Stone removal device and method

Abstract

According to one embodiment, a stone removal device may include: an insertion tube; a guide, which is inserted into the inner side of the insertion tube and can move relative to the insertion tube; a guide wire, which is inserted into the inner side of the guide and can move relative to the guide; a basket, which is located in front of the guide wire and can clamp the stone; and a control unit, which determines the size of the stone based on the relative movement of the guide relative to the insertion tube or the relative movement of the guide wire relative to the guide.

Description

Technical Field

[0001] The invention relates to a stone removal device and method. Background Art

[0002] Surgery is a medical procedure that uses medical machines to cut, incise, or manipulate the skin, moles, or other tissues to treat diseases. In particular, laparotomy, which involves cutting the skin at the surgical site and treating, reconstructing, or removing organs in the abdominal cavity, has attracted attention in recent years as an alternative method to surgery using robots due to problems such as bleeding, side effects, pain for the patient, and / or scarring.

[0003] The surgical robot may include a master device that generates and sends the required signals in response to the surgeon's operation, and a slave device that receives the signal from the master device and applies the required operation directly to the patient. The master device and the slave device may be combined or separately configured in the operating room. In addition, the master device and the slave device may be configured to be separated from each other. The surgeon may drive the slave device disposed at a distance through the master device. In addition, a single master device may selectively be linked with any one of a plurality of slave devices.

[0004] A calculus is a stone in the body that is produced when biological matter is solidified by organic or inorganic matter, which can block the bile duct or ureter, thereby causing problems. Therefore, when a calculus is found that is large enough to reach a dangerous size, it is necessary to remove the calculus. The calculus can be crushed by a crushing device (e.g., a laser), and then the fragments are clamped using a basket and removed to the outside. A surgical device for removing calculi can be used as a slave device.

[0005] Since the stone is located deep inside the body, it is difficult to measure its size with an endoscopic device. When the stone is too large, the inner wall of the ureter may be damaged when moving the stone, and in more serious cases, the ureter may be cut off. Damage to the inner wall of the ureter may cause acute kidney infection, and cutting of the ureter may cause peritonitis. In order to prevent these problems, it is particularly important to measure the size of the stone. Summary of the invention

[0006] Problems to be solved by the invention

[0007] An object of one embodiment is to provide a stone removal device and method that can measure the size of the stone based on the movement distance of the basket.

[0008] Means used to solve problems

[0009] According to one embodiment, a stone removal device may include: an insertion tube; a guide, which is inserted into the inner side of the insertion tube and can move relative to the insertion tube; a guide wire, which is inserted into the inner side of the guide and can move relative to the guide; a basket, which is located in front of the guide wire and can clamp the stone; and a control unit, which determines the size of the stone based on the relative movement of the guide relative to the insertion tube or the relative movement of the guide wire relative to the guide.

[0010] The control unit may determine the size of the stone based on the relative position of the guide wire with respect to the guide in a state in which the basket holding the stone is fixed to the front end of the guide.

[0011] The stone removal device further includes a distance measuring unit located on the guide wire and measuring a relative moving distance of the guide wire relative to the guide. The control unit may determine a relative position of the guide wire relative to the guide based on the distance detected by the distance measuring unit.

[0012] The distance measuring unit is provided at the rear end of the guide wire and can measure the distance from the rear end of the guide wire to the guide.

[0013] The control unit may determine the size of the stone based on the relative position of the guide wire to the insertion tube in a state where the basket holding the stone is fixed to the front end of the insertion tube.

[0014] The stone removal device further includes a distance measuring unit located at the guide wire and measuring a relative moving distance of the guide wire relative to the guide, and the control unit can determine a relative position of the guide wire relative to the insertion tube based on the distance detected by the distance measuring unit.

[0015] The stone removal device further comprises a sheath covering the insertion tube, and the insertion tube is movable relative to the sheath.

[0016] The stone removing device may further include an impact detecting portion which is provided on the sheath and detects an impact applied to the sheath.

[0017] The stone removal device may further include a display for displaying size information about the stone and whether the impact detection section detects an impact.

[0018] According to one embodiment, a stone removal device may include: a sheath; an insertion tube, which is inserted into the inner side of the sheath and can move relative to the sheath; a guide, which is inserted into the inner side of the insertion tube and can move relative to the insertion tube; a guide wire, which is inserted into the inner side of the guide and can move relative to the guide; a basket, which is located in front of the guide wire and can clamp the stone; and a control unit, which determines the size of the stone based on the relative movement of the guide to the insertion tube or the relative movement of the guide wire to the guide.

[0019] The stone removal device may further include: a distance measuring unit located on the guide wire and measuring a relative moving distance of the guide wire with respect to the guide; and an impact detecting unit disposed on the sheath and detecting an impact applied to the sheath.

[0020] The control unit may determine the size of the stone based on the relative position of the guide wire with respect to the guide in a state in which the basket holding the stone is fixed to the front end of the guide.

[0021] Effects of the Invention

[0022] According to an embodiment of the stone removal device and / or method, a user can measure the location of a stone near its original location, such as near the renal pelvis, without removing the stone from the body.

[0023] In addition, according to the stone removal device and / or method of an embodiment, the user can identify only stones whose diameter is smaller than the inner diameter of the sheath and selectively remove the stones, and when a collision occurs between the sheath and the basket, the collision can be immediately detected. In addition, even if the diameter of the stone is larger than the inner diameter of the sheath, the user can also select whether to remove the stone according to the type of the stone. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The following drawings attached to this specification illustrate a preferred embodiment of the present invention and are used to further understand the technical concept of the present invention and the detailed description of the present invention. Therefore, the present invention should not be interpreted as being limited to the contents described in these drawings.

[0025] Figure 1 is a perspective view showing a stone removal device according to an embodiment.

[0026] Figure 2 FIG. 1 is a schematic diagram showing how a stone removal device according to an embodiment removes stones from the body of a user.

[0027] Figure 3 FIG. 4 is a block diagram showing a stone removal device according to an embodiment.

[0028] Figure 4 The figure is a schematic diagram showing how a stone removal device according to an embodiment moves a guide wire relative to a guide to measure the size of a stone.

[0029] Figure 5 The figure is a graph showing the correlation between the relative position of the wire to the guide and the size of the stone.

[0030] Figure 6 and Figure 7 The figure is a schematic diagram showing how a guide wire and a guide are moved relative to an insertion tube of a stone removal device according to an embodiment to measure the size of a stone.

[0031] Figure 8 FIG. 1 is a cross-sectional view showing a stone removal device according to an embodiment. DETAILED DESCRIPTION

[0032] Hereinafter, the embodiments are described in detail with reference to the accompanying drawings. It should be noted that when the figure numbers are added to the constituent elements of each figure, even if the same constituent elements are shown on different figures, they have the same figure numbers. In addition, in the process of describing the present invention, when it is judged that the specific description of the related known technology unnecessarily obscures the key points of the embodiment, its detailed description is omitted.

[0033] Furthermore, when describing the constituent elements of the embodiments, terms such as first, second, A, B, (a), (b) and the like may be used. However, the use of the above terms is only to distinguish the constituent element from other constituent elements, and is not used to limit the nature, arrangement or order of the corresponding constituent elements. When describing that a constituent element is "connected", "combined" or "contacting" other constituent elements, the constituent element may be directly connected or in contact with the other constituent elements, and another other constituent element may also be "connected", "combined" or "contacting" between the constituent elements.

[0034] The components having the same functions as the components in any one embodiment are described in other embodiments using the same names. Unless a counterexample is mentioned, the description recorded in any one embodiment can be applied to other embodiments, and thus, the specific description is omitted within the scope of repetition.

[0035] Figure 1 is a perspective view showing a stone removal device according to an embodiment; Figure 2 A schematic diagram showing how a stone removal device according to an embodiment removes stones from the body of a user; Figure 3 FIG. 4 is a block diagram showing a stone removal device according to an embodiment.

[0036] The stone removal device 1 can measure the size of the stone and identify the stone whose size is larger than the ureter. The stone removal device 1 can measure the size of the stone near the original position of the stone without removing the stone from the kidney k. The stone removal device 1 may include an insertion tube 11, a guide 12, a guide wire 13, a basket 14, a sheath 15, a distance measuring unit 16, an impact detection unit 17, a control unit 19, and a display 18. The stone removal device 1 can determine the size of the stone S based on the distance that the guide 12 pushes the basket 14 at a position close to the clamped stone S by the basket 14. In addition, in a state where the stone S is clamped by the basket 14, the stone removal device 1 can move the guide 12, the guide wire 13, and the basket 14 to the vicinity of the insertion tube 11, measure the relative position of the guide wire 13 to the insertion tube 11 in a state where the basket 14 is stuck in the insertion tube 11, and determine the size of the stone S based on this.

[0037] The stone removal device 1 can perform the following three relative movements respectively. First, in a state where the sheath 15 is installed in the user's ureter u, the insertion tube 11 can move relative to the sheath 15. Secondly, the guide 12 can move relative to the insertion tube 11. Finally, the guide wire 13 can move relative to the guide 12. The basket 14 may include a material that can be restored to an initial shape when no external force is applied, for example, it may include a shape memory alloy. The basket 14 can be moved forward or backward by the guide wire 13, and can be converted between an expanded state in which no external force is applied and a contracted state contracted by squeezing the guide 12. The basket 14 can accommodate the stone S inside in the expanded state, and then be pulled backward to the contracted state, thereby stably clamping the stone S.

[0038] The sheath 15 may be disposed on the inner side of the ureter U. For example, the sheath 15 may be formed of a rubber material. The sheath 15 may protect the inner wall of the ureter to prevent the insertion tube 11 and the guide 12 from damaging the inner wall of the ureter. The sheath 15 may guide the movement of the insertion tube 11. The sheath 15 may have a hollow at its central portion for guiding the insertion tube 11.

[0039] The insertion tube 11 can be inserted into the inner side of the sheath 15 and can move relative to the sheath 15. For example, the insertion tube 11 can be interpreted as a part of the endoscope device, and its end can be bent according to the operation of the endoscope device to move to the position where the stone exists. The insertion tube 11 can have a hollow at its center for guiding the guide 12.

[0040] The guide 12 may be inserted into the inner side of the insertion tube 11 and may be relatively movable with respect to the insertion tube 11. The guide 12 may guide the guide wire 13 and the basket 14 to the location where the stone exists. For example, the guide 12 may be interpreted as a part of the endoscope device, and its end may be bent according to the operation of the endoscope device, thereby moving to the location where the stone exists.

[0041] The guide wire 13 can be inserted into the inner side of the guide 12 and can move relative to the guide 12. The guide wire 13 can move relatively backward with respect to the guide 12 until the basket 14 is stuck in front of the guide 12 and can no longer move backward. In the case where the relative position of the guide wire 13 with respect to the guide 12 is restricted by the basket 14, the control unit 19 can determine the size of the stone S based on the relative position of the guide wire 13 with respect to the guide 12. For example, when the size of the stone S is small, the guide wire 13 can move a relatively large distance with respect to the guide 12, and conversely, when the size of the stone S is large, the guide wire 13 can move a relatively small distance with respect to the guide 12.

[0042] The basket 14 may be located in front of the guide wire 13 and may clamp the stone. The basket 14 may clamp the stone by switching between an expanded state and a contracted state. The basket 14 may include a material that can return to an initial shape when no external force is applied, for example, may include a shape memory alloy.

[0043] The distance measuring unit 16 can measure the relative movement distance of the guide wire 13 with respect to the guide 12. For example, the distance measuring unit 16 can be provided at the rear end of the guide wire 13, and measure the distance from the rear end of the guide wire 13 to the guide 12. For example, the distance measuring unit 16 can be an infrared sensor or a displacement sensor. The distance measuring unit 16 can be located at a position relative to the basket 14 based on the guide 12. This structure can help reduce the number of components provided at the front part of the guide 12, thereby making it possible to compactly construct the front part of the stone removal device 1, that is, the vicinity of the basket 14. The distance measuring unit 16 can send the displacement information of the guide wire 13 to the control unit 19 to be described below.

[0044] The impact detection part 17 may be provided in the sheath 15, and detects the impact applied to the sheath 15. For example, the impact detection part 17 may be a force sensor. For another example, the impact detection part 17 may be a strain gauge provided on the side wall of the sheath 15. For example, in a state where the basket 14 clamps a stone having a diameter larger than the inner diameter of the sheath 15, when the insertion tube 11 moves along the inner side of the sheath 15, the basket 14 may collide with the front end of the sheath 15, and the impact detection part 17 may detect the impact generated by the collision.

[0045] The control unit 19 may receive the distance information signal measured by the distance measuring unit 16. In a state where the clamped basket 14 is stuck at the front end of the guide 12, the control unit 19 may determine the size of the stone based on the relative position of the guide wire 13 to the guide 12. For example, the control unit 19 may determine the size of the stone based on the moving distance of the basket 14 measured by the distance measuring unit 16. For example, the control unit 19 may store therein the relative position of the guide wire 13 to the guide 12 and data matching the size of the stone. In addition, the control unit 19 may receive the impact signal detected by the impact detecting unit 17. The control unit 19 may send the size information of the stone and / or information on whether the impact is detected to the display 18.

[0046] The display 18 can receive a signal from the control unit 19 and display the information. The user can verify the size information of the stone displayed on the display 18 and determine whether to remove the stone. In addition, the user can verify the impact information displayed on the display 18 and determine whether to remove the stone. The occurrence of a collision means that the size of the stone is larger than the inner diameter of the sheath 15, but the user can determine whether to remove the stone based on the type of stone. For example, when the outer surface of the stone is rough, the user may reconsider removing the stone; when the stone has a smooth outer surface, the user may decide to remove the stone together with the sheath 15.

[0047] Figure 4 A schematic diagram showing how a stone removal device according to an embodiment moves a guide wire relative to a guide to measure the size of a stone; Figure 5 The figure is a graph showing the correlation between the relative position of the wire to the guide and the size of the stone.

[0048] Figure 4 and Figure 5 The insertion tube 11 and the sheath 15 are not shown.

[0049] Reference Figure 4 and Figure 5 , when the guide wire 13 moves forward relative to the guide 12, the basket 14 can accommodate the stone S. At this time, the basket 14 can be in an expanded state. In a state where the basket 14 accommodates the stone S inside, the guide wire 13 can move backward relative to the guide 12. The basket 14 can move backward by the guide wire 13, and the basket 14 can be squeezed and contracted by the front end of the guide 12. Therefore, the basket 14 is converted from an expanded state to a contracted state, thereby supporting the stone S more stably. The guide wire 13 can move backward until the basket 14 is no longer deformed. When the guide wire 13 moves, the distance measuring unit 16 can measure the moving distance of the guide wire 13, and the control unit can determine the size of the stone S based on the distance measured by the distance measuring unit 16.

[0050] For example, the distance measuring unit 16 may be disposed at the rear end of the guide wire 13, and may measure the distance D from the current position of the distance measuring unit 16 to the rear end of the guide 12. The distance measuring unit 16 may send the measured distance D to the control unit, and the control unit may determine the size of the stone S based on the received distance D. The distance D and the size of the stone S may correspond one to one. The control unit may store information about the diameter of the stone S and the sheath 15 (see Figure 1 ) of the same "reference distance" as the inner diameter of the , and, when the distance D is less than the reference distance, an alarm signal can be generated. When the alarm signal is generated, the display 18 (see Figure 3 ) and / or sound alarm device can send an alarm signal to the outside.

[0051] Figure 6 and Figure 7 The figure is a schematic diagram showing how a guide wire and a guide are moved relative to an insertion tube of a stone removal device according to an embodiment to measure the size of a stone.

[0052] Reference Figure 6 and Figure 7 , the user can expand the basket 14 to accommodate the stone S1, and can press the basket 14 through the guide 12 to shrink the stone S1, thereby stably clamping the stone S1. Figure 6 The upper part of the figure shows a state where the stone S1 is clamped by the basket 14. The basket 14 has been pressed by the guide 12 to a degree where it can no longer be deformed. Then, the guide wire 13 and the guide 12 can move backward together. When the guide wire 13 and the guide 12 move backward, the basket 14 may get stuck at the front end of the insertion tube 11. Figure 6 The lower part of shows a state where the basket 14 is stuck in the front end of the insertion tube 11. In the state where the basket 14 is stuck in the insertion tube 11, the control section can determine the size of the stone S1 based on the distance L1 detected by the distance measuring section 16.

[0053] Figure 7 Shows the clamping ratio Figure 6 The state of the stone S1 is shown as large as the stone S2. Figure 7 The size of the stone S2 in the image is relatively large, so the detected distance L2 can be relatively shorter than Figure 6 The distance L1 detected in .

[0054] Figure 8 FIG. 1 is a cross-sectional view showing a stone removal device according to an embodiment.

[0055] When the size of the stone S is larger than the inner diameter of the sheath 15, the basket 14 holding the stone S may collide with the sheath 15. When the basket 14 collides with the sheath 15, the impact detection part 17 may detect the impact thereof and send a signal to the control part. The control part may display information on whether the impact is detected through the display. Although not shown, the stone removal device may further include an alarm part, and when the impact is detected, the control part may send a signal to the alarm part, and the alarm part may generate an alarm signal, for example, an alarm sound.

[0056] The user may decide whether to remove a stone S having a size larger than the inner diameter of the sheath 15 according to the type of the stone S. For example, when the stone S has a smooth outer surface, the user may remove the stone S together with the sheath 15 .

[0057] In summary, the above description is made with reference to limited drawings and embodiments, however, a person skilled in the art can make various modifications and changes based on the above description. For example, the described techniques are performed in a different order from the described method, and / or the described constituent elements are combined or combined in a different form from the described method, or replaced or substituted with other constituent elements or equivalents to achieve reasonable results.

Claims

1. A stone removal device, characterized in that: include: Insertion tube; a guide inserted into the inner side of the insertion tube and movable relative to the insertion tube; A guide wire, which is inserted into the inner side of the guide and is relatively movable with respect to the guide; a basket located in front of the guide wire and capable of holding the stone; a distance measuring unit, which is located on the wire and measures a relative movement distance of the wire with respect to the guide; and The control unit determines the size of the stone based on the relative position of the guide wire to the guide measured by the distance measuring unit in a state where the basket holding the stone is stuck at the front end of the guide.

2. The stone removal device according to claim 1, characterized in that: The distance measuring unit is provided at a rear end portion of the guide wire and measures a distance from the rear end portion of the guide wire to the guide.

3. The stone removal device according to claim 1, characterized in that: Also includes: a sheath covering the insertion tube, The insertion tube is relatively movable with respect to the sheath.

4. The stone removal device according to claim 3, characterized in that: Also includes: The impact detection unit is provided on the sheath and detects an impact applied to the sheath.

5. The stone removal device according to claim 4, characterized in that: Also includes: A display is used to display information about the size of the stone and whether the impact detection unit detects an impact.

6. A stone removal device, characterized in that: include: Insertion tube; a guide inserted into the inner side of the insertion tube and movable relative to the insertion tube; A guide wire, which is inserted into the inner side of the guide and is relatively movable with respect to the guide; a basket located in front of the guide wire and capable of holding the stone; a distance measuring unit located on the guide wire and measuring a relative movement distance of the guide wire with respect to the insertion tube; and The control unit determines the size of the stone based on the relative position of the guide wire to the insertion tube measured by the distance measuring unit in a state where the basket holding the stone is stuck at the front end of the insertion tube.

7. A stone removal device, characterized in that: include: jacket; an insertion tube which is inserted into the inner side of the sheath and is relatively movable with respect to the sheath; a guide inserted into the inner side of the insertion tube and movable relative to the insertion tube; A guide wire, which is inserted into the inner side of the guide and is relatively movable with respect to the guide; a basket located in front of the guide wire and capable of holding the stone; a distance measuring unit located on the guide wire and measuring a relative movement distance of the guide wire with respect to the insertion tube; and The control unit determines the size of the stone based on the relative position of the guide wire to the insertion tube measured by the distance measuring unit in a state where the basket holding the stone is stuck at the front end of the insertion tube.

8. The stone removal device according to claim 7, characterized in that: Also includes: The impact detection unit is provided on the sheath and detects an impact applied to the sheath.

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