KR102557473B1 - Guiding cathether for installing at medical robot - Google Patents

Abstract

The present invention relates to a medical robot-mounted guide catheter, the present invention comprising: a main body; a drive catheter coupled to pass through the main body and provided with a plurality of drive wires therein so that one side thereof is exposed to the outside; a plurality of driving blocks slidably coupled to the main body and driving the distal driving part of the driving catheter by pulling each exposed portion of the driving wires of the driving catheter; and a connection unit connecting the driving block and the driving wire. According to the present invention, not only circular movement of the distal end portion but also movement in various directions such as back and forth, as well as being mounted on a medical robot can be moved by the operation of the medical robot.

Description

GUIDING CATHETHER FOR INSTALLING AT MEDICAL ROBOT}

The present invention relates to a robot-mounted guide catheter for medical use.

In general, medical catheters are used for percutaneous coronary intervention, electrophysiology study, catheter ablation, and invasive intervention.

When conducting cutaneous coronary intervention, electrophysiological examination, vascular intervention, etc., a guiding catheter is inserted through the femoral artery, radial artery, or femoral vein, and a balloon catheter, ablation catheter, rotary ablation catheter, Surgery (or procedure) is performed to widen and treat the stenotic lesion with a laser catheter or stent.

That is, a medical catheter is a medical device inserted into the human body when treating a disease or performing surgery. Medical catheters can be applied in various fields such as cardiovascular, urology, gastrointestinal, neurovascular, and ophthalmology depending on the material or manufacturing method.

Republic of Korea Patent Publication No. 10-2020-0145957 (2020.12.31. Publication date) (hereinafter referred to as prior art) has a cord-shaped element or catheter to be used usefully and quickly Disclosed is a medical guide tube in the form of an assembly capable of inducing insertion into a patient's body or reliably inducing an insertion state. However, the prior art has a disadvantage in that the direction of moving the tip (end) of the guide wire inserted through the sheath (catheter) is limited to the left and right directions, making it inconvenient to use. In addition, the prior art has a problem that is not suitable for surgery by mounting on a medical robot.

An object of the present invention is to provide a robot-mounted guide catheter for medical use, which allows the distal end to move in various directions, such as back and forth, as well as circular movement.

Another object of the present invention is to provide a medical robot-mounted guide catheter mounted on a medical robot so as to be moved by the operation of the medical robot.

In order to achieve the object of the present invention, the body; a drive catheter coupled to pass through the main body and provided with a plurality of drive wires therein so that one side thereof is exposed to the outside; a plurality of driving blocks slidably coupled to the main body in a straight line and driving the distal driving part of the driving catheter by pulling each exposed portion of the driving wires of the driving catheter; And there is provided a medical robot-mounted guide catheter including a connection unit for connecting the driving block and the driving wire.

The main body has a body portion having a set length and having an internal space penetrating in the longitudinal direction, and a plurality of sliding parts formed on the outer surface of the body portion to communicate with the internal space at a distance from each other so that the driving blocks are slidably coupled to each other. A front cover portion having holes and a through hole covering one end of the body in the longitudinal direction and through which the driving catheter passes, and covering the other end of the body in the longitudinal direction and passing the driving catheter therein. It is preferable to include a rear cover portion provided with a through coupling hole to be coupled.

The drive catheter includes a proximal tube portion having a set length, a distal drive tube portion extending from the proximal tube portion, an annular wire provided inside the distal drive tube portion, and the proximal tube portion and the distal drive tube portion. It is preferable to include a plurality of drive wires positioned inside the body, but one end connected to the annular wire and the other end exposed to the proximal tube portion.

The connecting unit includes a driving roller provided in the driving block, a tension adjusting unit provided on one side of the main body and adjusting tension, and one end of the driving wire is connected by a connecting member and spanned over the driving roller, and the other It is preferable to include a tension wire having one end connected to the tension control unit to adjust the tension, and a spring connected to the driving block and the main body to apply elastic force to the driving block to the opposite side where the tension is applied by the tension wire. .

The tension control unit includes a tension block having a wire insertion hole coupled to the main body, a wire connection pin coupled to the tension block to support the tension wire so as to pass through the wire insertion hole, and a tension block provided on one side of the tension block. It is preferable to include a tension roller around which the wire is wound, a tension control bolt for adjusting the tension of the tension wire by adjusting the position of the tension roller, and a fixing bolt for fixing an end of the tension wire.

The connecting unit includes a connecting terminal provided with a fastening hole on one side and a connecting part to which the end of the drive wire is connected to the other side, and a fastening screw that penetrates the fastening hole of the connecting terminal and is fastened to the driving block. desirable.

In the present invention, a driving catheter equipped with a plurality of driving wires is coupled to the main body to penetrate, and a plurality of driving blocks are coupled to the main body to be slidable in a straight line, respectively, and selectively pulls the plurality of driving blocks to form a distal driving unit (distal driving unit) of the driving catheter. Since the end of the tube) moves in a circular shape or in various directions such as back and forth, it is not only easy to find and move to the target blood vessel during treatment, but also free movement in the target part increases the efficiency of treatment.

In addition, in the present invention, since a plurality of driving blocks are slidably coupled to the main body in a straight line and a plurality of driving wires of a driving catheter are pulled by pulling of the plurality of driving blocks, it is mounted on a medical robot and operated by the medical robot. Since it is possible to easily drive a plurality of driving blocks, it is easy to apply to medical robots.

1 is a perspective view showing an embodiment of a medical robot-mounted guide catheter according to the present invention;
Figure 2 is a perspective view showing an embodiment of a medical robot-mounted induction catheter according to the present invention, partially cut away;
3 is a cross-sectional plan view showing an embodiment of a medical robot-mounted guide catheter according to the present invention;
4 is a perspective view showing a tension adjusting unit constituting an embodiment of a medical robot-mounted induction catheter according to the present invention;
5 and 6 are plan and front views showing another example of a connection unit for an embodiment of a medical robot-mounted induction catheter according to the present invention;
7 is a front view showing a state in which an ablation catheter is coupled to an embodiment of a medical robot-mounted induction catheter according to the present invention.

Hereinafter, an embodiment of a medical robot-mounted guide catheter according to the present invention will be described with reference to the accompanying drawings.

1 is a perspective view showing an embodiment of a medical robot-mounted guide catheter according to the present invention. 2 is a perspective view showing an embodiment of a medical robot-mounted guide catheter according to the present invention, partially cut away. 3 is a plan view showing an embodiment of a medical robot-mounted guide catheter according to the present invention.

As shown in FIGS. 1, 2, and 3, one embodiment of the medical robot-mounted induction catheter according to the present invention includes a main body 10, a driving catheter 20, a driving block 30, and a connection unit 40. include

As an example of the main body 10, the main body 10 is formed to communicate with the inner space at a distance from each other on the outer surface of the body portion 11 having an internal space penetrating in the longitudinal direction and the body portion 11 A plurality of sliding holes 12 to which the driving blocks 30 are slidably coupled, and a front cover 13 covering one end of the body 11 in the longitudinal direction and having a through hole therein, , Covering the other end of the body portion 11 in the longitudinal direction and including a rear cover portion 14 having a through-coupling hole therein. The trunk portion 11 preferably has a rectangular cylinder shape with a rectangular cross section, and the number of sliding holes 12 is preferably four. Among the four sliding holes 12, two sliding holes 12 are spaced apart from each other on one side of the square cylinder shape, and the other two sliding holes 12 are spaced apart from each other on the opposite side. do. As an example of the sliding hole 12, the sliding hole 12 preferably has a rectangular shape longer than the width, and the longitudinal direction of the sliding hole 12 is located in the longitudinal direction of the body portion 11. The body part 11 is composed of a combination of a plurality of parts, and the front and rear cover parts 13 and 14 are each composed of one part and can be coupled to the body part 11.

The driving catheter 20 is coupled to pass through the main body 10, and a plurality of driving wires are provided therein so that one side is exposed to the outside. The plurality of driving wires is preferably at least three or more. As an example of the drive catheter 20, the drive catheter 20 includes a proximal tube portion 21 having a set length, a distal drive tube portion 22 extending from the proximal tube portion 21, and a proximal tube portion. (21) and the distal driving tube part (distal driving part) 22, but located inside, but including drive wires 23 exposed to the proximal tube part 21 side. The proximal tube portion 21 is made of a flexible material, and the distal drive tube portion 22 is preferably made of a more flexible material than the proximal tube portion 21 . The driving wires 23 are preferably made of metal. The drive wires 23 are provided inside the proximal tube portion 21 and the distal drive tube portion 22, respectively, and are provided at regular intervals in the circumferential direction. More preferably, the number of driving wires 23 is four, and the four driving wires 23 are positioned at intervals of 90 degrees in the circumferential direction. A wire insertion hole 24 is provided from the outer surface of the portion located a certain distance from one end of the proximal tube portion 21 to the central portion of the distal drive tube portion 22, and the wire insertion hole 24 is provided with a drive wire 23 ) Is provided with a number corresponding to the number of the drive wire 23 is inserted into the wire insertion holes 24, respectively, one end of the drive wire 23 is fixed to the distal drive tube portion 22, and the other end is a wire A predetermined length is exposed to the outside of the insertion hole 24 . It is preferable that an annular wire 25 is further provided inside the distal driving tube unit 22 and each end of the driving wires 23 is connected to the annular wire 25 . The actuating catheter 20 has a hemostasis valve 26 connected to one end of the proximal tube portion 21 .

The driving catheter 20 is coupled through the main body 10 and hemostasis in a state of penetrating the through-coupling hole of the rear cover part 14, the inner space of the body part 11, and the through-hole of the front cover part 13. One part of the valve 26 is fixedly coupled to the rear cover part 14. At this time, the exposed parts of the driving wires 23 are located in the inner space of the body part 11 .

There are a plurality of driving blocks 30, each of which is slidably coupled to the main body 10 and the distal driving part of the driving catheter 20 by pulling each exposed part of the driving wires 23 of the driving catheter 20, respectively. drives The number of driving blocks 30 is the same as the number of driving wires 23, and when there are four driving wires 23, there are four driving blocks 30. Also, the number of sliding holes 12 of the main body 10 is equal to the number of driving blocks 30 . As an example of the driving block 30, the driving block 30 is coupled to the main body 10 by forming a block portion 31 and a groove on the top or bottom surface of the block portion 31, and the block portion 31 It includes a sliding coupling part 32 dividing the body 10 into an inner part located inside and an outer part located outside, and an operating part 33 extending and protruding from the outer part of the block part 31. Grooves of the sliding coupling part 32 are preferably formed on the upper and lower surfaces, respectively. The drive block 30 is preferably an assembly in which a plurality of parts are assembled.

The driving block 30 is coupled to the main body 10 so that the sliding coupling part is located in the sliding hole 12 of the body part of the main body 10 so as to be slidable along the sliding hole 12, and one side of the block part 31 A part and the control part 33 are exposed to the outside of the main body 10, and the other part of the block part 31 is located in the inner space of the main body 10.

The connection unit 40 connects the driving block 30 and the driving wire 23. As an example of the connection unit 40, the connection unit 40 includes a drive roller 41 provided in the drive block 30, a tension control unit T provided on one side of the main body 10 to adjust tension, and , The drive wire 23 and one end are connected by the connecting member 42 and span the drive roller 41, and the other end is connected to the tension control unit (T) Tension wire 43 for which the tension is adjusted , It is connected to the driving block 30 and the main body 10 and includes a spring 44 for applying an elastic force to the driving block 30 to the opposite side where the tension is applied by the tension wire 43. That is, the tension wire 43 has a set length, one end is connected to the connecting member 42, and then the middle part is wound around the driving roller 41 provided in the driving block 30, and the other end is the tension control unit connected to (T). The tension wire 43 is preferably made of a non-metallic material. The spring 44 is preferably a coil tension spring. As an example of the tension control unit T, as shown in FIG. 4, the tension control unit T has a tension block 45 provided with a connection hole and coupled to the main body 10, and tension to pass through the connection hole. A wire connecting pin 46 coupled to the block 45 to support the tension wire 43, a tension roller 47 provided on one side of the tension block 45 and around which the tension wire 43 is wound, and the tension It includes a tension adjusting bolt 48 for adjusting the tension of the tension wire 43 by adjusting the position of the roller 47, and a fixing bolt 49 for fixing the end of the tension wire 43. That is, the tension wire 43 wound around the driving roller 41 provided in the driving block 30 is wound around the wire connection pin 46 through the connecting hole, then the tension roller 47, and then the tension wire 43 The end of is fixed to the fixing bolt (49). In this state, the tension of the tension wire 43 is adjusted by pushing or pulling the tension roller 47 while rotating the tension adjusting bolt 48 forward and backward.

As another example of the connection unit 40, as shown in FIGS. 5 and 6, the connection unit 40 is provided with a fastening hole 1 on one side and a connection portion to which the end of the drive wire 23 is connected to the other side. It includes a connecting terminal (3) provided with (2), and a fastening screw (4) that penetrates the fastening hole (1) of the connecting terminal (3) and is fastened to the driving block (30). In a state where the end of the drive wire 23 is inserted into the connection part 2 of the connection terminal 3, the connection part 2 is compressed to connect the end of the drive wire 23 to the connection part 2, and the connection part 2 ) by soldering to form a junction.

Hereinafter, the action and effect of the medical robot-equipped guide catheter according to the present invention will be described.

First, there are four driving blocks 30 of the body 10, and the four driving blocks 30 are referred to as first, second, third, and fourth driving blocks 30, and the first, second, third, and fourth driving blocks When the driving wires 23 of the driving catheter 20 respectively connected to (30) are referred to as the first, second, third and fourth driving wires 23, the first driving block 30 is formed in a straight line along the main body 10. As the first driving wire 23 connected to the first driving block 30 is pulled, the distal driving part (distal driving tube part) 22 of the driving catheter 20 connected to the end of the first driving wire 23 One side is pulled toward the first driving wire 23 and bent. When the second driving block 30 is pulled in a straight line along the main body 10, the second driving wire 23 connected to the second driving block 30 is pulled and the driving catheter connected to the end of the second driving wire 23 ( The other side of the distal driving part 20) is pulled toward the second driving wire 23 and bent. In this way, when the third and fourth driving blocks 30 are pulled in a straight line along the main body 10, the third and fourth driving wires 23 connected to the third and fourth driving blocks 30 are pulled, respectively. The connection portion of the distal driver 22 of the drive catheter 20 connected to each end of the 3 and 4 drive wires 23 is pulled toward the 3 and 4 drive wires 23 and bent. In addition, when the first and second driving blocks 30 are pulled in a straight line along the main body 10 at the same time, the first and second driving wires 23 connected to the first and second driving blocks 30 are simultaneously pulled and the first driving block 30 is simultaneously pulled. ,2 is bent by being pulled toward one side of the distal driving portion of the driving catheter 20 connected to each end of the driving wire 23, that is, between the first and second driving wires 23. In addition, when the first, second, third, and fourth driving blocks 30 are sequentially pulled in a straight line along the main body 10, the first, second, and third driving blocks 30 are connected to the first, second, third, and fourth driving blocks 30, respectively. ,4 As the driving wire 23 is sequentially pulled, the connecting parts of the distal driving unit of the driving catheter 20 connected to each end of the first, second, third and fourth driving wires 23 are sequentially pulled, and the distal driving unit (distal driving unit) The tube part) moves in a circular shape.

And, as shown in FIG. 7, in the driving catheter 20 of the present invention, when the ablation catheter 60 is inserted and coupled, the distal end 61 of the ablation catheter 60 is moved in various directions or positions be able to When a dilator or the like is inserted into and coupled to the drive catheter 20 of the present invention, the distal end can be moved in various directions or positions.

Meanwhile, when the main body 10 to which the driving blocks 30 are mounted is mounted on the manipulator of the robot, the robot manipulator selectively pulls or releases the driving blocks 30 to distal the driving catheter 20. The driving unit (distal driving tube unit) is moved in a desired direction or position.

In this way, the present invention is coupled to the main body 10 so that the driving catheter 20 equipped with a plurality of driving wires 23 penetrates, and a plurality of driving blocks 30 are slidably slid in a straight line to the main body 10, respectively. Combined, the plurality of driving blocks 30 are selectively pulled to move the end of the distal driving part (distal driving tube part) of the driving catheter 20 circularly or in various directions such as back and forth, so that the target blood vessel is searched for during treatment. Not only can it be easily moved, but the movement in the target part is free, which increases the efficiency of treatment.

In addition, in the present invention, a plurality of driving blocks 30 are slidably coupled to the main body 10 in a straight line, and a plurality of driving wires 23 of the driving catheter 20 by pulling of the plurality of driving blocks 30 Since they are pulled, it is possible to easily drive a plurality of driving blocks 30 by the operation of the medical robot by mounting on the medical robot, making it easy to apply to the medical robot.

10; body 20; driven catheter
30; drive block 40; connection unit

Claims (7)

main body;
a drive catheter coupled to pass through the main body and provided with a plurality of drive wires therein so that one side thereof is exposed to the outside;
a plurality of driving blocks slidably coupled to the main body in a straight line and driving the distal driving part of the driving catheter by pulling each exposed portion of the driving wires of the driving catheter; and
A connection unit connecting the driving block and the driving wire,
The connecting unit includes a driving roller provided in the driving block, a tension adjusting unit provided on one side of the main body and adjusting tension, and one end of the driving wire is connected by a connecting member and spanned over the driving roller, and the other A tension wire having one end connected to the tension control unit to control tension, and a spring connected to the driving block and the main body to apply elastic force to the driving block on the opposite side to which the tension is applied by the tension wire,
The tension control unit includes a tension block having a wire insertion hole coupled to the main body, a wire connection pin coupled to the tension block to support the tension wire so as to pass through the wire insertion hole, and a tension block provided on one side of the tension block. A medical robot-mounted induction catheter comprising a tension roller on which a wire is wound, a tension control bolt for adjusting the tension of the tension wire by adjusting the position of the tension roller, and a fixing bolt for fixing an end of the tension wire. The method of claim 1, wherein the main body has a body portion having a set length and having an internal space penetrating in the longitudinal direction, and is formed on an outer surface of the body portion to be in communication with the internal space at a distance from each other so that the driving blocks can slide respectively. A front cover portion having a plurality of sliding holes that are coupled to each other, a through hole covering one end of the body in the longitudinal direction and having a through hole through which the driving catheter passes, and covering the other end of the body in the longitudinal direction and A medical robot-mounted guide catheter comprising a back cover having a through-coupling hole through which the driving catheter is coupled. The method of claim 1, wherein the drive catheter comprises a proximal tube portion having a set length, a distal drive tube portion extending from the proximal tube portion, an annular wire provided inside the distal drive tube portion, and the proximal tube portion. And a medical robot-mounted guide catheter including a plurality of drive wires positioned inside the distal drive tube portion, one end of which is connected to the annular wire and the other end of which is exposed toward the proximal tube portion. [4] The medical robot-mounted guide catheter according to claim 3, wherein the number of the plurality of drive wires is at least three. delete delete delete

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