Continuum robot

Abstract

To restore transmission of power.SOLUTION: A continuum robot includes: a flexible linear member; a driving part for driving the linear member; a curved part curved when the linear member is driven; a coupling part for transmitting power of the driving part, which is coupled to the linear member. When the coupling of the coupling part and the linear member is released from the state that the coupling part and the linear member are coupled to each other, recoupling of the coupling part and the linear member is possible.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a continuum robot.

Background Art

[0002] Patent Document 1 proposes an endoscope bending operation device that does not cause wire cutting and in which a wire connecting member breaks. In such a bending operation device, when excessive wire tension is applied, a break determination portion of the wire connecting member breaks, thereby avoiding major damage such as wire cutting.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when the break determination portion breaks, power cannot be transmitted, and there is a problem that power transmission cannot be restored without repair.

[0005] An object of the present invention is to enable restoration of power transmission.

Means for Solving the Problems

[0006] The present invention is a continuum robot including a flexible linear member, a drive unit that drives the linear member, a bending unit that bends when the linear member is driven, and a connection unit that transmits the power of the drive unit and is connected to the linear member, wherein when the connection between the connection unit and the linear member is released from the state where the connection unit and the linear member are connected, the connection unit and the linear member can be reconnected. Then, reconnection will be performed automatically. This is a feature.

Effects of the Invention

[0007] According to the present invention, power transmission can be restored. [Brief explanation of the drawing]

[0008] [Figure 1] This is an overview of the healthcare system. [Figure 2] This is a perspective view showing a medical device and support stand. [Figure 3] This is a diagram illustrating a catheter. [Figure 4] This is an explanatory diagram of a catheter unit. [Figure 5] This is an explanatory diagram of the base unit and wire drive unit. [Figure 6] This is an explanatory diagram of the wire drive unit and coupling device. [Figure 7] This is an explanatory diagram of the wire drive unit. [Figure 8] This is an explanatory diagram of the coupling device in the first embodiment. [Figure 9] This is an explanatory diagram of the coupling device in the second embodiment. [Figure 10] This is an explanatory diagram of the coupling device in the third embodiment. [Figure 11] This is an explanatory diagram of the catheter unit and connecting device in the fourth embodiment. [Figure 12] This is an explanatory diagram of the coupling device in the fourth embodiment. [Modes for carrying out the invention]

[0009] The embodiments of the present invention will be described below with reference to the drawings. Note that the dimensions, materials, shapes, arrangements, etc., of the components described in the embodiments should be appropriately modified depending on the configuration of the apparatus to which the present invention is applied and various conditions.

[0010] [Example 1] <Medical systems and medical devices> Using FIGS. 1 and 2, the medical system 1A and the medical device 1 (continuum robot) will be described. FIG. 1 is an overall view of the medical system 1A. FIG. 2 is a perspective view showing the medical device 1 and the support base 2. The medical system 1A includes a medical device 1, a support base 2 for attaching the medical device 1, and a control unit 3 for controlling the medical device 1. In this embodiment, the medical system 1A includes a monitor 4 as a display device.

[0011] The medical device 1 includes a catheter unit (curvable unit) 100 having a catheter 11 as a curvable body, and a base unit (drive unit, wearable unit) 200. The catheter unit 100 is configured to be detachable from the base unit 200. In this embodiment, the user of the medical system 1A and the medical device 1 can perform operations such as observing the inside of the subject, collecting various specimens from the inside of the subject, and treating the inside of the subject by inserting the catheter 11 into the inside of the subject (patient). As one embodiment, the user can insert the catheter 11 into the inside of a patient as the subject. Specifically, by inserting through the oral cavity or nasal cavity of the patient into the bronchus, operations such as observing, collecting, and excising lung tissue can be performed. The catheter 11 can be used as a guide (sheath) for guiding a medical instrument for performing the above operations. Examples of the medical instrument (tool) include an endoscope, forceps, an ablation device, etc. Also, the catheter 11 itself may have the function as the above medical instrument.

[0012] 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 a storage for storing a program and various data for controlling the catheter 11, a random access memory, and a central processing unit for executing the program. Also, the control unit 3 may include an output unit for outputting a signal for displaying an image on the monitor 4.

[0013] As shown in FIG. 2, in this embodiment, the medical device 1 is electrically connected to the control unit 3 via the cable 5 that connects the base unit 200 of the medical device 1 and the support base 2, and the support base 2. Note that the medical device 1 and the control unit 3 may be directly connected by a cable. The medical device 1 and the control unit 3 may be wirelessly connected.

[0014] The medical device 1 is removably attached to the support base 2 via the base unit 200. More specifically, in the medical device 1, the attachment part (connection part) 200a of the base unit 200 is removably attached to the moving stage (receiving part) 2a of the support base 2. Even when the attachment part 200a of the medical device 1 is removed from the moving stage 2a, the connection between the medical device 1 and the control unit 3 is maintained so that the medical device 1 can be controlled by the control unit 3. In this embodiment, even when the attachment part 200a of the medical device 1 is removed from the moving stage 2a, the medical device 1 and the support base 2 are connected by the cable 5.

[0015] The user can manually move the medical device 1 in a state where the medical device 1 is removed from the support base 2 (a state where the medical device 1 is removed from the moving stage 2a) and insert the catheter 11 into the subject. The user can use the medical device 1 in a state where the catheter 11 is inserted into the subject and the medical device 1 is attached to the support base 2. Specifically, when the medical device 1 is attached to the moving stage 2a, the medical device 1 moves as the moving stage 2a moves. Then, operations of moving in the direction of inserting the catheter 11 into the subject and moving in the direction of pulling out the catheter 11 from the subject are performed. The movement of the moving stage 2a is controlled by the control unit 3.

[0016] The mounting portion 200a of the base unit 200 is equipped with a release switch and a removal switch (not shown). With the mounting portion 200a attached to the moving stage 2a, the user can manually slide the medical device 1 along the guide direction of the moving stage 2a while continuing to press down on the release switch. That is, the moving stage 2a is equipped with a guide portion that guides the movement of the medical device 1. When the user stops pressing down on the release switch, the medical device 1 is fixed to the moving stage 2a. On the other hand, when the removal switch is pressed while the mounting portion 200a is attached to the moving stage 2a, the user can remove the medical device 1 from the moving stage 2a.

[0017] Furthermore, a single switch may have both the function of a release switch and a removal switch. Also, if the release switch is equipped with a mechanism that switches between a pressed state and an unpressed state, the user will no longer need to continuously press the release switch when manually sliding the medical device 1. When the mounting part 200a is attached to the moving stage 2a and the release switch and removal switch are not pressed, the medical device 1 is fixed to the moving stage 2a and moved by the moving stage 2a, which is driven by a motor (not shown).

[0018] The medical device 1 includes a wire drive unit (linear member drive unit, line drive unit, 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.

[0019] The control unit 3 can control the wire drive unit 300 to perform the action of bending the catheter 11. In this embodiment, the wire drive unit 300 is built into the base unit 200. More specifically, the base unit 200 includes a base housing 200f that houses the wire drive unit 300. In other words, the base unit 200 includes the wire drive unit 300. The wire drive unit 300 and the base unit 200 together can be called a catheter drive device (base device, main body).

[0020] In the direction of extension of the catheter 11, the end where the tip of the catheter 11 to be inserted into the target is located is called the distal end. Also, in the direction of extension of the catheter 11, the end opposite the distal end is called the proximal end. The catheter unit 100 has a proximal end cover 16 that covers the proximal end of the catheter 11. The proximal end cover 16 has a tool hole 16a. A medical instrument can be inserted into the catheter 11 through the tool hole 16a.

[0021] As described above, in this embodiment, the catheter 11 functions as a guide device for guiding a medical instrument to a desired position inside the target. For example, with the endoscope inserted into the catheter 11, the catheter 11 is inserted to the target position inside the target. At this time, at least one of the following is used: manual operation by the user, movement of the moving stage 2a, or driving of the catheter 11 by the wire drive unit 300. After the catheter 11 reaches the target position, the endoscope is withdrawn from the catheter 11 through the tool hole 16a. Then, medical instruments are inserted through the tool hole 16a, and operations such as collecting various specimens from inside the target or performing procedures on the inside of the target are carried out.

[0022] 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.

[0023] As shown in Figure 2, the medical device 1 has an operating unit 400. In this embodiment, the operating unit 400 is provided on the catheter unit 100. The operating unit 400 is operated by the user when fixing the catheter unit 100 to the base unit 200 and when removing the catheter unit 100 from the base unit 200.

[0024] By connecting the endoscope inserted into the catheter 11 to the monitor 4, images captured by the endoscope can be displayed on the monitor 4. Furthermore, by connecting the monitor 4 to the control unit 3, the status of the medical device 1 and information related to the control of the medical device 1 can be displayed on the monitor 4. For example, the position of the catheter 11 inside the target and information related to the navigation of the catheter 11 inside the target can be displayed on the monitor 4. The monitor 4, control unit 3, and endoscope may be connected by wire or wirelessly. The monitor 4 and control unit 3 may also be connected via the support base 2.

[0025] <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. The catheter 11 comprises a curved section (curved body, catheter body) 12 and a curved drive unit (catheter drive unit) 13 configured to curve the curved section 12. The curved drive unit 13 is configured to receive the driving force from the wire drive unit 300 via a connecting device 21, which will be described later, and to curve the curved section 12. The catheter 11 is extended along the direction of insertion of the catheter 11 into the target. The extension direction (longitudinal direction) of the catheter 11 is the same as the extension direction (longitudinal direction) of the curved portion 12 and the extension direction (longitudinal direction) of the first to ninth drive wires (W11 to W33) described later.

[0026] 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.

[0027] Each of the first to ninth drive wires (W11 to W33) includes a flexible wire body (line body, linear body) Wb. Specifically, the first drive wire W11 includes the first wire body Wb11. The second drive wire W12 includes the second wire body Wb12. The third drive wire W13 includes the third wire body Wb13. The fourth drive wire W21 includes the fourth wire body Wb21. The fifth drive wire W22 includes the fifth wire body Wb22. The sixth drive wire W23 includes the sixth wire body Wb23. The seventh drive wire W31 includes the seventh wire body Wb31. The eighth drive wire W32 includes the eighth wire body Wb32. The ninth drive wire W33 includes the ninth wire body Wb33. In this embodiment, the first to third wire bodies (Wb11 to Wb13) are all the same shape. The fourth to sixth wire bodies (Wb21 to Wb23) are all the same shape. The seventh to ninth wire bodies (Wb31 to Wb33) are all the same shape. In this embodiment, the first to ninth wire bodies (Wb11 to Wb33) are all the same shape except for their length.

[0028] The first to ninth retained parts (Wa11 to Wa33) are fixed to the first to ninth wire bodies (Wb11 to Wb33) at their proximal ends. The first to ninth drive wires (W11 to W33) are inserted into and fixed in the curved section 12 via the wire guide 17. In this embodiment, the material of each of the first to ninth drive wires (W11 to W33) is metal. However, the material of each of the first to ninth drive wires (W11 to W33) may be resin. The material of each of the first to ninth drive wires (W11 to W33) may include both metal and resin. Any one of the first to ninth drive wires (W11 to W33) can be called drive wire W. In this embodiment, each of the first to ninth drive wires (W11 to W33) has the same shape except for the length of the first to ninth wire bodies (Wb11 to Wb33).

[0029] In this embodiment, the curved portion 12 is a tubular member that is flexible and has a passage Ht for inserting a medical instrument. The wall surface of the curved section 12 is provided with multiple wire holes for passing through the first to ninth drive wires (W11 to W33). Specifically, the wall surface of the curved section 12 is provided with the first wire hole Hw11, the second wire hole Hw12, the third wire hole Hw13, the fourth wire hole Hw21, the fifth wire hole Hw22, the sixth wire hole Hw23, the seventh wire hole Hw31, the eighth wire hole Hw32, and the ninth wire hole Hw33. Each of the first to ninth wire holes Hw (Hw11 to Hw33) corresponds to each of the first to ninth drive wires (W11 to W33). The number after the symbol Hw indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first wire hole Hw11. Any one of the first to ninth wire holes (Hw11 to Hw33) can be called wire hole Hw. In this embodiment, each of the first to ninth wire holes (Hw11 to Hw33) has the same shape.

[0030] The curved section 12 has an intermediate region 12a and a curved region 12b. The curved region 12b is located at the distal end of the curved section 12, and the first guide ring J1, the second guide ring J2, and the third guide ring J3 are located in the curved region 12b. The curved region 12b is a region in which the magnitude and direction of the bending of the curved section 12 can be controlled by moving the first guide ring J1, the second guide ring J2, and the third guide ring J3 by the bending drive unit 13. Figure 3(b) shows the curved section 12 with a portion of the section covering the first to third guide rings (J1 to J3) omitted. In this embodiment, the curved section 12 is equipped with a plurality of auxiliary rings (not shown). In the curved region 12b, the first guide ring J1, the second guide ring J2, and the third guide ring J3 are fixed to the wall surface of the curved section 12. In this embodiment, the plurality of auxiliary rings are positioned 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.

[0031] 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.

[0032] Each of the first to ninth drive wires (W11 to W33) is fixed to each of the first to third guide rings (J1 to J3) by passing through the intermediate region 12a. Specifically, the first drive wire W11, the second drive wire W12, and the third drive wire W13 are fixed to the first guide ring J1 by passing through multiple auxiliary rings. The fourth drive wire W21, the fifth drive wire W22, and the sixth drive wire W23 are fixed to the second guide ring J2 by ​​passing through the first guide ring J1 and multiple auxiliary rings. The seventh drive wire W31, the eighth drive wire W32, and the ninth drive wire W33 are fixed to the third guide ring J3 by passing through the first guide ring J1, the second guide ring J2, and multiple auxiliary rings.

[0033] The medical device 1 can bend the curved portion 12 in a direction intersecting the extension direction of the catheter 11 by driving the bending drive unit 13 with the wire drive unit 300. Specifically, by moving each of the first to ninth drive wires (W11 to W33) in the extension direction of the curved portion 12, the curved region 12b of the curved portion 12 can be bent in a direction intersecting the extension direction via the first to third guide rings (J1 to J3). The user can insert the catheter 11 to the 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.

[0034] In this embodiment, the first to ninth drive wires (W11 to W33) move the first to third guide rings (J1 to J3) to bend the curved section 12, but the present invention is not limited to this configuration. One or two of the first to third guide rings (J1 to J3) and the drive wires fixed to them may be omitted. For example, the catheter 11 may be configured such that the first to sixth drive wires (W11 to W23) and the first to second guide rings (J1 to J2) are omitted, and only the seventh to ninth drive wires (W31 to W33) and the third guide ring J3 are present. Alternatively, the catheter 11 may be configured such that the first to third drive wires (W11 to W13) and the first guide ring J1 are omitted, and only the fourth to ninth drive wires (W21 to W33) and the second to third guide rings (J2 to J3) are present. Alternatively, the catheter 11 may be configured to drive one guide ring with two drive wires. In this case as well, the number of guide rings may be one or more.

[0035] <Catheter Unit> The catheter unit 100 will be explained using Figure 4. Figure 4 is an explanatory diagram of the catheter unit 100. Figure 4(a) is an explanatory diagram of the catheter unit 100 with the wire cover 14 (described later) in the cover position. Figure 4(b) is an explanatory diagram of the catheter unit 100 with the wire cover 14 (described later) in the retracted (exposed) position. The catheter unit 100 includes a catheter 11 having a curved section 12 and a curved drive section 13, and a proximal end cover 16 that supports the proximal end of the catheter 11. The catheter unit 100 also includes a wire cover 14 which is a cover for covering and protecting the first to ninth drive wires (W11 to W33) which serve as multiple drive wires.

[0036] The catheter unit 100 is detachable from the base unit 200 along the attachment / detachment direction DE. The direction in which the catheter unit 100 is attached to the base unit 200 and the direction in which the catheter unit 100 is removed from the base unit 200 are parallel to the attachment / detachment direction DE. The proximal end cover (frame, curved section housing, catheter housing) 16 is a cover that covers a portion of the catheter 11. The proximal end cover 16 has a tool hole 16a for inserting a medical instrument into the passage Ht of the curved section 12.

[0037] The wire cover 14 is provided with multiple wire cover holes (cover holes) for passing each of the first to ninth drive wires (W11 to W33). The wire cover 14 is provided with the first wire cover hole 14a11, the second wire cover hole 14a12, the third wire cover hole 14a13, the fourth wire cover hole 14a21, the fifth wire cover hole 14a22, the sixth wire cover hole 14a23, the seventh wire cover hole 14a31, the eighth wire cover hole 14a32, and the ninth wire cover hole 14a33. Each of the first to ninth wire cover holes (14a11 to 14a33) corresponds to each of the first to ninth drive wires (W11 to W33). The number after the reference numeral 14a indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first wire cover hole 14a11. Any one of the first to ninth wire cover holes (14a11 to 14a33) can be called wire cover hole 14a. In this embodiment, each of the first to ninth wire cover holes (14a11 to 14a33) has the same shape.

[0038] The wire cover 14 can move between a cover position that covers the first to ninth drive wires (W11 to W33) (see Figure 4(a)) and a retracted position that is moved away from the cover position (see Figure 4(b)). The retracted position can also be called an exposed position that exposes the first to ninth drive wires (W11 to W33). Before attaching the catheter unit 100 to the base unit 200, the wire cover 14 is in the cover position. When the catheter unit 100 is attached to the base unit 200, the wire cover 14 moves from the cover position to the retracted position along the attachment / detachment direction DE.

[0039] In this embodiment, the wire cover 14 moves from the cover position to the retracted position and then remains in the retracted position. Therefore, even after attaching the catheter unit 100 to the base unit 200, the catheter unit 100 is removed from the base unit 200, and the wire cover 14 remains in the retracted position. However, the wire cover 14 may be configured to move from the cover position to the retracted position and then return to the cover position. For example, the catheter unit 100 may include a biasing member that biases the wire cover 14 from the retracted position toward the cover position. In this case, after the catheter unit 100 is attached to the base unit 200, when the catheter unit 100 is removed from the base unit 200, the wire cover 14 moves from the retracted position toward the cover position.

[0040] As shown in Figure 4(b), each of the first to ninth drive wires (W11 to W33) is arranged along a circle (virtual circle) having a predetermined radius. In this embodiment, the catheter unit 100 has a key shaft (key, catheter-side key) 15. In this embodiment, the key shaft 15 extends in the attachment / detachment direction DE. The wire cover 14 is provided with a shaft hole 14b through which the key shaft 15 passes. The key shaft 15 can engage with a key receiving portion 22, which will be described later. By engaging the key shaft 15 with the key receiving portion 22, the movement of the catheter unit 100 relative to the base unit 200 is restricted within a predetermined range in the circumferential direction of the circle (virtual circle) in which the first to ninth drive wires (W11 to W33) are arranged. In this embodiment, when viewed in the attachment / detachment direction DE, the first to ninth drive wires (W11 to W33) are arranged outside the key shaft 15, surrounding it. In other words, the key shaft 15 is positioned inside the circle (virtual circle) in which the first to ninth drive wires (W11 to W33) are arranged. Therefore, the key shaft 15 and the first to ninth drive wires (W11 to W33) can be arranged in a space-saving manner.

[0041] In this embodiment, the catheter unit 100 includes an operating section 400. The operating section 400 is configured to be movable (rotatable) relative to the proximal end cover 16 and the bending drive section 13. The operating section 400 is rotatable about a rotation axis (center of rotation) 400r. The rotation axis 400r of the operating section 400 extends in the attachment / detachment direction DE. With the catheter unit 100 attached to the base unit 200, the operating unit 400 is configured to be movable (rotatable) relative to the base unit 200. More specifically, the operating unit 400 is configured to be movable (rotatable) relative to the base housing 200f, the wire drive unit 300, and the coupling device 21, which will be described later.

[0042] <Base Unit> The base unit 200 and the wire drive unit 300 will be described using Figure 5. Figure 5 is an explanatory diagram of the base unit 200 and the wire drive unit 300. Figure 5(a) is a perspective view showing the internal structure of the base unit 200. Figure 5(b) is a side view showing the internal structure of the base unit 200. Figure 5(c) is a view of the base unit 200 along the attachment / detachment direction DE.

[0043] As described above, the medical device 1 has a base unit 200 and a wire drive unit 300. In this embodiment, the wire drive unit 300 is housed in a base housing 200f and is provided inside the base unit 200. In other words, the base unit 200 includes the wire drive unit 300. The wire drive unit 300 has multiple drive sources (motors). In this embodiment, the wire drive unit 300 includes a first drive source M11, a second drive source M12, a third drive source M13, a fourth drive source M21, a fifth drive source M22, a sixth drive source M23, a seventh drive source M31, an eighth drive source M32, and a ninth drive source M33. Any one of the first to ninth drive sources (M11 to M33) can be called drive source M. In this embodiment, each of the first to ninth drive sources (M11 to M33) has the same configuration.

[0044] The base unit 200 includes a coupling device 21. The coupling device 21 is housed in the base housing 200f. The coupling device 21 is connected to the wire drive unit 300. The coupling device 21 has a plurality of coupling parts. In this embodiment, the coupling device 21 includes a first coupling part 21c11, a second coupling part 21c12, a third coupling part 21c13, a fourth coupling part 21c21, a fifth coupling part 21c22, a sixth coupling part 21c23, a seventh coupling part 21c31, an eighth coupling part 21c32, and a ninth coupling part 21c33. Any one of the first to ninth connecting parts (21c11 to 21c33) can be called connecting part 21c. In this embodiment, each of the first to ninth connecting parts (21c11 to 21c33) has the same configuration.

[0045] Each of the multiple connecting parts is connected to each of the multiple drive sources and driven by each of the multiple drive sources, thereby transmitting power from the drive sources. Specifically, the first connecting part 21c11 is connected to the first drive source M11 and driven by the first drive source M11. The second connecting part 21c12 is connected to the second drive source M12 and driven by the second drive source M12. The third connecting part 21c13 is connected to the third drive source M13 and driven by the third drive source M13. The fourth connecting part 21c21 is connected to the fourth drive source M21 and driven by the fourth drive source M21. The fifth connecting part 21c22 is connected to the fifth drive source M22 and driven by the fifth drive source M22. The sixth connecting part 21c23 is connected to the sixth drive source M23 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.

[0046] As will be described later, the coupling device 21 is connected to a bending drive unit 13 which includes the first to ninth drive wires (W11 to W33). The bending drive unit 13 receives the driving force from the wire drive unit 300 via the coupling device 21 and bends the bending unit 12. The drive wire W is connected to the connecting part 21c via the held part Wa. Each of the multiple drive wires is connected to each of the multiple connecting parts. Specifically, the first held portion Wa11 of the first drive wire W11 is connected to the first connecting portion 21c11. The second held portion Wa12 of the second drive wire W12 is connected to the second connecting portion 21c12. The third held portion Wa13 of the third drive wire W13 is connected to the third connecting portion 21c13. The fourth held portion Wa21 of the fourth drive wire W21 is connected to the fourth connecting portion 21c21. The fifth held portion Wa22 of the fifth drive wire W22 is connected to the fifth connecting portion 21c22. The sixth held portion Wa23 of the sixth drive wire W23 is connected to the sixth connecting portion 21c23. The seventh held portion Wa31 of the seventh drive wire W31 is connected to the seventh connecting portion 21c31. The eighth retained portion Wa32 of the eighth drive wire W32 is connected to the eighth connecting portion 21c32. The ninth retained portion Wa33 of the ninth drive wire W33 is connected to the ninth connecting portion 21c33.

[0047] The base unit 200 has a base frame 25. The base frame 25 is provided with a number of insertion holes for passing each of the first to ninth drive wires (W11 to W33). The base frame 25 is provided with a first insertion hole 25a11, a second insertion hole 25a12, a third insertion hole 25a13, a fourth insertion hole 25a21, a fifth insertion hole 25a22, a sixth insertion hole 25a23, a seventh insertion hole 25a31, an eighth insertion hole 25a32, and a ninth insertion hole 25a33. Each of the first to ninth insertion holes (25a11 to 25a33) corresponds to each of the first to ninth drive wires (W11 to W33). The number after the designation 25a indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first insertion hole 25a11. Any one of the first to ninth insertion holes (25a11 to 25a33) can be called insertion hole 25a. In this embodiment, each of the first to ninth insertion holes (25a11 to 25a33) has the same shape.

[0048] The base frame 25 is provided with a mounting opening 25b into which the wire cover 14 is inserted. The first to ninth insertion holes (25a11 to 25a33) are located at the bottom of the mounting opening 25b.

[0049] Furthermore, the base unit 200 comprises a main frame 200b, a first bearing frame 200c, a second bearing frame 200d, and a third bearing frame 200e. The main frame 200b, the first bearing frame 200c, the second bearing frame 200d, and the third bearing frame 200e are connected to each other.

[0050] The base frame 25 has a key receiving portion (key hole, base-side key, body-side key) 22 for receiving the key shaft 15. The catheter unit 100 is mounted to the base unit 200 in the correct phase by the engagement of the key shaft 15 and the key receiving portion 22. The engagement between the key shaft 15 and the key receiving portion 22 restricts the movement of the catheter unit 100 relative to the base unit 200 within a predetermined range in the circumferential direction of the circle (virtual circle) in which each of the first to ninth drive wires (W11 to W33) is arranged. As a result, each of the first to ninth drive wires (W11 to W33) is connected to each of the corresponding first to ninth insertion holes (25a11 to 25a33) and each of the corresponding first to ninth connecting parts (21c11 to 21c33). In other words, the drive wire W is connected to the non-corresponding insertion hole 25 and the non-corresponding connecting part 21 c This prevents connection to the target.

[0051] The user can correctly connect each of the first to ninth drive wires (W11 to W33) to each of the first to ninth connecting parts (21c11 to 21c33) by engaging the key shaft 15 with the key receiving part 22. Therefore, the user can easily attach the catheter unit 100 to the base unit 200. In this embodiment, the key shaft 15 has a protrusion that extends in a direction intersecting the attachment / detachment direction DE, and the key receiving portion 22 has a recess into which the protrusion is inserted. In the circumferential direction, the position where the protrusion and the recess engage is the position where the drive wire W connects to the corresponding insertion hole 25a and the corresponding connecting portion 21c. The key shaft 15 can be placed on either the base unit 200 or the catheter unit 100, and the key receiving portion 22 can be placed on the other. For example, the key shaft 15 may be placed on the base unit 200 side, and the key receiving portion 22 may be placed on the catheter unit 100 side.

[0052] The base frame 25 has a locking shaft 26 equipped with a locking projection 26a. These functions will be described later.

[0053] <Connecting the motor and drive wire> The connection of the wire drive unit 300, the coupling device 21, and the bending drive unit 13 will be explained using Figure 6. Figure 6 is an explanatory diagram of the wire drive unit 300 and the coupling device 21. Figure 6(a) shows the drive source M and the coupling unit 21. c This is a perspective view of the drive wire W. Figure 6(b) shows the connecting portion 21 c This is an exploded perspective view. Figure 6(c) shows the connecting part 21 c This is a cross-section.

[0054] In this embodiment, the configurations in which each of the first to ninth drive wires (W11 to W33) is connected to each of the first to ninth connecting parts (21c11 to 21c33) are the same. Similarly, the configurations in which each of the first to ninth connecting parts (21c11 to 21c33) is connected to each of the first to ninth drive sources (M11 to M33) are the same. Therefore, in the following description, we will explain the configuration in which one drive wire W, one connecting part 21c, and one drive source M are connected.

[0055] As shown in Figure 6(a), the drive source M has a motor shaft Ma and a motor body Mb that rotates the motor shaft Ma in the rotational direction Rm. The surface of the motor shaft Ma is provided with a helical groove. The motor shaft Ma has a so-called screw shape.

[0056] The connecting section 21c has a tractor 21ct connected to a motor shaft Ma, and a tractor support shaft 21cs that supports the tractor 21ct. The tractor support shaft 21cs is connected to a first connecting base 21ca, and the first connecting base 21ca is connected to a second connecting base 21cb. 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).

[0057] 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. 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.

[0058] As shown in Figures 6(b) and (c), the first connecting base 21ca and the second connecting base 21cb are equipped with a first connecting plate 21cc, a second connecting plate 21cd, a first magnet 21ce, and a second magnet 21cf inside, respectively, as connecting members. The end portion Wa13a of the holding portion Wa13 is a magnet, and when the catheter unit 100 is attached to the base unit 200, the end portion Wa13a and the second magnet 21cf are connected (contacting) by their mutual magnetic force, as shown in Figure 6(c). The first connecting plate 21cc and the second connecting plate 21cd are connected (contacting) with the first magnet 21ce by the magnetic force of the first magnet 21ce.

[0059] The first connecting plate 21cc is guided by the first connecting base 21ca and the guide shaft 21cg, and the second connecting plate 21cd is guided by the second connecting base 21cb and the held part Wa13. The guide shaft 21cg is fixed to the second magnet 21cf. The first magnet 21ce is fixed by being sandwiched between the first connecting base 21ca and the second connecting base 21cb.

[0060] Outside the first connecting base 21ca and the second connecting base 21cb, a first sensor 21ch and a second sensor 21ci, which are reflective sensors for detecting the amount of movement of the first connecting plate 21cc and the second connecting plate 21cd, are arranged (fixed) on the second connecting base 21cb. Here, these sensors may also be arranged on the first connecting base 21ca. As shown by the arrow in Figure 6(c), the first sensor 21ch emits light from its light-emitting part 21cha, and the amount of movement of the first connecting plate 21cc is detected by the light-receiving part 21chb that receives the reflected light from the first connecting plate 21cc. The second sensor 21ci emits light from its light-emitting part 21cia, and the amount of movement of the second connecting plate 21cd is detected by the light-receiving part 21cib that receives the reflected light from the second connecting plate 21cd. The aforementioned light can be LED light or laser light.

[0061] Here, let the contact force between the first connecting plate 21cc and the first magnet 21ce due to the magnetic force of the first magnet 21ce be N1, the contact force between the second connecting plate 21cd and the first magnet 21ce due to the magnetic force of the first magnet 21ce be N2, and the contact force between the end Wa13a of the held portion Wa13 and the second magnet 21cf due to the magnetic force be N3. At this time, N1 = N2, N1 < N3, (N2 < N3) are set, and compared with N1 and N2, N3 has a larger contact force. Also, by using magnets with different magnetic forces or changing the contact area with the magnets, the values of N1, N2, and N3 can be adjusted. In this embodiment, N1 = N2 is set, but N1 ≠ N2 may also be used. However, in order to make the connecting portion 21c described later operate normally, it is necessary to set N1 < N3 and N2 < N3. <000028...

[0062] Figure 7 is an explanatory diagram showing the connection of the wire drive unit 300, the connecting device 21, and the bending drive unit 13. As shown in Figure 7, by attaching the catheter unit 100 to the base unit 200, each of the first to ninth drive wires (W11 to W33) and each of the first to ninth connecting portions (21c11 to 21c33) are connected.

[0063] The control unit 3 can independently control each of the first to ninth drive sources (M11 to M33). That is, any one of the first to ninth drive sources (M11 to M33) can operate or stop independently regardless of whether the other drive sources are stopped. In other words, the control unit 3 can independently control each of the first to ninth drive wires (W11 to W33). As a result, each of the first to third guide rings (J1 to J3) is independently controlled, and the bending region 12b of the bending portion 12 can be bent in any direction.

[0064] The operation of the connecting portion 21c in this embodiment will be described using Figure 8. Figures 8(a) and (e) are explanatory diagrams before the connecting portion 21c operates. Figures 8(b), (c), (f), and (g) are explanatory diagrams of the state after the connecting portion 21c operates. Figures 8(d) and (h) are explanatory diagrams of the state when the connecting portion 21c has returned. When inserting the catheter 11 into the target, if the catheter 11 gets caught inside the target and the user tries to further insert the catheter 11 in this state, excessive force will be applied to the caught part, which may damage the inside of the target. In this case, in order to prevent damage to the target, it is necessary to release the excessive force. Also, after releasing the excessive force, it is desirable that the catheter 11 can be further inserted into the target.

[0065] The means for releasing the excessive force and returning to the original state, and then further inserting the catheter 11 into the target will be described below. FIG. 8(a) shows a state where the catheter 11 is being inserted (leftward in the figure) into the target without excessive force before the connecting portion 21c operates. Here, when the tip of the catheter 11 gets caught inside the target and excessive force (rightward in the figure) is applied to the drive wire W13, the drive wire W13 cannot move further leftward.

[0066] However, if the user does not notice that the tip of the catheter 11 has gotten caught and tries to further insert the catheter unit 100 into the target, the first magnet 21ce and the first connecting plate 21cc cannot abut due to the magnetic force. Therefore, as shown in FIG. 8(b), the first magnet 21ce and the first connecting plate 21cc separate. That is, when the user tries to further insert the catheter 11, the first connecting base 21ca and the second connecting base 21cb try to move leftward in the figure, while the drive wire W13 cannot move leftward. For this reason, a force to separate the first magnet 21ce and the first connecting plate 21cc is applied. When that force exceeds the above-described abutting force N1, the first magnet 21ce and the first connecting plate 21cc separate. As described above, since N1 < N3 is set, the end portion W a 13 of the held portion W a 13a and the second magnet 21cf do not separate.

[0067] At this time, no force is applied to the second connecting plate 21cd in a direction that separates it from the first magnet 21ce, so the second connecting plate 21cd remains in contact with the first magnet 21ce. As shown by the dotted line in the figure, when the first magnet 21ce and the first connecting plate 21cc separate, the first connecting base 21ca, the second connecting base 21cb, and the components fixed to them move to the left in the figure, as shown in Figure 8(b).

[0068] Simultaneously, the drive wire W13 attempts to release the excess force as the first magnet 21ce and the first connecting plate 21cc separate. Therefore, as shown in Figure 8(c) and the dotted line, the drive wire W13, the second magnet 21cf, the first connecting plate 21cc, and the guide shaft 21cg move to the right in the figure. Figure 8(c) shows the state when the excess force on the drive wire W13 is released and the tension on the drive wire W13 is gone.

[0069] When the movements shown in Figures 8(b) and (c) occur, the first sensor 21ch detects the amount of movement of the first connecting plate 21cc from the state in Figure 8(a) to the state in Figure 8(c). Here, since there is no relative movement between the second sensor 21ci and the second connecting plate 21cd, the second sensor 21ci does not detect the movement of the second connecting plate 21cd. In other words, the second sensor 21ci detects that the second connecting plate 21cd has not moved. By detecting the movement of the first connecting plate 21cc, it is possible to detect that excessive force has been applied to the drive wire W13 and that the connecting part 21c has been activated. By sending this information to the control unit 3, the control unit 3 automatically stops the drive when driving the wire drive unit 300 to prevent damage to the object, and also displays on the monitor 4 that the connecting part 21c has been activated to inform the user. When the connecting part 21c is activated during manual insertion by the user, the control unit 3 displays on the monitor 4 that the connecting part 21c has been activated, allowing the user to stop manual insertion and prevent damage to the object.

[0070] After the coupling section 21c is activated, the user operates, for example, a button or lever provided in the medical system 1A. The control unit 3 drives the wire drive unit 300 to automatically move the first coupling base 21ca, the second coupling base 21cb, and the components fixed to them to the right in Figure 8(d). Since the amount of movement of the first coupling plate 21cc is known by the first sensor 21ch, the control unit 3 moves to the right by the amount of movement detected by the first sensor 21ch. In other words, when the first magnet 21ce comes into contact with the first coupling plate 21cc, which is positioned with the tension of the drive wire W13 released, and the same state as in Figure 8(a) is reached, the drive of the wire drive unit 300 stops, and the coupling section 21c returns to its original state and reconnects. Therefore, power transmission can be restored. At this time, the display indicating the operation of the coupling section 21c that was displayed on the monitor 4 disappears, allowing the user to confirm that the connection has been restored. After the connecting portion 21c returns to a state where there is no tension on the drive wire W13, the catheter 11 (drive wire W13) is further inserted into the target to prevent excessive force from being applied to it.

[0071] In this way, the catheter 11 is inserted into the target while preventing damage to the target. If excessive force is applied again, the above procedure is repeated to insert the catheter 11 further into the target while preventing damage to the target.

[0072] Next, we will explain the case of withdrawing the catheter 11 from inside the target. When withdrawing the catheter 11 from inside the target, if the catheter 11 gets stuck inside the target, and the user attempts to pull it out further in this state, excessive force may be applied to the point of snagging, potentially damaging the inside of the target. In this case, it is necessary to release the excessive force to prevent damage to the target. Furthermore, after releasing the excessive force, it is desirable to return to the original state and withdraw the catheter 11 from inside the target again.

[0073] The means for releasing excessive force, returning to the original state, and pulling out the catheter 11 from inside the target again will be described below. Figure 8(e) shows the state where the catheter 11 is being pulled out from inside the target (in the right direction in the figure) before the connecting part 21c operates, with no excessive force applied. Here, when the catheter 11 gets caught inside the target and an excessive force (in the left direction in the figure) is applied to the drive wire W13, the drive wire W13 can no longer move in the right direction.

[0074] However, if the user does not notice that the catheter 11 has gotten caught and tries to further pull out the catheter unit 100 from the target, the first magnet 21ce and the second connecting plate 21cd cannot come into contact due to magnetic force. Therefore, as shown in Figure 8(f), the first magnet 21ce and the second connecting plate 21cd separate. That is, when the user tries to further pull out the catheter 11, the first connecting base 21ca and the second connecting base 21cb try to move in the right direction in the figure, while the drive wire W13 cannot move in the right direction. For this reason, a force is applied to separate the first magnet 21ce and the second connecting plate 21cd. When that force exceeds the aforementioned N2, the first magnet 21ce and the second connecting plate 21cd separate. As set as N2 < N3 as described above, the end W a 13 of the held part W a 13a and the second magnet 21cf do not separate.

[0075] At this time, since no force is applied to the first connecting plate 21cc in the direction of separating from the first magnet 21ce, the first connecting plate 21cc remains in contact with the first magnet 21ce. As shown by the dotted line in the figure, when the first magnet 21ce and the second connecting plate 21cd separate, as shown in Figure 8(f), the first connecting base 21ca, the second connecting base 21cb, and the components fixed to them move to the right side in the figure.

[0076] Simultaneously, the drive wire W13 attempts to release the excess force as the first magnet 21ce and the second connecting plate 21cd separate. Therefore, as shown in Figure 8(g) and the dotted line, the drive wire W13, the second magnet 21cf, the second connecting plate 21cd, and the guide shaft 21cg move to the left in the figure. Figure 8(g) shows the state when the excess force on the drive wire W13 is released and the tension on the drive wire W13 is gone.

[0077] When the movements shown in Figures 8(f) and (g) occur, the second sensor 21ci detects the amount of movement of the second connecting plate 21cd from the state in Figure 8(e) to the state in Figure 8(g). Here, since there is no relative movement between the first sensor 21ch and the first connecting plate 21cc, the first sensor 21ch does not detect the movement of the first connecting plate 21cc. In other words, the first sensor 21ch detects that the first connecting plate 21cc has not moved. By detecting the movement of the second connecting plate 21cd, it is possible to detect that excessive force has been applied to the drive wire W13 and that the connecting part 21c has been activated. By sending this information to the control unit 3, the control unit 3 automatically stops the drive when driving the wire drive unit 300 to prevent damage to the object, and also displays on the monitor 4 that the connecting part 21c has been activated to inform the user. When the connecting part 21c is activated during manual insertion by the user, the control unit 3 displays on the monitor 4 that the connecting part 21c has been activated, allowing the user to stop manual insertion and prevent damage to the object.

[0078] After the coupling section 21c is activated, the user operates, for example, a button or lever provided in the medical system 1A. The control unit 3 drives the wire drive unit 300 to automatically move the first coupling base 21ca, the second coupling base 21cb, and the components fixed to them to the left in Figure 8(h). Since the amount of movement of the second coupling plate 21cd is known by the second sensor 21ci, the control unit 3 moves to the left by the amount of movement detected by the second sensor 21ci. In other words, when the first magnet 21ce comes into contact with the second coupling plate 21cd, which is positioned with the tension of the drive wire W13 released, and the same state as in Figure 8(e) is reached, the drive of the wire drive unit 300 stops, and the coupling section 21c returns to its original state and reconnects. Therefore, power transmission can be restored. At this time, the display on the monitor 4 indicating the operation of the coupling section 21c disappears. After the connecting portion 21c returns to a state where there is no tension on the drive wire W13, the catheter 11 (drive wire W13) is further withdrawn from the inside of the target to prevent excessive force from being applied to the catheter 11. It is desirable to perform a different operation of the catheter 11 after the connecting portion 21c has returned to its original position than before. This is because performing the same operation as before may cause the connecting portion 21c to activate again.

[0079] In this way, the catheter 11 is withdrawn from the target while preventing damage to the target. If excessive force is applied again, the above procedure is repeated to withdraw the catheter 11 from the target while preventing damage to the target.

[0080] Although this explanation uses drive wire W13, the configuration is similar for the first to ninth drive wires (W11 to W33). In this embodiment, the return of the connecting portion 21c was described using an optical sensor. However, for example, a pressure sensor may be used to detect when the connecting plates 21cd, 21cc and the first magnet 21ce come into contact during the return of the connecting portion 21c, and then return it to its original position.

[0081] [Example 2] The connecting portion 21c in this embodiment will be explained using Figure 9. Figures 9(a) and (e) are explanatory diagrams of the state before the connecting portion 21c is activated. Figures 9(b), (c), (f), and (g) are explanatory diagrams of the state after the connecting portion 21c has been activated. Figures 9(d) and (h) are explanatory diagrams of the state after the connecting portion 21c has returned to its original position. Also, Figures 9(a) to 9(h) show the state at the same timing as Figures 8(a) to 8(h).

[0082] In this embodiment, the second magnet 21cf is fixed to the drive wire W13. In Example 1, the connecting device 21 also served to connect the catheter unit 100 and the base unit 200, but in this embodiment, this is a separate configuration. In other words, the connecting part 21c shown in Figure 9 does not also serve to connect the catheter unit 100 and the base unit 200. The connection part between the catheter unit 100 and the base unit 200 is not shown. If the first magnet 21ce, which was part of the connecting portion 21c in Example 1, is not used, the connecting plates may not connect. For example, in the state shown in Figures 8(b) and (c), if the first magnet 21ce is absent, and the second connecting plate 21cd moves to the left in the figure, it may not return to the state shown in Figure 8(a) when it returns to the state shown in Figure 8(d). The same can be said for the first connecting plate 21cc in Figures 8(f) and (g). To solve the above, this embodiment includes a first pressure spring 21cj as an elastic member and a second pressure spring 21ck as an elastic member, as shown in Figure 9. The first pressure spring 21cj and the second pressure spring 21ck each bias the drive wire W13 in the direction of connecting it to the connecting portion 21c. In the states shown in Figures 9(b) and (c), the second pressure spring 21ck causes the second connecting plate 21cd to abut against the abutment rib 21cm1 of the connecting base 21cm, preventing the second connecting plate 21cd from moving. Therefore, when the state shown in Figure 9(d) is reached, the same state as in Figure 9(a) can be achieved. Similarly, in Figures 9(f) and (g), the first pressure spring 21cj can prevent the movement of the first connecting plate 21cc. in When the state shown in Figure 9(h) is reached, it can be made to reach the same state as in Figure 9(e).

[0083] In this embodiment, a spring force is applied to the first connecting plate 21cc and the second connecting plate 21cd, so the magnetic force is set taking the spring force into consideration. The configuration and operation of the other connecting parts 21c are the same as in Embodiment 1, so their explanation is omitted.

[0084] In this manner, the catheter 11 is inserted into or withdrawn from the target while preventing damage to the target. If excessive force is applied again, the above procedure is repeated to further insert or withdraw the catheter 11 from the target while preventing damage to the target. In this embodiment as well, if excessive force is applied to the first to ninth drive wires (W11 to W33), they perform a similar operation to prevent damage to the target while manipulating the catheter 11.

[0085] In this embodiment, the connecting portion 21c is installed on the catheter unit 100, but it may also be installed on the base unit 200. In Figure 9, the dotted line is shown to make the movement of the components of the connecting section 21c easier to understand. In this embodiment as well, the first to ninth drive wires (W11 to W33) have the same configuration.

[0086] [Example 3] The connecting portion 21c in this embodiment will be explained using Figure 10. Figures 10(a) and (e) are explanatory diagrams of the state before the connecting portion 21c is activated. Figures 10(b), (c), (f), and (g) are explanatory diagrams of the state after the connecting portion 21c has been activated. Figures 10(d) and (h) are explanatory diagrams of the state after the connecting portion 21c has returned to its original position. Also, Figures 10(a) to 10(h) show the state at the same timing as Figures 8(a) to 8(h).

[0087] In this embodiment, an electromagnet 21cn is used. The electromagnet 21cn is fixed to the drive wire W13. Also, as in Embodiment 2, the connecting portion 21c shown in Figure 10 does not serve to connect the catheter unit 100 and the base unit 200. In this embodiment, a sensor (not shown) is provided as a tension detection unit for detecting the tension of the drive wire W13. The sensor measures the tension of the drive wire W13, and the control unit 3 energizes the electromagnet 21cn if the tension is within the normal range. If the sensor detects excessive force (tension above a predetermined level), it cuts off the power supply to the electromagnet 21cn. By cutting off the power supply, the state changes from that shown in Figure 10(a) to that shown in Figures 10(b) and (c). The configuration and operation of the other connecting parts 21c are the same as in Embodiments 1 and 2, so their explanation is omitted.

[0088] In this manner, the catheter 11 is inserted into or withdrawn from the target while preventing damage to the target. If excessive force is applied again, the above procedure is repeated to further insert or withdraw the catheter 11 from the target while preventing damage to the target. In this embodiment as well, if excessive force is applied to the first to ninth drive wires (W11 to W33), they perform a similar operation to prevent damage to the target while manipulating the catheter 11.

[0089] [Example 4] The operation of releasing and connecting the drive wire W from the connecting part 21c in this embodiment will be explained using Figures 11 and 12. Figure 11(a) is a diagram illustrating the entire catheter 11. Figure 11(b) is a perspective view of the drive source M, the connecting part 21c, and the drive wire W13. Figure 11(c) is an explanatory diagram of the base unit 200 viewed along the attachment / detachment direction DE. Figure 12(a) is an explanatory diagram of the state in which the drive wire W is fixed. Figure 12(b) is an explanatory diagram of the process of releasing the drive wire W from its fixation. Figure 12(c) is an explanatory diagram of the state in which the drive wire W has been released from its fixation.

[0090] The drive wire W includes the held portion (held shaft, rod) Wa. The connecting portion 21c has a leaf spring 21cm 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 21cm. The leaf spring 21cm can be switched between 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).

[0091] The connecting portion 21c has a pressing member 21cj. The pressing member 21cj has a gear portion 21ck that meshes with the internal gear 29, and a cam 21cn that acts as a pressing portion for pressing the leaf spring 21cm. As will be described later, the cam 21cn can move (rotate) relative to the leaf spring 21cm. By moving the cam 21cn, the fixed state and the released state of the leaf spring 21cm can be switched.

[0092] As shown in Figure 12(a), in the fixed state, the leaf spring 21cm of the connecting part 21c has a fixed part 21cma fixed to the connecting base 21co, and a pressed part 21cmb that contacts the cam 21cn of the pressing member 21cj. The leaf spring 21cm also has a first part 21cmd1 and a second part 21cmd2. When the catheter unit 100 is attached to the base unit 200, the held part Wa is inserted between the first part 21cmd1 and the second part cmd2. As shown in Figure 12(a), in the fixed state, the leaf spring 21cm is held in a position where the pressed portion 21cmb is in contact with the pressing surface 21cnb of the pressing member 21cj.

[0093] When the operating part 400 is rotated in the release direction from the fixed state shown in Figure 12(a), the teeth Za3 of the internal gear 29 and the teeth Zb4 of the gear part 21ck come into contact. When the operating part 400 is further rotated in the release direction, the cam 21cn is rotated by the internal gear 29 as shown in Figure 12(b), and as shown in Figure 12(c), the cam 21cn rotates and the pressed part 21cmb comes into contact with the holding surface 21cna, and the drive wire W is released. When the drive wire W is released, excess force is released. Subsequently, when the operating part 400 is rotated in the fixed direction, the drive wire W is fixed again by the first part 21cmd1 and the second part 21cmd2 with the excess force released.

[0094] In this manner, the catheter 11 is inserted into or withdrawn from the target while preventing damage to the target. If excessive force is applied again, the above procedure is repeated to further insert or withdraw the catheter 11 from the target while preventing damage to the target. In this embodiment as well, if excessive force is applied to the first to ninth drive wires (W11 to W33), they perform a similar operation to prevent damage to the target while manipulating the catheter 11. Furthermore, the coupling of this embodiment Device 21 also serves as the connector between the catheter unit 100 and the base unit 200.

[0095] Although the present invention has been described above in conjunction with the aforementioned embodiments, the present invention is not limited to the embodiments described above, and modifications and other changes are possible within the scope of the present invention, and each embodiment may be combined. [Explanation of symbols]

[0096] W11~W33: Drive wire 12: Curved section 21c11~21c33: 1st to 9th connecting section 300: Wire drive section

Claims

1. A flexible linear member, A drive unit for driving the linear member, The curved portion is curved when the linear member is driven, A continuous robot comprising a connecting part that transmits power from the drive unit and connects to the linear member, A continuous body robot characterized in that, when the connection between the connecting portion and the linear member is released from a state in which the connecting portion and the linear member are connected, the connecting portion and the linear member can be reconnected, and the reconnection is performed automatically.

2. The system includes a detection unit that detects the relative amount of movement between the connecting portion and the linear member, The continuous body robot according to claim 1, characterized in that when the connection between the connecting portion and the linear member is released from a state in which the connecting portion and the linear member are connected, the connecting portion and the linear member are reconnected based on the amount of movement detected by the detection unit.

3. The continuous robot according to claim 2, characterized in that the detection unit detects that the connection between the connecting unit and the linear member has been released.

4. The continuous robot according to any one of claims 1 to 3, characterized in that the drive unit reconnects the connecting portion and the linear member by moving the connecting portion when the connection between the connecting portion and the linear member is released.

5. The continuous robot according to claim 4, characterized in that the drive unit reconnects the connecting portion and the linear member by moving the connecting portion toward the linear member by the amount of relative movement between the connecting portion and the linear member.

6. The continuous robot according to any one of claims 1 to 5, characterized in that the connecting portion and the linear member are connected by a magnet.

7. The connecting portion comprises a first magnet, a connecting member, and a second magnet. The continuous body robot according to any one of claims 1 to 6, characterized in that the first magnet and the second magnet are each connected to the connecting member by magnetic force, and the second magnet is further connected to the linear member, thereby connecting the connecting portion and the linear member.

8. The continuous body robot according to claim 7, characterized in that the connecting force between the first magnet and the connecting member is smaller than the connecting force between the second magnet and the linear member.

9. A continuous body robot according to any one of claims 1 to 6, characterized in that it has an elastic member that biases the linear members in the direction of connecting them.

10. The system includes a tension detection unit for detecting the tension of the linear member, The connecting portion and the linear member are connected by an electromagnet. The continuous robot according to claim 1 or 2, characterized in that the electromagnet releases the connection between the connecting part and the linear member when the tension detection unit detects a tension of a predetermined level or higher in the linear member.

11. A flexible linear member, A drive unit for driving the linear member, The curved portion is curved when the linear member is driven, A continuous robot comprising a connecting part that transmits power from the drive unit and connects to the linear member, When the connection between the connecting portion and the linear member is released from a state in which the connecting portion and the linear member are connected, it is possible to reconnect the connecting portion and the linear member. The connecting portion comprises a first magnet, a connecting member, and a second magnet. A continuous robot characterized in that the first magnet and the second magnet are each magnetically connected to the connecting member, and the second magnet is further connected to the linear member, thereby connecting the connecting portion and the linear member.

12. The continuous body robot according to claim 11, characterized in that the connecting force between the first magnet and the connecting member is smaller than the connecting force between the second magnet and the linear member.

13. A flexible linear member, A drive unit for driving the linear member, The curved portion is curved when the linear member is driven, A continuous robot comprising a connecting part that transmits power from the drive unit and connects to the linear member, When the connection between the connecting portion and the linear member is released from a state in which the connecting portion and the linear member are connected, it is possible to reconnect the connecting portion and the linear member. A continuous robot further comprising an elastic member that biases the linear members in the direction of connecting them.

14. A flexible linear member, A drive unit for driving the linear member, The curved portion is curved when the linear member is driven, A continuous robot comprising a connecting part that transmits power from the drive unit and connects to the linear member, When the connection between the connecting portion and the linear member is released from a state in which the connecting portion and the linear member are connected, it is possible to reconnect the connecting portion and the linear member. The system further includes a tension detection unit for detecting the tension of the linear member, The connecting portion and the linear member are connected by an electromagnet. The electromagnet is characterized in that the connection between the connecting part and the linear member is released when the tension detection unit detects a tension of a predetermined level or higher in the linear member.

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