KR101009053B1 - Maintenance and movement system of microrobot for intravascular therapy - Google Patents

Abstract

The present invention relates to a maintenance and movement system of a microrobot for vascular treatment, and more particularly, to a system for maintaining a microrobot moving inside a blood vessel for treatment of blood vessels so as not to leave the treatment site according to the flow of blood. The present invention relates to a mobile system for moving and maintaining a precise center of the affected area.

Blood vessel, micro robot, shape memory alloy (SMA), electromagnet

Description

Maintenance and movement system of microrobot for intravascular therapy

The present invention provides a micro-robot for blood vessel treatment, wherein the micro-robot does not leave the affected area by blood flow or the like while treating the affected area in the blood vessel, and the micro-robot during the operation requires rotation using a micro drill or the like during the treatment process. It relates to a holding to prevent rotation of the robot itself and to maintain its center, and a holding and moving system of a vascular treatment micro that the micro robot can move to the affected area.

MEMS (Micro Electro Mechanical Systems) is called microelectromechanical systems, microelectronic control technology, etc., and refers to micron (μm) or mm size micro precision manufacturing technology based on semiconductor process technology.

At present, due to the development of the MEMS technology, the use or application in the medical field is actively progressing.

Examples of the MEMS technology used or applied in the medical field may include an endoscope photographing device manufactured in a capsule form, a micro robot for blood vessel treatment, and the like.

However, in the case of the conventional vascular treatment micro robot, when the drug reaches the affected part and the drug is applied to the affected part by using the drug injection device provided in the micro robot, the precise drug administration position is adjusted and moved to the affected part due to the blood flow. There was a restriction.

In addition, when the affected part is removed by using a micro drill device or the like provided in the micro robot, there is a problem that the micro robot itself rotates or is out of center, rather than the removed part for the same reason as described above.

On the other hand, when the outer diameter of the microrobot is made larger than or the same as the inner diameter of the blood vessel, the movement in the blood vessel of the microrobot is restricted, and serious side effects such as a lack of oxygen supply or a blood vessel wall rupture by preventing blood flow. May result.

The present invention was devised to solve the above problems, and an object of the present invention is to provide a system capable of fixing and maintaining a position for precisely treating the affected part of blood vessels without disturbing blood flow. It is done.

It is also another object of the present invention to provide a mobile system in which the microrobot can move while maintaining its own center without being affected by blood flow for treatment.

In addition, another object of the present invention is to provide a maintenance and movement system for a vascular treatment micro robot that does not damage the blood vessel wall at all while achieving the above object.

Maintaining and moving system of the vascular treatment micro-robot according to the present invention for achieving the above object is provided in the main body moving along the blood vessel, a predetermined portion of the main body, a plurality of holding parts for fixing the main body to the vessel wall, Located between the plurality of holding portions, respectively, a moving portion for moving the main body, the plurality of holding portions and the driving means provided in each of the moving portion and the inside of the main body, the driving means It includes a system control unit for controlling each.

On the other hand, the holding portion is a first coupling means that one side is coupled to the main body, the first coupling means maintains a predetermined interval, the second coupling means, one side is coupled to the moving portion, the first coupling means and A first bellows positioned between the second coupling means, a first driving means provided in the first bellows, connected to the system control unit, and fixed to the first coupling means and the second coupling means; It is provided on the outer surface of the first bellows, and includes a plurality of holding bands fixed to the first coupling means and the second coupling means.

Preferably, the apparatus further comprises a guide rail connected to the first coupling means and the second coupling means, provided in the first bellows, and through which the first driving means passes.

On the other hand, the moving part is a third coupling means that one side is coupled to the second coupling means, the fourth coupling means provided to maintain a predetermined interval with the third coupling means, the third coupling means and the fourth coupling means And a second driving means disposed between the second bellows and the second bellows, connected to the system control unit, and fixed to the third coupling means and the fourth coupling means.

Preferably, further comprising a guide rail connected to the third coupling means and the fourth coupling means, provided in the second bellows, and through which the second driving means penetrates.

Preferably, the apparatus further includes a data receiving unit provided at a predetermined portion of the main body, connected to the system control unit, and receiving a control signal transmitted from the outside.

As described above, the maintenance and movement system of the micro robot for vascular treatment according to the present invention has the following effects.

The present invention has the effect of stably fixing and maintaining the position and center of the micro-robot for the treatment of vascular diseases accurately.

In addition, there is an effect that can accurately move the micro robot to the desired position.

In addition, by providing the holding means made of a polymer material, there is an effect that does not damage the blood vessel wall at all during the maintenance and movement of the micro robot.

The terms used in the present invention are selected as general terms as widely used as possible, but in some cases, the terms selected by the applicant are selected in this case, and in this case, the meanings described or used in the detailed description of the invention are considered, rather than simply the names of the terms. The meaning should be grasped.

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

However, the present invention is not limited to the embodiments described herein but may be embodied in other forms. Like numbers refer to like elements throughout the specification.

1 is an overall configuration of the maintenance and movement system of a micro robot for vascular treatment according to an embodiment of the present invention.

As shown in FIG. 1, the present invention includes a main body 100 moving along a blood vessel, a plurality of holding portions 110 provided at a predetermined portion of the main body, and fixing the main body to a blood vessel wall. Located between the holding unit 110, the moving unit 120 for moving the main body, the plurality of holding unit 110 and the driving means 130 are provided respectively in the moving unit 120 and the It is provided inside the main body 100, and includes a system control unit 140 for controlling the drive means 130, respectively.

The main body 100 is sized to be easily moved inside the blood vessel.

In the maintenance and movement system of the microrobot for vascular treatment according to the present invention, the outer diameter of the main body 100 was manufactured to 2 mm or less.

In addition, the head portion of the main body 100 is made of streamline to reduce the resistance of blood flow and to move easily in the blood vessel.

The system controller 140 is provided inside the main body 100 and is connected to the driving means 130 to control the driving means 130.

On the other hand, the maintenance and movement system of the blood vessel treatment micro-robot according to an embodiment of the present invention is connected to the system control unit 140 inside the main body 100, for receiving a control signal transmitted from the outside It further includes a data receiving unit 150.

The holding unit 110 is provided at a predetermined portion of the main body 100, and provided in two or more, and is operated to maintain the main body 100 on the blood vessel wall by a control signal of the system control unit 140. .

However, one embodiment of the present invention to be described below will be described in detail with respect to the maintenance and movement system of the micro robot for blood vessel treatment provided with the two holding portions 110.

On the other hand, since the plurality of holding portions 110 are all provided with the same components, with respect to the holding portion 110a located at the head of the plurality of holding portions 110 shown in FIG. Reference will be made in detail.

2 is an overall configuration diagram of the holding unit (110a) according to an embodiment of the present invention, Figure 3 is a view showing a deformation state for the holding of the holding unit (110a) according to an embodiment of the present invention, 4 is a view showing a holding unit (110a) provided with a guide rail according to an embodiment of the present invention.

First, as shown in FIG. 2, the holding unit 110a includes a first coupling unit 111a, a second coupling unit 111b, a first bellows 112, a first driving unit 130a, and a plurality of coupling units. Two retaining bands 114.

One side of the first coupling means 111a is connected to the main body 100, and the other side thereof contacts one side of the first bellows 112.

On the other hand, the second coupling means (111b) is provided, maintaining a predetermined interval with the first coupling means (111a), one side of the second coupling means (111b) is the other of the first bellows (112) In contact with the side, the other side is connected to one side of the moving unit 120 to be described later.

As shown in FIGS. 2 to 4, the first bellows 112 is provided between the first coupling means 111a and the second coupling means 111b.

In addition, the first bellows 112 is made of a material having a restoring force for maintaining the original state upon contraction.

The first driving means 130a is provided inside the first bellows 112 and is connected to the first coupling means 111a and the second coupling means 111b.

On the other hand, the first driving means (130a) is connected to the system control unit 140, and provided with a shape memory alloy (SMA: Shape Memory Alloy) or electromagnet generated when the power is applied from the system control unit 140 do.

A plurality of retaining bands 114 are provided on the outer surface of the first bellows 112 and are fixed to the outer circumferential surfaces of the first coupling means 111a and the second coupling means 111b.

As shown in FIG. 3, the retaining band 114 has the first coupling means 111a and the second coupling means when the first driving means 130a is contracted by the control signal of the controller 140. When the distance between the coupling means (111b) is narrowed, it is bent to be in close contact with the inner wall of the blood vessel.

Here, since the one side portion is in close contact with the inner wall of the blood vessel by the bending operation, the holding band 114 may be selectively used among flexible materials that can be easily bent due to its characteristics and prevent damage to the blood vessel wall. For example, it may be provided with a polymer material.

As shown in FIG. 3, an embossed pattern 115 having an array of protrusions repeatedly arranged at a predetermined length is further formed on one side of the retaining band 114. The relief pattern 115 serves to prevent the main body 100 from being pushed back by being in close contact with the inner wall of the blood vessel by the bending operation of the retaining band 114 when the main body 100 moves.

Here, the embossed pattern 115 is preferably provided in a polygonal shape in which the cross-sectional shape is inclined at a predetermined angle so that the main body 100 can move only in one direction (forward direction), more specifically, inclined at a predetermined angle Since it is formed to protrude in a true triangular shape, a square shape, or the like, it can be induced to be smoothly operated in the forward direction of the main body 100. Of course, the shape of the embossed pattern 115 is not limited to the above-described embodiment, and if the main body 100 is operated so as not to be pushed by the bending operation of the holding band 114, those skilled in the art can selectively substitute Of course it can be used.

Meanwhile, the holding part 110a further includes a guide rail 116 as shown in FIG. 4.

The guide rail 116 is provided inside the first bellows 112 and is connected to the first coupling means 111a and the second coupling means 111b.

Meanwhile, the first driving means 130a penetrates inside the guide rail 116, and the guide rail 116 contracts and relaxes together with the contraction and relaxation of the holding part 110a.

As a result, the guide rail 116 ensures straightness during contraction and relaxation of the holding part 110a.

On the other hand, a more detailed operation of the holding unit 110a will be described later.

Hereinafter, the moving unit 120 will be described in detail with reference to FIGS. 5 and 6.

First, FIG. 5 is an overall configuration diagram of the moving unit 120 according to an embodiment of the present invention, and FIG. 6 illustrates a moving unit 120 having a guide rail 116 according to an embodiment of the present invention. It is a figure which shows.

As shown in FIG. 5, the moving part 120 includes a third coupling means 120a, a fourth coupling means 120b, a second bellows 122, and a second driving means 130b.

One side of the third coupling means (120a) is connected to the second coupling means (111b), the other side is in contact with one side of the second bellows (122).

On the other hand, the fourth coupling means (120b) is provided at a predetermined interval with the third coupling means (120a), one side of the fourth coupling means (120b) is the other side of the second bellows (122) In contact with, the other side is connected to one side of the holding portion (110b) provided separately.

As shown in FIGS. 5 to 6, the second bellows 122 is provided between the third coupling means 120a and the fourth coupling means 120b.

In addition, the second bellows 122 is made of a material having a restoring force for maintaining the original state upon contraction.

That is, when the electrical signal applied to the second driving means 130b to be described later is removed, the moving part 120 is relaxed by the restoring force of the second bellows 122.

The second driving means 130b is provided in the second bellows 122 and is connected to the third coupling means 120a and the fourth coupling means 120b.

On the other hand, the second driving means (130b) is connected to the system control unit 140, provided with a shape memory alloy (SMA: Shape Memory Alloy) or electromagnet generated when the power is applied from the system control unit 140 do.

That is, the second driving means 130b contracts when the control signal is applied by the system control unit 140, and also contracts the second bellows 122.

Meanwhile, as illustrated in FIG. 6, the moving part 120 further includes a guide rail 116.

The guide rail 116 is provided inside the second bellows 122, and is connected to the third coupling means 120a and the fourth coupling means 120b, and the guide rail 116 is disposed inside the guide rail 116. The second driving means 130b penetrates, and the guide rails 116 contract and relax together with the contraction and relaxation of the moving part 120.

In addition, the guide rail 116 ensures the linearity of the movement of the moving part 120 when the moving part 120 shrinks and relaxes.

Overall, the moving part 120 is provided with a third coupling means 120a and a fourth coupling means 120b, which are largely maintained at regular intervals, and the third coupling means 120a and the fourth coupling means 120b. Between the second bellows 122, the second bellows 122 having a restoring force between the guide rail 116 and the guide to ensure the straightness during the contraction, relaxation movement of the moving part 120 It is provided in the rail 16, and includes a second driving means 130b connected to the system control unit 140.

Accordingly, when the moving unit 120 applies an electrical signal to the second driving unit 130b by the control signal of the system control unit 140, the second driving unit 130b contracts and at the same time, the second bellows. The 122 and the guide rail 116 also perform a contraction motion. When the electric signal applied to the second driving means 130b is removed during relaxation, the second bellows 122 is restrained by the restoring force of the second bellows 122. The bellows 122, the guide rail 116 and the second drive means (130b) is a relaxation movement.

However, a detailed description of the overall holding and moving of the holding unit 110a and the moving unit 120 will be described later.

On the other hand, the maintenance and movement system of the micro robot for blood vessel treatment according to an embodiment of the present invention, the other holding portion 110b is coupled to the other side of the fourth coupling means (120b) of the moving part (120).

However, since the separate holding unit 110b is the same as all the components of the holding unit 110a described above, a detailed description thereof will be omitted.

Hereinafter, with reference to FIGS. 7 to 10 will be described in detail the principle of maintenance and movement of the maintenance and movement system of the micro robot for blood vessel treatment according to an embodiment of the present invention.

First, FIG. 7 is a view illustrating a state in which a maintenance and movement system of a blood vessel treatment micro robot according to an embodiment of the present invention is provided in blood vessels, and FIG. 8 is a vessel treatment micro robot according to an embodiment of the present invention. 9 and 10 are views illustrating a principle of movement of a maintenance and movement system of a micro robot for vascular treatment according to an embodiment of the present invention.

First, as shown in Figure 7, when the maintenance and movement system of the vascular treatment micro-robot is provided in the vessel, it moves in accordance with the flow of blood flow inside the vessel.

On the other hand, when the main body 100 needs to be maintained on the blood vessel wall 300, a maintenance signal is sent to the data receiver 150, and the data receiver 150 transmits it to the system controller 140.

When the system control unit 140 applies an electrical signal to the driving means of the holding unit 110, as shown in Figure 8, the front holding unit 110a and the rear holding unit 110b of the main body 100 ) Contracts.

Accordingly, as the holding part 110 is contracted, the holding bands provided at the holding part 110 are bent toward the blood vessel wall 300 to generate a friction force between the surface of the holding band and the blood vessel wall 300, and the friction force. By maintaining the body 100 to the blood vessel wall (300).

On the other hand, the system control unit 140 applies an electrical signal to the drive means 130b of the moving unit 120 in order to accurately move to the affected part while the main body 100 is maintained on the vessel wall 300. .

As illustrated in FIG. 9, the moving part 120 contracts by an electrical signal applied to the driving means 130b.

In this case, however, the head holding portion 110a is fixed to the head holding portion 110a without being pushed back by the embossed pattern formed in the holding band, so that the rear holding portion 110b moves to the head of the main body 100. do.

Meanwhile, the electrical signal applied to the driving means 130b of the moving part 120 is removed while the head holding part 110a, the rear holding part 110b and the moving part 120 are all contracted. 10, the moving part 120 is relaxed to its original state by the restoring force of the second bellows of the moving part 120.

However, at the time of relaxation of the moving part 120, the rear side holding part 110b is fixed without being pushed back by the embossed pattern formed on the holding band as opposed to the contracting time, and the head holding part 110a. Move forward and move to the correct lesion.

On the other hand, upon completion of all treatments of the affected area and moving to other affected areas along the blood flow, if the electrical signal applied to the driving means of the holding unit 110 is removed, the bellows and tail holding provided in the front holding unit (110a) By the restoring force of the bellows provided in the portion (110b), the holding portion 110 is relaxed, as shown in FIG.

As a result, in the case of the maintenance and movement system of the vascular treatment microrobot of the present invention, the position and the center of the microrobot can be stably maintained in the blood vessel, and the movement to the accurate lesion can be maintained while maintaining the center.

In addition, by using a material that does not damage the blood vessel wall, it is possible to treat or diagnose without side effects.

As described above, the present invention has been illustrated and described with reference to preferred embodiments, but is not limited to the above-described embodiments, and is provided to those skilled in the art without departing from the spirit of the present invention. Various changes and modifications will be possible.

1 is an overall configuration of the maintenance and movement system of a micro robot for vascular treatment according to an embodiment of the present invention.

2 is an overall configuration diagram of a holding unit according to an embodiment of the present invention.

3 is a view showing a deformed state for maintaining the holding unit according to an embodiment of the present invention.

4 is a view showing a holding part provided with a guide rail according to an embodiment of the present invention.

5 is an overall configuration diagram of a moving unit according to an embodiment of the present invention.

6 is a view showing a moving part provided with a guide rail according to an embodiment of the present invention.

7 is a view showing a state in which the maintenance and movement system of the blood vessel treatment micro-robot according to an embodiment of the present invention in the vessel.

8 is a view showing a state maintained in the blood vessel wall of the maintenance and movement system of the micro robot for vascular treatment according to an embodiment of the present invention.

9 and 10 are views showing the principle of movement of the maintenance and movement system of the micro robot for vascular treatment according to an embodiment of the present invention.

<Explanation of symbols for the main parts of the drawings>

100: main body 110: holding unit

111a: first coupling means 111b: second coupling means

112: first bellows 114: holding band 115: embossed pattern 116: guide rail 120: moving part 120a: third coupling means

120b: fourth coupling means 122: second bellows

130: driving means 130a: first driving means

130b: second driving means 140: system control unit

150: data receiving unit 300: blood vessel wall

Claims (12)

In the micro robot for vascular treatment, A body moving along the blood vessel; A plurality of holding parts provided at a predetermined portion of the main body to fix the main body to a blood vessel wall; A moving unit positioned between the plurality of holding units and moving the main body; Drive means provided in the plurality of holding portions and the moving portion, respectively; And Included in the main body, the system control unit for controlling the drive means, respectively; Wherein each holding unit: First coupling means of which one side is coupled to the main body; Second coupling means which maintains a predetermined distance from the first coupling means and whose one side is coupled to the moving part; A first bellows positioned between the first coupling means and the second coupling means; First driving means provided in the first bellows and connected to the system control unit and fixed to the first coupling means and the second coupling means; And And a plurality of holding bands provided on an outer surface of the first bellows and fixed to the first coupling means and the second coupling means. delete The method of claim 1, The first driving means is a maintenance and movement system of the micro-robots for blood vessel treatment, characterized in that it is provided with a shape memory alloy or electromagnet contracted when the electrical signal is applied from the controller. The method of claim 3, wherein Each of the holding bands is bent toward the vessel wall when the first driving means contracts to maintain the body on the vessel wall. The method of claim 4, wherein Each of the holding bands are embossed pattern, the pattern is formed and maintained in the same direction, the maintenance and movement system of the micro robot for blood vessel treatment. The method of claim 5, The holding band is a maintenance and movement system of the micro-robot for blood vessel treatment, characterized in that provided with a polymer material. The method of claim 6, It is connected to the first coupling means and the second coupling means, the inside of the first bellows, the maintenance of the vascular treatment micro robot further comprises a guide rail through which the first driving means is passed. And moving system. The method of claim 1, The moving part: Third coupling means having one side coupled to the second coupling means; Fourth coupling means provided while maintaining a predetermined interval with the third coupling means; A second bellows positioned between the third coupling means and the fourth coupling means; And And a second driving means provided in the second bellows and connected to the system control unit and fixed to the third coupling means and the fourth coupling means. And moving system. The method of claim 8, The second driving means is a maintenance and movement system of the micro-robots for blood vessel treatment, characterized in that provided with a shape memory alloy or electromagnet contracted when the electrical signal is applied from the controller. The method of claim 9, It is connected to the third coupling means and the fourth coupling means, the inside of the second bellows, the maintenance of the vascular treatment micro robot, characterized in that it further comprises a guide rail through which the second driving means penetrates. And moving system. The method according to claim 1 or 8, The bellows is a maintenance and movement system of the micro robot for vascular treatment, characterized in that it has a restoring force upon contraction. The method of claim 1, And a data receiving unit provided inside the main body, connected to the system control unit, and configured to receive a control signal transmitted from the outside.

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