KR20250129427A - The module for guiding at least one of guidewire and catheter - Google Patents

Abstract

An integrated cassette according to one embodiment of the present invention comprises a first treatment tool fixing cassette (300) to which a proximal end of a first treatment tool is coupled, a second treatment tool driving cassette (100, 200) for pinching a second treatment tool to drive the second treatment tool, and a frame (400), wherein the first treatment tool fixing cassette (300) is arranged on the second treatment tool driving cassette (100, 200), and the second treatment tool driving cassette (100, 200) is arranged on the frame (400), the diameter of the second treatment tool is smaller than the diameter of the first treatment tool, and the second treatment tool penetrates the inside of the first treatment tool, and the proximal end of the first treatment tool is moved forward and backward along the longitudinal direction of the frame (400). The position on the above frame (400) can be maintained.

Description

{THE MODULE FOR GUIDING AT LEAST ONE OF GUIDEWIRE AND CATHETER}

The present invention relates to a module for guiding at least one of a guide wire and a catheter used for minimally invasive interventional procedures.

A guide wire is used to guide a secondary sheath (e.g., a catheter) along the guide wire to a desired location in the body, e.g., a mammalian body, such as a human body. In one application, the guide wire is introduced into a body lumen, i.e., a blood vessel, through an incision through the patient's skin and lumen wall, and the introduction or distal end of the guide wire is guided therefrom to a desired location in the lumen or a lumen into which the guide wire is introduced or branched therefrom. Alternatively, a catheter is guided along the guide wire.

One challenge with guidewire and catheter introduction systems is that it is difficult to guide the distal end of the guidewire and catheter into a lumen that follows the tortuous lumen geometry, or into a branch lumen where the distal end of the guidewire and catheter intersects the lumen. In some cases, the branch lumen, which is the intended destination for the distal end of the guidewire and catheter, intersects the lumen at a large angle, for example, greater than 45 degrees, and in some cases, greater than 90 degrees.

To facilitate the control of the distal end of a guide wire and catheter, a robotic system is proposed to stably control the movement of the guide wire and catheter. A cassette for use with the robotic system is also proposed. The cassette guides the guide wire and catheter to a desired location within the body by one or more of the following movements: forward, backward, and rotational.

The guide wire and catheter system can utilize multiple catheters of correspondingly small internal diameters, wherein each catheter other than the largest diameter can be accommodated telescopically and extended within the next larger diameter catheter. In this system, each catheter and guide wire is positioned and controlled by a different drive cassette. Therefore, accommodating multiple cassettes within a module has the problem of unnecessarily increasing the module size.

US 2017-0274181 A1

The technical problem to be achieved by the present invention is to reduce the size of a module for guiding at least one of a guide wire and a catheter by reducing the number of cassettes of the module.

An integrated cassette according to one embodiment of the present invention comprises a first treatment tool fixing cassette (300) to which a proximal end of a first treatment tool is coupled, a second treatment tool driving cassette (100, 200) for pinching a second treatment tool to drive the second treatment tool, and a frame (400), wherein the first treatment tool fixing cassette (300) is arranged on the second treatment tool driving cassette (100, 200), and the second treatment tool driving cassette (100, 200) is arranged on the frame (400), the diameter of the second treatment tool is smaller than the diameter of the first treatment tool, and the second treatment tool penetrates the inside of the first treatment tool, and the proximal end of the first treatment tool is moved forward and backward along the longitudinal direction of the frame (400). The position on the above frame (400) can be maintained.

At this time, the combination of the first surgical tool fixing cassette (300) and the second surgical tool driving cassette (100, 200) may be a combination of a small catheter fixing cassette (310) and a guide wire driving cassette (100), or a combination of a medium catheter fixing cassette (320) and a small catheter driving cassette (210), or a combination of a large catheter fixing cassette (330) and a medium catheter driving cassette (220).

An integrated cassette according to one embodiment of the present invention comprises a second surgical tool driving cassette (100, 200) including a pinch rack (10), a pinch pinion (20) and a pinch module (800), wherein the pinch rack (10) can be moved forward or backward along the longitudinal direction by rotation of the pinch pinion (20).

According to one embodiment of the present invention, the integrated cassette is such that when the pinch rack (10) is moved backward along the longitudinal direction, the second surgical tool is pinched by the pinch module (800) by the movement of the pinch rack (10), and when the pinch rack (10) is moved forward along the longitudinal direction, the second surgical tool can be released from being pinched by the pinch module (800) by the movement of the pinch rack (10).

According to one embodiment of the present invention, an integrated cassette comprises: the first treatment tool fixing cassette (300) includes a fixed rack (30); the second treatment tool driving cassette (100, 200) includes a fixed pinion (40); and the fixed rack (30) can be moved forward or backward along the longitudinal direction by rotation of the fixed pinion (40).

According to one embodiment of the present invention, the integrated cassette is such that, when the second surgical tool is pinched by the pinch module (800), the second surgical tool drive cassette (100, 200) is moved forward along the longitudinal direction, thereby moving the second surgical tool forward along the longitudinal direction, and when the second surgical tool is pinched by the pinch module (800), the second surgical tool drive cassette (100, 200) is moved forward along the longitudinal direction, and at the same time, the fixed rack (30) is moved backward along the longitudinal direction, and the first surgical tool fixing cassette (300) is moved backward along the longitudinal direction, and the length and speed at which the first surgical tool fixing cassette (300) is moved backward along the longitudinal direction are such that the second surgical tool drive cassette (100, 200) is moved forward along the longitudinal direction. It may be equal to the length and speed moved forward along the longitudinal direction.

According to one embodiment of the present invention, the integrated cassette is such that, when the second surgical tool is released from being pinched by the pinch module (800), the second surgical tool drive cassette (100, 200) moves backward along the longitudinal direction, and at the same time, the fixed rack (30) moves forward along the longitudinal direction, and the first surgical tool fixing cassette (300) moves forward along the longitudinal direction by the fixed rack (30) moving forward along the longitudinal direction, and the length and speed at which the first surgical tool fixing cassette (300) moves forward along the longitudinal direction may be the same as the length and speed at which the second surgical tool drive cassette (100, 200) moves backward along the longitudinal direction.

An integrated cassette according to one embodiment of the present invention comprises a second surgical tool driving cassette (100, 200) including a moving rack (50) and a moving pinion (60), and the moving rack (50) can be moved forward or backward along the longitudinal direction by rotation of the moving pinion (60).

According to one embodiment of the present invention, the integrated cassette is such that, when the second surgical tool is pinched by the pinch module (800), the pinch rack (10) and the moving rack (50) are moved forward along the longitudinal direction, thereby causing the pinch module (800) to be moved forward along the longitudinal direction, and the second surgical tool can be moved forward along the longitudinal direction by causing the pinch module (800) to be moved forward along the longitudinal direction.

According to one embodiment of the present invention, the integrated cassette is configured such that when the second surgical tool is released from being pinched by the pinch module (800), the pinch rack (10) and the moving rack (50) are moved backward along the longitudinal direction, thereby allowing the pinch module (800) to be moved backward along the longitudinal direction.

In an integrated cassette according to one embodiment of the present invention, the first surgical tool and the second surgical tool are catheters, and the catheter may be in the shape of a flexible tube.

In one embodiment of the present invention, the integrated cassette may be configured such that the first surgical tool is a catheter, the second surgical tool is a guide wire, the catheter may be in a flexible tube shape, and the guide wire may be in a flexible wire shape.

According to one embodiment of the present invention, a module includes a first integrated cassette and a second integrated cassette, wherein the first treatment tool of the first integrated cassette and the second treatment tool of the first integrated cassette are both catheters, the first treatment tool of the second integrated cassette is a catheter, the second treatment tool of the second integrated cassette is a guide wire, the catheter may be in a flexible tube shape, and the guide wire may be in a flexible wire shape.

The module of the present invention can reduce the number of cassettes by including an integrated cassette in which a fixed cassette is arranged on a drive cassette, and can reduce the size of the module by reducing the number of cassettes.

FIG. 1 is a plan view of a module for guiding at least one of a guide wire and a catheter according to the prior art.
FIG. 2 is a plan view of an integrated cassette according to a first embodiment of the present invention, wherein the first and second surgical tools are catheters.
FIG. 3 is a perspective view showing the forward movement of a catheter drive cassette in an integrated cassette according to a first embodiment of the present invention, in which the first and second surgical tools are catheters.
FIG. 4 is a perspective view showing the forward movement of a catheter drive cassette in an integrated cassette according to a first embodiment of the present invention, wherein the first and second surgical tools are catheters.
FIG. 5 is a plan view of an integrated cassette according to a first embodiment of the present invention, wherein the first surgical tool is a catheter and the second surgical tool is a guide wire.
FIG. 6 is a partially enlarged plan view of an integrated cassette according to a first embodiment of the present invention, wherein the first surgical tool is a catheter and the second surgical tool is a guide wire.
FIG. 7 is a plan view of an integrated cassette according to a second embodiment of the present invention, in which the first and second surgical tools are catheters.
FIG. 8 is a plan view showing the forward movement of the pinch module in an integrated cassette according to a second embodiment of the present invention, in which the first and second surgical tools are catheters.
FIG. 9 is a plan view showing the rearward movement of the pinch module in an integrated cassette according to a second embodiment of the present invention, in which the first and second surgical tools are catheters.

Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings.

FIG. 1 is a plan view of a module for guiding at least one of a guide wire and a catheter according to the prior art.

Referring to FIG. 1, a module (1000) for guiding at least one of a guide wire (1) and a catheter (2, 3, 4) may include a housing (900) extending longitudinally from anterior (901) to posterior (902), a frame (400) extending longitudinally from anterior (401) to posterior (402), a guide wire driving cassette (100) for driving the guide wire (1) by pinching the guide wire (1), at least one catheter driving cassette (200) for driving the catheter (2, 3, 4) by pinching the catheter (2, 3, 4), and at least one catheter fixing cassette (300) to which a proximal end of the catheter (2, 3, 4) is coupled.

A guide wire drive cassette (100), a catheter drive cassette (200), and a catheter fixation cassette (300) can be placed on a frame (400).

Additionally, a guide wire drive cassette (100), a catheter drive cassette (200), and a catheter fixation cassette (300) can be placed within the housing (900).

The guide wire drive cassette (100) may include a guide wire drive module that rotates the guide wire (1) while pinching the guide wire (1), and the catheter drive cassette (200) may include a catheter drive module that rotates the catheter (2, 3, 4) while pinching the catheter (2, 3, 4).

The guide wire drive cassette (100) and the catheter drive cassette (200) can be moved forward or backward along the length of the frame (400) by respective actuators not shown.

The guide wire drive cassette (100) and the catheter drive cassette (200) can be rotated about the longitudinal direction of the frame (400) as an axis by respective actuators not shown.

The forward movement, backward movement, and rotational movement of the guide wire (1) and catheter (2, 3, 4) can be performed in the direction of the arrow (F), the direction of the arrow (B), and the direction of the arrow (R), respectively.

The driving (forward movement, backward movement or rotational movement) of the guide wire driving cassette (100) and the catheter driving cassette (200) can be performed independently of each other or synchronized with each other.

The guide wire (1) can be moved forward, backward or rotated by driving (forward movement, backward movement or rotational movement) the guide wire drive cassette (100).

The catheters (2, 3, 4) can be moved forward, backward, or rotated by driving (forward, backward, or rotational) the catheter drive cassette (200).

The driving of the guide wire (1) and the catheter (2, 3, 4) can be performed independently of each other or synchronized with each other.

A guide wire (1) and catheters (2, 3, 4) can be passed through a housing (900) extending longitudinally from the front to the rear along the longitudinal direction of the housing (900).

A guide wire (1) can be passed into a guide wire drive cassette (100), and a catheter (2, 3, 4) can be passed into a catheter drive cassette (200).

In addition, the guide wire (1) may be composed of a flexible wire-shaped member, the catheter (2, 3, 4) may be composed of a flexible tube-shaped member, the diameter of the guide wire (1) may be smaller than the diameter of the catheter (2, 3, 4), and the guide wire (1) may be passed through the inside of the catheter (2, 3, 4).

The guide wire drive cassette (100) can be placed behind the catheter fixation cassette (300), and the catheter fixation cassette (300) can be placed behind the catheter drive cassette (200).

At least one catheter drive cassette (200) can include a plurality of catheter drive cassettes, and at least one catheter fixation cassette (300) can include a plurality of catheter fixation cassettes.

For example, at least one catheter drive cassette (200) may include one small catheter drive cassette (210) and one medium catheter drive cassette (220), and at least one catheter fixation cassette (300) may include one small catheter fixation cassette (310) and one medium catheter fixation cassette (320). Here, small and medium refer to the relative diameters or circumferences of the catheters, and the outer diameter or circumference of the small catheter may be smaller than the inner diameter or circumference of the medium catheter.

The guide wire drive cassette (100) can be positioned behind the small catheter fixing cassette (310), the small catheter fixing cassette (310) can be positioned behind the small catheter drive cassette (210), the small catheter drive cassette (210) can be positioned behind the medium catheter fixing cassette (320), and the medium catheter fixing cassette (320) can be positioned behind the medium catheter drive cassette (220).

The proximal end of the small catheter (2) can be coupled to the small catheter fixing cassette (310), and the proximal end of the medium catheter (3) can be coupled to the medium catheter fixing cassette (320). At this time, the proximal ends of the guide wire (1) and the catheters (2, 3, 4) are ends located on the rear (902) side of the housing (900), and the distal ends of the guide wire (1) and the catheters (2, 3, 4) are ends located on the front (901) side of the housing (900).

The diameter of the guide wire (1) is smaller than the diameter of the small catheter (2), and the guide wire (1) can penetrate the inside of the small catheter (2), and the diameter of the small catheter (2) is smaller than the diameter of the medium catheter (3), and the small catheter (2) can penetrate the inside of the medium catheter (3).

Additionally, at least one catheter securing cassette (300) may additionally include one large catheter securing cassette (330).

A large catheter fixation cassette (330) can be placed at the front end of the housing (900), and a medium catheter drive cassette (220) can be placed at the rear of the large catheter fixation cassette (330).

The proximal end of a large catheter (4) can be connected to a large catheter fixation cassette (330).

The outer diameter or circumference of the medium-sized catheter (3) is smaller than the inner diameter or circumference of the large-sized catheter (4), and the medium-sized catheter (3) can extend through the interior of the large-sized catheter (4).

Meanwhile, the module (1000) illustrated in FIG. 1 includes a total of six cassettes. In this way, when the number of cassettes included in the module (1000) increases, there is a problem that the size of the module (1000) becomes unnecessarily large.

The present invention is intended to solve such a problem, and the module of the present invention can reduce the number of cassettes by including an integrated cassette in which a fixed cassette is arranged on a driving cassette, and can reduce the size of the module by reducing the number of cassettes.

FIG. 2 is an enlarged plan view of an integrated cassette according to a first embodiment of the present invention, with the cover removed and the first and second surgical tools being catheters.

FIG. 3 is an enlarged perspective view showing the forward movement of a catheter drive cassette in an integrated cassette according to a first embodiment of the present invention, wherein the first and second surgical tools are catheters.

FIG. 4 is an enlarged perspective view showing the forward movement of a catheter drive cassette in an integrated cassette according to a first embodiment of the present invention, wherein the first and second surgical tools are catheters.

Referring to FIGS. 2 to 4, an integrated cassette is illustrated in which a catheter fixation cassette (300) to which a proximal end of a first surgical tool is coupled is positioned on a catheter drive cassette (200) that pinches a second surgical tool. The integrated cassette may be positioned on a frame (400, see FIG. 1).

For example, when the first surgical tool is a medium-sized catheter (3, see FIG. 1) and the second surgical tool is a small-sized catheter (2, see FIG. 1), the integrated cassette illustrated in FIGS. 2 to 4 may have a structure in which a medium-sized catheter fixing cassette (320), to which the proximal end of the medium-sized catheter (3) is connected, is placed on a small-sized catheter driving cassette (210) that pinches the small-sized catheter (2).

As shown in FIGS. 2 to 4, when the catheter fixing cassette (300) is placed on the catheter drive cassette (200), the size of the module (1000) can be reduced by the size of the catheter fixing cassette (300) or more than the size of the catheter fixing cassette (300) compared to the case where the catheter fixing cassette (300) is not placed on the catheter drive cassette (200) as shown in FIG. 1.

Because, when the catheter fixation cassette (300) is placed on the catheter drive cassette (200), there is no need to directly place the catheter fixation cassette (300) on the module (1000).

In particular, when the catheter fixing cassette (300) is placed on the catheter driving cassette (200), the number of sensors or motors placed in the module (1000) can be reduced, thereby reducing the size of the module (1000).

The catheter drive cassette (200) may include a pinch rack (10), a pinch pinion (20), and a pinch module (800). The pinch rack (10) may be engaged with the pinch pinion (20). The pinch rack (10) may extend along the length of the frame (400).

The pinch pinion (20) can be rotated about the pinion shaft, and the pinion shaft can be rotated by a separate configuration not shown. The pinch pinion (20) can be rotated in conjunction with the rotation of the pinion shaft.

The pinch rack (10) can be moved forward or backward along the length of the frame (400) by rotation of the pinch pinion (20).

Hereinafter, embodiments of the present invention are described with respect to a second surgical tool having an outer diameter smaller than the inner diameter of the first surgical tool. For example, the second surgical tool may be a small catheter (2) and the first surgical tool may be a medium catheter (3). Alternatively, the second surgical tool may be a guide wire (1) and the first surgical tool may be a small catheter (2), or the second surgical tool may be a medium catheter (3) and the first surgical tool may be a large catheter (4).

At this time, when the pinch rack (10) moves backward along the longitudinal direction of the frame (400), the second treatment tool can be pinched by the pinch module (800). And, when the pinch rack (10) moves forward along the longitudinal direction of the frame (400), the second treatment tool can be released from being pinched by the pinch module (800). More specifically, the pinch module (800) can include a first part to which the pinch rack (10) is coupled, a second part spaced apart from the first part, and a plurality of collets arranged between the first part and the second part.

At this time, when the first part moves backward by the backward movement of the pinch rack (10), the gap between the first part and the second part is reduced, so that the gap between the plurality of collets is reduced, so that the guide wire (1) or catheter (2, 3, 4) can be pinched.

And, when the first part moves forward by the forward movement of the pinch rack (10), the gap between the first part and the second part increases, so that the gap between the plurality of collets increases, so that the pinched guide wire (1) or catheter (2, 3, 4) can be released.

The proximal end of the first surgical tool is coupled to the catheter fixation cassette (300), and the catheter drive cassette (200) can pinch the second surgical tool to drive the second surgical tool. At this time, the diameter of the second surgical tool is smaller than the diameter of the first surgical tool, the second surgical tool can extend through the inside of the first surgical tool, and both the first surgical tool and the second surgical tool can be catheters. For example, the first surgical tool can be a medium-sized catheter (3), and the second surgical tool can be a small catheter (2).

At this time, in order to guide the surgical tool to the desired location on the body, it is necessary to independently move the first surgical tool and the second surgical tool, which are of different sizes.

However, when the second surgical tool moves, there is a problem that the first surgical tool and the second surgical tool cannot be moved independently if the first surgical tool moves together. In particular, when the catheter fixing cassette (300) is placed on the catheter drive cassette (200), it is difficult to independently move the catheter fixing cassette (300) and the catheter drive cassette (200), so there is a problem that it is difficult to independently move the first surgical tool, the proximal end of which is connected to the catheter fixing cassette (300), and the second surgical tool, which is pinched to the catheter drive cassette (200).

In order to solve this problem, the present invention is configured so that the position of the proximal end of the first surgical tool on the frame (400) can be maintained before and after the forward movement of the second surgical tool along the longitudinal direction of the frame (400).

Hereinafter, the first surgical tool may be a large catheter (4, see Fig. 1), the second surgical tool may be a medium catheter (3, see Fig. 1), and the third surgical tool may be a small catheter (2, see Fig. 1).

For example, the catheter fixation cassette (300) may include a fixation rack (30), and the catheter drive cassette (200) may include a fixation pinion (40).

The fixed rack (30) can be engaged with the fixed pinion (40). The fixed rack (30) can extend along the length of the frame (400).

The fixed pinion (40) can be rotated about the pinion shaft, and the pinion shaft can be rotated by a separate configuration not shown. The fixed pinion (40) can be rotated in conjunction with the rotation of the pinion shaft.

The fixed rack (30) can be moved forward or backward along the length of the frame (400) by rotation of the fixed pinion (40).

The motion in which the position of the proximal end of the first surgical tool is maintained on the frame (400) before and after the forward movement of the second surgical tool along the longitudinal direction of the frame (400) is as follows.

When the second surgical tool is pinched by the pinch module (800), the catheter drive cassette (200) is moved forward along the longitudinal direction of the frame (400), so that the second surgical tool can be moved forward along the longitudinal direction of the frame (400). At this time, the catheter drive cassette (200) can be moved forward along the longitudinal direction of the frame (400) and at the same time, the fixed rack (30) can be moved backward along the longitudinal direction of the frame (400) at the same speed as the speed at which the second surgical tool is moved forward. In addition, the catheter fixing cassette (300) can be moved backward along the longitudinal direction of the frame (400) by the fixed rack (30) being moved backward along the longitudinal direction of the frame (400).

At this time, the length and speed at which the catheter fixing cassette (300) moves backward along the longitudinal direction of the frame (400) may be the same as the length and speed at which the catheter driving cassette (200) moves forward along the longitudinal direction of the frame (400).

In this way, since the length and speed at which the catheter fixation cassette (300) moves backward along the longitudinal direction of the frame (400) are the same as the length and speed at which the catheter drive cassette (200) moves forward along the longitudinal direction of the frame (400), the position of the proximal end of the first surgical tool on the frame (400) can be maintained before and after the forward movement of the second surgical tool along the longitudinal direction of the frame (400).

Meanwhile, after the forward movement of the second treatment tool along the longitudinal direction of the frame (400), the pinch module (800) needs to release the pinch of the second treatment tool and the catheter drive cassette (200) including the pinch module (800) needs to move backward along the longitudinal direction of the frame (400) so that the second treatment tool can be pinched again by the pinch module (800) at a point further back along the second treatment tool than the point at which the pinch module (800) pinched the second treatment tool before the forward movement of the second treatment tool.

Even at this time, the position of the proximal end of the first surgical tool on the frame (400) needs to be maintained.

The operation of maintaining the position of the proximal end of the first surgical tool on the frame (400) by the fixed rack (30) before and after the rearward movement of the catheter drive cassette (200) along the longitudinal direction of the frame (400) is as follows.

In a state where the second surgical tool is released from being pinched by the pinch module (800), the catheter drive cassette (200) can be moved backward along the longitudinal direction of the frame (400) while the fixed rack (30) can be moved forward along the longitudinal direction of the frame (400). In addition, the catheter fixing cassette (300) can be moved forward along the longitudinal direction of the frame (400) by the fixed rack (30) being moved forward along the longitudinal direction of the frame (400).

At this time, the length and speed at which the catheter fixing cassette (300) moves forward along the longitudinal direction of the frame (400) may be the same as the length and speed at which the catheter driving cassette (200) moves backward along the longitudinal direction of the frame (400).

In this way, since the length and speed at which the catheter fixation cassette (300) is moved forward along the longitudinal direction of the frame (400) are the same as the length and speed at which the catheter drive cassette (200) is moved backward along the longitudinal direction of the frame (400), the position of the proximal end of the first surgical tool on the frame (400) can be maintained before and after the backward movement of the catheter drive cassette (200) along the longitudinal direction of the frame (400).

FIG. 5 is a plan view of an integrated cassette according to a first embodiment of the present invention, wherein the first surgical tool is a catheter and the second surgical tool is a guide wire.

FIG. 6 is a partially enlarged plan view of FIG. 5 showing an integrated cassette according to the first embodiment of the present invention, wherein the first surgical tool is a catheter and the second surgical tool is a guide wire.

In the integrated cassettes illustrated in FIGS. 2 to 4, the catheter fixing cassette (300) is positioned on the catheter drive cassette (200), whereas in the integrated cassettes illustrated in FIGS. 5 and 6, the catheter fixing cassette (300) is positioned on the guide wire drive cassette (100), but the principle of relative forward or backward movement in the integrated cassettes illustrated in FIGS. 5 and 6 is the same as the principle of relative forward or backward movement in the integrated cassettes illustrated in FIGS. 2 to 4.

Referring to FIGS. 5 and 6, an integrated cassette is illustrated in which a catheter fixation cassette (300) to which the proximal end of a surgical tool, which is a catheter with the smallest diameter, is coupled is positioned on a guide wire drive cassette (100) that pinches an additional surgical tool (particularly, a guide wire (1)). The integrated cassette can be positioned on a frame (400, see FIG. 1).

For example, when the first surgical tool is a small catheter (2, see FIG. 1) and the second surgical tool is a guide wire (1, see FIG. 1), the integrated cassette illustrated in FIGS. 5 and 6 may have a structure in which a small catheter fixing cassette (310) to which the proximal end of the small catheter (2) is connected is placed on a guide wire driving cassette (100) that pinches the guide wire (1).

In the following, the description is based on the case where the first surgical tool is a small catheter (2) and the second surgical tool is a guide wire (1).

As in FIGS. 5 and 6, when the catheter fixing cassette (300) is placed on the guide wire driving cassette (100), the size of the module (1000) can be reduced by the size of the catheter fixing cassette (300) or more than the size of the catheter fixing cassette (300) compared to the case where the catheter fixing cassette (300) is not placed on the guide wire driving cassette (100), as in FIG. 1.

In particular, when the catheter fixation cassette (300) is placed on the guide wire drive cassette (100), the number of sensors or motors placed in the module (1000) can be reduced, thereby reducing the size of the module (1000).

The guide wire drive cassette (100) may include a pinch rack (10), a pinch pinion (20), and a pinch module (800). The pinch rack (10) may engage with the pinch pinion (20). The pinch rack (10) may extend along the length of the frame (400).

The pinch pinion (20) can be rotated about the pinion shaft, and the pinion shaft can be rotated by a separate configuration not shown. The pinch pinion (20) can be rotated in conjunction with the rotation of the pinion shaft.

The pinch rack (10) can be moved forward or backward along the length of the frame (400) by rotation of the pinch pinion (20).

At this time, when the pinch rack (10) moves backward along the longitudinal direction of the frame (400), the guide wire (1) can be pinched by the pinch module (800). And, when the pinch rack (10) moves forward along the longitudinal direction of the frame (400), the guide wire (1) can be released from being pinched by the pinch module (800).

The proximal end of a small catheter (2) is coupled to a catheter fixation cassette (300), and the guide wire drive cassette (100) can pinch the guide wire (1) to drive the guide wire (1) in the longitudinal direction. At this time, the outer diameter or circumference of the guide wire (1) is smaller than the inner diameter or circumference of the small catheter (2), and therefore the guide wire (1) can penetrate the inside of the small catheter (2). At this time, in order to guide the surgical tool to a desired position in the body, it is necessary to independently move the small catheter (2) and the guide wire (1) having different sizes (diameters or circumferences).

However, when the small catheter (2) moves together with the guide wire (1), there is a problem that the guide wire (1) and the small catheter (2) cannot be moved independently. In particular, when the catheter fixing cassette (300) is placed on the guide wire drive cassette (100), it is difficult to independently move the catheter fixing cassette (300) and the guide wire drive cassette (100), so there is a problem that it is difficult to independently move the small catheter (2) whose proximal end is connected to the catheter fixing cassette (300) and the guide wire (1) pinched to the guide wire drive cassette (100).

In order to solve such a problem, the present invention is configured so that the position of the proximal end of the small catheter (2) on the frame (400) can be maintained before and after the forward movement of the guide wire (1) along the longitudinal direction of the frame (400).

For example, the catheter fixation cassette (300) may include a fixation rack (30), and the guide wire drive cassette (100) may include a fixation pinion (40).

The fixed rack (30) can be engaged with the fixed pinion (40). The fixed rack (30) can extend along the length of the frame (400).

The fixed pinion (40) can be rotated about the pinion shaft, and the pinion shaft can be rotated by a separate configuration not shown. The fixed pinion (40) can be rotated in conjunction with the rotation of the pinion shaft.

The fixed rack (30) can be moved forward or backward along the length of the frame (400) by rotation of the fixed pinion (40).

The motion of maintaining the position of the proximal end of the small catheter (2) on the frame (400) before and after the forward movement of the guide wire (1) along the longitudinal direction of the frame (400) is as follows.

When the guide wire (1) is pinched by the pinch module (800), the guide wire drive cassette (100) is moved forward along the longitudinal direction of the frame (400), so that the guide wire (1) can be moved forward along the longitudinal direction of the frame (400). At this time, the guide wire drive cassette (100) can be moved forward along the longitudinal direction of the frame (400) and at the same time, the fixing rack (30) can be moved backward along the longitudinal direction of the frame (400). In addition, the catheter fixing cassette (300) can be moved backward along the longitudinal direction of the frame (400) by the fixing rack (30) being moved backward along the longitudinal direction of the frame (400).

At this time, the length and speed at which the catheter fixing cassette (300) moves backward along the longitudinal direction of the frame (400) may be the same as the length and speed at which the guide wire driving cassette (100) moves forward along the longitudinal direction of the frame (400).

In this way, since the length and speed at which the catheter fixing cassette (300) is moved backward along the longitudinal direction of the frame (400) are the same as the length and speed at which the guide wire drive cassette (100) is moved forward along the longitudinal direction of the frame (400), the position of the proximal end of the small catheter (2) on the frame (400) can be maintained before and after the forward movement of the guide wire (1) along the longitudinal direction of the frame (400).

Meanwhile, after the forward movement of the guide wire (1) along the longitudinal direction of the frame (400), the pinch module (800) needs to release the pinch on the guide wire (1) and move the guide wire drive cassette (100) including the pinch module (800) backward along the longitudinal direction of the frame (400) to pinch the guide wire (1) at a point posterior to the point at which the pinch module (800) pinched the guide wire (1) before the forward movement of the guide wire (1).

Even at this time, the position of the proximal end of the small catheter (2) on the frame (400) needs to be maintained.

The motion of maintaining the position of the proximal end of the small catheter (2) on the frame (400) before and after the rearward movement of the guide wire drive cassette (100) along the longitudinal direction of the frame (400) is as follows.

When the guide wire (1) is released from being pinched by the pinch module (800), the guide wire drive cassette (100) can be moved backward along the longitudinal direction of the frame (400) and at the same time, the fixed rack (30) can be moved forward along the longitudinal direction of the frame (400). In addition, the catheter fixing cassette (300) can be moved forward along the longitudinal direction of the frame (400) by the fixed rack (30) being moved forward along the longitudinal direction of the frame (400).

At this time, the length and speed at which the catheter fixing cassette (300) moves forward along the longitudinal direction of the frame (400) may be the same as the length and speed at which the guide wire driving cassette (100) moves backward along the longitudinal direction of the frame (400).

In this way, since the length and speed at which the catheter fixing cassette (300) is moved forward along the longitudinal direction of the frame (400) are the same as the length and speed at which the guide wire drive cassette (100) is moved backward along the longitudinal direction of the frame (400), the position of the proximal end of the small catheter (2) on the frame (400) can be maintained before and after the backward movement of the guide wire drive cassette (100) along the longitudinal direction of the frame (400).

The module (1000) of the present invention may include a first integrated cassette and a second integrated cassette, and the first integrated cassette may be an integrated cassette in which the first treatment tool and the second treatment tool are a catheter, as shown in FIGS. 2 to 4, and the second integrated cassette may be an integrated cassette in which the first treatment tool is a catheter and the second treatment tool is a guide wire, as shown in FIGS. 5 and 6.

For example, the first integrated cassette may have a structure in which a medium-sized catheter fixing cassette (320), to which the proximal end of a medium-sized catheter (3) is connected, is placed on a small-sized catheter drive cassette (210) that pinches a small-sized catheter (2), and the second integrated cassette may have a structure in which a small-sized catheter fixing cassette (310), to which the proximal end of a small-sized catheter (2) is connected, is placed on a guide wire drive cassette (100) that pinches a guide wire (1).

FIG. 7 is a plan view of an integrated cassette according to a second embodiment of the present invention, in which the first and second surgical tools are catheters.

FIG. 8 is a plan view showing the forward movement of the pinch module in an integrated cassette according to a second embodiment of the present invention, in which the first and second surgical tools are catheters.

FIG. 9 is a plan view showing the rearward movement of the pinch module in an integrated cassette according to a second embodiment of the present invention, in which the first and second surgical tools are catheters.

Referring to FIGS. 7 to 9, an integrated cassette is illustrated in which a catheter fixation cassette (300) to which a proximal end of a first surgical tool is coupled is positioned on a catheter drive cassette (200) that pinches a second surgical tool. The first surgical tool may have an inner diameter or circumference that is larger than an outer diameter or circumference of the second surgical tool. For example, the second surgical tool may be a small catheter (2, see FIG. 1) and the first surgical tool may be a medium-sized catheter (3, see FIG. 1). Alternatively, the second surgical tool may be a medium-sized catheter (3, see FIG. 1) and the first surgical tool may be a large catheter (4, see FIG. 1). In each case, the second surgical tool is receptive and extendible through a lumen extending longitudinally through the first surgical tool. And, the integrated cassette can be placed on the frame (400, see Fig. 1).

As shown in FIGS. 7 to 9, when the catheter fixing cassette (300) is placed on the catheter drive cassette (200), the size of the module (1000) can be reduced by the size of the catheter fixing cassette (300) or more than the size of the catheter fixing cassette (300) compared to the case where the catheter fixing cassette (300) is not placed on the catheter drive cassette (200) as shown in FIG. 1.

In particular, when the catheter fixing cassette (300) is placed on the catheter driving cassette (200), the number of sensors or motors placed in the module (1000) can be reduced, thereby reducing the size of the module (1000).

Unlike the integrated cassettes illustrated in FIGS. 2 to 4, the integrated cassettes illustrated in FIGS. 7 to 9 do not include a fixed rack (30) and a fixed pinion (40), but include a moving rack (50) and a moving pinion (60).

Accordingly, in the operation of maintaining the position of the proximal end of the first treatment tool on the frame (400) before and after the forward movement of the second treatment tool along the longitudinal direction of the frame (400), the integrated cassette illustrated in FIGS. 7 to 9 differs from the integrated cassette illustrated in FIGS. 2 to 4.

In addition, the description of the integrated cassette illustrated in FIGS. 2 to 4 may be equally applied to the integrated cassette illustrated in FIGS. 7 to 9. For example, as illustrated in FIGS. 8 (a) and (b), when the pinch rack (10) moves rearward along the longitudinal direction of the frame (400), the second surgical tool can be pinched by the pinch module (800). In addition, as illustrated in FIGS. 9 (a) and (b), when the pinch rack (10) moves forward along the longitudinal direction of the frame (400), the second surgical tool can be released from being pinched by the pinch module (800).

The moving rack (50) can be engaged with the moving pinion (60). The moving rack (50) can extend along the length of the frame (400).

The moving pinion (60) can be rotated about the pinion shaft, and the pinion shaft can be rotated by a separate configuration not shown. The moving pinion (60) can be rotated in conjunction with the rotation of the pinion shaft.

The moving rack (50) can be moved forward or backward along the length of the frame (400) by rotation of the moving pinion (60).

The motion in which the position of the proximal end of the first surgical tool is maintained on the frame (400) before and after the forward movement of the second surgical tool along the longitudinal direction of the frame (400) is as follows.

As shown in FIGS. 8 (b) and (c), when the second treatment tool is pinched by the pinch module (800), the pinch rack (10) and the moving rack (50) are moved forward along the longitudinal direction of the frame (400), so that the pinch module (800) can be moved forward along the longitudinal direction of the frame (400). In addition, the second treatment tool can be moved forward along the longitudinal direction of the frame (400) by the pinch module (800) being moved forward along the longitudinal direction of the frame (400).

At this time, even if the second surgical tool is moved forward along the longitudinal direction of the frame (400) by the pinch module (800) being moved forward along the longitudinal direction of the frame (400), the catheter fixing cassette (300) is fixed without being moved, so that the position of the proximal end of the first surgical tool coupled to the catheter fixing cassette (300) on the frame (400) can be maintained.

Meanwhile, after the forward movement of the second treatment tool along the longitudinal direction of the frame (400), the pinch module (800) needs to release the pinch on the second treatment tool and move the pinch module (800) backward along the longitudinal direction of the frame (400) to pinch the second treatment tool at a point rearward from the point at which the pinch module (800) pinched the second treatment tool before the forward movement of the second treatment tool.

Even at this time, the position of the proximal end of the first surgical tool on the frame (400) needs to be maintained.

The motion of maintaining the position of the proximal end of the first surgical tool on the frame (400) before and after the rearward movement of the pinch module (800) along the longitudinal direction of the frame (400) is as follows.

As shown in FIGS. 9 (b) and (c), when the second treatment tool is released from being pinched by the pinch module (800), the pinch rack (10) and the moving rack (50) are moved backward along the longitudinal direction of the frame (400), thereby allowing the pinch module (800) to be moved backward along the longitudinal direction of the frame (400).

At this time, even if the pinch module (800) moves backward along the longitudinal direction of the frame (400), the catheter fixing cassette (300) is fixed without moving, so that the position of the proximal end of the first surgical tool coupled to the catheter fixing cassette (300) on the frame (400) can be maintained.

Meanwhile, although FIGS. 7 to 9 illustrate an integrated cassette in which the first and second surgical tools are catheters, the principle of forward or backward movement of the integrated cassette illustrated in FIGS. 7 to 9 can be equally applied to an integrated cassette in which the first surgical tool is a catheter and the second surgical tool is a guide wire.

The present invention is not limited to the above-described embodiments and the attached drawings, and various substitutions, modifications, and changes may be made by those skilled in the art within the scope of the technical idea of the present invention described in the claims, and this also falls within the scope of the present invention.

1: Guide wire
2: Catheter
10: Pinch Rack
20: Pinch pinion
30: Fixed rack
40: Fixed pinion
50: Moving rack
60: Moving pinion
100: Guide wire drive cassette
200: Catheter drive cassette
210: First catheter drive cassette
220: Second catheter drive cassette
300: Catheter fixation cassette
310: First catheter fixation cassette
320: Second catheter fixation cassette
330: Third catheter fixation cassette
400: Frame
500: 1st Integrated Cassette
600: Second integrated cassette
800: Pinch Module
900: Housing
1000: Module for guiding at least one of a guide wire and a catheter

Claims (12)

It includes a first treatment tool fixing cassette (300) to which the proximal end of the first treatment tool is coupled, a second treatment tool driving cassette (100, 200) for pinching the second treatment tool and driving the second treatment tool, and a frame (400).
The above first treatment tool fixing cassette (300) is placed on the above second treatment tool driving cassette (100, 200),
The above second treatment tool driving cassette (100, 200) is placed on the frame (400),
The diameter of the second treatment tool is smaller than the diameter of the first treatment tool, and the second treatment tool penetrates the inside of the first treatment tool.
An integrated cassette in which the position of the proximal end of the first treatment tool on the frame (400) is maintained before and after the forward movement of the second treatment tool along the longitudinal direction of the frame (400). In the first paragraph,
The above second treatment tool drive cassette (100, 200) includes a pinch rack (10), a pinch pinion (20) and a pinch module (800),
The above pinch rack (10) is an integrated cassette that moves forward or backward along the longitudinal direction by rotation of the above pinch pinion (20). In the second paragraph,
When the pinch rack (10) moves backward along the longitudinal direction, the second treatment tool is pinched by the pinch module (800) by the movement of the pinch rack (10).
An integrated cassette in which, when the pinch rack (10) is moved forward along the longitudinal direction, the second treatment tool is released from being pinched by the pinch module (800) by the movement of the pinch rack (10). In the third paragraph,
The above first treatment tool fixing cassette (300) includes a fixing rack (30),
The above second treatment tool drive cassette (100, 200) includes a fixed pinion (40),
An integrated cassette in which the fixed rack (30) moves forward or backward along the longitudinal direction by rotation of the fixed pinion (40). In paragraph 4,
In a state where the above second treatment tool is pinched by the pinch module (800),
The second treatment tool is moved forward along the longitudinal direction by the second treatment tool driving cassette (100, 200) moving forward along the longitudinal direction,
The second treatment tool driving cassette (100, 200) moves forward along the longitudinal direction while the fixed rack (30) moves backward along the longitudinal direction.
The first treatment tool fixing cassette (300) is moved backward along the longitudinal direction by the above fixed rack (30) being moved backward along the longitudinal direction,
An integrated cassette in which the length and speed at which the first treatment tool fixing cassette (300) moves backward along the longitudinal direction are the same as the length and speed at which the second treatment tool driving cassette (100, 200) moves forward along the longitudinal direction. In paragraph 4,
In a state where the above second treatment tool is released from being pinched by the pinch module (800),
The second treatment tool driving cassette (100, 200) moves backward along the longitudinal direction while the fixed rack (30) moves forward along the longitudinal direction.
The first treatment tool fixing cassette (300) is moved forward along the longitudinal direction by the above fixed rack (30) moving forward along the longitudinal direction,
An integrated cassette in which the length and speed at which the first treatment tool fixing cassette (300) moves forward along the longitudinal direction are the same as the length and speed at which the second treatment tool driving cassette (100, 200) moves backward along the longitudinal direction. In the third paragraph,
The above second treatment tool drive cassette (100, 200) includes a moving rack (50) and a moving pinion (60),
An integrated cassette in which the moving rack (50) moves forward or backward along the longitudinal direction by rotation of the moving pinion (60). In paragraph 7,
In a state where the above second treatment tool is pinched by the pinch module (800),
The pinch module (800) is moved forward along the longitudinal direction by the pinch rack (10) and the moving rack (50) moving forward along the longitudinal direction,
An integrated cassette in which the second surgical tool is moved forward along the longitudinal direction by the pinch module (800) being moved forward along the longitudinal direction. In paragraph 7,
In a state where the above second treatment tool is released from being pinched by the pinch module (800),
An integrated cassette in which the pinch module (800) is moved backward along the longitudinal direction by the pinch rack (10) and the moving rack (50) being moved backward along the longitudinal direction. In any one of claims 1 to 9,
The above first and second surgical tools are catheters,
The above catheter is an integrated cassette in the shape of a flexible tube. In any one of claims 1 to 9,
The above first surgical tool is a catheter, and the above second surgical tool is a guide wire.
An integrated cassette wherein the catheter is in the shape of a flexible tube and the guide wire is in the shape of a flexible wire. As a module for guiding at least one of a guide wire and a catheter,
The above module comprises a first integrated cassette and a second integrated cassette according to any one of claims 1 to 9,
The first surgical tool of the first integrated cassette and the second surgical tool of the first integrated cassette are both catheters,
The first surgical tool of the second integrated cassette is a catheter, and the second surgical tool of the second integrated cassette is a guide wire.
A module wherein the catheter is in the shape of a flexible tube and the guide wire is in the shape of a flexible wire.