WO2022250370A1 - 혈관 중재 시술 장치 - Google Patents
혈관 중재 시술 장치 Download PDFInfo
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- WO2022250370A1 WO2022250370A1 PCT/KR2022/007130 KR2022007130W WO2022250370A1 WO 2022250370 A1 WO2022250370 A1 WO 2022250370A1 KR 2022007130 W KR2022007130 W KR 2022007130W WO 2022250370 A1 WO2022250370 A1 WO 2022250370A1
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Images
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M2025/0177—Introducing, guiding, advancing, emplacing or holding catheters having external means for receiving guide wires, wires or stiffening members, e.g. loops, clamps or lateral tubes
Definitions
- the present disclosure relates to a device for vascular intervention that transfers and/or rotates a surgical tool for vascular intervention.
- An interventional procedure is a treatment that treats a specific disease through percutaneous and minimally invasive manipulation using various tools such as guide wires, catheters, balloons, and stents under various imaging devices. Interventional procedures do not require large surgical incisions. Interventional procedures have advantages such as less blood loss due to minimal skin incision, rapid recovery of the patient, and no complications due to local anesthesia. Interventions can be classified into non-vascular and vascular procedures.
- Vascular interventional procedures can be used for the treatment of vascular diseases and cancer.
- Vascular intervention involves percutaneously inserting a catheter with a diameter of 1 to 7 mm to gain access to a target organ under the guidance of ultrasound or fluoroscopy.
- Vascular intervention can be applied to liver tumors, arterial bleeding, occlusion or stenosis of blood vessels, and uterine myoma embolization, and its scope of application is currently expanding.
- a blood vessel is perforated by ultrasonic guidance or arterial palpation, and an introducer sheath is inserted and fixed to protect the blood vessel from trauma.
- surgical tools such as a guide wire and a catheter are inserted into the blood vessel through the guide sheath, and the guide wire and catheter are manipulated to select a target blood vessel.
- the guide wire reaches the target blood vessel by insertion and rotation manipulation.
- a catheter is then inserted into the target blood vessel along the guide wire. In order to reach the catheter to the target blood vessel, insertion and rotation of the guide wire and insertion and rotation of the catheter may be repeated.
- a microcatheter and a microguide wire having a diameter smaller than that of the catheter are used, and the microcatheter and microguide wire are inserted into the catheter.
- the direction to the target blood vessel is determined by insertion and rotation of the microguide wire, and then the microcatheter is inserted along the microguide wire.
- a drug or therapeutic agent is injected into the target blood vessel through the catheter or micro catheter.
- vascular intervention procedures are generally performed under fluoroscopic (X-ray radiography) guidance, operators are exposed to X-ray radiation.
- X-ray radiography X-ray radiography
- workers wear heavy clothes and equipment for shielding radiation, workers are subjected to a lot of physical stress.
- the vascular intervention room can exhibit a low level of disinfection and cleanliness.
- manipulation of the catheter and the guide wire depends on the experience and skill of the operator, so precise and precise manipulation may not be performed.
- Embodiments of the present disclosure solve the above-described problems of the interventional blood vessel procedure by operator's manipulation.
- Embodiments of the present disclosure provide a vascular interventional procedure device for inserting and/or rotating a surgical tool used in the vascular interventional procedure.
- Embodiments of the present disclosure provide a vascular interventional device with improved operability and usability.
- An interventional vascular procedure device includes a base frame, a transfer module, a first surgical tool module, and a second surgical tool module.
- the base frame extends in the fore-and-aft direction.
- the transport module includes a transport frame coupled to the base frame so as to be transported in the forward and backward directions along the base frame.
- the first treatment tool module is coupled to the transport module so as to be transported in the forward and backward directions with respect to the base frame, and is configured to rotate the first treatment tool, which is a catheter, around a rotational axis in the forward and backward directions.
- the second surgical tool module is coupled to the transport module so as to be transported in the forward and backward directions with respect to the base frame independently of the first surgical tool module, and is configured to support a second surgical tool that is a guide wire or a micro catheter inserted into the catheter.
- the conveying module includes a first conveying part and a second conveying part.
- the first conveying part is disposed on the conveying frame.
- the first transfer unit is coupled to the first surgical tool module and is configured to transmit a rotational force for rotating the first surgical tool module to the first surgical tool module.
- the second transfer unit is disposed on the transfer frame so as to be transferred independently from the first transfer unit at the rear of the first transfer unit, and is coupled to the second operation module.
- the transport module includes a module transport lead screw disposed along the fore-and-aft direction and coupled to the second transport to transfer the second transport by means of a screw movement.
- the second surgical tool module is a micro catheter module configured to support a micro catheter.
- the vascular interventional procedure device may further include a third surgical tool module.
- the third surgical tool module is coupled to the transport module to be transported in the forward and backward directions with respect to the base frame, and is configured to rotate the third surgical tool, which is a micro guide wire inserted into the micro catheter, around a rotational axis.
- the transport module includes a first transport, a second transport and a third transport.
- the first conveying part is disposed on the conveying frame.
- the first transfer unit is coupled to the first surgical tool module and is configured to transmit a rotational force for rotating the first surgical tool module to the first surgical tool module.
- the second transfer unit is disposed on the transfer frame so as to be transferred independently from the first transfer unit at the rear of the first transfer unit and is coupled to the second treatment module.
- the third transfer unit is disposed on the transfer frame so as to be transferred in the forward and backward direction independently of the first transfer unit and the second transfer unit at the rear of the second transfer unit.
- the third transfer unit is coupled to the third surgical tool module and is configured to transmit a rotational force for rotating the third surgical tool module to the third surgical tool module.
- the transport module includes a module feed lead screw disposed along the fore-and-aft direction and coupled to the second transport and the third transport to transfer the second and third transports by means of a screw movement.
- the second conveying unit includes a second conveying nut coupled to the module conveying lead screw to be conveyed by a screw motion, and a second conveying motor configured to rotate the second conveying nut.
- the third conveying unit includes a third conveying nut coupled to the module conveying lead screw to be conveyed by a screw motion, and a third conveying motor configured to rotate the third conveying nut.
- the first transfer unit may include a transfer nut coupled to the module transfer lead screw to be transferred by a screw motion.
- the first transfer unit is connected to the rotational force generating unit and the rotational force generating unit for generating rotational force for rotating the first treatment tool, coupled to the first operation tool module, and rotational force for rotating the first operation tool. It includes a transmission unit configured to transmit.
- the first transfer unit is disposed to be transportable in the forward and backward directions on the transfer frame, and the transfer module may be configured to simultaneously or independently transfer the first transfer unit and the second transfer unit.
- the second surgical tool module may be configured to rotate the second surgical tool around a rotational axis, and the second transfer unit transmits rotational force for rotating the second surgical tool to the second surgical tool module. can be configured to deliver.
- the vascular interventional device is disposed in a guide section that is a section between the front end of the base frame and the first surgical tool module or a section between the first surgical tool module and the second surgical tool module, It may include a guide module configured to guide and support the transfer of the first surgical tool or the second surgical tool in the forward and backward directions.
- the guide module includes a guide housing and a pair of support members.
- the guide housing is disposed at the front or rear end of the guide section.
- the pair of support members are drawn in and out of the guide housing to have a variable length in the guide section according to the length change in the front and rear direction of the guide section, and are engaged with each other to hold the first or second treatment tool. It is configured.
- the guide module is disposed in the guide housing, and when the pair of support members are withdrawn from the guide housing, the engagement portion configured to contact the pair of support members and engage the pair of support members with each other.
- the engagement portion is rotated in contact with the pair of support members, respectively, and a pair of engagement wheels for engaging the pair of support members with each other, and a pair of support members including the pair of engagement wheels are connected to the guide housing. It includes a pair of springs that press each in the direction of retraction.
- the guide housing includes a pair of spring shafts respectively coupled to the pair of springs and configured to respectively adjust the restoring force of the pair of springs.
- the guide module includes a split portion disposed between the pair of support members in the guide housing and configured to divide the pair of support members when the pair of support members are drawn into the guide housing. do.
- the pair of support members include a first chain assembly having alternately disposed engagement teeth and engagement grooves, and a second chain assembly having engagement grooves and engagement teeth respectively corresponding to the engagement teeth and engagement grooves of the first chain assembly.
- a chain assembly may be included.
- the pair of support members may include a first band having engagement protrusions formed in the front and rear directions, and a second band having engagement grooves into which the engagement protrusions are fitted.
- the guide module may include a first guide module and a second guide module.
- the first guide module is disposed in the first guide section between the front end of the base frame and the first surgical tool module, and is configured to guide and support the forward and backward transfer of the first surgical tool.
- the second guide module is disposed in the second guide section between the first surgical tool module and the second surgical tool module and is configured to guide and support the transfer of the second surgical tool in the front-back direction.
- the vascular interventional device includes a section between the front end of the base frame and the first surgical tool module, a section between the first surgical tool module and the second surgical tool module, or a section between the second surgical tool module and the second surgical tool module.
- a guide module disposed in the guide section which is a section between the third surgical tool modules, configured to guide and support the forward and backward transfer of the first surgical tool, the second surgical tool, or the third surgical tool.
- the guide module includes a guide housing and a pair of support members. The guide housing is disposed at the front or rear end of the guide section.
- the pair of support members are drawn in and out of the guide housing to have a variable length in the guide section according to the change in length in the front and rear direction of the guide section, and are engaged with each other so that the first treatment tool, the second treatment tool, or the third treatment tool are engaged. It is configured to clamp.
- the vascular interventional procedure device includes a transport module driving unit that transports the transport module in the forward and backward directions with respect to the base frame.
- the transport module may be slidably coupled to the base frame by the transport module driving unit.
- operation of a plurality of surgical instruments with multiple degrees of freedom is realized, and the operability and usability of the vascular interventional device can be improved.
- a complicated vascular interventional procedure can be performed with a single vascular interventional procedure device by means of a base platform and a plurality of surgical tool modules.
- FIG. 1 schematically illustrates an example of an interventional vascular procedure performed using a catheter and a guide wire by a vascular interventional procedure device according to an embodiment.
- FIG. 2 schematically illustrates another example of an interventional vascular procedure performed using a catheter, a microcatheter, and a microguide wire by the vascular interventional procedure apparatus according to an embodiment.
- FIG. 3 schematically illustrates an example of a state in which the vascular interventional procedure device according to an embodiment is used for vascular interventional procedure.
- FIG. 4 is a perspective view illustrating an interventional vascular procedure device according to an embodiment in one operating mode.
- FIG. 5 is a perspective view illustrating the vascular interventional device according to one embodiment in another mode of operation.
- FIG. 6 is a perspective view illustrating a platform of an interventional vascular procedure device according to an embodiment.
- Fig. 7 is an exploded perspective view showing a base frame of the platform shown in Fig. 6;
- Fig. 8 is a plan view showing a base frame of the platform shown in Fig. 6;
- FIG. 9 is a cross-sectional view taken along line IX-IX of FIG. 8 .
- Fig. 10 is an exploded perspective view showing a transfer frame of the platform shown in Fig. 6;
- FIG. 11 is a cross-sectional view taken along line XI-XI in FIG. 10;
- FIG. 12 is a sectional perspective view taken along line XII-XII of FIG. 10;
- FIG. 13 is a perspective view showing an example of a transfer unit shown in FIG. 10;
- Fig. 14 is a downward perspective view showing a transmission part of the transfer unit shown in Fig. 13;
- 15 is a cross-sectional view taken along line XV-XV of FIG. 14;
- FIG. 16 is a cross-sectional view showing a state before coupling the rotational force generating unit and the transmission unit of the transfer unit shown in FIG. 13 to each other.
- Fig. 17 is a cross-sectional view showing a state in which the rotational force generating part and the transmission part of the feed shown in Fig. 13 are coupled to each other.
- FIG. 18 is a perspective view showing a state in which the electric unit of the transfer unit and the surgical tool module are coupled.
- 19 is a perspective view illustrating a catheter module of an interventional vascular procedure device according to an embodiment.
- FIG. 20 is a cross-sectional view taken along line XX-XX of FIG. 19;
- Fig. 21 is a downward exploded perspective view of the catheter module shown in Fig. 19;
- FIG. 22 is a perspective view illustrating a guide wire module of an interventional vascular procedure device according to an embodiment.
- Fig. 23 is a downward exploded perspective view of the guide wire module shown in Fig. 22;
- FIG. 24 is a cross-sectional view taken along line XXIV-XXIV of FIG. 22;
- Fig. 25 is an exploded perspective view showing the guide wire clamp shown in Fig. 24;
- 26 is a perspective view illustrating a microcatheter module of an interventional vascular procedure device according to an embodiment.
- FIG. 27 is a cross-sectional view taken along line XXVII-XXVII of FIG. 26;
- FIG. 28 is a perspective view illustrating a microguide wire module of an interventional vascular procedure apparatus according to an embodiment.
- 29 is a cross-sectional view taken along line XXIX-XXIX of FIG. 28;
- FIG. 30 is a perspective view illustrating a first guide module of an interventional vascular procedure device according to an exemplary embodiment.
- Fig. 31 is an exploded perspective view of the first guide module shown in Fig. 30;
- Fig. 32 is a downward exploded perspective view showing the first guide housing of the first guide module shown in Fig. 30;
- FIG. 33 is a perspective view showing an example in which the first guide module shown in FIG. 30 is coupled to the front end of the base frame.
- FIG. 34 is a perspective view illustrating a second guide module of the vascular interventional procedure device according to an embodiment.
- Fig. 35 is an exploded perspective view of the second guide module shown in Fig. 34;
- Fig. 36 is a downward exploded perspective view of the second guide module shown in Fig. 34;
- FIG. 37 is a cross-sectional view taken along line XXXVII-XXXVII of FIG. 34;
- FIG. 38 is a perspective view illustrating a catheter module and a second guide module of the vascular interventional procedure device according to an embodiment.
- 39 is a perspective view illustrating a preparation state before operation of the vascular interventional device in a first operation mode according to an embodiment.
- FIG. 40 is a perspective view illustrating a state in which a surgical tool module is fitted into a transfer unit for a first operation mode of the vascular interventional procedure apparatus according to an embodiment.
- 41 is a perspective view illustrating a state in which a first guide module is coupled to a front end of a platform for a first operation mode of an interventional vascular procedure device according to an embodiment.
- Fig. 42 is a perspective view showing operation from the state shown in Fig. 41;
- Fig. 43 is a perspective view showing operation from the state shown in Fig. 42;
- Fig. 44 is a perspective view showing operation from the state shown in Fig. 43;
- Fig. 45 is a perspective view showing operation from the state shown in Fig. 44;
- 46 is a perspective view illustrating an example of removing a guide wire module in a first operation mode of the vascular interventional device according to an embodiment.
- 47 is a perspective view illustrating an initial state of the vascular interventional procedure apparatus in a second operating mode according to an embodiment.
- FIG. 48 is a perspective view illustrating a state in which a micro catheter module and a micro guide wire module are coupled to a transfer frame of a platform for a second operation mode of an interventional vascular procedure device according to an embodiment.
- FIG. 49 is a perspective view illustrating a state in which a second guide module is coupled to a micro catheter module for a second operation mode of the vascular interventional procedure device according to an embodiment.
- Fig. 50 is a perspective view showing operation from the state shown in Fig. 49;
- Fig. 51 is a perspective view showing operation from the state shown in Fig. 50;
- Fig. 52 is a perspective view showing operation from the state shown in Fig. 51;
- FIG. 53 schematically illustrates the configuration of a vascular interventional procedure device according to another embodiment.
- FIG. 54 is a cross-sectional view showing the microcatheter module of the vascular interventional procedure apparatus shown in FIG. 53;
- FIG. 55 is a cross-sectional view of the guide wire module of the vascular interventional device shown in FIG. 53;
- FIG. 56 is a plan view showing the first guide module of the vascular interventional procedure device shown in FIG. 53;
- 57 is a perspective view illustrating a first guide module and a second guide module of an interventional vascular procedure device according to another embodiment.
- FIG. 58 shows a cross-sectional shape of the second guide module shown in FIG. 57 .
- Embodiments of the present disclosure are illustrated for the purpose of explaining the technical idea of the present disclosure.
- the scope of rights according to the present disclosure is not limited to the specific description of the embodiments or these embodiments presented below.
- Expressions such as 'first' and 'second' used in the present disclosure are used to distinguish a plurality of elements from each other, and do not limit the order or importance of the elements.
- the forward direction means a direction in which the long side of the platform of the vascular interventional device faces the patient (the direction indicated by the symbol FD in FIG. 4), and the rearward direction means the opposite direction to the front direction, and includes the forward direction and the backward direction.
- the transverse direction means a direction orthogonal to the front-back direction, that is, a direction in which the short side of the platform is located, and includes left and right directions.
- a vertical direction means a direction perpendicular to the front-rear direction and the transverse direction.
- Embodiments disclosed below and illustrated in the accompanying drawings relate to a vascular interventional device used to transfer and rotate surgical instruments used in vascular interventional surgery and to enter the surgical instrument into a target blood vessel.
- An interventional vascular procedure device is used for an interventional vascular procedure using a catheter, a guide wire, a micro catheter, and a micro guide wire.
- catheters, guide wires, micro catheters, and micro guide wires are referred to as surgical instruments.
- a catheter is a flexible tube and is entered into a target blood vessel.
- a guide wire is inserted into the catheter to guide the catheter to the target blood vessel.
- a microcatheter is a flexible tube that can be inserted into the catheter. The microcatheter enters a narrower target blood vessel into which the catheter cannot enter, and is used to inject a drug into the narrower target blood vessel or to aspirate a blood clot.
- the microguide wire has a smaller thickness than the guide wire and is used to guide the microcatheter to the narrower target blood vessel.
- a microguide wire is inserted into the microcatheter. 1 and 2 schematically illustrate an example of insertion and rotation of a surgical tool in a vascular interventional procedure.
- the catheter 20 and the guide wire 30 may be transported in order to allow the catheter 20 and the guide wire 30 to enter the vicinity of the first target blood vessel T1.
- the vascular interventional procedure device may transport and rotate the guide wire 30 to allow the guide wire 30 to enter the first target blood vessel T1.
- the vascular intervention apparatus may rotate the catheter 20 together with the transport and rotation of the guide wire 30 .
- the vascular interventional procedure device may allow the catheter 20 to enter the first target blood vessel T1 along the guide wire 30.
- the guide wire 30 is removed from the catheter 20 .
- the catheter 20 may be used to inject a drug into the first target blood vessel T1 or to suck a blood clot in the first target blood vessel T1.
- FIG. 2 an example of reaching a microcatheter to a target blood vessel using a catheter, a microcatheter, and a microguide wire by means of a vascular interventional procedure device will be described.
- the catheter 20 reaches the first target blood vessel T1
- drug injection into the second target blood vessel T2 narrower than the first target blood vessel T1 or blood clot suction may be required.
- the micro catheter 40 is inserted into the catheter 20 and the micro guide wire 50 is inserted into the micro catheter 40 .
- the vascular interventional procedure apparatus transports and rotates the microguide wire 50 to allow the microguide wire 50 to enter the second target blood vessel T2.
- the vascular interventional procedure device transfers the microcatheter 40 to enter the second target blood vessel T2 along the microguide wire 50 .
- the microguide wire 50 is removed from the microcatheter 40.
- the microcatheter 40 may be used to inject a drug into the second target blood vessel T2 or to aspirate a blood clot.
- various devices may be introduced into the second target blood vessel T2 through the microcatheter 40 for additional procedures.
- the vascular interventional procedure device 10 includes a platform 100 for transporting and rotating the aforementioned surgical tool.
- the platform 100 of the vascular interventional procedure device 10 may be removably mounted on the arm of the multi-degree-of-freedom mounting device 60 . Accordingly, the operator can easily move the vascular interventional procedure device 10 to a desired position, and position the front end of the platform 100 to face the patient's treatment site.
- the multi-degree-of-freedom placement device 60 may be located near an operating table on which a patient lies.
- a mechanism capable of supporting, rotating, and moving the vascular interventional device 10 may be provided on the operating table, and the vascular interventional device 10 may be removably mounted on this mechanism.
- FIG. 4 is a perspective view showing the vascular interventional device according to one embodiment in one operating mode
- FIG. 5 is a perspective view showing the vascular interventional device according to one embodiment in another operating mode.
- the vascular interventional treatment apparatus 10 shown in FIG. 4 is operable for vascular interventional treatment using a catheter 20 and a guide wire 30 (eg, vascular interventional treatment illustrated in FIG. 1 ).
- the operating mode shown in is referred to as the first operating mode.
- the vascular interventional procedure device 10 shown in FIG. 5 is a vascular interventional procedure using the microcatheter 40 and the microguide wire 50 in a state in which the catheter 20 has reached the target blood vessel (e.g., in FIG. 2). illustrative vascular interventional procedures), and the operation mode shown in FIG. 5 is referred to as the second operation mode.
- the vascular interventional device 10 of one embodiment includes a first operation mode in which the catheter 20 and the guide wire 30 are independently transported or rotated, and the catheter 20, the micro catheter 40 and the micro guide wire ( 50) can be configured to have a second mode of operation that independently transports or rotates.
- the catheter module 200 supporting the catheter 20 and the guide wire module 300 supporting the guide wire 30 are provided on the platform of the vascular interventional device 10 ( 100).
- the catheter module 200 supporting the catheter 20 the micro catheter module 400 supporting the micro catheter 40, and supporting the micro guide wire 50
- the microguide wire module 500 is coupled to the platform 100 of the vascular interventional procedure device 10 .
- a surgical tool disposed first in a direction from the front end to the rear end of the platform 100 is referred to as a first surgical tool, and a surgical tool inserted into the first surgical tool from the rear of the first surgical tool is referred to as a first surgical tool.
- a surgical tool inserted into the first surgical tool from the rear of the first surgical tool is referred to as a first surgical tool.
- a surgical tool inserted into the second surgical tool from the rear of the second surgical tool is referred to as a third surgical tool.
- the first surgical tool is a catheter 20 and the second surgical tool is a guide wire 30 .
- the first surgical tool is a catheter 20
- the second surgical tool is a micro catheter 40
- the third surgical tool is a micro guide wire 50 .
- modules supporting the aforementioned surgical tools and coupled to the platform 100 are referred to as surgical tool modules.
- a surgical tool module disposed first in the direction from the front end to the rear end of the platform 100 is referred to as a first surgical tool module, and a surgical tool module disposed behind the first surgical tool module is referred to as a second surgical tool module. do.
- the surgical tool module disposed behind the second surgical tool module is referred to as a third surgical tool module.
- the first surgical tool module is the catheter module 200 and the second surgical tool module is the guide wire module 300 .
- the first surgical tool module is the catheter module 200
- the second surgical tool module is the micro catheter module 400
- the third surgical tool module is the micro guide wire module 500 .
- the interventional vascular procedure device 10 includes a platform 100, a catheter module 200, and a guide wire module 300.
- the platform 100 is the basis of the vascular interventional procedure device 10 and generates power for transporting and rotating a surgical tool.
- the catheter module 200 (first surgical tool module) and the guide wire module 300 (second surgical tool module) are disposed on the platform 100.
- the catheter module 200 is configured to support and rotate the catheter 20 (first surgical tool).
- the guide wire module 300 is configured to support and rotate the guide wire 30 (second surgical tool).
- an interventional vascular procedure device 10 includes a platform 100, a catheter module 200, a micro catheter module 400, and a micro guide wire module 500. do.
- the catheter module 200 first surgical tool module
- micro catheter module 400 second surgical tool module
- micro guide wire module 500 third surgical tool module
- the micro catheter module 400 is configured to support the micro catheter 40 (second surgical tool).
- the microguide wire module 500 is configured to support and rotate the microguide wire 50 (third surgical tool).
- a microcatheter module 400 is employed as a second surgical tool module in place of the guide wire module shown in FIG. 4.
- the micro catheter module 400 which is a second surgical tool module, is not used together with the guide wire module, and may be employed in the vascular interventional procedure device 10 instead of the guide wire module.
- the platform 100 is positioned in the fore-and-aft direction FR.
- the platform 100 may be supported by the multi-degree-of-freedom mounting device shown in FIG. 3 and positioned in the front-back direction FR.
- the platform 100 may be configured to generate a rotational force for transporting at least one of the above-described surgical tools in a forward-backward direction and rotating about a rotational axis in a forward-backward direction.
- the platform 100 may be configured as one module or may be configured as two modules coupled to each other to be relatively movable.
- the platform 100 may include at least one transfer unit for transferring and rotating at least one of the aforementioned surgical tools.
- the transfer unit may be disposed within the one module or may be disposed within a movable one of the two modules.
- the platform 100 of one embodiment may be composed of a fixed base module 101 and a movable transfer module 102.
- the base module 101 is located on the lower side, and the transfer module 102 is located on the upper side of the base frame 110.
- the base module 101 includes a base frame 110 extending in the front-back direction FR.
- the base frame 110 may be detachably fixed to the multi-degree-of-freedom mounting device.
- the transfer module 102 may be moved in the forward and backward direction FR with respect to the base frame 110 .
- the transport module 102 includes a transport frame 120 coupled to the base frame 110 so as to be transported along the base frame 110 in the front-back direction FR.
- the catheter module 200 and guide wire module 300 shown in FIG. 4 are disposed on the transport module 102 .
- the catheter module 200, micro catheter module 400, and micro guide wire module 500 shown in FIG. 5 are disposed on the transfer module 102.
- the transport module 102 is configured to transport the surgical tool modules in the forward and backward directions FR.
- the surgical tool modules are coupled to the transport module 102 and may be transported independently or simultaneously in the forward and backward directions FR by the transport module 102 .
- the catheter module 200 supporting the catheter 20 is coupled to the transport module 102 .
- the catheter module 200 is transferred in the front-back direction FR with respect to the base frame 110 .
- the transport module 102 is transported along the base frame 110 in the forward direction (FD), so that the catheter 20 (first treatment tool) of the catheter module 200 can be transported forward. Accordingly, the catheter 20 may enter the target blood vessel along the guide wire 30 .
- the guide wire module 300 (second surgical tool module) supporting the guide wire 30 (second surgical tool module) is coupled to the transport module 102 at the rear of the catheter module 200.
- the transport module 102 is configured to transport the guide wire module 300 in the forward and backward direction FR independently of the catheter module 200 .
- the guide wire module 300 is transferred in the front and rear direction FR with respect to the base frame 110 .
- the transfer module 102 is transferred along the base frame 110 in the forward direction (FD), so that the guide wire 30 may be transferred forward.
- the guide wire 30 of the guide wire module 300 may be transported forward by the transport unit 140 of the transport module 102 . Accordingly, the guide wire 30 (second surgical tool) inserted into the catheter 20 (first surgical tool) can enter the target blood vessel.
- FIG. 4 shows that the guide wire module 300 is coupled to the transport unit 140, the guide wire module 300 may be coupled to the transport unit 150 in another embodiment.
- the catheter module 200 supporting the catheter 20 is coupled to the transfer module 102, and the catheter module 200 is forward and backward with respect to the base frame 110 ( transferred to FR).
- a micro catheter module 400 (second surgical tool module) supporting the micro catheter 40 (second surgical tool module) is coupled to the transfer module 102 at the rear of the catheter module 200.
- the transfer module 102 is configured to transfer the micro catheter module 400 in the forward and backward direction FR independently of the catheter module 200 .
- the micro catheter module 400 is transported in the front-back direction FR with respect to the base frame 110 .
- the transfer module 102 is transferred along the base frame 110 in the forward direction (FD), so that the microcatheter 40 can be transferred forward.
- the microcatheter 40 of the microcatheter module 400 may be transferred forward by the transfer unit 140 of the transfer module 102 . Accordingly, the microcatheter 40 (second surgical tool) inserted into the catheter 20 (first surgical tool) can enter the target blood vessel.
- the micro guide wire module 500 supporting the micro guide wire 50 (third surgical tool) is coupled to the transfer module 102 at the rear of the micro catheter module 400.
- the transfer module 102 is configured to transfer the microguide wire module 500 in the front-back direction FR independently of the catheter module 200 and the micro-catheter module 400 .
- the microguide wire module 500 is transferred in the forward and backward directions FR with respect to the base frame 110 by the transfer module 102 .
- the transfer module 102 is transferred along the base frame 110 in the forward direction (FD).
- the microguide wire module 500 is carried by the transfer module 102.
- a microguide wire (third surgical tool) is transferred forward. Accordingly, the microguide wire inserted into the microcatheter 40 may enter the target blood vessel.
- FIG. 6 is a perspective view illustrating a platform of an interventional vascular procedure device according to an embodiment.
- Fig. 7 is a perspective view showing a base frame of the platform shown in Fig. 6;
- Fig. 8 is a plan view showing a base frame of the platform shown in Fig. 6;
- 9 is a cross-sectional view taken along line IX-IX of FIG. 8 .
- FIGS. 6 to 9 are examples of FIGS. 6 to 9 .
- the base frame 110 may be formed as a housing having a driving element therein.
- the transport frame 120 of the transport module 102 is slidably coupled to the base frame 110 in the front-rear direction FR.
- the vascular interventional procedure device includes a transport module driving unit that transports the transport module 102 with respect to the base frame 110 .
- the transport module driver may be disposed on the base frame 110 or the transport frame 120 .
- the transfer module driving unit is disposed inside the base frame 110 .
- the transport frame 120 may be slidably coupled to the base frame 110 by the transport module driving unit.
- the transfer module driving unit is coupled to a frame transfer lead screw 111, a frame transfer motor 112 for rotating the frame transfer lead screw 111, a frame transfer lead screw 111, and a transfer frame 120, It includes a frame slider 113 that is transported along the frame transport lead screw 111 by screw movement.
- the frame feed lead screw 111 is disposed on the bottom of the base frame 110 along the front-back direction FR and supported rotatably.
- the frame transfer motor 112 is connected to the frame transfer lead screw 111 through a coupling 1121 .
- the frame transfer motor 112 rotates the frame transfer lead screw 111 clockwise or counterclockwise. Accordingly, the transport module 102 coupled to the frame slider 113 is transported in the forward direction (FD) or rearward direction (RD).
- the frame slider 113 is configured to support the transfer frame 120 with respect to the base frame 110, and transfers the transfer frame 120 in the front-back direction FR by rotation of the frame transfer lead screw.
- the frame slider 113 has a slide portion 1131 having a feed nut 1132 coupled to the frame feed lead screw 111 so as to be transported by a screw motion, and a slide portion 1131 from the slide portion 1131 in the transverse direction LR, respectively. It includes a pair of support parts 1133 extending and coupled to the bottom of the transport frame 120 .
- a pair of linear rails 1134 are disposed on the upper surface of the bottom of the base frame 110 in the front-back direction (FR), and slits 1135 penetrate the bottom of the base frame 110 and along each linear rail 1134. ) is formed.
- the slide part 1131 is slidably coupled to the linear rail 1134 .
- Each support portion 1133 extends upward through the slit 1135 .
- Each support part 1133 is formed to separate the upper surface of the base frame 110 and the lower surface of the transfer frame 120 in the vertical direction.
- the transport frame 120 coupled to the frame slider 113 is connected to the base frame 110 at intervals in the vertical direction. Since the transport frame 120 is supported and transported by the frame slider 113, the transport frame 120 can be coupled to the base frame 110 without friction with the base frame 110.
- the base frame 110 includes a guide module holder 114 at its front end (front end of the platform).
- the guide module holder 114 may be detachably coupled to a guide housing of a first guide module to be described later.
- the guide module holder 114 includes a stand 1141 that protrudes laterally from the front end of the base frame 110 and a housing holder 1142 detachably coupled to the stand 1141 in a vertical direction. Fitting grooves 1143 may be formed in the front and rear directions of the housing holder 1142 .
- FIG. 10 is an exploded perspective view showing a transfer frame of the platform shown in Fig. 6; 11 is a cross-sectional view taken along line XI-XI in FIG. 10; FIG. 12 is a cross-sectional view taken along line XII-XII of FIG. 10 .
- FIG. 13 is a perspective view showing an example of a transfer unit shown in FIG. 10; Hereinafter, reference is made to FIGS. 4 to 6 and FIGS. 10 to 13 .
- the transfer module 102 of one embodiment includes transfer units 130, 140, and 150 for transferring the surgical tool module.
- the catheter module 200 is coupled to the transfer unit 130.
- the guide wire module 300 is coupled to the transfer unit 140 or the transfer unit 150 .
- the micro catheter module 400 is coupled to the transfer unit 140 .
- the micro guide wire module 500 is coupled to the transfer unit 150 .
- the transfer module 102 may be configured to simultaneously transfer the transfer unit 130 , the transfer unit 140 , and the transfer unit 150 in the forward and backward directions.
- the transfer module 102 may be configured such that the transfer unit 140 is transferred independently of the transfer unit 130 .
- the transfer module 102 may be configured such that the transfer unit 150 is transferred independently of the transfer unit 130 and the transfer unit 140 .
- the transfer unit 130 and the transfer unit 140 may be disposed on the transfer frame 120 to be transferable in the forward and backward directions FR.
- the transfer unit 140 is disposed on the transfer frame 120 at the rear of the transfer unit 130 .
- the transport unit 150 may be disposed on the transport frame 120 to be transportable in the forward and backward directions FR.
- the transfer unit 150 is disposed on the transfer frame 120 at the rear of the transfer unit 130 .
- the transfer unit 150 is disposed on the transfer frame 120 at the rear of the transfer unit 140 .
- the transfer frame 120 may be formed as a housing having a driving element therein.
- the frame slider 113 (see FIG. 6) of the base frame may be detachably coupled to the lower surface of the transfer frame 120.
- 10 shows the drive elements inside the transport frame 120 as seen by removing the top of the transport frame 120 .
- a pair of linear rails 121 extending in the forward and backward direction (FR) are disposed on the upper surface of the bottom of the transfer frame 120, and a slit 122 is formed on one side wall of the transfer frame 120 in the forward and backward direction (FR). this is formed
- the plurality of transfer units 130, 140, and 150 may have the same configuration as each other.
- Each of the transfer units 130 , 140 , and 150 may have module sliders 131 , 141 , and 151 slidably coupled to the linear rail 121 .
- Each of the transport units 130 , 140 , and 150 may be slidably transported along the linear rail 121 in the front-back direction FR.
- Each module slider (131, 141, 151) extends in the transverse direction (LR) orthogonal to the front-rear direction (FR), and its end can protrude out of the transfer frame 120 through the slit 122. .
- the transfer module 102 may simultaneously transfer the plurality of transfer units 130 , 140 , and 150 in the forward and backward directions.
- the transport module 102 may include a module transport lead screw 123 rotatably supported on the bottom of the transport frame 120 and disposed along the front-back direction FR.
- the transport module 102 may include a module transport motor 124 for rotating the module transport lead screw 123 .
- the module transfer motor 124 is coupled to the module transfer lead screw 123 via a coupling 1241 .
- the module feed motor 124 rotates the module feed lead screw 123 clockwise or counterclockwise.
- the module transfer lead screw 123 is coupled to each of the transfer units 130 , 140 , and 150 so as to transfer each transfer unit 130 , 140 , and 150 by a screw motion.
- the module transport lead screw 123 may be coupled to the module sliders 131, 141, and 151 of each transport unit.
- the transfer unit 130 includes a transfer nut 132 (first transfer nut) coupled to the module transfer lead screw 123 to be transferred by a screw motion.
- a feed nut 132 is placed on the module slider 131 .
- the transport unit 130 is transported in the forward and backward direction FR by rotation of the module transport lead screw 123 .
- the conveying part 140 is arranged to be conveyed in the front-back direction FR independently of the conveying part 130 .
- the transfer unit 140 includes a transfer nut 142 (second transfer nut) coupled to the module transfer lead screw 123 to be transferred by a screw motion.
- a feed nut 142 is placed on the module slider 141 .
- the transfer part 140 is transferred in the forward direction FR by rotation of the module transfer lead screw 123 .
- the transfer unit 140 may include a transfer motor 143 (second transfer motor) configured to rotate the transfer nut 142 (see FIGS. 10 and 12 ).
- the transfer motor 143 may be disposed on the module slider 141 .
- the rotation shaft of the transfer motor 143 and the transfer nut 142 may be connected by gear transmission.
- the spur gear 1431 is coupled to the rotational shaft of the transfer motor 143, and the spur gear 1421 meshing with the spur gear 1431 may be integrally coupled with the transfer nut 142, but bevel gears, etc.
- the rotation shaft of the transfer motor 143 and the transfer nut 142 may be connected by another structure.
- the conveying part 140 When the conveying nut 142 rotates, the conveying part 140 is conveyed in the front-back direction FR along the module conveying lead screw 123 . Since the conveying nut 142 can be rotated independently of the rotation of the module conveying lead screw 123 by the conveying motor 143, the conveying part 140 can be conveyed forward and backward independently of the conveying part 130. .
- the conveying part 150 is arranged to be conveyed in the front-back direction FR independently of the conveying part 130 and the conveying part 140 .
- the transfer unit 150 includes a transfer nut 152 (third transfer nut) coupled to the module transfer lead screw 123 to be transferred by a screw motion.
- a feed nut 152 is placed on the module slider 151 .
- the transfer unit 150 is transferred in the forward and backward directions FR by rotation of the module transfer lead screw 123 .
- the transfer unit 150 may include a transfer motor 153 (third transfer motor) configured to rotate the transfer nut 152 (see FIGS. 10 and 12 ).
- the transfer motor 153 may be disposed on the module slider 151 .
- the rotation shaft of the transfer motor 153 and the transfer nut 152 may be connected by gear transmission.
- the spur gear 1531 is coupled to the rotating shaft of the transfer motor 153, and the spur gear 1521 meshing with the spur gear 1531 may be integrally coupled with the transfer nut 152, but bevel gears, etc.
- the rotation shaft of the transfer motor 153 and the transfer nut 152 may be connected by another structure.
- the conveying part 150 When the conveying nut 152 rotates, the conveying part 150 is conveyed in the front-back direction FR along the module conveying lead screw 123 . Since the conveying nut 152 can be rotated independently of the rotation of the module conveying lead screw 123 by the conveying motor 153, the conveying part 150 moves forward and backward independently of the conveying part 130 and the conveying part 140. can be transferred to
- the transfer unit 130 may be configured to be fixed to the transfer module 102 .
- the transfer unit 130 may be transferred in the forward direction (FR).
- the module conveying lead screw 123 may be disposed on the conveying frame 120 to move the conveying parts 140 and 150 by screw motion, and the conveying part 140 may be moved without the conveying motor 143. may be configured.
- the transfer module 102 may include only the transfer unit 130 and the transfer unit 140 .
- the catheter module 200 and the guide wire module 300 may be coupled to the transfer unit 130 and the transfer unit 140, respectively, and the vascular interventional device may be used for the vascular interventional procedure illustrated in FIG. 1. have.
- the platform 100 may include only one modular frame (eg, a base frame).
- the conveying parts may be arranged in the single frame.
- the catheter 20 of the catheter module 200 may be transferred in the front-back direction FR by the transfer of the transfer frame 120 or the transfer of the transfer unit 130 .
- the catheter module 200 is configured to rotate the catheter 20 about an axis of rotation RA in the anteroposterior direction FR.
- the guide wire 30 of the guide wire module 300 may be transferred in the front-back direction FR by the transfer of the transfer frame 120 or the transfer of the transfer unit 140 or the transfer unit 150 .
- the guide wire module 300 is configured to rotate the guide wire 30 about a rotational axis RA.
- the microcatheter 40 of the microcatheter module 400 may be transferred in the front-back direction FR by the transfer of the transfer frame 120 or the transfer of the transfer unit 140 .
- the micro catheter module 400 is configured to support the micro catheter 40 .
- the micro catheter module 400 may be configured to fix the micro catheter 40 non-rotatably or to support the micro catheter 40 rotatably (refer to an embodiment according to FIG. 54 to be described later).
- the microguide wire 50 of the microguide wire module 500 may be transferred in the forward direction FR by the transfer of the transfer frame 120 or the transfer of the transfer unit 150 .
- the micro guide wire module 500 is configured to rotate the micro guide wire 50 around a rotation axis RA.
- the transfer module 102 may be configured to generate rotational force for rotating the operation tool in each of the operation tool modules and transmit the rotational force to each module.
- Each transfer unit of the transfer frame 120 may be configured to generate and transmit the rotational force.
- the transfer unit 130 is configured to generate rotational force for rotating the catheter 20 and transfer the rotational force to the catheter module 200 while being coupled with the catheter module 200 .
- the transfer unit 140 is configured to generate rotational force for rotating the second surgical tool (guide wire or micro catheter) and transmit the rotational force to the second surgical tool module.
- the transfer unit 140 in a state coupled to the guide wire module 300, generates rotational force for rotating the guide wire 30 and guides the rotational force. It is configured to transmit to the wire module 300.
- the transfer unit 140 may be configured to generate and transmit rotational force, but the micro catheter module 400 may be operated so as not to rotate the micro catheter.
- the transfer unit 150 is configured to generate rotational force for rotating the microguidewire 50 in a state of being coupled to the microguidewire module 500 and transmit the rotational force to the microguidewire module 500.
- each of the transfer units may be configured to transmit only rotational force, and a rotational force generating unit for generating rotational force transmitted by each transfer unit may be disposed on the transfer frame.
- At least one of the transfer units of the platform includes a rotational force generating unit generating a rotational force and a transmission unit configured to transmit the rotational force to any one surgical tool module.
- the transmission unit is configured to be detachably coupled to the rotational force generating unit.
- the transmission unit is configured to be detachably coupled to any one surgical tool module. Therefore, since the transfer part of the surgical tool module supporting and rotating the surgical tool and the platform are connected through the transmission unit, the surgical tool modules and the platform may have a simplified structure.
- the rotational force generator may generate rotational force for rotating a corresponding one of the catheter, the guide wire, and the microguide wire.
- the transmission unit may transmit rotational force to a corresponding surgical tool module among a catheter module, a guide wire module, and a micro guide wire module.
- each transfer unit may include the rotational force generating unit and the transmission unit.
- FIGS. 4, 5, 10, 11, and 13 to 17 show components of the conveying unit shown in FIG. 13 .
- FIGS. 4, 5, 10, 11, and 13 to 17 show components of the conveying unit shown in FIG. 13 .
- FIGS. 4, 5, 10, 11, and 13 to 17 show components of the conveying unit shown in FIG. 13 .
- Each transfer unit 130 , 140 , and 150 may include a rotational force generating unit 160 that generates rotational force.
- Each transfer unit 130 , 140 , and 150 may include a transmission unit 170 that transmits rotational force.
- the rotational force generator 160 of the transfer unit 130 may pass through the slit 122 and be connected to a portion of the module slider 131 protruding to the side of the transfer frame 120 .
- the rotational force generator 160 is coupled to a motor housing 161 coupled to the module slider 131, a rotational motor 162 disposed in the motor housing 161, and a rotational shaft of the rotational motor 162 to rotate the rotational motor It includes a first rotation body 1621 rotatable to output rotational force of 162.
- the rotational force generator 160 of the transfer units 140 and 150 may have the same structure as that of the rotational force generator 160 of the transfer unit 130 .
- the rotational force generators 160 of the transfer units 140 and 150 may be connected to portions of the module sliders 141 and 151 protruding through the slit 122 , respectively. As another example not shown, the rotational force generators may be disposed inside the transfer frame 120 .
- the transmission unit 170 may be disposed outside the transfer frame 120 .
- the transmission unit 170 of the transfer unit 140 may be detachably coupled to the rotational force generating unit 160 in the vertical direction VD.
- the transmission unit 170 of the transfer unit 140 is coupled to the catheter module 200.
- the transmission unit 170 of the transfer unit 140 is configured to receive rotational force from the rotational force generating unit 160 and transfer it to the catheter module 200 .
- the transfer unit 130 transmits rotational force to the catheter module 200 transversely. configured to transmit in the direction LR.
- the transmission unit 170 may have a shape bent to correspond to the shape of the outer surface of the transfer frame 120 (or the platform 100). As shown in FIG. 4, when the transfer module 102 (platform 100) is viewed in the front-back direction FR, the transmission unit 170 extends in the circumferential direction CD centered on the rotation axis RA. can be formed to For example, the transmission unit 170 may have an inverted L-shape to correspond to the outer surface shapes of the upper and side walls of the transfer frame.
- the transmission unit 170 of the transfer units 140 and 150 may have the same structure as that of the transfer unit 170 of the transfer unit 130 .
- the transmission unit 170 of the transfer unit 140 may transfer the rotational force of the rotational force generating unit 160 to the second surgical tool module (guide wire module 300 or micro catheter module 400).
- the transmission unit 170 of the transfer unit 150 may transmit the rotational force of the rotational force generating unit 160 of the transfer unit 150 to the microguide wire module 500 .
- each functional part can be modularized, each functional part can be selectively employed in the platform as needed, and usability and convenience can be improved.
- each power unit may be configured to be coupled to the corresponding surgical tool module by fitting in a transverse direction orthogonal to the front and rear directions.
- each transmission unit and the corresponding surgical tool module may be configured to be coupled by fitting in the front-back direction or in an oblique direction between the front-back direction and the lateral direction.
- the transmission unit 170 includes an input end 171 receiving rotational force from the rotational force generating unit and an output end 172 outputting rotational force to a corresponding surgical tool module.
- the transmission unit 170 includes a bridge unit 173 connecting an input end 171 and an output end 172 .
- the input end 171 may be formed so that the output end of the rotational force generator 160 is fitted in a vertical direction.
- the input end 171 may be located on the side of the transfer frame.
- the output end 172 may be detachably coupled to a corresponding surgical tool module.
- the output end 172 may be located above the transfer frame (above the platform).
- the surgical tool modules may be disposed between the transfer frame and the output end 172 while being coupled to the output end of the transmission unit.
- the rotational force generator 160 includes a first rotating body 1621 that outputs rotational force at its upper end.
- the transmission unit 170 includes a second rotating body 1711 corresponding to the first rotating body 1621 at the input end 171 .
- the second rotating body 1711 is configured to have a shape complementary to the first rotating body 1621 .
- One of the first rotating body 1621 and the second rotating body 1711 may have a protrusion, and the other of the first rotating body 1621 and the second rotating body 1711 may have a concave portion into which the protruding portion is fitted.
- the first rotating body 1621 has a protrusion 1622 protruding upward
- the second rotating body 1711 has a protruding portion 1622. has a concave portion 1712 into which it can be fitted.
- the transmission unit 170 is connected to the input end 171 so that the transmission unit 170 can receive rotational force
- the second rotation body 1711 may include a rotating body guide 1713 that movably holds in the vertical direction.
- the electric motor 170 may include a spring 1714 that presses the second rotating body 1711 toward the first rotating body 1621 .
- the first rotating body 1621 and the second rotating body 1711 may be detachably coupled under the pressing force of the spring 1714 .
- the first rotational body 1621 due to the shape of the first rotational body 1621 and the second rotational body 1711 ) and the second rotating body 1711 may not be coupled to each other.
- the first rotating body 1621 rotates
- the second rotating body 1711 is moved by the pressing force of the spring 1714. is moved in a direction toward the first rotation body 1621 along the rotation body guide 1713, and may be engaged with the first rotation body 1621.
- the transmission unit 170 includes a connecting shaft 1715 inserted into the second rotating body 1711 and an input timing pulley 1716 coupled to the connecting shaft 1715.
- the spring 1714 is disposed between the connecting shaft 1715 and the second rotating body 1711, and the connecting shaft 1715 may be partially inserted into the second rotating body 1711.
- the second rotating body 1711 and the connecting shaft 1715 may be connected using a convex portion and a concave portion.
- the transmission unit 170 includes a drive gear 1721 that outputs rotational force.
- Drive gear 1721 is coupled to output timing pulley 1722 rotatably disposed at output end 172 .
- the input timing pulley 1716 and the output timing pulley 1722 are connected by a timing belt 1731 disposed inside the bridge portion 173 .
- the driving gear 1721 may be rotated through belt transmission by the rotational force of the first rotating body 1621 .
- the transmission unit 170 has a pair of fitting grooves 1723 at the output end 172 for coupling with a corresponding surgical tool module.
- the driving gear 1721 is exposed between the fitting grooves 1723.
- a pair of fitting grooves 1723 are formed in the lateral direction LR.
- Each surgical tool module has a pair of fitting protrusions 2111, 3111, 4111, and 5111 fitted at the upper end of the fitting groove 1723 in the transverse direction LR (FIGS. 19, 22, and 26 and see FIG. 28).
- Each surgical tool module may be detachably coupled to the transmission unit of the corresponding transfer unit by fitting in the lateral direction LR.
- the orientation of the fitting groove 1723 and the fitting protrusions 2111, 3111, 4111, and 5111 may be a front-rear direction or an oblique direction between the front-back direction and the transverse direction.
- the transmission unit 170 may have the above fitting protrusions, and each surgical tool module may have the above fitting grooves.
- Each surgical tool module has a driven gear (220, 320, 420, 520) exposed between the pair of fitting protrusions and meshed with the drive gear 1721 of the transmission unit (FIGS. 19, 22, and 26). and see FIG. 28).
- Each surgical tool module is configured to rotate the surgical tool by rotation of the driven gear.
- the drive gear 1721 may be a bevel gear that rotates around a vertical axis of rotation
- the driven gear may be a bevel gear that rotates around a rotation axis RA in the forward and backward direction.
- spur gears may be used as the drive gear and the driven gear.
- An upper end of the rotational force generating unit 160 may be fitted into the input end 171 of the transmission unit 170 and detachably coupled.
- a locking unit may be provided to the transmission unit 170 and the rotational force generating unit 160 .
- the locking unit may include an elastically deformable locking latch and a locking groove to which the locking latch is detachably coupled.
- One of the locking latch and the locking groove may be provided in the transmission unit 170 , and the other of the locking latch and the locking groove may be provided in the rotational force generating unit 160 .
- the transmission unit 170 may include a pair of elastically deformable locking latches 1717 .
- the rotational force generator 160 includes a locking groove 163 to which a locking latch 1717 is detachably coupled to its upper end.
- the locking latch 1717 may have a hook shape.
- an unlocking unit for releasing the locking latch may be provided at one of the transmission unit and the rotational force generating unit to which the locking latch is provided.
- the unlocking unit may be configured to elastically deform the locking latch to separate the locking latch from the locking groove, and may be configured to slide in a vertical direction to improve convenience of use.
- the transmission unit 170 including the locking latch 1717 elastically deforms the locking latch 1717 to move the locking latch 1717 from the locking groove 163 to the outside of the transmission unit. and an unlocking portion 174 configured to separate.
- the unlocking portion 174 includes an unlocking slider 1741 having an unlocking hook 1742 .
- the unlocking slider 1741 may be formed to surround an outer circumferential surface of the input end 171 .
- the unlocking slider 1741 may be slidably coupled to the input end 171 in a vertical direction.
- a stopper 1743 may be fixed to the input end 171 below the unlocking slider 1741 .
- the stopper 1743 may have a shape fitted to the input end 171 and prevent the unlocking slider 1741 from being separated downward from the input end 171 .
- the unlocking hook 1742 of the unlocking slider 1741 engages the locking latch 1717 and the locking groove 163.
- the locking latch 1717 is elastically deformed by pushing (for example, in a direction away from the locking groove 163). Accordingly, the locking latch 1717 is removed from the locking groove 163, and the transmission unit 170 can be separated from the rotational force generating unit 160. Accordingly, locking between the transmission unit 170 and the rotational force generating unit 160 may be released.
- a latch unit for preventing separation of the surgical tool module in the lateral direction LR may be provided to the motor unit 170.
- the transmission unit 170 includes a rotation latch 175 rotatably disposed on an outer surface of the output end 172 and configured to lock the treatment tool module by rotation.
- the latch portion 1751 of the rotary latch 175 may be positioned to face upward or downward by rotation of the rotary latch 175 .
- the rotary latch 175 may be rotated so that the latch 1751 locks the surgical tool module to the electric motor 170 .
- An interventional vascular procedure device includes surgical tool modules coupled to the platform.
- the platform generates a rotational force for selectively transporting the catheter, guide wire, microcatheter, and microguide wire used in the vascular intervention procedure in the forward and backward directions and also rotating them about the rotation axis in the forward and backward directions.
- the surgical tool module supports a surgical tool that is any one of a catheter, a guide wire, a micro catheter, and a micro guide wire, and can be detachably coupled to the platform.
- the surgical tool module may rotate the surgical tool by receiving rotational force from the platform.
- the surgical tool module includes a module housing configured to be detachably coupled to the platform.
- the surgical tool module is rotatably disposed around a rotational axis in the module housing and may include a driven gear for rotating the surgical tool.
- the driven gear is coupled to a surgical tool of each surgical tool module.
- the driven gear is driven by a rotational force from the platform in a state where the module housing is coupled to the platform, and rotates the treatment tool around the rotation axis.
- the catheter module is coupled to the transfer unit 130 of the transfer module and transferred in the forward and backward directions, and the first treatment tool (catheter) can be rotated.
- 19 is a perspective view illustrating a catheter module of an interventional vascular procedure device according to an embodiment. 20 is a cross-sectional view taken along line XX-XX of FIG. 19; Fig. 21 is a downward exploded perspective view of the catheter module shown in Fig. 19; Hereinafter, reference is made to FIGS. 4, 5 and 19 to 21 .
- the catheter module 200 may be individually attached to and detached from the platform 100 (transfer portion 130 of the platform) while accommodating parts for fixing and rotating the catheter 20 .
- the catheter module 200 includes a first module housing 210 and a first driven gear 220 rotatably disposed in the first module housing 210 and coupled to a first surgical tool.
- the first module housing 210 is configured to be detachably coupled to the transfer unit 130 (specifically, to the transmission unit of the transfer unit 130).
- the first module housing 210 includes a coupling portion 211 coupled to the transfer portion 130 of the platform.
- the first module housing 210 includes a receiving portion 212 configured to receive a portion of the first driven gear 220 and the catheter 20 .
- the coupling part 211 is formed in the lateral direction LR and may be configured to be fitted to the transfer unit 130 of the platform in the lateral direction LR.
- the coupling part 211 may include a fitting protrusion 2111 formed in the lateral direction LR and fitted into the fitting groove of the transfer part 130 .
- the first module housing 210 may be configured such that a part of the first driven gear 220 is located and exposed in the coupling part 211 .
- the accommodating portion 212 may form an inner space of the first module housing 210 .
- the accommodating portion 212 has an opening 2121 formed in the outer radial direction RO of the rotating shaft RA.
- the outer radial direction may be downward, but the present disclosure is not limited thereto.
- the accommodating portion 212 communicates with the opening 2121 and has a front slit 2122 formed to extend to the front end of the first module housing 210 .
- the first driven gear 220 and the catheter 20 are configured to be accommodated in the receiving portion 212 through the opening 2121 and the front slit 2122 .
- the first driven gear 220 and the catheter 20 are configured to be separable in the outer radial direction RO through the opening 2121 and the front slit 2122 .
- the first module housing 210 includes a housing cover 213 configured to be detachably coupled to the accommodating portion 212 to open and close the opening 2121 of the accommodating portion.
- the housing cover 213 may be configured to fit into the receiving portion 212 in an inner radial direction opposite to the outer radial direction.
- the housing cover 213 may open and close the lower end of the accommodating portion 212 opened by the opening 2121 . With the housing cover 213 removed from the accommodating portion 212 , the first driven gear 220 and the catheter 20 may be separated from the accommodating portion 212 in the outer radial direction RO.
- the housing cover 213 is removable from the accommodating portion 212, when an emergency situation occurs in which the operation of the vascular interventional device becomes inoperable during the vascular interventional procedure, the state in which a plurality of surgical tools are inserted into the patient's target blood vessel is maintained. Even in the maintained state, the first driven gear 220 and the catheter 20 are separated from the first module housing 210, so that a plurality of surgical tools can be manually operated.
- the first driven gear 220 may be composed of one bevel gear.
- the first driven gear 220 may be disposed on the first module housing 210 to engage with the driving gear 1721 (see FIG. 14 ) of the transfer unit 130 .
- the first driven gear 220 is rotatably coupled to the first module housing about the rotation axis RA.
- the central portion of the first driven gear 220 is formed to have a circular through hole 221 .
- a bush 222 is fitted into the through hole 221 .
- the connecting end 21 of the catheter 20 (first surgical tool) is fitted to the inner circumferential surface of the bush 222.
- the first driven gear 220 is coupled to the connecting end 21 of the catheter through the bush 222 at its central portion.
- the catheter 20 may be rotated by rotation of the first driven gear 220 .
- a portion of the catheter 20 is disposed in the first module housing 210 so as to extend forwardly from the central portion of the first driven gear 220 .
- the catheter module 200 includes a connection tube 230 connected to the connection end 21 of the catheter 20 .
- the connection tube 230 may be fixed to the housing cover 213 .
- the front end of the connecting tube 230 is inserted into the connecting end 21 of the catheter.
- the bush 222 is rotatably coupled to the connecting tube.
- a bush 222 is joined at the rear portion of the front end of the connecting tube 230 .
- the connection tube 230 has a guide portion 231 and a branch portion 232 diverging from the guide portion 231 in an outer radial direction in the middle of the guide portion 231 .
- a guide wire or a micro catheter is inserted into the catheter 20 through the guide portion 231 of the connection tube 230 .
- the branch portion 232 of the connection tube 230 may be used to inject a fluid drug into the target blood vessel or to suck a blood clot in the target blood vessel in a state in which the front end of the catheter 20 has reached the target blood vessel. .
- the guide wire module 300 (second surgical tool module) is coupled to the transfer unit 140 or transfer unit 150 of the transfer module and transferred in the forward and backward directions.
- the guide wire module 300 may rotate the second surgical tool (guide wire).
- 22 is a perspective view illustrating a guide wire module of an interventional vascular procedure device according to an embodiment.
- Fig. 23 is a downward exploded perspective view of the guide wire module shown in Fig. 22;
- Fig. 24 shows a cross-sectional shape taken along the line XXIV-XXIV in Fig. 22, and
- Fig. 25 shows a part of the guide wire module.
- FIG. 4 and FIGS. 22 to 25 shows a part of the guide wire module.
- the guide wire module 300 may be individually attached to and detachable from the platform 100 (the transfer unit 140 of the platform) while accommodating parts for fixing and rotating the guide wire 30 (second surgical tool).
- the guide wire module 300 includes a second module housing 310 and a second driven gear 320 rotatably disposed in the second module housing 310 and coupled to the guide wire 30 .
- the second module housing 310 is configured to be detachably coupled to the transfer unit 140 or the transfer unit 150 .
- the second module housing 310 includes a coupling part 311 coupled to the transfer part 140 or the transfer part 150 of the platform.
- the second module housing 310 includes an accommodating portion 312 configured to accommodate a portion of the second driven gear 320 and the guide wire 30 .
- the coupling part 311 is formed in the lateral direction LR and may be configured to be fitted to the transfer unit 140 of the platform in the lateral direction LR.
- the coupling part 311 may include a fitting protrusion 3111 formed in the lateral direction LR and fitted into the fitting groove of the conveying part 140 or the fitting groove of the conveying part 150 .
- the second module housing 310 may be configured such that a part of the second driven gear 320 is located and exposed in the coupling part 311 .
- the accommodating portion 312 may form an inner space of the second module housing 310 .
- the accommodating portion 312 has an opening 3121 formed in the outer radial direction RO of the rotating shaft RA.
- the outer radial direction may be downward, but the present disclosure is not limited thereto.
- the second driven gear 320 is configured to be accommodated in the accommodating portion 312 through the opening 2121 .
- the guide wire 30 passes through the second driven gear 320 .
- the second module housing 310 includes a housing cover 313 configured to be detachably coupled to the accommodating portion 312 to open and close the opening 3121 of the accommodating portion.
- the housing cover 313 may be fitted into the accommodating portion 312 in an inner radial direction opposite to the outer radial direction, so that the lower end of the accommodating portion 212 opened by the opening 2121 may be opened and closed.
- the second driven gear 320 may be separated from the accommodating portion 312 in the outer radial direction RO.
- the second driven gear 320 is separated from the second module housing 310 even in a state in which a plurality of surgical tools are inserted into the patient's blood vessels and remain coupled to each other,
- the surgical tools of can be manually operated.
- the second driven gear 320 may be composed of one bevel gear.
- the second driven gear 320 may be disposed in the second module housing 310 to engage with the driving gear 1721 (see FIG. 14 ) of the transfer unit 140 or the transfer unit 150 .
- the second driven gear 320 is rotatably coupled to the second module housing about the rotation axis RA.
- the central portion of the second driven gear 320 is formed to have a circular through hole 321 and is coupled to the guide wire 30 .
- the guide wire 30 may be rotated.
- a part of the guide wire 30 is disposed in the second module housing 310 so as to extend forward from the central portion of the second driven gear 320 .
- the guide pipe 322 is coupled to the through hole 321 of the second driven gear 320 .
- the guide pipe 322 is formed such that the guide wire 30 passes through the guide pipe 322 .
- the guide pipe 322 is disposed in the inner space of the accommodating part 312 and rotates together with the second driven gear 320 .
- the guide wire module 300 of one embodiment includes a guide wire holder 330 coupled to the second driven gear 320 and configured to fix the guide wire 30 .
- the guide wire holder 330 is coaxially coupled to the rotational axis RA of the second driven gear 320 in the through hole 221 formed in the central portion of the second driven gear 320 .
- the guide wire holder 330 is configured to releasably fix the guide wire 30 .
- the guide wire holder 330 includes a clamp holder 331 and a wire clamp 332 .
- the clamp holder 331 is coupled to the through hole 321 of the second driven gear 320 at the rear of the guide pipe 322 .
- the guide pipe 322 and the clamp holder 331 may be integrally formed.
- the wire clamp 332 is configured to releasably fix the guide wire 30, and is movably coupled to the clamp holder 331 in the front-back direction FR.
- the wire clamp 332 is configured to move to the clamp holder 331 to fix the guide wire 30 and to move from the clamp holder 331 to release the guide wire 30 .
- the clamp holder 331 includes a conical pressing portion 3311 whose diameter increases in the rearward direction, and a screw portion 3312 adjacent to the pressing portion 3311 .
- the wire clamp 332 includes a threaded portion 3321 screwed to the threaded portion 3312 of the clamp holder, and a plurality of fingers 3322 formed at the front end of the threaded portion 3321 and releasably fixing the guide wire 30. includes The threaded portion 3321 is movably coupled to the threaded portion 3312 of the clamp holder by a screw movement.
- the plurality of fingers 3322 are separated from each other in the circumferential direction CD with respect to the rotational axis RA.
- the plurality of fingers 3322 can be elastically deformed in an outer radial direction and an inner radial direction with respect to the rotation axis RA.
- a plurality of fingers 3322 may contact the conical pressing portion 3311 of the clamp holder.
- the plurality of fingers 3322 contact the conical pressing portion 3311 and fix the guide wire 30 while being elastically deformed in the inner radial direction.
- the plurality of fingers 3322 release the guide wire 30 while being elastically deformed in the outer radial direction.
- the guide wire 30 can be fixed to the second driven gear 320, and as the wire clamp 332 rotates in the other direction, the guide wire ( 30) and the second driven gear 320 may be released.
- the micro catheter module 400 (second surgical tool module) is transferred in the forward and backward directions by the transfer unit 140 of the transfer module.
- the micro catheter module 400 is configured to be coupled to the transport unit 140 of the transport module to be interchangeable with the guide wire module 300 . If necessary, the micro catheter module 400 may rotate the micro catheter (second surgical tool).
- 26 is a perspective view illustrating a microcatheter module of an interventional vascular procedure device according to an embodiment.
- 27 is a cross-sectional view taken along line XXVII-XXVII of FIG. 26; 5, 26 and 27 are referred to below.
- the micro catheter module 400 may be individually attached to and detachable from the platform (the transfer unit 140 of the platform) while accommodating parts for supporting the micro catheter 40 (second surgical tool).
- the micro catheter module 400 may have the same structure as that of the catheter module 200.
- Another module having the same configuration as the catheter module 200 is configured to support and fix the microcatheter, and can be used as the microcatheter module 400 in the vascular interventional procedure device.
- the micro catheter module 400 includes a third module housing 410 and a third driven gear 420 rotatably disposed within the third module housing 410 and coupled to the micro catheter 40 .
- the third module housing 410 includes a part of the coupling part 411 fitted to the transfer part 140 (fitting groove of the transmission part 170), the third driven gear 420, and the micro catheter 40. and an accommodating portion 412 configured to receive it.
- the third module housing 410 and the third driven gear 420 may be configured identically to the first module housing and the first driven gear of the catheter module 200, respectively.
- the opening 4121, the front slit 4122, and the housing cover 413 of the third module housing 410 are formed by the opening 2121, the front slit 2122, and the housing cover 213 of the first module housing 210. and each may be configured identically.
- 28 is a perspective view illustrating a microguide wire module of an interventional vascular procedure apparatus according to an embodiment.
- 29 is a cross-sectional view taken along line XXIX-XXIX of FIG. 28; 5, 28 and 29 are referred to below.
- the micro guide wire module 500 may be configured to be coupled to the transfer unit 150 so as to be interchangeable with the guide wire module 300 .
- the microguide wire module 500 may rotate the microguide wire (third surgical tool) by the rotational force from the transfer unit 150 .
- the microguide wire module 500 may be individually attached to and detached from the platform 100 (the transfer unit 150 of the platform) while accommodating parts for fixing and rotating the microguide wire 50.
- the micro guide wire module 500 may have the same structure as that of the guide wire module 300 .
- Another module configured identically to the guide wire module 300 is configured to support and rotate the microguide wire 50 and may be employed in an interventional vascular procedure device.
- the microguide wire module 500 includes a fourth module housing 510 and a fourth driven gear 520 rotatably disposed in the fourth module housing 510 and coupled to the microguide wire 50.
- the fourth module housing 510 includes a coupling portion 511 coupled to the transfer unit 150 (fitting groove of the transmission unit 170), a fourth driven gear 520, and a part of the microguide wire 50. It includes an accommodating portion 512 configured to accommodate the.
- the fourth module housing 510 and the fourth driven gear 520 may be configured identically to the second module housing and the second driven gear of the guide wire module 300, respectively.
- the opening 5121 of the fourth module housing 510 and the housing cover 513 may have the same configuration as the opening of the second module housing 310 and the housing cover, respectively.
- the microguide wire module 500 includes a micro guide wire holder 530 coupled to the fourth driven gear 520 and configured to fix the micro guide wire 50 .
- the micro guide wire holder 530 may be configured the same as the guide wire holder of the guide wire module 300 .
- the aforementioned driven gear of each module may include a bevel gear.
- the module housing of each module is configured to expose a portion of the driven gear, and the driven gear meshes with the drive gear of the transfer unit at the exposed portion.
- the module housing of each module may further include a rotational force transmission unit rotatably disposed in the module housing so as to be connected to the driven gear.
- the rotational force transmission unit is configured to receive rotational force generated from the platform in a state in which each module housing is coupled to the platform (each transfer unit of the platform) and may be configured to be connected to a driven gear.
- this rotational force transmission unit may have a rotational force transmission gear meshed with the driven gear at right angles.
- An interventional vascular procedure device may include a guide module for guiding and supporting a surgical tool to be transported.
- the guide module is disposed in the guide section and is configured to guide and support the forward and backward transfer of the surgical tool. Since surgical tools such as catheters, guide wires, microcatheters, and microguide wires have flexibility, they may sag or bend while being transported by the transport force of the transport unit. During the transfer of the surgical tool, the guide module guides and supports the surgical tool in the guide section of the surgical tool so that the surgical tool does not sag or bend, so that highly reliable transfer of the surgical tool can be realized.
- the vascular interventional device 10 includes a first guide module 600 disposed in the first guide section GS1 and configured to guide and support the forward and backward movement of the catheter 20 (first surgical tool); , It may include a second guide module 700 disposed in the second guide section GS2 and configured to guide and support the forward and backward transfer of the guide wire 30 (second surgical tool).
- the vascular interventional device 10 includes a first guide module 600 disposed in the first guide section GS1 and configured to guide and support the forward and backward movement of the catheter 20 (first surgical tool); , the second guide module 700 disposed in the second guide section GS2 and configured to guide and support the transfer of the micro catheter 40 (second surgical tool) in the front-back direction, and the third guide section GS3 ) and may include a third guide module 800 for guiding and supporting the transfer of the micro guide wire 50 (third surgical tool) in the forward and backward directions.
- the aforementioned guide modules 600, 700, and 800 may be individually detachable from the platform or the surgical tool module.
- each guide module (600, 700, 800) is configured to be drawn in and out of the guide housing and the guide housing disposed at the front or rear end of the corresponding guide section, and are engaged with each other to operate the treatment tool in the transverse direction. It may include a pair of support members configured to pinch.
- the pair of support members are configured to have a variable length in the front-back direction (FR) within the guide section according to the length change of the guide section. As the length of each guide section decreases in the front-back direction FR, the pair of support members may be drawn into the guide housing. As the length of each guide section increases in the front-back direction FR, the pair of support members can be drawn out from the guide housing.
- Each guide module may have a connector at an end of the pair of support members in a drawing direction.
- the connector of each guide module may be positioned to face the guide housing in the front-back direction in the guide section.
- the guide housing may be disposed at a front end of each guide section, and the connector may be disposed at a rear end of each guide section.
- the connector may be disposed at a front end of each guide section, and the guide housing may be disposed at a rear end of each guide section.
- FIG. 30 is a perspective view illustrating a first guide module of an interventional vascular procedure device according to an exemplary embodiment.
- Fig. 31 is an exploded perspective view of the first guide module shown in Fig. 30;
- Fig. 32 is a downward exploded perspective view showing the first guide housing of the first guide module shown in Fig. 30;
- 33 is a perspective view showing an example in which the first guide module shown in FIG. 30 is coupled to the front end of the base frame.
- FIG. 4 and FIGS. 30 to 33 is a perspective view illustrating a first guide module of an interventional vascular procedure device according to an exemplary embodiment.
- Fig. 31 is an exploded perspective view of the first guide module shown in Fig. 30
- Fig. 32 is a downward exploded perspective view showing the first guide housing of the first guide module shown in Fig. 30
- 33 is a perspective view showing an example in which the first guide module shown in FIG. 30 is coupled to the front end of the base frame.
- the interventional vascular procedure device 10 includes a first guide module 600 disposed in the first guide section GS1 as one of the guide modules.
- the first guide module 600 includes a first guide housing 610 disposed at a front end of the base frame 110 (front end of the first guide section) and detachably mounted to the base frame 110, and a first guide It includes a pair of first support members 620 configured to be drawn in and out of the housing 610 .
- the first guide module 600 includes a first connector 630 that is detachably coupled to the catheter module 200 and fixes ends of the pair of first support members 620 in the drawing direction. do.
- the first guide housing 610 accommodates the pair of first support members 620 so that the pair of first support members 620 are drawn in and out of the first guide housing.
- the pair of first support members 620 includes a first chain assembly 621 and a second chain assembly 622 configured to be engaged with each other in the transverse direction LR.
- a surgical tool eg, catheter
- the first and second chain assemblies 621 and 622 clamp the surgical tools.
- the first chain assembly 621 is configured such that neighboring links 6212 are connected by a pin 6211 .
- the first chain assembly 621 has engagement teeth 6213 and engagement grooves 6214 that are alternately disposed.
- An engagement tooth 6213 may be formed in each link 6212, and an engagement groove 6214 may be formed between adjacent links 6213.
- the second chain assembly 622 is configured such that neighboring links 6222 are connected by a pin 6221 .
- the second chain assembly 622 has an engagement groove 6223 corresponding to the engagement tooth 6213 of the first chain assembly and an engagement tooth 6224 corresponding to the engagement groove 6214 of the first chain assembly, The engagement grooves 6223 and the engagement teeth 6224 are alternately arranged.
- the pins 6211 and 6221 of the first and second chain assemblies 621 and 622 are positioned in a vertical direction. Neighboring links of each chain assembly may be rotated in the transverse direction LR relative to each other about the axis of the pins 6211 and 6221.
- the first guide module 600 includes a first engaging portion 640 disposed on the first guide housing 610 and configured to engage a pair of first support members with each other.
- the first engaging portion 640 is configured to It is configured to contact each of the support members 620 to engage each other in the pair of first support members 620 in the lateral direction LR.
- the first engagement portion 640 moves the pair of first support members 620 in the lateral direction LR. may be separated from each other.
- the first engagement portion 640 includes a pair of first engagement wheels 641 that rotate while being in contact with the pair of first support members 620 , respectively.
- the pair of first engagement wheels 641 are spaced apart by a distance that allows the pair of first support members 620 to be engaged with each other therebetween.
- the pair of first engagement wheels 641 are sprocket wheels having grooves respectively engaged with the pins 6211 and 6221 of the first and second chain assemblies.
- the pair of first engagement wheels 641 when the pair of first support members 620 are drawn into the first guide housing 610 and when drawn out from the first guide housing 610, a pair of It is rotated by the first support member 620 .
- the pair of first support members 620 may be drawn in and out of the first guide housing 610 . As the pair of first support members 620 are drawn out of the first guide housing 610, the pair of first support members 620 may be engaged with each other by the pair of first engagement wheels 641. . As the pair of first support members 620 are introduced into the first guide housing 610, the pair of first support members 620 passing through the pair of first engagement wheels 641 are separated from each other.
- the first engagement portion 640 is a spring 642 that presses the pair of first engagement wheels 641 in the direction in which the pair of first support members 620 are drawn into the first guide housing 610, respectively.
- Spring 642 may be a winding spring.
- the inner end of the spring 642 is coupled to a slit 6431 formed in a direction perpendicular to the spring shaft 643.
- the outer end of the spring 642 is coupled to the inner circumferential surface of the first engagement wheel 641 .
- the spring 642 is disposed between the first engagement wheel 641 and the spring shaft 643 in a pre-wound state in a direction in which the pair of first support members 62 are drawn in.
- the first engagement wheel 641 may be pressed in a direction in which the pair of first support members 620 are drawn in. Since the first engagement wheel 641 is pressed, in the free state of the first guide module 600, the pair of first support members 620 may have a minimum protruding length from the first guide housing 610. . In addition, when the pair of first support members 620 are drawn into the first guide housing 610, the pressing force of the spring 642 may help the pair of first support members 620 to be drawn in.
- the restoring force of the pair of springs 642 in the first guide housing 610 may be adjusted.
- Spring shafts 643 each coupled to a pair of springs 642 may be configured to adjust the restoring force of the springs 642 .
- the spring shaft 643 may have a slit 6431 formed long in a vertical direction.
- the spring shaft 643 may be separated downward while receiving one end of the spring 642 .
- the spring shaft 643 has a pair of protruding pieces 6432 at its lower end. Further, on the lower surface of the bottom of the first guide housing 610, a pair of semicircular protrusions 612 into which a pair of protrusions 6432 are respectively inserted protrude downward.
- the spring shaft 643 When the pair of protrusions 6432 are positioned between the pair of protrusions 612 by rotation of the spring shaft 643, the spring shaft 643 can be pulled downward from the first guide housing 610. have. In a state where the spring shaft 643 is withdrawn from the first guide housing 610, the restoring force of the spring 642 can be adjusted by the rotation of the spring shaft 643, and accordingly, the pressing force of the spring 642 can be adjusted. have. After adjusting the restoring force of the spring 642 to a desired level, the spring shaft 643 is inserted into the first guide housing 610, and the pair of protrusions 6432 are respectively attached to the pair of protrusions 612. are fitted A spring 642 may be disposed within the first guide housing 610 with an adjusted restoring force.
- first guide housing 610 includes a pair of tubes 613 extending rearward from the first guide housing 610 .
- Each part of the pair of first support members 620 separated from each other while passing the first engagement wheel 641 may be inserted into the pair of tubes 613 , respectively.
- the first guide module 600 is configured to divide the pair of first support members 620 from each other when the pair of first support members 620 are introduced into the first guide housing 610.
- An installment payment 650 may be further included.
- the division part 650 may be disposed between the pair of first support members 620 in the first guide housing 610 .
- the split portion 650 may be configured to pass the catheter 20 in the front-back direction FR.
- the first connector 630 of the first guide module 600 may be detachably coupled to the first module housing 210 of the catheter module 200 .
- the first connector 630 is formed as a female part.
- the first connector 630 may be composed of two halves capable of holding the ends of the pair of first support members 620 in the lateral direction LR.
- the first connector 630 has a pair of fitting slits 631 formed in the circumferential direction (CD).
- the first connector 630 is detachably coupled to the connection portion 214 formed at the front end of the first module housing 210 .
- the connecting portion 214 is a male part.
- a front slit 2122 (see FIG. 21 ) of the first module housing is formed in the connecting portion 214 .
- the connecting portion 214 has a fitting pin 2141 fitted into the fitting slit 631 and is fitted into the first connector 630 .
- the first connector 630 and the pair of first support members 620 can be positioned in place relative to the catheter module 200, and can be easily It can be coupled to the catheter module 200.
- the first guide housing 610 is detachably coupled to the front end of the base frame 110 .
- the housing holder 1142 of the base frame 110 includes a fitting groove 1143 formed in the front-back direction FR, and a hook formed at the rear end of the fitting groove 1143 and elastically deformable ( 1144).
- the first guide housing 610 has a U-shaped holder coupling portion 611 at an upper portion of which the housing holder 1142 is fitted rearward. A pair of protrusions 6111 of the holder coupling part 611 are fitted into the fitting groove 1143.
- the hook 1144 is engaged with the engagement portion 6112 of the holder coupling portion 611 between the pair of protrusions 6111 to lock the first guide housing 610 to the housing holder 1142.
- the hook 1144 is pushed upward and the hook 1144 can be separated from the engaging portion 6112.
- FIG. 34 is a perspective view illustrating a second guide module of the vascular interventional procedure device according to an embodiment.
- Fig. 35 is an exploded perspective view of the second guide module shown in Fig. 34;
- Fig. 36 is a downward exploded perspective view of the second guide module shown in Fig. 34;
- 37 is a cross-sectional view taken along line XXXVII-XXXVII of FIG. 34;
- FIGS. 4, 5 and 34 to 37 are examples of FIGS. 4, 5 and 34 to 37.
- the interventional device 10 includes a second guide module 700 disposed in the second guide section GS2 as one of the guide modules.
- the second guide module 700 is disposed at the front end of the second guide section GS2 and is drawn into the second guide housing 710 detachably mounted to the catheter module 200 and the second guide housing 710. and a pair of second support members 720 configured to be drawn out.
- the second guide module 700 fixes the ends of the pair of second support members 720 in the pulling direction and is detachably coupled to the guide wire module 300 or the micro catheter module 400.
- a second connector 730 is included.
- the second guide housing 710 accommodates the pair of second support members 720 so that the pair of second support members 720 are drawn in and out of the second guide housing.
- the pair of second support members 720 includes a first band 721 and a second band 722 configured to be engaged with each other in the transverse direction LR.
- a surgical tool for example, a guide wire or a micro In a state where the catheter
- the first and second bands 721 and 722 clamp the surgical tool.
- the first band 721 has an engagement protrusion 7211 formed in the front-back direction FR on a surface facing the second band 722 .
- the engagement protrusion 7211 may continuously extend in the front-back direction FR.
- the engagement protrusion 7211 may be formed as a plurality of intermittently arranged engagement protrusions.
- the second band 722 has an engagement groove 7221 on a surface facing the first band 721, into which an engagement protrusion 7211 is fitted.
- the first band 721 may have an engagement protrusion 7211 and an engagement groove 7212 together, and the second band 722 may have an engagement groove 7221 corresponding to the engagement protrusion 7211 of the first band. , It may have an engagement protrusion 7222 corresponding to the engagement groove 7212 of the first band.
- the first and second bands 721 and 722 are disposed such that their width direction is in the vertical direction VD.
- the second guide housing 710 is detachably coupled to the catheter module 200 .
- the second guide housing 710 is detachably coupled to the first module housing 210 of the catheter module 200 .
- the second guide housing 710 has a rear slit 711 formed in the front-back direction FR on the lower side.
- the rear slit 711 communicates with the opening 2121 (see Fig. 21) of the first module housing and is formed to extend from the opening 2121 to the rear end.
- the first module housing 210 of the catheter module may be configured to have the rear slit 711 .
- the first module housing 210 is configured to have the rear slit 711 It can be.
- the second guide housing 710 includes a cover latch 712 slidably fitted to the second guide housing 710 through a rear slit 711 .
- the cover latch 712 supports the housing cover 213 (see FIG. 212) can be fixed.
- the cover latch 712 may be separated from the second guide housing 710 , and thus the housing cover 313 may be separated from the receiving part 312 .
- the second guide module 700 includes a second engagement portion 740 disposed on the second guide housing 710 and configured to engage a pair of second support members with each other.
- the second engagement portion 740 is formed when the pair of second support members 720 are drawn out. It is configured to contact the support member 720 to engage each other in the pair of second support members 720 in the lateral direction LR.
- the second engagement portion 740 moves the pair of second support members 720 in the lateral direction LR. may be separated from each other.
- the second engagement portion 740 includes a pair of second engagement wheels 741 that rotate while being in contact with the pair of second support members 720 , respectively.
- the pair of second engagement wheels 741 are rollers that can rotate in contact with the first and second bands 721 and 722, respectively.
- the pair of second engagement wheels 741 It is rotated by the second support member 720 .
- the second engagement portion 740 includes a pair of reels 742 on which each second support member passing through the second engagement wheel 741 is wound and unwound. A pair of reels 742 are disposed outside the second engagement wheel 741, respectively.
- the pair of second support members 720 may be drawn in and out of the second guide housing 710 . As the pair of second support members 720 are drawn out from the second guide housing 710, the pair of second support members 720 may be engaged with each other by the pair of second engagement wheels 741. . As the pair of second support members 720 are drawn into the second guide housing 710, the pair of second support members 720 passing through the pair of second engagement wheels 741 are separated from each other.
- the second engagement portion 740 includes springs 743 that respectively press the pair of second engagement wheels 741 in the direction in which the pair of second support members 720 are drawn into the second guide housing 710.
- the spring 743 may be a spring.
- the inner end of the spring 743 is coupled to a slit 7441 formed in a direction perpendicular to the spring axis 744.
- the outer end of the spring 743 is coupled to the inner circumferential surface of the reel 742 .
- a pair of springs 743 are disposed between each reel 742 and each spring shaft 744 in a state in which the pair of second support members 720 are pre-wound in a direction in which the pair of second support members 720 are drawn in, and the pair of reels 742 ) is connected to the second engagement wheel 741 through first and second bands 721 and 722, respectively.
- the second engagement wheel 741 may be biased by a spring 743 in a direction in which the pair of second support members 720 are drawn in. Since the second engagement wheel 741 is pressed, in the free state of the second guide module 700, the pair of second support members 720 may have a minimum protruding length from the second guide housing 710. .
- the biasing force of the spring 743 may help the pair of second support members 720 to be drawn in.
- the restoring force of the pair of springs 743 in the second guide housing 710 may be adjusted.
- a spring shaft 744 each coupled to a pair of springs 743 may be configured to adjust the restoring force of the spring 743 .
- the spring shaft 744 is inserted into the second guide housing 710, and the pair of protrusions 7442 are respectively attached to the pair of protrusions 713. can be fitted.
- a method of adjusting the restoring force of the spring 743 by the spring shaft 744 may be the same as the method of adjusting the restoring force by the spring shaft 643 in the first guide module.
- the second connector 730 of the second guide module 700 may be detachably coupled to the second module housing of the guide wire module 300 or the third module housing of the micro catheter module.
- the second connector 730 is formed as a female part.
- the second connector 730 may be composed of two halves capable of holding the ends of the pair of second support members 720 in the lateral direction LR.
- the second connector 730 has a pair of fitting slits 731 formed in the circumferential direction (CD).
- the second connector 730 is detachably coupled to the connection part 314 (see FIG. 22) formed at the front end of the second module housing or the connection part 414 (see FIG. 26) formed at the front end of the third module housing.
- the connecting portions 314 and 414 are male parts.
- a front slit 4122 of the third module housing is formed at the connection portion 414 .
- the connecting parts of the second and third module housings have fitting pins 3141 and 4141 fitted into the fitting slit 731 and fitted into the second connector 730 .
- the fitting slit 731 and the fitting pins 3141 and 4141 the second connector 730 and the pair of second support members 720 are positioned in place with respect to the guide wire module or the micro catheter module. and can be easily coupled to a guide wire module or a micro catheter module.
- a front slit 2122 communicating with the opening 3121 of the first module housing 210 is formed in the connecting portion 214 of the first module housing 210 .
- the front slit 2122 is formed below the connecting portion 214 and is formed to allow passage of a portion of the catheter 20 positioned within the connecting portion 214 .
- the housing cover 213 of the first module housing 210 can be removed, and the rear slit 711 of the second guide housing 710 is may be exposed.
- the second connector 730 may be separated from the pair of second support members 720 . The reel in the second guide housing 710 is pressed in the retracting direction of the pair of second support members 720 .
- the housing cover 213 may be configured to be separable from the first module housing 210
- the second connector 730 may be configured to be separable from the pair of second support members 720 .
- the catheter 20 and the first driven gear 220 may be separated from the receiving portion 212 in the outer radial direction RO through the front slit 2122 and the opening 2121, and are inserted into the catheter 20
- a guide wire may be separated from the accommodating portion 212 in the outer radial direction RO through the rear slit 711 of the second guide housing 710 .
- the vascular interventional device 10 has first, second, and third first, second, and third guide sections disposed in the first, second, and third guide sections GS1, GS2, and GS3, respectively.
- Guide modules 600, 700 and 800 may be included.
- the first, second and third guide modules 600, 700 and 800 may be employed.
- the second guide module 700 guides and supports the transfer of the microcatheter 40 of the microcatheter module 400 .
- the third guide module 800 guides and supports the transfer of the micro guide wire 50 of the micro guide wire module 500 .
- the second guide module 700 in the first operating mode shown in FIG. 4 is used as the second guide module in the second operating mode shown in FIG. 5 .
- the second guide housing 710 of the second guide module 700 is disposed at the front end of the second guide section GS2 and is detachably coupled to the catheter module 200 .
- the second connector 730 of the second guide module 700 is disposed at the rear end of the second guide section GS2 and is detachably coupled to the micro catheter module 400 .
- the transfer of the microcatheter in the second guide section GS2 is guided and supported by the second guide module 700 .
- the third guide module 800 has the same configuration as that of the second guide module 700 . That is, the third guide housing 810 of the third guide module 800, the pair of third support members 820, and the third connector 830 are the second guide housing of the second guide module 700 ( 710), the pair of second support members 720 and the second connector 730 may each have the same configuration. In addition, the configuration of the third engagement portion of the third guide module 800 has the same configuration as that of the second engagement portion 740 of the second guide module 700 .
- a pair of third support members 820 composed of the aforementioned first and second bands guide and support the transfer of a surgical tool (eg, a micro guide wire) in the third guide section GS3.
- 39 to 52 an operation example of an interventional vascular procedure apparatus according to an embodiment will be described.
- 39 to 46 show examples of operation in a first mode of operation of the vascular interventional device of one embodiment.
- 47 to 52 show examples of operation in a second mode of operation of the vascular interventional device of one embodiment.
- the platform 100 is in a ready state before operation, and the catheter module 200 (the first surgical tool module in the first operating state) and the guide wire module 300 (the first operating state)
- a second surgical tool module is prepared.
- the first connector 630 of the first guide module 600 is coupled to the catheter module 200, and the pair of first support members of the first guide module 600 are of the first guide module 600. It may be introduced into the first guide housing.
- the second guide housing 710 of the second guide module 700 is coupled to the catheter module 200 .
- the second connector 730 of the second guide module 700 is coupled to the second module housing 310 of the guide wire module 300, and the guide wire module 300 passes through the second guide module 700. It is connected to the catheter module 200.
- each transmission unit 170 is fitted to a corresponding rotational force generating unit 160 .
- the catheter module 200 is fitted to the rolling part 170 of the conveying part 130 in the lateral direction LR, and the guide wire module 300 is fitted to the conveying part 140 in the transverse direction LR. It is fitted to the transmission part 170 of.
- the guide wire module 300 may be fitted to the transmission part 170 of the conveying part 150, and in this case, the surgical tool module is not coupled to the conveying part 140.
- the first guide housing 610 of the first guide module 600 is coupled to the housing holder 1142 disposed at the front end of the base frame 110 .
- the first guide housing 610 is pulled forward from the catheter module 200 .
- a pair of first support members 620 are drawn out from the first guide housing 610 and clamp the catheter 20 while being engaged with each other in the first guide section GS1.
- the second guide module 700 is disposed in the second guide section GS2 and clamps the guide wire 30 .
- the transport units 130 and 140 are transported, and the catheter module 200 and the guide wire module 300 are simultaneously transported forward. Accordingly, the catheter 20 and the guide wire 30 can be transferred forward.
- the transport frame 120 of the transport module is transported forward. Accordingly, the catheter 20 and the guide wire 30 can be transferred forward.
- the transport unit 140 may be further transported forward, and the guide wire 30 may be further transported forward.
- the transport frame 120 is transported further forward and the transport unit 140 is transported rearward, so that the catheter 20 may enter the target blood vessel along the guide wire 30 . In the examples shown in FIGS.
- the catheter module 200 can rotate the catheter 20 by the rotational force from the conveying part 130, and the guide wire module 300 can rotate the catheter 20 by the rotational force from the conveying part 140. It is possible to rotate the guide wire 30 by.
- FIG. 46 in a state in which the catheter 20 has reached the target blood vessel, the guide wire 30 is removed from the catheter 20 .
- the second module housing 310 of the guide wire module 300 is separated from the transfer unit 140, and the guide wire module 300 is moved backward. Accordingly, the guide wire 30 is removed from the catheter 20 .
- the catheter 20 has reached the target blood vessel, and the catheter module 200 (the first surgical tool module in the second operating state) and the transfer frame 120 are stationary.
- the transfer unit 140 is moved backward.
- the micro catheter module 400 (the second surgical instrument module in the second operating state) and the micro guide wire module 500 (the third surgical instrument module in the second operating state) are prepared.
- the micro catheter 40 is extending forward from the micro catheter module 400 .
- the third guide housing 810 of the third guide module 800 is coupled to the third module housing 410 of the micro catheter module 400 .
- the third connector 830 of the third guide module 800 is coupled to the fourth module housing 510 of the microguide wire module 500, and the microguide wire module 500 is the third guide module 800 It is connected to the micro catheter module 400 through.
- the microguide wire 50 passes through the microcatheter module 400 and is inserted into the microcatheter 40 while being supported by the pair of third support members 820 .
- the micro catheter module 400 is fitted to the rolling part 170 of the transport unit 140 in the lateral direction LR, and the micro guide wire module 500 moves along the transport unit in the lateral direction LR. 150) is fitted to the transmission unit 170.
- a pair of second support members of the second guide module 700 are inserted into the second guide housing 710 .
- the micro catheter 40 and the micro guide wire 50 are inserted into a pair of second support members of the second guide module 700 through the second connector 730 of the second guide module 700, and then, It is inserted into the catheter 20. Referring to FIG.
- a pair of second support members 720 of the second guide module 700 are pulled out from the second guide housing 710 rearward, and the second connector of the second guide module 700 ( 730) is coupled to the connection portion 414 formed at the front end of the third module housing 410 of the micro catheter module 400.
- the transport unit 150 is transported forward, and the micro guide wire 50 is transported forward while being inserted into the micro catheter 40 .
- the transport units 140 and 150 are transported forward at the same time, and thus the micro catheter and the micro guide wire 50 are transported forward simultaneously.
- the microguide wire module 500 may rotate the microguide wire 50 by the rotational force from the transfer unit 150 .
- the microcatheter module 400 may rotate the microcatheter by rotational force from the transfer unit 140 .
- the transfer unit 140 is further transferred forward.
- the micro catheter may enter the target blood vessel along the micro guide wire 50 .
- the fourth module housing 510 of the microguide wire module 500 is separated from the transfer unit 150 and the microguide wire module 500 is moved backward. Accordingly, the micro guide wire 50 is removed from the micro catheter.
- the vascular interventional procedure device 10 executes operations in at least five degrees of freedom.
- the five degrees of freedom include three degrees of freedom related to insertion movement of the surgical tool and two degrees of freedom related to rotation of the surgical tool.
- the three degrees of freedom may be realized by forward/backward transfer of the transfer frame 120, forward/backward transfer of the transfer unit 140, and forward/backward transfer of the transfer unit 150.
- the two degrees of freedom may be realized by rotation about the axis of rotation of the catheter and rotation about the axis of rotation of the guide wire.
- the interventional vascular procedure device 10 provides an additional degree of freedom related to the insertion movement of the surgical tool. may have In addition, since the microcatheter can be rotated by the microcatheter module 400 coupled to the transfer unit 140, the interventional vascular treatment device 10 according to an embodiment includes an additional one related to the rotation of the surgical tool. may have degrees of freedom.
- FIGS. 53 to 59 another embodiment of an interventional vascular procedure device will be described.
- 53 schematically illustrates the configuration of a vascular interventional procedure device according to another embodiment.
- 54, 55, and 56 respectively show a micro catheter module, a guide wire module, and a first guide module of the vascular interventional procedure device according to another embodiment.
- FIG. 57 illustrates a first guide module and a second guide module of an interventional procedure device according to another embodiment
- FIG. 58 illustrates a cross-sectional shape of the second guide module shown in FIG. 57 .
- the transfer frame 120 of the transfer module 102 with respect to the base frame 110 of the platform 100 moves forward and backward ( FR) is transferred to
- the frame slider 113 is coupled to the frame feed lead screw 111 to be transported by a screw movement, and the transport frame 120 is coupled to the frame slider 113 .
- the catheter module 200 is configured to rotate the catheter 20 and is detachably coupled to the transfer unit 130 of the transfer frame 120.
- the transfer unit 130 is disposed at the front end of the transfer frame 120 .
- the transfer unit 130 is fixed to the transfer frame 120 and is transferred in the forward and backward directions by transfer in the forward and backward directions FR of the transfer frame 120 .
- the transfer unit 130 has a rotational force generating unit 160 and transmits rotational force for rotating the catheter to the catheter module 200 by the transmission unit 170 .
- the transmission unit 170 is detachably coupled to the rotational force generating unit 160 .
- the catheter module 200 includes a first driven gear 220 coupled to the catheter 20 within the first module housing 210 .
- the catheter module 200 includes a rotational force transmission unit 240, and the rotational force transmission unit 240 includes a rotational force transmission gear 241 that transmits rotational force to the first driven gear 220.
- the rotational force transmission gear 241 receives rotational force from the transmission unit 170 of the transfer unit 130 .
- the transfer unit 140 is coupled to the module transfer lead screw 123 to be transferred by a screw motion.
- the transfer unit 140 is transferred independently of the transfer unit 130 .
- the transfer unit 140 includes a rotational force generator 160 near the rear end of the transfer unit 140 and a transmission unit 170 that is detachably coupled to the rotational force generation unit 160 to transmit rotational force.
- the guide wire module 300 is configured to rotate the guide wire 30 inserted into the catheter 20 or the micro guide wire 50 inserted into the micro catheter 40 .
- the guide wire module 300 includes a second driven gear 320 for rotating the guide wire within the second module housing 310 .
- the guide wire module 300 includes a rotational force transmission unit 340 , and the rotational force transmission unit 340 includes a rotational force transmission gear 341 transmitting rotational force to the second driven gear 320 .
- the rotational force transmission gear 341 receives rotational force from the transmission unit 170 of the transfer unit 140 .
- the micro catheter module 400 is detachably coupled to the front end of the transfer unit 140 .
- the micro catheter module 400 may be transferred in the forward and backward directions independently of the transfer unit 130 and the catheter module 200 .
- the micro catheter module 400 may be detachably coupled to a holder device extending from the transfer unit 140 .
- the micro catheter module 400 includes a third module housing 410 and a guide pipe 430 coaxially fitted to the third module housing 410 with the rotation shaft RA. do.
- the guide pipe 430 may be configured to fix the micro catheter 40 at its rear end.
- the transfer unit 150 may be provided to the transfer unit 140 .
- the delivery unit 140 includes a lead screw 144 driven to rotate and disposed in the front-back direction FR, and the delivery unit 150 may be coupled to the lead screw 144 to be transported by a screw motion.
- the transfer unit 150 may be transferred independently of the transfer unit 130 and the transfer unit 140 .
- the wire transfer module 900 of the guide wire module 300 is detachably coupled to the transfer unit 150 .
- the wire transfer module 900 may be detachably coupled to a holder device extending from the transfer unit 150 .
- the wire transport module 900 is configured to support a guide wire or a micro guide wire.
- the wire transfer module 900 includes a fifth module housing 910 and a guide pipe 940 coaxially fitted to the fifth module housing 910 and the rotation shaft RA.
- the guide pipe 940 may be configured to fix a guide wire or a micro guide wire at its rear end.
- the guide wire 30 and the micro guide wire 50 may be rotated by the guide wire module 300 .
- the central portion of the second driven gear 320 is formed as a through hole 321, and the rotating plate 350 is coaxially coupled to the second driven gear.
- a through hole 351 corresponding to the through hole of the second driven gear is formed in the rotating plate 350 .
- the guide pipe 940 of the wire transport module 900 passes through the through hole 321 and the through hole 351 .
- the guide wire module 300 includes a flexible guide tube 360 having both ends coupled to the guide pipe 940 and the rotating plate 350, respectively. One end of the guide tube 360 is coupled to the guide pipe 940, and the other end of the guide tube 360 is eccentrically coupled to the rotating plate 350 from the rotating shaft RA.
- the guide wire 30 or the micro guide wire 50 passes through the guide tube 360 and the guide pipe 940 .
- the guide wire 30 or the micro guide wire 50 may be disposed coaxially with the rotation axis RA within the guide pipe 940 .
- One end of the guide wire 30 is coupled to the rotating plate 350, and the guide wire is inserted into the catheter.
- One end of the microguide wire 50 is coupled to the rotation plate 350, and the microguide wire is inserted into the micro catheter 40.
- the rotating plate 350 is rotated together with the second driven gear 320 . Since one end of the guide tube 360 is spaced apart from the rotation axis RA, the guide wire 30 or the micro guide wire 50 may be rotated by the rotation of the rotation plate 350 .
- the vascular interventional device 10 includes a catheter (or a microcatheter inserted into the catheter) in the guide section between the front end of the platform 100 (front end of the base frame) and the catheter module 200. ) It may include a first guide module 600 for guiding and supporting the transport of.
- the first guide housing 610 of the first guide module 600 is coupled to the catheter module 200 .
- the pair of first support members 620 may be composed of the above-described first and second chain assemblies 621 and 622 .
- a pair of first support members 620 are drawn in and out of the first guide housing 610 .
- a first engagement portion 640 configured to engage a pair of first support members 620 with each other is disposed on the first guide housing 610, and the first engagement portion 640 includes a pair of first engagement wheels ( 641).
- a first connector 630 is fixed to an end of the pair of first support members 620 in the direction in which they are drawn out.
- the first connector 630 may be detachably coupled to the front end of the platform (front end of the base frame).
- the first guide module 600 is configured to divide the pair of first support members 620 from each other when the pair of first support members 620 are introduced into the first guide housing 610.
- Installment 650 may be included.
- the division part 650 is disposed between the pair of first support members 620 in the first guide housing 610 and may be configured to pass the catheter 20 in the front-back direction FR. .
- the dividing portion 650 may be formed as a wedge-shaped member.
- the vascular interventional device 10 transfers the microcatheter (or the microguide wire inserted into the microcatheter) in the guide section between the catheter module 200 and the microcatheter module 400. It may include a second guide module 700 for guiding and supporting.
- the second guide module 700 may be configured as a guide pipe disposed between the catheter module 200 and the micro catheter module 400 and inserted into the guide pipe 430 of the micro catheter module 400. .
- the interventional vascular procedure device 10 may constitute a first guide module and a second guide module in a manner similar to the first and second bands in the above-described embodiment.
- FIGS. 57 and 58 reference is made to FIGS. 57 and 58 below.
- the first guide module 600 and the second guide module 700 include a pair of support members that are drawn in and out of the guide housing according to the change in the length of the guide section while guiding and supporting the transfer of the surgical tool.
- the pair of first support members 620 of the first guide module 600 and the pair of second support members 720 of the second guide module 700 are similar to the first and second bands described above. can be configured.
- the pair of first support members 620 include a first band 661 and a second band 662 configured to be engaged with each other in the lateral direction LR.
- the first and second bands 661 and 662 may have a semicircular cross-sectional shape.
- the first band 661 has an engagement protrusion 6611 and an engagement groove 6612 formed in the front-back direction FR on a surface facing the second band 662 .
- the second band 662 has an engagement groove corresponding to the engagement protrusion 6611 of the first band and an engagement protrusion corresponding to the engagement groove 6612 of the first band on the surface facing the first band 661.
- the second guide housing 710 of the second guide module is coupled to the second module housing 310 of the guide wire module, and includes a second engagement portion 740 and a dividing portion 750 .
- the second engagement portion 740 and the dividing portion 750 may be integrally formed.
- the second engagement portion 740 comes into contact with the pair of second support members 720 as the pair of second support members 720 are withdrawn from the second guide housing 710, and the pair of second supports The members 720 are interlocked.
- the rear end of the second engagement portion 740 is wider than the front end, and the dividing portion 750 is positioned within the rear end of the second engagement portion 740 .
- the dividing portion 750 may have a wedge shape.
- the second guide module includes a second connector 730 that fixes ends of the pair of second support members 720 in the drawing direction.
- the second connector 730 may be configured similarly to the above-described second connector, and may be detachably coupled to the connection portion 214 formed at the rear end of the first module housing of the catheter module 200.
- the first guide module 600 may have the same configuration as that of the second guide module 700 .
- the first connector fixing the ends of the pair of first support members 620 in the drawing direction may be detachably fixed to the front end of the platform (front end of the base frame).
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Abstract
Description
Claims (20)
- 전후 방향으로 연장하는 베이스 프레임과,상기 베이스 프레임을 따라 상기 전후 방향으로 이송되도록 상기 베이스 프레임에 결합되는 이송 프레임을 포함하는 이송 모듈과,상기 베이스 프레임에 대해 상기 전후 방향으로 이송되도록 상기 이송 모듈에 결합되고, 카테터인 제1 시술도구를 상기 전후 방향의 회전축을 중심으로 회전시키도록 구성되는 제1 시술도구 모듈과,상기 제1 시술도구 모듈과 독립적으로 상기 베이스 프레임에 대해 상기 전후 방향으로 이송되도록 상기 이송 모듈에 결합되고, 상기 카테터로 삽입되는 가이드 와이어 또는 마이크로 카테터인 제2 시술도구를 지지하도록 구성되는 제2 시술도구 모듈을 포함하는혈관 중재 시술 장치.
- 제1항에 있어서,상기 이송 모듈은,상기 이송 프레임에 배치되고, 상기 제1 시술도구 모듈에 결합되고 상기 제1 시술도구를 회전시키는 회전력을 상기 제1 시술도구 모듈에 전달하도록 구성되는 제1 이송부와,상기 제1 이송부의 후방에서 상기 제1 이송부와는 독립적으로 이송되도록 상기 이송 프레임에 배치되고, 상기 제2 시술모듈에 결합되는 제2 이송부를 더 포함하는,혈관 중재 시술 장치.
- 제2항에 있어서,상기 이송 모듈은, 상기 전후 방향을 따라서 배치되고 상기 제2 이송부를 나사 운동에 의해 이송시키도록 상기 제2 이송부에 결합되는 모듈 이송 리드 스크류를 포함하는,혈관 중재 시술 장치.
- 제1항에 있어서,상기 제2 시술도구 모듈은 상기 마이크로 카테터를 지지하도록 구성되는 마이크로 카테터 모듈이고,상기 베이스 프레임에 대해 상기 전후 방향으로 이송되도록 상기 이송 모듈에 결합되고, 상기 마이크로 카테터로 삽입되는 마이크로 가이드 와이어인 제3 시술도구를 상기 회전축을 중심으로 회전시키도록 구성되는 제3 시술도구 모듈을 더 포함하는,혈관 중재 시술 장치.
- 제4항에 있어서,상기 이송 모듈은,상기 이송 프레임에 배치되고, 상기 제1 시술도구 모듈에 결합되고 상기 제1 시술도구를 회전시키는 회전력을 상기 제1 시술도구 모듈에 전달하도록 구성되는 제1 이송부와,상기 제1 이송부의 후방에서 상기 제1 이송부와는 독립적으로 이송되도록 상기 이송 프레임에 배치되고, 상기 제2 시술모듈에 결합되는 제2 이송부와,상기 제2 이송부의 후방에서 상기 제1 이송부 및 상기 제2 이송부와는 독립적으로 상기 전후 방향으로 이송되도록 상기 이송 프레임에 배치되고, 상기 제3 시술도구 모듈에 결합되고 상기 제3 시술도구를 회전시키는 회전력을 상기 제3 시술도구 모듈에 전달하도록 구성되는 제3 이송부를 더 포함하는,혈관 중재 시술 장치.
- 제5항에 있어서,상기 이송 모듈은, 상기 전후 방향을 따라서 배치되고 상기 제2 이송부 및 상기 제3 이송부를 나사 운동에 의해 이송시키도록 상기 제2 이송부 및 제3 이송부에 결합되는 모듈 이송 리드 스크류를 포함하고,상기 제2 이송부는, 상기 모듈 이송 리드 스크류에 나사 운동에 의해 이송되도록 결합되는 제2 이송 너트와, 상기 제2 이송 너트를 회전시키도록 구성되는 제2 이송 모터를 포함하고,상기 제3 이송부는, 상기 모듈 이송 리드 스크류에 나사 운동에 의해 이송되도록 결합되는 제3 이송 너트와, 상기 제3 이송 너트를 회전시키도록 구성되는 제3 이송 모터를 포함하는,혈관 중재 시술 장치.
- 제6항에 있어서,상기 제1 이송부는, 상기 모듈 이송 리드 스크류에 나사 운동에 의해 이송되도록 결합되는 이송 너트를 포함하는,혈관 중재 시술 장치.
- 제2항에 있어서,상기 제1 이송부는, 상기 제1 시술도구를 회전시키는 회전력을 발생시키는 회전력 발생부와, 상기 회전력 발생부에 연결되고 상기 제1 시술도구 모듈에 결합되며 상기 제1 시술도구를 회전시키는 상기 회전력을 전달하도록 구성되는 전동부를 포함하는,혈관 중재 시술 장치.
- 제2항에 있어서,상기 제1 이송부는 상기 이송 프레임에 상기 전후 방향으로 이송 가능하게 배치되고,상기 이송 모듈은, 상기 제1 이송부와 상기 제2 이송부를 동시에 또는 독립적으로 이송시키도록 구성되는혈관 중재 시술 장치.
- 제2항에 있어서,상기 제2 시술도구 모듈은, 상기 제2 시술도구를 상기 회전축을 중심으로 회전시키도록 구성되고,상기 제2 이송부는, 상기 제2 시술도구를 회전시키는 회전력을 상기 제2 시술도구 모듈에 전달하도록 구성되는,혈관 중재 시술 장치.
- 제1항에 있어서,상기 베이스 프레임의 전단과 상기 제1 시술도구 모듈의 사이의 구간 또는 상기 제1 시술도구 모듈과 상기 제2 시술도구 모듈의 사이의 구간인 가이드 구간에 배치되고, 상기 제1 시술도구 또는 상기 제2 시술도구의 상기 전후 방향으로의 이송을 가이드하고 지지하도록 구성되는 가이드 모듈을 더 포함하고,상기 가이드 모듈은,상기 가이드 구간의 전단 또는 후단에 배치되는 가이드 하우징과,상기 가이드 구간의 상기 전후 방향에서의 길이 변경에 따라 상기 가이드 구간 내에서 가변 길이를 갖도록 상기 가이드 하우징에 인입 및 인출되고 서로 맞물려서 상기 제1 시술도구 또는 상기 제2 시술도구를 협지하도록 구성되는 한 쌍의 지지 부재를 포함하는,혈관 중재 시술 장치.
- 제11항에 있어서,상기 가이드 모듈은,상기 가이드 하우징에 배치되고, 상기 한 쌍의 지지부재가 상기 가이드 하우징으로부터 인출될 때 상기 한 쌍의 지지 부재에 각각 접촉되어 상기 한 쌍의 지지 부재를 서로 맞물리게 하도록 구성되는 맞물림부를 더 포함하는,혈관 중재 시술 장치.
- 제12항에 있어서,상기 맞물림부는,상기 한 쌍의 지지 부재에 각각 접촉되어 회전되고 상기 한 쌍의 지지 부재를 서로 맞물리게 하는 한 쌍의 맞물림 휠과,상기 한 쌍의 맞물림 휠을 상기 한 쌍의 지지 부재가 상기 가이드 하우징으로 인입되는 방향으로 각각 가압하는 한 쌍의 스프링을 포함하는,혈과 중재 시술 장치.
- 제13항에 있어서,상기 가이드 하우징은, 상기 한 쌍의 스프링에 각각 결합되고 상기 한 쌍의 스프링의 복원력을 각각 조정하도록 구성되는 한 쌍의 스프링 축을 포함하는,혈관 중재 시술 장치.
- 제11항에 있어서,상기 가이드 모듈은,상기 가이드 하우징에 상기 한 쌍의 지지 부재 사이에 배치되고, 상기 한 쌍의 지지 부재가 상기 가이드 하우징으로 인입될 때 상기 한 쌍의 지지 부재를 분할시키도록 구성되는 분할부를 더 포함하는,혈관 중재 시술 장치.
- 제11항에 있어서,상기 한 쌍의 지지 부재는, 번갈아 배치되는 맞물림 이와 맞물림 홈을 갖는 제1 체인 조립체와, 상기 제1 체인 조립체의 맞물림 이 및 맞물림 홈에 각각 대응하는 맞물림 홈 및 맞물림 이를 갖는 제2 체인 조립체를 포함하는,혈관 중재 시술 장치.
- 제11항에 있어서,상기 한 쌍의 지지 부재는, 상기 전후 방향으로 형성되는 맞물림 돌기를 갖는 제1 밴드와, 상기 맞물림 돌기가 끼워맞춤되는 맞물림 홈을 갖는 제2 밴드를 포함하는,혈관 중재 시술 장치.
- 제11항에 있어서,상기 가이드 모듈은,상기 베이스 프레임의 전단과 상기 제1 시술도구 모듈의 사이의 제1 가이드 구간에 배치되고 상기 제1 시술도구의 상기 전후 방향으로의 이송을 가이드하고 지지하도록 구성되는 제1 가이드 모듈과,상기 제1 시술도구 모듈과 상기 제2 시술도구 모듈의 사이의 제2 가이드 구간에 배치되고 상기 제2 시술도구의 상기 전후 방향으로의 이송을 가이드하고 지지하도록 구성되는 제2 가이드 모듈을 포함하는,혈관 중재 시술 장치.
- 제4항에 있어서,상기 베이스 프레임의 전단과 상기 제1 시술도구 모듈의 사이의 구간, 상기 제1 시술도구 모듈과 상기 제2 시술도구 모듈의 사이의 구간, 또는 상기 제2 시술도구 모듈과 상기 제3 시술도구 모듈의 사이의 구간인 가이드 구간에 배치되고, 상기 제1 시술도구, 상기 제2 시술도구, 또는 상기 제3 시술도구의 상기 전후 방향으로의 이송을 가이드하고 지지하도록 구성되는 가이드 모듈을 더 포함하고,상기 가이드 모듈은,상기 가이드 구간의 전단 또는 후단에 배치되는 가이드 하우징과,상기 가이드 구간의 상기 전후 방향에서의 길이 변경에 따라 상기 가이드 구간 내에서 가변 길이를 갖도록 상기 가이드 하우징에 인입 및 인출되고 서로 맞물려서 상기 제1 시술도구, 상기 제2 시술도구, 또는 상기 제3 시술도구를 협지하도록 구성되는 한 쌍의 지지 부재를 포함하는,혈관 중재 시술 장치.
- 제1항에 있어서,상기 이송 모듈을 상기 베이스 프레임에 대해 상기 전후 방향으로 이송시키는 이송 모듈 구동부를 더 포함하고,상기 이송 모듈은 상기 이송 모듈 구동부에 의해 상기 베이스 프레임에 슬라이드 가능하게 결합되는,혈관 중재 시술 장치.
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EP22811563.0A EP4349391A1 (en) | 2021-05-26 | 2022-05-18 | Device for vascular interventional procedure |
US18/563,780 US20240216654A1 (en) | 2021-05-26 | 2022-05-18 | Vascular intervention procedure device |
JP2023572745A JP2024521778A (ja) | 2021-05-26 | 2022-05-18 | 血管インターベンション施術装置 |
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KR20210067774 | 2021-05-26 | ||
KR1020220022298A KR20220159876A (ko) | 2021-05-26 | 2022-02-21 | 혈관 중재 시술 장치 |
KR10-2022-0022298 | 2022-02-21 |
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KR20160133048A (ko) * | 2015-05-11 | 2016-11-22 | 전남대학교산학협력단 | 카테터 삽입 장치 및 카테터 시스템 |
KR20180138202A (ko) * | 2016-03-18 | 2018-12-28 | 로보카슈 | 세장형 가요성 의료기기의 삽입을 위한 로봇 및 부속 액세서리 |
KR102052446B1 (ko) * | 2018-06-01 | 2019-12-05 | 전남대학교산학협력단 | 동축형 튜브 로봇의 구동기 |
KR20200018886A (ko) * | 2018-08-13 | 2020-02-21 | 광주과학기술원 | 의료용 카테터 모듈 장치 |
KR20200081224A (ko) * | 2018-12-27 | 2020-07-07 | 한양대학교 에리카산학협력단 | 혈관중재시술로봇 |
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2022
- 2022-05-18 EP EP22811563.0A patent/EP4349391A1/en active Pending
- 2022-05-18 WO PCT/KR2022/007130 patent/WO2022250370A1/ko active Application Filing
- 2022-05-18 JP JP2023572745A patent/JP2024521778A/ja active Pending
- 2022-05-18 US US18/563,780 patent/US20240216654A1/en active Pending
Patent Citations (5)
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KR20160133048A (ko) * | 2015-05-11 | 2016-11-22 | 전남대학교산학협력단 | 카테터 삽입 장치 및 카테터 시스템 |
KR20180138202A (ko) * | 2016-03-18 | 2018-12-28 | 로보카슈 | 세장형 가요성 의료기기의 삽입을 위한 로봇 및 부속 액세서리 |
KR102052446B1 (ko) * | 2018-06-01 | 2019-12-05 | 전남대학교산학협력단 | 동축형 튜브 로봇의 구동기 |
KR20200018886A (ko) * | 2018-08-13 | 2020-02-21 | 광주과학기술원 | 의료용 카테터 모듈 장치 |
KR20200081224A (ko) * | 2018-12-27 | 2020-07-07 | 한양대학교 에리카산학협력단 | 혈관중재시술로봇 |
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