PROBLEM TO BE SOLVED: To provide a device for inserting a puncture needle capable of preventing an inner cylinder portion 1 and an outer cylinder portion 2 forming the device from being excessively deviated by regulating the relative position between the inner cylinder portion 1 and the outer cylinder portion 2 within a predetermined range, and enabling an operator to detect an abnormality of the outer cylinder portion 2 through the inner cylinder portion 1.SOLUTION: The device includes: the inner cylinder portion 1 having a puncture needle on the tip and the outer cylinder portion 2 covering at least a part of the side surface of the inner cylinder portion and movable differently. When inserted into a living body, the device separates an inner cylinder inserting force applied against the cutting force acting to the inner cylinder portion 1 from the outer cylinder inserting force applied against the frictional force acting to the outer cylinder portion 2, and feedback-controls an insertion auxiliary force acting to the outer cylinder portion 2 so that the relation between both the portions is kept constant on the basis of a detection value of the relative position generated between the inner cylinder portion 1 and the outer cylinder portion 2. The inserting device has a stopper 29 for restricting the relative position between both the portions when the outer cylinder portion 2 is deviated at a predetermined distance or more from the inner cylinder portion 1, the stopper being provided between the inner and outer cylinder portions 1 and 2.COPYRIGHT: (C)2013,JPO&INPIT【課題】穿刺針刺入装置を構成する内筒部1と外筒部2の相対位置を所定範囲内に規制することにより、内筒部1と外筒部2が過度に偏倚するのを防止するとともに、術者に対し、内筒部1を介して外筒部2の異常を検知させる。【解決手段】先端に穿刺針を備えた内筒部1と、この内筒部の側面の少なくとも一部を覆い、独立に運動可能な外筒部2を備えた穿刺針刺入装置を生体内に刺入する際、内筒部1に作用する切削力に抗して負荷される内筒部刺入力と、外筒部2に作用する摩擦力に抗して負荷される外筒部刺入力とを、内筒部1と外筒部2の間に生ずる内筒部外筒部間相対的位置の検出値に基づいて、両者の相対的位置を一定に保つよう、外筒部2に対し作用する刺入補助力をフィードバック制御する。そして、外筒部2が内筒部1に対し所定の距離以上偏倚したとき、両者の相対位置を制限する止め具29を内筒部1と外筒部2との間に設ける。【選択図】図3
