Module for guiding at least one of guidewire and catheter
Patent Information
- Application Number
- AE202602792
- Authority / Receiving Office
- AE · AE
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2024-02-22
Smart Images
Figure ABST_ABST
Abstract
Description
[SPECIFICATION][TITLE OF INVENTION]MODULE FOR GUIDING AT LEAST ONE OF GUIDEWIRE AND CATHETER[TECHNICAL FIELD]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.[BACKGROUND ART]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, a 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 introduced, or distal, end of the guide wire is guided therefrom to a desired location of the lumen, or in a desired location of a lumen which branches into, or from, the lumen into which the guide wire is introduced. Additionally, the catheter is guided along the guide wire.One problem with guide wire and catheter introduction systems is that it is difficult to have the distal ends of the guide wire and catheter follow tortuous lumen geometry, or to guide the distal ends of the guide wire and catheter to a lumen intersecting the lumen or a branch lumen, within which the distal ends of the guide wire and catheter is positioned. In some cases, a branch lumen, the location of which is the intended destination of the distal ends of the guide wire and catheter, intersects a lumen the distal end of which is at a large angle, for example, greater than 45 degrees, and in some cases, greater than 90 degrees.To facilitate the orientation control of the distal ends of the guide wire and catheter, a robotic system is provided for reliably controlling movement of the guide wire and catheter. Also provided is a cassette to be used with the robotic system. Using the cassette, a guide wire and a catheter are guided to a desired location in the body by making one or more of forward, rearward, or rotational movements.A guide wire and catheter system may utilize a plurality of catheters with corresponding small inner diameters, wherein the catheters other than the one with the largest diameter may be telescopically accommodated and extended within the catheter with the next largest diameter. In this system, the position and the like of each catheter and guide wire are controlled by a different drive cassette. Consequently, there was a problem that the size of the module became unnecessarily large in order to accommodate a plurality of cassettes within the module.[PRIOR ART DOCUMENT][PATENT DOCUMENT](PATENT DOCUMENT 1) US 2017-0274181 A1[DESCRIPTION OF THE INVENTION][TECHNICAL PROBLEM]A technical problem to be solved 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.[TECHNICAL MEANS FOR SOLVING THE PROBLEM] An integrated cassette according to one embodiment of the present invention may comprise: a first surgical tool fixing cassette 300 to which a proximal end of a first surgical tool is coupled, a second surgical tool drive cassette 100, 200 for pinching a second surgical tool to drive the second surgical tool, and a frame 400, wherein the first surgical tool fixing cassette 300 may be disposed on the second surgical tool drive cassette 100, 200, the second surgical tool drive cassette 100, 200 may be disposed on the frame 400, the diameter of the second surgical tool may be smaller than the diameter of the first surgical tool, the second surgical tool may penetrate the interior of the first surgical tool, and the position of the proximal end of the first surgical tool on the frame 400 may be maintained before and after forward movement of the second surgical tool along the longitudinal direction of the frame 400.In this case, a combination of the first surgical tool fixing cassette 300 and the second surgical tool drive cassette 100, 200 may be a combination of a small catheter fixing cassette 310 and a guide wire drive cassette 100, a combination of a medium catheter fixing cassette 320 and a small catheter drive cassette 210, or a combination of a large catheter fixing cassette 330 and a medium catheter drive cassette 220.In an integrated cassette according to one embodiment of the present invention, the second surgical tool drive cassette 100, 200 may comprise a pinch rack 10, a pinch pinion 20, and a pinch module 800, wherein the pinch rack 10 may be moved forward or rearward along the longitudinal direction by rotation of the pinch pinion 20.In an integrated cassette according to one embodiment of the present invention, when the pinch rack 10 is moved rearward along the longitudinal direction, the second surgical tool may be 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 may be released from being pinched by the pinch module 800 by the movement of the pinch rack 10.In an integrated cassette according to one embodiment of the present invention, the first surgical tool fixing cassette 300 may comprise a fixing rack 30, and the second surgical tool drive cassette 100, 200 may comprise a fixing pinion 40, wherein the fixing rack 30 may be moved forward or rearward along the longitudinal direction by rotation of the fixing pinion 40.In an integrated cassette according to one embodiment of the present invention, in a state where the second surgical tool is pinched by the pinch module 800, the second surgical tool may be moved forward along the longitudinal direction by forward movement of the second surgical tool drive cassette 100, 200 along the longitudinal direction, in a state where the second surgical tool is pinched by the pinch module 800, the fixing rack 30 may be moved rearward along the longitudinal direction simultaneously with forward movement of the second surgical tool drive cassette 100, 200 along the longitudinal direction, the first surgical tool fixing cassette 300 may be moved rearward along the longitudinal direction by rearward movement of the fixing rack 30 along the longitudinal direction, and the length and speed by which the first surgical tool fixing cassette 300 is moved rearward along the longitudinal direction may be identical to the length and speed by which the second surgical tool drive cassette 100, 200 is moved forward along the longitudinal direction.In an integrated cassette according to one embodiment of the present invention, in a state where the second surgical tool is released from being pinched by the pinch module 800, the fixing rack 30 may be moved forward along the longitudinal direction simultaneously with rearward movement of the second surgical tool drive cassette 100, 200 along the longitudinal direction, the first surgical tool fixing cassette 300 may be moved forward along the longitudinal direction by forward movement of the fixing rack 30 along the longitudinal direction, and the length and speed by which the first surgical tool fixing cassette 300 is moved forward along the longitudinal direction may be identical to the length and speed by which the second surgical tool drive cassette 100, 200 is moved rearward along the longitudinal direction.In an integrated cassette according to one embodiment of the present invention, the second surgical tool drive cassette 100, 200 may comprise a moving rack 50 and a moving pinion 60, wherein the moving rack 50 may be moved forward or rearward along the longitudinal direction by rotation of the moving pinion 60.In an integrated cassette according to one embodiment of the present invention, in a state where the second surgical tool is pinched by the pinch module 800, the pinch module 800 may be moved forward along the longitudinal direction by forward movement of the pinch rack 10 and the moving rack 50 along the longitudinal direction, and the second surgical tool may be moved forward along the longitudinal direction by forward movement of the pinch module 800 along the longitudinal direction.In an integrated cassette according to one embodiment of the present invention, in a state where the second surgical tool is released from being pinched by the pinch module 800, the pinch module 800 may be moved rearward along the longitudinal direction by rearward movement of the pinch rack 10 and the moving rack 50 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 may be catheters, wherein the catheters may be in the shape of a flexible tube.In an integrated cassette according to one embodiment of the present invention, the first surgical tool may be a catheter, and the second surgical tool may be a guide wire, wherein the catheter may be in the shape of a flexible tube, and the guide wire may be in the shape of a flexible wire.A module according to one embodiment of the present invention may comprise a first integrated cassette and a second integrated cassette, wherein a first surgical tool of the first integrated cassette and a second surgical tool of the first integrated cassette may be both catheters, and a first surgical tool of the second integrated cassette may be a catheter, a second surgical tool of the second integrated cassette may be a guide wire, wherein the catheter may be in the shape of a flexible tube, and the guide wire may be in the shape of a flexible wire.[EFFECT OF THE INVENTION] The module of the present invention can reduce the number of cassettes by comprising an integrated cassette in which a fixing cassette is disposed on a drive cassette, and the size of the module can be reduced by reducing the number of cassettes.[BRIEF DESCRIPTION OF THE DRAWINGS] FIG. 1 is a plan view of a module for guiding at least one of a guide wire and a catheter according to prior art.FIG. 2 is a plan view of an integrated cassette according to a first embodiment of the present invention, wherein a first surgical tool and a second surgical tool are catheters.FIG. 3 is a perspective view of an integrated cassette according to the first embodiment of the present invention, wherein the first surgical tool and the second surgical tool are catheters, showing forward movement of a catheter drive cassette.FIG. 4 is a perspective view of an integrated cassette according to the first embodiment of the present invention, wherein the first surgical tool and the second surgical tool are catheters, showing forward movement of a catheter drive cassette.FIG. 5 is a plan view of 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. FIG. 6 is a partially enlarged plan view of 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.FIG. 7 is a plan view of an integrated cassette according to a second embodiment of the present invention, wherein a first surgical tool and a second surgical tool are catheters.FIG. 8 is a plan view of an integrated cassette according to the second embodiment of the present invention, wherein the first surgical tool and the second surgical tool are catheters, showing forward movement of a pinch module.FIG. 9 is a plan view of an integrated cassette according to the second embodiment of the present invention, wherein the first surgical tool and the second surgical tool are catheters, showing rearward movement of a pinch module.[BEST EMBODIMENTS TO CARRY OUT THE INVENTION]Hereinafter, preferred examples 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 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 comprise a housing 900 extending in a longitudinal direction from the front 901 to the rear 902, a frame 400 extending in a longitudinal direction from the front 401 to the rear 402, a guide wire drive cassette 100 for pinching the guide wire 1 to drive the guide wire 1, at least one catheter drive cassette 200 for pinching the catheter 2, 3, 4 to derive 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.The guide wire drive cassette 100, the catheter drive cassette 200, and the catheter fixing cassette 300 may be disposed on the frame 400.In addition, the guide wire drive cassette 100, the catheter drive cassette 200, and the catheter fixing cassette 300 may be disposed in the housing 900.The guide wire drive cassette 100 may comprise a guide wire drive module for rotating the guide wire 1 in a state where the guide wire 1 is pinched, and the catheter drive cassette 200 may comprise a catheter drive module for rotating the catheter 2, 3, 4 in a state where the catheter 2, 3, 4 is pinched.The guide wire drive cassette 100 and the catheter drive cassette 200 may be moved forward or rearward along the longitudinal direction of the frame 400 by their respective actuators not shown.The guide wire drive cassette 100 and the catheter drive cassette 200 make rotational movement about the longitudinal direction of the frame 400 as an axis by their respective actuators not shown.Forward movement, rearward movement, and rotational movement of the guide wire 1 and the catheter 2, 3, 4 may 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, rearward, or rotational movement) of the guide wire drive cassette 100 and the catheter drive cassette 200 may be performed independently of each other or in synchronization with each other.The guide wire 1 may make forward, rearward, or rotational movement by the driving (forward, rearward, or rotational movement) of the guide wire drive cassette 100.The catheter 2, 3, 4 may make forward, rearward, or rotational movement by the driving (forward, rearward, or rotational movement) of the catheter drive cassette 200.The driving of the guide wire 1 and the catheter 2, 3, 4 may be performed independently of each other or in synchronization with each other.The interior of the housing 900 extending in a longitudinal direction from the front to the rear may be penetrated by the guide wire 1 and the catheter 2, 3, 4 along the longitudinal direction of the housing 900.The interior of the guide wire drive cassette 100 may be penetrated by the guide wire 1, and the interior of the catheter drive cassette 200 may be penetrated by the catheter 2, 3, 4.Furthermore, the guide wire 1 may be configured as a flexible wire-shaped member, the catheter 2, 3, 4 may be configured as 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 interior of the catheter 2, 3, 4 may be penetrated by the guide wire 1.The guide wire drive cassette 100 may be disposed at the rear of the first catheter fixing cassette 300, and the first catheter fixing cassette 300 may be disposed at the rear of the catheter drive cassette 200.The at least one catheter drive cassette 200 may comprise a plurality of catheter drive cassettes, and the at least one catheter fixing cassette 300 may comprise a plurality of catheter fixing cassettes.For example, the at least one catheter drive cassette 200 may comprise one small catheter drive cassette 210 and one medium catheter drive cassette 220, and the at least one catheter fixing cassette 300 may comprise one small catheter fixing cassette 310 and one medium catheter fixing cassette 320. In this case, small and medium refer to the relative diameters or circumferences of the catheters, and the outer diameter or circumference of a small catheter may be smaller than the inner diameter or circumference of a medium catheter.The guide wire drive cassette 100 may be disposed at the rear of the small catheter fixing cassette 310, the small catheter fixing cassette 310 may be disposed at the rear of the small catheter drive cassette 210, the small catheter drive cassette 210 may be disposed at the rear of the medium catheter fixing cassette 320, and the medium catheter fixing cassette 320 may be disposed at the rear of the medium catheter drive cassette 220.A proximal end the small catheter 2 may be coupled to the small catheter fixing cassette 310, and a proximal end of the medium catheter 3 may be coupled to the medium catheter fixing cassette (320). In this case, the proximal ends of the guide wire 1 and the catheter 2, 3, 4 are the ends positioned on the rear 902 side of the housing 900, and the distal ends of the guide wire 1 and the catheter 2, 3, 4 are the ends positioned on the front 901 side of the housing 900.The diameter of the guide wire 1 may be smaller than the diameter of the small catheter 2, the guide wire 1 may penetrate the interior of the small catheter (2), the diameter of the small catheter 2 may be smaller than the diameter of the medium catheter 3, and the small catheter 2 may penetrate the interior of the medium catheter 3.In addition, the at least one catheter fixing cassette 300 may further comprise one large catheter fixing cassette 330.The large catheter fixing cassette 330 may be disposed at the front end of the housing 900, and the medium catheter drive cassette 220 may be disposed at the rear of the large catheter fixing cassette 330.A proximal end of a large catheter 4 may be coupled to the large catheter fixing cassette 330.The outer diameter or circumference of the medium catheter 3 is smaller than the inner diameter or circumference of the large catheter 4, and the medium catheter 3 may extend through the interior of the large catheter 4.Meanwhile, the module 1000 illustrated in FIG. 1 comprises a total of six cassettes. When the number of cassettes included in the module 1000 is high as in this case, there is a problem that the size of the module 1000 becomes unnecessarily large.The present invention is intended to solve the problem. The module of the present invention comprises an integrated cassette in which a fixing cassette is placed on a drive cassette, thereby reducing the number of cassettes and reducing 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, wherein a cover is removed, and a first surgical tool and a second surgical tool are catheters.FIG. 3 is an enlarged perspective view of an integrated cassette according to the first embodiment of the present invention, wherein the first surgical tool and the second surgical tool are catheters, showing forward movement of the catheter drive cassette.FIG. 4 is an enlarged perspective view of an integrated cassette according to the first embodiment of the present invention, wherein the first surgical tool and the second surgical tool are catheters, showing forward movement of the catheter drive cassette.FIGS. 2 to 4 illustrate an integrated cassette, wherein a catheter fixing cassette 300 to which a proximal end of a first surgical tool is coupled is disposed on a catheter drive cassette 200 for pinching a second surgical tool. In addition, the integrated cassette may be disposed on a frame 400 (see FIG. 1).For example, if the first surgical tool is a medium catheter 3 (see FIG. 1) and the second surgical tool is a small catheter 2 (see FIG. 1), the integrated cassette shown in FIGS. 2 to 4 may have a structure in which a medium catheter fixing cassette 320 to which a proximal end of the medium catheter 3 is coupled is disposed on a small catheter drive cassette 210 for pinching the small catheter 2.If the catheter fixing cassette 300 is disposed on the catheter drive cassette 200 as in FIGS. 2 to 4, the size of the module 1000 can be reduced by the size of the catheter fixing cassette 300 or by greater than the size of the catheter fixing cassette 300, compared to the case where the catheter fixing cassette 300 is not disposed on the catheter drive cassette 200 as in FIG. 1.This is because, when the catheter fixing cassette 300 is disposed on the catheter drive cassette 200, there is no need to directly dispose the catheter fixing cassette 300 on the module 1000.In particular, if the catheter fixing cassette 300 is disposed on the catheter drive cassette 200, the number of sensors or motors disposed in the module 1000 can be reduced, and thus, the size of the module 1000 can be reduced.The catheter drive cassette 200 may comprise 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 longitudinal direction of the frame 400.The pinch pinion 20 may be rotated about a pinion shaft, and the pinion shaft may be rotated by a separate feature not shown. The pinch pinion 20 may be rotated in conjunction with the rotation of the pinion shaft.The pinch rack 10 may be moved forward or rearward along the longitudinal direction of the frame 400 by the rotation of the pinch pinion 20.Hereinafter, an example of the present invention, wherein a second surgical tool has an outer diameter smaller than the inner diameter of a first surgical tool is described. 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.In this case, when the pinch rack 10 is moved rearward along the longitudinal direction of the frame 400, the second surgical tool may be pinched by the pinch module 800. And, when the pinch rack 10 is moved forward along the longitudinal direction of the frame 400, the second surgical tool may be released from being pinched by the pinch module (800). More specifically, the pinch module 800 may comprise a first portion to which the pinch rack (10) is coupled, a second portion spaced apart from the first portion, and a plurality of collets disposed between the first portion and the second portion.In this case, when the first portion moves rearward by the rearward movement of the pinch rack 10, the gap between the first portion and the second portion may be reduced, and the gap between the plurality of collets may be reduced, so that the guide wire 1 or catheter 2, 3, 4 may be pinched.And, when the first portion is moved forward by the forward movement of the pinch rack 10, the gap between the first portion and the second portion may be increased, and the gap between the plurality of collets may be increased, so that the guide wire 1 or catheter 2, 3, 4 may be released from being pinched.A proximal end of the first surgical tool may be coupled to the catheter fixing cassette 300, and the catheter drive cassette 200 may pinch the second surgical tool to drive the second surgical tool. In this case, the diameter of the second surgical tool may be smaller than the diameter of the first surgical tool, and the second surgical tool may extend through the interior of the first surgical tool, and both the first surgical tool and the second surgical tool may be catheters. For example, the first surgical tool may be a medium catheter 3, and the second surgical tool may be a small catheter 2.In this case, in order to guide the surgical tools to a desired location of the body, it is necessary to move the first surgical tool and the second surgical tool, which have different sizes, independently.However, there is a problem that if the first surgical tool moves together with the movement of the second surgical tool, the first surgical tool and the second surgical tool cannot be moved independently. In particular, if the catheter fixing cassette 300 is disposed on the catheter drive cassette 200, it is difficult to move the catheter fixing cassette 300 and the catheter drive cassette 200 independently, resulting in a problem that it is difficult to move the first surgical tool whose proximal end is coupled to the catheter fixing cassette 300 and the second surgical tool pinched by the catheter drive cassette 200 independently.To solve the problem, the present invention is configured so that the position of the proximal end of the first surgical tool on the frame 400 may be maintained before and after 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 (FIG. 1).For example, the catheter fixing cassette 300 may comprise a fixing rack 30, and the catheter drive cassette 200 may comprise a fixing pinion 40.The fixing rack 30 may engage with the fixing pinion 40. The fixing rack 30 may extend along the longitudinal direction of the frame 400.The fixing pinion 40 may be rotated about a pinion shaft, and the pinion shaft may be rotated by a separate feature not shown. The fixing pinion 40 may be rotated in conjunction with the rotation of the pinion shaft.The fixing rack 30 may be moved forward or rearward along the longitudinal direction of the frame 400 by the rotation of the fixing pinion 40.The operation of maintaining the position of the proximal end of the first surgical tool on the frame 400 before and after forward movement of the second surgical tool along the longitudinal direction of the frame 400 is as follows.In a state where the second surgical tool is pinched by the pinch module 800, the second surgical tool may be moved forward along the longitudinal direction of the frame 400 by forward movement of the catheter drive cassette 200 along the longitudinal direction of the frame 400. In this case, simultaneously with the forward movement of the catheter drive cassette 200 along the longitudinal direction of the frame 400, the fixing rack 30 may be moved rearward along the longitudinal direction of the frame 400 at the same speed as the speed at which the second surgical tool is moved forward. And, the catheter fixing cassette 300 may be moved rearward along the longitudinal direction of the frame 400 by the rearward movement of the fixing rack 30 along the longitudinal direction of the frame 400.In this case, the length and speed by which the catheter fixing cassette 300 is moved rearward along the longitudinal direction of the frame 400 may be identical to the length and speed by which the catheter drive cassette 200 is moved forward along the longitudinal direction of the frame 400.Since the length and speed by which the catheter fixing cassette 300 is moved rearward along the longitudinal direction of the frame 400 may be identical to the length and speed by which the catheter drive cassette 200 is moved forward along the longitudinal direction of the frame 400, the position of the proximal end of the first surgical tool on the frame 400 may 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 surgical tool along the longitudinal direction of the frame 400, in order to pinch the second surgical tool again by the pinch module 800 at a point rearward along the second surgical tool from the point where the pinch module 800 pinched the second surgical tool before the forward movement of the second surgical tool, it is necessary to release the pinch of the pinch module 800 on the second surgical tool and move the catheter drive cassette 200 comprising the pinch module 800 rearward along the longitudinal direction of the frame 400.In this case as well, 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 fixing rack 30 before and after 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 fixing rack 30 may be moved forward along the longitudinal direction of the frame 400 simultaneously with the rearward movement of the catheter drive cassette 200 along the longitudinal direction of the frame 400. And, the catheter fixing cassette 300 may be moved forward along the longitudinal direction of the frame 400 by the forward movement of the fixing rack 30 along the longitudinal direction of the frame 400.In this case, the length and speed by which the catheter fixing cassette 300 is moved forward along the longitudinal direction of the frame 400 may be identical to the length and speed by which the catheter drive cassette 200 is moved rearward along the longitudinal direction of the frame 400.Since the length and speed by which the catheter fixing cassette 300 is moved forward along the longitudinal direction of the frame 400 may be identical to the length and speed by which the catheter drive cassette 200 is moved rearward along the longitudinal direction of the frame 400, the position of the proximal end of the first surgical tool on the frame 400 may be maintained before and after the rearward 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 the 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 that shows 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 cassette illustrated in FIGS. 2 to 4, the catheter fixing cassette 300 is disposed on the catheter drive cassette 200, which differs from the integrated cassette illustrated in FIGS. 5 and 6, wherein the catheter fixing cassette 300 is disposed on the guide wire drive cassette 100. However, the principle of relative forward or rearward movement in the integrated cassette illustrated in FIGS. 5 and 6 is identical to the principle of relative forward or rearward movement in the integrated cassette illustrated in FIGS. 2 to 4.FIGS. 5 and 6 illustrate an integrated cassette, wherein a catheter fixing cassette 300 to which a proximal end of a surgical tool that is a catheter of the smallest diameter is coupled is disposed on a guide wire drive cassette 100 for pinching an additional surgical tool (particularly, a guide wire 1). In addition, the integrated cassette may be positioned on a frame 400 (see FIG. 1).For example, if 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 FIG. 5 and 6 may have a structure in which a small catheter fixing cassette 310 to which a proximal end of the small catheter 2 is coupled is disposed on a guide wire drive cassette 100 for pinching the guide wire 1.Hereinafter, explanation is given about a case where the first surgical tool is a small catheter 2 and the second surgical tool is a guide wire 1.If the catheter fixing cassette 300 is disposed on the guide wire drive cassette 100 as in FIGS. 5 and 6, the size of the module 1000 can be reduced by the size of the catheter fixing cassette 300 or by greater than the size of the catheter fixing cassette 300, compared to the case where the catheter fixing cassette 300 is not disposed on the guide wire drive cassette 100 as in FIG. 1.In particular, if the catheter fixing cassette 300 is disposed on the guide wire drive cassette 100, the number of sensors or motors disposed in the module 1000 can be reduced, and thus, the size of the module 1000 can be reduced.The guide wire drive cassette 100 may comprise 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 longitudinal direction of the frame 400.The pinch pinion 20 may be rotated about a pinion shaft, and the pinion shaft may be rotated by a separate feature not shown. The pinch pinion 20 may be rotated in conjunction with the rotation of the pinion shaft.The pinch rack 10 may be moved forward or rearward along the longitudinal direction of the frame 400 by the rotation of the pinch pinion 20.In this case, when the pinch rack 10 is moved rearward along the longitudinal direction of the frame 400, the guide wire 1 may be pinched by the pinch module 800. And, when the pinch rack 10 is moved forward along the longitudinal direction of the frame 400, the guide wire 1 may be released from being pinched by the pinch module 800.A proximal end of the small catheter 2 may be coupled to the catheter fixing cassette 300, and the guide wire drive cassette 100 may pinch the guide wire 1 to drive the guide wire 1 in the longitudinal direction. In this case, the outer diameter or circumference of the guide wire 1 may be smaller than the inner diameter or circumference of the small catheter 2, and thus, the guide wire 1 may penetrate the interior of the small catheter 2. In this case, in order to guide the surgical tools to a desired location of the body, it is necessary to move the small catheter 2 and the guide wire 1, which have different sizes (diameter or circumference), independently.However, there is a problem that if the small catheter 2 moves together with the movement of the guide wire 1, the guide wire 1 and the small catheter 2 cannot be moved independently. In particular, if the catheter fixing cassette 300 is disclosed on the guide wire drive cassette 100, it is difficult to move the catheter fixing cassette 300 and the guide wire drive cassette 100 independently, resulting in a problem that it is difficult to move the small catheter 2 whose proximal end is coupled to the catheter fixing cassette 300 and the guide wire 1 pinched by the guide wire drive cassette 100 independently.To solve the problem, the present invention is configured so that the position of the proximal end of the small catheter 2 on the frame 400 may be maintained before and after forward movement of the guide wire 1 along the longitudinal direction of the frame 400.For example, the catheter fixing cassette 300 may comprise a fixing rack 30, and the guide wire drive cassette 100 may comprise a fixing pinion 40.The fixing rack 30 may engage with the fixing pinion 40. The fixing rack 30 may extend along the longitudinal direction of the frame 400.The fixing pinion 40 may be rotated about a pinion shaft, and the pinion shaft may be rotated by a separate feature not shown. The fixing pinion 40 may be rotated in conjunction with the rotation of the pinion shaft.The fixing rack 30 may be moved forward or rearward along the longitudinal direction of the frame 400 by the rotation of the fixing pinion 40.The operation of maintaining the position of the proximal end of the small catheter 2 on the frame 400 before and after forward movement of the guide wire 1 along the longitudinal direction of the frame 400 is as follows.In a state where the guide wire 1 is pinched by the pinch module 800, the guide wire 1 may be moved forward along the longitudinal direction of the frame 400 by forward movement of the guide wire drive cassette 100 along the longitudinal direction of the frame 400. In this case, the fixing rack 30 may be moved rearward along the longitudinal direction of the frame 400 simultaneously with the forward movement of the guide wire drive cassette (100) along the longitudinal direction of the frame 400. And, the catheter fixing cassette 300 may be moved rearward along the longitudinal direction of the frame 400 by the rearward movement of the fixing rack 30 along the longitudinal direction of the frame 400.In this case, the length and speed by which the catheter fixing cassette 300 is moved rearward along the longitudinal direction of the frame 400 may be identical to the length and speed by which the guide wire drive cassette 100 is moved forward along the longitudinal direction of the frame 400.Since the length and speed by which the catheter fixing cassette 300 is moved rearward along the longitudinal direction of the frame 400 may be identical to the length and speed by 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 may be maintained before and after the forward movement of the guide wire 1 along the longitudinal direction of the frame 400.Meanwhile, after forward movement of the guide wire 1 along the longitudinal direction of the frame 400, in order to pinch the guide wire 1 at a point rearward from the point where the pinch module 800 pinched the guide wire 1 before the forward movement of the guide wire 1, it is necessary to release the pinch on the guide wire 1 and move the guide wire drive cassette 100 comprising the pinch module 800 rearward along the longitudinal direction of the frame 400.In this case as well, the position of the proximal end of the small catheter 2 on the frame 400 needs to be maintained.The operation of maintaining the position of the proximal end of the small catheter 2 on the frame 400 before and after rearward movement of the guide wire drive cassette 100 along the longitudinal direction of the frame 400 is as follows.In a state where the guide wire 1 is released from being pinched by the pinch module 800, the fixing rack 30 may be moved forward along the longitudinal direction of the frame 400 simultaneously with the rearward movement of the guide wire drive cassette 100 along the longitudinal direction of the frame 400. And, the catheter fixing cassette 300 may be moved forward along the longitudinal direction of the frame 400 by the forward movement of the fixing rack 30 along the longitudinal direction of the frame 400.In this case, the length and speed by which the catheter fixing cassette 300 is moved forward along the longitudinal direction of the frame 400 may be identical to the length and speed by which the guide wire drive cassette 100 is moved rearward along the longitudinal direction of the frame 400.Since the length and speed by which the catheter fixing cassette 300 is moved forward along the longitudinal direction of the frame 400 may be identical to the length and speed by which the guide wire drive cassette 100 is moved rearward along the longitudinal direction of the frame 400, the position of the proximal end of the small catheter 2 on the frame 400 may be maintained before and after the rearward movement of the guide wire drive cassette 100 along the longitudinal direction of the frame 400.The module (1000) of the present invention may comprise a first integrated cassette and a second integrated cassette, wherein the first integrated cassette is an integrated cassette in which a first surgical tool and a second surgical tool are catheters as shown in FIGS. 2 to 4, and the second integrated cassette is an integrated cassette in which a first surgical tool is a catheter and a second surgical 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 catheter fixing cassette 320 to which a proximal end of a medium catheter 3 is coupled is disposed on a small catheter drive cassette 210 for pinching a small catheter 2, and the second integrated cassette may have a structure in which a small catheter fixing cassette 310, to which a proximal end of a small catheter 2 is coupled is disposed on a guide wire drive cassette 100 for pinching a guide wire 1.FIG. 7 is a plan view of an integrated cassette according to a second embodiment of the present invention, wherein a first surgical tool and a second surgical tool are catheters.FIG. 8 is a plan view of an integrated cassette according to the second embodiment of the present invention, wherein the first surgical tool and the second surgical tool are catheters, showing forward movement of the pinch module.FIG. 9 is a plan view of an integrated cassette according to the second embodiment of the present invention, wherein the first surgical tool and the second surgical tool are catheters, showing rearward movement of a pinch module.FIGS. 7 to 9 illustrate an integrated cassette, wherein a catheter fixing cassette 300 to which a proximal end of a first surgical tool is coupled is disposed on a catheter drive cassette 200 for pinching a second surgical tool. The first surgical tool may have an inner diameter or circumference greater than the 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 catheter 3 (see FIG. 1). Alternatively, the second surgical tool may be a medium 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 may be accommodated and extend via a lumen extending along the longitudinal direction of the first surgical tool. And, the integrated cassette may be disposed on a frame 400 (see FIG. 1).If the catheter fixing cassette 300 is disposed on the catheter drive cassette 200 as in FIGS. 7 to 9, the size of the module 1000 can be reduced by the size of the catheter fixing cassette 300 or by greater than the size of the catheter fixing cassette 300, compared to the case where the catheter fixing cassette 300 is not disposed on the catheter drive cassette 200 as shown in FIG. 1.In particular, if the catheter fixing cassette 300 is disposed on the catheter drive cassette 200, the number of sensors or motors disposed on the module 1000 can be reduced, and thus, the size of the module 1000 can be reduced.Unlike the integrated cassettes illustrated in FIGS. 2 to 4, the integrated cassettes illustrated in FIGS. 7 to 9 do not comprise a fixing rack 30 and a fixing pinion 40, but comprise a moving rack 50 and a moving pinion 60.Accordingly, the integrated cassettes illustrated in FIGS. 7 to 9 differ from the integrated cassettes illustrated in FIGS. 2 to 4 in the operation of maintaining the position of the proximal end of the first surgical tool on the frame 400 before and after forward movement of the second surgical tool along the longitudinal direction of the frame 400.Other than that, the description of the integrated cassettes illustrated in FIGS. 2 to 4 may be equally applied to the integrated cassettes illustrated in FIGS. 7 to 9. For example, when a pinch rack 10 is moved rearward along the longitudinal direction of the frame 400 as shown in (a) and (b) of FIG. 8, the second surgical tool may be pinched by a pinch module 800. Also, when the pinch rack 10 is moved forward along the longitudinal direction of the frame 400 as shown in (a) and (b) of FIG. 9, the second surgical tool may be related from being pinching by the pinch module 800.The moving rack 50 may engage with the moving pinion 60. The moving rack 50 may extend along the longitudinal direction of the frame 400.The moving pinion 60 may be rotated about a pinion shaft, and the pinion shaft may be rotated by a separate feature not shown. The moving pinion 60 may be rotated in conjunction with the rotation of the pinion shaft.The moving rack 50 may be moved forward or rearward along the longitudinal direction of the frame 400 by the rotation of the moving pinion 60.The operation of maintaining the position of the proximal end of the first surgical tool on the frame 400 before and after forward movement of the second surgical tool along the longitudinal direction of the frame 400 is as follows.As shown in (b) and (c) of FIG. 8, in a state where the second surgical tool is pinched by the pinch module 800, the pinch module 800 may be moved forward along the longitudinal direction of the frame 400 by forward movement of the pinch rack 10 and the moving rack 50 along the longitudinal direction of the frame 400. And, the second surgical tool may be moved forward along the longitudinal direction of the frame 400 by the forward movement of the pinch module 800 along the longitudinal direction of the frame 400.In this case, even when the second surgical tool is moved forward along the longitudinal direction of the frame 400 by the forward movement of the pinch module 800 along the longitudinal direction of the frame 400, the catheter fixing cassette 300 is fixed and is not moved, which allows the position of the proximal end of the first surgical tool coupled to the catheter fixing cassette 300 on the frame 400 to be maintained.Meanwhile, after the forward movement of the second surgical tool along the longitudinal direction of the frame 400, in order to pinch the second surgical tool at a point rearward from the point where the pinch module 800 pinched the second surgical tool before the forward movement of the second surgical tool, it is necessary to release the pinch on the second surgical tool and move the pinch module 800 rearward along the longitudinal direction of the frame 400. In this case as well, 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 before and after rearward movement of the pinch module 800 along the longitudinal direction of the frame 400 is as follows.As shown in (b) and (c) of FIG. 9, in a state where the second surgical tool is released from being pinched by the pinch module 800, the pinch module 800 may be moved rearward along the longitudinal direction of the frame 400 by rearward movement of the pinch rack 10 and the moving rack 50 along the longitudinal direction of the frame 400.In this case, even when the pinch module 800 is moved rearward along the longitudinal direction of the frame 400, the catheter fixing cassette 300 is fixed and is not moved, which allows the position of the proximal end of the first surgical tool coupled to the catheter fixing cassette 300 on the frame 400 to be maintained.Meanwhile, although FIGS. 7 to 9 illustrate an integrated cassette in which the first surgical tool and the second surgical tool are catheters, the principle of forward or rearward movement of the integrated cassettes illustrated in FIGS. 7 to 9 may be equally applied to an integrated cassette, wherein the first surgical tool is a catheter and the second surgical tool is a guide wire.The present invention is not limited to the examples described above and the attached drawings. Various substitutions, modifications, and changes may be made by those skilled in the art without departing from the scope of the technical ideas of the present invention as described in the claims, and they shall also be construed to fall within the scope of the present invention.[DESCRIPTION OF REFERENCE NUMERALS]1: guide wire2: catheter10: pinch rack20: pinch pinion30: fixing rack40: fixing pinion50: moving rack60: moving pinion100: guide wire drive cassette200: catheter drive cassette210: first catheter drive cassette220: second catheter drive cassette300: catheter fixing cassette310: first catheter fixing cassette320: second catheter fixing cassette330: third catheter fixing cassette400: frame500: first integrated cassette600: second integrated cassette800: pinch module900: housing1000: module for guiding at least one of guide wire and catheter
Claims
1. An integrated cassette comprising: a first surgical tool fixing cassette 300 to which a proximal end of a first surgical tool is coupled, a second surgical tool drive cassette 100, 200 for pinching a second surgical tool to drive the second surgical tool, and a frame 400, wherein the first surgical tool fixing cassette 300 is disposed on the second surgical tool drive cassette 100, 200, the second surgical tool drive cassette 100, 200 is disposed on the frame 400, the diameter of the second surgical tool is smaller than the diameter of the first surgical tool, the second surgical tool penetrates the interior of the first surgical tool, and the position of the proximal end of the first surgical tool on the frame 400 is maintained before and after forward movement of the second surgical tool along the longitudinal direction of the frame 400.
2. The integrated cassette according to claim 1,wherein the second surgical tool drive cassette 100, 200 comprises a pinch rack 10, a pinch pinion 20, and a pinch module 800, wherein the pinch rack 10 is moved forward or rearward along the longitudinal direction by rotation of the pinch pinion 20.
3. The integrated cassette according to claim 2,wherein when the pinch rack 10 is moved rearward 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 is released from being pinched by the pinch module 800 by the movement of the pinch rack 10.
4. The integrated cassette according to claim 3,wherein the first surgical tool fixing cassette 300 comprises a fixing rack 30, and the second surgical tool drive cassette 100, 200 comprises a fixing pinion 40, wherein the fixing rack 30 is moved forward or rearward along the longitudinal direction by rotation of the fixing pinion 40.
5. The integrated cassette according to claim 4,wherein in a state where the second surgical tool is pinched by the pinch module 800, the second surgical tool is moved forward along the longitudinal direction by forward movement of the second surgical tool drive cassette 100, 200 along the longitudinal direction, the fixing rack 30 is moved rearward along the longitudinal direction simultaneously with forward movement of the second surgical tool drive cassette 100, 200 along the longitudinal direction, the first surgical tool fixing cassette 300 is moved rearward along the longitudinal direction by rearward movement of the fixing rack 30 along the longitudinal direction, and the length and speed by which the first surgical tool fixing cassette 300 is moved rearward along the longitudinal direction is identical to the length and speed by which the second surgical tool drive cassette 100, 200 is moved forward along the longitudinal direction.
6. The integrated cassette according to claim 4,wherein in a state where the second surgical tool is released from being pinched by the pinch module 800, the fixing rack 30 is moved forward along the longitudinal direction simultaneously with rearward movement of the second surgical tool drive cassette 100, 200 along the longitudinal direction, the first surgical tool fixing cassette 300 is moved forward along the longitudinal direction by forward movement of the fixing rack 30 along the longitudinal direction, and the length and speed by which the first surgical tool fixing cassette 300 is moved forward along the longitudinal direction is identical to the length and speed by which the second surgical tool drive cassette 100, 200 is moved rearward along the longitudinal direction.
7. The integrated cassette according to claim 3,wherein the second surgical tool drive cassette 100, 200 comprises a moving rack 50 and a moving pinion 60, wherein the moving rack 50 is moved forward or rearward along the longitudinal direction by rotation of the moving pinion 60.
8. The integrated cassette according to claim 7,wherein in a state where the second surgical tool is pinched by the pinch module 800, the pinch module 800 is moved forward along the longitudinal direction by forward movement of the pinch rack 10 and the moving rack 50 along the longitudinal direction, and the second surgical tool is moved forward along the longitudinal direction by forward movement of the pinch module 800 along the longitudinal direction.
9. The integrated cassette according to claim 7,wherein in a state where the second surgical tool is released from being pinched by the pinch module 800, the pinch module 800 is moved rearward along the longitudinal direction by rearward movement of the pinch rack 10 and the moving rack 50 along the longitudinal direction.
10. The integrated cassette according to any one of claims 1 to 9,wherein the first surgical tool and the second surgical tool are catheters, wherein the catheters is in the shape of a flexible tube.
11. The integrated cassette according to any one of claims 1 to 9,wherein the first surgical tool is a catheter, and the second surgical tool is a guide wire, wherein the catheter is in the shape of a flexible tube, and the guide wire is in the shape of a flexible wire.
12. A module for guiding at least one of a guide wire and a catheter, comprising a first integrated cassette and a second integrated cassette according to any one of claims 1 to 9, wherein a first surgical tool of the first integrated cassette and a second surgical tool of the first integrated cassette are both catheters, anda first surgical tool of the second integrated cassette is a catheter, a second surgical tool of the second integrated cassette is a guide wire, wherein the catheter is in the shape of a flexible tube, and the guide wire is in the shape of a flexible wire.