WO2015088142A1

WO2015088142A1 - Control device for catheter or endoscope

Info

Publication number: WO2015088142A1
Application number: PCT/KR2014/010549
Authority: WO
Inventors: 단친유알렉세이; 송경애
Original assignee: 주식회사 현주인테크
Priority date: 2013-12-09
Filing date: 2014-11-05
Publication date: 2015-06-18
Also published as: KR101432713B1

Abstract

Disclosed is a control device for a catheter or endoscope. The control device comprises: wires embedded in four wire holes radially formed around the passage of the catheter or endoscope, respectively, each wire having one end secured to an end portion of the catheter or endoscope; a traction part including first and second traction parts that are connected to the other end of each wire and pull the wires through driving thereof to bend a soft part of the catheter or endoscope in the X and Y directions, respectively; and a single operating part that is axially coupled to the traction part and can be operated in both the X and Y directions to drive the first and second traction parts, respectively.

Description

Catheter or Endoscopic Controls

The present invention relates to a catheter or endoscope control device, in more detail, the catheter or the endoscope soft part through the control device can be multi-directional bending, as well as entering the affected area, as well as precise diagnosis and treatment of the affected area It relates to a catheter or control device for endoscopy.

Clinicians use different types of catheters or endoscopes to approach deep inside the patient's body and to perform different procedures. Therefore, it is very important to enable their precise movement when they are inserted into the patient's body.

To this end, in the related art (Korean Patent No. 10-1310046), the user is allowed to bend the front end of the tubule into which the drug is injected when the user rotates the rotary dial so that the user can accurately set the injection position of the drug through the tube. A catheter capable of gripping and adjusting has been proposed.

However, the conventional steerable catheter is limited in catheter adjustment, making it difficult to access the affected area, as well as poor precision.

That is, in the related art, adjustment of the catheter is limited to the up / down direction and thus it is not easy to change the direction to the other. Therefore, not only the accessibility and precision of the affected area is low, but also it is difficult to ensure the accuracy of the procedure.

Therefore, it is urgent to develop a catheter or endoscope control device capable of multidirectional bending so that a catheter or endoscope can easily enter the body, and furthermore, the catheter or endoscope can be maintained in a curved state as well as multidirectional bending. In addition to entry into the affected area, the development of a catheter or endoscopy control device that requires a clear diagnosis and a safe procedure is urgently needed.

The present invention has been made in order to solve the problems described above, it is possible to multi-directional bending of the soft portion through the control device, it is easy to enter the affected area, and thus for catheter or endoscope for precise diagnosis and treatment of the affected area To provide a control device.

In addition, the present invention by applying a structure in which a plurality of gears interlock with each other, the power transmission is easy to be able to smoothly bend the soft portion only by the operation of the stick, as well as control for the catheter or endoscope capable of precise control To provide a device.

In addition, the present invention is provided with a stopper for fixing the elastic portion and the stick supporting the stick, to provide a catheter or endoscope control device that can improve the ease of diagnosis and procedure for the affected area by continuing the elastic restoration and flexion of the soft portion There is.

In order to achieve the above object, the present invention provides a catheter or endoscope control apparatus, wherein the control apparatus is inherently embedded in four wire holes in a radially centered path of the catheter or endoscope, and one end of each of the catheter or A wire part fixed to the endoscope end; A towing part connected to the other end of the wire part and provided with a first towing part configured to pull the wire part by driving to bend the soft part in the X direction, and a second towing part configured to be bent in the Y direction; And a single operation unit axially coupled to the towing unit and operable in both the X direction and the Y direction to drive the first towing unit and the second towing unit, respectively.

The wire part may include a first wire part comprising a pair of wires, each other end of which is connected to the first towing part through a first fastening member, such that the soft part is pulled in the X direction; And a second wire portion formed of a pair of wires, each other end of which is connected to the second towing portion through a second fastening member so that the soft portion is pulled in the Y direction.

The operation unit, the upper body is open, the main body that accommodates the ball is coupled to the inside stick; A lower supporter supporting a lower portion of the ball in the main body; An upper support coupled to an upper portion of the main body and supporting an upper portion of the ball; And a guide axially coupled to the tow portion and transmitting a driving force to the tow portion in conjunction with the operation of the stick.

The guide is a rectangular plate having a curved shape surrounding the outside of the ball. The guide includes a first guide having a long hole formed in a longitudinal direction between both ends, and a second guide, wherein the first guide and the second guide are formed on the upper portion of the ball. It is preferable that the stick is installed on the support in the form of top / bottom cross, and the stick is coupled to the ball through the long holes of the overlapping regions.

The first guide is rotatably installed through the first towing unit and the first X-axis, and preferably rotates together with the first towing unit during rotation.

The second guide is rotatably installed through the second towing unit and the first Y axis, and preferably rotates together with the second towing unit during rotation.

The operation unit is preferably configured to further include; an elastic unit for elastically supporting the operation of the stick.

Preferably, the elastic part includes an elastic plate axially coupled to the guide and elastically coupled to the base plate via a spring.

The elastic plate may include: a first elastic plate coupled to the first guide and the first pin to elastically support the stick from the X direction; And a first elastic plate coupled to the second guide and the second pin to elastically support the stick from the Y direction.

The operation unit is provided between the lower support and the base plate, the lower supporter to be in close contact with the ball to limit the rotation of the ball; preferably further comprises a configuration.

The stopper may have a ring shape and is provided between the bottom surface of the main body and the lower supporter, and a lift formed with wedges on one surface facing the protrusion provided on the lower supporter surface; And a lever coupled to the leaf through the outside of the main body to rotate the leaf, and when the lever is rotated, the wedge engages the protrusion to push the lower support upwards, thereby lowering the lower support. It is preferable to press the ball to be fixed.

Preferably, the stopper further includes a friction part that increases mutual frictional force on any one surface where the lower supporter and the ball contact each other.

Preferably, the friction part is a region in which at least one surface selected from the lower supporter or the ball is roughened or the surface roughened is fastened.

The first towing unit may include a first driving gear coupled to the first guide through a first X axis; A first driven gear to which the first fastening member is coupled; And a first planetary gear unit configured to transfer power between the first driving gear and the first driven gear, wherein the second towing unit includes: a second driving gear coupled to the second guide through a first Y axis; A second driven gear to which the second fastening member is coupled; And a second planetary gear unit 195 configured to transfer power between the second driving gear and the second driven gear, wherein the first driven gear and the second driven gear are sprocket gears. Preferably, the first fastening member and the second fastening member are chains.

The first planetary gear unit may include: a first planetary gear-1 rotating in engagement with the first driving gear; A first planetary gear-2 coupled to and rotated through the first planetary gear-1 and the second X-axis; And a first planetary gear-3 engaged with the first planetary gear-2 and coupled to the first driven gear through a third X-axis, wherein the first and second planetary gears are 2 It is a bevel gear having a gear ratio of 1: 1 to 6: 1, and the first planetary gear-2 and the first planetary gear-3 are spur gears having a gear ratio of 2: 1 to 6: 1. Is preferable.

The second planetary gear unit 195 may include: a second planetary gear-1 meshing with the second driving gear to rotate; A second planetary gear-2 coupled to and rotated through the second planetary gear-1 and the first Y-axis; And a second planetary gear-3 engaged with the second planetary gear-2 and coupled to the second driven gear through a third Y-axis, wherein the second driving gear and the second planetary gear-1 and the first planetary gear are coupled to each other. It is preferable that the two planetary gear-2 and the second planetary gear-3 are spur gears each having a gear ratio of 2: 1 to 6: 1.

According to the present invention as described above, the catheter or endoscopic soft portion of the soft part through the control device can be bent, it is easy to enter the affected area, and thus can be expected the effect of accurate diagnosis and treatment for the affected area.

In addition, the present invention by applying a structure in which a plurality of gears interlock with each other, the power can be easily transferred to bend smoothly to the soft portion only by the operation of the stick, as well as can be expected the effect that can be precise control .

In addition, the present invention is provided with an elastic portion for supporting the stick and a stopper for fixing, it can be expected to maintain the elastic recovery and soft state of the soft portion to increase the convenience of diagnosis and treatment for the affected area.

1 is an overall view showing a preferred embodiment of the present invention for explaining a catheter or endoscope control device,

2 is a perspective view illustrating a wire part according to a preferred embodiment of the present invention;

3 is an exploded view showing an operation unit according to a preferred embodiment of the present invention;

4 is a plan view showing a traction unit according to an embodiment of the present invention;

Figure 5 is a detailed view showing for explaining the driven gear according to an embodiment of the present invention,

Figure 6 is a plan view showing to explain the first operating state of the towing unit according to an embodiment of the present invention,

7 is a plan view showing a second operation state of the towing unit according to an embodiment of the present invention;

8 is a side view illustrating the first plate of the elastic part according to the preferred embodiment of the present invention;

9 is a front view illustrating the second plate of the elastic part according to the preferred embodiment of the present invention;

10 is a cross-sectional view for explaining a stopper according to an embodiment of the present invention, and

11 is a perspective view illustrating an example of a wedge according to a preferred embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

In the description of the present invention, terms defined are defined in consideration of functions in the present invention, which may vary according to the intention or custom of a person skilled in the art and the definitions are based on the contents throughout this specification. Will have to be lowered.

In the present invention, for the sake of convenience, the catheter has been described, and it can be applied to the endoscope.

1 is an overall view showing a preferred embodiment of the catheter or the control device for the endoscope, Figure 2 is a perspective view showing the back state of the control device.

As shown, the catheter or endoscope control device 100 enables multi-directional bending of the catheter 10 and the soft part 11 to allow entry into the affected part, as well as precise diagnosis and treatment of the affected part. It is to.

Here, the catheter is not limited to the conventional drug injection, it may be applied to the catheter applied to the laser treatment or imaging as well as the injection of the drug through the passage.

The control device 100 is embedded in each of the four wire grooves 13 in the radially centered passage 15 of the catheter 10, each end of the wire portion 110 is fixed to the end of the catheter 10, It comprises a towing unit 170 to bend the wire unit 110 in the X and Y direction and the operation unit 120 for driving the towing unit 170 through the shaft coupling.

Here, X and Y are an example of the expression for showing directionality, It is preferable that a direction is not restrict | limited to the X-axis Y-axis direction. In this case, in other expressions, the image may be expressed horizontally and vertically as well as up / down and left and right.

The wire part 110 is formed of a pair of wires, and the other end is connected to the first towing part 180 through the first fastening member 115, so that the soft part 11 is in the X direction. It is composed of a first wire portion 111 and a pair of wires to be pulled, and the other end is connected to the second towing portion 190 through a second fastening member 117 so that the soft portion 11 is Y It is configured to include a second wire portion 113 to be pulled in the direction.

The first fastening member 115 and the second fastening member 117 are means for connecting the wire part 110 and the traction part 170. In this case, the first fastening member 115 and the second fastening member 117 are provided. ) Is preferably a chain that can engage the tow 170.

The operation unit 120 is to drive the towing unit 170 so that the wire can be towed, as shown in Figure 3, the upper opening is open, the ball 123 is coupled to the stick 135 therein The main body 121 is accommodated, the lower support 125 for supporting the lower portion of the ball 123 in the main body 121, the upper support coupled to the upper portion of the main body 121, and supports the upper portion of the ball 123 ( 131 is coupled to the traction unit 170, and comprises a guide 140 for transmitting the driving force to the traction unit 170 in conjunction with the operation of the stick (135).

The main body 121 is a housing in which the lower support 125 and the ball 123 are accommodated, and is fixed to the base plate 101 through the lower support 125 and the fixing plate 109, where the base plate 101 is It is a flat plate that the operation unit 120 and the towing unit 170 is installed.

At this time, the lower support 125 has a lower curved portion 127 is formed on one surface supporting the lower portion of the ball 123, the other surface penetrates the bottom surface and the base perforation portion 104 of the main body 121 and fixed plate 109 A locking groove 128 is formed to be detachably coupled to the fixing hole 109-1 of FIG. 6), and the main body 121 and the base plate 101 are coupled thereto.

On the other hand, the fixing plate 109 is coupled to the locking groove 128 through the base groove 105 provided on the bottom surface of the base plate 101, which is to prevent the fixing plate 109 from protruding to the outside.

The upper support 131 is coupled to the upper portion of the main body 121 to support the upper portion of the ball 123 to prevent the ball 123 from being separated, and the curvature of the ball 123 on one surface in contact with the ball 123. The upper curved portion 133 is formed to correspond to the body 121 is detachably coupled to the body 121 through a conventional fastening means. In this case, it is preferable that the conventional fastening means is a conventional combination such as a screw.

The guide 140 is a rectangular plate having a curved shape surrounding the outside of the ball 123, and includes a first guide 145 and a second guide 147 having a long hole 141 formed in a longitudinal direction between both ends thereof. The first guide 145 and the second guide 147 are installed in the upper support 131 and the upper / lower row cross shape through the axial coupling holes 143 provided at each end, and overlaps the long hole 141 The stick 135 is coupled with the ball 123 through.

At this time, the ball 123 and the stick 135 is detachably coupled to each other through the coupling structure of the male, the stick coupling groove 124 and the stick fastening portion 137 provided in the ball 123 as shown in the male It consists of a screw fastening structure, which is coupled to each other detachably.

The first guide 145 is installed to be rotatable through the first towing unit 180 and the first X-axis 210, and is rotated together with the first towing unit 180 during the rotation, and the second guide 147. Is rotatably installed through the second towing unit 190 and the first Y-axis 220, and is rotatably installed together with the second towing unit 190.

On the other hand, the operation unit 120 is to limit the movement of the stick 135 to maintain the bending of the soft portion 11, or the elastic recovery of the stopper 160 and the stick 135 as shown in FIG. It further includes an elastic portion 150 to enable, a detailed description thereof will be described later.

The first towing unit 180 and the second fastening member 180 are connected to the first wire member 111 through the first fastening member 115 to allow the soft portion 11 to be bent in the X direction. The second wire part 113 is connected to the second wire part 113 to include a second towing part 190 configured to bend the soft part 11 in the Y direction, which will be described with reference to FIG. 4. Explain.

4 is a plan view illustrating the towing unit according to the preferred embodiment of the present invention.

As shown in the drawing, the towing unit 170 is driven according to the movement direction of the stick 135 to pull the wire unit 110 in the X or Y direction, and is driven in conjunction with the first guide 145. It comprises a first towing unit 180, and a second towing unit 190 in conjunction with the second guide 147.

The first towing unit 180 is a first driven gear 181 coupled to the first guide 145 and the first X-axis 210, and a first driven gear 183 to which the first fastening member 115 is coupled. And a first planetary gear unit 185 transmitting power between the first driving gear 181 and the second driven gear 193.

The first planetary gear unit 185 is configured to rotate the first planetary gear-1 (185-1), the first planetary gear-1 (185-1), and the second X-axis 211, which rotate in engagement with the first drive gear 181. Rotating through engagement with the first planetary gear-2 (185-2) and the first planetary gear-2 (185-2) rotated through the coupling, coupled through the first driven gear 183 and the X3 axis (223) It is configured to include a first planetary gear-3 (185-3).

In this case, the first driving gear 181 and the first planetary gear-1 (185-1) are bevel gears, and preferably have a gear ratio of about 2: 1 to 6: 1. Here, the gear ratio is a conventional coupling ratio for smooth power transmission, and a detailed description thereof will be omitted.

In addition, the first planetary gear-2 (185-2) and the first planetary gear-3 (185-3) are spur gears, and preferably have a gear ratio of approximately 2: 1 to 6: 1.

On the other hand, when the first fastening member 115 is a chain, the first driven gear 183 is preferably a sprocket gear (sprocket gear) to achieve a smooth power transmission to each other.

The second towing unit 190 includes a second drive gear 191 coupled to the second guide 147 and the first Y-axis 220, and a second driven gear 193 to which the second fastening member 117 is coupled. And a second planetary gear unit 195 that transmits power between the second driving gear 191 and the second driven gear 193.

The second planetary gear unit 195 is configured to rotate the second planetary gear-1 (195-1), the second planetary gear-1 (195-1), and the first Y-axis 220 which rotate in engagement with the second drive gear 191. It rotates in engagement with the second planetary gear-2 (195-2) and the second planetary gear-2 (195-2) which are coupled and rotated, and are coupled through the second driven gear 193 and the third Y-axis 213. And a second planetary gear-3 (195-3).

At this time, the second driving gear 191, the second planetary gear-1 (195-1), the second planetary gear-2 (195-2) and the second planetary gear-3 (195-3) are each 2: It is preferable that it is a spur gear having a gear ratio of 1 to 6: 1.

On the other hand, the third X-axis 213 and the third Y-axis 223 are present on the same axis, but as shown in Figure 5 is composed of a dual shaft coupling structure inside / outside. That is, the third X-axis 213 is a tubular body, and maintains a state spaced apart from the outer circumference of the third Y-axis 223, so that even if the coaxial axis exists independently of each other, it is not shown, but mutually smooth A bearing may be further provided between the third X axis 213 and the third Y axis 223 for rotation.

In addition, the towing unit 170 is further provided with partition walls for partitioning and axial coupling of each region, and these partition walls are the second X axis 211, the first Y axis 220, the second Y axis 221, and the third Y axis. And a first partition 107 supporting one end of 223, and a second partition 108 supporting the other end and the third X-axis 213.

The first partition 107 and the second partition 108 are installed in a state perpendicular to the base plate 101, although not shown on one surface to which each shaft is coupled, the bearing is further provided to enable smooth rotation of the shaft It is preferable.

Such a towing unit 170 is driven in the X to Y direction as shown in Figs. 6 and 7 by the operation of the stick 135, an example of each driving will be referred to the drawings, the reference is shown in Fig. To explain.

4 is a plan view illustrating a first operating state of a control device according to an exemplary embodiment of the present invention.

As shown in FIG. 4A, when the stick 135 is operated in the X direction, the first guide gear 145 rotates in the axial direction, and the first driving gear 181 connected to the first X-axis 210 is connected thereto. The first planetary gear-1 (185-1) rotated together and the first planetary gear-1 (185-1) connected to the first planetary gear-1 (185-1) and the second X-axis 211 and this The first wire part is rotated by engaging the first planetary gear-3 (185-3) and the first driven gear 183 connected to the first planetary gear-3 (185-3) and the third X-axis 213. 111 is pulled in one direction, and the soft part 11 can be bent in the X direction as shown in FIG. 4B.

5 is a plan view illustrating a second operation state of a control device according to an embodiment of the present invention.

5A illustrates a second drive gear 191 connected to the second guide 147 through the second Y axis 221 while the second guide 147 rotates in the axial direction when the stick 135 is operated in the Y direction as shown. The second planetary gear-2 (195-2) connected to the second planetary gear-1 (195-1) and the second Y-axis 221 by rotating the meshed second planetary gear-1 (195-1) together and The second wire part is rotated by engaging the second planetary gear-3 (195-3) and the second driven gear 193 connected to the second planetary gear-3 (195-3) and the third Y-axis 223. 113 is towed in one direction, and the soft portion 11 can be bent in the Y direction as shown in FIG. 5B.

On the other hand, the operation of the stick 135 is not limited to the X or Y direction as shown in Figs. 4 and 5, as an application example thereof, although not shown, the stick 135 is moved in the XY or YX direction, i.e. oblique direction This is possible, and through this, the soft part 11 may implement bending in various directions such as X, Y, XY, and YX directions.

Such bending of the soft portion 11 can be bent in a variety of orientations by the operation of the stick 135, as well as a function for restoring the bending and maintaining the bent state, which will be described with reference to Figs. Do it.

7 is a side view illustrating the first plate of the elastic part according to an exemplary embodiment of the present invention, and FIG. 8 is a front view illustrating the second plate of the elastic part.

As shown, the stick 135 may be elastically restored to its original position through the elastic part 150.

The elastic part 150 is axially coupled to the guide 140, and comprises an elastic plate 153 and a bracket 159 elastically coupled through the base plate 101 and the spring 151.

The elastic plate 153 is coupled to the first guide 145 and the first pin 231 by the first elastic plate 155 and the second guide 147 to elastically support the stick 135 from the X direction. And a second elastic plate 157 coupled to the second pin 233 to elastically support the stick 135 from the Y direction.

The first elastic plate 155 is in the form of a semicircle as shown in FIG. 7, and is installed between the first guide 145 and the bracket 159 through the first pin 231, and one end of the spring 151 is provided at both sides thereof. A first elastic hole 156 to be coupled is provided.

At this time, one end of the spring 151 is coupled to the first elastic hole 156, and the other end thereof is coupled to the base elastic hole 103 provided in the base plate 101 to elastically align the first elastic plate 155. I can support it.

As shown in FIG. 8, the second elastic plate 157 has the same shape and configuration as the second elastic plate 157 (the second elastic hole 158), and acts on the Y direction through the elasticity of the spring 151. It can be supported elastically.

On the other hand, the operation unit 120 is provided with a stopper 160 to limit the operation to the stick 135 or to fix the position, as shown in Figure 1 to fix the bending of the soft portion 11, such a stopper 160 Will be described with reference to FIGS. 10 and 11 together.

10 is a cross-sectional view illustrating a stopper according to a preferred embodiment of the present invention, and FIG. 11 is a perspective view illustrating an example of a lift.

As shown, the stopper 160 has a ring shape and is provided between the bottom of the main body 121 and the lower support 125, and the wedge 163 on one surface facing the protrusion 129 provided on the bottom of the lower support 125. The lift 161 is formed, coupled to the lift 161 through the outside of the main body 121 is configured to include a lever 165 for rotating the lift 161.

At this time, the wedge 163 is a protruding area formed of a slope, and when the lift 161 is rotated through the lever 165, the protrusion 129 is guided to the slope so as to be in close contact with the ball 123. As an example of the wedge 163, one end cut out as shown in FIG. 11A is upward, that is, in the form of a spring washer, or as shown in FIG. It may exist in various forms, such as a form provided with a member of the slope such as a group.

Accordingly, when the lift 161 is rotated through the lever 165, the protrusion 129 is guided to the slope of the wedge 163 so that the lower curved portion 127 is in close contact with the ball 123, and thus, the ball 123 of the ball 123. Rotation is limited.

On the other hand, the stopper 160 may be further provided with a friction portion 167 to increase the mutual frictional force on any one surface where the lower support 125 and the ball 123 abuts.

The friction part 167 roughly processes at least one surface selected from the lower support 125 or the ball 123, or the lower curved part 127 and the ball are attached or combined by a member having a rough surface or a good frictional force. The friction force between the 123 is increased, so that the rotation of the ball 123 is limited.

Although the present invention has been described in more detail with reference to the examples, the present invention is not necessarily limited to these embodiments, and various modifications can be made without departing from the spirit of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not stabilized by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

Claims

In a catheter or endoscope control device,

The control device 100,

A wire part 110 inherent in the four wire holes 13 radially about the passage 15 of the catheter 10, each end of which is fixed to an end of the catheter 10;

A first towing unit 180 connected to the other end of the wire unit 110 and pulling the wire unit 110 by driving to allow the soft unit 11 to be bent in the X direction, and to be bent in the Y direction. A towing unit 170 provided with a second towing unit 190; And

A single operation unit 120 is axially coupled to the towing unit 170, and operable in both the X direction and the Y direction to drive the first towing unit 180 and the second towing unit 190, respectively; Including,

The operation unit 120,

The upper body is opened, the body 121 is accommodated in the ball 123 is coupled to the stick 135 therein;

A lower supporter 125 supporting a lower portion of the ball 123 in the body 121;

An upper support 131 coupled to an upper portion of the main body 121 and supporting an upper portion of the ball 123; And

Catheter or endoscope control characterized in that it comprises a; coupled to the traction unit 170, the guide 140 for transmitting a driving force to the traction unit 170 in conjunction with the operation of the stick 135; Device.
The method of claim 1,

The wire unit 110,

A first wire part (1) made of a pair of wires, each other end of which is connected to the first towing unit 180 through the first fastening member 115 to allow the soft part 11 to be pulled in the X direction ( 111); And

The second wire part 113 is formed of a pair of wires, and the other end thereof is connected to the second towing part 190 through the second fastening member 117 to allow the soft part 11 to be pulled in the Y direction. Catheter or endoscope control device characterized in that configured to include.
The method of claim 1,

The guide 140,

A rectangular plate having a curved shape surrounding the outside of the ball 123, the first guide 145 and the second guide 147 having a long hole 141 is formed in the longitudinal direction between both ends,

The first guide 145 and the second guide 147 are installed in the upper support 131 in the form of up / down crisscross, the stick 135 through the long hole 141 of the overlapping area Catheter or endoscope control device characterized in that coupled to the ball (123).
The method of claim 3,

The first guide 145,

Catheter or endoscope control device is installed so as to be rotatable through the first tow portion 180 and the first X-axis (210), and rotates together with the first tow portion (180) during rotation.
The method of claim 3,

The second guide 147,

Catheter or endoscope control device is installed so as to be rotatable through the second tow portion 190 and the first Y-axis (220), and rotates together with the second tow portion (190).
The method of claim 3,

The operation unit 120,

Catheter or endoscope control apparatus further comprises a; elastic portion 150 for elastically supporting the operation of the stick (135).
The method of claim 6,

The elastic portion 150,

And an elastic plate (153) axially coupled to the guide (140) and elastically coupled through a base plate (101) and a spring (151).
The method of claim 7, wherein

The elastic plate 153,

A first elastic plate 155 coupled to the first guide 145 and the first pin 221 to elastically support the stick 135 from the X direction; And

And a first elastic plate 157 coupled through the second guide 147 and the second pin 223 to elastically support the stick 135 from the Y direction. Control device.
The method of claim 1,

The operation unit 120,

The stopper (160) for limiting the rotation of the ball in close contact with the lower support (127) and the ball (123); Catheter or endoscope control device further comprising.
The method of claim 9,

The stopper 160,

The lift 161 is provided between the bottom of the main body 121 and the lower support 127, the ring 163 is formed on one surface facing the protrusion 129 provided on the bottom surface of the lower support 127 as a ring shape. ; And

And a lever 165 coupled to the leaf 161 through the outside of the main body 121 to rotate the leaf 161.

When the lever 165 is rotated, the wedge 163 engages the protrusion 129 to push the lower support 127 upward so that the lower support 127 compresses and fixes the ball 123. Catheter or endoscope control device characterized in that.
The method of claim 10,

The stopper 160,

Catheter or endoscope control apparatus further comprises a; friction portion (167) to increase the mutual frictional force on any one surface in which the lower support (127) and the ball (123) abuts.
The method of claim 11,

The friction part 167,

At least one selected from among the lower support (127) or the ball (123) is roughly processed, or a control device for a catheter or endoscope, characterized in that the region is a fastened surface is fastened.
The method of claim 1,

The first towing unit 180,

A first driving gear 181 coupled to the first guide 145 and the first X axis 220;

A first driven gear 183 to which the first fastening member 115 is coupled; And

And a first planetary gear unit 185 transmitting power between the first driving gear 181 and the first driven gear 183.

The second towing unit 190,

A second drive gear 191 coupled to the second guide 147 and the first Y-axis 220;

A second driven gear 193 to which the second fastening member 117 is coupled; And

And second planetary gear units 195 and 195 which transmit power between the second driving gear 191 and the second driven gear 193.

The first driven gear 183 and the second driven gear 193 are sprocket gears, and the first fastening member 115 and the second fastening member 117 are chains. Catheter or endoscope control device.
The method of claim 13,

The first planetary gear unit 185 is,

A first planetary gear-1 (185-1) engaged with the first driving gear 181 to rotate;

A first planetary gear-2 (195-2) coupled to and rotated through the first planetary gear-1 (185-1) and the second X-axis 211; And

A first planetary gear-3 (185-3) coupled with the first planetary gear-2 (185-2) and coupled through the first driven gear 183 and a third X-axis 213; ,

The first driving gear 181 and the first planetary gear-1 (185-1) are bevel gears having a gear ratio of 2: 1 to 6: 1, and the first planetary gear-2 (185). -2) and the first planetary gear-3 (185-3) is a spur gear (spur gear) having a gear ratio of 2: 1 to 6: 1.
The method of claim 13,

The second planetary gear parts 195 and 195 are

A second planetary gear-1 (195-1) engaged with the second driving gear 191 and rotating;

A second planetary gear-2 (195-2) coupled to and rotated through the second planetary gear-1 (195-1) and the first Y-axis 220; And

A second planetary gear-3 (195-3) coupled to the second planetary gear-2 (195-2) and coupled to the second driven gear 193 through a third Y-axis 213; ,

The second driving gear 191, the second planetary gear-1 (195-1), the second planetary gear-2 (195-2) and the second planetary gear-3 (195-3) are each 2: 1 to Catheter or endoscope control device characterized in that the spur gear having a gear ratio of 6: 1.