WO2018117393A1

WO2018117393A1 - Pullback device

Info

Publication number: WO2018117393A1
Application number: PCT/KR2017/011954
Authority: WO
Inventors: 김종원; 서영석; 김정현; 신일균; 백대열
Original assignee: 원텍 주식회사
Priority date: 2016-12-22
Filing date: 2017-10-27
Publication date: 2018-06-28
Also published as: KR20180072949A; KR101966217B1

Abstract

The present invention provides a pullback device comprising: a rotation driving module including a first motor and a rotation part, which is penetratively coupled to a catheter tube including an optical fiber and an electric signal line and which rotates in the circumferential direction of the catheter tube by the operation of the first motor; a straight driving module including a second motor and a movement inducing unit, which guides the movement of the rotation driving module in the longitudinal direction of the catheter tube according to the operation of the second motor; and a control module for controlling the rotation driving module and the straight driving module.

Description

Pullback device

The present invention relates to a pullback device.

In order to diagnose and treat lesions of the human body, many medical fields, such as the digestive system, the heart and neurovascular system, the skin, and the eye, require medical imaging.

At this time, in the case of vascular series, for example, the technique of imaging blood vessels for detecting the state of the blood vessels includes intravascular Ultrasound (IVUS) image acquisition technology using ultrasonic waves, and optical coherence using optical scattering characteristics. Tomography (OCT) image acquisition technology and photoacoustic (PA) image acquisition technology using light absorption characteristics.

These vascular imaging techniques insert a catheter in the blood vessel to image the endothelial and inner wall deep portions of the vessel in real time, and image the shape and structure of a region of interest (ROI).

At this time, the catheter moves in the vessel and performs intravascular scanning for vascular imaging.

Here, the catheter must be moved in the longitudinal direction of the vessel for intravascular scanning, and must be moved at a constant force and speed to minimize damage to the vessel inner wall.

Accordingly, the development of a device for towing the catheter at a constant force and speed has been made in various angles, and as part of this research, Republic of Korea Patent Publication No. 10-1487894 (Application Date: 2013. 07. 15, Registration Date: 2015. 01. 23, hereinafter referred to as 'prior art') has been proposed.

At this time, the prior art is towing the medical cable at a constant speed by using a drive motor, but in the case of the catheter inserted into the blood vessel, if the catheter is pulled in contact with the vessel wall structure, the friction of the inner wall of the blood vessel It may cause damage, and since only an image corresponding to a certain angle may be obtained, there is a problem in that it is not easy to obtain a precise image of all directions in the blood vessel.

An object of the present invention is to solve the above problems and to provide a technique for scanning the blood vessel in all directions and minimizing damage to the vessel during scanning.

In order to achieve the above object, a pullback device according to an embodiment of the present invention has a catheter tube including a first motor and an optical fiber and an electric signal line coupled therethrough, and is operated in the circumferential direction of the catheter tube by operation of the first motor. A rotation drive module including a rotating part to rotate; A linear driving module coupled to one side of a second motor and the rotary driving module, the linear driving module including a movement inducing unit guiding the movement of the rotary driving module in the longitudinal direction of the catheter tube according to the operation of the second motor; And a control module for controlling the rotation driving module and the linear driving module.

In this case, the rotating unit includes a first rotational coupling portion passing through the optical fiber and in contact with the electrical signal line; A second rotary coupling portion through which the optical fiber passes; And a connection portion through which the optical fiber passes, and the first rotation coupling portion and the second rotation coupling portion rotatably coupled to each other, wherein the rotation driving module includes a structure for fixing the first motor and the rotation portion. It can be provided in the form.

And, the rotating part, the second rotating portion is provided at one end of the first rotational coupling portion, the second rotating portion is connected via a fan belt and the first rotating portion provided at one end of the first motor, The catheter tube may be rotated by the operation of the first motor.

In addition, the catheter tube is inserted into the vessel extending from the catheter head for irradiating light and ultrasonic signals, the catheter tube includes an optical fiber and an electrical signal line therein, the optical fiber is to be located in the central axis of the catheter tube Can be.

The first rotatable coupling part may include a connection member that maintains electrical contact with the electrical signal line when the first rotatable part rotates.

At this time, the first rotary coupling portion, the second rotary coupling portion and the connecting portion is formed in the hollow for passing the optical fiber on the same straight line, when the catheter tube is rotated by the operation of the first motor, The first rotation coupling portion, the second rotation coupling portion and the connection portion may guide the rotation of the optical fiber while maintaining the parallel of the optical fiber.

As described above, the present invention has the following effects.

First, it rotates about 360 degrees in the vessel and moves in the longitudinal direction of the catheter tube, so that 3D images of the vessel's inner wall can be obtained. When the catheter contacts the inner wall of the blood vessel, the catheter may move, thereby minimizing damage to the inner wall of the blood vessel by reducing friction through rotation.

Second, when moving the inside of blood vessels that are not constant due to intravascular contraction, etc., each of the rotary drive module and the linear drive module can be controlled. Therefore, the vessel inner wall is controlled by controlling the rotation speed and the movement speed of the catheter according to the shape of the blood vessel in the human body. Even if the damage is minimized, the catheter can be moved for accurate image acquisition, and through this, the catheter can be moved more safely for intravascular image acquisition.

Third, the first rotary coupling portion constituting the rotating portion, the second rotary coupling portion, and the hollow formed in the connecting portion is located on the same straight line to maintain the parallel of the optical fiber passing through the hollow, it can guide the rotation of the optical fiber, In this case, when the catheter is rotated by the first motor operation, the first rotatable coupling portion may be connected to an electrical signal line in the rotating catheter tube, thereby enabling input and output of an electrical signal to the ultrasonic transducer located at one end of the catheter.

Fourth, the arrangement of the above-described rotating portion prevents the bending of the optical fiber during the rotation of the catheter and prevents the loss of optical signal transmission while preventing the optical fiber and the electric signal line from being damaged by the rotational force, thereby obtaining an image through the catheter Can increase the accuracy.

1 is a perspective view of a pullback device according to an embodiment of the present invention.

Figure 2 is a schematic diagram showing the connection of the catheter tube to the rotary drive module of the pullback device according to an embodiment of the present invention.

Figure 3 is a schematic diagram schematically showing a cross section of the rotating member included in the first rotary engaging portion of the pullback device according to an embodiment of the present invention.

Figure 4 is a schematic diagram showing the connection of the catheter tube and the first rotary coupling portion according to an embodiment of the present invention.

5 is a schematic diagram of an intravascular image acquisition system to which a pullback device is applied according to an embodiment of the present invention.

Preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings, but the well-known technical parts will be omitted or compressed for brevity of description.

1 is a perspective view of a pullback device according to an embodiment of the present invention, Figure 2 is a schematic diagram showing the connection of the catheter tube to the rotary drive module of the pullback device according to an embodiment of the present invention, Figure 3 Figure 4 is a schematic diagram showing a cross-section of the rotating member included in the first rotary coupling portion of the pullback device according to an embodiment of the present invention, Figure 4 is a first rotary coupling portion and the catheter tube according to an embodiment of the present invention Schematic diagram schematically showing the connection of.

1 to 4, the pullback device 100 according to the exemplary embodiment of the present invention includes a catheter 110, a rotation driving module 120, a linear driving module 130, and a control module 140. It is composed.

The catheter 110 may include a head 111 and a catheter tube 112.

Here, the head 111 refers to the front end portion of the catheter 110, it can irradiate light and ultrasonic signals in the blood vessel.

The catheter tube 112 may be provided in the form of a cable including the optical fiber 112a and the electrical signal line 112b.

The rotation drive module 120 includes a first motor 121, a rotation part 122, and a first base part 123.

At this time, the first motor 121 is provided with a first rotating portion 121a at one end for rotational driving.

Here, the first rotating portion 121a may be formed with teeth along the circumference.

In addition, the rotating part 122 is coupled to the catheter tube 112 including the optical fiber 112a and the electrical signal line 112b, and rotates in the circumferential direction of the catheter tube 112 by the operation of the first motor 121. can do.

Here, the catheter tube 112 may include an optical fiber 112a and an electrical signal line 112b to input and output light and ultrasonic signals, and the optical fiber 112a may be located at the center of the catheter tube 112.

In addition, the electrical signal lines 112b may be spaced apart from each other at predetermined intervals so that the trajectories of the catheter 110 do not overlap with each other.

In this case, the rotation part 122 includes a first rotation coupling part 122a, a second rotation coupling part 122b, and a connection part 122c.

Here, the first rotation coupling portion 122a passes through the optical fiber 112a in the catheter tube 112 and may be in contact with the electrical signal line 112b.

In addition, the first rotating coupling portion 122a may be provided with a second rotating portion 122a-1 at one end thereof, and the second rotating portion 122a-1 may have teeth formed along a circumference thereof.

At this time, the first rotating part 121a and the second rotating part 122a-1 are connected through the fan belt B, and the catheter tube penetrated and coupled to the rotating part 122 by the operation of the first motor 121. 112 can be rotated.

Here, the fan belt B may also have a plurality of contact protrusions engaged with the first rotation part 121a and the second rotation part 122a-1.

At this time, when the rotation drive is performed by engaging the teeth of the first rotating part 121a and the second rotating part 122a-1 with each other instead of the fan belt B, when a problem occurs in rotational driving due to an obstacle element, The load on the first motor 121 is large and the life of the first motor 121 may be shortened.

However, when connected to the fan belt B, the load on the first motor 121 may be less in the same situation as described above.

Here, the first rotating portion 121a and the second rotating portion 122a-1 may be provided to have the same circumferential length, but may have different circumferential lengths.

In this case, it may be advantageous to control the rotation speed.

For example, when the first rotating part 121a and the second rotating part 122a-1 have the same circumferential length, the first rotating part 121a and the second rotating part 122a-1 are at the same speed. Will rotate.

In this case, the first rotation coupling portion 122a may include a connection member S, and the connection member S may be provided in a slip ring form.

Here, referring to FIG. 3, the connecting member S has a hollow CH formed at a central portion thereof, and the optical fiber 112a may pass through the first rotation coupling portion 122a through the hollow.

In addition, the rotation shaft 122a-2 may be provided along the circumference of the hollow CH, and the conductor 122a-3 and the insulator 122a-4 may be positioned along the outer angle of the rotation shaft 122a-2.

Here, the conductor 122a-3 may be formed of a conductive metal such as aluminum or copper, and the outer side of the connection member S except the conductor 122a-3 may be formed of an insulating material.

At this time, the first rotation coupling portion 122a may rotate about the rotation shaft 122a-2.

In addition, the electrical signal line 112b may be in contact with a portion of the conductor 122a-3.

Referring to FIG. 4, when the electrical signal line 112b in the catheter tube 112 rotates by the first motor 121, the electrical signal line 112b contacts the portion of the conductor 122a-3 of the first rotational coupling portion 122a to be formed. The rotary coupling part 122a may receive or transmit an electrical signal from a device (not shown) connected to the rotary coupling part 122a.

At this time, since the optical fiber 112a passes through the hollow portion (CH), the bending of the optical fiber 112a does not occur when the catheter 110 rotates, and smooth rotation may be possible.

In addition, the second rotary coupling portion 122b passes through the optical fiber 112a in the catheter tube 112.

In this case, the second rotary coupling portion 122b has a hollow (not shown) through which the optical fiber 112a can pass, and the hollow (not shown) of the second rotary coupling portion 122b is the first rotation. It may be located on the same straight line as the hollow (CH) of the coupling portion (122a).

Here, the second rotation coupling portion 122b may be provided in the form of a rotary joint.

In addition, the second rotation coupling portion 122b may guide the rotation of the optical fiber 112a when the catheter 110 rotates.

In addition, the connection portion 122c couples the first rotation coupling portion 122a and the second rotation coupling portion 122b, and a hollow (not shown) through which the optical fiber 112a can pass is formed at the center thereof. The rotation of the optical fiber can be guided.

At this time, the first rotation coupling portion 122a, the second rotation coupling portion 122b, and the connection portion 122c are hollow in the same straight line, and the first rotation coupling portion 122a and the second rotation coupling portion The rotating shaft may be positioned on the same straight line inside the 122b and the connecting portion 122c.

In addition, according to the arrangement of the rotating part 122, the rotation of the first motor 121 may maintain the parallelism of the optical fiber 112a to guide the rotation.

Here, the first rotation coupling portion 122a guides the rotation of the optical fiber 112a and the electrical signal line 112b, and the second rotation coupling portion 122b and the connection portion 122c guides the rotation of the optical fiber 112a. As a result, bending of the optical fiber 112a may be prevented when the catheter 110 rotates.

The first base part 123 may include a structure for seating and fixing the first motor 121 and the rotating part 122 thereon.

The linear drive module 130 includes a second motor 131, a movement induction part 132, and a second base part 133.

Here, the second motor 131 may be provided for linear driving and may move the rotation driving module 120 in the longitudinal direction of the catheter tube 112.

In this case, the catheter tube 112 may be moved in the longitudinal direction of the catheter tube 112 by the operation of the second motor 131.

In addition, the movement induction part 132 is connected to the lower end of the first base part 123 to guide the movement of the rotary drive module 120 in the longitudinal direction of the catheter tube 112 according to the operation of the second motor 131. Can be.

For example, the movement guide part 132 may be provided in the form of a ball screw.

In addition, the second base part 133 is located at the lowermost part of the device, and the second motor 131 and the moving induction part 132 may be seated and fixed.

The control module 140 may control the rotation driving module 120 and the linear driving module 130.

At this time, the control module 140 may be capable of controlling the rotational speed of the rotary drive module 120 and the movement speed of the linear drive module 130.

For example, the linear drive module 130 may be capable of adjusting the speed of 0.5 mm / s to 2.0 mm / s, and pull back, that is, pull the catheter 110 inserted into the vessel at the corresponding speed Can be.

The rotational speed of the rotation driving module 120 may be controlled to rotate at a rotational speed of 1800 rpm regardless of the moving speed of the linear driving module 130, but is not limited thereto. .

5 is a schematic diagram of an intravascular image acquisition system to which the pullback device 100 is applied according to an embodiment of the present invention.

Meanwhile, the pullback device 100 according to an embodiment of the present invention is a device applied to a vascular imaging system used for diagnosing a cardiovascular disease and inserts a catheter 110 into a region of interest (ROI). The rotation and movement of the catheter 110 is controlled to image the shape and structure.

At this time, referring to Figure 5, the blood vessel imaging system to which the pullback device 100 according to an embodiment of the present invention is applied, the pullback device 100, the first light source 200, the reference mirror 300, the second light source 400, the photo detector 500, the pulser / receiver 600, the image processing apparatus 700, the output apparatus 800, and the like may be included.

Here, the pullback device 100 may guide the rotation and movement of the catheter inserted into the blood vessel, the catheter 110 is configured to include a head 111 and the catheter tube 112.

At this time, the head 111 transmits and receives the light and ultrasonic signals in the blood vessel, one end of the optical fiber and the ultrasonic transducer (T), and one end of the optical fiber 112a is provided with a GRIN lens (L) and prism (P). .

The catheter tube 112 includes an optical fiber 112a for transmitting and receiving an optical signal and an electrical signal line 112b for transmitting and receiving an ultrasonic signal.

In this case, the optical fiber 112a is provided with two signal transmission parts independently of the central axis and the outer angle of the optical fiber 112a, and the optical signals transmitted through the central axis and the outer angle may have different refractive indices.

Here, the catheter tube 112 extending from the head 111 is coupled to the rotating portion 122 of the pullback device 100, wherein the electrical signal line 112b may be in contact with the first rotary coupling portion 122a. have.

In this case, the first rotation coupling part 122a may be electrically connected to the pulser / receiver 600 that transmits an electrical signal to the ultrasonic transducer T and receives the electrical signal from the ultrasonic transducer T.

In this case, the pulser / receiver 600 may further include a compensation unit (not shown) for compensating for time delay.

Then, the optical fiber 112a passes through the second rotation coupling portion 122b, and the first light source 200, the reference mirror 300, the second light source 400, the light detector 500, and the image processing apparatus 700. ), And the output device 800 may be electrically connected.

Here, the rotation part 122 of the pullback device 100 is the first rotation coupling portion 122a, the connection portion 122c, the second rotation coupling portion 122b is located on the same line, the optical fiber 112a is passed through Can be rotated while maintaining parallelism.

At this time, the bending of the optical fiber 112a may be prevented when the catheter 110 rotates through the arrangement of the rotating part 122, thereby preventing a loss in optical signal transmission.

The first light source 200 and the second light source 400 may be light sources for obtaining optical coherence tomography (OCT) and photoacoustic (PA) images using light absorption characteristics, respectively. 1 When the light source 200 is a light source for acquiring optical coherence tomography images, optical signals may be transmitted through the central axis of the optical fiber 112a.

In this case, the central axis of the optical fiber 112a and the first light source 200, the reference mirror 300, and the photodetector 500 may be connected through another optical fiber (not shown).

In this case, when the second light source 400 is a light source for obtaining an optoacoustic image, the optical signal is transmitted through the outer shell of the optical fiber 112a. In this case, the optical fiber 112a irradiates an intravascular signal and irradiates the optical signal. The optical signal may be received by an ultrasonic transducer and converted into an electrical signal.

The signal received by irradiating light and ultrasound in the blood vessel may be processed and imaged by the image processing apparatus 700, which may be output through the output device 800 to confirm the blood vessel image.

In this case, the intravascular image acquisition system to which the pullback device 100 is applied according to an embodiment of the present invention may be capable of acquiring ultrasound, optical coherence tomography, and optical acoustic images, and may be able to acquire a fused image. .

As a result, the present invention, while rotating about 360 degrees in the blood vessel and at the same time can move in the longitudinal direction of the catheter tube, it is possible to obtain a three-dimensional image of the inner wall of the blood vessel, due to intravascular contractions, etc. When the catheter comes into contact with the vessel's inner wall, the catheter contacts the vessel's inner wall, thereby reducing friction through the rotation, thereby minimizing damage to the vessel's inner wall, and allowing the catheter to move. The hollow formed in the portion and the connecting portion may be positioned on the same straight line so as to maintain parallelism of the optical fiber passing through the hollow, and guide the rotation of the optical fiber. When rotating, the electrical signal is input to the ultrasonic transducer located at one end of the catheter by being in contact with the electrical signal line in the rotating catheter tube. It provides a force capable of full-back device.

As described above, the detailed description of the present invention has been made by the embodiments with reference to the accompanying drawings. However, since the above-described embodiments have only been described with reference to preferred embodiments of the present invention, the present invention is limited to the above embodiments. It should not be understood that the scope of the present invention is to be understood by the claims and equivalent concepts described below.

100: pullback device

110: catheter

111: head

112: catheter tube

112a: optical fiber

112b: electric signal line

120: rotary drive module

121: the first motor

121a: first rotating part

122: rotating part

122a: first rotational coupling portion

122a-1: second rotating part

122a-2: axis of rotation

122a-3: Conductor

122a-4: Insulator

122b: second rotational coupling portion

122c: connection part

123: first base portion

130: linear drive module

131: second motor

132: moving induction part

133: second base portion

140: control module

200: first light source

300: standard mirror

400: second light source

500: light detector

600: Pulsar / Receiver

700: image processing device

800: output device

CH: hollow

S: connecting member

B: Fan Belt

T: Ultrasonic Converter

L: GRIN Lens

P: Prism

Claims

A rotation drive module having a first motor and a catheter tube including an optical fiber and an electrical signal line coupled therethrough, the rotating unit including a rotating unit rotating in the circumferential direction of the catheter tube by the operation of the first motor;

A linear driving module coupled to one side of a second motor and the rotary driving module, the linear driving module including a movement inducing unit guiding the movement of the rotary driving module in the longitudinal direction of the catheter tube according to the operation of the second motor; And

And a control module for controlling the rotation driving module and the linear driving module.

The rotating part,

A first rotational coupling portion passing through the optical fiber and in contact with the electrical signal line;

A second rotary coupling portion through which the optical fiber passes; And

And a connection portion through which the optical fiber passes, and the first rotation coupling portion and the second rotation coupling portion rotatably coupled to each other.

The rotation driving module is provided in a form including a structure for fixing the first motor and the rotating part.

Pullback device.
The method of claim 1,

The rotating part has a second rotating part provided at one end of the first rotating coupling part, and the second rotating part is connected to the first rotating part provided at one end of the first motor through a fan belt. Rotating the catheter tube by the operation of the motor

Pullback device.
The method of claim 2,

The catheter tube is formed extending from the catheter head is inserted into the blood vessel to irradiate light and ultrasonic signals,

The catheter tube includes an optical fiber and an electric signal line therein,

The optical fiber is located in the central axis of the catheter tube

Pullback device.
The method of claim 3,

The first rotatable coupling part may include a connection member that maintains electrical contact with the electrical signal line when the first rotatable part rotates.

Pullback device.
The method of claim 1,

The first rotatable coupling portion, the second rotatable coupling portion and the connecting portion is hollow is formed for passing the optical fiber on the same straight line,

When the catheter tube is rotated by the operation of the first motor, the first rotary coupling portion, the second rotary coupling portion and the connecting portion guides the rotation of the optical fiber while maintaining the parallel of the optical fiber.

Pullback device.