KR102013793B1 - a guide wire bending device and control method thereof - Google Patents

Abstract

The present invention relates to a guide wire bending device for inserting a guide wire. The guide wire bending device according to an embodiment of the present invention includes a control unit for calculating the bending angle and curvature of the guide wire tip on the basis of the photographing unit for photographing the blood vessel and the guide wire in the body, the image taken by the photographing unit; It includes a drive unit for modifying the shape of the guide wire tip in accordance with the bending angle and the curvature calculated by the controller.

Description

Guide wire bending device and control method

The present invention relates to a device guide wire bending device for inserting a guide wire and a control method thereof.

In surgery using a guide wire, such as coronary angioplasty, the most important part of the surgery is to insert the guide wire up to the lesion (blocked or narrowed vessel). Inserting such a guide wire up to the lesion may be determined according to the skill of the surgeon.

On the other hand, doctors intentionally bend the tip portion of the guidewire to create the desired angle and curvature to direct the guidewire to the desired lesion. This is performed for the purpose of moving the guidewire to the desired vessel branch after confirming the lesion site through angiography image or 3D CT photographed in advance. Alternatively, the guide wire tip may be slightly bent to prevent puncture so that the guide wire tip does not directly pierce the blood vessel. Proper guidewire banding requires a lot of surgical experience and anatomical knowledge of the vascular structure, and the tip angle and curvature may be readjusted if the guidewire does not fit well during the procedure.

On the other hand, many kinds of remote surgical devices for coronary intervention have been researched and commercialized. The remote slave device for coronary angioplasty located on the patient side of the conventional apparatus for coronary artery intervention is a guide wire control device using a roller and a rotating gear of Beijing University of China (prior art document 1), Chinese Academy of Sciences Equipments using frictional forces of wheels (prior art document 2), Beijing Tech's guide wire holders and ball screws, etc. (prior art document 3) were developed for research purposes. On the other hand, commercially available equipment for controlling guide wires and sheaths has been developed in Magellan (prior art document 4) and Corpath (prior art document 5). However, these research and commercial equipment focuses on the remote control of the guide wire, but the configuration of the device for adjusting the angle and curvature of the tip of the guide wire was not seen.

[1] Tianmiao Wang, Dapeng Zhang, Liu Da, "Remote-controlled vascular interventional surgery robot," The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 6, No. 2, pp. 194 ?? 201, 2010. [2] Gui-Bin Bian, Xiao-Liang Xie, Zhen-Qiu Feng, Zeng-Guang Hou, Peng Wei, Long Cheng and Min Tan, "An Enhanced Dual-finger Robotic Hand for Catheter Manipulating in Vascular Intervention: A Preliminary Study , "in Proceeding of the IEEE International Conference on Information and Automation, pp. 356-361, 2013. [3] Feiyu Jia, Shuxiang Guo, and Yuan Wang, "An Interventional Surgical Robot System with Force Feedback," in Proceeding of the 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 632-637, 2015. [4] http://wwww.hansemedical.com/, http://youtu.be/8f0e39SYMUY [5] http://www.corindus.com/, https://youtu.be/YTy8EGUTjpw, Tal WenderoW, Thomas Bromander, James J. Kennedy, III, Stanley O. Thompson, Jon B. Taylor, Jeffrey Lightcap, John Murphy, "Catheter System", US 8,480,618 B2

It is an object of the present invention to solve the above and other problems.

An object of the present invention is to provide a guide wire banding device that can automatically insert the guide wire in consideration of the direction of the blood vessel and the direction of the guide wire and its control method.

The guide wire bending device according to an embodiment of the present invention includes a control unit for calculating the bending angle and curvature of the guide wire tip on the basis of the photographing unit for photographing the blood vessel and the guide wire in the body, the image taken by the photographing unit; It includes a drive unit for modifying the shape of the guide wire tip in accordance with the bending angle and the curvature calculated by the controller.

Referring to the effect of the guide wire banding device and the control method according to the invention as follows.

According to at least one of the embodiments of the present invention, there is an advantage that it is possible to provide a guide wire banding device for automatically inserting the guide wire in consideration of the direction of the vessel and the direction of the guide wire and a control method thereof.

Further scope of the applicability of the present invention will become apparent from the following detailed description. However, various changes and modifications within the spirit and scope of the present invention can be clearly understood by those skilled in the art, and therefore, specific embodiments, such as the detailed description and the preferred embodiments of the present invention, should be understood as given by way of example only.

1 is a conceptual diagram illustrating a method for operating a coronary artery of the present invention.
Figure 2 is a block diagram for explaining the insertion device of the guide wire according to the present invention.
3A to 3B are views for explaining a method of inserting a conventional guide wire.
4 is a flowchart illustrating a method of bending a tip when inserting a guide wire.
5 is a conceptual view illustrating a method of automatically inserting a guide wire.
6 is a conceptual diagram showing in detail the configuration of the drive unit of the guide wire bending device according to an embodiment of the present invention.
7 shows the definition of bending angle and curvature.
8 is a conceptual diagram illustrating a process of bending the guide wire tip by the angle adjuster.
Figure 9 shows a guide wire support roller according to an embodiment of the present invention.
10A to 10C are diagrams for describing a method of inserting a guide wire.
11 is a flowchart illustrating a method of automatically inserting a guide wire.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, and the same or similar components are denoted by the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "unit" for components used in the following description are given or used in consideration of ease of specification, and do not have distinct meanings or roles from each other. In addition, in describing the embodiments disclosed herein, when it is determined that the detailed description of the related known technology may obscure the gist of the embodiments disclosed herein, the detailed description thereof will be omitted. In addition, the accompanying drawings are intended to facilitate understanding of the embodiments disclosed herein, but are not limited to the technical spirit disclosed herein by the accompanying drawings, all changes included in the spirit and scope of the present invention. It should be understood to include equivalents and substitutes.

Terms including ordinal numbers such as first and second may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, the terms "comprises" or "having" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

 1 is a conceptual diagram illustrating a method for operating a coronary artery of the present invention.

Referring to Figure 1, Figure 1 is a conceptual diagram for explaining the coronary artery associated with the present invention.

Coronary artery 102 is also referred to as the coronary artery. The heart 101 is an organ that acts as a pump to supply oxygen and nutrients through the blood to every corner of the body. This pump function requires a continuous supply of oxygen and nutrients, the coronary artery (102) supplies blood to the heart muscle layer and the outer membrane of the heart.

In particular, in the surgery using the guide wire, such as coronary angioplasty, it is most important in the surgery to insert the guide wire into the narrowed blood vessel 110 up to the lesion 111. After inserting the balloon catheter to move to the heart and inflating the balloon to the narrowed area to expand the blood vessels 120 to prevent the restenosis of the blood clot Angina with surgery to install a special metal mesh type Stent (121) in the lesion site It can solve such cardiovascular disease.

However. For beginners, a lot of time is needed only to position the guide wire until just before the lesion 111. Even during this time, the doctor and the patient are continuously exposed to X-rays, and thus, a device for inserting a guide wire such as the present invention is required to solve this problem.

 Figure 2 is a block diagram for explaining the insertion device of the guide wire according to the present invention.

Guide wire bending device 200 is an angiography imaging unit 210, X-ray imaging unit 220, communication unit 230, memory 240, guide wire recognition unit 250, haptic unit 260, The driver 270 and the controller 280 may be included.

Referring to FIG. 2, FIG. 2 is a block diagram illustrating a guide wire bending device 200 according to the present invention.

The components shown in FIG. 2 are not essential to implementing the guide wire bending device 200, so that the guide wire bending device 200 described herein has more or less components than those listed above. It can have elements. For example, the angiography imaging unit 210 and the X-ray imaging unit 220 of the components may be an external device, an external angiography imaging apparatus, and an X-ray imaging apparatus and a communication unit Information may be transmitted and received through communication with 230.

However, the angiographic imaging unit 210 and the X-ray imaging unit 220 may be made of a single imaging unit.

The angiography imaging unit 210 may be a device for photographing blood vessels containing a contrast agent. Angiography results can be immediately confirmed by the display device. Information on the size, shape, and site of lesions can be obtained. However, the image photographed by the angiographic imaging unit 210 may not include information on the guide wire.

 3A to 3B are views for explaining a method of inserting a conventional guide wire.

Referring to FIG. 3A, FIG. 3A may be an image 310 of a blood vessel photographed by the angiography image capturing unit 210. The image 310 of the blood vessel photographed by the angiography image capturing unit 210 may display a blood vessel 311 through which blood containing a contrast agent passes. However, in general, the image taken by the angiographic imaging unit 210 is difficult to include an image for the guide wire.

Reference is again made to FIG. 2.

The X-ray imaging unit 220 may photograph the guide wire in the blood vessel in real time. The X-ray imaging unit 220 may photograph the guide wire in the blood vessel using the X-ray. The image photographed by the X-ray photographing unit 220 may not include information about blood vessels.

Referring to FIG. 3B, FIG. 3B is an image 320 of a guide wire photographed by the X-ray photographing unit 220. Although the image of the guide wire 321 is clearly captured in the image 320 of the guide wire photographed by the X-ray photographing unit 220, the shape of the blood vessel cannot be obtained.

Therefore, by combining the image 310 of the vessel taken by the angiography image taking unit 210 by the control unit 280 and the image 320 for the guide wire taken through the X-ray imaging unit 220 A combined image 330 of 3c can be obtained.

Reference is again made to FIG. 2.

The communicator 230 may include one or more modules that enable communication between the guide wire bending device 200 and the communication system and between the guide wire bending device 200 and an external server. In addition, the wireless communication unit 230 may include one or more modules for connecting the guide wire bending device 200 to one or more networks.

The communication unit 230 may include at least one of an image receiving module, a wireless communication module, a wireless internet module, and a short range communication module.

The memory 240 stores data supporting various functions of the guide wire bending device 200. The memory 240 may store a plurality of application programs or applications driven in the guide wire bending device 200, data for operating the guide wire bending device 200, and instructions. At least some of these applications may be downloaded from an external server via wireless communication. Meanwhile, the application program is stored in the memory 240 and installed on the guide wire bending device 200 so as to be driven by the controller 280 to perform an operation (or function) of the guide wire bending device 200. Can be.

The guide wire recognizing unit 250 may recognize a state in the blood vessel of the guide wire.

3C by combining an image 310 of the blood vessel photographed by the angiography image capturing unit 210 by the control unit 280 and an image 320 of the guide wire photographed by the X-ray photographing unit 220. When the combined image 330 is obtained, the guide wire recognizing unit may recognize the state of the blood vessel, the target point, and the state of the guide wire using the guide wire recognition unit. However, the function of the guide wire recognition unit 250 may be part of the control unit 280, the guide wire recognition unit 250 may be included in the control unit 280.

The haptic module 260 generates various tactile effects that a user can feel. A representative example of the tactile effect generated by the haptic unit 260 may be vibration. The intensity and pattern of vibration generated by the haptic unit 260 may be controlled by the user's selection or setting of the controller 280. For example, the haptic unit 260 may synthesize and output different vibrations or sequentially output them.

In addition to the vibration, the haptic unit 260 may be used to stimulate pins that vertically move with respect to the contact skin surface, the blowing force or suction force of air through the jetting or suction port, the grazing to the skin surface, the contact of the electrode, the electrostatic force, and the like. Various tactile effects can be generated, such as effects by the endothermic and the reproduction of a sense of cold using the elements capable of endotherm or heat generation.

The haptic unit 260 may not only deliver a tactile effect through direct contact, but also may allow a user to feel the tactile effect through a muscle sense such as a finger or an arm. Two or more haptic units 260 may be provided according to the configuration of the guide wire bending device 200.

The haptic unit 260 transmits a tactile effect in a user who manually adjusts the guide wire so that the user can recognize the state of the guide wire. Therefore, the user who adjusts the guide wire can obtain the effect of more easily controlling the guide wire without additional visual or auditory information.

The driving unit 270 is a device for adjusting the position and state of the guide wire.

The driver 270 may include a rotation driver 271, a forward and backward driver 272, an angle adjuster 273, and the like.

The driving unit 270 may automatically rotate or advance the guide wire. In addition, the angle adjuster 273 may adjust the bent angle of the tip of the guide wire.

Specific operations of the angle adjuster 273 will be described later with reference to FIGS. 4 to 9.

On the other hand, as described above, the controller 280 controls the operation related to the application program, and the general operation of the guide wire bending device 200.

In addition, the controller 280 performs any one of the above-described components to perform the control and processing related to data communication, or to implement the various embodiments described below in the guide wire bending device 200 according to the present invention. Alternatively, a plurality of combinations can be controlled.

 4 is a flowchart illustrating a method of providing feedback when inserting a guide wire.

The method of providing feedback when the guide wire is inserted may include taking an angiography image (S110), measuring an angle of a blood vessel branch (S120), bending a guide wire tip (S130), and an angle and a guide wide angle. Comparing the angle with the (S140) may be included.

In the step of taking the angiography image (S110), the control unit 280 of the guide wire bending device 200 acquires image information by capturing blood vessels containing a contrast agent through the angiography image capturing unit 210, and displays the display device. The photographed result can be displayed. Therefore, information about the size and shape of the blood vessel, the lesion site, etc. can be obtained.

In step (S120) of measuring the angle of the blood vessel branch, the control unit 280 of the guide wire bending device 200 may obtain information about the angle at the branch of the blood vessel through the X-ray imaging unit 220. In addition, image information may be obtained and the photographed result may be displayed on the display device.

In step S130 of bending the guide wire tip, the control unit 280 of the guide wire bending device 200 may be able to bend the guide wire tip through the driving unit 270. In detail, the controller 280 may calculate an optimal guide wire tip bending angle and curvature based on the angiography image and the angle information of the blood vessel bifurcation point obtained in steps S110 and S120. In addition, the driving unit 270 receives the bending angle and the curvature value from the controller 280 to bend the guide wire tip.

The process of the controller 280 calculating the optimal guide wire tip bending angle and curvature will be described in more detail below.

First, a matched X-ray image is generated. In detail, the control unit 280 of the guide wire bending apparatus 200 may obtain image information including both the blood vessel and the guide wire by matching the image information obtained in steps S110 and S120.

The image information including both the acquired blood vessel and the guide wire information is displayed on the display so that a surgeon can easily check the information about the blood vessel and the guide wire.

In the second step, the target vessel vector is measured. In detail, when the target point to which the guide wire is inserted is determined, the control unit 280 of the guide wire bending device 200 may measure a direction vector between the guide wire and the target point into which the guide wire is to be inserted.

In the third step, the angle between the guide wire vector and the target blood vessel vector is calculated. In detail, the controller 280 of the guide wire bending device 200 may calculate an angle formed between the guide wire vector and the target blood vessel vector.

In the fourth step, the difference between the target vessel vector and the guide wire vector is calculated. In detail, the control unit 280 of the guide wire bending device 200 calculates a difference between the target blood vessel vector and the guide wire vector when the guide wire is rotated by the surgeon instructing the surgery. That is, the controller 280 of the guide wire bending device 200 may calculate the angle between the target vessel vector and the guide wire vector by measuring in real time the guide wire vector (guide wire tip tangent vector) to which the guide wire tip is directed. .

In the step S140 of comparing the angle between the branch point and the guide wide, the control unit 280 of the guide wire bending device 200 is captured by the angiography image capturing unit 210 as shown in FIG. 3C. An image obtained by combining the image 310 of the blood vessel and the image 320 of the guide wire photographed through the X-ray photographing unit 220 may be obtained. The controller 280 may compare the angle of the branch point and the angle at which the actual guide wire tip is bent.

In an embodiment, when the angle of the branch point and the guide wire bending angle do not match, the controller 280 returns to step S130 to band the tip of the guide wire. In another embodiment, when the angle of the branch point and the guide wire bending angle coincide, the process ends.

 5 is a conceptual view illustrating a method of automatically inserting a guide wire.

Referring to FIG. 5, the guide wire bending device 200 includes an angiography imaging unit 210, an X-ray imaging unit 220, and a driving unit 270 that automatically inserts a guide wire, and the driving unit 270. ) May include a rotation driver 271 and a forward and backward driver 272.

The control unit 280 of the guide wire bending device 200 may rotate the guide wire by using the rotation driver 271.

In addition, the controller 280 of the guide wire bending device 200 may move the guide wire back and forth by using the forward and backward driving unit 272.

Accordingly, the control unit 280 of the guide wire bending device 200 rotates the guide wire using the rotation drive 271 such that the angle between the guide wire vector and the direction vector between the target point to which the guide wire is to be inserted is minimized. You can.

Hereinafter, the driving unit 271 will be described in more detail.

 6 is a conceptual diagram showing in detail the configuration of the drive unit of the guide wire bending device according to an embodiment of the present invention.

As illustrated in FIG. 6, the guide wire bending device 200 according to an embodiment of the present invention appropriately bands the guide wire A to be inserted into the patient B, specifically, the blood vessel of the patient.

At this time, the guide wire (A) can be bent by the drive unit 270, specifically, it can be rotated in an appropriate direction by the rotary drive unit 271, can be translated by the forward and backward drive unit 272. In addition, the bending angle and the radius of curvature may be adjusted by the angle adjuster 273. The bending angle and curvature radius referred to herein may be defined as shown in FIG. 7.

As shown in FIG. 6, the angle adjuster 273 may be preferably provided at a position immediately before being inserted into the patient B, but may be provided at another position.

8 is a conceptual diagram illustrating a process of bending the guide wire tip by the angle adjuster. FIG. 8 (a) shows before the guide wire tip is bent by the angle adjuster 273 and FIG. 8 (b) shows after the guide wire tip is bent by the angle adjuster 273.

As shown in FIG. 8, the angle adjuster 273 includes a first camera 571, a second camera 572, a guide wire push bar 573, and a guide wire support roller 574. In addition, the angle adjuster 273 may further include a force / pressure sensor 575.

The first camera 571 and the second camera 572 monitor the shape of the tip portion. Specifically, the shape of the guide wire tip bent by the angle adjuster 273 is monitored. The shape of the monitored tip is transferred to the controller 280 and used for the feedback process.

8 shows two cameras, the number of cameras is not limited to two. However, in the preferred embodiment of the present invention, two cameras may be provided to be orthogonal to each other to measure the three-dimensional shape of the tip portion.

Guide wire push bar 573 presses the guide wire to deform the shape of the guide wire tip. Specifically, the guide wire push bar 573 presses the guide wire bar, and the guide wire under pressure is deformed according to the shape of the guide wire support roller 574.

In this case, the guide wire push bar 573 may further include a force / pressure sensor 575, the force / pressure sensor 575 monitors the pressure transmitted to the guide wire. The monitored result is transmitted to the control unit 280 to prevent permanent deformation and breakage of the guide wire.

Guide wire support roller 574 is described in more detail in FIG.

Figure 9 shows a guide wire support roller according to an embodiment of the present invention.

As shown in FIG. 9, the guide wire support roller 574 includes a plurality of curvature changing portions 541 to 548, a rotation shaft 560, and a rotation plate 561. Although eight curvature changing parts are disclosed in FIG. 9, the number of curvature changing parts is merely an example.

The plurality of curvature changers 541 ?? 548 provide various bending angles and curvatures at the guide wire tips. Depending on the shape of the vessel and the location of the target point, various bending angles and curvatures may be required. Therefore, the guide wire bending device according to an embodiment of the present invention may include a curvature changer capable of providing a plurality of curvatures and bending angles.

The rotating shaft 560 and the rotating plate 561 select an appropriate curvature changing unit according to the optimal bending angle and curvature transmitted from the controller 280. In detail, the rotation shaft 560 and the rotation plate 561 move the selected curvature change portion to a position where the guide wire pressing bar can be brought into contact with the guide shaft.

 10A to 10C are diagrams for describing a method of inserting a guide wire using feedback.

Referring to FIG. 10A, the controller 280 of the guide wire bending device 200 may obtain image information including both the blood vessel and the guide wire. In addition, the controller 280 of the guide wire bending device 200 may obtain information about the target point 610 into which the guide wire 620 is to be inserted. In addition, the controller 280 of the guide wire bending device 200 may acquire the direction of the target blood vessel vector 630. In addition, the controller 280 of the guide wire bending apparatus 200 may measure the direction of the guide wire vector 640. In addition, the controller 280 of the guide wire bending apparatus 200 may acquire an angle 650 between the direction of the guide wire vector 640 and the direction of the target blood vessel vector 630.

Referring to FIG. 10B, as the guide wire rotates, the direction of the guide wire vector 660 in the blood vessel is also changed. The controller 280 of the guide wire bending device 200 may confirm in real time that the direction of the guide wire vector 660 is changed in this way.

When providing the rotational feedback, the control unit 280 of the guide wire bending device 200 is such that the angle 650 between the direction of the guide wire vector 640 and the direction of the target vessel vector 630 is smaller than the predetermined angle. Until losing, the haptic unit 260 may generate vibration.

The control unit 280 of the guide wire bending device 200 according to the magnitude of the angle 650 between the direction of the guide wire vector 640 and the direction of the target blood vessel vector 630, the vibration generated in the haptic unit 260 You can change the size of the. For example, when the magnitude of the angle 650 between the direction of the guide wire vector 640 and the direction of the target blood vessel vector 630 is increased, the magnitude of vibration may be increased accordingly.

In addition, the control unit 280 of the guide wire bending device 200 is generated in the haptic unit 260 according to the size of the angle 650 between the direction of the guide wire vector 640 and the direction of the target blood vessel vector 630. The pattern of vibration can be changed.

Therefore, the surgeon performing the surgery may determine the magnitude of the angle 650 between the direction of the guide wire vector 640 and the direction of the target blood vessel vector 630 by recognizing the vibration generated by the haptic unit 260. More easily, the effect of inserting the guide wire to the target point in the blood vessel can be obtained.

In addition, referring to FIG. 10C, when there are a plurality of branch points, the controller 280 of the guide wire bending device 200 may perform the above-described operation at each branch point so that the guide wire may be inserted into a desired vessel.

 11 is a flowchart illustrating a method of automatically inserting a guide wire.

The method for automatically inserting the guide wire includes capturing an angiography image (S210), capturing a real-time X-ray image (S220), generating a matched X-ray image (S230), and a target blood vessel vector. Measuring step (S240), the step of bending the guide wire tip (S250), the step of calculating the angle between the guide wire vector and the target vessel vector (S260), rotating the guide wire (S270), the guide wire and It may include the step of measuring the distance of the target point (S280), the step of advancing the guide wire to the target point (S290) and the like.

Taking the angiography image (S210), taking a real-time X-ray image (S220), and generating a matched X-ray image (S230) may include taking the angiography image described with reference to FIG. S110), similar to the step of taking a real-time X-ray image (S120) and the step of generating a matched X-ray image (S130), a detailed description thereof will be omitted.

In operation S240, when the target point to which the guide wire is to be inserted is determined, the control unit 280 of the guide wire bending device 200 determines whether the guide wire is inserted between the guide wire and the target point to which the guide wire is to be inserted. The direction vector of can be measured.

The step S250 of bending the guide wire tip is the same as the guide wire tip bending step S130 described with reference to FIG. 4, and thus description thereof is omitted.

Next, in step S260 of calculating an angle between the guide wire vector and the target blood vessel vector, the controller 280 of the guide wire bending device 200 may calculate an angle between the guide wire vector and the target blood vessel vector.

Next, in the step (S270) of rotating the guide wire, the control unit 280 of the guide wire bending device 200 is such that the angle between the direction wire between the guide wire vector and the target point to be inserted into the guide wire is minimized. The guide wire can be rotated.

In step (S280) of measuring the distance of the target point, the control unit 280 of the guide wire bending device 200 measures the distance between the guide wire and the target bearing. In detail, the controller 280 may measure the distance between the guide wire and the target point based on the matched X-ray image.

In the step S290 of advancing the guide wire to the target point, the controller 280 of the guide wire bending device 200 advances the guide wire based on the measured distance to the target point.

As described above, according to an embodiment of the present invention, the doctor instructing the surgery does not need to manually adjust the guide wire, and grasps the state of the guide wire through the guide wire bending device 200, and automatically guides the target wire. It can be controlled to be inserted up to the point, so the effect of inserting the guide wire to the target point more easily can be obtained.

The present invention described above can be embodied as computer readable codes on a medium in which a program is recorded. The computer-readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable media include hard disk drives (HDDs), solid state disks (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and the like. This also includes implementations in the form of carrier waves (eg, transmission over the Internet). In addition, the computer may include the controller 180 of the terminal. Accordingly, the above detailed description should not be construed as limiting in all aspects and should be considered as illustrative. The scope of the invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention.

200: guide wire banding device
210: angiography imaging unit 220: X-ray imaging unit
230: communication unit 240: memory
250: guide wire recognition unit 260: haptic unit
270: drive unit 280: control unit

Claims (7)

In the guide wire banding device for inserting the guide wire into the vessel,
A photographing unit which photographs the blood vessel and the guide wire in the body;
A controller configured to calculate a bending angle and a curvature of the guide wire tip based on the image photographed by the photographing unit; And
It includes a drive unit for modifying the shape of the guide wire tip according to the bending angle and curvature calculated by the control unit and including an angle adjustment unit,
The angle adjustment unit
A guide wire holding roller corresponding to the bending angle and curvature calculated by the controller, and a guide wire pressing bar for adjusting an angle according to the shape of the guide wire supporting roller by applying pressure to the guide wire,
The guide wire is deformed in shape according to the shape of the guide wire support roller.
Guide wire banding device. According to claim 1,
The driving unit includes a rotation driving unit for rotating the guide wire and the forward and backward driving unit for translating the guide wire forward and backward,
The angle adjusting unit, for adjusting the bending angle of the guide wire
Guide wire banding device. delete According to claim 1,
The angle adjustment unit
Further comprising a force / pressure sensor for monitoring the pressure applied by the guide wire push bar to the guide wire
Guide wire banding device. According to claim 1,
The angle adjustment unit
The camera further includes a camera for monitoring the bending angle and curvature of the guide wire deformed by the guide wire push bar and the guide wire support roller.
Guide wire banding device. The method of claim 5,
The control unit
Comparing the result of the deformation monitored by the camera and the blood vessel image obtained from the photographing unit to determine whether to further modify
Guide wire banding device. According to claim 1,
The guide wire support roller is
It includes a plurality of curvature changer that can correspond to various shapes of the blood vessel
Guide wire banding device.

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