KR102242501B1 - Puncturing Apparatus and the Operating Method thereof - Google Patents

Abstract

The puncture device according to an embodiment of the present invention is a first assembly that provides 2 degrees of freedom for translation with respect to a rod having a predetermined length, and a second assembly that is combined with the first assembly and provides 7 degrees of freedom for rotation with respect to the rod Including, the rod may include a needle fixing portion to which a needle is fixed to one end, and a manipulation portion for operating the translation 2 degrees of freedom may be provided on the other end side of the rod.

Description

Puncture equipment and its operation method {Puncturing Apparatus and the Operating Method thereof}

The present invention relates to a puncture device and a method of operation thereof, and more particularly, to a puncture device that minimizes radiation exposure of an operator and a method of operation thereof.

Recently, research on vascular intervention is actively underway. In the case of vascular intervention, a hole is punctured in a part of a blood vessel, and medical equipment, such as a guide wire, is inserted through the punctured hole. The inserted guide wire is inserted along the blood vessel to the target point. A medical procedure may be performed through a guide wire reaching the target point, or the drug may be accurately delivered to the target point through the hollow of the guide wire.

In this case, medical imaging equipment is used to facilitate puncture of blood vessels, for example, arteries. That is, the medical procedure is performed while the correct position of the artery is confirmed through medical imaging equipment. However, it is a reality that there is a concern about the operator's radiation exposure due to the radiation emitted from medical imaging equipment.

Accordingly, the inventors have invented a puncture device and a method of operating the same to minimize radiation exposure.

One technical problem to be solved by the present invention is to provide a puncture device and an operating method for minimizing radiation exposure.

Another technical problem to be solved by the present invention is to provide a puncture device having a high degree of freedom and an operation method thereof.

Another technical problem to be solved by the present invention is to provide a puncture device having a simple operation method and an operation method thereof.

The technical problem to be solved by the present invention is not limited to the above.

The puncture device according to an embodiment of the present invention includes a rod extending a predetermined distance in one direction, and provided with a needle fixing portion to which a needle is fixed at an end portion and a tube receiving portion for accommodating the tube, and is provided on one side of the rod. And a first manipulation unit providing movement in the longitudinal direction of the rod, and a second manipulation unit provided on one side of the rod and providing movement in the width direction of the rod.

According to an embodiment, a third manipulation unit provided on one side of the rod and providing rotational motion of the rod may further be included.

According to an embodiment, the first operation unit further includes a first rack providing the longitudinal movement path, and the second operation unit includes a second rack providing the transverse movement path. ) May be further included.

According to an embodiment, according to the rotation of the first manipulation unit, the rod moves along the first rack in the longitudinal direction of the rod, and according to the rotation of the second manipulation unit, the rod moves along the second rack. It can be moved in the width direction of.

According to an embodiment, the rod may further include a blood receiving portion for receiving blood discharged from the needle.

According to an embodiment, a width of the blood receiving portion may be wider than a width of the tube receiving portion, or a depth of the blood receiving portion may be deeper than a depth of the tube receiving portion.

According to an embodiment, a plurality of fixing portions to which the rod is fixed may be provided in the tube receiving portion of the rod along a length direction of the tube receiving portion.

According to an embodiment, a first joint providing a 3-axis rotational freedom with respect to the rod, a second joint providing a 3-axis rotational freedom with respect to the rod, and provided between the first joint and the second joint, the It may further include a third joint that provides a uniaxial rotational freedom to the rod.

The puncture device according to an embodiment of the present invention includes a first assembly that provides 2 degrees of freedom for translation for a rod having a predetermined length, and a second assembly that is combined with the first assembly and provides 7 degrees of freedom for rotation with respect to the rod. Including an assembly, the rod may include a needle fixing portion to which a needle is fixed at one end, and a manipulation portion for operating the translation 2 degrees of freedom may be provided on the other end of the rod.

According to an embodiment, the first assembly may further provide one degree of freedom for rotation with respect to the rod, and a manipulation unit for manipulating the one degree of freedom for rotation may be provided at the other end of the rod.

According to an embodiment, the intensity of radioactivity applied to the manipulation unit provided at the other end of the rod may be weaker than the intensity of radioactivity applied to one end of the rod.

A method of operating a puncture device according to an embodiment of the present invention includes a first control step of positioning a needle fixed to a needle fixing unit provided at one end of a rod having a predetermined length near the puncture site, and the first control step Thereafter, a second control step of placing the needle at the puncture site, passing one end of the needle through the puncture site, and inserting a guide wire through the other end of the tube, and the guide It may include exposing the wire.

According to an embodiment, in the first control step, the rod may move in 7 degrees of freedom.

According to an embodiment, at the other end of the rod, a first operation part for controlling a longitudinal movement of the rod and a second operation part for controlling a widthwise movement of the rod are provided, wherein the second control step and the penetration At least one of the steps is performed during radiographic imaging of the puncture site, and the operator performs the second control step and the penetration through at least one of the first and second manipulation units provided at the other end of the rod. At least one of the steps may be performed.

According to an embodiment, the penetrating step may further include connecting the other end of the needle and one end of the tube when blood is discharged through the other end of the needle.

According to an embodiment of the present invention, the rod may have a needle fixing portion at one end, and a manipulation unit for controlling the position of the needle near the other end may be provided. Since the needle fixing portion and the operating portion are spaced apart, even if radioactivity is irradiated to the needle side, the amount of radioactivity irradiated to the operating portion can be reduced. This can reduce the risk of radiation exposure.

The puncture device according to an embodiment of the present invention may include a first assembly providing 2 degrees of freedom for translation and 1 degree of freedom for rotation, and a second assembly providing 7 degrees of freedom for rotation. By providing multiple degrees of freedom, the convenience of operation can be improved. Also, quick position control can be provided by the second assembly, and precise position control can be provided by the first assembly.

The puncture device according to an embodiment of the present invention may include a blood receiving unit. When the needle is located inside the blood vessel, blood is released from the needle, and the released blood may be accommodated in the blood receiving portion. Accordingly, it is possible to minimize the inflow of blood back into the blood vessel by the guide wire inserted into the needle afterwards. Thus, medical accidents can be prevented.

1 and 5 are diagrams for explaining a puncture device according to an embodiment of the present invention.
6 to 11 are diagrams for explaining a method of operating a puncture device according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the technical idea of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed contents may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In the present specification, when a component is referred to as being on another component, it means that it may be formed directly on the other component or that a third component may be interposed therebetween. In addition, in the drawings, the shape and size are exaggerated for effective description of the technical content.

In addition, in various embodiments of the present specification, terms such as first, second, and third are used to describe various elements, but these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. Accordingly, what is referred to as a first component in one embodiment may be referred to as a second component in another embodiment. Each embodiment described and illustrated herein also includes its complementary embodiment. In addition, in the present specification,'and/or' has been used to mean including at least one of the elements listed before and after.

In the specification, expressions in the singular include plural expressions unless the context clearly indicates otherwise. In addition, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, components, or a combination thereof described in the specification, and one or more other features, numbers, steps, or configurations. It is not to be understood as excluding the possibility of the presence or addition of elements or combinations thereof. In addition, in the present specification, "connection" is used to include both indirectly connecting a plurality of constituent elements and direct connecting.

In addition, in the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted.

1 and 5 are diagrams for explaining a puncture device according to an embodiment of the present invention.

1 to 5, a puncture device 1000 according to an embodiment of the present invention may include at least one of a first assembly 110 and a second assembly 210.

The first assembly 110 may provide 2 degrees of freedom for translation with respect to the needle N for puncturing the blood vessel. Additionally, the first assembly 110 may provide one degree of freedom of rotation for the needle N that punctures the blood vessel.

1 and 2, the first assembly 110 includes a first operation box 120, a first rack 130, a second operation box 140, a second rack 150, and a rod. It may include at least one of (rod; 160).

The first operation box 120 and the first rack 130 may provide one degree of freedom for translation in the longitudinal direction of the needle N with respect to the needle N. In another aspect, the first operation box 120 and the first rack 130 have one degree of freedom of translation in the longitudinal direction of the rod 160 with respect to the rod 160 fixing the needle (N). Can provide.

To this end, a gear moving along the first rack 130 may be provided in the first operation box 120. That is, by the operation of the gear, the first rack 130 can be moved. Accordingly, the rod 160 coupled to the first rack 130 may move together. As a result, the rod 160 may have a degree of translational freedom.

In this case, a first operation unit 122 may be provided in the first operation box 120. The first manipulation unit 122 may be provided in a roller type. In this case, when the operator rotates the first manipulation unit 122, the first rack 130 may move along the length direction of the rod 160. That is, the rod 160 is capable of moving in a rack-and-pinion manner.

Since the first operation box 120 and the first operation unit 122 are driven in a rack-and-pinion method, separate locking after the operator moves the rod 160 in the longitudinal direction of the rod 160 Even if not performed, the movement of the rod 160 in the longitudinal direction is limited. Accordingly, malfunctions in medical procedures requiring precise manipulation can be naturally prevented.

In addition, a first locking part 124 may be provided on one side of the first operation box 120. The rotation of the first manipulation part 122 may be locked according to the degree of rotation of the first locking part 124.

Meanwhile, a second operation box 140 may be provided on one side of the first rack 130. A second rack 150 extending in a different direction from the first rack 130 may be provided on one side of the second operation box 140. For example, the second rack 150 may extend in the width direction of the rod 160.

The second operation box 140 and the second rack 150 may additionally provide one degree of freedom for translation in the longitudinal direction of the needle N with respect to the needle N. In another aspect, the second operation box 140 and the second rack 150 have one degree of freedom of translation in the width direction of the rod 160 with respect to the rod 160 fixing the needle N. It can be provided.

To this end, a gear moving along the second rack 150 may be provided in the second operation box 140. That is, by the operation of the gear, the second rack 150 can be moved. Accordingly, the rod 160 coupled to the second rack 150 may move together. Accordingly, the rod 160 may additionally have a degree of translational freedom.

In this case, a second operation unit 142 may be provided in the second operation box 140. The second manipulation unit 142 may be provided in a roller type. In this case, when the operator rotates the second operation unit 142, the second rack 150 may move along the width direction of the rod 160. That is, the rod 160 is capable of moving in a rack-and-pinion manner.

Since the second operation box 140 and the second operation unit 142 are driven in a rack-and-pinion method, separate locking after the operator moves the rod 160 in the width direction of the rod 160 Even if not performed, the movement of the rod 160 in the width direction is limited. Accordingly, malfunctions in medical procedures requiring precise manipulation can be naturally prevented.

In addition, a second locking part 144 may be provided on one side of the second operation box 140. The rotation of the second manipulation unit 142 may be locked according to the degree of rotation of the second locking unit 144.

The rod 160 may be coupled to the second rack 150.

The rod 160 may include a needle fixing part 170 fixing the needle N at one end. The needle fixing part 170 may fix one side of the needle N in a screw manner. For example, as shown in FIG. 3, in a state in which one side of the needle N is inserted into the needle fixing part 170, the needle fixing screw 172 may be fastened.

Since the needle (N) is fixed to the rod (160), the degree of freedom of the rod (160) can be transmitted to the needle (N).

The rod 160 may be provided with a tube receiving portion 162 accommodating the tube T. The tube receiving part 162 may be provided along the length direction of the rod 160. In a state in which the tube T is seated in the tube receiving portion 162, one end of the tube T may be coupled to one end of the needle N.

The rod 160 may include a plurality of rod fixing parts 167 along the length direction of the rod 160 (see FIG. 4 ). The rod fixing part 167 may have a wider width than the tube receiving part. The rod 160 may be coupled to a peripheral configuration by the rod fixing part 167. For example, a rod fixing screw may be fastened to the rod fixing part 167. 4 shows that the rod 160 is fixed through the rod fixing portion 167 located at the rearmost side. If, for example, the length of the needle (N) is long, it is possible to use the needle fixing portion 167 on the front side. Accordingly, since the length of the needle N is considered, the precision and convenience of a medical procedure may be improved.

The rod 160 may be provided with a blood receiving portion 165 for receiving blood discharged from the needle N (see FIG. 3 ). The width of the blood receiving part 165 may be wider than the width of the tube receiving part 162, or the depth of the blood receiving part 165 may be deeper than the depth of the tube receiving part 162. Accordingly, the blood receiving part 165 may provide a space in which blood can be accommodated.

The first assembly 110 according to an embodiment of the present invention has been described above. Hereinafter, a modified example of the first assembly 110 will be described with reference to FIGS. 4 and 5.

4 and 5, the first assembly 110 may further include a rotation stage 180 that provides one degree of freedom of rotation with respect to the rod 160. The rod 160 may be coupled to the rotation stage 180. A third manipulation unit 182 may be provided on one side of the rod 160 to manipulate the rotation stage 180. According to the manipulation of the third manipulation unit 182, the rotation stage 180 may rotate, and accordingly, the rod 160 may be provided with one degree of freedom of rotation.

In another aspect, the first assembly 110 may provide 2 degrees of freedom for translation and 1 degree of freedom for the rod 160.

With continued reference to FIGS. 4 and 5, the first operation box 120 may be provided on the upper side of the first rack 130 (in FIGS. 1 and 2, the first operation box 120 is It is provided under the first rack 130). In this case, the first operation box 120 can be moved along the length direction of the first rack 130 by the operation of the first operation unit 122. Accordingly, it goes without saying that the rod 160 can move along the longitudinal direction of the rod 160.

Meanwhile, the first assembly 110 may further include a connection unit 190 as shown in FIG. 1 or 5. The connection part 190 may couple the first assembly 110 and the second assembly 210. For example, the connection part 190 may couple the first and second assemblies 110 and 210 in a screw manner.

The second assembly 210 may provide 7 degrees of freedom of rotation with respect to the rod 160. To this end, the second assembly 210 includes a first joint 220 providing three degrees of freedom of rotation, a second joint 240 providing three degrees of freedom of rotation, and the first and second joints 220 and 240. ) It may include a third joint 230 that provides one degree of freedom of rotation.

In this case, the first joint 220 may be coupled to the base 250 serving as a support. A first link 225 may be provided between the first joint 220 and the third joint 230. A second link 235 may be provided between the second joint 240 and the third joint 230. The connection part 190 may be coupled to the third joint 240.

As described above with reference to FIGS. 1 to 5, the puncture device according to an embodiment of the present invention may have multiple degrees of freedom. The first assembly 110 may provide 2 degrees of freedom for translation and 1 degree of freedom for rotation, and the second assembly 210 may provide 7 degrees of freedom for rotation. Accordingly, the precision and convenience of a medical procedure can be improved.

In addition, a needle fixing part 170 is provided at one end of the rod 160, and manipulation parts are located at one side of the other end of the rod 160. That is, the manipulation parts are located in the opposite direction to the needle fixing part 170. Accordingly, even if radioactivity for obtaining medical images is applied to the vicinity of the needle (N), since the manipulation unit is located in a direction away from the needle (N), exposure of the operator to the radioactivity can be minimized.

Furthermore, a blood receiving part 165 is provided at one end of the rod 160. If the needle (N) punctures the blood vessel, blood from the blood vessel is accommodated in the blood receiving portion 165 along the needle (N). The operator can see that blood is accommodated in the blood receiving part 165 and confirm that the needle N has well punctured the blood vessel.

After that, the operator inserts the tube T into the needle N, and inserts the guide wire G along the path provided by the tube T and the needle N. At this time, since the blood released during the vascular puncture is accommodated in the blood receiving part 165, the amount of blood that enters the blood vessel again when the guide wire G is inserted can be minimized. Accordingly, medical accidents can be prevented.

Since the puncture device according to an embodiment of the present invention is driven in a passive type, it can be configured with a simpler configuration.

Hereinafter, a method of operating a puncture device according to an embodiment of the present invention will be described with reference to FIGS. 5 to 11.

6 to 11 are diagrams for explaining a method of operating a puncture device according to an embodiment of the present invention. 6 is a flowchart illustrating a method of operating a puncture device according to an embodiment of the present invention, and FIGS. 7 to 11 are diagrams for explaining each step in detail.

A method of operating the puncture device according to an embodiment of the present invention may be implemented by the puncture device described above with reference to FIGS. 1 to 5.

Referring to FIG. 6, in the operating method of the puncture device according to an embodiment of the present invention, a first control step of positioning a needle fixed to a needle fixing unit provided at one end of a rod having a predetermined length near the puncture site (S110), after the first control step, a second control step of positioning the needle at the puncture site (S120), a step of penetrating one end of the needle to the puncture site (S130), and the other end of the tube By inserting a guide wire through, it may include at least one step of exposing the guide wire from one end of the needle (S140). Hereinafter, each step will be described in detail.

Step S110

In step S110, the rod 160 may be located near the puncture site (P). In this case, the needle N may be fixed to one end of the rod 160 by the needle fixing part 170.

The puncture site (P) may mean a portion of the arterial blood vessel (B) inside the skin (S) to be pierced into the needle (N).

In step S110, rather than accurately positioning the needle N at the puncture site P, the needle N may be quickly positioned near the puncture site P. To this end, as shown in FIG. 7, the needle N can be quickly positioned near the puncture site P through the 7 degrees of freedom of rotation provided by the second assembly 210.

Step S120

In step S120, the needle (N) may be more precisely positioned on the puncture site (P). In step S120, a manipulation unit provided in the first assembly 110 may be used. That is, as shown in FIG. 8, the needle N may be positioned in the longitudinal direction through the first manipulation unit 122, and the needle N may be positioned in the width direction through the second manipulation unit 142. have. Furthermore, the position of the needle N may be additionally controlled through the third manipulation unit 182.

From another viewpoint, fast position control may be performed through the second assembly 210 and precise position control may be performed through the first assembly 110.

Step S120 may be performed while photographing a medical image through the medical imaging equipment 300. This is for the operator to accurately position the needle (N) at the puncture site while visually viewing the blood vessel (B). At this time, radiation (X-ray) may be emitted from the medical imaging equipment 300. This means that radioactive exposure may occur to the operator.

However, according to an embodiment of the present invention, since the needle (N) is fixed at one end of the rod 160 and the manipulation units 122, 142, 182 are provided at the other end in the opposite direction, medical imaging equipment ( The operation units 122, 142, and 182 are spaced a predetermined distance (L) from 300). Accordingly, even if the operator manipulates the manipulation units 122, 142, and 182, exposure to radiation can be minimized.

Step S130

In step S130, one end of the needle N may be passed through the puncture site P. To this end, as illustrated in FIG. 9, the operator may advance the needle N in the longitudinal direction of the needle N through the first operation unit 122. Thereby, the needle (N) can be accurately positioned through the blood vessel.

Also in step S130, it may be performed while photographing a medical image through the medical imaging device 300. This is for the operator to visually view the blood vessel B and insert the needle N into the blood vessel B. At this time, radiation (X-ray) may be emitted from the medical imaging equipment 300. However, according to an embodiment of the present invention, as described above, the manipulation units 122, 142, and 182 are spaced apart from the medical imaging equipment 300 by a predetermined distance L. Accordingly, even if the operator manipulates the manipulation units 122, 142, and 182, exposure to radiation can be minimized. In other words, the operator can puncture the artery by moving the hand away from the radiation environment.

At this time, it should be possible to determine whether the needle (N) has pierced the blood vessel (B) properly. As shown in FIG. 10, when blood BL is released through the end of the needle N and is accommodated in the blood receiving part 165, it is determined that the needle N properly pierced the blood vessel B. I can.

Step S140

In step S140, a guide wire (G) may be provided into the blood vessel (B). To this end, when it is confirmed that blood is released from the end of the needle (N), one end of the needle (N) and one end of the tube (T) may be coupled. At this time, a hollow is provided in the needle (N) and the tube (T). After inserting the guide wire G through the end of the tube T, the operator can advance the guide wire G and insert it into the tube receiving portion 162 accommodating the tube T, and the needle ( Through N), the guide wire G may be exposed to the outside of the needle N. Accordingly, the guide wire (G) can be inserted into the blood vessel (B).

As described above, the present invention has been described in detail using preferred embodiments, but the scope of the present invention is not limited to specific embodiments, and should be interpreted by the appended claims. In addition, those who have acquired ordinary knowledge in this technical field should understand that many modifications and variations are possible without departing from the scope of the present invention.

1000: puncture equipment
110: first assembly
160: rod
162: rod fixing part
165: blood receptacle
170: needle fixing part
210: second assembly

Claims (15)

A rod extending a predetermined distance in one direction, and provided with a needle fixing portion to which the needle is fixed at an end portion and a tube receiving portion for receiving the tube;
A first joint providing a 3-axis rotational freedom with respect to the rod;
A second joint providing 3-axis rotational freedom with respect to the rod;
A third joint provided between the first joint and the second joint and providing a one-axis rotational freedom to the rod;
A first manipulation unit provided on one side of the rod and providing movement in the longitudinal direction of the rod; And
Including; provided on one side of the rod, a second operation unit for providing movement in the width direction of the rod,
Through the 7-axis rotational freedom provided by the first to third joints, the needle is located near the puncture site,
Through the first and second operation parts, the needle is located at the puncture site, puncture equipment. The method of claim 1,
A puncture device further comprising a third manipulation unit provided on one side of the rod and providing a rotational motion of the rod. The method of claim 1,
The first manipulation unit further includes a first rack providing the longitudinal movement path,
The second operation unit, further comprising a second rack (rakc) for providing the movement path in the width direction, puncture equipment. The method of claim 3,
According to the rotation of the first operation unit, the rod moves along the first rack in the longitudinal direction of the rod,
According to the rotation of the second operation unit, the rod moves along the second rack in the width direction of the rod. The method of claim 1,
The rod further comprises a blood receiving portion for receiving blood discharged from the needle. The method of claim 5,
The width of the blood receiving portion is wider than the width of the tube receiving portion,
The depth of the blood receiving portion is deeper than the depth of the tube receiving portion, puncture equipment. The method of claim 1,
In the tube receiving portion of the rod, a plurality of fixing portions to which the rod is fixed are provided along the length direction of the tube receiving portion. Puncture equipment. delete A first assembly providing two degrees of translational freedom for a rod having a predetermined length; And
A second assembly coupled to the first assembly and providing 7 degrees of freedom of rotation with respect to the rod,
The rod includes a needle fixing portion to which a needle is fixed at one end, and an operation portion for operating the translation 2 degrees of freedom is provided on the other end of the rod,
The second assembly, through the rotation 7 degrees of freedom, to position the needle near the puncture site,
The first assembly, through the operation unit, to position the needle at the puncture site, puncture equipment. The method of claim 9,
The first assembly further provides one degree of freedom of rotation with respect to the rod,
The other end of the rod is provided with a control unit for operating the rotation 1 degree of freedom, puncture equipment. The method of claim 9,
The intensity of radioactivity applied to the operation unit provided on the other end of the rod is weaker than the intensity of radioactivity applied to one end of the rod, puncture equipment. A first control step of positioning the needle fixed to the needle fixing unit provided at one end of the rod having a predetermined length near the puncture site through 7 degrees of freedom;
A second control step of positioning the needle at the puncture site through a first operation part provided at the other end of the rod and controlling a longitudinal movement of the rod and a second operation part controlling a widthwise movement of the rod;
Penetrating one end of the needle through the puncture site; And
Including the step of exposing the guide wire from one end of the needle by inserting a guide wire through the other end of the tube that is coupled to the other end of the needle and guides the insertion path of the guide wire,
The first control step and the second control step are performed sequentially. delete The method of claim 12,
At least one of the second control step and the penetrating step is performed during radiographic imaging of the puncture site,
The operator performs at least one of the second control step and the passing step through at least one of the first and second manipulation units provided at the other end of the rod. The method of claim 12,
The step of passing through,
When blood is discharged through the other end of the needle, further comprising the step of connecting the other end of the needle and one end of the tube, the operation method of the puncture equipment.

Images