WO2018151045A1 - Medical tube twisting device and medical tube twisting method - Google Patents

Abstract

This tube twisting device (1) is provided with: a heater (2) for partially heating a tube (20) to be processed in a heating region (R_H); a twisting mechanism (3) for rotating the tube (20) to be processed about a center axis line (O) extending in the longitudinal direction of the tube (20) to be processed to form a twisted portion in the tube (20) to be processed having been heated by the heater (2); and a tube conveyance mechanism (6) for conveying the twisted portion to the outside of the heating region (R_H).

Description

Medical tube twisting device and medical tube twisting method

The present invention relates to a medical tube twisting apparatus and a medical tube twisting method.
This application claims priority based on Japanese Patent Application No. 2017-025982 filed in Japan on February 15, 2017, the contents of which are incorporated herein by reference.

In a medical tube such as a catheter, it is known that an independent lumen (lumen) formed inside is formed in a spiral shape. For example, in Patent Document 1, in a medical tube through which a treatment tool such as forceps is passed, the treatment tool is opened to the operation field at an angle that opens outward while maintaining a certain deflection angle with respect to the visual axis of the endoscope. For the purpose of projecting, a tube body is described in which a small-diameter tube (independent lumen) is spirally provided inside a large-diameter tube.
In Patent Document 1, this tube body is manufactured by pulling out a tube tube that is being cooled after being extruded and rotating it with a puller.

Japanese Patent No. 5917819

However, the conventional techniques as described above have the following problems.
According to the technique described in Patent Document 1, a soft tube tube after extrusion molding is taken up while applying a rotational torque by a rotating body having a rotating shaft that is oblique in the take-up direction. For this reason, a twist is applied to the soft tube that has not been cured, in contact with the rotating body.
For this reason, in the technique described in Patent Document 1, since the soft tube tube after extrusion continues to receive external force in the circumferential direction by the rotating body, the shape of the outer shape and the dimensional accuracy of the outer shape tend to vary. Furthermore, by receiving such an external force, the tube tube is easily displaced from the take-up direction, and the stability of the shape is lowered. When the displacement of the tube tube is large, the tube tube may be derailed and the production may be interrupted.
Furthermore, in the technique described in Patent Document 1, since the rotating body also serves as a roller for taking up the tube tube, it is difficult to form only a part of a small-diameter tube in the tube tube in a spiral shape.

The present invention has been made in view of the above problems, and can improve the shape accuracy and dimensional accuracy of a medical tube in which a spiral lumen is formed in at least a part of the longitudinal direction. An object of the present invention is to provide a tube twisting device and a medical tube twisting method.

In order to solve the above problems, a medical tube twisting device according to a first aspect of the present invention includes a heater for partially heating a medical tube in a heating region, and an axis extending in the longitudinal direction of the medical tube. A twist mechanism that forms a twist portion in the medical tube heated by the heater by rotating the medical tube around the tube, and a tube transport mechanism that moves the twist portion to the outside of the heating region And comprising.

The medical tube twisting device further includes a cooling unit that cools the twisted part in a cooling region outside the heating region, and the tube transport mechanism moves the twisting unit from the heating region to the cooling region. You may move to the work area.

In the medical tube twisting device, the tube transport mechanism switches the transport direction of the medical tube to one of a first direction along the axis and a second direction opposite to the first direction. The heating area and the cooling area may include the movement path of the medical tube and be formed adjacent to each other in a direction along the movement path.

The medical tube twisting device further includes a control unit that controls operations of the heater, the twisting mechanism, the tube transporting mechanism, and the cooling unit, and the control unit moves the medical tube by the tube transporting mechanism. A first operation of disposing a portion of the medical tube in the heating region; a second operation of heating the portion of the medical tube disposed in the heating region by the heater; and the twisting. A third operation for forming the twisted portion by a mechanism, and a second portion in which the twisted portion formed in the third operation is moved in the first direction by the tube transport mechanism and arranged in the cooling region. 4 operation, a fifth operation for curing the twisted portion disposed in the cooling region by the cooling unit, and the tube transport mechanism. Thus, by moving the medical tube in the second direction, the medical tube adjacent in the second direction to the twist portion disposed in the cooling region in the third operation. A sixth operation that moves the region to the heating region, a seventh operation that repeats the second operation to the sixth operation one or more times in this order after the first operation, After the first operation or after the seventh operation, the eighth operation that performs the second operation to the fifth operation in this order may be controlled.

In the medical tube twisting device, the twisting mechanism includes a first grip portion that grips the medical tube and the heating mechanism in the second direction outside the heating region in the first direction. A second gripping part for gripping the medical tube outside the region; and a rotation driving part for relatively rotating the first gripping part and the second gripping part around the axis. Also good.

In the medical tube twisting device, the cooling unit may discharge a refrigerant composed of at least one of a liquid and a gas toward the medical tube in the cooling region.

The medical tube twisting method according to the second aspect of the present invention includes a first operation for arranging a part of the medical tube in the heating region and a second operation for heating the portion arranged in the heating region. In the state where the part is heated, the medical tube is gripped at two places sandwiching the part between the two, and the axis extending in the longitudinal direction of the medical tube at the two gripping positions. A third operation of forming a twist portion in the part by adding a twist around, a fourth operation of moving the twist portion to the outside of the heating region, and the outside of the heating region, A fifth operation for curing the twisted portion.

The medical tube twisting method further includes a sixth operation of moving a region adjacent to the twisted portion to the heating region after the twisted portion is cured, and after the sixth operation, The sixth operation may be repeated once or more in this order, or the second operation to the fifth operation may be performed in this order.

According to the medical tube twisting apparatus and the medical tube twisting method of the present invention, it is possible to improve the shape accuracy and dimensional accuracy of a medical tube in which a spiral lumen is formed in at least a part of the longitudinal direction.

It is a typical front view showing an example of the medical tube manufactured by the medical tube twist device of the embodiment of the present invention. FIG. 2 is a cross-sectional view taken along the line AA in FIG. FIG. 3 is a cross-sectional view taken along line BB in FIG. It is a typical front view showing an example of composition of a medical tube twist device of an embodiment of the present invention. It is a block diagram of the structure relevant to control of the medical tube twist apparatus of embodiment of this invention. FIG. 6 is a DD sectional view (EE sectional view) in FIG. 4. FIG. 5 is a sectional view taken along line FF in FIG. 4. It is a flowchart which shows an example of the medical tube twist method of embodiment of this invention. It is a schematic diagram which shows an example of a twist part formation area. It is operation | movement explanatory drawing of the medical tube twist apparatus of embodiment of this invention. It is operation | movement explanatory drawing of the medical tube twist apparatus of embodiment of this invention. It is operation | movement explanatory drawing of the medical tube twist apparatus of embodiment of this invention. It is operation | movement explanatory drawing of the medical tube twist apparatus of embodiment of this invention.

Below, the medical tube twist apparatus of embodiment of this invention is demonstrated.
First, an example of a medical tube manufactured using the medical tube twisting device of the present embodiment will be described.
FIG. 1 is a schematic front view showing an example of a medical tube manufactured by the medical tube twisting device according to the embodiment of the present invention. 2 is a cross-sectional view taken along the line AA in FIG. 3 is a cross-sectional view taken along the line BB in FIG.

As shown in FIG. 1, the tube 30 (medical tube) is a long resin tube that extends from the first end E1 to the second end E2 along the central axis O. The tube 30 is used as a sheath of cables such as a medical catheter tube and an endoscope imaging cable, for example.
The outer peripheral surface 30a of the tube 30 is constituted by a cylindrical surface having a constant outer diameter. However, the outer diameter of the outer peripheral surface 30a may have some variation in the longitudinal direction for manufacturing reasons described later. For example, the outer diameter of the outer peripheral surface 30a may have a deviation of about ± 2% in the longitudinal direction.

As the material of the tube 30, for example, a thermoplastic resin or a thermoplastic elastomer (TPE, Thermoplastic Elastomer) may be used. Examples of the thermoplastic resin that can be used for the tube 30 include polyethylene (PE) resin, polypropylene (PP) resin, and polyamide (PA) resin. Examples of the thermoplastic elastomer that can be used for the tube 30 include amide TPE (TPA) and urethane TPE (TPU).

At least one spiral lumen is formed inside the tube 30. The spiral lumen may be formed in a spiral shape over the entire length of the tube 30, or only a part of the tube 30 in the longitudinal direction may be a spiral shape.
The tube 30 may be a single lumen tube or a multi-lumen tube. Below, the example in the case of a multi-lumen tube is demonstrated as an example.

FIG. 2 shows a cross-sectional shape of the tube 30. The outer peripheral surface 30a of the tube 30 is circular with the central axis O as the center. Inside the tube 30, a guide wire lumen 30b, a first lumen 30c, and a second lumen 20d penetrate in the longitudinal direction.

The guide wire lumen 30b extends straight along the central axis O regardless of the position of the tube 30 in the longitudinal direction. The guide wire lumen 30b has an inner diameter through which a guide wire or the like can be passed, for example.

As shown in FIG. 1, the path of the first lumen 30c and the second lumen 30d changes in the longitudinal direction of the tube 30. The first lumen 30c and the second lumen 30d include a non-twisted portion 30A, a twisted portion 30B, and a non-twisted portion 30A in the longitudinal direction of the tube 30.

Non twisting unit 30A, in the longitudinal direction of the tube 30 is formed in a range of a length L _A from the first end E1.
As shown in FIG. 2, in the non-twisted portion 30A, the first lumen 30c and the second lumen 30d both extend straight along the central axis O between the guide wire lumen 30b and the outer peripheral surface 30a. Yes.
The positions in the circumferential direction around the central axis O of the first lumen 30c and the second lumen 30d are not particularly limited. In the example shown in FIG. 2, the first lumen 30c and the second lumen 30d are arranged adjacent to each other in the circumferential direction with a central angle with respect to the central axis O being an acute angle. The first lumen 30c and the second lumen 30d may be disposed at a position where the central angle with respect to the central axis O is 180 °.

As shown in FIG. 1, the twisted portion 30 </ _b > _B has a length LB in the longitudinal direction of the tube 30 from the end opposite to the first end E <b> 1 in the non-twisted portion 30 </ _b > A toward the second end E < _b > 2. Is formed.
In the twisted portion 30B, the first lumen 30c and the second lumen 30d are both spirally turned in the same direction around the central axis O. The distance between the first lumen 30c and the second lumen 30d in a cross section perpendicular to the extending direction of the first lumen 30c and the second lumen 30d is constant along the turning path.
Although not particularly illustrated, the first lumen 30c (second lumen 30d) at the boundary between the non-twisted portion 30A and the twisted portion 30B smoothly changes from a straight shape to a spiral shape. For this reason, the inner peripheral surface of the first lumen 30c (second lumen 30d) at the boundary between the non-twisted portion 30A and the twisted portion 30B is smoothly continuous without a step or a bent portion.

The non-twisted portion 30C is formed in a range of a length L _C from the end portion of the twisted portion 30B opposite to the non-twisted portion 30A to the second end portion E2 in the longitudinal direction of the tube 30.
Although not particularly illustrated, in the non-twisted portion 30C, the first lumen 30c and the second lumen 30d both extend straight along the central axis O between the guide wire lumen 30b and the outer peripheral surface 30a.
The first lumen 30c (second lumen 30d) at the boundary between the twisted portion 30B and the non-twisted portion 30C smoothly changes from a spiral shape to a linear shape. For this reason, the inner peripheral surface of the first lumen 30c (second lumen 30d) at the boundary between the twisted portion 30B and the non-twisted portion 30C is smoothly continuous without a step or a bent portion.

Next, an example of the medical tube twisting device of the present embodiment for manufacturing the tube 30 will be described.
FIG. 4 is a schematic front view showing a configuration example of the medical tube twisting device according to the embodiment of the present invention. FIG. 5 is a block diagram of a configuration related to control of the medical tube twisting device according to the embodiment of the present invention. FIG. 6 is a cross-sectional view taken along the line DD (cross-sectional view taken along line EE) in FIG. 7 is a cross-sectional view taken along line FF in FIG.

As shown in FIG. 4, the tube twisting device 1 (medical tube twisting device) of this embodiment includes a tube transport mechanism 6, a twisting mechanism 3, a heater 2, and a cooling unit 7. As shown in FIG. 5, the tube twisting device 1 further includes an operation unit 9 and a control unit 8.
The tube twisting apparatus 1 can manufacture the tube 30 by partially twisting a part in the longitudinal direction of the processing tube 20 (medical tube) shown in FIG. Further, the tube twisting device 1 can further twist the medical tube that has already been twisted. For this reason, the tube twisting apparatus 1 can perform twisting processing at a plurality of locations in the processing tube 20.

The processing tube 20 has a shape similar to the shape in which the tube 30 in the non-twisted portion 30A is extended along the central axis O. In the following, the central axis of the processing tube 20 is also represented by the central axis O, like the tube 30.
The material of the processing tube 20 is the same as the material of the tube 30. The processing tube 20 can be used as a medical tube even when it is not twisted.
The outer peripheral surface 20a in the processing tube 20 is configured by a cylindrical surface having the same diameter as the outer peripheral surface 30a of the tube 30 in the non-twisted portion 30A.
The processing tube 20 has a guide wire lumen 20b, a first lumen 20c, and a second lumen 20d corresponding to the guide wire lumen 30b, the first lumen 30c, and the second lumen 30d of the tube 30 in the non-twisted portion 30A. (See FIG. 6).

The guide wire lumen 20b extends along the central axis O of the processing tube 20 like the guide wire lumen 30b. The inner diameter of the guide wire lumen 20b is equal to the inner diameter of the guide wire lumen 30b in the non-twisted portion 30A.
The first lumen 20c (second lumen 20d) extends straight along an axis parallel to the central axis O, like the first lumen 30c (second lumen 30d) of the tube 30 in the non-twisted portion 30A. The inner diameter of the first lumen 20c (second lumen 20d) is equal to the inner diameter of the first lumen 30c (second lumen 30d) in the non-twisted portion 30A.
The relative positional relationship between the guide wire lumen 20b, the first lumen 20c, and the second lumen 20d in a cross section orthogonal to the central axis O is such that the guide wire lumen 30b, the first lumen 30c, and the second lumen of the tube 30 in the non-twisted portion 30A. This is the same as the relative positional relationship of the lumen 30d.

Such a processing tube 20 is manufactured in advance, for example, by extruding a resin material for forming the tube 30. The tube 20 for processing is already hardened at the time of twisting by the tube twisting device 1. As the extrusion molding machine for manufacturing the processing tube 20, a known extrusion molding machine for manufacturing a multi-lumen tube may be used.
If the length from the first end e1 to the second end e2 in the processing tube 20 is the length from the first end E1 to the second end E2 of the tube 30 after the twist processing, the tube It may be different from 30 lengths. In this embodiment, as will be described later, as an example, the length of the processing tube 20 is longer than the length of the tube 30.

As shown in FIG. 4, the tube twisting apparatus 1 twists the processing tube 20 arranged along the axis C in the apparatus. As will be described later, in the present embodiment, the tube twisting device 1 can perform twisting processing by changing the position by moving the processing tube 20 along the movement path along the axis C. The tube twisting device 1 twists a necessary region of the processing tube 20 from the first end e1 of the processing tube 20 toward the second end e2.
The processing tube 20 is arranged in the tube twisting device 1 so that the central axis O is coaxial with the axis C in the tube twisting device 1. The tube 20 for processing is supported in the tube twist apparatus 1 in the state which can be rotated centering on the axis C. FIG.

Hereinafter, among the end portions in the direction along the axis C in the tube twisting device 1, the left end portion in FIG. 4 is referred to as a first end portion Ea, and the right end portion is referred to as a second end portion Eb. A direction from the second end Eb to the first end Ea along the axis C is referred to as a first direction f, and a direction opposite to the first direction f is referred to as a second direction b.
In the tube twisting device 1, the heater 2, the cooling unit 7, and the tube transport mechanism 6 are arranged in this order in the first direction f. The twist mechanism 3 includes a first device part disposed near the first end Ea and a second device part disposed near the second end Eb with the heater 2 interposed therebetween. , Is divided into. The first device portion of the twist mechanism 3 is disposed between the cooling unit 7 and the heater 2.

The tube transport mechanism 6 is a device portion that moves the processing tube 20 forward and backward along the axis C. The tube transport mechanism 6 includes clampers 6A and 6B and a clamper driving unit 6C.
The clampers 6A and 6B are disposed to face each other with the axis C therebetween. The clampers 6A and 6B are supported by a clamper driving unit 6C, which will be described later, in a state where the clampers 6A and 6B can advance and retreat in the facing direction. As shown in FIG. 6, the clampers 6 </ b> A and 6 </ b> B can grip the processing tube 20 on the outer peripheral surface 20 a by advancing toward the axis C. The clampers 6A and 6B can grip the vicinity of the first end e1 of the processing tube 20.
The shape of the clampers 6 </ b> A and 6 </ b> B is not limited as long as the shape can grip the processing tube 20. In the example shown in FIG. 6, the clampers 6 </ b> A and 6 </ b> B have gripping grooves 6 a that circumscribe each of the outer peripheral surfaces 20 a at three locations. In the gripping groove 6a, at least a portion in contact with the outer peripheral surface 20a is made of a material that generates a frictional force that does not cause a slip with the processing tube 20 while the processing tube 20 is moved.
The clampers 6A and 6B can release the grip of the processing tube 20 by retreating in a direction away from the axis C.
Furthermore, the clampers 6A and 6B are supported in a state in which the clampers 6A and 6B can move in a direction along the axis C by a clamper driving unit 6C described later. The clampers 6A and 6B can move in both the first direction f and the second direction b.
The clampers 6 </ b> A and 6 </ b> B transport the processing tube 20 by moving in the transporting direction along the axis C while holding the processing tube 20.

The clamper driving unit 6C is configured to perform a gripping operation and a grip releasing operation on the processing tube 20 by moving the clampers 6A and 6B back and forth with respect to the axis C. Furthermore, the clamper driving unit 6C moves the clampers 6A and 6B along the axis C regardless of whether the clampers 6A and 6B are gripping the processing tube 20 or the clampers 6A and 6B are not gripping the processing tube 20. Can be made.
As shown in FIG. 5, the clamper driving unit 6C is connected in a communicable state with a control unit 8 to be described later. The clamper driving unit 6C drives the clampers 6A and 6B according to a control signal from the control unit 8 described later.
For example, the clamper driving unit 6C includes a first actuator that moves the clampers 6A and 6B back and forth with respect to the axis C, and a second actuator such as a moving stage that translates the clampers 6A and 6B along the axis C. .

The twist mechanism 3 shown in FIG. 4 is a device portion that rotates the processing tube 20 about the axis C in a state where a part of the processing tube 20 is fixed. As will be described later, the twist mechanism 3 forms a twist portion by rotating the processing tube 20 about the axis C in a state where a part of the processing tube 20 heated by the heater 2 is fixed.
The twist mechanism 3 includes clampers 5A and 5B (first gripping units), a clamper driving unit 5C, gripping rollers 4A, 4B and 4C (second gripping units), and a roller driving unit 4D (rotation driving unit). Here, the clampers 5A and 5B and the clamper driving unit 5C are the above-described device portions (first device portions). The gripping rollers 4A, 4B, 4C, and the roller driving unit 4D are the above-described device parts (second device parts).

The clampers 5A and 5B are the same as the clampers 6A and 6B except that the arrangement positions in the direction along the axis C are different from the clampers 6A and 6B and the arrangement positions in the direction along the axis C are fixed. It has a configuration. The following description will focus on the differences between the clampers 5A and 5B and the clampers 6A and 6B.
The clampers 5 </ b> A and 5 </ b> B are disposed between the cooling unit 7 and the heater 2 described later in the direction along the axis C. Like the clampers 6A and 6B, the clampers 5A and 5B are configured to be able to grip and release the processing tube 20 arranged coaxially with the axis C.

The shape of the clampers 5A and 5B is not particularly limited as long as the processing tube 20 can be gripped. However, in the present embodiment, as an example, the clampers 5A and 5B have substantially the same configuration as the clampers 6A and 6B.
The clampers 5A and 5B are arranged to face each other with the axis C interposed therebetween. The clampers 5A and 5B are supported in a state in which they can be advanced and retracted in the facing direction by a clamper driving unit 5C described later. The clampers 5A and 5B have gripping grooves 5a circumscribing at three locations on the outer peripheral surface 20a. In the gripping groove 5a, at least a portion in contact with the outer peripheral surface 20a is made of a material that generates a frictional force that does not cause a slip with the processing tube 20 in the circumferential direction while the processing tube 20 is twisted. ing.
For this reason, the clampers 5A and 5B can prevent rotation around the axis C of the processing tube 20 at the gripping position in a state where the processing tube 20 is gripped.
The clampers 5A and 5B can release the grip of the processing tube 20 by retracting in a direction away from the axis C.

The clamper driving unit 5C is configured to perform a gripping operation and a grip releasing operation on the processing tube 20 by moving the clampers 5A and 5B forward and backward with respect to the axis C.
As shown in FIG. 5, the clamper driving unit 5C is connected in a communicable state with a control unit 8 to be described later. The clamper driving unit 5C drives the clampers 5A and 5B according to a control signal from the control unit 8 described later.
For example, the clamper driving unit 5C includes a first actuator similar to the clamper driving unit 6C.

As shown in FIG. 7, the gripping rollers 4 </ b> A, 4 </ b> B, and 4 </ b> C are disposed in parallel to the axis C, respectively. The gripping rollers 4A, 4B, and 4C are supported in a state in which they can advance and retreat in a direction orthogonal to the axis C, respectively. In the present embodiment, the gripping rollers 4A, 4B, and 4C are arranged along the axis at positions that divide the circumference into three equal parts in the circumferential direction around the axis C, and can move forward and backward with respect to the axis C. When each gripping roller 4A, 4B, 4C advances toward the axis C, the processing tube 20 is gripped on the axis C by each gripping roller 4A, 4B, 4C.
As shown in FIG. 7, when the gripping rollers 4A, 4B, and 4C are viewed from the second end portion Eb toward the first end portion Ea, the gripping rollers 4A, 4B, and 4C each have a roller center axis C _A , C _B, around the C _C, is supported in a state that can be rotated clockwise in FIG. The roller central axes C _A , C _B , and C _C are parallel to the axis C. At least one of the gripping rollers 4A, 4B, and 4C is rotationally driven around the roller central axis by the roller driving unit 4D. When a plurality of rollers are rotationally driven among the gripping rollers 4A, 4B, and 4C, the respective rotations are synchronized with each other. In the following, as an example, an example in which all of the gripping rollers 4A, 4B, and 4C are rotationally driven by the roller driving unit 4D will be described.

The surface 4a of each gripping roller 4A, 4B, 4C has a friction that does not cause slippage with the outer peripheral surface 20a of the processing tube 20 when the processing tube 20 is gripped by each gripping roller 4A, 4B, 4C. It is configured to generate force.
For this reason, when each gripping roller 4A, 4B, 4C rotates clockwise in the figure, the processing tube 20 gripped by each gripping roller 4A, 4B, 4C rotates counterclockwise in the figure.

The roller driving unit 4D is configured to perform a gripping operation and a grip releasing operation on the processing tube 20 by moving the gripping rollers 4A, 4B, and 4C forward and backward with respect to the axis C. Furthermore, the roller drive unit 4D is transferred gripping rollers 4A, 4B, 4C each roller central axis _{C A,} C B, to rotate around the _{C C,} the gripping rollers 4A, 4B, the rotational driving force to 4C To do.
As shown in FIG. 5, the roller driving unit 4D is connected to a control unit 8 described later in a state where communication is possible. The roller driving unit 4D drives the gripping rollers 4A, 4B, and 4C according to a control signal from the control unit 8 described later.
For example, the roller driving unit 4D includes a third actuator that moves the gripping rollers 4A, 4B, and 4C back and forth with respect to the axis C, and the gripping rollers 4A, 4B, and 4C with the respective roller central axes C _A , C _B , and C _C. And a rotation transmission mechanism.

The heater 2 partially heats the processing tube 20 in a part in the longitudinal direction of the processing tube 20. The heater 2 is a heating source configured to supply heat energy to a heating region _RH that surrounds the axis C between the clampers 5A and 5B and the gripping rollers 4A, 4B, and 4C.
The size in the radial direction of the heating region _{RH with} respect to the axis C is a size that allows at least the processing tube 20 to pass through.
The length L _T of the heating region R _H along the axis C is less than or equal to the minimum value of the length of the twist portion 30B to be formed in the tube 30.
The temperature of the processing tube 20 in the heating region _RH is set to a temperature at which twisting can be performed. Here, the temperature at which the twisting process can be performed means that the processing tube 20 can be twisted by applying an external force that twists the processing tube 20 to the processing tube 20, and even if the heating is stopped. This is the temperature at which the 20 deformed state is substantially maintained. For example, the temperature of the processing tube 20 in the heating region _RH may be equal to or higher than the glass transition point of the material of the processing tube 20 and lower than the melting point.

The configuration of the heater 2 is not particularly limited as long as the above-described heating region _RH can be formed.
For example, the heater 2 may be configured by one or more heat generating portions formed in a cylindrical shape or a spiral shape surrounding the axis C. For example, the heater 2 may be configured by a plurality of heat generating portions that are arranged away from each other in the radial direction or the axial direction with respect to the axis C.
Specific examples of the heater 2 include, for example, a halogen heater, a near infrared heater, an electromagnetic heating heater, a resistance heating heater, a warm air heater, and the like. For example, as an example of the electromagnetic heater, a configuration including an electromagnetic induction heating coil that heats metal by electromagnetic induction can be given. According to the electromagnetic heater, when a metal cored bar is inserted into the processing tube 20 to be processed as will be described later, the cored bar can be heated, so that the processing tube 20 is heated from the inside. Can do.
The heater 2 may be composed of a heater of one kind of heating method, or a combination of heaters of a plurality of kinds of heating methods.
Of the above, the heater 2 is particularly preferably a near infrared heater. The near-infrared heater can form a heating spot including the processing tube 20 inside by irradiating the processing tube 20 with near-infrared rays from a plurality of directions, for example. For this reason, the processing tube 20 can be efficiently heated.
Near-infrared rays irradiated from the near-infrared heater penetrate into the processing tube 20 and are absorbed. For this reason, the near-infrared heater can heat the outer surface and the inside of the processing tube 20. For example, the near-infrared heater can heat the processing tube 20 with high uniformity and efficiency as compared with the case of heating by heat conduction on the outer surface or the inner surface of the processing tube 20.

As shown in FIG. 5, the heater 2 is connected in a state where it can communicate with a control unit 8 described later. The heater 2 is controlled to start and stop heating and a heating temperature in accordance with a control signal from the control unit 8 described later.

The cooling unit 7 is a device part that cools the processing tube 20 heated by the heater 2. The configuration of the cooling unit 7 is not particularly limited as long as the processing tube 20 can be cooled to a temperature lower than the glass transition point of the material of the processing tube 20.
For example, the cooling unit 7 may be configured such that the processing tube 20 is brought into contact with a coolant having a temperature lower than the glass transition point of the material of the processing tube 20. The refrigerant used for such a cooling unit 7 may include at least one of a liquid and a gas.

As an example, the cooling unit 7 illustrated in FIG. 4 includes a liquid discharge nozzle 7A, a gas discharge nozzle 7B, and a liquid discharge unit 7C.
The liquid discharge nozzle 7A injects the liquid refrigerant onto the processing tube 20 disposed on the axis C. The liquid refrigerant is supplied from a liquid refrigerant supply unit (not shown) to the liquid discharge nozzle 7A through a pipe.
For example, water may be used as the liquid refrigerant. The liquid refrigerant may be discharged as a liquid, or may be discharged in the form of droplets. When the liquid refrigerant is formed into droplets, the liquid refrigerant is atomized, so that an injection gas may be mixed with the liquid refrigerant.
For example, as the liquid discharge nozzle 7A, a spray nozzle that discharges the liquid refrigerant in a mist form together with a gas such as air may be used. In such a configuration, the gas mixed with the liquid refrigerant also has a function as a refrigerant.
In this case, since the liquid refrigerant is discharged in the form of a mist, vaporization easily occurs due to contact with the processing tube 20. Since the liquid refrigerant droplets are vaporized in contact with the processing tube 20, the heat of vaporization is removed from the processing tube 20, so that the cooling efficiency of the processing tube 20 is improved.

The gas discharge nozzle 7B injects the gas refrigerant onto the processing tube 20 arranged on the axis C. The gas refrigerant is supplied from a gas refrigerant supply unit (not shown) to the gas discharge nozzle 7B through a pipe.
For example, air may be used as the gas refrigerant. The gas refrigerant is more preferably a dry gas in order to promote drying of the liquid refrigerant adhering to the surface of the processing tube 20 in contact with the processing tube 20.
4 is a schematic diagram, the liquid discharge nozzle 7A and the gas discharge nozzle 7B are drawn only on the upper side of the processing tube 20. FIG. However, the liquid discharge nozzle 7 </ b> A and the gas discharge nozzle 7 </ b> B may be arranged in an appropriate number at appropriate positions so that the cooling in the circumferential direction of the processing tube 20 is not biased. For example, a plurality of liquid discharge nozzles 7A and gas discharge nozzles 7B may be provided and surround the axis C.

The liquid discharge part 7C is an apparatus part that collects the liquid refrigerant discharged from the liquid discharge nozzle 7A. The liquid discharge unit 7C includes a storage container that stores the liquid refrigerant, and a drain that discharges the liquid refrigerant from the storage container. The liquid refrigerant discharged from the drain may be reused after recovery or may be subjected to wastewater treatment.
The liquid discharge part 7C is disposed at a position where the liquid refrigerant discharged from the liquid discharge nozzle 7A can be recovered. The liquid discharge part 7C is disposed at a position facing at least the liquid discharge nozzle 7A disposed above the axis C. In particular, in the present embodiment, the liquid discharge portion 7C is provided so as to face the liquid discharge nozzle 7A and the gas discharge nozzle 7B with the axis C interposed therebetween. For this reason, after the liquid discharge part 7C adheres to the processing tube 20, the liquid refrigerant separated from the processing tube 20 can be recovered by blowing the gas refrigerant from the gas discharge nozzle 7B.

A region where the liquid refrigerant discharged from the liquid discharge nozzle 7A and the gas refrigerant discharged from the gas discharge nozzle 7B are distributed constitutes a cooling region _RC .
The diameter direction of the cooling area R _C with respect to the axis C is large enough to be passed through the inside of at least the working tube 20.
The length of the cooling area R _C along the axis C, while the working tube 20 by the tube conveying mechanism 6 passes through the cooling area R _C, the processing tube 20, the glass transition of the material of the processing tube 20 It is only cooled to a temperature below the point. The length of the cooling region _RC is set to an appropriate value according to the passing speed of the processing tube 20 and the cooling performance in the cooling unit 7.

An operation unit 9 illustrated in FIG. 5 is a device part that transmits an operation input from the operator to the control unit 8. The operation unit 9 includes appropriate operation input means such as an operation lever, an operation button, a switch, a keyboard, a mouse, and an operation panel.
The operation unit 9 is connected to a control unit 8 to be described later in a communicable state.

As shown in FIG. 5, the control unit 8 is a device part that controls the operation of the tube twisting device 1 based on an operation input from the operation unit 9.
The control unit 8 is connected to the operation unit 9, the heater 2, the cooling unit 7, the roller driving unit 4D, and the clamper driving units 5C and 6C in a communicable state.
The control unit 8 has an automatic mode and a manual mode as control modes.
The automatic mode is a control mode in which the controller 8 automatically controls the operation of the tube twisting device 1 when an operation input for starting machining is performed after the operator inputs information necessary for control.
The manual mode is a control mode in which part or all of the below-described operations executed in the automatic mode are executed based on the operator's operation input.
Hereinafter, the operation in the automatic mode will be described unless otherwise specified.
A specific control operation in the control unit 8 will be described in an operation description of the tube twisting device 1 described later.
In the present embodiment, the control unit 8 includes a computer including a CPU, a memory, an input / output interface, an external storage device, and the like. The control unit 8 performs later-described control by executing a control program stored in the memory.

The medical tube twisting method of the present embodiment will be described together with the operation of the tube twisting device 1.
FIG. 8 is a flowchart showing an example of the medical tube twisting method according to the embodiment of the present invention. FIG. 9 is a schematic diagram illustrating an example of a twisted portion forming region. 10 to 13 are explanatory views of the operation of the medical tube twisting device according to the embodiment of the present invention.

In the medical tube twisting method of the present embodiment, for example, steps S1 to S11 shown in FIG. 8 may be performed along the flow shown in FIG.

In step S <b> 1, a core metal is inserted into the processing tube 20.
First, a processing tube 20 cut to an appropriate length and a cored bar 10 (see FIG. 4) to be inserted into the processing tube 20 are prepared.
The cored bar 10 is a linear member that reinforces the processing tube 20 so that the processing tube 20 is not bent to an extent that hinders twisting processing or buckles during conveyance. The cored bar 10 is longer than the processing tube 20. In this embodiment, the cored bar 10 also extends straight in order to keep the processing tube 20 straight during the twisting process.
The cored bar 10 is configured in a shape that can be fitted in a state in which the guidewire lumen 30b of the processing tube 20 can slide in the axial direction and the circumferential direction. Specifically, a wire having an outer diameter slightly smaller than the inner diameter of the guide wire lumen 30b is used.
As the material of the cored bar 10, a metal or resin material having heat resistance against the heating temperature of the processing tube 20 is used. For example, stainless steel, PEEK (polyetheretherketone), or the like may be used as the material of the cored bar 10.

The core metal 10 is passed through the guide wire lumen 30b and penetrates the guide wire lumen 30b. In the example shown in FIG. 4, both ends of the cored bar 10 protrude from the first end e1 and the second end e2.
Thus, step S1 is completed.
Step S1 can be omitted if, for example, the processing tube 20 in which the core 10 is passed through the guide wire lumen 20b is prepared in advance.

Step S2 is performed after step S1.
In step S <b> 2, the processing tube 20 is set in the tube twisting device 1.
The processing tube 20 into which the core metal 10 is inserted in step S1 is set in the tube twisting device 1 together with the core metal 10 as shown in FIG.
In the initial state of the tube twisting device 1, the clampers 6A and 6B, the clampers 5A and 5B, and the gripping rollers 4A, 4B, and 4C are in a gripping release state. The clampers 6A and 6B are located closest to the second end Eb in the movement range in the direction along the axis C.

The operator inserts the processing tube 20 through which the core bar 10 is passed into the tube twisting device 1 along the axis C from the first end e1. The operator moves the processing tube 20 so that the vicinity of the first end e1 of the processing tube 20 enters between the clampers 6A and 6B. At this time, since the processing tube 20 is reinforced by the cored bar 10, it is substantially straight except for deflection due to its own weight.
Thereafter, the operator performs an operation input for bringing the clampers 6A and 6B, the clampers 5A and 5B, and the gripping rollers 4A, 4B, and 4C into the gripping state through the operation unit 9, respectively.
In response to an operation input via the operation unit 9, the control unit 8 drives the clamper so that the processing tube 20 is gripped by the clampers 6A and 6B, the clampers 5A and 5B, and the gripping rollers 4A, 4B and 4C. The units 6C and 5C and the roller driving unit 4D are controlled.
The processing tube 20 is gripped by the clampers 6A and 6B in the vicinity of the first end e1. The processing tube 20 is gripped between the cooling unit 7 and the heater 2 by the clampers 5A and 5B. The processing tube 20 is gripped by the gripping rollers 4A, 4B, 4C.
As a result, the processing tube 20 is set in the tube twisting apparatus 1 with the central axis O being coaxial with the axis C.
This is the end of step S2.

Step S3 is performed after step S2.
In step S3, the number of times N of processing of the twisted portion 30B is set.
In the tube twisting device 1, as will be described later, the processing tube 20 is twisted at a portion disposed in the heating region _RH . Therefore, the twisting portion 30B length L _B is longer than the length L _T along the axis C of the heating region R _H is, multiple twist processing is performed.
For example, FIG. 9 shows an nth twist portion forming region T _n (where n = 1,..., N, and so on) on the processing tube 20 when the number of times of processing N is plural. Length along the center axis O of the twist portion formation region of each of the n are both L _T. The kth twist portion forming region and the k + 1 th twist portion forming region (where k = 1,..., N−1) adjacent to each other overlap each other with a width L _O (where 0 ≦ L _O <L _T ). Have
For example, some such as the temperature distribution of the heating region R _H in the direction along the axis C, there is a case where a length that is properly twist processing in the range of the heating region R _H is shorter than L _T. In such a case, if an overlap of the width L 2 _O is provided, a portion whose shape is unstable due to the twist processing at the boundary portion of each n-th twist portion formation region T _n is subjected to the twist processing again. , Corrected to the proper shape. Further, when the overlap width L _O is provided, the first lumen 20c in the boundary portion of the twist portion formation region T _n of each of the n, the change in helical shape of the second lumen 20d becomes smoother.
For example, the width _{L O} may be 50% or more of the length _{L T} along the axis C of the heating region _{R H.}

Twist portion formation region T _n of each of the n as a whole, constitute a twist region T _B corresponding to the twist portion 30B of the tube 30. The twist portion region TB is a region corresponding to the twist portion 30 </ _b > _B in the tube 30.
Between the twisting area T _B and the first end e1 is a region corresponding to the non-twist portion 30A of the tube 30. Between the twisting area T _B and a second end e2 is an area corresponding to the non-twist portion 30C of the tube 30. In these regions, the twisting process is not performed, and hence the processing tube 20 is also referred to as non-twisted portions 30A and 30C below.
The lengths along the central axis O of the non-twisted portions 30 </ _b > _A and 30 </ _b > C in the processing tube 20 are L _A and LB as in the tube 30.
In contrast, the length L _{B 'is} along the central axis O of the torsion region T _B, after twisting process, is the length that matches the length L _B of the twisting portion 30B. Such a length L _B ′ is determined in advance according to, for example, the length L _B , the material of the processing tube 20, the twist amount of twist processing, the outer diameter of the twist portion, and the like.
In the present embodiment, an example in which twisting is performed so that the outer diameter of the twisted portion 30B substantially matches the outer diameter of the non-twisted portions 30A and 30C will be described. In this case, L _B 'needs to be longer than L _B.

The processing number N may be set in the control unit 8 by, for example, an operator input through the operation unit 9.
The number of times of processing N is, for example, information such as the length L _B ′ of the processing tube 20 input to the operation unit 9 by the operator, and information on the lengths L _T and L _O stored in advance in the control unit 8. Based on the above, it may be calculated by the control unit 8.
When the number of times of machining N is set, step S3 is finished.

Step S4 is performed after step S3.
Step S4 is started when the operator performs an operation input for operating the operation unit 9 to start twist processing. When the operation input is performed, the control unit 8 starts an initialization operation for starting the twisting process.
For example, the control unit 8 sets a counter n for controlling the number of times of twist processing to 0.
When the initialization operation is completed, step S4 ends.

Step S5 is performed after step S4.
In step S5, the control unit 8 updates the counter n (n = n + 1).
After step S5, the tube twisting device 1 performs the operations of steps S6 to S10 under the control of the control unit 8.

In step S6, the n-th twist portion forming region T _n in the processing tube 20 is arranged in the heating region _RH .
Specifically, when any of the clampers 5A and 5B and the gripping rollers 4A, 4B, and 4C is in the gripping state, the control unit 8 controls to change the gripping state to the gripping release state. For example, when the clampers 5A, 5B and the gripping rollers 4A, 4B, 4C are in the gripping state, a control signal is sent to the clamper driving unit 5C, the roller driving unit 4D, and the clampers 5A, 5B and the gripping roller 4A 4B and 4C are controlled so as to change to the grip release state. As a result, the clamper driving unit 5C and the roller driving unit 4D bring the clampers 5A and 5B and the gripping rollers 4A, 4B, and 4C into the grip release state, respectively.

Once in the grip release state, the control unit 8 sends a control signal to the damper driving unit 6C, move the working tube 20 to a position where twist portion formation region T _n of the n is included in the heating region R _H Control to do. Thus, the clamper driving unit 6C, a position twist portion formation region T _n of the n is included in the heating region R _H, the processing tube 20 is moved (see FIG. 4).
Movement direction and the movement amount of the processing tube 20 based on the position information of the twist portion formation region T _n of the n in step S5, determined by the control unit 8.

Thereafter, the control unit 8 sends control signals to the clamper driving unit 5C and the roller driving unit 4D to control the clampers 5A and 5B and the gripping rollers 4A, 4B, and 4C to be in the gripping state. As a result, the clamper driving unit 5C and the roller driving unit 4D hold the clampers 5A and 5B and the holding rollers 4A, 4B, and 4C, respectively.
Step S6 is complete | finished above.

Step S6 includes a first operation in which the processing tube 20 is moved by the tube transport mechanism 6 and a part of the processing tube 20 (the nth twist portion formation region T _n ) is disposed in the heating region _RH. It is.

Step S7 is performed after step S6.
In step S7, the processing tube 20 in the _nth twist portion forming region Tn is heated.
Specifically, the control unit 8 controls the heating of the heater 2 by sending a control signal for starting heating to the heater 2. The heater 2 keeps the temperature of the processing tube 20 in the heating region _{RH at} a temperature at which twisting can be performed.
Here, the temperature of the processing tube 20 in the heating region _RH may be measured by an appropriate temperature sensor. However, when the correspondence relationship between the heating conditions such as the heating temperature and the heating time of the heater 2 and the temperature of the processing tube 20 is known in advance, the measurement of the temperature of the processing tube 20 may be omitted. .

In step S7, heating by the heater 2 is stopped at a timing at which no trouble is caused in the twisting process in step S8 described later. Thereby, step S7 is completed.
Step S7 may be ended before the start of step S8 if there is no problem with the twisting process in step S8 described later. For example, even if the heating in step S7 is completed, if the temperature of the processing tube 20 is a temperature at which the twisting process can be performed until the twisting process in step S8 to be described later is completed, step S7 is a step. It may be ended before the start of S8.
Step S7 may be continued until the twist processing is finished in step S8 described later. In this case, the temperature of the processing tube 20 may not be set to a temperature that allows for a margin of temperature decrease after the heating is stopped. For this reason, you may set the temperature of the tube 20 for a process in step S7 to a lower temperature among the temperature ranges which can perform a twist process.

Step S7 includes a second operation in which a portion of the processing tube 20 disposed in the heating region _RH is heated by the heater 2.

In step S7, when the processing tube 20 reaches a temperature at which twisting can be performed, step S8 is performed.
In step S8, twisting portion t _n of the n is formed in the twist portion formation region T _n of the n.
Specifically, the control unit 8 sends a control signal to the roller driving unit 4D to control the gripping rollers 4A, 4B, and 4C to rotate by a predetermined amount. As shown in FIG. 10, the roller driving unit 4D is gripped rollers 4A, 4B, 4C each roller central axis _{C A,} C B, by a predetermined amount of rotation in the same direction around the _{C C.} Thereby, the processing tube 20 gripped by the gripping rollers 4A, 4B, and 4C rotates in the direction opposite to the rotation direction of the gripping rollers 4A, 4B, and 4C. The processing tube 20 rotates about the axis C that is the gripping center of the gripping rollers 4A, 4B, and 4C. In the processing tube 20, the cored bar 10 is passed through a guide wire lumen 20 b coaxial with the axis C in a state in which the cored bar 10 can slide in the circumferential direction. For this reason, the processing tube 20 slides on the surface of the cored bar 10 and rotates in the circumferential direction.
When the predetermined amount of rotation is completed, the gripping rollers 4A, 4B, and 4C continue to grip the processing tube 20 in a state where the rotation is stopped.
As a result, a twist about the axis C is added to the portion of the processing tube 20 between the first gripping position by the clampers 5A, 5B and the second gripping position by the gripping rollers 4A, 4B, 4C. It is done. In the portion of the processing tube 20 between the first gripping position and the second gripping position, the inner first lumen 20c and the second lumen 20d are deformed so as to draw a spiral.
Thus, the twist portion formation region T _n of the n, twisting portion t _n of the n is formed.

In particular, when the processing tube 20 located in the heating region _RH is heated to a temperature higher than the glass transition point, the processing tube 20 is deformed inelastically, and the state before deformation is released even when the external force of the twist is released. Do not return to.
The deformation of the processing tube 20 is elastic between the heating region _RH and the first gripping position and between the heating region _RH and the second gripping position. In this case, when the external force of the twist is released, the processing tube 20 returns to the state before the deformation.
The opposite ends of the heating region R _H, undergoes a temperature drop in the end portions, the heat radiation and proceeding by heat conduction to the working tube 20 located outside the heating region R _H, the effect of. Therefore, the temperature of the processing tube 20 at the both end portions of the heating region R _H is lower than the temperature of the central portion of the heating region R _H.
For this reason, the shape of the processing tube 20 at both ends of the heating region _RH tends to return to the state before the deformation to some extent when the external force of the twist processing is released.
Therefore, the first lumen 20c of the twisting unit t _n of the n, helical shape of the second lumen 20d, except for both end portions of the twist portion formation region T _n of the n, constant helix shape in accordance with the twist amount It has become.
However, the change in helical shape at the second end e2 side of the end portion in the twist portion formation region T _n of the n is modified during twisting processing of the (n + 1) of the twist portion formation region T _n as described later.

In step S8, the twisting process is substantially terminated with the rotation of the gripping rollers 4A, 4B, and 4C stopped. However, in order to stabilize the deformed state of the processing tube 20, the gripping state by the gripping rollers 4 </ b> A, 4 </ b> B, 4 </ b> C may be maintained until a certain time has elapsed after the rotation of the gripping rollers 4 </ b> A, 4 </ b> B, 4 </ b> C is stopped. preferable. In this case, the twisting process includes gripping the processing tube 20 by the gripping rollers 4A, 4B, and 4C for a predetermined time.
Above, step S8 is complete | finished.

Step S8 includes a third operation in which the twist mechanism 3 forms the _nth twist portion tn (twist portion).
When step S7 is completed during step S8, step S7 is performed after the stop of rotation of the gripping rollers 4A, 4B, and 4C in step S8, so that the temperature of the processing tube 20 can be quickly reduced to a temperature at which twisting can be performed. It is preferable to end so as to decrease. In this case, since the processing tube 20 is cured by natural heat dissipation, the deformed state due to the twisting process can be quickly fixed.
In step S8, when the gripping state is maintained for a certain time after the rotation of the gripping rollers 4A, 4B, and 4C is stopped, the temperature of the processing tube 20 is lowered to a temperature that can be twisted during the certain time. It is more preferable.

Steps S9 and S10 are performed after step S8.
In step S9, twisting portion _{t n} of the n moves to the outside of the heating region _{R H.} Here, the external heating region R _H, which means the low temperature of the external than the heating area R _H.
In the tube twisting device 1, in particular, the n-th twist part t _n moves so as to pass through the cooling region _RC in the cooling part 7. For this reason, in this embodiment, the movement operation in step S9 is divided into a first movement operation and a second movement operation.
In the first movement operation, the end portion near the first end portion Ea in the _n- th twist portion t _n moves from the heating region _RH to the position of the end portion near the second end portion Eb in the cooling region _RC . To do.
In the second travel operation, twisting portion t _n of the n moves across the cooling area R _C in the first direction f.
In step S9, twisting portion t _n of the n which has been heated by the heater 2, the heating region R _H, to move to the low temperature of the external than the heating area R _H, the cooling of the twisting portion t _n of the n As the process proceeds, the n-th twist part t _n is cured. Therefore, in step S9, so that the step S10 of twisting unit t _n of the n-th cured are performed in parallel.

In step S10, the first curing and the second curing are performed corresponding to the first moving operation and the second moving operation in step S9.
In the first curing, since the heat radiation proceeds from the n-th twist portion t _n while the first movement operation is performed, the curing of the n-th twist portion t _n proceeds.
In the second curing, while the second moving operation is performed, the n-th twisted portion t _n is cured by cooling by the cooling unit 7 described later.

Thus, step S9 includes an operation of moving the n-th twist portion t _n to the outside of the heating region _RH (a fourth operation in the medical tube twisting method of the present embodiment).
Step S10 includes an operation of curing the n-th twist portion t _n outside the heating region _RH (a fifth operation in the medical tube twisting method of the present embodiment).
In particular, in the tube twisting device 1, an operation of moving the n-th twisted portion t _n in the first direction f by the tube transport mechanism 6 and arranging it in the cooling region _RC (fourth operation in the tube twisting device). ) Is performed. Furthermore, the tube twisting device 1 includes an operation (fifth operation in the tube twisting device) for curing the nth twisted portion t _n arranged in the cooling region _RC by the cooling unit 7.

Hereinafter, specific operations in steps S9 and S10 will be described.
In the control unit 8, the movement of the _nth twist portion t _n is controlled based on the positional information of the _nth twist portion formation region T _n . The following description with reference to twist portion formation region T _n of the n instead of the twisting portion t _n of the n.
The control unit 8 sends a control signal to the clamper driving unit 6C of the tube transport mechanism 6 so as to perform the first moving operation and the second moving operation.
Thereby, since the first movement operation is performed by the clamper driving unit 6C, the end portion of the n-th twist portion forming region T _n of the processing tube 20 in the first direction f is in the cooling region _RC . It moves to the end near the second end Eb.
The control unit 8 sends a control signal to the cooling unit 7 until the first moving operation is completed so that the liquid refrigerant 7a is discharged from the liquid discharge nozzle 7A and the gas refrigerant 7b is discharged from the gas discharge nozzle 7B. Control. Thereby, the liquid refrigerant 7a and the gas refrigerant 7b are discharged toward the axis C by the cooling unit 7 (see FIG. 11). Around the axis C facing the liquid discharge nozzle 7A and the gas discharge nozzle 7B, a cooling region _{RC in} which the liquid refrigerant 7a and the gas refrigerant 7b are present is formed, respectively.

Following the first moving operation, for performing a second moving operation by the clamper driving unit 6C, twist portion formation region T _n of the n-th in the first direction f, to pass through the cooling area R _C Move to. FIG. 11 shows a state in which the entire _nth twist portion formation region Tn is disposed inside the cooling region _RC .
With the second moving operation, the processing tube 20 in the twist portion formation region T _n of the n sequentially contacting the liquid refrigerant 7a, the gaseous refrigerant 7b. Thus, the processing tube 20 in the twist portion formation region T _n of the n-th, by liquid refrigerant 7a initially, then by the gas refrigerant 7b, are respectively cooled. In particular, the gas refrigerant 7b has a cooling effect due to the temperature of the gas refrigerant 7b itself and a cooling effect that vaporizes the liquid refrigerant 7a adhering to the surface of the processing tube 20 to take away the heat of vaporization. Furthermore, the gas refrigerant 7b also has an action of drying the surface of the processing tube 20 by promoting vaporization of the liquid refrigerant 7a attached to the surface of the processing tube 20.
In this manner, the cooling of the processing tube 20 proceeds in the cooling region _RC , and thus the nth twist portion t _n formed in the _nth twist portion formation region Tn is cured. As a result, the shape of the twisting portion t _n of the n-th stabilized.

Control unit 8, after the twisting portion formation region T _n of the n passes through the cooling area R _C, performs control so as to stop the second moving operation. Thus, in a state where the twist portion formation region T _n of the n is moved in the first end Ea nearer cooling area R _C, the processing tube 20 is stopped.
Thus, steps S9 and S10 are completed.

Step S11 is performed after step S9 and S10.
In step S11, it is determined whether or not the value of the counter n is equal to or greater than the number of machining times N.
Specifically, the determination is performed by the control unit 8 comparing the value of the counter n with the number of times of machining N.
If the counter n is less than the processing number N, the process proceeds to step S5. Accordingly, steps S5 to S11 are repeated in the same manner as described above.
If the counter n is equal to or greater than the number of times of processing N, the control unit 8 ends the processing of the processing tube 20 by the tube twisting device 1. Thereby, the tube 30 is manufactured.

Here, the operation when the process proceeds from step S11 to step S5 will be briefly described.
In step S5, the counter is updated to n = n + 1. In the following description, n + 1 is used as it is for easy comparison with the state before the transition.
In step S6, since the twist mechanism 3 has already been released from the gripping state in step S10, the processing tube 20 moves immediately.
Specifically, the control unit 8 sends a control signal to the clamper driving unit 6C to control the processing tube 20 to move to a position where the (n + 1) th twist portion forming region Tn _{+ 1} is included in the heating region _RH. To do. Accordingly, the processing tube 20 is moved in the second direction b by the clamper driving unit 6C, and the (n + 1) th twist portion forming region Tn _{+ 1} is moved to a position included in the heating region _RH (see FIG. 12). ). At this time, in the present embodiment, the end near the second end Eb of the _n-th twist portion formation region Tn enters the heating region _RH having the same length as the width L _O.
The amount of movement of the processing tube 20 is obtained by the control unit 8 based on the position information in step S11 of the ( _{n + 1) th} twist portion forming region Tn _{+ 1} .
Thereafter, the control unit 8 controls the twist mechanism 3 to be in the gripping state as described above. As a result, the clampers 5A and 5B are gripped by the clamper driving unit 5C, and the gripping rollers 4A, 4B and 4C are gripped by the roller driving unit 4D.

In step S6 after the second time, the tube transport mechanism 6 moves the processing tube 20 in the second direction b, so that the nth twist portion arranged in the cooling region _RC in the third operation is performed. And a sixth operation of moving the (n + 1) th twist portion forming region adjacent in the second direction b to the heating region _RH .

In step S7, the processing tube 20 in the (n + 1) th twist portion forming region Tn _{+ 1} is heated and stopped as described above.
In step S7, when the processing tube 20 reaches a temperature at which twisting can be performed, step S8 is performed.
In step S8, as described above, the control unit 8 sends a control signal to the roller driving unit 4D to control the gripping rollers 4A, 4B, and 4C to rotate by a predetermined amount. As a result, as shown in FIG. 13, the axis C is placed at a portion of the processing tube 20 between the first holding position by the clampers 5A, 5B and the second holding position by the holding rollers 4A, 4B, 4C. A central twist is added. As a result, the (n + 1) _th twist portion t _{n + 1} is formed in the (n + 1) th twist portion formation region T _{n + 1} .
At this time, the n-th twist portion forming region T _n is also deformed by being twisted at a portion closer to the second end portion Eb than the first gripping position. However, since the deformation outside the region of the width L _O close to the second end Eb is elastic, the deformation due to the twist processing remains _{only in} the range of the ( _{n + 1) th} twist portion formation region T _{n + 1} . In the end portion near the second end portion Eb in the _n-th twist portion formation region T _n , even if the deformation due to the first twist processing is insufficient, the n-th twist portion is formed by undergoing another twist processing. similar helical shape and the central portion of the region T _n are formed.

In steps S9 and S10, operations similar to those described above are performed except that the ( _{n + 1) -th} twist portion formation region T _{n + 1} is to be moved and cured.
As described above, steps S5 to S10 are repeated as many times as necessary, so that the range of the length L _B ′ of the processing tube 20 is sequentially twisted.

Such repetition of steps S5 to S11 includes a seventh operation in which the second operation to the sixth operation are repeated one or more times in this order after the first operation.
According to the tube twisting device 1 of the present embodiment, the controller 8 controls the second operation to the fifth operation after the first operation when N = 1, and after the seventh operation when N ≧ 2. The eighth operation of performing the operations in this order is controlled. In the case of the manual mode, the above-described eighth operation is performed by an operation input from the operator.

When all the twisting processes in the processing tube 20 are completed, the processing tube 20 is removed from the tube twisting apparatus 1 and the cored bar 10 is removed.
Thereby, the tube 30 which has the twist part 30B as shown in FIG. 1 is manufactured.

In the above, in the tube 30, the twist part 30B was demonstrated in the example in the case of forming in one area | region. According to the tube twisting device 1, a medical tube having twisted portions at a plurality of locations is manufactured in substantially the same manner as described above. In this case, in order to form a plurality of twisted portions, position information of all twisted portion forming regions is input to the control unit 8 in advance. Further, the number of times of machining N is set for each twisted part according to the length of the twisted part. The control unit 8 controls one twist unit to form the twist unit based on the above-described flow. When one twist part is formed, the control part 8 repeats the flow after step S3 for every other twist part.

Next, the operation of the tube 30 will be described.
When the tube 30 is inserted into the subject, the tube 30 bends according to the shape of the insertion path. When a flexible tube such as the tube 30 is bent, the tube is compressed on the bending inner side (hereinafter referred to as an inner region) with respect to the neutral axis of the bending, so that the path of the internal conduit is shortened. On the other hand, since the tube is extended outside the bending neutral axis (hereinafter referred to as the outer region), the path of the internal conduit is extended. For this reason, when a pipe line parallel to the axis C is formed inside the tube 30, the path length when the tube 30 is bent changes depending on whether the tube 30 passes through the inner region or the outer region. For example, when an operation wire of a treatment instrument is passed through such a curved pipe line, there is a problem that the operation of the treatment instrument is distorted because the path length changes.
On the other hand, in the tube 30 of this embodiment, the 1st lumen | rumen 30c and the 2nd lumen | rumen 30d are extended helically in the twist part 30B. For this reason, when the twist portion 30B is curved, the first lumen 30c and the second lumen 30d pass through the inner region and the outer region at a ratio of approximately half. As a result, the change in the path lengths of the first lumen 30c and the second lumen 30d is substantially canceled as a whole, and thus, for example, an operation error of the treatment instrument is suppressed.

Such a twisted portion 30B of the tube 30 is formed by the medical tube twisting method of the present embodiment using the tube twisting device 1, whereby the shape accuracy and the dimensional accuracy are improved.
In the present embodiment, the processing tube 20 being twisted is gripped at a first gripping position, a second gripping position, and the like outside the heating region _RH . For this reason, the processing tube 20 is not plastically deformed at the first gripping position and the second gripping position during the twist processing. Further, since the rotational driving force for twisting is applied by the second gripping position, the external force due to the rotational driving does not cause plastic deformation of the processing tube 20 at the second gripping position.
Thus, in this embodiment, there is no member that contacts the twisted portion forming region during the twisting process. As a result, the twisted portion forming region in the softened state is maintained in a non-contact state, so that the shape accuracy and dimensional accuracy of the outer shape by twisting are improved.
Further, in the tube twisting apparatus 1, processing is performed in a state where the twisted portion forming region of the processing tube 20 is supported coaxially with the axis C between the first gripping position and the second gripping position. For this reason, even if a twisting force is applied by the gripping rollers 4A, 4B, 4C, the processing tube 20 does not deviate from the axis C, so that derailment during processing can be prevented.
Furthermore, in the present embodiment, since the cored bar 10 is passed through the processing tube 20, a substantially straight state is maintained by the cored bar 10 during both heating and non-heating. For this reason, manufacturing errors caused by the bending of the processing tube 20 are suppressed.

Here, the Example of the tube 30 manufactured by the medical tube twisting method of this embodiment is demonstrated as contrasted with a comparative example.
The tube 30 of the example was manufactured using the processing tube 20 having an outer diameter of 3.34 mm and a length of 2200 mm. As the material for the processing tube 20, a nylon elastomer (glass transition point: 353K) was used. The inner diameters of the guide wire lumen 30b, the first lumen 30c, and the second lumen 30d were 1.00 mm, 0.70 mm, and 0.70 mm, respectively. The processing tube 20 was manufactured by an extrusion molding machine.
In the tube 30, the formation range of the twisted portion 30B was L _B = 2000 (mm). The target value of the twist pitch in the twist portion 30B was set to 283 mm / round. The lengths of the non-twisted portions 30A and 30C were set to L _A = 100 (mm) and L _C = 100 (mm), respectively.
In the tube twisting device 1, the length and the length of the twist portion formation region _{T n} of the n of the heating region _{R H} were _{respectively,} L T = 300 and (mm). In the twist processing of the example, the number of times of processing N was set to 40 times. The temperature of the processing tube 20 in the heating region _RH was set to 373K. In the cooling unit 7, 10 ° C. water was used as the liquid refrigerant, and 20 ° C. air was used as the gas refrigerant.

The tube of the comparative example was manufactured by a conventional twisting device as disclosed in Patent Document 1. That is, a processing tube having the same shape as the processing tube 20 was extruded and twisted by an oblique roller before the processing tube was cured. The tube with the twist was cooled and cured.
The tube of the comparative example was manufactured with the same material as the processing tube 20 of the example.
The outer diameter of the non-twisted tube, the position of the twisted portion, and the target value of the length of the tube of the comparative example were the same as those in the above example. However, the target value of the twist pitch is slightly different as will be described later.

As an evaluation of Examples and Comparative Examples, the twist pitch of each tube after twist processing and the outer diameter at the twist portion were measured. At the twisted part of each tube, three external shapes separated in the longitudinal direction were measured. The evaluation results are shown in the following [Table 1] and [Table 2].

As shown in [Table 1], the average value of the twist pitch of the tube 30 of the example was 282.7 mm / round with respect to the target value of 283 mm / round. The error relative to the target value was -0.1%. The standard deviation of the measured value of the twist pitch of the tube 30 of the example was 0.58 mm / round, and the coefficient of variation was 0.0020. Here, the coefficient of variation was calculated so that it could be compared with measured values of comparative examples having different target values.
In contrast, the twist pitch of the tube of the comparative example was 303.3 mm / round with respect to the target value of 300 mm / round. The error relative to the target value was + 1.1%. The error of the average value with respect to the target value was larger in the comparative example than in the example. The standard deviation of the measured value of the twist pitch of the tube of the comparative example was 2.89 mm / round, and the coefficient of variation was 0.0095.
The variation in the measured values of the examples was much smaller than that of the comparative example, both in terms of standard deviation and in terms of coefficient of variation.

As shown in [Table 2], the outer diameter of the twist portion of the tube 30 of the example was 3.343 mm with respect to the target value of 3.35 mm, and was close to the target value. The standard deviation of the measured value of the outer diameter of the twist portion of the tube 30 of the example was 0.006 mm, and the coefficient of variation was 0.0017. The standard deviation of the measured value of the outer diameter of the twist portion of the tube of the comparative example was 0.015 mm, and the coefficient of variation was 0.0045.
The variation in the measured values of the examples was much smaller than that of the comparative example, both in terms of standard deviation and in terms of coefficient of variation.

Thus, the dimensional accuracy of the pitch and the outer diameter of the twist portion of the tube 30 of the example could be improved as compared with the dimensional accuracy of the comparative example. As one of the causes, this embodiment may be different from the comparative example in that the twisting process is performed without the roller coming into contact with the softened tube.

In the description of the above embodiment, the configuration of the main part of the tube twisting device 1 has been described. In order to improve the workability of the tube twisting device 1, an appropriate device portion may be added as necessary.
For example, members such as a support roller and a conveyance guide that support the processing tube 20 being processed may be added.
For example, the tube transport mechanism 6 may be configured to grip a plurality of locations other than the vicinity of the first end e1 of the processing tube 20 or hold the transport.

In the description of the above embodiment, an example in which twist processing is performed in a state where the core bar 10 is passed through the processing tube 20 has been described. However, even if the core bar 10 is not passed, the core bar 10 may be omitted when the processing tube 20 is held substantially straight during the twisting process.

In the description of the above-described embodiment, an example in which the cooling unit 7 of the tube twisting device 1 includes the liquid discharge nozzle 7A and the gas discharge nozzle 7B has been described.
However, the cooling unit 7 of the tube twisting device 1 may include only one of the liquid discharge nozzle 7A and the gas discharge nozzle 7B. Alternatively, one type of discharge nozzle that discharges a mixed refrigerant in which a liquid refrigerant and a gas refrigerant are mixed may be used.
Furthermore, the cooling unit 7 may be omitted when the twisted part is rapidly cured by only natural heat radiation outside the heating region _RH .

In the description of the above embodiment, an example in which the clampers 5A, 5B, 6A, and 6B are used for a part of the twist mechanism 3 and the tube transport mechanism 6 has been described. However, these clampers are not limited to a configuration composed of a pair of members opposed in one direction. For example, these clampers may be configured with a three-claw chuck or the like.

In the description of the above-described embodiment, the twisting mechanism includes the first gripping unit, the second gripping unit, and the rotation driving unit, and the rotation driving unit is described as an example in the case of rotationally driving the second gripping unit. . However, the rotation drive unit only needs to be able to relatively rotate the first gripping unit and the second gripping unit so that the medical tube between the first gripping unit and the second gripping unit is twisted. For example, in the above-described embodiment, the relative rotation necessary for the twisting process may be performed by putting the clampers 6A and 6B in the gripping release state and rotating the first gripping part during the twisting process.

Although the preferred embodiment of the present invention has been described above, the present invention is not limited to this embodiment. Additions, omissions, substitutions, and other modifications can be made without departing from the spirit of the present invention.
Further, the present invention is not limited by the above description, and is limited only by the appended claims.

INDUSTRIAL APPLICABILITY The present invention can be widely applied to a medical tube twisting apparatus and a medical tube twisting method, and can improve the shape accuracy and dimensional accuracy of a medical tube in which a spiral lumen is formed in at least a part of the longitudinal direction. .

1 Tube twist device (medical tube twist device)
2 Heater 3 Twist mechanism 4A, 4B, 4C Gripping roller (second gripping part)
4D roller drive (rotary drive)
5a Gripping grooves 5A, 5B Clamper (first gripping part)
5C, 6C Clamper drive unit 6 Tube transport mechanism 6A, 6B Clamper 7 Cooling unit 7a Liquid refrigerant 7b Gas refrigerant 8 Control unit 10 Core 20 Processing tube (medical tube)
20b, 30b Guide wire lumens 20c, 30c First lumen 20d, 30d Second lumen 30 Tube (medical tube)
30A, 30C Non-twisted portion 30B Twisted portion C Axis e1, E1, Ea First end e2, E2, Eb Second end f First direction b Second direction O Central axis R _C Cooling region _RH Heating use region _{T B} twisting region _{t n} twist portion formation region of the twisting section _{T n} the n-th of the n

Claims (8)

1. A heater for partially heating the medical tube in the heating area;
   A twist mechanism that forms a twist portion in the medical tube heated by the heater by rotating the medical tube around an axis extending in a longitudinal direction of the medical tube;
   A tube transport mechanism for moving the twist portion to the outside of the heating area;
   A medical tube twisting device comprising:
2. A cooling section that cools the twist section in a cooling area outside the heating area;
   The tube transport mechanism moves the twist portion from the heating region to the cooling region.
   The medical tube twisting device according to claim 1.
3. The tube transport mechanism can switch the transport direction of the medical tube to one of a first direction along the axis and a second direction opposite to the first direction,
   The heating area and the cooling area include a moving path of the medical tube,
   The heating region and the cooling region are formed adjacent to each other in a direction along the movement path.
   The medical tube twisting device according to claim 2.
4. The heater, the twist mechanism, the tube transport mechanism, and a controller that controls the cooling unit,
   The controller is
   A first operation of moving the medical tube by the tube transport mechanism and disposing a portion of the medical tube in the heating region;
   A second operation of heating the portion of the medical tube disposed in the heating region by the heater;
   A third action of forming the twisted portion by the twisting mechanism;
   A fourth operation in which the twisted portion formed in the third operation is moved in the first direction by the tube transport mechanism and arranged in the cooling region;
   A fifth operation for curing the twist portion disposed in the cooling region by the cooling portion;
   By moving the medical tube in the second direction by the tube transport mechanism, the second portion is adjacent to the twist portion disposed in the cooling region in the third operation in the second direction. A sixth operation of moving the medical tube region to the heating region;
   A seventh operation that repeats the second operation to the sixth operation one or more times in this order after the first operation;
   After the first operation or after the seventh operation, an eighth operation that performs the second operation to the fifth operation in this order;
   To control the
   The medical tube twisting device according to claim 3.
5. The twist mechanism is
   A first gripping part for gripping the medical tube outside the heating area in the first direction;
   A second gripping part for gripping the medical tube outside the heating area in the second direction;
   A rotation drive unit that relatively rotates the first gripping part and the second gripping part about the axis;
   The medical tube twisting device according to claim 3, comprising:
6. The cooling unit discharges a refrigerant composed of at least one of a liquid and a gas toward the medical tube in the cooling region.
   The medical tube twisting device according to claim 2.
7. A first action of placing a portion of the medical tube in the heating area;
   A second operation for heating the portion disposed in the heating region;
   In a state where the medical tube is gripped at two locations sandwiching the portion in a state where the portion is heated, at a gripping position of the two locations around an axis extending in the longitudinal direction of the medical tube A third action of forming a twist in said portion by applying a twist;
   A fourth operation of moving the twisted part to the outside of the heating area;
   A medical tube twisting method comprising: a fifth operation of curing the twisted portion outside the heating region.
8. And further comprising a sixth operation of moving a region adjacent to the twisted portion to the heating region after the twisted portion is cured,
   After the sixth operation,
   The sixth operation is repeated one or more times in this order from the second operation, or the fifth operation is performed in this order from the second operation.
   The medical tube twisting method according to claim 7.

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