JP2023130100A - System, catheter case, calibration method, and program - Google Patents

Abstract

To reduce variation of curve with respect to a curve instruction.SOLUTION: A system includes: a catheter having a curve region that curves according to a drive force from a drive source; a case having a first space in which the catheter can be stored and the curve region can be curved; and calibration means that calibrates the drive force according to contact with a wall of the first space due to curving of the curve region.SELECTED DRAWING: Figure 21

Description

Embodiments disclosed herein and in the drawings relate to systems, catheter cases, calibration methods, and programs.

Patent Document 1 discloses a medical instrument that can be bent with a wire.

Japanese Patent Application Publication No. 2013-248117

One of the problems to be solved by the embodiments disclosed in this specification and the drawings is to reduce variations in curvature with respect to curvature instructions. However, the problems to be solved by the embodiments disclosed in this specification and the drawings are not limited to the above problems. Problems corresponding to the effects of each configuration shown in the embodiments described later can also be positioned as other problems.

A system according to an embodiment includes: a catheter having a curved region that curves based on a driving force from a driving source; a case that can accommodate the catheter and has a first space in which the curved region can curve; and calibrating means for calibrating the driving force based on contact with the wall of the first space due to the curving of the area.

Diagram showing an example of an overall diagram of a medical system A perspective view showing an example of a medical device and a support stand Diagram explaining an example of a catheter Diagram illustrating an example of a catheter unit Diagram explaining an example of the base unit and wire drive unit A diagram illustrating an example of a wire drive unit, a coupling device, and a bending drive unit Diagram illustrating an example of installing a catheter unit Diagram illustrating an example of connection between a catheter unit and a base unit Exploded view illustrating an example of the connection between the catheter unit and the base unit A diagram illustrating an example of fixing a drive wire by a connecting part A diagram illustrating an example of fixing a drive wire by a connecting part A diagram illustrating an example of fixing a drive wire by a connecting part A diagram illustrating an example of fixing a drive wire by a connecting part A diagram illustrating an example of fixing a drive wire by a connecting part Diagram illustrating an example of a catheter unit and base unit Diagram illustrating an example of the operation of the operation unit Cross-sectional view illustrating an example of the operation of the operation unit Diagram explaining an example of a force sensor Diagram illustrating an example of a control block including functional components Diagram explaining an example of a catheter case Diagram illustrating an example of a curved storage section Diagram illustrating an example of movement of the curved storage section Diagram illustrating an example of movement of the curved storage section Flow diagram showing an example of a catheter calibration procedure Diagram illustrating an example of catheter operation during catheter calibration Diagram explaining an example of strain gauge output change Flow diagram showing an example of a catheter calibration procedure Diagram explaining an example of encoder count values Flow diagram showing an example of a catheter calibration procedure Diagram explaining an example of output change of the current detection section Diagram explaining an example of a back drive Flow diagram showing an example of a catheter calibration procedure

The system, catheter case, calibration method, and program will be described below with reference to the drawings. Note that the dimensions, materials, shapes, arrangement, etc. of the components described in this example are not limited to those described in this specification and drawings, and can be changed as appropriate.

(Example 1)
<Medical systems and medical devices>
A medical system 1A and a medical device 1 will be explained using FIGS. 1 and 2. FIG. 1 is an overall diagram of a medical system 1A. FIG. 2 is a perspective view showing the medical device 1 and the support stand 2.

The medical system 1A includes a medical device 1, a support base 2 to which the medical device 1 is attached, and a control device 3 that controls the medical device 1. In this embodiment, the medical system 1A includes a monitor 4 as a display device.

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

In this embodiment, the user of the medical system 1A and the medical device 1 can observe the inside of the object, collect various specimens from inside the object, and perform treatment on the inside of the object by inserting the catheter 11 into the inside of the object. You can perform tasks such as: In one embodiment, a user can insert catheter 11 into a target patient. Specifically, by inserting it into the patient's bronchi through the oral cavity or nasal cavity, operations such as observation, sampling, and resection of 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 medical instruments (tools) include endoscopes, forceps, ablation devices, and the like. Moreover, the catheter 11 itself may have the function as the above-mentioned medical device.

In this embodiment, the control unit 3 includes an arithmetic device 3a and an input device 3b. The input device 3b receives commands and input for operating the catheter 11. The computing device 3a includes a storage for storing programs and various data for controlling the catheter, a random access memory, and a central processing unit for executing the programs. Further, the control unit 3 may include an output unit that outputs a signal for displaying an image on the monitor 4. The arithmetic device 3a functions as a proofreading section A, which will be described later, by executing a program stored in a storage medium such as a storage. The control unit 3 may be provided inside the base unit 200 or the support stand 2. Further, a part of the control unit 3 (for example, the arithmetic unit 3a) may be provided inside the base unit 200 or the support base 2. Note that a plurality of arithmetic devices 3a may be provided corresponding to each of first to ninth motors (Mb11, Mb12, Mb13, Mb21, Mb22, Mb23, Mb31, Mb32, Mb33) to be described later.

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. be done. 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 connected wirelessly.

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 portion (connection portion) 200a of the base unit 200 is removably attached to the moving stage (receiving portion) 2a of the support base 2. Even when the attachment portion 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 control unit 3 can control the medical device 1. In this embodiment, even when the attachment portion 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.

The user manually moves the medical device 1 with the medical device 1 removed from the support stand 2 (the medical device 1 is removed from the moving stage 2a) and inserts the catheter 11 into the object. be able to.

A user can use the medical device 1 with the catheter 11 inserted into the subject and the medical device 1 attached to the support base 2. Specifically, with the medical device 1 attached to the moving stage 2a, the medical device 1 is moved by moving the moving stage 2a. Then, an operation of moving the catheter 11 in the direction of inserting it into the object and an operation of moving the catheter 11 in the direction of pulling it out from the object are performed. Movement of the moving stage 2a is controlled by the control section 3.

The attachment portion 200a of the base unit 200 includes a release switch and a removal switch (not shown). With the attachment part 200a attached to the moving stage 2a, the user can manually move the medical device 1 along the guide direction of the moving stage 2a while continuing to press the release switch. That is, the moving stage 2a includes a guide structure that guides the movement of the medical device 1. When the user stops pressing the release switch, the medical device 1 is fixed to the moving stage 2a. On the other hand, when the removal switch is pressed while the attachment portion 200a is attached to the moving stage 2a, the user can remove the medical device 1 from the moving stage 2a.

Note that one switch may have the function of a release switch and a function of a removal switch. Further, if the release switch is provided with a mechanism for switching the release switch between a pressed state and a non-pressed state, the user does not need to keep pressing the release switch when manually sliding the medical device 1.

When the attachment part 200a is attached to the moving stage 2a and the release switch and the removal switch are not pressed, the medical device 1 is fixed to the moving stage 2a and is moved by the moving stage 2a driven by a motor (not shown). Ru.

The medical device 1 includes a wire drive section (wire member drive section, line drive section, main body drive section) 300 for driving the catheter 11. In this embodiment, the medical device 1 is a robot catheter device that drives a catheter 11 by a wire drive section 300 controlled by a control section 3.

The control device 3 can control the wire drive section 300 and perform an operation to bend the catheter 11. In this embodiment, the wire drive section 300 is built into the base unit 200. More specifically, the base unit 200 includes a base housing 200f that houses the wire drive section 300. That is, the base unit 200 includes the wire drive section 300. The wire drive section 300 and the base unit 200 can be collectively referred to as a catheter drive device (base device, main body).

In the extending direction of the catheter 11, the end where the tip of the catheter 11 inserted into the object is placed is called the distal end. The opposite side of the distal end in the extending direction of the catheter 11 is called the proximal end.

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

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 subject.

For example, with an endoscope inserted into the catheter 11, the catheter 11 is inserted to a target position inside the subject. At this time, at least one of manual operation by the user, movement of the moving stage 2a, and driving of the catheter 11 by the wire driving section 300 is used. After the catheter 11 reaches the target position, the endoscope is pulled out from the catheter 11 through the tool hole 16a. Then, a medical instrument is inserted through the tool hole 16a, and operations such as collecting various specimens from inside the object and treating the inside of the object are performed.

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

As shown in FIG. 2, the medical device 1 includes an operation section 400. In this embodiment, the operating section 400 is provided in the catheter unit 100. The operating section 400 is operated by the user when fixing the catheter unit 100 to the base unit 200 or removing the catheter unit 100 from the base unit 200.

By connecting the endoscope inserted into the catheter 11 and the monitor 4, images taken by the endoscope can be displayed on the monitor 4. Furthermore, by connecting the monitor 4 and 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, information related to the position of the catheter 11 inside the object and the navigation of the catheter 11 inside the object can be displayed on the monitor 4. The monitor 4, the control unit 3, and the endoscope may be connected by wire or wirelessly. Further, the monitor 4 and the control unit 3 may be connected via the support base 2.

<Catheter>
The catheter 11 as a bendable body will be explained using FIG. 3. FIG. 3 is an explanatory diagram of the catheter 11. FIG. 3(a) is a diagram illustrating the entire catheter 11. FIG. 3(b) is an enlarged view of the catheter 11.

The catheter 11 includes a bending section (curving body, catheter main body) 12 and a bending drive section (catheter drive section) 13 configured to curve the bending section 12 . The bending drive unit 13 is configured to receive the driving force of the wire drive unit 300 via a coupling device 21, which will be described later, to bend the bending unit 12. The coupling device 21 corresponds to an example of a transmission mechanism that transmits driving force to the curved region.

The catheter 11 is extended along the direction of insertion of the catheter 11 into the target. The extending direction (longitudinal direction) of the catheter 11 is the same as the extending direction (longitudinal direction) of the curved portion 12 and the extending direction (longitudinal direction) of the first to ninth drive wires (W11 to W33), which will be described later.

The bending drive section 13 includes a plurality of drive wires (drive lines, linear members, linear actuators) connected to the bending section 12 . Specifically, the bending drive section 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, and a seventh drive wire W21. It includes a wire W31, an eighth drive wire W32, and a ninth drive wire W33.

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 a first held portion Wa11. The second drive wire W12 includes a second held portion Wa12. The third drive wire W13 includes a third held portion Wa13. The fourth drive wire W21 includes a fourth held portion Wa21. The fifth drive wire W22 includes a fifth held portion Wa22. The sixth drive wire W23 includes a sixth held portion Wa23. The seventh drive wire W31 includes a seventh held portion Wa31. The eighth drive wire W32 includes an eighth held portion Wa32. The ninth drive wire W33 includes a ninth held portion Wa33.

In this embodiment, each of the first to ninth held parts (Wa11 to Wa33) has the same shape. Note that in this specification, "same" is a concept that includes not only completely the same case but also cases where there are variations such as manufacturing errors.

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 a first wire body Wb11. The second drive wire W12 includes a second wire body Wb12. The third drive wire W13 includes a third wire body Wb13. The fourth drive wire W21 includes a fourth wire body Wb21. The fifth drive wire W22 includes a fifth wire body Wb22. The sixth drive wire W23 includes a sixth wire body Wb23. The seventh drive wire W31 includes a seventh wire body Wb31. The eighth drive wire W32 includes an eighth wire body Wb32. The ninth drive wire W33 includes a ninth wire body Wb33.

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

The first to ninth held parts (Wa11 to Wa33) are fixed to the first to ninth wire bodies (Wb11 to Wb33) at the proximal ends of the first to ninth wire bodies (Wb11 to Wb33). .

The first to ninth drive wires (W11 to W33) are inserted into the curved portion 12 via the wire guide 17 and are fixed.

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 metal and resin. That is, each of the first to ninth drive wires (W11 to W33) may be made of a flexible material.

Any one of the first to ninth drive wires (W11 to W33) can be called a 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).

In this embodiment, the curved portion 12 is a tubular member that is flexible and includes a passage Ht for inserting a medical device.

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

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

The curved portion 12 has an intermediate region 12a and a curved region 12b. The curved region 12b is arranged at the distal end of the curved portion 12, and the first guide ring J1, the second guide ring J2, and the third guide ring J3 are arranged in the curved region 12b. The curved region 12b is a region in which the magnitude and direction of bending of the curved portion 12 can be controlled by moving the first guide ring J1, the second guide ring J2, and the third guide ring J3 using the curve drive unit 13. say. FIG. 3(b) is drawn with some members of the curved portion 12 covering the first to third guide rings (J1 to J3) omitted.

In this embodiment, the curved portion 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 portion 12. In this embodiment, the plurality of auxiliary rings are arranged proximal to the first guide ring J1, between the first guide ring J1 and the second guide ring J2, and between the second guide ring J2 and the third guide ring J3. be done. Note that the curved portion 12 may not include part or all of the auxiliary ring.

The medical instrument is guided to the tip of the catheter 11 by the passage Ht, the first to third guide rings (J1 to J3), and a plurality of auxiliary rings.

Each of the first to ninth drive wires (W11 to W33) passes through the intermediate region 12a and is fixed to each of the first to third guide rings (J1 to J3).

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

The medical device 1 can bend the bending section 12 in a direction intersecting the extending direction of the catheter 11 by driving the bending drive section 13 with the wire drive section 300 . Specifically, by moving each of the first to ninth drive wires (W11 to W33) in the extending direction of the curved portion 12, the curved portion is moved through the first to third guide rings (J1 to J3). The twelve curved regions 12b can be curved in a direction intersecting the stretching direction. That is, the catheter 11 corresponds to an example of a catheter that has a curved region that curves based on the driving force from the driving source. Further, the catheter 11 has a plurality of curved regions defined by the first to third guide rings (J1 to J3) in the axial direction, and the plurality of curved regions are curved based on driving forces from different drive sources. do.

The user can insert the catheter 11 to the target part inside the object by moving the medical device 1 manually or by moving the moving stage 2a, and by using at least one of curving the curved part 12.

In this embodiment, the first to third guide rings (J1 to J3) are moved by the first to ninth drive wires (W11 to W33) to bend the curved portion 12, but the present invention It is not limited to this configuration. Any one or two of the first to third guide rings (J1 to J3) and the drive wire fixed thereto may be omitted.

For example, in the catheter 11, the first to sixth drive wires (W11 to W23) and the first to second guide rings (J1 to J2) are omitted, and the seventh to ninth drive wires (W31 to W33) and the first to second guide rings (J1 to J2) are omitted. It may be configured to include only three guide rings J3. In addition, the catheter 11 has the first to third drive wires (W11 to W13) and the first guide ring J1 omitted, and the fourth to ninth drive wires (W21 to W33) and the second to third guide rings ( J2 to J3) only.

Alternatively, the catheter 11 may have a configuration in which one guide ring is driven by two drive wires. Also in this case, the number of guide rings may be one or more than one.

<Catheter unit>
The catheter unit 100 will be explained using FIG. 4.

FIG. 4 is an explanatory diagram of the catheter unit 100. FIG. 4(a) is an explanatory diagram of the catheter unit 100 in a state where the wire cover 14, which will be described later, is in the cover position. FIG. 4(b) is an explanatory diagram of the catheter unit 100 with the wire cover 14, which will be described later, in a retracted position. Note that the cover position refers to a position where the wire cover 14 covers the first to ninth drive wires (W11 to W33), and the retracted position refers to a position where the wire cover 14 retreats from the cover position and covers the first to ninth drive wires (W11 to W33). (W11 to W33) indicate the exposed position.

The catheter unit 100 includes a bending section 12 , a catheter 11 having a bending drive section 13 , and a proximal end cover 16 that supports the proximal end of the catheter 11 . The catheter unit 100 includes a cover (wire cover) 14 for covering and protecting the first to ninth drive wires (W11 to W33) as a plurality of drive wires.

The catheter unit 100 is removable 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 and detachment direction DE.

The proximal end cover (frame body, curved part housing, catheter housing) 16 is a cover that covers a part of the catheter 11. The proximal end cover 16 has a tool hole 16a for inserting a medical instrument into the passageway Ht of the curved portion 12.

The wire cover 14 is provided with a plurality of wire cover holes (cover holes) through which each of the first to ninth drive wires (W11 to W33) passes. The wire cover 14 has a first wire cover hole 14a11, a second wire cover hole 14a12, a third wire cover hole 14a13, a fourth wire cover hole 14a21, a fifth wire cover hole 14a22, a sixth wire cover hole 14a23, and a seventh wire cover hole 14a23. A wire cover hole 14a31, an eighth wire cover hole 14a32, and a ninth wire cover hole 14a33 are provided. The first to ninth wire cover holes (14a11 to 14a33) correspond to the first to ninth drive wires (W11 to W33), respectively. The number after the symbol 14a indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first wire cover hole 14a11.

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

The wire cover 14 can be moved to a cover position (see FIG. 4(a)) that covers the first to ninth drive wires (W11 to W33) and a retracted position (see FIG. 4(b)) where it is retracted from the cover position. . The retracted position can also be called an exposed position where the first to ninth drive wires (W11 to W33) are exposed.

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.

In this embodiment, the wire cover 14 is moved from the cover position to the retracted position and then remains at the retracted position. Therefore, even if the catheter unit 100 is removed from the base unit 200 after the catheter unit 100 is attached to the base unit 200, 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 to the cover position. In this case, when the catheter unit 100 is attached to the base unit 200 and then removed from the base unit 200, the wire cover 14 is moved from the retracted position to the cover position.

When the wire cover 14 is in the retracted position, the first to ninth held portions (Wa11 to Wa33) of the first to ninth drive wires (W11 to W33) protrude from the wire cover 14. As a result, the connection between the bending drive section 13 and the connection device 21 described later is allowed. When the wire cover 14 is in the retracted position, the first to ninth held parts (Wa11 to Wa33) of the first to ninth drive wires (W11 to W33) are inserted through the first to ninth wire cover holes (14a11 to 14a33). stands out. More specifically, the first to ninth held parts (Wa11 to Wa33) protrude from the first to ninth wire cover holes (14a11 to 14a33) in the attachment direction Da, which will be described later.

As shown in FIG. 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. When the key shaft 15 engages with the key receiving part 22, movement of the catheter unit 100 with respect to the base unit 200 is performed in the circumferential direction of the circle (virtual circle) in which the first to ninth drive wires (W11 to W33) are arranged. , limited within a predetermined range.

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

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 unit 400 is rotatable around a rotation axis 400r. A rotating shaft 400r of the operating section 400 extends in the attachment/detachment direction DE.

The operating section 400 is configured to be movable (rotatable) relative to the base unit 200 when the catheter unit 100 is attached to the base unit 200. More specifically, the operation unit 400 is configured to be movable (rotatable) relative to the base housing 200f, the wire drive unit 300, and the coupling device 21 described below.

<Base unit>
The base unit 200 and the wire drive section 300 will be explained using FIG. 5.

FIG. 5 is an explanatory diagram of the base unit 200 and the wire drive section 300. FIG. 5A is a perspective view showing the internal structure of the base unit 200. FIG. 5(b) is a side view showing the internal structure of the base unit 200. FIG. 5C is a diagram of the base unit 200 viewed along the attachment/detachment direction DE.

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

The wire drive section 300 has a plurality of drive sources. 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, and a seventh drive source M21. It includes a source M31, an eighth drive source M32, and a ninth drive source M33. That is, a plurality of drive sources are provided corresponding to the plurality of wires, and by driving an arbitrary wire among the plurality of wires, the bending region is curved in an arbitrary direction.

Any one of the first to ninth drive sources (M11 to M33) can be called a drive source M. In this embodiment, each of the first to ninth drive sources (M11 to M33) has the same configuration. Further, the first drive source M11, the second drive source M12, the third drive source M13, the fourth drive source M21, the fifth drive source M22, the sixth drive source M23, the seventh drive source M31, the eighth drive source M32, The ninth drive source M33 includes a first motor Mb11, a second motor Mb12, a third motor Mb13, a fourth motor Mb21, a fifth motor Mb22, a sixth motor Mb23, a seventh motor Mb31, an eighth motor Mb32, and a third motor Mb33, respectively. It has 9 motors Mb33. Any one of the first to ninth motors (Mb11 to Mb33) can be called a motor Mb. Further, the first motor Mb11, the second motor Mb12, the third motor Mb13, the fourth motor Mb21, the fifth motor Mb22, the sixth motor Mb23, the seventh motor Mb31, the eighth motor Mb32, and the ninth motor Mb33 A first encoder E11, a second encoder E12, a third encoder E13, a fourth encoder E21, a fifth encoder E22, a sixth encoder E23, a seventh encoder E31, an eighth encoder E32, and a ninth encoder E33 detect rotation. have. Any one of the first to ninth encoders (E11 to E33) can be called a motor Mb.

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 section 300. The connecting device 21 has a plurality of connecting parts. In this embodiment, the connecting device 21 includes a first connecting portion 21c11, a second connecting portion 21c12, a third connecting portion 21c13, a fourth connecting portion 21c21, a fifth connecting portion 21c22, a sixth connecting portion 21c23, and a seventh connecting portion. 21c31, an eighth connecting portion 21c32, and a ninth connecting portion 21c33.

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 portions (21c11 to 21c33) has the same configuration. The connecting portion 21c is provided between the drive source M and the drive wire W, and is connected to the drive source M and the drive wire W. The connecting portion 21c moves the wire in the axial direction by the driving force of the driving source M.

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

As will be described later, the bending drive unit 13 including first to ninth drive wires (W11 to W33) is coupled to the coupling device 21. The bending drive section 13 receives the driving force of the wire drive section 300 via the coupling device 21 and causes the bending drive section 12 to curve.

The drive wire W is connected to the connecting portion 21c via the held portion Wa. Each of the plurality of drive wires is coupled to each of the plurality of coupling 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 held portion Wa32 of the eighth drive wire W32 is connected to the eighth connecting portion 21c32. The ninth held portion Wa33 of the ninth drive wire W33 is connected to the ninth connecting portion 21c33.

Base unit 200 has a base frame 25. The base frame 25 is provided with a plurality of insertion holes through which the first to ninth drive wires (W11 to W33) are passed. The base frame 25 has 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, and an eighth insertion hole 25a21. An insertion hole 25a32 and a ninth insertion hole 25a33 are provided. The first to ninth insertion holes (25a11 to 25a33) correspond to the first to ninth drive wires (W11 to W33), respectively. The number after the symbol 25a indicates the number of the corresponding drive wire. For example, the first drive wire W11 is inserted into the first insertion hole 25a11.

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

The base frame 25 is provided with a mounting opening 25b into which the wire cover 14 is inserted. First to ninth insertion holes (25a11 to 25a33) are arranged at the bottom of the attachment opening 25b.

Further, 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.

The base frame 25 has a key receiving portion (key hole, base side key, main body side key) 22 that receives the key shaft 15. By engaging the key shaft 15 and the key receiving portion 22, the catheter unit 100 is attached to the base unit 200 in the correct phase.

By engaging the key shaft 15 and the key receiving part 22, the catheter unit 100 is moved relative to the base unit 200 in the circumferential direction of the circle (virtual circle) in which the first to ninth drive wires (W11 to W33) are arranged. Movement is restricted within a predetermined range.

As a result, each of the first to ninth drive wires (W11 to W33) is inserted into each of the corresponding first to ninth insertion holes (25a11 to 25a33) and the corresponding first to ninth connection portions (21c11 to 21c33). engage with each of the In other words, the drive wire W is prevented from engaging with the uncorresponding insertion hole 25a and the uncorresponding connecting portion 21c.

By engaging the key shaft 15 and the key receiving portion 22, the user connects each of the first to ninth drive wires (W11 to W33) to each of the first to ninth connecting portions (21c11 to 21c33). can be connected correctly. Therefore, the user can easily attach the catheter unit 100 to the base unit 200.

In this embodiment, the key shaft 15 has a convex portion that protrudes in a direction intersecting the attachment/detachment direction DE, and the key receiving portion 22 has a concave portion into which the convex portion is inserted. In the circumferential direction, the position where the convex part and the concave part engage is the position where the drive wire W engages with the corresponding insertion hole 25a and the corresponding connection part 21c.

Note that the key shaft 15 can be placed on either the base unit 200 or the catheter unit 100, and the key receiving section 22 can be placed on the other. For example, the key shaft 15 may be arranged on the base unit 200 side, and the key receiving part 22 may be arranged on the catheter unit 100 side.

The base unit 200 has a joint 28 including a joint engaging portion 28j. The base frame 25 has a lock shaft 26 including a lock protrusion 26a. These functions will be described later.

<Connection of motor and drive wire>
The connection of the wire drive unit 300, the connection device 21, and the bending drive unit 13 will be described using FIG. 6.

FIG. 6 is an explanatory diagram of the wire drive section 300, the coupling device 21, and the bending drive section 13. FIG. 6A is a perspective view of the drive source M, the connecting portion 21c, and the drive wire W. FIG. 6(b) is an enlarged view of the connecting portion 21c and the drive wire W. FIG. 6(c) is a perspective view showing the connection of the wire drive section 300, the coupling device 21, and the bending drive section 13.

In this embodiment, the configuration in which 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 is the same. Further, the configurations in which each of the first to ninth connecting portions (21c11 to 21c33) and each of the first to ninth drive sources (M11 to M33) are connected are the same. Therefore, in the following description, a configuration in which one drive wire W, one connection portion 21c, and one drive source M are connected will be described using one drive wire W, one connection portion 21c, and one drive source M.

As shown in FIG. 6(a), the drive source M includes an output shaft Ma and a motor Mb that rotates the output shaft Ma in a rotation direction Rm. A spiral groove is provided on the surface of the output shaft Ma. The output shaft Ma has a so-called screw shape. Motor Mb is fixed to motor frame 200b.

The connecting portion 21c has a tractor 21ct connected to the output shaft Ma and a tractor support shaft 21cs that supports the tractor 21ct. The tractor support shaft 21cs is therefore fixed to the tractor 21ct. Further, the tractor support shaft 21cs is connected to a force sensor 50, which will be described later. The tractor support shaft 21cs is connected to the connection base 21cb via a force sensor 50. Note that the force sensor 50 is not limited to the position shown in FIG. 6, but can be provided at any position between the drive source M and the drive wire W.

The connecting portion 21c has a leaf spring 21ch as a holding portion for holding the held portion Wa of the drive wire W. The drive wire W passes through the insertion hole 25a and engages with the connecting portion 21c. More specifically, the held portion Wa engages with the leaf spring 21ch. As will be described later, the leaf spring 21ch can be in a state in which the held portion Wa is sandwiched and fixed (fixed state) or in a state in which the held portion Wa is released (released state).

The connecting portion 21c has a pressing member 21cp. The pressing member 21cp has a gear portion 21cg that meshes with an internal gear 29, which will be described later, and a cam 21cc as a pressing portion for pressing the leaf spring 21ch.

As described later, the cam 21cc can move relative to the leaf spring 21ch. By moving the cam 21cc, the plate spring 21ch is switched between a fixed state and a released state.

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 rotation direction Rm, the connecting portion 21c is restricted from rotating around the motor shaft Ma. Note that 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).

Rotation of the connecting portion 21c around the motor shaft Ma is restricted. Therefore, when the motor shaft Ma rotates, a force along the rotation axis direction of the motor shaft Ma is applied to the tractor 21ct by the spiral groove of the motor shaft Ma, and the tractor 21ct moves in the rotation axis direction of the motor shaft Ma. . As a result, the connecting portion 21c moves along the rotation axis direction of the motor shaft Ma (Dc direction). As the connecting portion 21c moves, the drive wire W moves and the bending portion 12 bends.

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

As shown in FIG. 6(c), by attaching the catheter unit 100 to the base unit 200, each of the first to ninth drive wires (W11 to W33) and the first to ninth connecting portions (21c11 to 21c33) are connected to each other. Each is connected.

The control unit 3 can independently control each of the first to ninth drive sources (M11 to M33). In other words, any drive source among the first to ninth drive sources (M11 to M33) may operate or stop independently, regardless of whether or not the other drive sources are stopped. I can do it. 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 curved region 12b of the curved portion 12 can be bent in any direction.

<Installing the catheter unit>
The operation of mounting the catheter unit 100 on the base unit 200 will be described using FIG. 7.

FIG. 7 is an explanatory diagram of how the catheter unit 100 is attached. FIG. 7A is a diagram before the catheter unit 100 is attached to the base unit 200. FIG. 7(b) is a diagram after the catheter unit 100 is attached to 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 operating section 400. Among the attachment/detachment directions DE, the direction in which the catheter unit 100 is attached to the base unit 200 is referred to as an attachment direction Da. Among the attaching and detaching directions DE, the direction in which the catheter unit 100 is detached from the base unit 200 (the opposite direction to the attaching direction Da) is referred to as a detaching direction Dd.

As shown in FIG. 7(a), before the catheter unit 100 is attached to the base unit 200, the wire cover 14 is located at the cover position. At this time, the wire cover 14 is moved to the first to ninth positions so that the first to ninth held parts (Wa11 to Wa33) do not protrude from the first to ninth wire cover holes (14a11 to 14a33) of the wire cover 14. It covers the wires (W11 to W33). Therefore, the first to ninth drive wires (W11 to W33) can be protected before the catheter unit 100 is attached to the base unit 200.

When the base unit 200 is attached to the catheter unit 100, the key shaft 15 is engaged with the key receiving portion 22. The key shaft 15 protrudes from the wire cover 14. In this embodiment, when the key shaft 15 reaches the entrance of the key receiving portion 22, the wire cover 14 does not engage with the attachment opening 25b. That is, when the phase of the catheter unit 100 with respect to the base unit 200 is such that the key shaft 15 and the key receiving part 22 cannot be engaged, the wire cover 14 is not engaged with the attachment opening 25b and is in the cover position. is maintained. Therefore, even when the catheter unit 100 is moved so that the key shaft 15 and the key receiving portion 22 are engaged, the first to ninth drive wires (W11 to W33) are protected.

When the key shaft 15 and the key receiving portion 22 are engaged and the catheter unit 100 is moved in the attachment direction Da relative to the base unit 200, the catheter unit 100 is attached to the base unit 200. By attaching the catheter unit 100 to the base unit 200, the wire cover 14 moves to the retracted position. In this embodiment, the wire cover 14 moves from the cover position to the retracted position by coming into contact with the base frame 25 (see FIG. 7(b)).

More specifically, when attaching the catheter unit 100, the wire cover 14 comes into contact with the base frame 25 and stops. In this state, by moving the catheter unit 100 in the attachment direction Da, the wire cover 14 moves relative to the portion other than the wire cover 14 in the catheter unit 100. As a result, the wire cover 14 moves from the cover position to the retracted position.

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

When the catheter unit 100 is only attached to the base unit 200, the catheter unit 100 can be removed by moving the catheter unit 100 in the removal direction Dd with respect to the base unit 200. Further, as will be described later, when the catheter unit 100 is simply attached to the base unit 200, the fixation of the drive wire W and the connecting portion 21c is released.

By operating the operating section 400 with the catheter unit 100 attached to the base unit 200, the catheter unit 100 is prevented from being removed from the base unit 200. Furthermore, by operating the operating section 400 with the catheter unit 100 attached to the base unit 200, the bending drive section 13 is fixed to the coupling device 21, and the bending drive section 13 is connected to the wire drive section via the coupling device 21. 300.

<Fixing and unfixing the bending drive unit>
8, 9, 10, 11, 12, 13, and 14, the structure for fixing the bending drive section 13 to the coupling device 21, and the fixing of the bending drive section 13 by the coupling device 21 will be explained. The configuration for canceling will be explained.

FIG. 8 is a diagram illustrating the connection between the catheter unit 100 and the base unit 200. FIG. 8(a) is a cross-sectional view of the catheter unit 100 and the base unit 200. FIG. 8(a) is a cross-sectional view of the catheter unit 100 and the base unit 200 taken along the rotation axis 400r. FIG. 8(b) is a sectional view of the base unit 200. FIG. 3 is a cross-sectional view of the base unit 200 taken at a connecting portion 21c in a direction perpendicular to a rotating shaft 400r.

FIG. 9 is an exploded view illustrating the connection between the catheter unit 100 and the base unit 200.

10, FIG. 11, FIG. 12, FIG. 13, and FIG. 14 are diagrams illustrating fixing of the drive wire W by the connecting portion 21c.

As shown in FIGS. 8A and 9, the base unit 200 includes a joint (intermediate member, second transmission member) 28, a moving gear (interlocking gear, transmission member, It has an internal gear 29 as a first transmission member).

The joint 28 has a plurality of transmission parts 28c, and the internal gear 29 has a plurality of transmitted parts 29c. The plurality of transmission parts 28c are engaged with the plurality of transmission parts 29c, and when the joint 28 rotates, the rotation of the joint 28 is transmitted to the internal gear 29.

When the catheter unit 100 is attached to the base unit 200, the engaging portion 400j provided in the operating portion 400 engages with the joint engaging portion 28j of the joint 28. When the operating section 400 rotates, the rotation of the operating section 400 is transmitted to the joint 28. The operating portion 400, the joint 28, and the internal gear 29 rotate in the same direction.

The internal gear 29 has a state in which each of the first to ninth connecting portions (21c11 to 21c33) fixes each of the first to ninth drive wires (W11 to W33), and a state in which each of the first to ninth connection portions (21c11 to 21c33) fixes each of the first to ninth drive wires (W11 to W33). It has a plurality of teeth for switching between the states of releasing each of W11 to W33). Each of the plurality of tooth portions (acting portion, switching gear portion) of the internal gear 29 engages with the gear portion 21cg of the pressing member 21cp that each of the first to ninth connecting portions (21c11 to 21c33) has.

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

The first tooth portion 29g11 meshes with the gear portion 21cg of the first connecting portion 21c11. The second tooth portion 29g12 meshes with the gear portion 21cg of the second connecting portion 21c12. The third tooth portion 29g13 meshes with the gear portion 21cg of the third connecting portion 21c13. The fourth tooth portion 29g21 meshes with the gear portion 21cg of the fourth connecting portion 21c21. The fifth tooth portion 29g22 meshes with the gear portion 21cg of the fifth connecting portion 21c22. The sixth tooth portion 29g23 meshes with the gear portion 21cg of the sixth connecting portion 21c23. The seventh tooth portion 29g31 meshes with the gear portion 21cg of the seventh connecting portion 21c31. The eighth tooth portion 29g32 meshes with the gear portion 21cg of the eighth connecting portion 21c32. The ninth tooth portion 29g33 meshes with the gear portion 21cg of the ninth connecting portion 21c33.

Any one of the first to ninth tooth portions (29g11 to 29g33) can be called the tooth portion 29g. In this embodiment, each of the first to ninth tooth portions (29g11 to 29g33) has the same configuration.

In this embodiment, the configuration in which 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 is the same. Further, the configurations in which each of the first to ninth connecting portions (21c11 to 21c33) and each of the first to ninth tooth portions (29g11 to 29g33) are connected are the same. Therefore, in the following description, a configuration in which one drive wire W, one connecting portion 21c, and one tooth portion 29g are connected will be described.

In each of the first to ninth connecting parts (21c11 to 21c33), the gear part 21cg is moved by the internal gear 29, so that the pressing member 21cp rotates, and the cam 21cc is retracted from the pressing position and the pressing position. Move to position.

By rotating the operating section 400, the internal gear 29 rotates. As the internal gear 29 rotates, each of the first to ninth connecting portions (21c11 to 21c33) operates. In other words, the first to ninth connecting parts (21c11 to 21c33) can be operated by rotating one operating part 400.

The operating section 400 can be moved between a fixed position (locked position) and a detached position with the catheter unit 100 attached to the base unit 200. Furthermore, as will be described later, the operating section 400 can be moved to the release position with the catheter unit 100 attached to the base unit 200. In the rotational direction of the operation unit 400, the release position is located between the fixed position and the removal position. The catheter unit 100 is attached to the base unit 200 with the operating section 400 located at the removal position.

When the catheter unit 100 is attached to the base unit 200, the drive wire W is not fixed (locked) to the connecting portion 21c. This state is called a released state of the connecting portion 21c. Note that the state in which the drive wire W is fixed (locked) to the connecting portion 21c is referred to as the locked state of the connecting portion 21c.

The operation of fixing the drive wire W to the connecting portion 21c will be described with reference to FIGS. 10, 11, 12, 13, and 14.

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

FIG. 10 is a diagram showing a state of the internal gear 29 and the connecting portion 21c in a removable state. FIG. 10 is a diagram showing the internal gear 29 and the connecting portion 21c in a state where the operating portion 400 is located at a fixed position.

The plate spring 21ch of the connecting portion 21c has a fixed portion 21cha fixed to the connecting base 21cb and a pressed portion 21chb that comes into contact with 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 held portion Wa is inserted between the first portion 21chd1 and the second portion 21chd2.

The cam 21cc has a holding surface 21cca and a pressing surface 21ccb. In the direction of the rotation radius of the pressing member 21cp, the holding surface 21cca is located closer to the rotation center 21cpc of the pressing member 21cp than the pressing surface 21ccb.

As shown in FIG. 10, in the removable state (the state in which the operation unit 400 is in the removal position), the leaf spring 21ch is held at a position where the pressed portion 21chb is in contact with the holding surface 21cca. Further, the tooth Za1 of the internal gear 29 and the tooth Zb1 of the gear portion 21cg are stopped with a clearance La created between them.

In the rotating direction of the operating unit 400, the direction in which the operating unit 400 moves from the removal position to the release position and the fixed position is called a locking direction (fixing direction), and the direction in which the operating unit 400 moves from the fixed position to the release position and the removal position is called a locking direction. It's called direction. The operating unit 400 rotates from the release position in the release direction and moves to the removal position. The operating unit 400 rotates in the locking direction from the release position and moves to the fixed position.

When the catheter unit 100 is attached to the base unit 200 and the operating section 400 is in the detached position, the connecting portion 21c is in a released state, and the fixation of the drive wire W by the connecting portion 21c is released.

When the connecting portion 21c is in the released state, the cam 21cc is located at a retracted position, which is retracted from the pressing position, which will be described later. At this time, the held portion Wa is released from being fixed by the plate spring 21ch. The force with which the first portion 21chd1 and the second portion 21chd2 tighten the held portion Wa when the connecting portion 21c is in the released state is the same as the force exerted by the first portion 21chd1 and the second portion 21chd2 when the connecting portion 21c is in the locked state. It is smaller than the force that tightens the holding part Wa.

When the connecting portion 21c is in the released state, when the catheter unit is moved in the removal direction Dd with respect to the base unit 200, the held portion Wa can be pulled out from between the first portion 21chd1 and the second portion 21chd2. .

When the connecting portion 21c is in the released state, it is preferable that the first portion 21chd1 and the second portion 21chd2 exert no force to tighten the held portion Wa (a state in which the magnitude is zero). When the connecting portion 21c is in the released state, it is preferable that a gap is formed between at least one of the first portion 21chd1 and the second portion 21chd2 and the held portion Wa.

FIG. 11 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 is rotated from the detached position in the locking direction. FIG. 11 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 is in the release position.

When the operating section 400 is rotated in the locking direction with the operating section 400 in the removal position (FIG. 10), the internal gear 29 rotates clockwise. The operation unit 400 is then located at the release position.

Note that even when the operating section 400 is rotated, the key shaft 15 and the key receiving section 22 are engaged, so the entire catheter unit 100 (excluding the operating section 400) is not connected to the base unit 200. Rotation is restricted. That is, the operating section 400 is rotatable relative to the entire catheter unit 100 (excluding the operating section 400) and the base unit 200 while they are stopped.

As the internal gear 29 rotates clockwise, the clearance between the tooth Za1 of the internal gear 29 and the tooth Zb1 of the gear portion 21cg decreases from the clearance La to the clearance Lb.

The tooth Zb2 of the gear portion 21cg is arranged at a position with a clearance Lz between the tooth tip circle (dotted line) of the tooth portion 29g of the internal gear 29. Therefore, the internal gear 29 can rotate without interfering with the teeth Zb2. On the other hand, the connecting portion 21c is maintained in the same state as shown in FIG. 10 (released state).

When the operating section 400 is further rotated in the locking direction from the state shown in FIG. 11, the internal gear 29 is further rotated clockwise. FIG. 12 shows the state of the internal gear 29 and the connecting portion 21c at that time.

FIG. 12 is a diagram showing the state of the internal gear 29 and the connecting portion 21c when the operating portion 400 is rotated from the release position in the locking direction.

As shown in FIG. 12, when the operating section 400 is rotated from the release position in the locking direction, the teeth Za1 of the internal gear 29 and the teeth Zb1 of the gear section 21cg come into contact. On the other hand, the connecting portion 21c is in the same state as shown in FIGS. 10 and 11, and is maintained in a released state.

FIG. 13 is a diagram showing a state in which the pressing member 21cp is rotated by rotating the operating section 400 in the locking direction.

As shown in FIG. 13, when the operating section 400 is further rotated in the locking direction from the state shown in FIG. 12, the internal gear 29 is further rotated clockwise.

By moving the internal gear 29 from the state shown in FIG. 12 to the state shown in FIG. 13, the internal gear 29 rotates the gear portion 21cg clockwise. When the gear portion 21cg rotates, the holding surface 21cca moves away from the pressed portion 21chb, and the pressing surface 21ccb approaches the pressed portion 21chb. Then, the held portion Wa is started to be held between the first portion 21chd1 and the second portion 21chd2.

Then, while the pressed portion 21chb is pressed by the corner portion 21ccb1 arranged at the end of the pressing surface 21ccb, the tooth Za3 of the internal gear 29 moves to a position away from the tooth Zb3 of the gear portion 21cg. At this time, the held portion Wa is sandwiched between the first portion 21chd1 and the second portion 21chd2.

When the tooth Za3 of the internal gear 29 separates from the tooth Zb3 of the gear portion 21cg, the transmission of the driving force from the internal gear 29 to the gear portion 21cg ends. At this time, the corner portion 21ccb1 of the cam 21cc is in a state where it receives a reaction force from the leaf spring 21ch.

In the direction of the rotation radius of the pressing member 21cp, the reaction force of the leaf spring 21ch acting on the corner 21ccb1 acts at a position away from the rotation center 21cpc of the pressing member 21cp, and the pressing member 21cp rotates clockwise. At this time, the pressing member 21cp rotates in the same direction as the direction in which the internal gear 29 rotates clockwise.

FIG. 14 is a diagram showing a state of the internal gear 29 and the connecting portion 21c with the operating portion 400 in the fixed position.

As shown in FIG. 14, the pressing member 21cp further rotates from the state shown in FIG. 13 in response to the reaction force of the leaf spring 21ch.

As shown in FIG. 14, the pressing member 21cp stops in a state where the pressing surface 21ccb of the cam 21cc and the pressed portion 21chb of the leaf spring 21ch are in surface contact. In other words, the pressing surface 21ccb and the surface of the pressed portion 21chb are arranged on the same plane.

At this time, the connecting portion 21c is in a locked state. When the connecting portion 21c is in the locked state, the cam portion 21cc of the pressing member 21cp is located at the pressing position, and the pressing surface 21ccb presses the pressed portion 21chb.

When the connecting portion 21c is in the locked state, the held portion Wa is sandwiched between the first portion 21chd1 and the second portion 21chd2. That is, the leaf spring 21ch is pressed by the cam 21cc, and the held portion Wa is tightened by the leaf spring 21ch. As a result, the held portion Wa is fixed by the leaf spring 21ch.

In this embodiment, the first portion 21chd1 and the second portion 21chd2 included in the leaf spring 21ch press the held portion Wa at positions separated from each other. Further, a bent portion 21chc connecting the first portion 21chd1 and the second portion 21chd2 is arranged between the first portion 21chd1 and the second portion 21chd2. The bent portion 21chc is arranged at a gap G from the held portion Wa. By doing so, the held portion Wa can be stably fixed by the first portion 21chd1 and the second portion 21chd2. Note that the gap G may not be provided.

As the material of the leaf spring 21ch, for example, resin or metal can be used, but it is preferable to use metal. Note that the material of the leaf spring 21ch is not limited to the above-mentioned materials.

When the connecting portion 21c is in the locked state, pulling out the held portion Wa from between the first portion 21chd1 and the second portion 21chd2 is restricted.

Note that the tooth Za3 of the internal gear 29 and the tooth Zb4 of the gear portion 21cg are stopped at a position where a clearance Lc is created between them.

To release the fixation between the drive wire W and the connecting portion 21c, the operating portion 400 located at the fixed position is rotated in the release direction. At this time, the internal gear 29 rotates counterclockwise from the state shown in FIG. 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, and the pressing member 21cp is rotated counterclockwise.

By further rotating the internal gear 29 counterclockwise, the fixation of the drive wire W by the connecting portion 21c is released. The operations of the internal gear 29 and the pressing member 21cp at this time are opposite to the operations described above. That is, the fixation of the drive wire W by the coupling part 21c is released by an operation opposite to the above-described operation for fixing the drive wire W by the coupling part 21c.

The above operation is performed in each of the first to ninth connecting portions (21c11 to 21c33). That is, in the process of moving the operating section 400 from the detached position to the fixed position, the movement (rotation) of the operating section 400 causes the first to ninth connecting sections (21c11 to 21c33) to change from the released state to the locked state. In the process of moving the operating section 400 from the fixed position to the removal position, the movement (rotation) of the operating section 400 changes the first to ninth connecting sections (21c11 to 21c33) from the locked state to the released state. In other words, by operating one operation unit 400, the user can switch between the released state and the locked state of the plurality of connecting parts.

That is, each of the plurality of connecting parts is provided with an operating part for switching between the released state and the locked state, and the user does not need to operate the operating part. Therefore, the user can easily attach and detach the catheter unit 100 to and from the base unit 200. Furthermore, the medical device 1 can be simplified.

A state in which each of the first to ninth drive wires (W11 to W33) is fixed by each of the first to ninth connecting portions (21c11 to 21c33) is referred to as a first state. The state in which the fixation of the first to ninth drive wires (W11 to W33) by the first to ninth connecting portions (21c11 to 21c33), respectively, is released is called a second state.

The first state and the second state are switched in conjunction with the movement of the operating unit 400. That is, the first state and the second state are switched in conjunction with the movement of the operating section 400 between the removal position and the fixed position.

The internal gear 29 is configured to interlock with the operating section 400. In this embodiment, the joint 28 functions as a transmission member for interlocking the operating section 400 and the internal gear 29. The internal gear 29 and the joint 28 have a function as an interlocking section that interlocks with the operating section 400 so that the first state and the second state are switched in conjunction with the movement of the operating section 400.

Specifically, when the catheter unit 100 is attached to the base unit 200, the internal gear 29 and the joint 28 are connected to a part of the leaf spring 21ch (the pressed part 21chb) in conjunction with the movement of the operating section 400. is moved relative to the held part Wa. By moving the held portion 21chb, the connecting portion 21c is switched between a locked state and a released state.

Note that the internal gear 29 may be directly moved from the operating section 400. In that case, the internal gear 29 has a function as an interlocking part.

<Moving the operation section>
Movement of the operation unit 400 will be explained using FIGS. 15, 16, and 17.

In this embodiment, the operating section 400 is configured to be movable between a removal position, a release position, and a fixed position when the catheter unit 100 is attached to the base unit 200. The release position is located between the removal position and the locking position.

In this embodiment, the operation section 400 is switched between the first state and the second state in conjunction with movement of the operation section 400 between the release position and the fixed position.

In this embodiment, the operating unit 400 can be moved between the detached position and the fixed position by moving in a direction different from the attachment/detachment direction DE. The operating unit 400 moves in a direction intersecting (preferably perpendicular to) the attachment/detachment direction DE, and moves between the detachment position and the fixed position. In the present embodiment, the operating section 400 rotates around a rotating shaft 400r extending in the attachment/detachment direction DE, and moves between the detachment position and the fixed position. Therefore, the operability when the user operates the operation unit 400 is good.

FIG. 15 is an explanatory diagram of the catheter unit 100 and the base unit 200. FIG. 15(a) is a cross-sectional view of the catheter unit 100. FIG. 15(b) is a perspective view of the button 41. FIG. 15(c) is a perspective view of the base unit 200.

FIG. 16 is a diagram illustrating the operation of the operation unit 400. FIG. 16(a) is a diagram showing a state in which the operating section 400 is in the detached position. FIG. 16(b) is a diagram showing a state in which the operating section 400 is in the release position. FIG. 16(c) is a diagram showing a state in which the operating section 400 is in a fixed position.

FIG. 17 is a cross-sectional view illustrating the operation of the operating section 400. FIG. 17(a) is a cross-sectional view showing a state in which the operating section 400 is in the detached position. FIG. 17(b) is a cross-sectional view showing a state in which the operating section 400 is in the release position. FIG. 17(c) is a cross-sectional view showing a state in which the operating section 400 is in a fixed position.

When the operating portion 400 is in the fixed position, the connecting portion 21c is in a locked state, and the held portion Wa of the drive wire W is fixed to the corresponding connecting portion 21c (see FIG. 14).

When the operating portion 400 is in the release position, the connecting portion 21c is in a released state, and the held portion Wa of the drive wire W and the connecting portion 21c are unlocked (see FIG. 11). In this state, the connection between the drive wire W and the wire drive section 300 is broken. Therefore, when the catheter 11 receives an external force, the bending portion 12 can be bent freely without being subjected to resistance from the wire drive section 300.

When the operating section 400 is in the removal position, the catheter unit 100 is allowed to be removed from the base unit 200. Further, the catheter unit 100 can be attached to the base unit 200 with the operating section 400 in the detached position. When the operating portion 400 is in the removal position, the connecting portion 21c is in a released state, and the held portion Wa of the drive wire W and the connecting portion 21c are unlocked (see FIG. 10).

As shown in FIG. 15A, the catheter unit 100 includes an operating section biasing spring 43 that biases the operating section 400, a button 41 as a moving member, and a button spring 42 that biases the button 41.

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

In this embodiment, the button 41 and the button spring 42 are provided in the operating section 400. When the operating section 400 moves to the removal position, the release position, and the fixed position, the button 41 and the button spring 42 move together with the operating section 400.

The button 41 is configured to be movable relative to the operating section 400 in a direction intersecting the direction of the rotation axis 400r of the operating section 400. The button 41 is urged by a button spring 42 toward the outside of the catheter unit 100 (in the direction away from the rotation axis 400r).

As will be described later, the button 41 restricts movement of the operating section 400 from the release position to the removal position. Furthermore, by moving the button 41 relative to the operating section 400, the operating section 400 is allowed to move from the release position to the removal position.

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

The base unit 200 includes a base frame 25. The base frame 25 is provided with a lock shaft 26. The lock shaft 26 includes a lock protrusion (regulating portion) 26a.

In this embodiment, a plurality of lock shafts 26 are provided. All the lock shafts 26 may be provided with the lock protrusions 26a, or some of the lock shafts 26 may be provided with the lock protrusions 26a. Note that the number of lock shafts 26 may be one, or three or more.

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

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

As shown in FIG. 16(a), when the catheter unit 100 is attached to the base unit 200, the lock shaft 26 engages with the lock groove 400a through the entrance 400a1 of the lock groove 400a.

At this time, the operating section 400 is located at the removal position, and the connecting section 21c is in the released state (see FIG. 10). Therefore, the fixation of each of the first to ninth drive wires (W11 to W33) by each of the first to ninth connecting portions (21c11 to 21c33) is released. Further, as shown in FIG. 17(a), the button protrusion 41a and the lock protrusion 26a face each other.

When the operating section 400 is rotated in the locking direction R1 with the operating section 400 in the removal position, the slope 41a1 of the button projection 41a comes into contact with the slope 26a1 of the locking projection 26a. The button 41 moves toward the inner side of the operating section 400 (in the direction approaching the rotating shaft 400r) against the biasing force of the button spring 42. Then, the button protrusion 41a climbs over the lock protrusion 26a, and the operating section 400 moves to the release position (see FIG. 17(b)).

At this time, the connecting portion 21c is in a released state (see FIG. 11). Therefore, the fixation of each of the first to ninth drive wires (W11 to W33) by each of the first to ninth connecting portions (21c11 to 21c33) is released.

In this embodiment, the operation unit 400 can be moved from the removal position to the release position without operating the button 41. In other words, the user does not need to operate the button 41 when moving the operating section 400 from the removal position to the release position.

When the operating section 400 is rotated in the locking direction R1 while the operating section 400 is located at the release position, the operating section 400 moves to the fixed position. With the operating section 400 in the fixed position, the positioning section 400a2 of the lock groove 400a is located at a position corresponding to the lock shaft 26. The operating section 400 is biased in a direction Dh toward the proximal end cover 16 by an operating section biasing spring 43. As a result, the positioning portion 400a2 engages with the lock shaft 26.

In the process of moving the operating portion 400 from the release position to the fixed position, the held portion Wa of the drive wire W is fixed to the connecting portion 21c as described above.

When the operating portion is located at the fixed position, the connecting portion 21c is in a locked state (see FIG. 14). Therefore, each of the first to ninth drive wires (W11 to W33) is fixed to each of the first to ninth connection parts (21c11 to 21c33). In this state, the driving force from the wire driving section 300 can be transmitted to the bending driving section 13. In other words, the driving force from each of the first to ninth drive sources (M11 to M33) is transmitted to the first to ninth drive wires (W11 to W33) via the first to ninth connection parts (21c11 to 21c33). It becomes possible to transmit to each of the following.

When the operating section 400 is in the release position, the wall 400a3 forming the lock groove 400a is located upstream of the lock shaft 26 in the removal direction Dd of the catheter unit 100. When the operating section 400 is in the fixed position, the positioning section 400a2 is located upstream of the lock shaft 26 in the removal direction Dd. As a result, removal of the catheter unit 100 from the base unit 200 is restricted when the operating section 400 is in the release position and in the fixed position. On the other hand, when the operating section 400 is in the removal position, the entrance 400a1 of the lock groove 400a is located upstream of the lock shaft 26 in the removal direction Dd. As a result, removal of catheter unit 100 from base unit 200 is allowed.

When the operating section 400 is rotated in the release direction R2 while the operating section 400 is in the fixed position, the operating section 400 is positioned at the releasing position. In the process of moving the operating portion 400 from the fixed position to the release position, the held portion Wa of the drive wire W is released from the connecting portion 21c as described above.

With the operating section 400 in the release position, the regulated surface 41a2 of the button protrusion 41a abuts the regulated surface 26a2 of the lock protrusion 26 (see FIG. 17(b)). In this state, rotation of the operating section 400 in the release direction R2 is restricted. Further, removal of the catheter unit 100 from the base unit 200 is restricted.

When the user pushes the button 41 toward the inside of the operating section 400 with the operating section 400 in the release position, the regulated surface 41a2 separates from the regulating surface 26a2, and the button protrusion 41a climbs over the locking protrusion 26a. . As a result, the operation section 400 is allowed to rotate in the release direction R2, and the operation section 400 can be moved from the release position to the removal position.

When the operating section 400 is located at the removal position, the connecting section 21c is in the released state. Therefore, when the catheter unit 100 is removed from the base unit 200 and when it is attached, the load acting on the drive wire W (for example, the resistance received by the connecting portion 21c) can be reduced. Therefore, the user can easily attach and detach the catheter unit 100.

When the operating section 400 is located at the release position, removal of the catheter unit 100 from the base unit 200 is restricted, and the connecting section 21c is in the released state. As described above, when the connecting part 21c is in the released state, the connection between the drive wire W and the wire drive part 300 is broken, and the bending part 12 can be freely bent without receiving resistance from the wire drive part 300. can.

The user can stop driving the catheter 11 by the wire drive unit 300 by positioning the operating unit 400 in the release position while the catheter 11 is inserted into the subject. Furthermore, since removal of the catheter unit 100 from the base unit 200 is restricted, the user can hold the base unit 200 and pull out the catheter 11 from inside the subject.

Further, in the configuration of the present embodiment, when the button 41 is not operated, the operation section 400 is restricted from moving from the release position to the removal position. Therefore, when the user moves the operating section 400 from the fixed position to the release position, it is possible to prevent the user from accidentally moving the operating section 400 to the detached position.

In this embodiment, the number of lock protrusions 26a and the number of buttons 41 are one each. However, the medical device 1 may have a plurality of lock protrusions 26a and buttons 41.

<Force sensor>
The force sensor 50 will be explained using FIG. 18.

The force sensor 50 includes a bridge circuit 53b, which will be described later, which includes a strain-generating body 51s that is deformed by an external force, and a strain gauge 52g attached to a deformed portion of the strain-generating body that receives a large amount of strain. The force sensor 50 also includes a substrate 55p having an amplifier that amplifies the signal output from the bridge circuit 53b in accordance with the strain.

FIG. 18(a) is a side view of the force sensor 50. In this embodiment, the first to ninth connecting portions (21c11 to 21c33) include a first force sensor 50_11, a second force sensor 50_12, a third force sensor 50_13, a fourth force sensor 50_21, a fifth force sensor 50_22, and a third force sensor 50_12. A sixth force sensor 50_23, a seventh force sensor 50_31, an eighth force sensor 50_32, and a ninth force sensor 50_33 are each provided.

Further, the first to ninth force sensors (50_11 to 50_33) include a first strain body 51s11, a second strain body 51s12, a third strain body 51s13, a fourth strain body 51s21, and a fifth strain body 51s22. , a sixth strain body 51s23, a seventh strain body 51s31, an eighth strain body 51s32, and a ninth strain body 51s33.

Any one of the first to ninth force sensors (50_11 to 50_33) can be called a force sensor 50. Further, any one of the first to ninth strain bodies (51s11 to 51s33) can be called a strain body 51s. In this embodiment, each of the first to ninth strain bodies (51s11 to 51s33) has the same shape.

FIG. 18(b) is a front view of the strain body 51s to which the strain gauge 52g is attached. FIG. 18(c) is a rear view of the strain body 51s to which the strain gauge 52g is attached.

The force sensor 50 includes a bridge circuit 53b shown in FIG. 18(d) that is configured by a strain gauge 52g. In this embodiment, the first to ninth force sensors (50_11 to 50_33) include a first bridge circuit 53b11, a second bridge circuit 53b12, a third bridge circuit 53b13, a fourth bridge circuit 53b21, a fifth bridge circuit 53b22, and a third bridge circuit 53b13. A sixth bridge circuit 53b23, a seventh bridge circuit 53b31, an eighth bridge circuit 53b32, and a ninth bridge circuit 53b33 are respectively provided.

Any one of the first to ninth bridge circuits (53b11 to 53b33) can be called a bridge circuit 53b. In the first embodiment, each of the first to ninth bridge circuits (53b11 to 53b33) has the same configuration.

The first to ninth bridge circuits (53b11 to 53b33) are attached to the first to ninth force-generating bodies (51s11 to 51s33), respectively. Specifically, the first bridge circuit 53b11 is attached to the first strain body 51s11. The second bridge circuit 53b12 is attached to the second strain body 51s12. The third bridge circuit 53b13 is attached to the third strain body 51s13. The fourth bridge circuit 53b21 is attached to the fourth strain body 51s21. The fifth bridge circuit 53b22 is attached to the fifth strain body 51s22. The sixth bridge circuit 52b23 is attached to the sixth strain body 51s23. The seventh bridge circuit 53b31 is attached to the seventh strain body 51s31. The eighth bridge circuit 53b32 is attached to the eighth strain body 51s32. The ninth bridge circuit 53b33 is attached to the ninth strain body 51s33.

Note that the strain gauge 52g may be attached to the strain body 51s using an adhesive, vapor deposition, or other methods. The strain gauge 52g is attached to a position where it can easily detect the deformation of the strain body 51s, and as the strain body 51s deforms, the strain gauge also deforms. At this time, the electrical resistivity of the strain gauge 52g changes depending on the amount of deformation, and the bridge circuit 53b outputs the change in resistance value.

In this embodiment, a four-gauge method is used to configure the bridge circuit 53b using the strain gauges 52g, but a one-gauge method, a two-gauge method, or other methods may be used. Furthermore, even if the 4-gauge method is used, the shape of the force sensor 50 may be different from that in FIG. 18.

Further, in this embodiment, a bridge circuit 53b composed of a strain gauge 52g is used as the force sensor 50, but other types of force sensors 50, such as a capacitance type or a piezoelectric type, may be used. .

Next, the connection between the strain body 51s and the tractor support shaft 21cs will be described using FIG. 18(e). The strain body 51s is connected to the drive source M via the tractor support shaft 21cs, so that the drive force from the drive source M is applied as an external force.

In this embodiment, it is connected between the drive source M and the drive wire W. Specifically, the first strain body 51s11 is connected to the first drive source M11. The second strain body 51s12 is connected to the second drive source M12. The third strain body 51s13 is connected to the third drive source M13. The fourth strain body 51s21 is connected to the fourth drive source M21. The fifth strain body 51s22 is connected to the fifth drive source M22. The sixth strain body 51s23 is connected to the sixth drive source M23. The seventh strain body 51s31 is connected to the seventh drive source M31. The eighth strain body 51s32 is connected to the eighth drive source M32. The ninth strain body 51s33 is connected to the ninth drive source M33.

The strain body 51s is provided in a part of the connecting portion 21c (between the connecting base portion 21cb and the tractor support shaft 21cs). The bending drive section 13 receives the driving force of the wire drive section 300 via the coupling device 21 and the strain body 51s, and bends the bending section 12. Specifically, the first strain body 51s11 is provided in the first connecting portion 21c11. The second strain body 51s12 is provided in the second connecting portion 21c12. The third strain body 51s13 is provided in the third connecting portion 21c13. The fourth strain body 51s21 is provided in the fourth connecting portion 21c21. The fifth strain body 51s22 is provided in the fifth connecting portion 21c22. The sixth strain body 51s23 is provided in the sixth connecting portion 21c23. The seventh strain body 51s31 is provided in the seventh connecting portion 21c31. The eighth strain body 51s32 is provided in the eighth connecting portion 21c32. The ninth strain body 51s33 is provided in the ninth connecting portion 21c33.

Further, a strain gauge 52g is attached to the strain body 51s. A bridge circuit 53b is also configured. To handle its output, force sensor 50 has a substrate. FIG. 18E shows a perspective view of the substrate 55p attached to the strain body 51s. In the first embodiment, the first to ninth force sensors (50_11 to 50_33) include a first substrate 55p11, a second substrate 55p12, a third substrate 55p13, a fourth substrate 55p21, a fifth substrate 55p22, a sixth substrate 55p23, A seventh substrate 55p31, an eighth substrate 55p32, and a ninth substrate 55p33 are respectively provided.

Any one of the first to ninth substrates (55p11 to 55p33) can be called a substrate 55p. In this embodiment, each of the first to ninth substrates (55p11 to 55p33) has the same circuit configuration. More specifically, each of the first to ninth substrates (55p11 to 55p33) includes the same amplifier circuit.

The substrate 55p is connected to a conductive wire drawn out from a strain gauge 52g attached to the strain body 51s. The substrate 55p can obtain an output signal corresponding to the strain from the bridge circuit 53b constituted by the strain gauge 52g according to the deformation of the strain body 51s. Specifically, the first substrate 55p11 detects the strain of the first strain body 51s11. The second substrate 55p12 detects the strain of the second strain body 51s12. The third substrate 55p13 detects the strain of the third strain body 51s13. The fourth substrate 55p21 detects the strain of the fourth strain body 51s21. The fifth substrate 55p22 detects the strain of the fifth strain body 51s22. The sixth substrate 55p23 detects the strain of the sixth strain body 51s23. The seventh substrate 55p31 detects the strain of the seventh strain body 51s31. The eighth substrate 55p32 detects the strain of the eighth strain body 51s32. The ninth substrate 55p33 detects the strain of the ninth strain body 51s33.

The strain gauge 52g is attached at a position where it can easily detect the deformation of the strain body 51s, and as the strain body 51s deforms, the strain gauge 52g also deforms. At this time, the electrical resistivity of the strain gauge 52g changes depending on the amount of deformation, and the bridge circuit 53b outputs the change in resistance value. When the substrate 55p obtains this output value, it is amplified by the amplifier 54 included in the substrate 55p. The arithmetic unit 3a detects the external force based on this amplified value. Note that the substrate 55p only needs to be provided with the bridge circuit 53b, and the amplifier 54 does not need to be provided on the substrate 55p. For example, the amplifier 54 may be included in the control device 3.

In the first embodiment, the force sensor 50 is configured to detect external force by being connected between the tractor support shaft 21cs and the connection base 21cb. The strain body 51s is formed to be deformed by an external force in the Dc direction. The strain body 51s is connected by a tractor support shaft 21cs, and receives the driving force of the driving source M via the tractor 21ct. Strain gauges are attached to the front and back surfaces of the strain body 51s to form a bridge circuit, and conductive wires drawn out from the strain gauges are connected to the amplifier circuit 54 included in the substrate 55p.

In the first embodiment, by receiving the driving force from the drive source M, the strain body 51s is deformed, and the electrical resistivity of the strain gauge is changed. By applying a slight electrical signal generated by this change in electrical resistivity to the amplifier 54 through a conductive wire connected to the strain gauge 51s, it is possible to obtain an amplified signal. Note that the amplified signal is sent to, for example, the arithmetic unit 3a.

<Control block diagram>
FIG. 19 is a control block diagram including the drive source M, force sensor 50, and drive wire W, which are mechanical components. In order to operate the medical device 1, the user inputs operation instructions from the input device 3b. The input device 3b and the arithmetic device 3a are electrically connected, and drive the motor Mb of the drive source M according to an operation instruction from the input device 3b. The arithmetic device 3a functions as a gain setting section G, a current detection section C, a timer T, and a calibration section A. Note that the gain setting section G, current detection section C, timer T, and calibration section A are connected to each other.

The gain setting unit G individually stores the gains of the first to ninth motors (Mb11, Mb12, Mb13, Mb21, Mb22, Mb23, Mb31, Mb32, Mb33). The gain indicates, for example, the driving force output by the motor Mb per drive instruction from the driving source M. For example, even if the same drive instruction is given to motor Mb, if the gain is lower than the reference value, the driving force output from motor Mb will be smaller than the driving force output from motor Mb when the gain is the reference value. Note that a plurality of gain setting sections G may be provided corresponding to the first to ninth motors (Mb11, Mb12, Mb13, Mb21, Mb22, Mb23, Mb31, Mb32, Mb33).

The current detection section C is composed of a current detection resistor and the like. The current detection unit C detects the current that drives the motor M. Note that the current detection section C may be provided individually for each motor Mb, or may be provided in common for a plurality of motors Mb, and may be used by switching the timing of current detection. Note that in this embodiment, the current detection section C may not be provided.

Timer T can measure various times.

The calibration section A calibrates the gain set by the gain setting section G based on necessary information among the output of the force sensor 50, the output of the encoder E, the detection result of the current detection section C, and the time measured by the timer T. That is, the driving force of the motor Mb to the curved region 12b is calibrated. The calibration of the driving force is not limited to the calibration of the gain, but may also be calibrating other parameters such as the current or voltage of the motor Mb. The calibration section A individually calibrates the gains set for the first to ninth motors (Mb11, Mb12, Mb13, Mb21, Mb22, Mb23, Mb31, Mb32, Mb33). More specifically, the calibration unit A performs gain calibration based on the contact of the curved region 12b with the wall of the calibration space 505c. That is, the calibration unit A corresponds to an example of a calibration unit that calibrates the driving force based on the contact with the wall of the first space due to the curved area.

Note that the output of the encoder E is input to the arithmetic unit 3a. Further, the output of the force sensor 50 is input to the calculation device 3a. More specifically, the output of the amplifier circuit 54 is input to the arithmetic unit 3a.

<Catheter case and curved area storage section>
A configuration for accommodating the catheter unit 100 that is not attached to the base unit 200 will be described with reference to FIGS. 20 and 21.

The medical device 1 according to the present embodiment independently controls the plurality of drive sources M to move the drive wire W in the extending direction of the catheter 11 after the drive wire W is connected to the wire drive unit 300. This is a device that can freely switch the posture of the bending section 12.

On the other hand, when the catheter unit 100 is not attached to the base unit 200, the movement of the drive wire W in the extending direction of the catheter 11 is not restricted. The structure allows Wa to move. Therefore, after the assembly of the catheter unit 100 is completed and before it is attached to the base unit 200, the curved part 12 is deformed by the action of some external force, and the held part Wa is connected to the connecting part 21c at an unintended position. It is desirable that the system be configured in such a way that this situation does not occur.

Therefore, as shown in FIG. 20, the catheter unit 100 according to this embodiment is a catheter that prevents external force from acting on the catheter 11 after the assembly is completed in the manufacturing process and until the user attaches it to the base unit 200. Case 500 is configured to be attachable. Note that the medical system 1A and catheter case 500 can be referred to as one system.

FIG. 20(a) is an external view of the catheter unit 100 and catheter case 500 before they are installed, and FIG. 20(b) is an external view of the catheter unit 100 and the catheter case 500 after they are installed. In order to explain the positional relationship of a plurality of held parts Wa of the catheter unit 100, which will be described later, illustration of the wire cover 14 that covers the held part Wa is omitted from FIG. 20 onwards. Moreover, in each figure after FIG. 20, the extending direction of the catheter 11 is illustrated as the Z direction. Further, directions that are orthogonal to the Z direction and mutually orthogonal are illustrated as an X direction and a Y direction.

FIG. 21(a) is a cross-sectional view perpendicular to the X direction in the state of FIG. 20(b), and FIG. 21(b) is an enlarged view of the distal end side cross-section in FIG. 21(a).

As shown in FIG. 20(a), the catheter case 500 has a case base 501 whose posture is determined by being attached to the catheter unit 100 and which is fixed to the catheter unit 100. The catheter case 500 also includes an intermediate region storage section 502 that stores the intermediate region 12a of the curved portion 12 of the catheter 11 in a straight line in the extending direction of the catheter 11. Further, the catheter case 500 has a curved region storage section 505 that is supported movably in the Z direction with respect to the intermediate region storage section 502 and mainly stores the curved region 12b of the curved section 12. Further, the catheter case 500 has case fixing means 503 configured with a screw for fixing the case base 501 to the proximal end cover 16 of the catheter unit 100.

As shown in FIG. 21(a), the case base 501 has a cover storage area 501s in which the proximal end cover 16 of the catheter unit 100 can be stored. As shown in FIG. 21(b), the intermediate region storage portion 502 has a catheter insertion hole 502s in which the curved portion 12 of the catheter 11 can be stored. The curved region storage section 505 has a fitting region 505f configured to be movable only in the Z direction with respect to the intermediate region storage section 502, and a curved region insertion hole 505s for storing the curved region 12b. Further, the curved region storage section 505 is a calibration space having a conical surface whose diameter increases toward the distal end, centered on the central axis 11c of the catheter 11 in the stored state (or the central axis of the curved region insertion hole 505s). 505c. The calibration space 505c is a space in which the curved region 12b of the catheter 11 can be curved, and corresponds to an example of the first space. The specific configuration and function of the calibration space 505c will be described later.

After inserting the catheter unit 100 into the catheter case 500 in the direction of the broken arrow in FIG. 20(a), that is, in the Z direction, to a predetermined position described later, the case fixing means 503 is operated. As a result, the case base 501 is fixed to the proximal end cover 16 as shown in FIG. 21(a), and the attachment of the catheter case 500 to the catheter 11 is completed. The catheter case 500 corresponds to an example of a case that can accommodate a catheter and has a first space in which a curved region can be curved.

In this embodiment, the case fixing means 503 is configured to fix the case base 501 to the proximal end cover 16 with screws, but is not limited to this, and may be fixed using an elastic engagement part such as a magnet or a snap fit. Any configuration may be used as long as the case base 501 is provided with means and movement of the case base 501 in the Z direction is restricted after mounting. There may be cases where the work of attaching and detaching becomes easier.

As shown in FIG. 21(b), the catheter insertion hole 502s and the curved region insertion hole 505s are arranged in a straight posture without the intermediate region 12a and the curved region 12b of the curved portion 12 being displaced (or substantially without being displaced). The outer shape of the curved portion 12 is covered by the attachment of the catheter case 500 so as to maintain the shape of the curved portion 12.

The cross-sectional shape perpendicular to the Z direction of the curved region 12b in the region where the first guide ring J1, second guide ring J2, and third guide ring J3 are located in the Z direction and the curved region insertion explained in FIG. 3(b) The holes 505s are configured to have substantially the same cross-sectional shape perpendicular to the Z direction. The catheter insertion hole 502s and the curved region insertion hole 505s are located closer to the opening of the catheter case 500 than the calibration space 505c, and are narrow spaces in the lateral direction of the catheter case 500. That is, at least one of the catheter insertion hole 502s and the curved region insertion hole 505s is a space narrower than at least a part of the first space in the lateral direction, which is a direction perpendicular to the direction in which the catheter is inserted, and is capable of accommodating the catheter. This corresponds to an example of a second space.

The case base 501, which is integrated with the intermediate region storage section 502 that restricts deformation by fitting the curved region 12b into the curved region insertion hole 505s and restricts movement of the curved region storage section 505 in directions other than the Z direction, is proximal. It is fixed to the end cover 16. Therefore, since the intermediate region 12a composed of the plurality of drive wires W also bends, the bending is also restricted, and the linearity of the entire curved portion 12 can be ensured.

Therefore, movement of the drive wire W is restricted by mounting the catheter case 500, and the position of the held portion Wa in the Z direction maintains the optimum position set in advance when the catheter unit 100 is mounted to the base unit 200. be able to. In the medical device 1 according to the present embodiment, since each component of the coupling device 21 on the base unit 200 side corresponding to the plurality of drive wires W constituting the catheter 11 is common, the connection to the base unit 200 is common. When the catheter unit 100 is attached, it is optimal for the plurality of held parts Wa to be aligned in the Z direction as shown in FIG. 21(a).

Further, the catheter case 500 is configured to be located in a region where attachment to the base unit 200 is not obstructed when the catheter case 500 is attached to the catheter unit 100. Specifically, as shown in FIG. 21(a), even when the catheter case 500 is attached to the catheter unit 100, the operation section 400 is configured to be exposed to the outside, so that the operation section 400 is configured to be exposed to the outside. The catheter unit 100 can be attached to the base unit 200 by the process described mainly with reference to FIG. With the above-described configuration, it is possible to more reliably prevent unintended movement of the held portion Wa during the installation work between units. That is, the catheter unit 100 can be easily attached to the base unit.

In this embodiment, the catheter case 500 is described as having a hole into which the catheter unit 100 can be inserted in the Z direction, but the present invention is not limited to this. The catheter case 500 is composed of two members divided by a plane passing through the center of the cylindrical shape of the catheter insertion hole 502s, and the catheter is arranged so as to fit the groove shape of one member that forms the cover storage area 501s and the catheter insertion hole 502s. A case configuration may be used in which the unit 100 is housed and the other member is assembled to cover the unit. There may be cases where the operation of attaching the catheter case 500 becomes easier. That is, the configuration of catheter case 500 is not limited to the configuration shown in FIG. 20 and the like.

Next, the supporting structure of the curved area storage section 505 for the intermediate area storage section 502 will be described in more detail using FIG. 22.

FIG. 22 is an explanatory diagram showing the configuration of the curved area storage section 505 when viewed in the -Y direction in FIG. 20. More specifically, FIG. 22(a) is an explanatory diagram of the support area of the curved area storage section 505 of the intermediate area storage section 502 alone, and FIG. 22(b) is an illustration of the support area of the curved area storage section 505 when viewed from FIG. FIG. 22(c) is a sectional view on the XZ plane passing through the central axis 11c of the catheter 11 in the stored state in FIG. 20(b). Note that the position of the curved area storage section 505 in the Z direction in FIG. 22 indicates a state in which the catheter unit 100 is not attached to the base unit 200, similarly to FIG. 21.

As shown in FIG. 22(a), the intermediate area storage section 502 has adjustment marks AM1 to AM4 that serve as marks for visually determining the approximate target when adjusting the position of the curved area storage section 505 in the Z direction. have Further, the intermediate region storage portion 502 is provided to correspond to each of the adjustment marks AM1 to AM4, and the engaged portions NR1 to NR1 to AM4 are formed in a concave shape to determine and fix the position of the curved region storage portion 505 in the Z direction. It has NR4.

On the other hand, as shown in FIG. 22(b), the curved area storage section 505 has an indicator 505m provided to determine the approximate position in the Z direction by visually matching the position with the adjustment marks AM1 to AM4. have Furthermore, the curved area storage section 505 has a window 505w so that the adjustment marks AM1 to AM4 can be visually observed.

Further, as shown in FIG. 22(c), the curved area storage part 505 is in a fitting relationship with the outer shape of the intermediate area storage part 502 so that movement in directions other than the Z direction with respect to the intermediate area storage part 502 is restricted. It has a fitting region 505f. Further, the curved area storage portion 505 has a convex shape that can engage with the engaged portions NR1 to NR4 of the intermediate region storage portion 502, and elastically deforms like a snap fit, so that the Z of the curved area storage portion 505 is It has an engaging portion 505sf that allows movement in the direction.

With the above configuration, the user can operate the curved area storage portion 505 in the Z direction with a predetermined operating force from the state where the engaging portion 505sf and any of the engaged portions NR1 to NR4 are engaged. The mating portion 505sf can be elastically deformed to release the engaged state. At this time, the user watches the window 505w and performs an operation so that the position of the indicator 505m and any one of the adjustment marks AM1 to AM4 in the Z direction match. As a result, a desired engaged portion of the engaged portions NR1 to NR4 is automatically engaged with the engaging portion 505sf, and the position of the curved area storage portion 505 in the Z direction is determined and fixed.

In this embodiment, the engaging portions of the intermediate region storage portion 502 and the curved region storage portion 505 are configured such that the engaged portions NR1 to NR4 have a concave shape and the engaging portion 505sf has a convex shape. This is not the case. In order not to inhibit the movement of the curved area storage portion 505 in the Z direction, the engaged portions NR1 to NR4 may have a convex shape that is elastically movable, and the engaging portion 505sf side may have a corresponding concave shape. That is, the shapes of the engaged portion and the engaging portion are not limited to the example shown in FIG. 22.

Furthermore, in this embodiment, a configuration has been described in which the indicator 505m is aligned with the adjustment marks AM1 to AM4 within the window 505w as a configuration in which the user visually targets when adjusting the position of the curved area storage portion 505. Not as long. For example, adjustment marks may be provided on the outer shape of the intermediate region storage portion 502 so as to correspond to the position in the Z direction of the outer end portion 505e of the curved region storage portion 505 shown in FIG. 22(b), and they may be visually aligned. A configuration may be provided in which the approximate positions of the two parts can be aligned with each other.

Further, in this embodiment, as shown in FIG. 21, the adjustment marks AM1 to AM4 (AM4 is not shown) are formed in the concave shape of the outer shape of the intermediate area storage portion 502, but are not limited to this, and are printed using ink. In order not to inhibit the movement of the curved area storage portion 505 in the Z direction, a clearance may be provided only in the area facing the convex shape of the fitting area 505f. Note that the adjustment marks AM1 to AM4, the window 505w, and the indicator 505m may not be provided.

Next, using FIG. 23, the relationship between the Z-direction position of the curved region storage section 505 with respect to the intermediate region storage section 502 and the position of the curved region 12b of the catheter 11 with respect to the calibration space 505c will be described.

FIG. 23 is a cross-sectional view of the configuration of the curved area storage section 505 on a plane similar to FIG. 22(c). FIG. 23(a) shows a state in which the engaging portion 505sf of the curved region storage portion 505 engages with the engaged portion NR1 of the intermediate region storage portion 502, as in FIG. 22(c). FIG. 23(b) shows a state in which the curved area storage portion 505 is operated in the −Z direction from the state shown in FIG. 23(a) to engage the engaging portion 505sf with the engaged portion NR2. FIG. 23(c) shows a state in which the curved region storage portion 505 is further operated from the state shown in FIG. 23(b) to engage the engaging portion 505sf with the engaged portion NR3. FIG. 23(d) shows a state in which the curved area storage portion 505 is further operated from the state shown in FIG. 23(c) to engage the engaging portion 505sf with the engaged portion NR4.

As shown in FIG. 23(a), when the engaging portion 505sf and the engaged portion NR1 are in the engaged state, the curved region 12b of the catheter 11 includes at least the first guide ring J1, the second guide ring J2, Regarding the region where the third guide ring J3 is located, it is housed inside the curved region insertion hole 505s.

As shown in FIG. 23(b), when the engaging portion 505sf and the engaged portion NR2 are in the engaged state, the curved region 12b of the catheter 11 is connected to the proximal end 505cp of the calibration space 505c and the second guide ring. The positional relationship is such that the positions of J2 in the Z direction substantially match. The proximal end 505cp corresponds to the distal end of the curved region insertion hole 505s. Furthermore, when the engaging portion 505sf and the engaged portion NR2 are in an engaged state, the third guide ring J3 is located in the calibration space 505c. That is, the distance between the engaged portion NR1 and the engaged portion NR2 in the Z direction is the same as the distance from the third guide ring J3 to the second guide ring J2. The engaging portion 505sf and the engaged portions NR1 and NR2 correspond to an example of a feeding mechanism that feeds the catheter into the first space in units of curved regions.

At this time, the area between the second guide ring J2 and the third guide ring J3 of the curved area 12b is located in the calibration space 505c which has a larger cross-sectional area than the curved area insertion hole 505s, so the area is shown in FIG. 3(b). By operating the seventh wire body Wb31, the eighth wire body Wb32, and the ninth wire body Wb33 connected to the third guide ring J3 described above in the Z direction, the postures thereof can be freely switched.

On the other hand, since the region between the first guide ring J1 and the second guide ring J2 is located inside the curved region insertion hole 505s as in FIG. The first to sixth wire bodies (Wb11 to Wb13, Wb21 to Wb23) connected to the second guide ring J2 are not allowed to be operated.

As shown in FIG. 23(c), when the engaging part 505sf and the engaged part NR3 are in the engaged state, the curved region 12b of the catheter 11 is connected to the proximal end 505cp of the calibration space 505c and the first guide ring. The positional relationship is such that the positions of J1 in the Z direction substantially match. When the engaging portion 505sf and the engaged portion NR3 are in an engaged state, the second guide ring J2 and the third guide ring J3 are located in the calibration space 505c. That is, the distance between the engaged portion NR2 and the engaged portion NR3 in the Z direction is the same as the distance from the second guide ring J2 to the first guide ring J1.

At this time, in order to position the area between the first guide ring J1 to third guide ring J3 in the curved area 12b within the calibration space 505c, the seventh to ninth wire bodies ( In addition to the wires Wb31 to Wb33), the fourth to sixth wire bodies (Wb21 to Wb23) connected to the second guide ring J2 are operated in the Z direction, so that their postures can be freely switched.

On the other hand, since the region on the proximal end side of the first guide ring J1 is located inside the curved region insertion hole 505s as in FIG. 23(a), its posture is restricted, and the first to The third wire bodies (Wb11 to Wb13) are not allowed to be operated.

FIG. 23(d) is a diagram showing the relationship between the curved region 12b and the calibration space 505c when the engaging portion 505sf and the engaged portion NR4 are in an engaged state. The curved region 12b of the catheter 11 has a positional relationship such that the proximal end 505cp of the calibration space 505c and the Z-direction position of a predetermined portion 12bs that is a predetermined distance Lj away from the first guide ring J1 toward the proximal end side substantially match. It is in. The first guide ring J1 to the third guide ring J3 are located in the calibration space 505c. The predetermined portion 12bs of the catheter 11 is the starting point of deformation of the catheter 11 when the bending region 12b is bent by operating the first guide ring J1, and the value of Lj is freely set in advance according to the specifications of the device. Is possible.

At this time, in order to position the region on the distal end side of the predetermined portion 12bs of the curved region 12b within the calibration space 505c, the fourth to ninth wire bodies are connected to the second guide ring J2 and the third guide ring J3. In addition to (Wb21 to Wb23, Wb31 to Wb33), the posture of the first to third wire bodies (Wb11 to Wb13) connected to the first guide ring J1 can be freely switched by operating in the Z direction. state.

By the way, the calibration space 505c is a conical space, and the conical surface constituting the calibration space 505c is connected to the engaging portion 505sf and the engaged portions NR2 to NR4 shown in FIGS. 23(b) to 23(d). When the wire body Wb is operated and the posture of the curved region 12b is switched within the range of motion, the distal end of the curved region 12b can be located inside the space. It is installed at a predetermined position so that the In other words, when the positional relationship between the intermediate region storage section 502 and the curved region storage section 505 is in the above-described relationship, the distal end of the curved region 12b can be brought into contact by operating the wire body Wb. A conical surface of the calibration space 505c is provided. That is, the width of the first space in the lateral direction increases as it moves away from the second space.

In this embodiment, a configuration has been described in which the conical surface of the calibration space 505c is formed with a uniform inclination, but the present invention is not limited to this. As described above, the distal end of the curved region 12b has a predetermined shape that can be contacted so as to correspond to the range of motion of the curved region 12b when the engaging portion 505sf and the engaged portions NR2 to NR4 are in an engaged relationship. All you need is a face. Therefore, the calibration space 505c may be configured with a curved surface that has a different slope depending on the position in the Z direction, or may have a configuration in which a plurality of conical surfaces are intermittently connected. Further, it is desirable that the calibration space 505c contacts the wall regardless of the direction in which the catheter 11 is curved. Therefore, it is desirable that the walls of the calibration space 505c be at equal distances in the lateral direction of the catheter case 500 from the central axis 11c of the catheter 11 in the stored state (or the central axis of the curved region insertion hole 505s). That is, the calibration space 505c is not limited to a conical shape, but may be any space that has a wall at an equal distance from the central axis 11c of the catheter 11 in the stored state (or the central axis of the curved region insertion hole 505s). . That is, the first space has a wall at an equal distance from the center of the second space in the lateral direction.

<Calibration of catheter unit using strain gauge>
A method for calibrating the catheter unit 100 that reduces variations in the bending speed (or amount of bending) of the catheter 11 will be described using FIGS. 23, 24, 25, and 26. FIG. 24 is a flowchart illustrating the calibration operation of the third guide ring J3 portion of the catheter unit 100. In this flowchart, the initial state is a state in which the engaging portion 505sf in FIG. 23(a) is engaged with the engaged portion NR1. Note that the third guide ring J3 portion of the catheter unit 100 includes, for example, at least a portion of the catheter 11 from the third guide ring J3 including the third guide ring J3 to the second guide ring J2.

In S101, the user engages the engaging portion 505sf with the engaged portion NR2. The state in which the engaging portion 505sf is engaged with the engaged portion NR2 is the state shown in FIG. 23(b). The engaging portion 505sf may be engaged with the engaged portion manually, or may be automatically engaged using a jig or the like.

Next, when the user issues a calibration execution command to the arithmetic device 3a from the input device 3b, in S102, the calibration section A of the arithmetic device 3a sets a predetermined standard in the setting section G as, for example, the gain of the seventh motor Mb31. Set a gain (for example, 7Fh). Along with setting the gain, the calibration unit A drives the seventh motor Mb31 CW, starts counting the seventh encoder E31, and starts the timer T. Here, the gains that can be set in the gain setting section G are, for example, 0 to FFh. When the motor Mb is driven CW in S102, the wire W31 connected to the third guide ring J3 of the catheter 11 is pulled, and as shown in FIG. The space between the guide rings J3 is curved. Further, when the seventh motor Mb31 is CW driven and the catheter 11 begins to bend, over time, tension is generated in the force sensor 50 provided between the drive source M31 and the drive wire W31, and the strain body 51s is distorted. As a result, the output of the strain gauge 52g changes as shown in FIG. The output of the strain gauge 52g is input to the calibration section A after being amplified by the amplifier circuit 54. Therefore, the calibration section A can acquire the output of the strain gauge 52g shown in FIG. 26. Note that the calibration is not limited to starting from the seventh motor Mb31, but may start from another motor. Note that the instruction to drive the seventh motor Mb31 in step S102 may be automatic or manual. Hereinafter, the motor Mb may be driven automatically or manually in this calibration method.

In S103, the calibration unit A determines whether the output of the strain gauge 52g (more specifically, the output of the amplifier circuit 54) exceeds the threshold value Nth. As shown in FIG. 26, the output of the strain gauge 52g increases, and when the curved portion of the catheter 11 eventually reaches (contacts) the side surface of the calibration space 505c, the curve is restricted and the output of the strain gauge 52g rapidly increases. and exceeds the threshold Nth. It is desirable that the threshold value Nth is set near the output value of the strain gauge 52g that occurs when the curved portion of the catheter 11 reaches the side surface of the calibration space 505c. Note that the calibration unit A may determine whether the amount of change in the strain gauge 52g over time exceeds a threshold value.

When the output of the strain gauge 52g exceeds the threshold value Nth in S103, the calibration unit A stops the seventh motor Mb31 and also stops the timer T in S104. The calibration unit A obtains the value of the timer T at this time.

Next, in S105, the calibration unit A drives the seventh motor Mb31 CCW, and the process moves to S106. In S106, the calibration unit A determines whether the count of the seventh encoder E31 has reached the state before CW driving (for example, 0000h). That is, the calibration unit A counts the driving amount of the motor Mb31 driven CW in S102 with the seventh encoder E31, and drives the seventh motor Mb31 CCW in S106 until the count of the seventh encoder E31 reaches 0000h. Then, as shown in FIG. 23(b), the curve of the catheter is returned to its original position. Here, it has been explained that the proofreading unit A judges that the count of the seventh encoder E31 becomes 0000h, but the proofreading part A may judge that the count of the seventh encoder E31 becomes 0000h or less.

When the count of the seventh encoder E31 reaches 0000h in S106, the calibration unit A stops the seventh motor Mb31 in S107. Then, the calibration unit A compares the value of the timer T with the reference value Tt. Specifically, when the efficiency of the seventh motor Mb31 is high and the friction of the seventh drive wire W31 is low, the curved portion of the catheter 11 is calibrated at T1 earlier than the reference value Tt, as shown at T1 in FIG. It reaches the side of the space 505c. If the efficiency of the seventh motor Mb31 is low and the seventh drive wire W31 has a lot of friction, etc., the curved portion of the catheter 11 is moved to the side surface of the calibration space 505c at T2, which is slower than the reference value Tt, as shown at T12 in FIG. reach.

Here, the comparison between T1 and the reference value Tt and the resetting of the gain setting section G will be explained. The calibration section A calibrates the driving force based on time and a reference value. For example, when 7Fh set in the gain setting unit G in S102 is used as a reference, the calibration unit A resets the gain setting G to 7Fh×T1/Tt as the gain of the seventh motor Mb31. That is, since the curved portion of the catheter 11 reaches the side surface of the calibration space 505c earlier than the reference value Tt due to the CW drive of the seventh motor Mb31, the calibration section A is set to the setting section G as the gain of the seventh motor Mb31. Set 7Fh×T1/Tt, which is lower than 7Fh. Thereby, the CW drive of the seventh motor Mb31 is corrected so that the curved portion of the catheter 11 reaches the side surface of the calibration space 505c at the reference value Tt. Here, although the correction formula is 7Fh×T1/Tt, other coefficients may be included. With the above, the calibration regarding the gain of the seventh motor Mb31 is completed. In this way, the calibration unit A calibrates the driving force based on the time from the start of curving of the curved region until it contacts the wall. Specifically, the calibration section A uses the time determined from the output of the strain gauge 52g included in the coupling device 12. That is, the calibration unit A calibrates the driving force based on the time determined from the distortion of the transmission mechanism.

Subsequently, as shown in S108, the gain of the eighth motor Mb32 and the gain of the ninth motor Mb33 are calibrated in the same procedure as S102 to S107. By completing the calibration of the gain of the eighth motor Mb32 and the gain of the ninth motor Mb33, the calibration of the third guide ring J3 portion of the catheter unit 100 is completed.

Next, similarly to S101 in FIG. 24, the user engages the engaging portion 505sf with the engaged portion NR3. The state in which the engaging portion 505sf is engaged with the engaged portion NR3 is the state shown in FIG. 23(c). In this state, the calibration operation for the second guide ring J2 section is performed in the same manner as the calibration operation for the third guide ring J3 section, in the steps S102 to S108 in FIG. Further, the user engages the engaging portion 505sf with the engaged portion NR4. The state in which the engaging portion 505sf is engaged with the engaged portion NR4 is the state shown in FIG. 23(d). In this state, the operation of calibrating the first guide ring J1 section is performed in the same manner as the operation of calibrating the third guide ring J3 section, in the steps S102 to S108 in FIG. 24. That is, the calibration unit A calibrates the driving force for each of the plurality of curved regions.

With the above, the calibration regarding the gains of the first to ninth motors (Mb11 to Mb33) is completed. That is, the calibration of the catheter unit 100 is completed. The second guide ring J2 section includes, for example, at least a portion of the catheter 11 from the second guide ring J2 section including the second guide ring J2 to the first guide ring J1. The first guide ring J1 section includes, for example, at least a portion of the catheter 11 from the first guide ring J1 section including the first guide ring J1 to a predetermined distance Lj on the proximal end side of the first guide ring J1. It is something that

By correcting the gain value set in the gain setting section G of the motor Mb for variations in the efficiency of the motor Mb, the load of the drive source, the friction of the wire W, the hardness of the catheter 11, etc., the user can Variations in curvature can be reduced with respect to the instructed motion. According to this embodiment, the catheter 11 can ideally be curved at a uniform speed in any direction.

(Example 2)
<Calibration of catheter unit using encoder>
In Example 1, it was explained using the strain gauge 52g that the curved part of the catheter 11 reached the side surface of the calibration space 505c, but in Example 2, a method for calibrating the catheter unit 100 using the encoder E will be explained. . In this example, differences from Example 1 will be described, and descriptions of parts similar to Example 1, such as the configuration of the device, will be omitted.

FIG. 27 is a flowchart illustrating the calibration operation of the third guide ring J3 portion of the catheter unit 100. In this flowchart, the initial state is a state in which the engaging portion 505sf in FIG. 23(a) is engaged with the engaged portion NR1.

In S201, the user engages the engaging portion 505sf with the engaged portion NR2. The state in which the engaging portion 505sf is engaged with the engaged portion NR2 is the state shown in FIG. 23(b).

Next, when the user issues a calibration execution command from the input device 3b to the calculation device 3a, in S202, the calibration section A sets a predetermined reference gain (for example, 7Fh) to the gain setting section G as the gain of the seventh motor Mb31. ). Along with setting the gain, the calibration unit A drives the seventh motor Mb31 CW, starts counting the seventh encoder E31, and starts the timer T. Here, the gains that can be set in the gain setting section G are, for example, 0 to FFh.

When the motor Mb is driven CW in S202, the seventh drive wire W31 connected to the third guide ring J3 of the catheter 11 is pulled, and as shown in FIG. 25(a), the second guide ring J2 of the catheter 11 is pulled. and the third guide ring J3 is curved. Further, when the seventh motor Mb31 is driven CW and the catheter 11 begins to bend, the count of the seventh encoder E31 of the seventh motor Mb31 is increased as time passes as shown in FIG. 28. In S203, the calibration unit A determines whether or not the seventh encoder E31 has stopped counting up.

As shown in FIG. 28, the seventh encoder E31 counts up, and when the curved part of the catheter 11 eventually reaches (contacts) the side surface of the calibration space 505c, the curve is restricted and the count-up of the seventh encoder E31 stops. do. Here, the condition is that the count-up of the seventh encoder E31 completely stops, but it may also be a condition that the count-up speed of the seventh encoder E31 decreases or the count-down of the seventh encoder E31 is caused by the reaction force of the load.

When the calibration unit A determines that the count-up of the encoder E31 has stopped in S203, the calibration unit A stops the seventh motor Mb31 and also stops the timer T in S204. The calibration unit A obtains the value of the timer T at this time.

Next, in S205, the calibration unit A drives the seventh motor Mb31 CCW, and the process moves to S206.

In S206, the calibration unit A determines whether the count of the seventh encoder E31 has reached the state before CW driving (for example, 0000h). That is, in S202, the calibration unit A counts the driving amount of the seventh motor Mb31 CW with the seventh encoder E31, and in S206 the seventh motor Mb31 is driven CCW until the count of the seventh encoder E31 reaches 0000h. By doing so, the curve of the catheter is returned to its original position as shown in FIG. 23(b). Although it has been described here that the calibration unit A determines that the count of the seventh encoder E31 has reached 0000h, it may also determine that the count of the seventh encoder E31 is equal to or less than 0000h.

When the count of the seventh encoder E31 reaches 0000h in S206, the calibration unit A stops the seventh motor Mb31 in S207. Then, the calibration unit A compares the value of the timer T with the reference value Tt. Specifically, when the efficiency of the seventh motor Mb31 is high and the friction of the seventh wire W31 is low, the curved portion of the catheter 11 moves into the calibration space at T3 earlier than the reference value Tt, as shown at T3 in FIG. Reach the side of 505c. If the efficiency of the seventh motor Mb31 is low and the seventh wire W31 has a lot of friction, etc., the curved portion of the catheter 11 reaches the side surface of the calibration space 505c at T4, which is slower than the reference value Tt, as shown at T4 in FIG. do.

Here, a comparison between T3 and the reference value Tt and resetting of the gain setting section G will be explained. For example, when 7Fh set in the gain setting unit G in S202 is used as a reference, the calibration unit A resets 7Fh×T3/Tt in the gain setting unit G as the gain of the seventh motor Mb31. That is, since the curved portion of the catheter 11 reaches the side surface of the calibration space 505c earlier than the reference value Tt due to the CW drive of the seventh motor Mb31, the calibration unit A sets the gain setting unit as the gain of the seventh motor Mb31. Set G to 7Fh×T3/Tt, which is lower than 7Fh. Thereby, the CW drive of the motor Mb31 is corrected so that the curved portion of the catheter 11 reaches the side surface of the calibration space 505c at the reference value Tt. Here, although the correction formula is 7Fh×T3/Tt, other coefficients may be included. With the above, the calibration regarding the gain of the seventh motor Mb31 is completed. In this way, the calibration unit A calibrates the driving force based on the time determined from the rotation of the motor.

Subsequently, as shown in S208, the gain of the eighth motor Mb32 and the gain of the ninth motor Mb33 are calibrated in the steps S202 to S207, thereby completing the calibration of the third guide ring J3 portion of the catheter unit 100. .

Next, similarly to S201 in FIG. 27, the user engages the engaging portion 505sf with the engaged portion NR3. The state in which the engaging portion 505sf is engaged with the engaged portion NR3 is the state shown in FIG. 23(c). In this state, the operation of calibrating the second guide ring J2 section is performed in the same manner as the operation of calibrating the third guide ring J3 section, in the steps S202 to S208 in FIG. 27. Further, the user engages the engaging portion 505sf with the engaged portion NR4. The state in which the engaging portion 505sf is engaged with the engaged portion NR4 is the state shown in FIG. 23(d). In this state, the operation of calibrating the first guide ring J1 section is performed in the same manner as the operation of calibrating the third guide ring J3 section, in the steps S202 to S208 in FIG. 27.

With the above, the calibration regarding the gains of the first to ninth motors (Mb11 to Mb33) is completed. That is, the calibration of the catheter unit 100 is completed, and by correcting the value of the gain setting section G of the motor Mb to compensate for variations in the efficiency of the motor Mb, the load of the drive source, the friction of the wire W, the hardness of the catheter 11, etc. It is possible to reduce variations in curvature in response to an action instructed by a person from the input device 3b. According to this embodiment, the catheter 11 can ideally be curved at a uniform speed in any direction.

(Example 3)
<Calibration of catheter unit using current detection unit>
In Example 1, the fact that the curved portion of the catheter 11 reached the side surface of the calibration space 505c was explained using the strain gauge 52g, but in Example 3, a method for calibrating the catheter unit 100 using the current detection section C will be explained. explain. In the third embodiment, the motor Mb will be described as a DC brush motor. In this example, differences from Example 1 will be described, and descriptions of parts similar to Example 1, such as the configuration of the device, will be omitted.

FIG. 29 is a flowchart illustrating the calibration operation of the third guide ring J3 portion of the catheter unit 100. In this flowchart, the initial state is a state in which the engaging portion 505sf in FIG. 23(a) is engaged with the engaged portion NR1.

In S301, the user engages the engaging portion 505sf with the engaged portion NR2. The state in which the engaging portion 505sf is engaged with the engaged portion NR2 is the state shown in FIG. 23(b).

Next, when the user issues a calibration execution command from the input device 3b to the calculation device 3a, in S302, the calibration section A sets a predetermined reference gain (for example, 7Fh) to the gain setting section G as the gain of the seventh motor Mb31. ). Along with setting the gain, the calibration unit A drives the seventh motor Mb31 CW, starts counting the encoder E31, and starts the timer T. Here, the gains that can be set in the gain setting section G are, for example, 0 to FFh.

When the motor Mb is driven CW in S302, the seventh drive wire W31 connected to the third guide ring J3 of the catheter 11 is pulled, and the second guide ring J2 of the catheter 11 is pulled as shown in FIG. 25(a). and the third guide ring J3 is curved. Furthermore, when the seventh motor Mb31 is driven CW and the catheter 11 begins to bend, the output of the current detection section C31 of the seventh motor Mb31 changes as shown in FIG. 30 over time.

In S303, the calibration unit A determines whether the output of the current detection unit C31 exceeds the threshold value Ith.

As shown in FIG. 26, the output of the current detection section C31 increases, and when the curved section of the catheter 11 eventually reaches (contacts) the side surface of the calibration space 505c, the curve is restricted and the output of the current detection section C suddenly increases. and exceeds the threshold Ith. It is desirable that the threshold value Ith is set based on the lock current generated when the curved portion of the catheter 11 reaches the side surface of the calibration space 505c and the motor Mb is locked. Note that if the motor Mb is a DC brush motor, a starting current exceeding Ith may flow when starting the motor Mb. Therefore, it is possible to take measures such as stopping the function of the current detection section C for the time Ts after startup.

When the output of the current detection unit C31 exceeds the threshold value Ith in S303, the calibration unit A stops the seventh motor Mb31 and also stops the timer T in S304. The calibration unit A obtains the value of the timer T at this time.

Next, in S305, the calibration unit A drives the seventh motor Mb31 CCW, and the process moves to S306.

In S306, the calibration unit A determines whether the count of the seventh encoder E31 has reached the state before CW driving (for example, 0000h). That is, in S302, the calibration unit A counts the drive amount of the seventh motor Mb31 driven in a CW manner using the seventh encoder E31, and in S306 the seventh motor Mb31 is driven in a CCW manner until the count of the seventh encoder E31 reaches 0000h. By doing so, the curve of the catheter is returned to its original position as shown in FIG. 23(b). Although it has been described here that the calibration unit A determines that the count of the seventh encoder E31 has reached 0000h, it may also determine that the count of the seventh encoder E31 is equal to or less than 0000h. When the count of the seventh encoder E31 reaches 0000h in S306, the calibration unit A stops the seventh motor Mb31 in S307. Then, the calibration unit A compares the value of the timer T with the reference value Tt. Specifically, when the efficiency of the seventh motor Mb31 is high and the friction of the seventh wire W31 is low, the curved portion of the catheter 11 moves into the calibration space at T5, which is earlier than the reference value Tt, as shown at T5 in FIG. Reach the side of 505c. If the efficiency of the motor Mb31 is low and the friction of the wire W31 is high, the curved portion of the catheter 11 reaches the side surface of the calibration space 505c at T6, which is slower than the reference value Tt, as shown at T6 in FIG.

Here, the comparison between T5 and the reference value Tt and the resetting of the gain setting section G will be explained. For example, when 7Fh set in the gain setting unit G in S302 is used as a reference, the calibration unit A resets the gain setting G to 7Fh×T5/Tt as the gain of the seventh motor Mb31. That is, since the curved portion of the catheter 11 reaches the side surface of the calibration space 505c earlier than the reference value Tt due to the CW drive of the seventh motor Mb31, the calibration unit A sets the gain setting unit as the gain of the seventh motor Mb31. Set G to 7Fh×T5/Tt, which is lower than 7Fh. As a result, the CW drive of the seventh motor Mb31 is corrected so that the curved portion of the catheter 11 reaches the side surface of the calibration space 505c at the reference value Tt. Here, although the correction formula is 7Fh×T5/Tt, other coefficients may be included. With the above, the calibration regarding the gain of the seventh motor Mb31 is completed. In this way, the calibration unit A calibrates the driving force based on the time determined from the current for rotating the motor.

Subsequently, as shown in S208, the gain of the eighth motor Mb32 and the gain of the ninth motor Mb33 are calibrated in the steps S302 to S307, thereby completing the calibration of the third guide ring J3 portion of the catheter unit 100. .

Next, similarly to S301 in FIG. 29, the user engages the engaging portion 505sf with the engaged portion NR3. The state in which the engaging portion 505sf is engaged with the engaged portion NR3 is the state shown in FIG. 23(c). In this state, the calibration operation for the second guide ring J2 section is performed in the same manner as the calibration operation for the third guide ring J3 section, according to the steps S302 to S308 in FIG. 29. Further, the user engages the engaging portion 505sf with the engaged portion NR4. The state in which the engaging portion 505sf is engaged with the engaged portion NR4 is the state shown in FIG. 23(d). In this state, the operation of calibrating the first guide ring J1 section is performed in the same manner as the operation of calibrating the third guide ring J3 section, in the steps S302 to S308 in FIG. 27.

With the above, the calibration regarding the gains of the first to ninth motors (Mb11 to Mb33) is completed. That is, the calibration of the catheter unit 100 is completed, and by correcting the value of the gain setting section G of the motor Mb for variations in the efficiency of the motor Mb, the load of the drive source M, the friction of the wire W, the hardness of the catheter 11, etc. It is possible to reduce variations in curvature in response to operations instructed by the user from the input device 3b. According to this embodiment, the catheter 11 can ideally be curved at a uniform speed in any direction.

In addition, in Example 3, although the motor Mb is a DC brush motor, it is not limited to this. Although various calibration methods have been described, at least two of Examples 1-3 may be combined. If you are in a hurry to combine at least two of Examples 1-3, you may use the average, median, or the like of the values of timer T acquired by the calibration unit A.

(Example 4)
<Calibration of catheter unit using backdrive>
In Example 4, a method for calibrating the catheter unit 100 will be described in which a back drive is used for a motor Mb other than the motor Mb to be calibrated. In Example 1, Example 2, and Example 3, the method of calibrating the catheter 100 by driving only the motor Mb to be calibrated has been described. On the other hand, when operating the motor Mb to be calibrated and bending the catheter 11, a load is also applied to the drive source M and drive wire W that are indirectly connected to the motor Mb not to be calibrated through the catheter 11. That is, when the motor Mb to be calibrated is operated and the catheter 11 is bent, the strain gauges 52g other than the target strain gauge 52g also generate outputs.

Specifically, when performing calibration targeting the gain of the seventh motor Mb31, even if the efficiency of the seventh motor Mb31 is high, the load of the drive source M is small, and the friction of the seventh drive wire W31 is low, the gain of the seventh motor Mb31 is When the friction of the eighth drive wire W32 applied to the motor Mb32 is high, the efficiency of the seventh motor Mb31 is low, the load on the drive source M is also large, and it is determined that the friction of the seventh drive wire W31 is high, and the seventh motor Mb31 In some cases, a value larger than the value required for calibration may be set in the gain setting section G as the gain of the . Therefore, backdrive is performed with a motor Mb other than the motor Mb to be calibrated.

The back drive will be explained using FIG. 31. For example, when the seventh motor Mb31 is driven CW, the seventh drive wire W31 connected to the third guide ring J3 of the catheter 11 is pulled, and as shown in FIG. The space between J2 and third guide ring J3 is curved. When the seventh motor Mb31 is CW driven and the catheter 11 begins to bend, as time passes, tension in the force sensor 50 provided between the seventh drive source M31 and the seventh drive wire W31 is generated, and the seventh electrostatic force As the body 51s31 is distorted, the output of the seventh strain gauge 52g31 changes as shown in FIG. 31. On the other hand, distortion also occurs in the strain body 51s32 corresponding to the eighth drive source M32 and the eighth drive wire W32, which are arranged at a position 120 degrees out of phase with the seventh drive source M31 and the seventh drive wire W31, The output of the eighth strain gauge 52g32 changes. When the eighth motor Mb32 does not perform backdrive, the output of the eighth strain gauge 52g32 changes as indicated by the dotted line in FIG. 31. On the other hand, when the calibration unit A performs backdrive with the eighth motor Mb32, when the output of the eighth strain gauge 52g32 reaches the threshold value Bth, the calibration unit A drives the eighth motor Mb32 CCW. The calibration unit A stops driving the eighth motor Mb32 when the output of the eighth strain gauge 52g32 decreases and reaches zero. By repeating this operation, it is possible to suppress the influence of friction of the eighth wire W32 during calibration of the seventh motor Mb31. Here, the seventh to ninth motors (Mb31 to Mb33) are an example of the plurality of drive sources in order to curve the curved region in different directions. As described above, the calibration unit A reduces the driving force of a drive source different from the drive source to be calibrated, which is caused by the curvature of the curved region based on the driving force of one of the multiple drive sources to be calibrated. A back drive is performed to adjust the driving forces of the different driving sources.

Next, the operation of calibrating the third guide ring J3 portion of the catheter unit 100 using the back drive will be described using FIG. 32. Since S401 is the same as S101 of the first embodiment, the explanation will be omitted.

In S402, in addition to S102 of the first embodiment, the calibration unit A also controls the eighth motor Mb32, the ninth motor Mb33, the fourth motor Mb21, the fifth motor Mb22, the sixth motor Mb23, the first motor Mb11, and the second motor Mb12 starts back-driving the third motor Mb13.

Since steps S403 to S406 are the same as steps S103 to S106 in the first embodiment, their explanation will be omitted.

In S407, in addition to S107 of the first embodiment, the calibration unit A also controls the eighth motor Mb32, the ninth motor Mb33, the fourth motor Mb21, the fifth motor Mb22, the sixth motor Mb23, the first motor Mb11, and the second motor Mb12. , the back drive of the third motor Mb13 is completed. Further, S408 is also the same as S108 of the first embodiment, so the explanation will be omitted.

Subsequently, a back drive is also performed in the calibration of the second guide ring J2 section and the first guide ring J1 section, but since the steps other than the back drive are the same as in Example 1, the explanation will be omitted. Note that the back drive process may be performed not only in the first embodiment but also in combination with the second and third embodiments.

As explained above, by correcting the value of the gain setting section G of the motor Mb to compensate for variations in the efficiency of the motor Mb, the load of the drive source, the friction of the wire W, the hardness of the catheter 11, etc., the user can It is possible to reduce the variation in curvature in the curving direction for the operation instructed from . According to this embodiment, the catheter 11 can ideally be curved at a uniform speed in any direction. Although several embodiments have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, changes, and combinations of embodiments can be made without departing from the gist of the invention. These embodiments and their modifications are included within the scope and gist of the invention as well as within the scope of the invention described in the claims and its equivalents.

(Other examples)
The present invention provides a system or device with a program that implements one or more of the functions of the embodiments described above via a network or a storage medium, and one or more processors in the computer of the system or device reads and executes the program. This can also be achieved by processing. It can also be realized by a circuit (for example, ASIC) that realizes one or more functions.

100 Catheter unit 200 Base unit 51s Strain body 52g Strain gauge 500 Catheter case 505 Curved area storage section 505c Calibration space A Calibration section C Current detection section E Encoder G Gain setting section M Drive section Mb Motor T Timer W Drive wire Wa Cover Holding part

Claims (17)

a catheter having a curved region that curves based on a driving force from a driving source;
a case capable of accommodating the catheter and having a first space in which the curved region is curveable;
A system comprising: calibrating means for calibrating the driving force based on contact with a wall of the first space due to the curving of the curved area. The case has a second space that is narrower than at least a portion of the first space in a transverse direction that is a direction perpendicular to the direction in which the catheter is inserted, and that can accommodate the catheter;
The system according to claim 1, wherein the second space is located closer to the opening of the case into which the catheter is inserted than the first space. 3. The system according to claim 1, wherein the first space has the wall at an equal distance from the center of the second space in the lateral direction. The system according to any one of claims 1 to 3, wherein the width of the first space in the lateral direction increases as the distance from the second space increases. 5. The system of claim 4, wherein the first space is a conical space. a plurality of the curved regions in the axial direction of the catheter;
The plurality of curved regions are curved based on driving forces from mutually different driving sources,
The system according to any one of claims 1 to 5, wherein the case includes a feeding mechanism that feeds the catheter into the first space in units of the curved area. The system according to any one of claims 1 to 6, wherein the calibration means calibrates the driving force based on the time from the start of curving of the curved area until it contacts the wall. The system according to claim 7, further comprising a transmission mechanism that transmits the driving force to the curved region, and wherein the calibration means calibrates the driving force based on the time determined from the strain of the transmission mechanism. The drive source has a motor,
The system according to claim 7, wherein the calibration means calibrates the driving force based on the time determined from the rotation of the motor. The drive source has a motor,
The system according to claim 7, wherein the calibration means calibrates the driving force based on the time determined from the current for rotating the motor. The system according to any one of claims 7 to 10, wherein the calibration means calibrates the driving force based on the time and a reference value. In order to curve the curved region in different directions, a plurality of the drive sources are provided,
The calibration means is configured to reduce the driving force of a drive source different from the drive source to be calibrated, which is caused by the curvature of the curved region based on the driving force of one drive source to be calibrated among the plurality of drive sources. 12. The system according to any one of claims 1 to 11, wherein the driving forces of the different driving sources are adjusted according to the driving force of the different driving sources. A plurality of wires are connected to the curved area,
A plurality of the driving sources are provided corresponding to the plurality of wires,
The system according to any one of claims 1 to 12, wherein the plurality of drive sources curve the curved region in an arbitrary direction by driving an arbitrary wire among the plurality of wires. A catheter case capable of accommodating a catheter having a curved region that curves based on a driving force from a driving source,
a first space in which the curved region can curve;
A space that is narrower than at least a portion of the first space in a transverse direction that is a direction perpendicular to the direction in which the catheter is inserted, and located closer to the opening of the case into which the catheter is inserted than the first space. A second space where
Catheter case with. A calibration method for calibrating the driving force based on contact of the curved area with a wall of a first space of a case capable of accommodating a catheter having a curved area that curves based on the driving force from a driving source. a plurality of the curved regions in the axial direction of the catheter;
The plurality of curved regions are curved based on driving forces from mutually different driving sources,
The calibration method according to claim 15, wherein the driving force is calibrated for each of the plurality of curved regions. A program that causes a computer to execute the calibration method according to claim 15 or 16.

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