Treatment tool exchanging device and medical system
Provided is a treatment tool exchanging device that switches and holds a plurality of treatment tools for treating a target to be treated. The treatment tool exchanging device includes a flexible insertion part into which the plurality of treatment tools are inserted and in which a plurality of treatment tool channels for defining insertion paths for the treatment tools are formed, a driving part that advances each of the plurality of treatment tools, a manipulating part that manipulates the plurality of treatment tools to perform treatment, and a control unit that controls the amount of protrusion, from the treatment tool channel of the treatment tool, which has protruded from a distal end of the treatment tool channel, among the plurality of treatment tools. The insertion part has a switching part that changes the insertion path of the treatment tool to be inserted.
1. A treatment tool exchanging device that switches and holds a plurality of treatment tools for treating a target to be treated, the treatment tool exchanging device comprising:
a flexible insertion part in which a plurality of treatment tool channels are formed, wherein the plurality of treatment tools are inserted into the plurality of treatment tool channels and the plurality of treatment tool channels define insertion paths for the treatment tools;
a driving part which advances each of the plurality of treatment tools, that are inserted through the treatment tool channels, within the treatment tool channel, and retracts each of the plurality of treatment tools within the treatment tool channel;
a manipulating part which manipulates the plurality of treatment tools and treats the target; and
a control unit which controls an amount of protrusion from the treatment tool channel of the treatment tool in the state where the treatment tool protrudes from a distal end of the treatment tool channel among the plurality of treatment tools,
wherein the insertion part has a switching part that changes the insertion path of the treatment tool to be inserted.
2. The treatment tool exchanging device according to claim 1 ,
wherein the switching part includes:
a communication channel that allow the plurality of treatment tool channels to communicate with each other; and
a door that closes at least one of the plurality of treatment tool channels and guides the treatment tool to at least one of the remaining treatment tool channels that are not closed.
3. The treatment tool exchanging device according to claim 1 ,
wherein the switching part includes:
a communication channel that allows the plurality of treatment tool channels to communicate with each other;
a door that closes at least one of the plurality of treatment tool channels and guides the treatment tool to at least one of the remaining treatment tool channels that are not closed, and
a path length adjusting part that adjusts a path length of the treatment tool channel.
4. A medical system comprising:
the treatment tool exchanging device according to claim 1 ;
a manipulator that actuates the treatment tool exchanging device; and
a master input unit that performs manipulation input for giving an instruction on the operation of the treatment tool exchanging device and the manipulator.