JP6889538B2 - Method for manufacturing wire rod supply device and medical linear body - Google Patents

Description

The present invention relates to a mechanism for selecting a work to be machined from a plurality of linear works. In addition, the present invention relates to a supply device for processing equipment including the selection mechanism. Further, the present invention relates to a work positioning method and mechanism.

Currently, for the processing of linear workpieces such as medical catheters, welding with a heater such as a laser or burner, molding with a mold, processing with a processing machine such as folding, and manual molding and assembly. And so on.

When setting a work on various processing devices or jigs, it is done manually by a person, and it takes a lot of time to set the work. The reasons why it takes time are (1) it is not possible to process multiple workpieces at the same time with a processing machine, (2) it is not possible to attach multiple workpieces to the processing machine, and (3) it takes time to position the workpieces when attaching it to the equipment. Can be mentioned.

On the other hand, as a mechanism for inserting a long work into a processing device, a device for supplying a long work with high accuracy on a processing clamper provided at a processing position has been proposed. However, there is a problem that it cannot be applied to a plurality of workpieces fixed to a magazine which is a removable storage / holding tool. Further, when the contact type work position detection is used, there is a possibility that the work may be scratched. Further, for a soft work, there is a problem that when the detection sensor comes into contact with the work, the work is deformed or moved, and the work position is erroneously detected. Further, in the case of a long work, there is a problem that the device size increases according to the length.

Japanese Unexamined Patent Publication No. 3-60939

In view of the above situation, the present inventor tries to solve the problem by using a device including a wire work selection mechanism, which makes it easy to attach the workpieces and allows simultaneous attachment of a plurality of workpieces, and selects various processing machines. The point is to provide an apparatus for supplying the work and a method for manufacturing a medical linear body using the apparatus.

There are the following issues in making the device. When a plurality of workpieces are fixed to the work supply device at the same time, there is a problem that other workpieces adjacent to the workpiece to be machined come into contact with the processing machine when they are put into the processing machine. When the workpieces come into contact with each other, problems such as the workpieces falling off from the fixed position and the machining position being displaced may occur. In particular, when the workpieces are long, the equipment installation space is limited, or when handling is performed using a jig such as a magazine in which multiple workpieces are put together in parallel, the workpieces come into contact with each other. Difficult to avoid.

Even if the work is fixed at the same position, if the work itself has an error in the length direction or the distance from the tip of the work to the part to be machined is not constant for all the works, the work is in the predetermined machining position. There is a problem that the work is damaged due to misalignment due to processing failure.

In addition, since the work is a wire rod, the contact-type detection method has a problem that the work is soft and the work escapes from the detection member, making detection difficult. In addition, there is a risk of damaging the work due to contact with the detection member. As described above, since the work is a wire rod, the contact type detection method has a problem that it is difficult to detect the tip of the work.

As a result of diligent studies to solve the above-mentioned problems, the present inventors have completed the present invention. The present invention relates to the following (1) to (8).
(1) A work selection mechanism that selects a part of a workpiece from a plurality of linear workpieces having a machining portion on one end side, and selects one or a plurality of workpieces on the machining portion side which is one end side of the work. The present invention relates to a work selection mechanism provided with posture changing means for flexing and changing to a predetermined posture.
(2) The work selection mechanism according to (1) above, which has a position detecting means including a light source, a light receiving device for detecting the rear end of the work processing portion, and a calculation device.
(3) The work selection mechanism according to (1) or (2) above, which includes a work fixture located on the other end side of the work and fixing the work, and the posture changing means. The present invention relates to a work selection mechanism located between a work portion and a work posture fixing portion 5.
(4) The work selection mechanism according to (1) above, wherein the posture changing means is located on one end side of the work from the work posture fixing portion 5, and holds a selection portion for holding the work and the selection portion. The drive unit includes a drive unit to be displaced, and the drive unit relates to a work selection mechanism that displaces the selection unit so as to bend the work held by the selection unit.
(5) The work selection mechanism according to any one of (1) to (4) above, which includes one or more fixing points for fixing the non-machined portion side which is the other end side of the work. Regarding.
(6) The work selection mechanism according to (5) above, wherein the fixing portion includes means for fixing the non-machined portion side, which is the other end side of the work, in a curved state.
(7) The present invention relates to a wire rod processing apparatus including a processing machine for processing a work whose posture has been changed to a different posture by the work selection mechanism according to any one of (1) to (6) above.
(8) The wire rod processing apparatus according to (7) above, which includes a light receiving device for detecting a light source and a shadow near the rear end of a work processing portion, and a position detecting means including an arithmetic unit.
(9) A wire rod processing apparatus equipped with a work selection mechanism provided with a posture changing means for selectively bending one or a plurality of workpieces on the machining site side, which is one end side of the workpiece, to change to a predetermined posture, while using one. A method for manufacturing a medical linear body having a processed portion on the end side, wherein a plurality of workpieces are fixed to the wire rod processing apparatus, and one or a plurality of workpieces are attached to the processed portion side which is one end side of the workpiece. The present invention relates to a method for manufacturing a medical linear body, which includes a step of selectively bending in and a step of processing one end of one work.
(10) The method for manufacturing a medical linear body according to (9) above, which includes a step of irradiating a work with detection light and a step of detecting a predetermined part of the work. Method.

According to the present invention, it is possible to reduce the man-hours for attaching to a processing apparatus when processing a work group in which one or more linear works or a plurality of linear works are put together in a magazine or the like. The risk of damaging the work can be reduced by detecting the non-contact position. For long workpieces, it can be bent into a U shape so that the equipment size does not increase.

It is a perspective view of the whole apparatus which concerns on 1st Embodiment of this invention, and shows the state before processing and after processing. It is a perspective view of the whole apparatus which concerns on 1st Embodiment of this invention, and shows the time of preparation for processing. It is a perspective view of the whole apparatus which concerns on 1st Embodiment of this invention, and shows the time of processing. It is a perspective view of the whole apparatus which concerns on 1st Embodiment of this invention, and shows the time of preparation for the next work processing.

Next, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments will be described by taking a balloon catheter, which is a medical work, as an example of a linear work, but the present invention is not limited thereto. Further, the device does not need to have the work in the horizontal direction. Therefore, it may be in the vertical direction. The explanation will be given in the case of installation in the horizontal direction.

The wire rod processing apparatus including the present invention can include the following configurations. The processing machine 1, the work selection mechanism, the light receiving device 31 and the light source 32 which are position detection devices, and the insertion guide 8 into the processing machine. The work selection mechanism is a work selection mechanism provided with a means for selectively bending one or a plurality of works on the machining site side, which is one end side of the work, to change the work to a predetermined posture, and is a work for fixing the work. The posture fixing unit 5 includes a selection unit 61 located on one end side of the work from the work posture fixing unit 5 to hold the work, and a drive unit 62 for displace the selection unit 61. When the work is long, the fixing portion 2 can be provided on the other end side of the work. When a plurality of long workpieces are collectively fixed by a fixing tool or the like, the fixing tool may be fixed at the fixing point 2.

The processing machine 1 assumes various types of processing, and includes supplying workpieces to various processing machines such as dies for imparting shapes, processing jigs, and workers. In particular, it is preferable to provide a processing means for processing the tip portion of the work. For example, a device for heating the tip portion, a device for coloring, a device for cutting, a device for adhering other members, and the like can be mentioned, but the present invention is not limited to these. The part on the processing machine side when the work is placed on the device is called the front end, and the opposite side is called the rear end. It is preferable that the processing machine 1 is arranged so as to face the work and can be moved according to the processing position of the work.

The work may have a linear shape, and various works can be targeted regardless of the use of the work. In particular, in position detection, it is possible to target a linear work such as a wire or a tube having a diameter change or a joint at any part of the work. In particular, it is preferable to target a work having a diameter change or a joint at the rear end of the machined portion of the work.

The work is an article to be handled in the work selection mechanism, the wire rod processing apparatus, and the manufacturing method of the present invention. A medical linear body can be used as the work. A medical linear body is a linear object including wires and tubes used for medical purposes, various catheters including a balloon catheter, wires including a guide wire used in a procedure using a catheter, and an endoscope. Examples include, but are not limited to, endoscopic treatment tools for performing treatment in the body, drain tubes for blood and body fluids, and tubes used for medical devices. The present invention can be used in a work manufacturing process, an inspection process, and the like.

The work selection device includes work posture changing portions 61 and 62 and a work posture fixing portion 5. The work W1 to be machined by the processing machine 1 and the non-work to be machined whose posture is changed by the posture changing portion are shown by W2.

The work posture fixing portion 5 is located outside the processing machine 1 in the wire rod processing apparatus in a state before processing, and is a place where an operator attaches and detaches the work. The work posture fixing portion 5 has a plurality of workpieces W1 and W2 arranged on the work arrangement portion, and the rear end of the machining position of the work W1 is located closer to the processing machine than the posture changing portion, and the position detection devices 31 and 32. Fix one or more of each work of all works with the rear end of the work processing position located within the imaging range of. At this time, it is preferable to provide a groove, a guide wall, or the like in the work posture changing portion selection portion 61 and the work posture fixing portion 5 where the workpieces come into contact with each other so that the workpieces are not mixed.

The works W1 and W2 are fixed by at least one of the work posture changing portion selection portion 61 or the work posture fixing portion 5. It is preferable that there is only one fixing point for each work so that the work W2 is not loaded when the posture changes. However, even if there are multiple fixing points, the work can be moved in a semi-fixed state without being completely fixed. Also, if the work can be expanded and contracted, a plurality of completely fixed parts may be provided. Various fixing methods such as clamps and magnets can be adopted. For example, when fixing with a magnet, the work posture fixing portion 5 can be made of, for example, 400 series stainless steel, and a ferrite magnet can be used as the fixing member. Fixing members can be arranged and fixed to the works W1 and W2 on the work posture fixing portion 5.

The work posture changing unit includes a selection unit 61 and a driving unit 62 that changes the position of the selection unit 61 by flipping up or lowering the selection unit 61. The position of the work may be changed directly only by the drive unit by omitting the selection unit 61. When a plurality of works are fixed horizontally in parallel in the horizontal direction, it is preferable that the drive unit 62 moves the works upward or downward with respect to the horizontal direction. When a plurality of works are fixed vertically in parallel in the vertical direction, it is preferable to move the works to the right or left as the drive unit 62. The work W1 to be machined by the processing machine 1 and the work whose posture is changed by the posture changing portion may be W2, or the work W1 to be machined may be the work whose posture is changed by the posture changing portion. When changing the posture of the work W1, it is preferable that the work W2, which is not the target of machining, changes its posture in a direction different from that of the work W1 when it is the target of the posture change, and it does not have to be the target of the posture change. ..

If the work is completely fixed to the selection part 61 of the work posture change part, the work may be stretched and the work may be damaged when the work posture is changed. Therefore, cover each work with a semicircular cover. It is preferable to install and semi-fix the work in a state where there is play in the axial direction. The method of attaching the cover is the same as that of fixing the work of the work posture fixing portion 5, and various magnets and the like can be adopted.

The selection portion 61 of the work posture changing portion installed on the processing machine 1 side and the work posture fixing portion 5 may be connected, and since they do not need to be adjacent to each other, they are fixed and operated at a distant position. Is also good. The selection unit 61 and the work posture fixing unit 5 may be connected by using a hinge or the like so that only the selection unit 61 is displaced by the drive unit, or the selection unit 61 is integrally formed and selected by the elasticity of the member. Only the part may be displaced.

It is preferable to provide a drive mechanism for each work as the work posture changing unit drive unit 62. The drive unit 62 is preferably a cylinder. As the power of the drive unit 62 that displaces the selection unit 61 of the work moving mechanism, various types such as an air cylinder and a linear slider can be adopted.

By transmitting the drive of the cylinder to the selection unit 61, the position of the selection unit 61 can be changed and the posture of the work can be changed. The posture of the work is preferably changed from a linear state to a bent state. The bent state of the work is preferably curved. If the work is folded and bent, the work may be damaged.

When bending the work W2 that is not to be machined, the work posture changing unit drive unit 62 tilts the selection unit 61 upward or downward so as to avoid the processing machine 1 by using a connection lot, surface contact, or the like. Is preferable. In order to simplify the mechanism of the drive unit 62, the drive unit can be a plate with a slit having a width in which the insertion guide 8 for guiding the workpiece to be machined is inserted and one power source. The slit is preferably arranged below the work W1 to be processed. By displacing the drive unit 62 in this way, the posture of the machining work W1 on the slit does not change, and the other work W2 can be selectively moved. A work can be selected by selectively moving the work W2.

The plate with a slit installed under the selection unit 61 of the work posture change unit used for the work posture change unit drive unit 62 is arranged so that the insertion guide 8 can be inserted into the opening of the slit, and is other than W1 to be processed. The structure may be such that the posture of the posture changing portion selection unit 61 on which the work W2 is placed is changed. A method may also be used in which the next machined work W1 can be selected from the work by changing the position of the slit plate or sliding the positions of the work posture fixing portion 5 and the selection portion 61 with respect to the slit plate.

It is preferable that the displacement start position is farther toward the rear end side than the closest to the machining portion of the processing machine 1 and the bending radius of the work is increased because the risk of the work breaking is reduced. The work posture changing unit driving unit 62 installed between the processing machine 1 and the work posture fixing unit 5 may be brought into direct contact with the work to omit the selection unit 61 of the attitude changing unit. When the drive unit 62 is brought into direct contact with the work, it is preferable that the drive unit 62 has a function of fixing or gripping the work provided by the work posture changing unit selection unit 61. In this case, the shape of the contact portion of the drive portion 62 with the work may be plate-shaped. A thin plate may be used and bent into a curved line. Further, the work posture may be changed at one point or a plurality of points in the machined portion and its vicinity as long as it is not a plate shape as described above but only a work having a fixed length to be used. The contact portion of the drive unit 62 with the work may be changed to a plate shape and may be a rod or block shape.

The insertion guide 8 is arranged between the machining target work W1 and the machining machine 1, and guides the machining target work to be inserted into the machining machine 1 by moving between them. The insertion guide is particularly used to align the center of the workpiece W1 to be machined with the center of the machining machine as a reference.

When the processing of the work W1 is completed and the next work is processed, the processing machine 1 and the insertion guide 8 or the work posture fixing portion 5 and the work posture changing portions 61 and 62 on the work side are placed on the work posture fixing portion 5. From the state where the axis of the work after a certain machining and the center of the processing machine 1 are aligned, the work axis center of the next machining and the center of the processing machine 1 are aligned. After that, the insertion guide 8 is used to align the center of the work W1 with the center of the processing machine 1 so that the processing is possible. Various operating mechanisms for fixing the processing machine 1 and each work can be selected, and there are a mechanism using an electric cylinder and a slide guide.

The insertion guide 8 of the processing machine 1 into the processing portion is a movable type that moves between the posture changing portion selection unit 61 and the processing machine 1, and the movement of the processing machine 1, the work selection mechanism, and the work posture changing portions 61 and 62. It operates so as not to come into contact with the processing machine 1 in conjunction with. It is preferable that the insertion guide 8 is provided with a groove, a guide wall, a guide pole, or the like so that the processing position of the work W1 and the processing location of the processing machine 1 do not deviate from each other.

The operating structure of the insertion guide 8 can be selected in various ways, and the guide may be provided on the slider or pantograph. Further, as a structure in which the processing machine 1 or the work selection mechanism pushes and moves the insertion guide 8 with an insertion guide equipped with an air cylinder or a spring, the work slides on the guide 8 to project the work from the tip of the guide, and the protruding portion is projected from the processing machine. The method of supplying to 1 may also be used. Further, a guide for moving up and down divided into a plurality of blocks may be provided, and the guide may be moved up and down according to the movement of the processing machine 1 or the work selection mechanism.

A state in which the long work fixing portion 2 is used as a fixing portion for fixing the other end side of the work, and the rear end side of the work, which is the opposite end of the machined portion of the work, is bent in a U shape. It can be fixed with. The fixing method may be a method of directly clamping the work or a method of indirectly fixing the magazine to the device with a clip or a magnet using a jig such as a magazine.

Regarding the detection target of the position detection mechanisms 31 and 32, it is preferable that the rear end side of the machining target portion of the work has a seam or marking of the work whose edge can be detected by the diameter change or the transmitted light or the reflected light. A diameter change, marking, or the like may be detected at a position separated from the rear end of the target portion of the machined portion by a known value, and the movement amount may be determined in consideration of the known value.

The arrangement of the light source 32 is preferably in the order of the light source 32, the work W1, and the light receiving device 31, and when the light receiving device 31 detects the transmitted light, the edge of the work is emphasized when the work is transparent, and image processing can be easily performed. Therefore, it is preferable. When it is difficult to secure the installation location of the light source 32 or there is marking on the surface of the work W1, it is preferable to install the light source 32 in the same direction or lateral direction as the light receiving device 31 and use the detected light as the reflected light. The light source 32 may be diffused light or parallel light, and the type of the light source or the light receiving device can be appropriately selected according to the work or the detection location of the work.

When it is difficult to determine the work position, a detection method using one or both of a plurality of light sources 31 and a plurality of light receiving devices 32 may be adopted. As the light source 32 and the light receiving device 31 at this time, a distance measuring device using ultrasonic waves or a laser may be used. Further, the light source 32 / light receiving device 31 and the above-mentioned distance measuring device may be combined. When detecting the position, it is preferable to image the rear end of the planned machining position of the work W1, but if there is a shape feature in a place where the relationship with the machining position is clear, that place is imaged and the machining position is calculated. You may.

Various work detection algorithms can be adopted. As an example, the captured image is subjected to binarization processing, which is a preprocessing, to make the work edge or the shadow (black part) of the work edge stand out. Next, the work edge is finely sliced in the radial direction, and the distance (work diameter) between the work edges (the width of the white part where the color changes between black, white, and black) is measured. From the adjacent sliced distance data, specify the slice position of the boundary where the work distance changes significantly from a narrow place, and use that as the rear end of the processing position, and slice position information so that the processing machine 1 moves to that position. To the device.

The position detection devices 31 and 32 may be imaged on a single workpiece. Further, a plurality of works may be photographed at the same time to detect the position of each work. When the position of one work is imaged and the position is detected, it is preferable that the other work is arranged at a position different from the detection position by the work selection device. It is preferable to detect the presence or absence of the work and send information about the presence or absence to the control side of the main body of the device.

The type and structure of the processing machine 1 are not particularly specified. When the work W1 is supplied to the processing machine 1, the work W1 is moved to the processing position determined by the position detection mechanisms 31 and 32. In order to move the work W1 to the machining position, the moving portion may be the machining machine 1, or the work selection mechanism to which the work W1 is fixed may be used. Both may operate and the work W1 may be supplied to the processing machine. Various operating mechanisms such as an electric slider and an electric cylinder can be selected. It is preferable that the operating mechanism has a rigidity suitable for the processing accuracy and an ability higher than the accuracy.

A method for producing a medical long body having a processed portion on one end side using the apparatus of the present invention includes at least the following steps. A step of fixing a plurality of workpieces to the wire rod processing apparatus, a step of selectively bending one or a plurality of workpieces on the machining site side which is one end side of the workpieces, and changing the posture to a predetermined posture, one end of the workpieces of 1. Is the process of processing. The fixing step is a step of fixing the work to the work posture fixing portion. The step of changing to a predetermined posture is a step of changing the posture of the work by the work posture changing portion. The processing process is a process of performing necessary processing by a processing machine. The manufacturing method may include a step of irradiating the work with detection light and a step of detecting a predetermined portion of the work.

The operation procedure of the apparatus of the present invention will be described with reference to the drawings.

FIG. 1 shows a state in which the work is placed on the work posture fixing portion 5 and the work posture changing portion selection portion 61 in the state before processing, and a retainer such as a magnet is attached to each portion. FIG. 2 shows a state in which the work W2 is lifted by the work posture changing portions 61 and 62 so that the work W2 does not come into contact with the processing machine 1. Further, the insertion guide 8 aligns the diameter centers of the work W1 and the processing machine 1, and the light receiver 31 and the light source 32 take an image of the work W1 to detect the processing position of the work. The center of the processing machine 1 is the diameter center of the processing machine insertion port.

In FIG. 3, the processing machine 1 has moved to the work processing position, and the work W1 has entered the processing machine 1 to process the work. The insertion guide 8 is moved so as not to interfere with the processing machine 1. After the processing is completed, the processing machine 1 retracts and returns to the state shown in FIG. FIG. 4 shows a state in which the machining of the work W1 is completed and the next work is ready for machining. From the state of FIG. 1, the work posture fixing portions 5 and 61 move horizontally so that the center of the new work W1 to be machined and the machine 1 which is the work adjacent to the old work W1 in FIG. 1 are aligned, and the work posture is changed. The portions 61 and 62 are raised to lift the unprocessed work W2, and the center of the work W1 is aligned with the center of the processing machine 1 by the insertion guide 8. After that, the processing machine 1 operates in the same manner as in FIG. 3 to perform processing.

An aspect of balloon catheter folding using a work feeder will be described, but the present invention is not limited thereto.

A case where a balloon catheter folding device is used as the processing machine 1 will be described. To fold a catheter, insert the balloon portion of the catheter into a cylindrical mold whose diameter changes, reduce the diameter of the mold, and fold it. After the balloon is inserted into the mold, the mold moves in the diameter reduction direction to fold the balloon (for example, the inner diameter of the mold changes from 12 mm in diameter to 5 mm in diameter). That is, the processing portion of the processing machine 1 is a mold for a balloon in this machine. The work is a medical catheter, which is a long linear object of 300 mm to 6000 mm, and is a balloon catheter in which a balloon is arranged at the tip.

First, a magazine (not shown) to which five balloon catheters are attached together is attached to a long work fixing portion 2 with a clip, and each work is placed on a work posture fixing portion 5 and fixed by a magnet. Using the light receiving device 31 and the light source 32, an image is taken to detect the rear end of the balloon (the portion where the catheter has already been reduced in diameter or the joint portion between the balloon and the tube, and the amount of movement of the processing machine 1 is calculated. A camera with an image processing device is used as the 31 and LED flat illumination is used as the light source 32.

The posture is changed except for the machining work W1, and the work centers of the machining machine (die) 1 and the work W1 are aligned by the insertion guide mechanism 8. The mold advances while the insertion guide 8 retracts, and the work is inserted into the mold. The insertion guide is retracted in order to expose the machined portion of the work W1.

When the processing by the processing machine is completed and the balloon of the work is folded, the diameter of the mold is restored and the mold retracts. After that, the work posture fixing portion 5 and the work posture changing portion selecting portion 61 move, select the next work, perform the above-mentioned machining in the same manner, and when the five machining is completed, the operator removes the work and the magazine. The catheter can be folded by this series of flows.

1 Processing machine
2 Long work fixing part
31 Position detection unit Light receiving device 32 Position detection unit Light source 5 Work posture fixing unit 61 Work posture change unit selection unit 62 Work posture change unit Drive unit 8 Insertion guide
W1 Work to be machined
W2 non-processing (next processing) target work

Claims (8)

A work selection mechanism that selects a part of a work from a plurality of linear works having a machined portion on one end side.
A posture changing means for selectively bending one or a plurality of workpieces on the machining site side, which is one end side of the workpiece, to change to a predetermined posture .
It is located on the other end side of the work and is provided with a fixture including a work posture fixing part for fixing the work.
The posture changing means is located between the machined portion of the work and the work posture fixing portion.
The posture changing means includes a selection unit that holds the work and a drive unit that displaces the selection unit.
The drive unit is a work selection mechanism configured to displace the selection unit so as to bend the work held by the selection unit and to return the selection unit to the state before the displacement. The work selection mechanism according to claim 1.
A work selection mechanism having a position detecting means including a light source and a light receiving device and an arithmetic unit for detecting the rear end of the workpiece. The work selection mechanism according to claim 1 or 2.
A work selection mechanism having one or more fixing points for fixing the non-machined portion side, which is the other end side of the work. The work selection mechanism according to claim 3.
A work selection mechanism including means for fixing the non-processed portion side, which is the other end side of the work, in a curved state. A wire rod processing apparatus including a processing machine for processing a work whose posture has been changed to a different posture by the work selection mechanism according to any one of claims 1 to 4. The wire rod processing apparatus according to claim 5 , further comprising a light receiving device for detecting a light source and a rear end of a work processing portion, and a position detecting means including an arithmetic unit. A wire rod processing device equipped with a work selection mechanism provided with a posture changing means for selectively bending one or a plurality of workpieces on the machining site side, which is one end side of the workpiece, to change to a predetermined posture, is used on one end side. A method for manufacturing a medical linear body having a processed part.
The process of fixing a plurality of workpieces to the wire rod processing device and
A process of selectively bending one or more workpieces on the machining site side, which is one end side of the workpieces, to change the posture to a predetermined posture.
The process of processing one end of the work of 1 and
A step of returning the work to the posture before the step of changing the work to the predetermined posture, and
A method for manufacturing a medical linear body including. The method for manufacturing a medical linear body according to claim 7.
A method for manufacturing a medical linear tube body, which includes a step of irradiating a work with detection light and a step of detecting a predetermined part of the work.

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