KR20150146413A

KR20150146413A - Robotic Procedure

Info

Publication number: KR20150146413A
Application number: KR1020150085253A
Authority: KR
Inventors: 이병주; 원종윤; 차효정
Original assignee: 한양대학교 에리카산학협력단
Priority date: 2014-06-23
Filing date: 2015-06-16
Publication date: 2015-12-31
Also published as: KR101712417B1

Abstract

The robotics procedure according to the present invention includes a conduit rotation unit 100 for rotating the conduit 20 about the longitudinal direction of the conduit 20, A guide wire 10 for feeding the guide wire 10 in the longitudinal direction of the guide wire 10 and rotating the longitudinal direction of the guide wire 10 about the axis in a state where the guide wire 10 is inserted into the conduit 20, A transferring part 300 for transferring the conduit rotating part 100 and the guide wire rotation supplying part 200 in the longitudinal direction of the conduit 20 and a conduit part 20 provided on the other side of the conduit rotating part 100, The conveying unit 300 can be extended and retracted along the longitudinal direction of the conduit 20 when the conduit rotation unit 100 and the guide wire rotation feed unit 200 are transported in the longitudinal direction of the conduit 20 400).

Description

A robotic procedure {Robotic Procedure}

The present invention relates to a robotic procedure.

One. Vascular intervention

Vascular intervention is a minimally invasive procedure aimed at the treatment of vascular disease or cancer. It is a minimally invasive procedure that is usually performed under a X-ray fluoroscopy by inserting a thin catheter (catheter) with a diameter of several mm or less, . Currently, a representative treatment for vascular intervention in Korea and other countries is trans-arterial chemoembolization (TACE), percutaneous angioplasty, and stenting of aortic stent in aortic disease.

Liver cancer is the leading cause of deaths related to cancer in Korea. According to the National Cancer Information Center data released in 2011, the incidence of liver cancer is the fifth most common cause of gastric cancer in men and women, followed by gastric, thyroid, colon and lung. Death is second only to lung cancer in men and women as a whole. The curative treatment of hepatocellular carcinoma is surgical resection, but advanced hepatocellular carcinoma, which can not be treated curatively at the time of diagnosis, accounts for about 60% of total hepatocellular carcinoma, and 2/3 or more of them are treated with TACE.

TACE is a treatment for blocking blood vessels after administering anticancer drugs to find arteries that supply liver tumors (see Figure 1). The order of procedure was to puncture the femoral artery located in the inguinal area (the groin) with a needle and insert a guide-wire through it first and then insert a short introducer sheath with an outer diameter of 7F (1F = 0.33mm) And a catheter (see FIG. 2), which is called a catheter, is inserted through the inside diameter of the catheter to approach the origin of the hepatic artery (see FIG. 3). Then, an angiogram is taken to obtain an image of the hepatic artery, and information on the position, size, and blood supply of the tumor is obtained, and the type and the capacity of the appropriate anticancer agent or embolization agent are determined accordingly.

Once the treatment strategy is established, a microcatheter with a diameter of about 3F is passed through the catheter The tumor is injected into the small branch of the hepatic artery supplying the tumor, and the tumor is treated by injecting an anticancer agent and an embolization substance. The co-axial system is used to prevent the damage of blood vessels that may occur when inserting a coarse catheter into a small-diameter artery. The procedure usually takes about 1 to 2 hours and may take more time if the patient's hepatic artery branching pattern and tumor arterial branching distribution are complicated.

2. Vascular intervention Robot need

As shown in FIG. 4, most of the blood vessels are divided into several folds or curved shapes. Therefore, in order to prevent damage to the blood vessels, the interventional procedure is performed by inserting the induction wire primarily and inserting the catheter along the path of the inserted induction wire. At this time, since there are many divergent or curved blood vessels, the operator must manually guide the induction wire in the direction of the blood vessel when the induction wire is inserted. Therefore, the treatment time is prolonged, and radiation exposure is inevitable. The patient is exposed to radiation during a single procedure time, but the operator must perform several operations a day, so a system must be provided to greatly reduce the operator's radiation exposure. Therefore, it is necessary to develop a master-slave system that can remotely control the procedure tool to avoid radiation exposure.

Hansen's Sensei X Robotic Catheter System has been developed as a robot system for vascular intervention, but since the maximum diameter of the end-effector is 4mm, The range of application is very limited beyond the curvilinear catheter size 4-6F (2 mm) required for interventional procedures, especially for hepatic arterial intervention. In addition, it is developed as a fully automatic system and has a high entry barriers to be applied to the surgical field, and the disadvantages of large size and high cost are also burdensome to the field application.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems of the conventional art, and one aspect of the present invention is to apply a conventional procedure tool to the development of a blood vessel intervention robot system, Is to develop a semiautomatic system that processes manually.

The robotics procedure according to an embodiment of the present invention is provided with a conduit rotating part for rotating a conduit around an axial direction of the conduit and a conduit rotating part for guiding the guided wire to the conduit, A guide wire rotation feeder for feeding the guide wire in the longitudinal direction of the guide wire and rotating the guide wire in the longitudinal direction of the guide wire, a feeder for feeding the conduit rotating part and the guide wire rotation feeder in the longitudinal direction of the conduit, And a stretchable and contractible portion that can be stretched along the longitudinal direction of the conduit when the conveyance portion conveys the conduit rotating portion and the guide wire rotation feed portion in the longitudinal direction of the conduit while supporting the conduit.

Further, in the robotic procedure according to the embodiment of the present invention, the conduit rotating part is formed in a tubular shape, the conduit is fixed to one end, the guiding wire is inserted from the other end, A Y-shaped connector including a main body to be inserted and a branch portion formed in a tubular shape and coupled between one end and the other end of the main body so as to communicate with the inside of the main body and into which fluid is injected.

Also, in the robotics procedure according to the embodiment of the present invention, the conduit rotating part includes a pad which contacts the upper and lower sides of the Y-shaped connector to fix the Y-shaped connector.

Further, in the robotics procedure according to the embodiment of the present invention, the guide wire rotation supply unit may include a guide wire supply unit including two opposite rollers and a roller driving unit for driving at least one of the two rollers , The guide wire is inserted between the two rollers, and is transported in the longitudinal direction of the guide wire when the two rollers are driven by the roller driving portion.

Further, in the robotic procedure according to the embodiment of the present invention, the guide wire rotating supply unit may include a guide wire rotating body for supporting the roller and the roller driving unit, and a guide wire rotating body for rotating the guide wire rotating body in the longitudinal direction of the guide wire And a guide wire rotating member including a guide wire driving body for rotating the rotating shaft.

Further, in the robotics procedure according to the embodiment of the present invention, it is preferable that the robot controller further comprises: a base part formed in a flat plate shape; a first partition wall provided at one end of the base part; a second partition wall provided at the other end of the base part; And a support portion including a support bar extending to the second partition wall.

Further, in the robotics procedure according to the embodiment of the present invention, the conduit rotating part and the guide wire rotation supply part are disposed in the transfer part, and the transfer part is fixed to the base part by the rack and pinion in the longitudinal direction of the conduit And the transfer unit is provided with a first insertion hole into which the support bar is inserted. When the transfer unit moves with respect to the base unit, the transfer unit moves along the support bar.

Further, in the robotics procedure according to the embodiment of the present invention, the expanding and contracting portion includes a plurality of tubular structures continuously provided from the other side of the conduit rotating portion and supporting the conduit, and N Th (N is a natural number of 2 or more) tubular structures are slid from the other side of the conduit rotating portion to the inside and outside of the N-1th tubular structure or inside and outside of the (N + 1) th tubular structure, It is extendable along the longitudinal direction.

In addition, in the robotic procedure according to the embodiment of the present invention, the expanding and contracting portion may include a plurality of tubular structures continuously provided from the other side of the conduit rotating portion and supporting the conduits, and a plurality of tubular structures Wherein a distal end of the tubular structure farthest from the other side of the conduit rotating portion among a plurality of the tubular structures is fixed to the second bank, and at least one of the plurality of the supports has the supporting rod A second insertion hole to be inserted is provided so that when the transfer part moves with respect to the base part, the support provided with the second insertion hole moves along the support bar.

Further, in the robotic procedure according to the embodiment of the present invention, the plurality of tubular structures include a support structure for supporting the conduit, and a cover detachable from the support structure.

The features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings.

Prior to that, terms and words used in the present specification and claims should not be construed in a conventional and dictionary sense, and the inventor can properly define the concept of a term to describe its invention in the best possible way It should be construed as meaning and concept consistent with the technical idea of the present invention.

According to the present invention, there is an effect that the total cost can be reduced because the amount of radiation exposure is reduced and the overall size is reduced.

In addition, according to the present invention, there is an advantage that the overall cost can be saved by using the existing treatment tool.

Further, according to the present invention, since the cover can be separated from a plurality of tubular structures, the inside of the tubular structure can be easily disinfected.

FIG. 1 is a schematic diagram of hepatic carcinoma and feeding arteries;
Figure 2 is a photograph of the conduit (left) and microconduit-guided wire assembly (right) used for TACE,
FIG. 3 shows a schematic view of a cochlear second selection catheter inserted into an external 6-7 French insertion catheter, a micro-induction wire having a rotational force therein, and a 3-4 French micro-
4 is a photograph showing an example of hepatic artery chemoembolization,
FIG. 5 is a conceptual diagram showing the overall mechanism of a robotic procedure according to an embodiment of the present invention,
Figure 6 is a side view of a robotic procedure according to an embodiment of the present invention;
FIG. 7 is an enlarged perspective view of the telescope structure of the robotic procedure shown in FIG. 6,
8 is an enlarged perspective view of the conduit rotating portion of the robotic procedure shown in Fig. 6, and Fig.
FIG. 9 is an enlarged perspective view of a roller mechanism (guide wire rotation supply portion) of the robotic procedure shown in FIG. 6,
10 is an exploded perspective view of a robotic procedure according to an embodiment of the present invention,
11 is a perspective view of a robotatic procedure according to an embodiment of the present invention,
12 is a side view of a robotic procedure according to an embodiment of the present invention,
Fig. 13 is a plan view of the conduit rotating body and Y-shaped connector shown in Fig. 10,
Fig. 14 is a cross-sectional view of the conduit rotating body and the Y-shaped connector shown in Fig. 10,
FIGS. 15A to 15C are side views showing the operation of the stretchable and contractible part of the robotic procedure according to the embodiment of the present invention, and FIGS.
FIGS. 16 to 19 are side views illustrating the operation of the robotic procedure according to the embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The objectives, specific advantages and novel features of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. It should be noted that, in the present specification, the reference numerals are added to the constituent elements of the drawings, and the same constituent elements are assigned the same number as much as possible even if they are displayed on different drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following description of the present invention, detailed description of related arts which may unnecessarily obscure the gist of the present invention will be omitted.

One. Vascular intervention Interpretation and Robot Procedure Development

5 shows the entire procedure of the vascular intervention. First, the guide wire is inserted, and the conduit is inserted through the guide wire. At this time, there is a degree of freedom to insert and rotate the guide wire and the conduit. Since the process of receiving radiation exposure in this process is only 3 times 6 times, the developing robot system is responsible for remotely controlling only 3 and 6 times, and the rest can be performed by a doctor. This makes it possible to simplify the whole system and to use existing surgical tools (cassettes, etc.) as they are.

2. Vascular intervention robot

As interpreted, insertion and rotation of guide wire (conduit) and conduit should be driven, so that the robot for intervention of blood vessels needs 4 degrees of freedom. Figure 6 is a four degree of freedom catheter drive mechanism. It has been designed with a three-stage telescope structure to achieve co-axial motion of the guidewire and the catheter. This telescope structure prevents the guide wire and the catheter from sagging. The telescope structure was designed so that the physician could easily mount the existing surgical instrument on the robot, and the telescope structure was designed so that the catheter could be separated up and down and assembled by simply covering the cover after placing the catheter (see FIG. 7). This separate assembly design has the advantage of disinfection.

The catheter is secured to the end of the telescope with a surgical tool called a Y-connector in the conduit assembly of FIG. Insertion of the catheter is driven by folding the telescope structure by a rack and pinion mechanism located at the base of the robot. The rotation of the catheter is driven by the motor fixed to the conduit rotating part by the gear and the entire conduit rotating part is rotated.

The guide wire is fixed to the guide wire rotation supply portion located behind the conduit fixing portion of Fig. Specifically, the guide wire rotation feed part is brought into contact with the two rollers by a spring, and the guide wire is fixed by the friction between these two rollers. Further, the insertion of the guide wire is driven by the friction of the roller (see Fig. 9). The rotation of the guide wire is driven by a motor which is fixed to the roller mechanism by a gear, so that the entire roller mechanism is rotated.

The robotic procedure according to the embodiment of the present invention was actually manufactured. The size of the robotic procedure was approximately 160 (W) X 1170 (L) X 260 (H) mm and the stroke of the conduit was 425 mm.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

FIG. 10 is an exploded perspective view of a robotic procedure according to an embodiment of the present invention, FIG. 11 is an assembled perspective view of a robotic procedure according to an embodiment of the present invention, FIG. 12 is a schematic view of a robotic procedure according to an embodiment of the present invention, Side view.

10 to 12, the robotics procedure according to the present embodiment includes a conduit rotation unit 100 for rotating the conduit 20 about the longitudinal direction of the conduit 20, And the guide wire 10 is fed in the longitudinal direction of the guide wire 10 while the guide wire 10 is inserted into the conduit 20 and the longitudinal direction of the guide wire 10 is rotated around the axis A conveying unit 300 for conveying the guide wire rotation supply unit 200, the conduit rotation unit 100 and the guide wire rotation supply unit 200 in the longitudinal direction of the conduit 20 and the conduit rotation unit 100 provided on the other side of the conduit rotation unit 100, When the feeding unit 300 feeds the conduit rotating unit 100 and the guide wire rotating feed unit 200 in the longitudinal direction of the conduit 20 while supporting the conduit 20, (400).

The robotics procedure according to the present embodiment basically controls the guide wire 10 inserted into the conduit 20 and the conduit 20 and includes a conduit rotating part 100, A conveying unit 300, and an expanding and contracting unit 400.

The conduit rotation part 100 serves to rotate the conduit 20. The conduit rotating part 100 includes a cylindrical conduit rotating body 130 and a conduit driving body 110 such as a motor for rotating the conduit rotating body 130 by a conduit rotating body 130 and a gear 115, . At this time, the Y-shaped connector 120 is coupled to the inside of the conduit rotation body 130. The Y-shaped connector 120 is composed of a main body 123 and a branch portion 125 (see FIG. 13). Specifically, the main body 123 is formed in a tubular shape, the conduit 20 is fixed at one end, the guide wire 10 is inserted from the other end, and the guide wire 10 is inserted into the conduit 20 at one end. The branch portion 125 is formed in a tubular shape and is coupled between one end and the other end of the main body 123 to communicate with the inside of the main body 123 and a fluid such as a contrast media can be injected. Since the conduit 20 is fixed to the Y-shaped connector 120, when the Y-shaped connector 120 coupled to the inside of the conduit rotating body 130 rotates together with the conduit rotating body 130, (20) can be rotated about the longitudinal direction of the conduit (20). More specifically, as shown in Fig. 10, the conduit rotation body 130 includes a rotation body 133 and a detachable rotation cover 135 coupled to the rotation body 133 on the upper side thereof. Accordingly, when the Y-shaped connector 120 is disposed on the rotating body 133 and then the rotating cover 135 is coupled to the rotating body 133, the Y-shaped connector 120 is inserted into the conduit rotating body 130 Type connector 120 can be detached from the conduit rotation body 130 by separating the rotary cover 135 from the rotary body 133 when necessary. In addition, as shown in FIG. 14, a pad 137 formed of urethane or the like may be provided inside the rotation body 133 and the rotation cover 135. The pad 137 is in contact with the upper and lower sides of the Y-shaped connector 120 to firmly connect the Y-shaped connector 120 to the conduit rotation body 130. On the other hand, the Y-shaped connector 120 may be a conventional surgical tool, and the entire cost can be saved by using the existing surgical tool as it is.

The guide wire rotation feeder 200 (see FIG. 10) serves to feed and rotate the guide wire 10. The guide wire rotation supply unit 200 includes a guide wire supply unit 210 for transferring the guide wire 10 and a guide wire rotation unit 220 for rotating the guide wire 10.

Specifically, the guide wire feeder 210 includes two rollers 211 that rotate in contact with each other, and a roller driver 213 such as a motor that drives at least one of the two rollers 211. Here, the guide wire 10 is inserted between the two rollers 211, and can be transported in the longitudinal direction of the guide wire 10 when the two rollers 211 are driven by the roller driving portion 213 . Even if the driving force of the roller driving unit 213 is transmitted to only one roller 211, the two rollers 211 contact each other by using the elasticity of a spring or the like, so that the two rollers 211 rotate together, The guide wire 10 inserted into the guide wire 10 can be transferred.

The guide wire rotating part 220 is connected to the guide wire rotating body 221 for supporting the roller 211 and the roller driving part 213 and the guide wire rotating body 221 by a gear 223, And a guide wire drive body 225 such as a motor for rotating the guide wire 221 in the longitudinal direction of the guide wire 10. Therefore, when the guide wire rotating body 221 rotates by the guide wire driving body 225 in a state where the guide wire 10 is inserted between the two rollers 211, It is possible to rotate the longitudinal direction of the wire 10 about the axis.

The transfer unit 300 transfers the conduit rotation unit 100 and the guide wire rotation supply unit 200 in the longitudinal direction of the conduit 20 (or in the longitudinal direction of the guide wire 10). The conduit rotation unit 100 and the guide wire rotation supply unit 200 are disposed on the upper side of the transfer unit 300 and the conduit rotation unit 100 and the guide wire rotation supply unit 200 are moved relative to the support unit 305, . The supporting part 305 includes a base part 310 formed in a flat plate shape, a first partition wall 320 provided at one end of the base part 310, a second partition wall 330 provided at the other end of the base part 310, And a support bar 340 extending from the first barrier rib 320 to the second barrier rib 330. Here, the transfer unit 300 moves in the longitudinal direction of the conduit 20 with respect to the base unit 310 by a rack and pinion. 11, a rack 350 is provided on the upper surface of the base portion 310 and a pinion 355 is provided on the transfer portion 300 so that the rack 350 of the base portion 310 is coupled to the rack 350. [ And the pinion 355 of the transfer unit 300 are gear-engaged. When the pinion 355 of the transfer unit 300 receives the driving force from the pinion drive unit 360 such as a motor and rotates and the pinion 355 of the transfer unit 300 is rotated by the rack 350 of the base unit 310 And as a result, the transfer part 300 can be moved along the base part 310. [0050] The supporting portion 340 is inserted into the first insertion hole 370 so that the transferring portion 300 is inserted into the base portion 310 The transferring part 300 can move along the support rod 340. [0064] That is, the transfer unit 300 can be moved while being guided by the support rod 340.

The stretchable and contractible part 400 plays a role of supporting the conduit 20 while expanding or contracting along the longitudinal direction of the conduit 20. The stretchable and contractible portion 400 is provided on the other side of the conduit rotating portion 100 (on the opposite side of the guidewire rotation supply portion 200) and is formed as a telescope structure that is entirely stretchable and contractible. Specifically, the stretchable and contractible portion 400 includes a plurality of tubular structures 410, and the plurality of tubular structures 410 are continuously provided from the other side of the conduit rotating portion 100 to support the conduit 20. The N-th (N is a natural number of 2 or more) tubular structure 410 is connected to the other side of the conduit rotating part 100 from the other side of the conduit rotating part 100, inside or outside the N-1th tubular structure 410, The expandable portion 400 can be expanded and contracted along the longitudinal direction of the conduit 20 while being slid into and out of the first tubular structure 410. In other words, the plurality of tubular structures 410 are configured to be narrowed or widened in diameter toward one direction, and they can be expanded and contracted while sliding to the inside and the outside of the adjacent tubular structure 410. For example, as shown in FIGS. 15A to 15C, the three tubular structures 410 may be designed so that the diameter of the tubular structure 410 decreases as the tubular structure 410 moves away from the conduit rotation section 100. The second tubular structure 410 from the other side of the conduit rotating part 100 can slide from the other side of the conduit rotating part 100 to the inside and outside of the first tubular structure 410, The third tubular structure 410 may slide from the other side of the conduit rotating part 100 to the inside or outside of the second tubular structure 410. The stretchable and contractible portion 400 may include a plurality of supports 420 for supporting the plurality of tubular structures 410, respectively. The plurality of supports 420 are continuously provided from the other side of the conduit rotating part 100 similarly to the plurality of tubular structures 410 so that they can slide inside and out of the adjacent supporting body 420 and expand and contract. The N support 420 may be provided on the other side of the conduit rotating part 100. The N support 420 may be disposed on the other side of the conduit rotating part 100, 1 < / RTI > However, the tubular structure 410 farthest from the other side of the conduit rotation part 100 may be fixed to the second partition 330 instead of being supported by the support body 420 among the plurality of tubular structures 410 . At least one supporting member 420 of the plurality of supporting members 420 is provided with a second insertion hole 425. A support rod 340 is inserted into the second insertion hole 425, The supporting body 420 provided with the second insertion hole 425 can move along the support rod 340 when the base body 310 is moved relative to the base portion 310. That is, the support body 420 can be moved while being guided by the support rod 340. For example, as shown in FIGS. 15A to 15C, two support bodies 420 are provided to support two tubular structures 410 (the first and second tubular structures from the other side of the conduit rotation part 100 And the second supporting body 420 from the other side of the conduit rotating part 100 can slide from the other side of the conduit rotating part 100 to the inside and outside of the first supporting body 420. [ The third tubular structure 410 from the other side of the conduit rotation part 100 is fixed to the second partition wall 330 and the second insertion hole 425 is formed in the support body 420, The supporting body 420 can move along the supporting rod 340 when the feeding part 300 moves with respect to the base part 310. [

Additionally, as shown in FIG. 10, the plurality of tubular structures 410 may include a detachable cover 430 provided on the upper side. The conduit 20 can be disposed within the tubular structure 410 by inserting the detachable cover 430 after placing the conduit 20 in the plurality of tubular structures 410 that are continuously provided . In addition, there is an advantage that the tubular structure 410 can be easily disinfected by separating the cover 430 if necessary.

FIGS. 16 to 19 are side views illustrating the operation of the robotic procedure according to the embodiment of the present invention, and the operation of the robotic procedure according to the present embodiment will be described with reference to FIGS.

First, as shown in Figs. 16A to 16B, after separating the rotary cover 135 from the rotary body 133 and arranging the Y-shaped connector 120 in the rotary body 133, 133 to the rotation cover 135 to thereby engage the Y-shaped connector 120 with the conduit rotation body 130. At this time, the conduit 20 is fixed to one end of the Y-shaped connector 120 and the guide wire 10 is inserted from the other end of the Y-shaped connector 120 to one end, A wire (10) is inserted into the conduit (20). Further, the guide wire 10 is inserted between the two rollers 211 of the guide wire rotation feeder 200. After the cover 430 is separated from the plurality of tubular structures 410 and the conduits 20 are disposed in the plurality of tubular structures 410, the cover 430 is attached to the plurality of tubular structures 410 Thereby joining the conduit 20 to the stretchable and contractible portion 400. [ The conduit 20 and the guide wire 10 are fixed to the robotic procedure according to the present embodiment and the conduit 20 in which the guide wire 10 is inserted outside the second partition wall 330 can be exposed have.

17, the conduit rotation unit 100 drives the conduit drive body 110 to rotate the conduit rotation body 130, thereby rotating the conduit 20 about the longitudinal direction of the conduit 20 (Arrow A). The conveying unit 300 drives the pinion driving body to convey the conduit 20 to the longitudinal direction of the conduit 20 by moving the conduit rotating part 100 and the guide wire rotation feeding part 200 to the supporting part 305 (Arrow B). That is, it is possible to perform the rotational movement and the back and forth movement of the conduit 20 by using the conduit rotating part 100 and the transfer part 300. The plurality of tubular structures 410 of the stretchable and contractible portion 400 may be positioned adjacent to the tubular structures 410 adjacent to each other when the transfer portion 300 transfers the conduit rotation portion 100 and the guide wire rotation feed portion 200 to the support portion 305. [ And supports the conduit 20, as shown in Fig.

18, the guide wire rotation supply unit 200 drives the roller driving unit to rotate the two rollers 211, thereby guiding the guide wire 10 inserted between the two rollers 211, And can be transported in the longitudinal direction of the wire 10 (arrow C). The guide wire rotating feeder 200 rotates the guide wire rotating body 221 by driving the guide wire driving body 225 to rotate the guide wire 10 about the longitudinal direction of the guide wire 10 (Arrow D). That is, the guide wire 10 can be rotated and moved forward and backward by using the guide wire rotation feeder 200.

The rotational movement and the back and forth movement of the conduit 20 and the rotational movement and the back and forth movement of the guide wire 10 can be performed sequentially as well as sequentially. As a result, the robotic procedure according to the present embodiment can realize four degrees of freedom in which the conduit 20 and the guide wire 10 can be rotated and inserted.

19, the rotary cover 135 may be detached from the rotary body 133 and the Y-shaped connector 120 may be detached and replaced inside the rotary body 133. [ The tubular structure 410 can also be easily disinfected after separating the cover 430 from the plurality of tubular structures 410 and separating the tubular structure 20 from the plurality of tubular structures 410.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the same is by way of illustration and example only and is not to be construed as limiting the present invention. It is obvious that the modification or improvement is possible.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

10: guide wire 20: conduit
100: conduit rotating part 110: conduit driving body
115: Gear 120: Y-shaped connector
123: main body 125:
130: conduit rotating body 133: rotating body
135: rotation cover 137: pad
200: Guide wire rotation supply part 210: Guide wire supply part
211: roller 213: roller drive
220: Guide wire rotating part 221: Guide wire rotating body
223: Gear 225: Guide wire drive body
300: transfer unit 305:
310: base portion 320: first partition
330: second partition wall 340: support bar
350: rack 355: pinion
360: pinion actuator 370: first insertion hole
400: stretchable portion 410: tubular structure
420: support body 425: second insertion hole
430: cover

Claims

A conduit rotating part for rotating the conduit about the longitudinal direction of the conduit;
A guidewire rotation supply unit provided at one side of the conduit rotating part and feeding the guidewire in the longitudinal direction of the guidewire and rotating the longitudinal direction of the guidewire with the guidewire inserted into the conduit;
A conveying part for conveying the conduit rotating part and the guide wire rotation supplying part in the longitudinal direction of the conduit; And
A retractable portion provided on the other side of the conduit rotating portion and capable of expanding and contracting along the longitudinal direction of the conduit when the conveying portion conveys the conduit rotating portion and the guide wire rotating supply portion in the longitudinal direction of the conduit while supporting the conduit;
/ RTI >

The method according to claim 1,
In the conduit rotating part,
A body formed in a tubular shape, the conduit being fixed at one end thereof, the guide wire being inserted from the other end, and the guide wire being inserted into the conduit at one end; And
A branch portion which is formed in a tubular shape and is coupled between one end and the other end of the main body so as to communicate with the inside of the main body and into which fluid is injected;
And a Y-shaped connector including the Y-shaped connector.

The method of claim 2,
And the conduit rotating portion includes a pad which contacts the upper and lower sides of the Y-shaped connector to fix the Y-shaped connector.

The method according to claim 1,
The guide wire rotation supply unit
Two facing rollers; And
A roller driver for driving at least one of the two rollers;
And a guide wire supply unit including the guide wire supply unit,
Wherein the guide wire is inserted between the two rollers and is transported in the longitudinal direction of the guide wire when the two rollers are driven by the roller driver.

The method of claim 4,
The guide wire rotation supply unit
A guide wire rotating body for supporting the roller and the roller driving unit; And
And a guidewire actuator for rotating the guidewire rotation body about the longitudinal direction of the guide wire.

The method according to claim 1,
A base portion formed in a flat plate shape;
A first partition disposed at one end of the base;
A second bank provided at the other end of the base portion; And
A support rod extending from the first bank to the second bank;
And a support portion including the support portion.

The method of claim 6,
The conduit rotating part and the guide wire rotation supply part are disposed in the transfer part,
The conveying portion is moved in the longitudinal direction of the conduit with respect to the base portion by the rack and pinion,
Wherein the transfer unit is provided with a first insertion hole into which the support bar is inserted so that the transfer unit moves along the support bar when the transfer unit moves with respect to the base unit.

The method according to claim 1,
The stretchable /
And a plurality of tubular structures continuously provided from the other side of the conduit rotating part and supporting the conduit,
The N-th (N is a natural number of 2 or more) tubular structures from the other side of the conduit rotating part is slid from the other side of the conduit rotating part to the inside and outside of the N-1th tubular structure or inside and outside of the (N + 1) And the stretchable and contractible portion is capable of stretching along the longitudinal direction of the conduit.

The method of claim 6,
The stretchable /
A plurality of tubular structures continuously provided from the other side of the conduit rotating part to support the conduits; And
And a plurality of supports each supporting the plurality of tubular structures,
The end of the tubular structure farthest from the other side of the conduit rotating part among a plurality of the tubular structures is fixed to the second bank,
Wherein at least one of the plurality of supports includes a second insertion hole into which the support rod is inserted so that when the transfer portion moves with respect to the base portion, Robotic procedure to follow.

The method according to claim 8 or 9,
A plurality of said tubular structures,
A support structure for supporting the conduit; And
A robotic procedure coupled to the support structure and including a removable cover.