KR20200134762A - Apparatus and method for controling guidewire velocity - Google Patents

Abstract

The present invention relates to a system for controlling a catheter guidewire. According to an embodiment, the system for controlling a catheter guidewire comprises: a storing unit which temporarily storing at least one procedure planning data; a driving unit which drives the guidewire by applying at least one driving force to the guidewire while being forwardly and backwardly moved with the procedure planning data; and a controlling unit which generates at least one driving signal while being forwardly and backwardly moved in the guidewire with the procedure planning data, and changes a velocity of the driving when a distal end of the guidewire approaches at least one identification point included in the procedure planning data. The present invention can control the velocity of the driving.

Description

Guidewire speed control device and method {APPARATUS AND METHOD FOR CONTROLING GUIDEWIRE VELOCITY}

It relates to a procedure device and method. In more detail, it relates to an apparatus and method for controlling the speed of progression of a guidewire in a blood vessel used during a catheter procedure.

In an interventional procedure using a catheter to treat cerebrovascular, cardiovascular, or peripheral vascular disease, X-rays are taken during the procedure to determine the location of the inserted surgical instrument, removing the risk of exposure to radiation and inserting the catheter more precisely and accurately. To do this, a remote control robot system is being developed.

When the guide wire or the like reaches the branch point during the procedure, it is necessary to move slowly since it may cause perforation by stimulating the wall of the blood vessel. Therefore, it is required to develop a configuration to control the speed of the guide wire according to the position of the guide wire.

Korean Patent Registration No. 10-1549528 (registration date August 27, 2015) proposes an endoscopic device that provides tactile sensation. The present invention relates to a device that senses a touch applied to an endoscope insertion part and generates a tactile sensation.

According to an embodiment, there is provided a catheter guidewire control system, comprising: a storage unit for at least temporarily storing procedure planning data; A driving unit for driving the guide wire by applying at least one of forward and backward driving force to the guide wire using the procedure planning data; And generating at least one of the forward and backward driving signals on the guide wire using the procedure planning data, wherein the distal end of the guide wire approaches at least one identification point included in the procedure planning data. In time, a system including a control unit for changing the speed of the drive is disclosed.

Here, the identification point may include at least one of a blood vessel entrance, a blood vessel bend, a blood vessel branch point, and a lesion location.

According to another embodiment, at least one of the entrance of the blood vessel, the bend of the blood vessel, the branch point of the blood vessel, and the location of the lesion may correspond to an anatomical location in the blood vessel image as information selected from a medical image acquired before or during the procedure.

According to another embodiment, the procedure planning data may be information on at least one frame selected from among the two-dimensional transcription images of the blood vessel from the medical image or information on which a three-dimensional model is transferred in two dimensions.

According to another embodiment, a system for correcting the position of the at least one identification point by referring to an angiography image captured during operation of the system is disclosed.

According to another embodiment, the control unit may further reduce the speed of the driving as it approaches the at least one identification point.

In addition, there is provided a system for the control unit to reduce the speed when the guide wire moves forward and to drive the guide wire at a predetermined speed when the guide wire moves backward.

According to another embodiment, a system is disclosed, wherein the procedure planning data includes information on a blood vessel connected from an entry point of the guide wire to a target point and a blood vessel adjacent to the connected blood vessel.

According to an embodiment, the control unit may adjust a degree of reducing the speed of the driving in response to the width of the blood vessel around the at least one identification point.

Alternatively, the control unit may adjust the degree to which the speed of the driving is reduced according to the length of the guide wire inserted.

According to another embodiment, a system is also provided for the control unit to reduce the speed when the distal end of the guide wire changes from forward to backward at the at least one identification point.

According to one side, in the catheter guidewire control method, the storage unit storing the procedure planning data; Generating, by a controller, at least one driving signal of forward and backward of the guide wire using the procedure planning data; Driving the guide wire by applying at least one of the forward and backward driving forces to the guide wire by a driving unit using the procedure planning data; And changing, by the control unit, a speed of the driving when the detal end of the guide wire approaches at least one identification point included in the procedure planning data.

1 shows a guide wire near a branch point in a blood vessel according to an embodiment.
2 illustrates perforation of blood vessels due to a guide wire according to an embodiment.
3 shows an identification point according to an embodiment.
4 shows a system for controlling a traveling speed of a guide wire according to an embodiment.
5 shows a process of adjusting the traveling speed of the guide wire according to an embodiment.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, the scope of the rights is not limited or limited by these embodiments. The same reference numerals in each drawing indicate the same members.

The terms used in the description below have been selected as general and universal in the related technology field, but there may be other terms depending on the development and/or change of technology, customs, preferences of technicians, and the like. Therefore, terms used in the following description should not be understood as limiting the technical idea, but should be understood as exemplary terms for describing embodiments.

In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, detailed meanings will be described in the corresponding description. Therefore, terms used in the following description should be understood based on the meaning of the term and the contents throughout the specification, not just the name of the term.

1 shows a guide wire in the vicinity of a branch point in a blood vessel according to an embodiment. Specifically, in FIG. 1, the guide wire 130 enters the blood vessel 110.

The blood vessel 110 may be divided into various forms inside the human body, and FIG. 1 shows a blood vessel including a branch point 120 divided into two exemplarily. In another embodiment, it is possible to split into three or more branches.

The guide wire 120 is a tool for setting a path for transferring the stent, etc. into the blood vessel through the catheter. In order to transfer the guide wire to the end of the blood vessel with a disease, visual information based on medical images such as angiography and fine hand Using tactile information based on the sense of Illustratively, but not limitedly, in the case of cardiac catheterization, there is a difficulty in connecting a guide wire from the blood vessel of the thigh to the heart.

Recently, remote robots have been developed to reduce the physical burden of the operator such as radiation exposure and to precisely control the treatment tools, but there is insufficient effective method to safely transport the guide wire to the target point while preventing injury caused by the guide wire. .

In addition, even if angiography is used, it is not possible to continuously see the image of the path of the blood vessel, and because the contrast medium disappears within about 3 seconds, the operator has a difficulty in controlling the guide wire by sense.

2 shows perforation of a blood vessel due to a guide wire according to an embodiment. Since it is very difficult to control the movement or rotation angle of the guide wire, a perforation in the blood vessel may occur due to an instantaneous mistake.

2 shows the perforation 230 by the guide wire 220 in the vicinity of the branch point of the blood vessel 210. If the guide wire does not enter at an appropriate speed and pressure is applied to the vessel wall too quickly, the perforation 230 may occur in a form similar to that shown in FIG. 3. Therefore, unlike in the straight section of the blood vessel, it is required to control the entry speed of the guide wire near the branch point.

3 shows an identification point of a guide wire according to an embodiment. 3 shows a plurality of identification points 310, 311, 312, 320, 331, 332, and 333 of the guide wire.

Specifically, in FIG. 3A, identification points 310, 311, and 312 are near a branch point of a blood vessel, and identification point 320 is a lesion site in which the width of the blood vessel is narrowed. In the vicinity of the branch point of the blood vessel, the guide wire may enter a path other than the target path, or may cause perforation in the blood vessel wall during progression, so it is necessary to control the speed to proceed slowly. Therefore, when the guide wire passes through the identification points 310, 311, and 312, the controller may control the speed of the guide wire driven by the driving unit to slowly move.

In addition, since the width of the blood vessel is narrowed by the lesion at the identification point 320, there is a risk of damaging the blood vessel wall during progression. Therefore, it is necessary to control the speed as well, and the guide wire moves slowly around the identification point 320 by the control unit. Can be controlled.

In another embodiment, the identification point may mean a blood vessel bent point formed by bending a blood vessel by a predetermined angle or more. 3B shows the identification points 331, 332, and 333 when the blood vessel is bent at a predetermined angle. For example, if the angle (θ) between the direction of the guide wire and the direction of the blood vessel of the blood vessel is 45 degrees or more, if the guide wire enters at a high speed, it may cause perforation in the blood vessel. Can be controlled. The angle is exemplarily expressed at 45 degrees, but is not limited thereto and can be easily changed from the standpoint of a person skilled in the art.

)가 점점 커질수록 가이드와이어의 속도를 더 느리게 제어할 수 있다. 즉, 예각을 이루는 식별 포인트 331과 직각을 이루는 식별 포인트 332, 그리고 둔각을 이루는 식별 포인트 333으로 갈수록 가이드와이어에 의한 천공 위험이 더 높으므로 속도를 점점 더 느리게 제어할 수도 있다.In another embodiment, the angle between the direction of the guide wire and the direction of the blood vessel (

The larger the ), the slower the speed of the guide wire can be controlled. That is, the identification point 331 forming an acute angle, the identification point 332 forming a right angle, and the identification point 333 forming an obtuse angle have a higher risk of puncture by the guide wire, and thus the speed may be controlled more and more slowly.

In one embodiment, the proximity to at least one identification point may mean that the distal end of the guide wire is less than or equal to a predetermined distance from the identification point. Conversely, the meaning of not being close may mean that the distance between the distal end of the guide wire and the identification point exceeds a predetermined distance.

4 shows a system for controlling a speed of a guide wire according to an embodiment. A guidewire 400 and a guidewire control system 410 according to an embodiment are shown.

The guide wire 400 is composed of a long wire, and is composed of a proximal end and a distal end. The proximal end refers to the end that the operator holds the guide wire, and the distal end refers to the end that first enters the patient's body.

The guide wire control system 410 may control the traveling speed of the guide wire 400. Specifically, by applying a force from the proximal end of the guide wire, it is possible to control the distal end of the guide wire to move forward or backward. The guide wire control system 410 may include a storage unit, a driving unit, and a control unit.

The storage unit stores procedure planning data used in the procedure. The procedure planning data may include the identification point information.

The identification point may include at least one of a vascular bend, a vascular branch, and a lesion location. The blood vessel bent portion, the blood vessel branch point, and the location of the lesion are information selected from a medical image acquired before the procedure and may correspond to a geographic location in a blood vessel image.

Also, the procedure planning data may be information on which a 3D model of the blood vessel is formed from a medical image and the 3D model is transferred in 2D. In addition, the procedure planning data may include information on a blood vessel connected from an entry point of the guide wire to a target point and a blood vessel adjacent to the connected blood vessel.

The drive unit is configured to directly apply force to the guide wire. It is controlled by the control unit and inputs a specified force to the proximal end of the guide wire to move the guide wire forward or backward.

The control unit controls the speed of the guide wire by using the procedure planning data. In other words, when the guide wire is close to the identification point by the procedure planning data, a control signal may be transmitted to the driving unit so that the guide wire moves slowly.

In addition, the control unit may correct the position of the at least one identification point by referring to an angiography image captured during operation of the system.

The control unit may further reduce the speed of the driving as it gets closer to the at least one identification point. On the other hand, when the guide wire moves forward, the control unit reduces the speed, and when the guide wire moves backward, the control unit may cause the guide wire to drive at a predetermined speed. That is, when the guide wire moves backward, the risk of damaging the blood vessel is lower than that in the case of moving forward, so that the driving can be controlled to proceed without slowing down the speed.

On the other hand, it is also possible to control to reduce the speed even when reversing by changing the forward and backward movement at the identification point, which is a danger area. That is, when the distal end of the guide wire changes from forward to backward at the at least one identification point, the control unit may control the speed to decrease.

In another embodiment, the control unit may adjust a degree of reducing the speed of the driving in response to the width of the blood vessel around the at least one identification point. Alternatively, it is possible to adjust the degree to which the speed of the driving is reduced according to the length of the guide wire inserted.

5 shows a process of adjusting the speed of the guide wire according to an embodiment. The method of controlling the speed of the guide wire includes storing procedure planning data (510), generating a forward/reverse driving signal (520), driving the guide wire (530), and decelerating when adjacent to the identification point. Step 540 may be included.

In the step 510 of storing the procedure planning data, the storage unit stores procedure planning information using a guide wire. The procedure planning data includes identification point information, and the identification point may mean at least one of a vascular bend, a vascular branch, and a lesion location. In addition, the procedure planning data may include information on a blood vessel connected from an entry point of the guide wire to a target point and a blood vessel adjacent to the connected blood vessel.

In the step 520 of generating the forward/reverse driving signal, the control unit generates a driving signal corresponding to the forward or backward according to the progress of the guide wire. The generated driving signal is transmitted to a driving unit.

In the step 530 of driving the guide wire, the driving unit applies a force to the proximal end of the guide wire according to a driving signal generated by the control unit. The guide wire moves forward or backward by the driving part.

In the step 540 of decelerating when adjacent to the identification point, when the guide wire is close to the identification point, the control unit changes the traveling speed of the guide wire. Illustratively, but not limitedly, it is expressed as a step of decelerating, but may include a step of changing in various ways. The specific deceleration method is the same as described in FIGS. 3 and 4. It is possible to control the deceleration in various ways in response to the advance or reverse of the guide wire, the degree of proximity to the identification point, the thickness of the blood vessel, the length of the guide wire inserted, and the angle of the blood vessel bend.

The apparatus described above may be implemented as a hardware component, a software component, and/or a combination of a hardware component and a software component. For example, the devices and components described in the embodiments include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA), It can be implemented using one or more general purpose computers or special purpose computers, such as a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications executed on the operating system. In addition, the processing device may access, store, manipulate, process, and generate data in response to the execution of software. For the convenience of understanding, although it is sometimes described that one processing device is used, one of ordinary skill in the art, the processing device is a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that it may include. For example, the processing device may include a plurality of processors or one processor and one controller. In addition, other processing configurations are possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of these, configuring the processing unit to behave as desired or processed independently or collectively. You can command the device. Software and/or data may be interpreted by a processing device or to provide instructions or data to a processing device, of any type of machine, component, physical device, virtual equipment, computer storage medium or device. , Or may be permanently or temporarily embodyed in a transmitted signal wave. The software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of the program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

Although the embodiments have been described by the limited drawings, various modifications and variations are possible from the above description to those of ordinary skill in the art. For example, the described techniques are performed in a different order from the described method, and/or components such as a system, structure, device, circuit, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and claims and equivalents fall within the scope of the claims to be described later.

Claims (12)

In the catheter guidewire control system,
A storage unit for at least temporarily storing procedure planning data;
A driving unit for driving the guide wire by applying at least one of forward and backward driving force to the guide wire using the procedure planning data; And
Generates at least one of the forward and backward driving signals on the guide wire using the procedure planning data, but when the distal end of the guide wire approaches at least one identification point included in the procedure planning data Control unit for changing the speed of the drive
A system comprising a.
The method of claim 1,
The identification point includes at least one of a blood vessel entrance, a blood vessel bend, a blood vessel branch point, and a lesion location.
The method of claim 2,
At least one of the entrance of the blood vessel, the bend of the blood vessel, the branch point of the blood vessel, and the location of the lesion are information selected from medical images obtained before or during the procedure, and correspond to an anatomical position in the blood vessel image.
The method of claim 3,
The procedure planning data is information on at least one frame selected from a 2D transcription image of the blood vessel from the medical image or information on which a 3D model is transferred in 2D.
The method of claim 1,
The control unit corrects the position of the at least one identification point by referring to an angiography image captured during operation of the system.
The method of claim 1,
The system further reduces the speed of the driving as the controller approaches the at least one identification point.
The method of claim 1,
The control unit reduces the speed when the guide wire moves forward, and drives the guide wire at a predetermined speed when the guide wire moves backward.
The method of claim 1,
The procedure planning data includes information about a blood vessel connected from an entry point of the guide wire to a target point and a blood vessel adjacent to the connected blood vessel.
The method of claim 1,
The control unit is a system that adjusts the degree of reducing the speed of the driving in response to the width of the blood vessel around the at least one identification point
The method of claim 1,
The control unit adjusts the degree of reducing the speed of the driving in response to the length of the guide wire inserted.
The method of claim 1,
The control unit reduces the speed when the distal end of the guide wire changes the forward direction to the reverse direction at the at least one identification point.
In the catheter guidewire control method,
Storing the procedure planning data by a storage unit;
Generating, by a controller, at least one driving signal of forward and backward of the guide wire by using the procedure planning data;
Driving the guide wire by applying, by a driving unit, at least one of the forward and backward driving force to the guide wire using the procedure planning data; And
Changing, by the control unit, the speed of the drive when the distal end of the guide wire approaches at least one identification point included in the procedure planning data
Guide wire control method comprising a.

Images