Automated angiography system and control method for angiography device

Abstract

An embodiment of the present invention provides an automated angiography system comprising: a catheter unit including a catheter and a connector coupled to the catheter and through which a guidewire passes; a contrast medium injection unit for injecting a contrast medium into the catheter unit; a driving unit for controlling movements of the catheter and the guidewire; an image information acquisition unit for acquiring image information about a region of interest into which the contrast medium is injected; and a control unit for controlling the driving unit to control the movements of the catheter or the guidewire by using the image information or controlling the contrast medium injection unit to adjust an injection speed and the amount of the contrast medium.

Description

Automated angiographic system and method for controlling angiographic device

[0001] Embodiments of the present invention relate to an angiographic automation system and an angiographic device control method.

[0002] Angiography is a minimally invasive technique that creates an image model of the inside of the body of a subject or patient. It is a procedure in which a contrast medium is injected into the blood vessels of the area to be examined (target blood vessels) for the purpose of diagnosing and treating vascular diseases, and then X-rays are taken. An angiographic catheter is used in angiography. An angiographic catheter is a thin (e.g., 2 mm or less in diameter) and long tube-shaped medical device used to inject contrast medium into the blood vessels. In addition, a guidewire, which is usually smaller in diameter than the catheter, is usually used as an auxiliary device to smoothly insert the catheter near the target blood vessel.

[0003] In the past, the practitioner would manually insert the catheter and guide wire by hand and manually operate the valve of the connector to inject contrast agents and other drugs. When injecting contrast agents, the practitioner would directly observe and predict the blood flow speed and amount for each expansion to determine the contrast agent injection speed and amount, which could lead to individual differences.

[0004] Additionally, in interventional procedures using these catheters, X-rays must be taken during the procedure to determine the location of the surgical device inserted into the body, which poses a risk of exposing the medical staff performing the surgery to X-ray radiation.

[0005] The present invention is intended to solve the above problems, and provides an angiographic automation system and angiographic equipment control method that can control angiographic equipment using a robot assistance system in a space separated from the surgical site during angiographic examination and determine contrast agent injection conditions through a roadmap image.

[0006] One embodiment of the present invention provides an automated angiographic system, comprising: a catheter unit including a catheter and a connector coupled to the catheter and through which a guide wire passes; a contrast medium injection unit for injecting contrast medium into the catheter unit; a driving unit for controlling movement of the catheter and the guide wire; an image information acquisition unit for acquiring image information on a region of interest into which the contrast medium is injected; and a control unit for controlling the driving unit to control movement of the catheter or the guide wire using the image information, or controlling the contrast medium injection unit to adjust the injection speed and amount of the contrast medium.

[0007] The automated angiographic system and angiographic equipment control method according to embodiments of the present invention solve the above-mentioned problems, thereby protecting medical staff from X-ray radiation, and automatically determining an appropriate contrast agent injection speed and amount according to the patient's condition, thereby enabling stable treatment.

[0008] Of course, the scope of the present invention is not limited by these effects.

[0009] FIG. 1 is a drawing for explaining the configuration of an automated angiographic system according to one embodiment of the present invention.

[0010] FIG. 2 is a block diagram briefly illustrating the configuration of an automated angiographic system according to one embodiment of the present invention.

[0011] FIG. 3 is a block diagram briefly illustrating the configuration of an automated angiographic system according to another embodiment of the present invention.

[0012] FIG. 4 is a drawing illustrating a catheter section and a driving section of an automated angiographic system according to one embodiment of the present invention.

[0013] Fig. 5 is a cross-sectional view showing the driving unit of Fig. 4.

[0014] FIG. 6 and FIG. 7 are flowcharts for explaining a method for controlling an angiographic device according to one embodiment of the present invention.

[0015] FIG. 8 is a drawing specifically explaining a contrast agent injection unit control step in a method for controlling an angiographic device according to one embodiment of the present invention.

[0016] One embodiment of the present invention provides an automated angiographic system, comprising: a catheter unit including a catheter and a connector coupled to the catheter and through which a guide wire passes; a contrast medium injection unit for injecting contrast medium into the catheter unit; a driving unit for controlling movement of the catheter and the guide wire; an image information acquisition unit for acquiring image information on a region of interest into which the contrast medium is injected; and a control unit for controlling the driving unit to control movement of the catheter or the guide wire using the image information, or controlling the contrast medium injection unit to adjust the injection speed and amount of the contrast medium.

[0017] In one embodiment of the present invention, the driving unit includes a catheter driving unit disposed on the catheter and controlling linear motion and rotational motion of the catheter, and a wire driving unit disposed on the guide wire and controlling linear motion and rotational motion of the guide wire, and the control unit can independently control the catheter driving unit and the wire driving unit.

[0018] In one embodiment of the present invention, the driving unit may include a magnetic body that can be attached and fixed to a surgical table through magnetic force and a roller unit for controlling the movement of the catheter or the guide wire.

[0019] In one embodiment of the present invention, the roller unit may include one or more ball rollers that contact one side of the catheter or the guide wire and control linear or rotational movement.

[0020] In one embodiment of the present invention, the connector includes a body portion that forms a first tube in a longitudinal direction and is formed so that the guide wire passes through the connector along the inside of the first tube, a side port that includes a second tube branching from a side of the body portion and communicating with the first tube, a valve portion that opens and closes the second tube, and a wire fixing portion that fixes the guide wire to the body portion, wherein the valve portion and the wire fixing portion can be remotely controlled.

[0021] In one embodiment of the present invention, the wire fixing portion can fix the guide wire to the body portion when the valve portion operates to open the second tube, and release the guide wire when the valve portion operates to close the second tube.

[0022] In one embodiment of the present invention, the valve unit can be linked to the contrast agent injection unit to control the opening and closing of the second tube.

[0023] In one embodiment of the present invention, the control unit can obtain a roadmap image including information on blood flow velocity or blood flow amount in the region of interest from the image information, and control the driving unit or the contrast agent injection unit based on the roadmap image.

[0024] In one embodiment of the present invention, the control unit analyzes the blood flow speed and amount of the subject through the roadmap image to determine the injection speed and amount of contrast agent, and the contrast agent injection unit can control the injection of contrast agent according to the injection speed and amount of contrast agent determined by the control unit.

[0025] In one embodiment of the present invention, the image information acquisition unit acquires an angiographic image in real time when a contrast agent is injected into a subject, the control unit generates contrast agent injection information based on the angiographic image acquired in real time and transmits the information to the contrast agent injection unit, and the contrast agent injection unit can modify the amount and injection pressure of the contrast agent in real time according to the transmitted information.

[0026] One embodiment of the present invention provides a method for controlling an angiographic apparatus, including the steps of: acquiring image information on a region of interest into which a contrast agent is injected; generating a roadmap image using the image information; analyzing the blood flow speed and amount of a patient using the roadmap image to determine the injection speed and amount of contrast agent; and controlling a contrast agent injection unit to inject contrast agent into a catheter unit according to the determined injection speed and amount of contrast agent.

[0027] In one embodiment of the present invention, after the step of acquiring the image information, a step of controlling a driving unit for moving the catheter or guide wire so that the guide wire is positioned at a set point in the blood vessel may be further included.

[0028] In one embodiment of the present invention, the step of controlling the contrast agent injection unit may further include a step of controlling the operation of a valve unit included in the catheter unit in conjunction with the contrast agent injection unit and a step of injecting contrast agent into the catheter unit.

[0029] In one embodiment of the present invention, the catheter portion includes a catheter and a connector coupled to the catheter and through which a guide wire passes, the connector includes a body portion forming a first tube in a longitudinal direction and formed such that the guide wire passes through the connector along the inside of the first tube, a side port including a second tube branching from a side of the body portion and connected to the first tube, a valve portion for opening and closing the second tube, and a wire fixing portion for fixing the guide wire to the body portion, wherein the valve portion and the wire fixing portion can be remotely controlled.

[0030] In one embodiment of the present invention, the step of controlling the contrast agent injection unit may include: when the valve unit operates to open the second tube, the wire fixing unit may fix the guide wire to the body unit; and when the valve unit operates to close the second tube, the wire fixing unit may release the guide wire.

[0031] Other aspects, features and advantages other than those described above will become apparent from the following drawings, claims and detailed description of the invention.

[0032] Hereinafter, the following embodiments will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same drawing reference numerals, and redundant descriptions thereof will be omitted.

[0033] These embodiments are capable of various modifications. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of these embodiments, as well as the methods for achieving them, will become clearer with reference to the detailed descriptions below, along with the drawings. However, these embodiments are not limited to the embodiments disclosed below and may be implemented in various forms.

[0034] In the drawings, parts unrelated to the description are omitted to clearly explain the present invention, and similar parts are given similar drawing reference numerals throughout the specification.

[0035] In the examples below, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0036] In the examples below, terms such as “include” or “have” mean that a feature or component described in the specification exists, and do not preclude the possibility that one or more other features or components may be added.

[0037] In the examples below, when a part such as a unit, region, or component is said to be on or above another part, this includes not only the case where it is directly above the other part, but also the case where another unit, region, component, etc. is interposed in between.

[0038] In the examples below, terms such as connect or combine do not necessarily mean a direct and / or fixed connection or combination of two members, unless the context clearly indicates otherwise, and do not exclude the presence of another member between the two members.

[0039] For convenience of explanation, the sizes of components in the drawings may be exaggerated or reduced. For example, the sizes and thicknesses of each component shown in the drawings are arbitrarily indicated for convenience of explanation, and thus the following embodiments are not necessarily limited to those shown.

[0040] In this specification, "image" may mean multi-dimensional data composed of discrete image elements (e.g., pixels in a two-dimensional image and voxels in a three-dimensional image). Examples of images may include medical images of objects acquired by X-ray devices, CT devices, MRI devices, ultrasound devices, and other medical imaging devices.

[0041] Additionally, in this specification, an "object" may be a human or animal, or a part of a human or animal. For example, the object may include at least one of an organ such as the liver, heart, uterus, brain, breast, abdomen, and a blood vessel.

[0042] Additionally, in this specification, a “user” may be a medical professional such as a doctor, nurse, clinical pathologist, medical imaging specialist, etc., and may be a technician who repairs medical devices, but is not limited thereto.

[0043]

[0044] FIG. 1 is a drawing for explaining the configuration of an angiographic automation system according to one embodiment of the present invention, FIG. 2 is a block diagram briefly illustrating the configuration of an angiographic automation system according to one embodiment of the present invention, and FIG. 3 is a block diagram briefly illustrating the configuration of an angiographic automation system according to another embodiment of the present invention. In addition, FIG. 4 is a drawing illustrating a catheter unit and a driving unit of an angiographic automation system according to one embodiment of the present invention, and FIG. 5 is a cross-sectional view illustrating the driving unit of FIG. 4.

[0045] Referring to FIGS. 1 and 2, an automated angiographic system (100) according to one embodiment of the present invention may include a catheter unit (120), a driving unit (130), a contrast agent injection unit (140), an image information acquisition unit (150), and a control unit (160). The automated angiographic system (100) illustrated in FIGS. 1 and 2 only illustrates components related to the present embodiment. Therefore, it will be understood by those skilled in the art related to the present embodiment that other general-purpose components may be further included in addition to the components illustrated in FIGS. 1 and 2.

[0046] The catheter portion (120) may include a catheter (121) and a connector (123) that is connected to the catheter (121) and through which a guide wire (122) passes. Here, the catheter (121) may be an angiographic catheter. In angiography, an angiographic catheter is used, and an angiographic catheter is a thin (e.g., diameter of 2 mm or less) and long tube-shaped medical device used to administer a contrast agent into a blood vessel. In order to administer a contrast agent into a blood vessel for angiography, an angiographic catheter must first be inserted to the vicinity of a target blood vessel requiring angiography.

[0047] The catheter (121) may include a tubular shaft extending in one direction and a hub connected to one end of the shaft. Medical personnel perform procedures and manipulations, such as insertion and removal of a guidewire (122) into the catheter (121), and administration of contrast agents, through the hub. The shaft has an internal lumen formed therein along its length. The lumen extends to the hub and is connected to the outside through a hollow space formed in the hub. The guidewire (122), contrast agents, etc. are injected into the lumen through the internal space of the hub.

[0048] Meanwhile, it is not easy to directly insert a catheter (121) having a lumen into a blood vessel that extends in a tortuous manner. Therefore, to smoothly insert the catheter (121) into the vicinity of the target blood vessel, a guide wire (122) having a smaller diameter than the catheter (121) is typically used as an auxiliary device. The catheter (121) of the automated angiographic system (100) according to one embodiment of the present invention may be a catheter capable of injecting a contrast agent into a blood vessel through the lumen even with the guide wire (122) inserted into the lumen.

[0049] Conventional angiographic catheters are used by removing the guidewire while the catheter is partially inserted, then injecting a small amount of contrast medium to check the shape of the anterior vessel, and then reinserting the guidewire and advancing the catheter little by little. In other words, after the initial partial insertion of the guidewire and the partial insertion of the catheter, the process of "guidewire removal - injection of a small amount of contrast medium (to check the vascular roadmap and the shape of the anterior vessel) - reinserting the guidewire - advancing the catheter" is repeated several times until the catheter reaches the vicinity of the target vessel. However, this angiographic procedure can cause side effects such as air being introduced into the blood vessel or damage to the blood vessel during the guidewire insertion and removal process.

[0050] On the other hand, the catheter (121) of the angiographic automation system (100) according to one embodiment of the present invention can insert the catheter (121) to the vicinity of the target blood vessel by repeating only the process of “injection of contrast medium (confirmation of the shape of the blood vessel in the front) - advancement of the guide wire - advancement of the catheter” several times after partial insertion of the guide wire (122) and partial insertion of the catheter (121). The driving unit (130) and the control unit (160) that control the advancement of the catheter (121) and the guide wire (122) will be described in detail later.

[0051] Meanwhile, the guide wire (122) may represent a guide core that guides a medical device, such as a catheter, balloon, or stent, along a transport path through a blood vessel, including a blood vessel, to reach the target site. The catheter (121) may be transported together with the guide wire (122) in a major blood vessel, such as the aorta and / or coronary artery, to reach a peripheral blood vessel.

[0052] The guide wire (122) can be transported through the lumen of the catheter (121), and the tip of the guide wire (122) can be inserted and moved into a peripheral blood vessel. Therefore, the guide wire (122) can be formed with a diameter smaller than the inner diameter of the catheter (121) described above, and small enough to allow contrast medium, etc. to flow inside the catheter (121) when the guide wire (122) is inserted into the catheter (121).

[0053] Meanwhile, the connector (123) can be used in combination with a catheter (121), and may include a body portion (123a), a valve portion (123b), a side port (123c), and a wire fixing portion (123d). In addition, the connector (123) may be made of a transparent material so that the user can visually check the flow of the drug or air bubbles inside the connector (123).

[0054] The body portion (123a) may be formed to form a first tube in the longitudinal direction, and the guide wire (122) may be formed to pass through the connector (123) along the inside of the first tube. That is, the body portion (123a) of the connector (123) is a tubular member, one end of which may be coupled with the catheter (121), and the guide wire (122) may be guided through the first tube formed therein and inserted into the lumen of the catheter (121). In addition, the body portion (123a) may be coupled with or formed as an integral part of the valve portion (123b), the side port (123c), and the wire fixing portion (124d).

[0055] The connector (123) may include a first pipe and a second pipe. The second pipe branches off from the first pipe. Expressed from another perspective, the connector (123) may be said to include a side port (123c) that branches off from the side of the body portion (123a) and includes a second pipe that communicates with the first pipe.

[0056] In other words, the side port (123c) may be formed to protrude from the side of the body portion (123a) at a predetermined angle and with a predetermined length. Furthermore, a plurality of side ports (123c) may be formed. These side ports (123c) may be connected to an external device, and may supply contrast media, saline solution, etc. Thereby, the contrast media, saline solution, etc. may be supplied to the first tube through the second tube of the side port (123c).

[0057] That is, contrast medium or saline solution supplied from the outside can be introduced into the first tube of the body part (123a) through the side port (123c), and the contrast medium or saline solution introduced into the first tube can be supplied to the catheter (121).

[0058] The connector (123) of the angiographic automation system (100) according to one embodiment of the present invention may include a valve portion (123b) for opening and closing the second tube and a wire fixing portion (123d) for fixing the guide wire (122) to the body portion (123a).

[0059] Meanwhile, the guide wire (122) can move freely in the longitudinal direction of the guide wire (122) while inserted into the connector (123). Therefore, in order to prevent the guide wire from entering the blood vessel during contrast agent injection, the guide wire had to be fixed with a mosquito or other device in the past.

[0060] However, according to one embodiment of the present invention, the connector (123) may operate the wire fixing portion (123d) simultaneously with the operation of the valve portion (123b). As an example, the valve portion (123b) and the wire fixing portion (123d) may be remotely controlled by the control portion (160) described below, so that the valve portion (123b) opens and closes the second pipe and the wire fixing portion (123d) operates simultaneously.

[0061] As another example, the valve portion (123b) and the wire fixing portion (123d) may be configured to be physically connected or coupled. For example, the wire fixing portion (123d) may move in accordance with the rotation of the valve portion (123b), thereby contacting the guide wire (122) against the inner side of the body portion (123a) to prevent the guide wire (122) from moving.

[0062] To explain this in detail, when the valve part (123b) formed at the branch point between the second tube or the second tube and the first tube is rotated, the member formed inside the valve part (123b) closes the through hole connected to the second tube, and the wire fixing part (123d) tightly fixes the guide wire (122), and when the member formed inside opens the through hole due to the rotation of the valve part (123b), the wire fixing part (123d) releases the guide wire (122) so that it can move freely. However, the idea of ​​the present invention is not limited thereto, and when the valve part (123b) into which contrast medium is injected is operated remotely, the guide wire (122) may be automatically fixed.

[0063] An automated angiographic system (100) according to one embodiment of the present invention may include a driving unit (130) that controls the movement of a catheter (121) and a guide wire (122).

[0064] The driving unit (130) can be divided into a catheter driving unit (130a) that is placed on the catheter (121) and controls the linear motion and rotational motion of the catheter (121) and a wire driving unit (130b) that is placed on the guide wire (122) and controls the linear motion and rotational motion of the guide wire (122), but can be collectively referred to as the driving unit (130). In addition, the catheter driving unit (130a) and the wire driving unit (130b) can be independently controlled by the control unit (160) as separate, independent components.

[0065] The driving unit (130) may include a main body (131), a magnetic body (132), a roller unit (133), and a groove (134). Here, the magnetic body (132) may be a fixing means that can be attached and fixed to a treatment table using magnetic force. The magnetic body (132) may be arranged at the bottom of the main body (131) and may be provided with at least one. In addition, at least one area of ​​the treatment table may include a material to which the magnetic body (132) can be magnetically attached.

[0066] Meanwhile, the roller unit (133) is for controlling the movement of the catheter (121) or the guide wire (122), and may include one or more ball rollers (133a) that contact one side of the catheter (121) or the guide wire (122) to control linear or rotational movement. For example, the ball rollers (133a) may be symmetrically positioned on both sides of the guide wire (122), and the guide wire (122) may move forward or backward in the longitudinal direction by the rotation of the ball rollers (133a) on both sides, and a rotational torque may be applied to the guide wire (122) in contact with the ball rollers (133a) to control the same rotational movement at the distal end of the guide wire (122).

[0067] Meanwhile, the driving unit (130) may include a groove (134) to allow a guide wire (122) or a catheter (121) to be placed on the roller unit (133) as described above. For example, the groove (134) may be formed on the lower or upper surface of the main body (131) to correspond to the length direction of the guide wire (122) and to have a certain depth so as to facilitate insertion of the thin and long guide wire (122) into the driving unit (130). That is, the guide wire (122) may be inserted into the groove (134) having a thin gap shape and positioned between the ball rollers (133a). However, the spirit of the present invention is not limited thereto, and the shape of the groove (134) or the method of inserting the guide wire (122) may vary.

[0068] Since the driving unit (130) is also remotely controlled by the control unit (160) described later, it is possible to break away from the conventional method of having the operator manually operate the catheter and guide wire next to the patient. In addition, the prior art utilizing a robot-assisted system has a large volume and the operation method is applicable to only one catheter, so it is difficult to handle multiple surgical instruments. However, the angiographic automation system (100) according to one embodiment of the present invention has a small volume of the driving unit (130) and is composed of individual auxiliary systems, so that each catheter or surgical instrument can be operated on the surgical table.

[0069] Meanwhile, the contrast medium injection unit (140) is a device that supplies contrast medium to the catheter unit (120) and can be connected to the side port (123c) of the connector (123) through a tube. The contrast medium injection unit (140) may be an automatic contrast medium injector and may be of a pressurized control type or a flow control type. In addition, the contrast medium injection unit (140) can set a maximum pressure value and automatically stop contrast medium injection when the pressure reaches the set maximum value, thereby preventing damage to blood vessels due to high pressure in advance.

[0070] Meanwhile, if a large amount of contrast agent is injected in a short period of time, the pressure may increase and vortex formation may be formed, which may interfere with the progress of blood flow. In addition, if the contrast agent injection pressure is high, the catheter tip may be detached from the selected blood vessel or may move, causing vascular damage. Therefore, a linear rise (transition time) function that gradually increases the injection pressure may be included. In other words, to prevent the rapid influx of contrast agent into the blood vessel at the beginning of contrast agent injection, a reserve time may be provided during which the contrast agent is slowly injected before the remaining contrast agent is injected.

[0071] The contrast agent injection unit (140) can be remotely controlled by a control unit (160) to be described later, and the valve unit (123b) can be linked to the contrast agent injection unit (140) to control the opening and closing of the second tube. That is, when the contrast agent injection unit (140) supplies contrast agent to the connector (123) according to the contrast agent injection speed and amount determined by the control unit (160), the valve unit (123b) of the connector (123) can be opened to supply contrast agent to the catheter (121).

[0072] Meanwhile, an automated angiographic system (100) according to one embodiment of the present invention may include an image information acquisition unit (150) that acquires image information on a region of interest into which a contrast agent is injected.

[0073] The image information acquisition unit (150) can acquire image information including at least one of Chest X-Ray, CT, MRI, PET, ultrasound, angiography (intervention), and OCT image information based on the Digital Imaging and Communications in Medicine (DICOM) standard.

[0074] The image information acquisition unit (150) can specifically acquire a medical image for a region of interest including blood vessels of a subject. In detail, the image information acquisition unit (150) can acquire a three-dimensional medical image and a two-dimensional medical image representing blood vessels, according to one embodiment. According to one embodiment, the image information acquisition unit (150) can perform computed tomography angiography (CT angiography) or magnetic resonance angiography (MRI angiography) on a subject to acquire a three-dimensional medical image representing blood vessels within the subject in three dimensions. In addition, according to one embodiment, the image information acquisition unit (150) can perform X-ray angiography on blood vessels within the subject to acquire a two-dimensional medical image representing blood vessels within the subject in two dimensions. In addition, according to one embodiment, the two-dimensional medical image may be an X-ray moving image acquired through fluoroscopy.

[0075] For example, the image information acquisition unit (150) may include a device capable of controlling all X-ray systems that emit pulsed X-rays. In addition, the image information acquisition unit (150) may be any image processing device capable of processing an X-ray image acquired by irradiating a target with pulsed X-rays.

[0076] Specifically, the X-ray device according to an embodiment of the present invention may be an X-ray device capable of obtaining an X-ray video, fluoroscopy, by irradiating a target object with pulsed X-rays. Here, fluoroscopy is an image processing technology that obtains an X-ray video by photographing a target object in real time for procedure monitoring, and may be used for angiography, etc. In addition, the X-ray device according to an embodiment of the present invention may be an X-ray device capable of obtaining a DSA (Digital Subtraction Angiography) image. DSA is a method of subtracting an image before contrast agent injection from an image after contrast agent injection, and can improve the recognition rate of blood vessels by removing background structures (anatomy) or tissues.

[0077] In addition, the X-ray device according to an embodiment of the present invention may be an X-ray device capable of acquiring a roadmap image. Here, the roadmap image is an X-ray image for confirming the position of a surgical tool, and can be acquired by overlapping a vascular image and a fluoroscopy image, and may be a 2D image or a 3D image.

[0078] In this way, the image information acquisition unit (150) can acquire a first medical image before injecting a contrast agent into a blood vessel, a second medical image after injecting a contrast agent into a blood vessel, and a third medical image regarding the movement of a catheter (121) or guide wire (122).

[0079] The image information acquisition unit (150) can acquire various information about the patient's blood vessels. For example, morphological information may include the size of blood vessels, their geometric structure, and the number and location of blood vessels. Functional information may include transit times, blood flow, and perfusion. Blood vessel morphology can be reconstructed using computed tomography (CT) or obtained using three-dimensional (3D) images acquired through rotational acquisition.

[0080] Meanwhile, the automated angiographic system (100) according to one embodiment of the present invention may include a control unit (160). The control unit (160) may control the driving unit (130) to control the movement of the catheter (121) or the guide wire (122) using image information obtained from the image information acquisition unit (150), or may control the contrast agent injection unit (140) to adjust the injection speed and amount of the contrast agent.

[0081] Specifically, the control unit (160) can obtain a roadmap image including information on blood flow velocity or blood flow amount in the region of interest from the image information, and control the driving unit (130) or the contrast agent injection unit (140) based on the roadmap image.

[0082] In detail, the control unit (160) analyzes the blood flow speed and amount of the subject through the roadmap image to determine the injection speed and amount of the contrast agent, and the contrast agent injection unit (140) is characterized in that it controls the injection of the contrast agent according to the injection speed and amount of the contrast agent determined by the control unit (160). For example, the control unit (160) can analyze morphological information such as the size of the blood vessels in the region of interest, the geometric structure of the blood vessels, the number and location of the blood vessels, and the branching points of the blood vessels, as well as the blood flow speed, to determine the amount of the contrast agent to be injected into the corresponding blood vessel or the conditions for the injection pressure of the contrast agent.

[0083] Meanwhile, the control unit (160) can transmit a contrast agent injection command to the contrast agent injection unit (140) based on a determination of the injection pressure or amount of contrast agent. Accordingly, accurate and uniform contrast agent injection can be performed automatically using data acquired from the image information acquisition unit (150).

[0084] In addition, as an example, when a contrast agent is injected into a subject, the image information acquisition unit (150) acquires an angiographic image in real time, the control unit (160) generates contrast agent injection information in real time and transmits it to the contrast agent injection unit (140), and the contrast agent injection unit (140) can modify the amount and injection pressure of the contrast agent in real time according to the transmitted information. In other words, the contrast agent can be injected by modifying the contrast agent injection pressure or injection amount to reflect changes in the state of blood flow while the contrast agent is administered to the patient.

[0085] In addition, the control unit (160) can control the driving unit (130). Specifically, the control unit (160) can control the linear movement and rotational movement in the longitudinal direction of the catheter (121) or the guide wire (122) by controlling the roller unit (133) of the driving unit (130). In addition, the control unit (160) can independently control the driving unit placed on the catheter (121) and the driving unit placed on the guide wire (122), and can be controlled manually by a user's input value or automatically controlled in the system in conjunction with the image information acquisition unit (150).

[0086] In addition, the control unit (160) can control the valve unit (123b) and the wire fixing unit (123d) of the connector (123) as described above. For example, the control unit (160) can control the valve unit (123b) to open and close the second pipe and the wire fixing unit (123d) to operate simultaneously. For example, when the valve unit (123b) is operated to open the second pipe, the wire fixing unit (123d) can be controlled to fix the guide wire (122) to the body unit (123a), and when the valve unit (123b) is operated to close the second pipe, the wire fixing unit (123d) can be controlled to release the fixing of the guide wire (122).

[0087] Meanwhile, an automated angiographic system (200) according to another embodiment of the present invention may further include a storage unit (270) and a display unit (280).

[0088] The storage unit (270) can store various image data acquired from the image information acquisition unit (250), i.e., a first medical image before injecting a contrast agent into a blood vessel, a second medical image after injecting a contrast agent into a blood vessel, and a third medical image regarding the movement of a catheter (121) or a guide wire (122). In addition, the storage unit (270) can store real-time X-ray images including three-dimensional medical images and two-dimensional medical images representing blood vessels acquired from the image information acquisition unit (250), or store medical images acquired from an external device.

[0089] In addition, the storage unit (270) can store the roadmap image processed by the image information acquisition unit (250) and the control unit (260) and various measurement data regarding the patient's blood flow status. However, these are described as an example, and the storage unit (270) can of course store and provide various data received between the control unit (260) of the angiographic automation system (200) and other components.

[0090] The display unit (280) may, according to one embodiment, display a matched image generated by the image information acquisition unit (250). For example, the display unit (280) may display a matched image or display a UI (User Interface) or GUI (Graphical User Interface) related to the function settings of the angiographic automation system (200).

[0091] The display unit (280) may include at least one of a liquid crystal display, a thin film transistor-liquid crystal display, an organic light-emitting diode, a flexible display, a 3D display, and an electrophoretic display.

[0092] FIG. 6 and FIG. 7 are flowcharts for explaining a method for controlling an angiographic apparatus according to one embodiment of the present invention, and FIG. 8 is a drawing for specifically explaining a contrast agent injection unit control step in a method for controlling an angiographic apparatus according to one embodiment of the present invention.

[0093] A method for controlling an angiographic apparatus according to one embodiment of the present invention may include a step of acquiring image information on a region of interest into which a contrast agent is injected (S110), a step of generating a roadmap image using the image information (S120), a step of analyzing a patient's blood flow speed and amount using the roadmap image to determine an injection speed and amount of contrast agent (S130), and a step of controlling a contrast agent injection unit (140) to inject contrast agent into a catheter unit (120) according to the determined injection speed and amount of contrast agent (S140).

[0094] In step S110, the region of interest may be a portion of a blood vessel within a medical image to be obtained from the subject, and may be a region of interest set by the user. Furthermore, according to one embodiment, the portion of the blood vessel within the 2D medical image may be a region within the blood vessel where a target object is located. For example, if the user inserts a catheter into the blood vessel of the subject, the portion of the blood vessel may be the region where the catheter is located.

[0095] The above image information can be obtained through the image information acquisition unit (150), and various information about the patient's blood vessels can be obtained. For example, the image information can include morphological information such as the size of blood vessels, the geometric structure of blood vessels, the number and location of blood vessels, and functional information such as transit times, blood flow, and perfusion. Here, the image information acquisition unit (150) is the same as that described in the angiography automation system (100), so a detailed description thereof will be omitted.

[0096] Step S120 is a step for generating a roadmap image of a blood vessel. This step obtains blood vessel information by subtracting images other than those of blood vessels into which contrast medium is injected using a fluoroscopic image as a mask. Specifically, a roadmap mask is generated by first injecting a contrast medium into a target blood vessel into which a surgical tool is to be inserted. The roadmap mask serves as a blood vessel map and corresponds to a still image. The control unit (160) can combine the roadmap mask with subsequent live fluoroscopic images to obtain an image in which the surgical tool is superimposed on the roadmap.

[0097] As an example, the following real-time fluoroscopy image can be subtracted from the roadmap mask to obtain an image in which the background is removed and the surgical tool and target blood vessel are shown with excellent contrast. Alternatively, the roadmap mask can be subtracted from the following real-time fluoroscopy image.

[0098] In other words, by acquiring and storing individual images as the contrast agent is injected, and then displaying only the maximum pixel values ​​in each image, images can be generated based on the flow of the contrast agent. In this way, the path of the blood vessel can be mapped out, and catheters or wires can be manipulated while viewing the images.

[0099] Additionally, according to one embodiment, after step S110, a step (S111) of controlling a driving unit (130) to move the catheter (121) or guide wire (122) so that the guide wire (122) is positioned at a set point in the blood vessel may be performed. That is, step S111 may be a step of moving the catheter (121) or guide wire (122) by operating the driving unit (130) through the control unit (160).

[0100] After step S110 or step S111, the patient's blood flow velocity and amount are analyzed using the roadmap image to determine the injection velocity and amount of contrast agent. (S130)

[0101] The step of determining the injection speed and amount of the contrast agent is performed by the control unit (160). The control unit (160) can determine the injection speed and amount of the contrast agent by analyzing the blood flow speed and amount of the subject through the roadmap image. For example, the control unit (160) can analyze morphological information such as the size of the blood vessels in the region of interest, the geometric structure of the blood vessels, the number and location of the blood vessels, and the branching points of the blood vessels, as well as the blood flow speed, to determine the amount of contrast agent to be injected into the corresponding blood vessel or the conditions for the injection pressure of the contrast agent.

[0102] Meanwhile, the control unit (160) can transmit a contrast agent injection command to the contrast agent injection unit (140) based on a decision on the injection pressure or amount of the contrast agent.

[0103] In other words, after step S130, a step (S140) of controlling the contrast agent injection unit (140) may be performed. Control of the contrast agent injection unit (140) may be performed by a user's operation according to system settings, or the contrast agent injection timing may also be automatically performed by the control unit (160) according to the contrast agent injection conditions determined.

[0104] In addition, the step of controlling the contrast agent injection unit (140) may further include a step (S141) of controlling the operation of a valve unit (123b) included in the catheter unit (120) in conjunction with the contrast agent injection unit (140) and a step (S142) of injecting contrast agent into the catheter unit (120).

[0105] Here, steps S141 and S142 may be performed sequentially in real time or simultaneously. That is, the valve unit (123b) must be opened by the control unit (160) to supply contrast medium to the catheter unit (120) through the contrast medium injection unit (140). This can be controlled separately, but the contrast medium injection command may also be accompanied by an operation command for the valve unit (123b).

[0106] Meanwhile, the automated angiographic system (100) according to one embodiment of the present invention allows the user to control the angiographic equipment using a robotic assistance system in a space separate from the surgical site during an angiographic examination. For example, the user can remotely operate the system from a workstation or control room that can be protected from radiation exposure. Therefore, medical staff can be safely protected from radiation exposure resulting from multiple X-ray examinations, and the automated system can be used to appropriately administer contrast media depending on the patient's condition.

[0107] The present invention has been described above, focusing on preferred embodiments. Those skilled in the art will appreciate that variations and modifications can be made to the invention without departing from its essential characteristics. Therefore, the disclosed embodiments should be considered illustrative rather than limiting. The scope of the present invention is set forth in the claims, not the foregoing description, and all differences within the scope equivalent thereto should be construed as being encompassed by the invention.

[0108] Embodiments of the present invention relate to an automated angiographic system and an angiographic device control method. The present invention can be applied to an automated angiographic system and an angiographic device control method, which control angiographic equipment using a robotic assistance system in a space separate from the surgical site during an angiographic examination and determine contrast agent injection conditions through a roadmap image.

Claims

1. A catheter portion including a catheter and a connector that is connected to the catheter and through which a guide wire passes; A contrast agent injection unit for injecting contrast agent into the above catheter unit; A driving unit that controls the movement of the catheter and the guide wire; An image information acquisition unit that acquires image information about an area of ​​interest into which the contrast agent is injected; and An automated angiography system, comprising: a control unit that controls the driving unit to control the movement of the catheter or the guide wire using the image information, or controls the contrast agent injection unit to control the injection speed and amount of the contrast agent.

2. In paragraph 1, The above driving part, A catheter driving unit positioned on the catheter and controlling linear and rotational movements of the catheter; and A wire driving unit disposed on the guide wire and controlling linear and rotational movements of the guide wire; An angiographic automation system, wherein the control unit independently controls the catheter driving unit and the wire driving unit.

3. In paragraph 2, The above driving part, A magnetic body that can be attached and fixed to the treatment table through magnetic force; and An angiographic automation system comprising a roller unit for controlling the movement of the catheter or the guide wire.

4. In paragraph 3, The above roller unit, An angiographic automation system comprising one or more ball rollers that contact one side of the catheter or the guide wire and control linear or rotational movement.

5. In paragraph 1, The above connector, A body portion formed to form a first tube in the longitudinal direction, and the guide wire formed to penetrate the connector along the inside of the first tube; A side port including a second pipe branching from the side of the body portion and communicating with the first pipe; A valve part for opening and closing the second pipe; and including a wire fixing part that fixes the above guide wire to the above body part; An automated angiographic system, characterized in that the valve unit and the wire fixing unit are remotely controlled.

6. In paragraph 5, The above wire fixing part, An angiographic automation system characterized in that when the valve part operates to open the second tube, the guide wire is fixed to the body part, and when the valve part operates to close the second tube, the guide wire is released.

7. In paragraph 5, An angiographic automation system, wherein the valve part is linked to the contrast agent injection part to control the opening and closing of the second tube.

8. In paragraph 1, An automated angiography system, wherein the control unit obtains a roadmap image including information on blood flow velocity or blood flow volume in the region of interest from the image information, and controls the driving unit or the contrast agent injection unit based on the roadmap image.

9. In paragraph 8, The above control unit analyzes the subject's blood flow speed and amount through the roadmap image to determine the injection speed and amount of contrast agent. An automated angiographic system, characterized in that the contrast agent injection unit controls contrast agent injection according to the injection speed and amount of contrast agent determined by the control unit.

10. In paragraph 8, The above image information acquisition unit acquires angiographic images in real time when contrast agent is injected into the subject, The above control unit generates contrast agent injection information based on the angiographic image acquired in real time and transmits the information to the contrast agent injection unit. The above contrast agent injection unit is an angiographic automation system that modifies the amount and injection pressure of contrast agent in real time according to the transmitted information.

11. A step of acquiring image information on the area of ​​interest into which contrast agent is injected; A step of generating a roadmap image using the above image information; A step of analyzing the patient's blood flow speed and amount using the above roadmap image to determine the injection speed and amount of contrast agent; and A method for controlling an angiographic device, comprising: a step of controlling a contrast agent injection unit to inject contrast agent into a catheter unit according to a determined injection speed and amount of contrast agent.

12. In paragraph 11, A method for controlling an angiographic device, further comprising a step of controlling a driving unit for moving a catheter or guide wire so that the guide wire is positioned at a set point in a blood vessel after the step of acquiring the image information.

13. In paragraph 11, The step of controlling the above contrast agent injection unit is: A step of controlling the operation of a valve part included in the catheter part in conjunction with the contrast agent injection part; and A method for controlling an angiographic device, further comprising a step of injecting a contrast agent into the catheter portion.

14. In paragraph 13, The above catheter portion includes a catheter and a connector that is connected to the catheter and through which a guide wire passes, The above connector, A body portion formed to form a first tube in the longitudinal direction, and the guide wire formed to penetrate the connector along the inside of the first tube; A side port including a second pipe branching from the side of the body portion and connected to the first pipe; A valve part for opening and closing the second pipe; and including a wire fixing part that fixes the above guide wire to the above body part; A method for controlling an angiographic device, characterized in that the valve unit and the wire fixing unit are remotely controlled.

15. In paragraph 14, The step of controlling the above contrast agent injection unit is: A method for controlling an angiographic device, characterized in that when the valve part operates to open the second tube, the wire fixing part fixes the guide wire to the body part, and when the valve part operates to close the second tube, the wire fixing part releases the guide wire.

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