mb that rotates the output shaft Ma in the rotational direction Rm. The surface of the output shaft Ma is provided with a helical groove. The output shaft Ma has a so-called screw shape. The motor body Mb is fixed to the motor frame 200b.

[0103] 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.

[0104] 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).

[0105] The connecting portion 21c has a pressing member 21cp. 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.

[0106] 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.

[0107] 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 motor shaft Ma rotates in the rotational direction Rm, the connecting portion 21c is restricted from rotating around the motor shaft Ma. The first bearing B1, the second bearing B2, and the third bearing B3 are provided for each of the first to ninth connecting portions (21c11 to 21c33).

[0108] Because the connecting portion 21c is restricted from rotating around the motor shaft Ma, when the motor shaft Ma rotates, a force acts on the tractor 21ct along the rotation axis direction of the motor shaft Ma due to the helical grooves of the motor shaft Ma. As a result, the connecting portion 21c moves along the rotation axis direction of the motor shaft Ma (in the Dc direction). As the connecting portion 21c moves, the drive wire W moves, causing the curved portion 12 to curve.

[0109] In other words, the motor 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 motor shaft Ma and the tractor 21ct are sliding screws, but ball screws may also be used.

[0110] As shown in Figure 6(c), by attaching the catheter unit 100 to the base unit 200, the first to ninth drive wires (W11 to W33) are connected to the first to ninth connecting parts (21c11 to 21c33).

[0111] The control unit 3 can control each of the first to ninth drive sources (M11 to M33) independently of each other. In other words, any of the first to ninth drive sources (M11 to M33) can operate or stop independently, regardless of whether the other drive sources are stopped or not. To put it another way, the control unit 3 can control each of the first to ninth drive wires (W11 to W33) independently of each other. As a result, each of the first to third guide rings (J1 to J3) is controlled independently of each other, and the curved region 12b of the curved section 12 can be bent in any direction.

[0112] <Catheter unit attachment> Using Figure 7, we will explain the process of attaching the catheter unit 100 to the base unit 200.

[0113] 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.

[0114] The catheter unit 100 is detachably mounted on the base unit 200. 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 first operating unit 400. In other words, the first operating unit 400 is rotatable about a rotation axis 400r that extends toward the attachment / detachment direction DE. Of the attachment / detachment directions DE, the direction in which the catheter unit 100 is attached to the base unit 200 is called the attachment direction Da. Of the attachment / detachment directions DE, the direction in which the catheter unit 100 is removed from the base unit 200 (opposite to the attachment direction Da) is called the removal direction Dd.

[0115] As shown in Figure 7(a), before the catheter unit 100 is attached to the base unit 200, the wire cover 14 is in the cover position. At this time, the wire cover 14 covers the first to ninth drive wires (W11 to W33) so that the first to ninth retained parts (Wa11 to Wa33) do not protrude from the first to ninth exposed holes (14a11 to 14a33) of the wire cover 14.

[0116] When the key shaft 15 and the key receiving portion 22 engage and the catheter unit 100 is moved in the mounting direction Da relative to the base unit 200, the catheter unit 100 is attached to the base unit 200. By attaching the catheter unit 100 to the base unit 200, the wire cover 14 moves to the exposed position. In this embodiment, the wire cover 14 moves from the covered position to the exposed position by coming into contact with the base frame 25 (see Figure 7(b)).

[0117] More specifically, when the catheter unit 100 is attached, the wire cover 14 comes into contact with the base frame 25 and stops. In this state, when the catheter unit 100 is moved in the attachment direction Da, the wire cover 14 moves relative to the rest of the catheter unit 100. As a result, the wire cover 14 moves from the covered position to the exposed position.

[0118] As the wire cover 14 moves from the covered position to the exposed position, the retained portion Wa of the drive wire W protrudes from the exposed hole 14a of the wire cover 14 and is inserted into the insertion hole 25a. Then, the retained portion Wa engages with the connecting base 21cb of the connecting portion 21c (see Figure 6(b)).

[0119] As shown in Figure 7(b), when the catheter unit 100 stops, the locking member 401 is in the locked position and engages with the engaged shape 25c. Due to this engagement relationship, the catheter unit 100 is prevented from moving in the removal direction Dd and remains attached to the base unit 200. In other words, by attaching the catheter unit 100 to the base unit 200 linearly along the attachment / detachment direction DE (more specifically, the mounting direction Da), the locking member 401 engages with the engaged shape 25c. As a result, removal of the catheter unit from the base unit 200 is restricted.

[0120] <Relationship between the locking member and the first operating part> The relationship between the locking member 401 and the first operating part 400 will be explained in more detail using Figures 7, 8, 9, and 10.

[0121] As shown in Figure 7(b), the first operating unit 400 is supported by the operating unit support frame 405 so as to be rotatable around the rotation axis 400r.

[0122] Meanwhile, inside the proximal end cover 16, a wire guide 17 is positioned to bend the drive wire W between the held portion Wa and the catheter 11. The operating section support frame 405 and the proximal end cover 16 are fixed to the wire guide 17 so as to be integrated with the wire guide 17, and the connecting section cover 18 is fixed to the operating section support frame 405 so as to be integrated with the operating section support frame 405. As a result, the first operating section 400 can rotate independently of the operating section support frame 405, the proximal end cover 16, the wire guide 17, and the connecting section cover 18.

[0123] Figure 8 is an exploded perspective view showing the first operating unit 400 and the components surrounding the first operating unit 400.

[0124] In Figure 8(a), the first operating unit 400 is positioned in a detachable position, which will be described later, and in Figure 8(b), the first operating unit 400 is positioned in a fixed position, which will be described later.

[0125] With the catheter unit 100 attached to the base unit 200, the first operating unit 400 is movable between an attachment / detachment position and a fixed position. More specifically, the first operating unit 400 is movable between the attachment / detachment position and the fixed position by rotating around a rotation axis 400r. Attachment and detachment of the catheter unit 100 to the base unit 200 is performed with the first operating unit 400 in the attachment / detachment position.

[0126] As described later, when the catheter unit 100 is attached to the base unit 200 and the first operating unit 400 is in the attachment / detachment position, the fixing between the connecting part 21c and the held part Wa of the drive wire W is released. Also, when the catheter unit 100 is attached to the base unit 200, moving the first operating unit 400 from the attachment / detachment position to the fixed position fixes the held part Wa of the drive wire W to the connecting part 21c.

[0127] The first operating section 400 is rotatable in both the Rc and Rd directions. The first operating section 400 has an operating area (exposed part, force receiving part) 400c that is exposed to the outside of the catheter unit 100 and rotated by the user, an operating side engaging part 400t, and an operating restricting part 400b that restricts the movement of the locking member 401.

[0128] The operating area 400c functions as a handle with an uneven surface, and is exposed to the outside of the medical device 1 while the catheter unit 100 is attached to the base unit 200. Therefore, the user can touch and operate the operating area 400c, and the first operating part 400 is rotated when the operating area 400c receives an external force.

[0129] The connecting section cover 18 is provided with a communication hole 18h1 into which the operation restricting section 400b is inserted, and a communication hole 18h2 into which the operation-side engaging section 400t is inserted. When the operation restricting section 400b is inserted into the communication hole 18h1, it can come into contact with the locking member 401. The operation-side engaging section 400t has a convex shape and, when inserted into the communication hole 18h2, engages with the concave joint engaging section 28j of the joint 28 disposed within the base unit 200. As a result, the user's operating force to rotate the first operating section 400 can be transmitted from the first operating section 400 to the connecting device 21 of the base unit.

[0130] The operating side engagement portion 400t may have a concave shape, and the joint engagement portion 28j may have a convex shape.

[0131] The base unit 200 has an internal gear 29 as a moving gear that is interlocked with the first operating unit 400 via a joint 28.

[0132] The joint 28 has multiple transmission parts 28c, and the internal gear 29 has multiple transmission parts 29c and teeth 29g. The multiple transmission parts 28c are engaged 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.

[0133] When the catheter unit 100 is attached to the base unit 200, the operating side engaging portion 400t provided on the first operating portion 400 engages with the joint engaging portion 28j of the joint 28. When the first operating portion 400 rotates, the rotation of the first operating portion 400 is transmitted to the joint 28, and when the joint 28 rotates, the internal gear 29 rotates. In other words, the first operating portion 400, the joint 28, and the internal gear 29 rotate in the same direction.

[0134] The teeth 29g of the internal gear 29 engage with the gear portion 21cg shown in Figure 6(b), and as a result, the gear portion 21cg of the coupling device 21 is driven by the operation of the first operating unit 400. The specific operation of the coupling device 21 will be described later.

[0135] Figures 9 and 10 illustrate the relationship between the first operating section 400, the locking member 401, and the second operating section 404. Note that the wire cover 14 is omitted from the illustration for clarity.

[0136] Figure 9(a) is a perspective view of the catheter unit 100 when the first operating section 400 is in the attachment / detachment position. Figure 9(b) is a cross-sectional view of the catheter unit 100 when the first operating section 400 is in the attachment / detachment position.

[0137] Figure 10(a) is a perspective view of the catheter unit 100 when the first operating section 400 is in a fixed position. Figure 10(b) is a cross-sectional view of the catheter unit 100 when the first operating section 400 is in a fixed position. Figure 10(a) shows the state in which the first operating section 400 has been operated in the Rc direction from the state in Figure 9.

[0138] The connecting cover 18 has a locking member support portion 18s that supports the locking member 401, and supports the second operating portion 404 so that it can move in a direction intersecting (preferably perpendicular to) the direction of the rotation axis 400r. In this embodiment, the second operating portion 404 is a button exposed to the outside of the catheter unit 100. With the catheter unit 100 mounted on the base unit 200, the second operating portion 404 is exposed to the outside of the medical device 1, and the user can operate the second operating portion 404.

[0139] The second operating section 404 is movable in the Yf direction and the Yp direction (unlocking direction). As will be described later, by moving the second operating section 404 in the Yp direction, the locking member 401 moves from the locked position in which the locking member 401 engages with the engaged shape 25c to the unlocked position in which the locking member 401 separates from the engaged shape 25c.

[0140] The second operating unit 404 is positioned away from the first operating unit 400, and the second operating unit 404 and the first operating unit 400 can move independently of each other. In other words, while one of the second operating unit 404 or the first operating unit 400 is stationary, the other can move.

[0141] The locking member 401 is pivotable (rotatable) between the unlocked position and the locked position around the locking member support portion 18s. The locking member 401 is biased by the locking biasing member 402 from the unlocked position to the locked position.

[0142] The locking member 401 has a locking engagement portion 401e and an operating receiving portion 401w. The second operating portion 404 is in contact with the operating receiving portion 401w of the locking member 401 and is biased in the Yf direction to be exposed outside the device by the locking biasing member 402 via the locking member 401.

[0143] In the state shown in Figure 9(b), the first operating part 400 is in the attachment / detachment position, and a gap Cr is created between the locking member 401 and the operating restricting part 400b. Therefore, when the second operating part 404 is operated in the Yp direction, the locking member 401 can rotate against the biasing force of the locking biasing member 402.

[0144] In Figure 10, compared to Figure 9, the operation restricting part 400b and the operation-side engaging part 400t are rotated around the rotation axis 400r by the operation of the first operation part 400, and the first operation part 400 is in a fixed position. As will be described later, with the catheter unit 100 attached to the base unit 200, the holding part Wa is fixed to the connecting part 21c by the movement of the operation-side engaging part 400t.

[0145] As shown in Figure 10(b), the operation restricting part 400b eliminates the gap Cr that existed between the locking member 401 and the operation restricting part 400b. Specifically, the operation restricting part 400b moves to a position that restricts the operation receiving part 401w, thereby restricting the rotation of the locking member 401. As the movement of the locking member 401 is restricted, the movement of the second operating part 404 in the Yp direction is also restricted, making it impossible to operate the second operating part 404.

[0146] <Catheter unit attachment and locking mechanism operation> Next, the operation of the locking member 401 during the process of attaching the catheter unit 100 to the base unit 200 will be explained using Figures 11, 12, 13, and 14. Figures 11-14 are cross-sectional views of the catheter unit 100 and the base unit 200.

[0147] Figure 11 shows the state in which the locking member 401 is in contact with the base frame 25 during the insertion process of the catheter unit 100. At this time, the first operating section 400 is in the same state as shown in Figure 9, so the first operating section 400 is in the attachment / detachment position, and the rotation of the locking member 401 is not restricted.

[0148] The catheter unit 100 is attached to the base unit 200 by moving it in the mounting direction Da. At this time, a force in the Yf direction acts on the contact surface 401f of the locking member 401 due to the contact between the contact surface 401f of the locking member 401 and the tip shape 25f of the base frame 25. Therefore, the locking member 401 rotates around the locking member support portion 18s shown in Figure 9(a) or Figure 10(a) to counteract the biasing force by the locking biasing member 402. In other words, when attaching the catheter unit 100 to the base unit 200, the locking member 401 moves from the locked position to the unlocked position against the biasing force by the locking biasing member 402.

[0149] The rotation of the locking member 401 moves the contact surface 401f to a position where it no longer contacts the tip shape 25f, thereby allowing the catheter unit 100 to remain attached to the base unit 200.

[0150] Figure 12 shows the state after the insertion of the catheter unit 100 has progressed from the state shown in Figure 11. The locking member 401 is restricted in position by contacting the outer shape of the base frame 25 while receiving a biasing force from the locking biasing member 402. At this time, the locking member 401 is in the same position as the unlocked position.

[0151] Furthermore, in the state shown in Figure 12, if an attempt is made to operate the first operating unit 400, the locking member 401 is located on the trajectory of the operating restriction unit 400b, thus hindering the rotation of the first operating unit 400. In other words, in the state shown in Figure 12, the first operating unit 400 cannot be operated.

[0152] In other words, when the locking member 401 is in the unlocked position, the locking member 401 restricts the movement (rotation) of the first operating unit 400. This restricts the rotation of the first operating unit 400 after a part of the catheter unit 100 (the locking member 401) has come into contact with the base unit 200, but before the catheter unit 100 reaches the mounting completion position.

[0153] Figure 13 shows the catheter unit 100 in the position where it has been fully attached to the base unit 200. In Figure 13(a), the first operating section 400 is in the attachment / detachment position, and the locking member 401 is in the locked position. In Figure 13(b), with the catheter unit 100 attached to the base unit 200, the second operating section 404 is moved in the Yp direction, and the locking member 401 is in the unlocked position.

[0154] In this embodiment, the completed mounting position is specifically the position where the proximal end 17n of the wire guide 17 abuts against the bottom 25i of the mounting opening 25b of the base frame 25 shown in Figure 5(a) via the rod cover 14.

[0155] The locking member 401 is movable between a locked position and an unlocked position, when the catheter unit 100 is attached to the base unit 200 and the first operating unit 400 is in the attachment / detachment position. When the catheter unit 100 is attached to the base unit 200, the first operating unit 400 is in the attachment / detachment position, and the locking member 401 is in the unlocked position, the catheter unit 100 is permitted to be removed from the base unit 200.

[0156] As shown in Figure 13(a), when the catheter unit 100 reaches the mounting completion position, the locking member 401 is biased by the locking biasing member 402 so that the locking engagement portion 401e and the engaged shape 25c engage. In this state, the locking member 401 is in the locked position, and the catheter unit 100 is restricted from moving relative to the base unit 200 in the direction of the rotation axis 400r. In other words, the catheter unit 100 cannot move relative to the base unit 200 in the removal direction Dd, and the catheter unit 100 cannot be removed from the base unit 200.

[0157] In this way, the catheter unit 100 is attached linearly to the base unit 200 in the mounting direction Da, thereby restricting the removal of the catheter unit 100 from the base unit 200. As mentioned above, the removal direction Dd and the mounting direction Da are in the direction of the rotation axis 400r.

[0158] On the other hand, in the state shown in Figure 13(a), the held portion Wa of the drive wire W reaches the position shown in Figure 6(b) relative to the connecting portion 21c of the connecting device 21. However, the first operating portion 400 has not been moved to the fixed position, and the held portion Wa is not fixed to the connecting portion 21c. That is, when attaching the catheter unit 100 to the base unit 200, no force is required to fix the held portion Wa to the connecting portion 21c. Therefore, the force required to attach the catheter unit 100 to the base unit 200 can be kept small.

[0159] On the other hand, by operating the first operating unit 400 from the state shown in Figure 13(a) to move the first operating unit 400 from the attachment / detachment position to the fixed position, the retained part Wa is fixed to the connecting part 21c. As mentioned above, in the state shown in Figure 12, the movement of the first operating unit 400 is restricted, so the retained part Wa is not fixed to the connecting part 21c before the catheter unit 100 reaches the attachment completion position.

[0160] Figure 14 shows the state after the catheter unit 100 has been attached to the base unit 200 and the first operating unit 400 has been operated. In Figure 14, the first operating unit 400 is in the fixed position and the locking member 401 is in the locked position. At this time, the catheter unit 100 is in the same state as in Figure 10. That is, the movement of the locking member 401 is restricted.

[0161] As will be described later, in order to connect the drive wire W to the drive source M, the first operating unit 400 is moved to a fixed position, and the held portion Wa of the drive wire W is fixed to the connecting portion 21c. As explained using Figure 10, when the first operating unit 400 is in the fixed position, the operation restricting unit 400b restricts the locking member 401 from moving from the locked position to the unlocked position. Therefore, when the catheter unit 100 is attached to the base unit 200 and the first operating unit 400 is in the fixed position, the locking member 401 is restricted from moving from the locked position to the unlocked position. At the same time, because the movement of the locking member 401 is restricted, the operation of the second operating unit 404 (movement in the Yp direction) that moves the locking member 401 from the locked position to the unlocked position is also restricted.

[0162] In this embodiment, the operation of attaching the catheter unit 100 to the base unit 200 while the base unit 200 is in a horizontal position (with the rotation axis 400r facing horizontally) has been described. However, in the usage environment of the medical device 1, there are cases in which the catheter unit 100 is attached while the base unit 200 is tilted. In this embodiment, the support base 2 of the medical system 1A can tilt and support the medical device 1 so that the catheter unit 100 is positioned below the base unit 200 in the vertical direction. In this case, the catheter unit 100 is removed from the base unit 200 by moving downward in the vertical direction.

[0163] However, as shown in Figures 11-13, by attaching the catheter unit 100 to the base unit 200, the locking member 401 restricts the removal of the catheter unit 100 from the base unit 200. Therefore, it is not necessary to operate the first operating unit 400 to lock the catheter unit 100 to the base unit 200. Furthermore, the catheter unit 100 will not detach from the base unit 200 when operating the first operating unit 400.

[0164] As shown in Figure 13(a), when the catheter unit 100 is simply attached to the base unit 200, the operating restriction part 400b is positioned so as not to obstruct the rotation of the locking member 401. Therefore, the user can push the second operating part 404 in the Yp direction and rotate the locking member 401 from the locked position to the unlocked position (see Figure 13(b)). On the other hand, the retained part Wa is not fixed to the connecting part 21c. Therefore, the user can remove the catheter unit 100 by pushing the second operating part 404 in the Yp direction and moving the catheter unit 100 in the removal direction Dd relative to the base unit 200.

[0165] Furthermore, as shown in Figure 12, the first operating unit 400 in this embodiment is rotatably mounted around the rotation axis 400r, and the second operating unit 404 is mounted independently of the first operating unit 400.

[0166] As described above, the position in which the locking member 401 does not allow the removal of the catheter unit 100 is called the locked position, and the position in which the locking member 401 allows the removal of the catheter unit 100 is called the unlocked position. The locking member 401 moves from the locked position to the unlocked position by operating the second operating unit 404.

[0167] <Securing and releasing the bending drive unit> Using Figures 15, 16, 17, 18, 19, and 20, 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.

[0168] Figure 15 is a cross-sectional view of the base unit 200, which is a cross-sectional view obtained by cutting the base unit 200 at the connecting portion 21c in a direction perpendicular to the rotation axis 400r.

[0169] Figures 16, 17, 18, 19, and 20 illustrate the fixing of the drive wire W by the connecting portion 21c.

[0170] As explained using Figure 8, the operation of the first operating unit 400 drives the coupling portion 21c of the coupling device 21 via the joint 28 and the internal gear 29.

[0171] 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.

[0172] Specifically, as shown in Figure 15, 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.

[0173] 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.

[0174] Any one of the first to ninth tooth sections (29g11 to 29g33) can be referred to as tooth section 29g. In this embodiment, each of the first to ninth tooth sections (29g11 to 29g33) has the same configuration.

[0175] 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 tooth sections (29g11 to 29g33) 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 tooth section 29g are connected.

[0176] 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.

[0177] By rotating the first operating part 400, the internal gear 29 rotates. The rotation of the internal gear 29 causes each of the first to ninth connecting parts (21c11 to 21c33) to operate. In other words, the first to ninth connecting parts (21c11 to 21c33) can be operated by rotating one of the first operating parts 400.

[0178] The first operating unit 400 can move between a fixed position (connected position) and a detachable position while the catheter unit 100 is attached to the base unit 200. Furthermore, as will be described later, the first operating unit 400 can move to a release position while the catheter unit 100 is attached to the base unit 200. In the circumferential direction of the first operating unit 400, the release position is located between the fixed position and the detachable position. With the first operating unit 400 in the detachable position, the catheter unit 100 is attached to the base unit 200.

[0179] When the catheter unit 100 is attached to the base unit 200, the drive wire W is released from its connection to the coupling portion 21c. This state is called the release state (blocked state) of the coupling portion 21c. The state in which the drive wire W is fixed (connected) to the coupling portion 21c is called the fixed state (connected state) of the coupling portion 21c.

[0180] The operation of fixing the drive wire W to the connecting part 21c will be explained using Figures 16, 17, 18, 19, and 20.

[0181] With the first operating section 401 in the attachment / detachment position, the catheter unit 100 can be attached to the base unit 200. Therefore, after the catheter unit 100 has been attached to the base unit 200, and before the first operating section 400 has been operated, the first operating section 400 is in the attachment / detachment position. In this state, if the locking member 401 is released, the catheter unit 100 can be removed from the base unit 200.

[0182] Figure 16 shows the internal gear 29 and the connecting portion 21c when the first operating portion 400 is in the attachment / detachment position.

[0183] 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.

[0184] 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.

[0185] As shown in Figure 16, when the first operating part 400 is in the attachment / detachment 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.

[0186] In the rotational direction of the first operating unit 400, the direction in which the first operating unit 400 moves from the attachment / detachment position to the release position and the fixed position is called the connection direction (fixed direction), and the direction in which the first operating unit 400 moves from the fixed position to the release position and the attachment / detachment position is called the release direction (disconnection direction). The first operating unit 400 rotates from the release position in the release direction to move to the attachment / detachment position. The first operating unit 400 rotates from the release position in the connection direction to move to the fixed position.

[0187] When the catheter unit 100 is attached to the base unit 200 and the first operating unit 400 is in the attachment / detachment position, the connecting part 21c is in a released state, and the drive wire W is released from being fixed by the connecting part 21c. When the drive wire W is released from being fixed by the connecting part 21c, the transmission of the driving force of the drive source M to the drive wire W is interrupted, and it is permissible to move the drive wire W along the attachment / detachment direction DE relative to the connecting part 21c.

[0188] 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.

[0189] When the first operating unit 400 is in the attachment / detachment position, the connecting unit 21c is in the released state, while the lock by the locking member 401 can be released by operating the second operating unit 404. In other words, when the first operating unit 400 is in the attachment / detachment position, the locking member 401 can be moved from the locked position to the unlocked position to release the lock of the locking member 401.

[0190] The catheter unit can be moved in the removal direction Dd relative to the base unit 200. As a result, the drive wire W can be moved along the removal direction Dd relative to the connecting portion 21c, and the retained portion Wa can be pulled out from between the first portion 21chd1 and the second portion 21chd2.

[0191] 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.

[0192] Figure 17 shows the state of the internal gear 29 and the connecting part 21c when the first operating part 400 is rotated from the attachment / detachment position in the connection direction. Figure 17 also shows the state of the internal gear 29 and the connecting part 21c when the first operating part 400 is in the release position.

[0193] With the first operating unit 400 in the attachment / detachment position (Figure 16), rotating the first operating unit 400 in the connection direction causes the internal gear 29 to rotate clockwise. Then, the first operating unit 400 moves to the release position.

[0194] Even when the first 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 first operating section 400) is restricted from rotating relative to the base unit 200. In other words, the first operating section 400 can rotate relative to the entire catheter unit 100 (excluding the first operating section 400) and the base unit 200 when they are stationary.

[0195] 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.

[0196] 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).

[0197] From the state shown in Figure 17, if the first operating part 400 is rotated further in the coupling direction, the internal gear 29 rotates further clockwise. Figure 18 shows the state of the internal gear 29 and the coupling part 21c at that time.

[0198] Figure 18 shows the state of the internal gear 29 and the connecting part 21c when the first operating part 400 is rotated from the release position in the connecting direction.

[0199] When the first operating unit 400 is rotated from the release position in the coupling direction, the teeth Za1 of the internal gear 29 and the teeth Zb1 of the gear portion 21cg come into contact. Meanwhile, the coupling portion 21c remains in the same state as shown in Figures 16 and 17, and is kept in the released state.

[0200] Figure 19 shows the state in which the pressing member 21cp rotates as the first operating unit 400 rotates in the connecting direction.

[0201] As shown in Figure 19, when the first operating unit 400 is further rotated in the coupling direction from the state shown in Figure 18, the internal gear 29 rotates further clockwise.

[0202] As the internal gear 29 moves from the position in Figure 18 to the position in Figure 19, 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.

[0203] 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.

[0204] 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.

[0205] 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.

[0206] Figure 20 shows the state of the internal gear 29 and the connecting part 21c when the first operating part 400 is in a fixed position.

[0207] As shown in Figure 20, the pressing member 21cp rotates further due to the reaction force of the leaf spring 21ch, starting from the state shown in Figure 19.

[0208] As shown in Figure 20, 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.

[0209] At this time, the connecting portion 21c is in a fixed state. When the connecting portion 21c is in a fixed 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.

[0210] When the connecting portion 21c is in a fixed 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. The state in which the retained portion Wa is fixed by the leaf spring 21ch is a state in which the driving force of the drive source M can be transmitted to the drive wire W.

[0211] 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.

[0212] The leaf spring 21ch can be made of resin or metal, but metal is preferred.

[0213] When the connecting portion 21c is in a fixed state, it is restricted from pulling out the retained portion Wa from between the first portion 21chd1 and the second portion 21chd2.

[0214] 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.

[0215] When releasing the connection between the drive wire W and the connecting portion 21c, the first operating portion 400, which is located in the fixed position, is rotated in the release direction. At this time, the internal gear 29 rotates counterclockwise from the state shown in Figure 20. 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.

[0216] 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.

[0217] The above operations are performed for each of the first to ninth connecting parts (21c11 to 21c33). Specifically, as the first operating unit 400 moves from the attachment / detachment position to the fixed position, the movement (rotation) of the first operating unit 400 causes the first to ninth connecting parts (21c11 to 21c33) to move from the released state to the fixed state. As the first operating unit 400 moves from the fixed position to the attachment / detachment position, the movement (rotation) of the first operating unit 400 causes the first to ninth connecting parts (21c11 to 21c33) to move from the fixed state to the released state. In other words, the user can switch between the released and fixed states of multiple connecting parts by operating a single first operating unit 400.

[0218] In other words, each of the multiple connecting parts does not need to have an operating part to switch between the released and fixed 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.

[0219] 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.

[0220] The first state and the second state are switched in conjunction with the movement of the first operating unit 400. In other words, the first state and the second state are switched in conjunction with the movement of the first operating unit 400 between the attachment / detachment position and the fixed position.

[0221] The internal gear 29 is configured to interlock with the first operating unit 400. In this embodiment, the joint 28 functions as a transmission member for interlocking the first 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 first operating unit 400 so as to switch between a first state and a second state in conjunction with the movement of the first operating unit 400.

[0222] Specifically, with the catheter unit 100 attached to the base unit 200, the internal gear 29 and joint 28 move a part of the leaf spring 21ch (pressed part 21chb) relative to the held part Wa in conjunction with the movement of the first operating part 400. The movement of the held part 21chb switches between the locked state and the unlocked state of the connecting part 21c.

[0223] Alternatively, the internal gear 29 may be moved directly from the first operating section 400. In that case, the internal gear 29 functions as an interlocking part.

[0224] <Prevention of catheter unit removal> With the catheter unit 100 mounted on the base unit 200 and the drive wire W fixed to the connecting portion 21c, removal of the catheter unit 100 from the base unit 200 is prevented. As described above, Figure 14 shows the catheter unit 100 mounted on the base unit 200 and the first operating portion 400 in a fixed position, and in the state shown in Figure 14, the drive wire W is fixed to the connecting portion 21c.

[0225] When the first operating unit 400 is operated from the state shown in Figure 13 and moves to the fixed position, the operating restricting unit 400b moves to a position where it can contact the operating receiving unit 401w, as shown in Figure 14, and the movement of the locking member 401 is restricted. Therefore, in this state, the movement of the second operating unit 404 in the Yp direction is also restricted, and the user is unable to operate the second operating unit 404.

[0226] Therefore, in order to remove the catheter unit 100 from the base unit 200, the first operating unit 400 must first be operated to the attachment / detachment position. In other words, the operation restricting unit 400b is positioned so that the operation of the second operating unit 404 is restricted while the first operating unit 400 has not been moved to the attachment / detachment position.

[0227] As a result, even if the user mistakenly attempts to remove the catheter unit 100 while the drive wire W is fixed to the connecting part 21c, the locking member 401 restricts the removal of the catheter unit 100.

[0228] Furthermore, with the catheter unit 100 attached to the base unit 200 and the locking member 401 in the locked position, the first operating unit 400 is movable between the fixed position and the attachment / detachment position. Even when the first operating unit 400 is in the attachment / detachment position, if the locking member 401 is not moved to the unlocked position, the removal of the catheter unit 100 is restricted. Therefore, when the user operates the first operating unit 400 to connect or disconnect the drive wire W and the connecting part 21c, the catheter unit 100 is prevented from becoming detachable from the base unit 200. In addition, accidental or unintentional removal of the catheter unit 100 from the base unit 200 is prevented.

[0229] Furthermore, by linearly mounting the catheter unit 100 to the base unit 200 along the mounting direction Da, the locking member 401 is positioned in the locked position and can engage with the engaged shape 25c without operating the first operating unit 400.

[0230] Furthermore, in order to remove the catheter unit 100 from the base unit 200, the user needs to operate the first operating section 400 and the second operating section 404, which are located in different (separated) positions. Moreover, the first operating section 400 and the second operating section 404 are movable independently of each other. Therefore, when operating one of the first operating section 400 or the second operating section 404, the possibility of accidentally or unintentionally operating the other operating section 404 is reduced. Also, when moving one of the first operating section 400 or the second operating section 404, it is not necessary to move the other operating section 404, thus reducing the burden on the user.

[0231] <Variation> In this embodiment, the first operating unit 400 had the Rc direction as the connection direction and the Rd direction as the release direction, but the Rc direction may be the release direction and the Rd direction as the connection direction.

[0232] In this embodiment, the catheter unit 100 had a first operating section 400 and a second operating section 404, but the base unit 200 may have either the first operating section 400 or the second operating section 404, or both. The base unit 200 may also have a locking member 401. In this case, the portion corresponding to the engaged shape 25c is provided on the catheter unit 100.

[0233] In this embodiment, the lock by the locking member 401 is released by moving the second operating part 404 in the Yp direction, but the present invention is not limited thereto. For example, the lock of the locking member 401 may be released by using a second operating part that moves in a direction perpendicular to the Yf-Yp direction (e.g., the attachment / detachment direction DE). [Explanation of Symbols]

[0234] 100 catheter units 200 Base Unit 21 Coupling device 21c Connecting part 400 1st operation section 401 Locking component 404 2nd operation section W drive wire Wa Holding part

Claims

1. A coupling unit having a coupling part connected to a power source, A curved unit that is detachably attached to the connecting unit, comprising a curved portion and a linear member connected to the curved portion, With the curved unit attached to the connecting unit, the first operating part is movable between a fixed position in which the linear member is fixed to the connecting portion and a detachable position in which the fixing between the connecting portion and the linear member is released. With the curved unit attached to the connecting unit and the first operating part in the attachment / detachment position, a locking member is provided that is movable between a locked position and an unlocked position, thereby restricting the removal of the curved unit from the connecting unit. A second operating unit for moving the locking member from the locked position to the unlocked position, Equipped with, When the curved unit is attached to the connecting unit and the first operating part is positioned in the fixed position, the movement of the locking member from the locked position to the unlocked position is restricted. The bending unit is permitted to be removed from the connecting unit only when the bending unit is attached to the connecting unit, the first operating part is in the attachment / detachment position, and the locking member is in the unlock position. The first operating unit is movable between the fixed position and the detachable position only when the curved unit is attached to the connecting unit and the locking member is in the locked position. A medical device characterized by the following features.

2. The second operating unit is positioned away from the first operating unit. The medical device according to feature 1.

3. A coupling unit having a coupling part connected to a power source, A curved unit that is detachably attached to the connecting unit, comprising a curved portion and a linear member connected to the curved portion, With the curved unit attached to the connecting unit, the first operating part is movable between a fixed position in which the linear member is fixed to the connecting portion and a detachable position in which the fixing between the connecting portion and the linear member is released. With the curved unit attached to the connecting unit and the first operating part in the attachment / detachment position, a locking member is provided that is movable between a locked position and an unlocked position, thereby restricting the removal of the curved unit from the connecting unit. A second operating unit for moving the locking member from the locked position to the unlocked position, Equipped with, When the curved unit is attached to the connecting unit and the first operating part is positioned in the fixed position, the movement of the locking member from the locked position to the unlocked position is restricted. The bending unit is permitted to be removed from the connecting unit only when the bending unit is attached to the connecting unit, the first operating part is in the attachment / detachment position, and the locking member is in the unlock position. The second operating unit is positioned away from the first operating unit. A medical device characterized by the following features.

4. When the curved unit is attached to the connecting unit and the first operating part is positioned in the fixed position, the operation of the second operating part that moves the locking member from the locked position to the unlocked position is restricted. A medical device according to any one of claims 1 to 3.

5. The medical device according to any one of claims 1 to 4, characterized in that the first operating section is rotatable about a rotation axis extending in the direction of attachment and detachment of the curved unit.

6. The medical device according to claim 5, characterized in that the second operating section is movable in a direction intersecting the direction of the rotation axis.

7. The medical device according to any one of claims 1 to 6, characterized in that when the curved unit is attached to the connecting unit, the locking member is moved in a direction toward the unlocked position from the locked position.

8. The medical device according to any one of claims 1 to 7, characterized in that it has a biasing member that biases the locking member from the unlocked position toward the locked position.

9. The medical device according to any one of claims 1 to 8, characterized in that the locking member is pivotable between the unlocked position and the locked position.

10. The medical device according to any one of claims 1 to 9, characterized in that the second operating section is provided in the curved unit.

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