Surgical tool guide connected to surgical tool control device

Abstract

In one embodiment, a surgical tool guide connected to a surgical tool control device includes: a lower guide forming a plurality of channels open at upper portions to arrange surgical tools; and an upper guide connected to an upper side of the lower guide to close an upper portion of at least a partial section of each of the channels.

Description

Technical Field

[0001] The following embodiments relate to a surgical tool guide connected to a surgical tool control device. Background Art

[0002] As for the existing percutaneous coronary intervention (PCI), the operator will be continuously exposed to radiation risks, and it takes a lot of time and money to train skilled doctors with stable surgical skills. In addition, the quality of surgery varies greatly depending on the surgeon, region, and hospital, making it difficult to provide high-quality medical services universally. In order to make up for the above shortcomings, interventional therapy assisting robots have been introduced. For example, interventional therapy assisting robots can be configured to move surgical tools forward, backward, or rotate when the user inputs a command.

[0003] The above background technology is mastered or learned by the inventor in the process of developing the present invention, and should not be understood as necessarily being known technology disclosed before applying for the present invention.

[0004] Korean Patent Publication No. 10-2019-0121928 (published on October 29, 2019) proposes a driving device for a medical robot and a medical robot. Summary of the invention

[0005] Technical issues to be solved

[0006] One embodiment aims to provide a surgical tool guide that can stably guide the paths of multiple surgical tools when a surgical tool control device that controls multiple surgical tools separately is required in a complex percutaneous coronary intervention (Complex PCI).

[0007] One embodiment is directed to a surgical tool guide that can easily secure each surgical tool to each channel.

[0008] Technical methods to solve problems

[0009] In one embodiment, a surgical tool guide connected to a surgical tool control device may include: a lower guide, which is formed with a plurality of channels with upper portions open to arrange surgical tools; and an upper guide, which is connected to the upper side of the lower guide to close the upper portion of at least a portion of the interval of each of the channels.

[0010] In one embodiment, the lower guide member may include: a lower base; a plurality of roller covers located at the distal end of the lower base to cover at least a portion of a plurality of roller modules provided in the surgical tool control device from the upper side; and a main valley extending downward between the plurality of roller covers to be located between each of the plurality of roller covers and forming at least a partial interval of the channel.

[0011] In one embodiment, the upper guide may include: an upper base disposed at an upper side of the plurality of roller covers; and a plurality of leg members extending downward from a lower portion of the upper base to be respectively inserted into the plurality of main valleys.

[0012] In one embodiment, in a state where the upper guide is connected to the lower guide, the plurality of leg members may close an upper portion of each of the channels formed in the plurality of main valleys.

[0013] In one embodiment, each of the main valleys may include: a valley body forming at least a portion of the channel; and a supporting protrusion protruding from a lower end of the valley body toward a distal direction or a proximal direction.

[0014] In one embodiment, each of the leg-shaped members may include: a blade, which is inserted into the valley body to close the upper portion of the channel formed in the valley body; a pillar, which is formed at the distal end or the proximal end of the blade and has a width greater than the blade; and a toe-shaped member, which is formed at the lower end of the pillar into a shape corresponding to the support protrusion.

[0015] In one embodiment, the supporting protrusion and the toe-shaped member may respectively include: a central space for forming the central space of the channel; and inclined walls on both sides of the central space, which are inclined downward from the center to both sides.

[0016] In one embodiment, the lower guide may further include: a plurality of expansion spaces formed at the proximal side of each of the plurality of main valleys and having a width wider than that of the main valleys between the roller cover and the lower base.

[0017] In one embodiment, the lower guide member may further include: a plurality of valleys recessed in the lower base to form the channel together with the plurality of main valleys.

[0018] In one embodiment, the lower guide may further include: a plurality of expansion grooves which are recessed and formed in the lower base at proximal ends of the respective plurality of valleys to have a width wider than that of the valleys.

[0019] In one embodiment, the lower guide may further include: a retainer configuration hole formed through at least a portion of the plurality of valleys in the lower base to retain a surgical tool located in the valley.

[0020] In one embodiment, the lower guide member may further include an additional support protrusion, which protrudes in a distal direction from the distal end of at least a portion of the plurality of valleys, and the upper guide member also includes an additional leg-like member, which extends downward from the lower portion of the upper base to be fixed to the additional support protrusion.

[0021] In one embodiment, the plurality of valleys may respectively include: a first recessed space whose width gradually narrows toward the bottom; and a second recessed space which is located at the bottom of the first recessed space and maintains the same width.

[0022] In one embodiment, the plurality of roller covers may be configured with at least one magnet, and the upper base may be configured with at least one magnet, so that the lower guide and the upper guide are magnetically coupled to each other.

[0023] In one embodiment, the upper guide may further include: a disassembly auxiliary part, which is formed by cutting a part of the side and bottom of the upper base to elastically rotate relative to the upper base, thereby helping to release the magnetic connection between the lower guide and the upper guide.

[0024] Effects of the Invention

[0025] Using the surgical tool guide according to an embodiment can stably guide the paths of a plurality of surgical tools clamped in a surgical tool control device.

[0026] Using the surgical tool guide according to one embodiment, each surgical tool can be conveniently fixed to each channel.

[0027] The effects of the surgical tool guide according to an embodiment are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a perspective view of a surgical tool control device according to one embodiment.

[0029] Figure 2 is a top view of a surgical tool control device according to one embodiment.

[0030] Figure 3 is an example usage state diagram of a surgical tool control device according to one embodiment.

[0031] Figure 44 is a front view of a portion of a roller module of a surgical tool control device according to one embodiment.

[0032] Figure 5 is a perspective view of a surgical tool guide according to one embodiment.

[0033] Figure 6 is a perspective view of a lower guide according to an embodiment.

[0034] Figure 7 is a bottom perspective view of a lower guide according to an embodiment.

[0035] Figure 8 is a top view of a lower guide according to an embodiment.

[0036] Fig. 9 is a perspective view of a main valley according to an embodiment.

[0037] Fig.10 is a cross-sectional view of a valley according to an embodiment.

[0038] Fig.11 is a perspective view of an upper guide according to an embodiment.

[0039] Fig.12 is a bottom perspective view of an upper guide according to an embodiment.

[0040] Fig.13 is a bottom view of an upper guide according to an embodiment.

[0041] Fig.14 is a perspective view of a leg according to an embodiment.

[0042] Fig.15 for Figure 5 Enlarged view of part A.

[0043] Fig.16 yes Fig.15 Cross-sectional view of the BB portion. DETAILED DESCRIPTION

[0044] This patent application claims priority to patent application number 10-2022-0136004 filed on October 20, 2022, the entire contents of which are incorporated herein by reference.

[0045] Below, the embodiments will be described in detail with reference to the accompanying drawings. It should be understood that various changes can be made to the embodiments, and the scope of the rights of this application is not limited to the following embodiments. All changes made to the embodiments, their equivalents and even their substitutes belong to the scope of the rights of the present invention.

[0046] The terms used in the embodiments are not intended to limit the present invention, but are for illustrative purposes only. In the absence of special instructions in the content, singular expressions include plural meanings. In this specification, the terms "including" or "having" are used to express the existence of features, numbers, steps, operations, constituent elements, accessories or combinations thereof recorded in the specification, and do not exclude the possibility of the existence or additional addition of one or more other features, numbers, steps, operations, constituent elements, accessories or combinations thereof.

[0047] In the absence of other definitions, all terms used herein, including technical or scientific terms, have the common meanings understood by those of ordinary skill in the art. Commonly used terms as defined in dictionaries should be understood as having the meanings in the relevant technical content and should not be interpreted as idealized or overly formalized meanings if not clearly defined in this specification.

[0048] In addition, in the process of describing with reference to the drawings, the same components are denoted by the same reference numerals, and repeated descriptions are omitted. In the process of describing the embodiments, when it is determined that the detailed description of the related known technology will unnecessarily confuse the embodiments, its detailed description is omitted.

[0049] Furthermore, when describing the components of the embodiments with reference to the accompanying drawings, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish one component from other components and are not used to limit the nature or order of the corresponding components. When the specification states that one component is "connected," "coupled," or "contacting" another component, the third component may be "connected," "coupled," or "contacting" between the first component and the second component, even though the first component can be directly connected, coupled, or contacting the second component.

[0050] When a component has a common function with a component of a certain embodiment, the same name is used to describe the component in the other embodiment. If the description of a certain embodiment is applicable to other embodiments without mentioning a counterexample, the repeated description is omitted.

[0051] Figure 1 is a perspective view of a surgical tool control device according to one embodiment. Figure 2 is a top view of a surgical tool control device according to one embodiment. Figure 3 is an example usage state diagram of a surgical tool control device according to one embodiment. Figure 4 4 is a front view of a portion of a roller module of a surgical tool control device according to one embodiment.

[0052] Reference Figures 1 to 4, the surgical tool control device 100 can independently control at least one surgical tool T. The surgical tool control device 100 can clamp or release the surgical tool T between the roller modules 21 by moving the roller module 21 in the horizontal direction (e.g., y direction) described below. The surgical tool control device 100 can realize the forward and backward movement and / or rotation of the surgical tool T by rotating the roller module 21 and / or moving in the vertical direction (e.g., z direction). For example, the surgical tool control device 100 can be used for vascular intervention surgery. However, this is only an example, and the use of the surgical tool control device 100 is not limited to this. The surgical tool T may refer to a surgical tool extending in the length direction. For example, the surgical tool T may include at least any one of a guidewire, a balloon catheter, and a guide catheter extending in the length direction. However, this is only an example, and the type of surgical tool T is not limited to this.

[0053] When the surgical tool control device 100 is described below, the proximal end may be understood as the −x direction side, and the distal end may be understood as the +x direction side.

[0054] A surgical tool control device 100 according to an embodiment may include a housing 1 , a drive assembly 2 , a connector fixture 3 , a surgical tool guide 4 , a rear holder 5 , and a front holder 6 .

[0055] In one embodiment, the housing 1 may form the appearance of the surgical tool control device 100. The housing 1 may provide an area for supporting the drive assembly 2, the connector fixture 3, the surgical tool guide 4, the rear retainer 5 and / or the proximal retainer 6. For example, the housing 1 may be connected to a robotic arm of a driven base. The surgical tool control device 100 may be used as an end effector on a robotic arm connected to a driven base. Switches and / or handles for adjusting the position of the housing 1 and swinging the housing 1 may be configured on the housing 1. A display panel may be configured on the housing 1 for displaying information such as the method of using the device and / or the status of the device to the user.

[0056] In one embodiment, the driving assembly 2 can clamp or release the surgical tool T. The driving assembly 2 can move or rotate the clamped surgical tool T along the length direction.

[0057] In one embodiment, the drive assembly 2 may include a plurality of roller modules 21. At least one pair of roller modules 21 may be provided. As shown in the figure, the roller module 21 may include a first roller module 21a, a second roller module 21b, a third roller module 21c, a fourth roller module 21d and a fifth roller module 21e. The plurality of roller modules 21 may be arranged in parallel. For example, the drive assembly 2 may independently control four surgical tools Ta, Tb, Tc and Td through five roller modules 21a, 21b, 21c, 21d and 21e. However, this is only an example, and the number of roller modules 21 is not limited thereto.

[0058] In one embodiment, the surgical tool T can be clamped between two adjacent roller modules 21. To this end, at least any one of the roller modules 21 should be able to move horizontally toward the other roller modules 21. For example, the second roller module 21b can move horizontally toward the first roller module 21a, thereby clamping the first surgical tool Ta between the first roller module 21a and the second roller module 21b. At this time, the second surgical tool Tb located between the second roller module 21b and the third roller module 21c is released. On the contrary, the second roller module 21b can move horizontally toward the third roller module 21c, thereby clamping the second surgical tool Tb between the second roller module 21b and the third roller module 21c. At this time, the first surgical tool Ta located between the first roller module 21a and the second roller module 21b is released.

[0059] Similarly, the fourth roller module 21d can move horizontally toward the third roller module 21c, thereby clamping the third surgical tool Tc between the third roller module 21c and the fourth roller module 21d. At this time, the fourth surgical tool Td between the fourth roller module 21d and the fifth roller module 21e is released. Conversely, the fourth roller module 21d can move horizontally toward the fifth roller module 21e, thereby clamping the fourth surgical tool Td between the fourth roller module 21d and the fifth roller module 21e. At this time, the third surgical tool Tc between the third roller module 21c and the fourth roller module 21d is released.

[0060] In one embodiment, the driving component 2 can realize the forward and backward movement and / or rotation of the surgical tool T by rotating and / or vertically moving the roller module 21. For example, when the first roller module 21a and the second roller module 21b are arranged adjacent to each other to clamp the first surgical tool Ta, the first roller module 21a and the second roller module 21b can rotate in one direction or the other direction respectively, so that the first surgical tool Ta clamped therebetween can move forward or backward along the length direction. In addition, if Figure 4 As shown, when the first roller module 21a and the second roller module 21b are arranged adjacent to each other to clamp the first surgical tool Ta, at least any one of the roller modules 21a and 21b moves in the horizontal direction to rotate the first surgical tool Ta clamped therebetween.

[0061] In one embodiment, the connector fixture 3 can be connected to the housing 1 in a manner of being located at the far end of the housing 1 (e.g., the +x direction side). The connector fixture 3 is detachably mounted on the housing 1. The connector fixture 3 can be replaced as a consumable. For example, the connector fixture 3 may include a polycarbonate material. However, this is only an example, and the material of the connector fixture 3 is not limited thereto.

[0062] In one embodiment, the connector fixture 3 can hold the surgical tool connector Y. For example, the surgical tool connector Y can be configured as a structure that gathers at least one surgical tool T and guides the path of at least one surgical tool T. For example, the surgical tool connector Y may include a Y-type connector. However, this is only an example, and the type of surgical tool connector Y is not limited thereto. The connector fixture 3 can guide the surgical tool T through the path of the surgical tool connector Y.

[0063] In one embodiment, the surgical tool guide 4 can be connected to the housing 1 at a position closer to the proximal end (e.g., in the -x direction) than the connector fixture 3. The surgical tool guide 4 is detachably connected to the housing 1. The surgical tool guide 4 can be replaced as a consumable. For example, the surgical tool guide 4 may include a polycarbonate material. However, this is only an example, and the material of the surgical tool guide 4 is not limited thereto.

[0064] In one embodiment, the surgical tool guide 4 can guide the path of the surgical tool T held by the drive assembly 2. For example, the surgical tool guide 4 can be connected to the housing 1 in a manner that covers at least a portion (e.g., the proximal portion) of the drive assembly 2 from above. The surgical tool guide 4 may include at least one channel (e.g., Figure 5 The channel C) is used to insert and configure the surgical tool T. Each channel C can be formed between two adjacent roller modules 21 of the driving assembly 2.

[0065] In one embodiment, the rear retainer 5 can be connected to the housing 1 in a manner of being located at the proximal end (e.g., the -x direction side) of the housing 1. The rear retainer 5 can maintain the position of the surgical tool T. For example, the rear retainer 5 can include a clamp structure. For example, one or more rear retainers 5 can be configured. The rear retainer 5 can be replaced as a consumable. For example, the rear retainer 5 can include a polycarbonate material. However, this is only an example, and the material of the rear retainer 5 is not limited thereto.

[0066] In one embodiment, the front retainer 6 is connected to the housing 1 in a manner that it is located at a relatively distal end (e.g., in the +x direction) compared to the rear retainer 5. For example, the front retainer 6 can be positioned through the surgical tool guide 4. The front retainer 6 can maintain the position of the surgical tool T. For example, the front retainer 6 may include a clamp structure. For example, one or more front retainers 6 may be provided. The front retainer 6 can be replaced as a consumable. For example, the front retainer 6 may include a polycarbonate material. However, this is only an example, and the material of the front retainer 6 is not limited thereto.

[0067] In one embodiment, the connector fixture 3, surgical tool guide 4, rear retainer 5 and / or front retainer 6 can be sealed and packaged after sterilization and provided as disposable items. The connector fixture 3, surgical tool guide 4, rear retainer 5 and / or front retainer 6 can be opened at each surgical site and combined with the housing 1 to clamp multiple surgical tools T or guide their paths. After the operation is completed, the connector fixture 3, surgical tool guide 4, rear retainer 5 and / or front retainer 6 can be separated from the housing 1 and discarded.

[0068] Figure 5 is a perspective view of a surgical tool guide according to one embodiment.

[0069] In one embodiment, reference Figures 1 to 5 , the surgical tool guide 4 may include a lower guide 41 and an upper guide 42. The lower guide 41 may be connected to the surgical tool control device 100. For example, the lower guide 41 may be directly or indirectly connected to the housing 1. The lower guide 41 may be formed with a plurality of channels C, the upper portions (e.g., +z direction portions) of which are opened to arrange the surgical tool T. The channel C may be formed to extend substantially continuously or discontinuously from the distal end (e.g., +x direction end) of the lower guide 41 to the proximal end (e.g., -x direction end). With the surgical tool T fixed to the channel C of the lower guide 41, the upper guide 42 may be connected to the upper side (e.g., +z direction side) of the lower guide 41. The upper guide 42 is detachably mounted to the lower guide 41. For example, the upper guide 42 may be detachably attached to the lower guide 41 by magnetic force. In a state where the upper guide 42 is connected to the upper side (eg, +z direction side) of the lower guide 41 , the upper portion (eg, +z direction portion) of at least a partial section of the channel C formed in the lower guide 41 may be closed by the upper guide 42 .

[0070] Figure 6 is a perspective view of a lower guide according to an embodiment. Figure 7 is a bottom perspective view of a lower guide according to an embodiment. Figure 8 is a top view of a lower guide according to an embodiment. Fig. 9 is a perspective view of a main valley according to an embodiment. Fig.10 is a cross-sectional view of a valley according to an embodiment.

[0071] Below, refer to Figures 1 to 10 The lower guide 41 will be described. In describing the lower guide 41, the proximal end can be understood as the -x direction side, and the distal end can be understood as the +x direction side.

[0072] In an embodiment, the lower guide 41 may include a lower base 410 , a roller cover 411 , a main valley 412 , a valley 413 , an expansion slot 414 , a retainer configuration hole 415 , an expansion space 416 , and an additional support protrusion 417 .

[0073] In one embodiment, the lower base 410 may form the base of the lower guide member 41. The lower base 410 may be directly or indirectly connected to the housing 1 in a detachable manner. For example, a connection structure 4101 for connecting with the housing 1 may be formed on the lower base 410. For example, the connection structure 4101 may have a structure for inserting a protrusion of the housing 1. However, this is only an example, and the shape, position and / or number of the connection structure 4101 are not limited thereto, and the lower guide member 41 may be detachably connected to the housing 1 in various ways.

[0074] In one embodiment, the roller cover 411 may be located at the distal end (e.g., +x direction side) of the lower base 410. For example, a plurality of roller covers 411 may be provided. For example, the number of roller covers 411 may correspond to the number of roller modules 21 provided in the surgical tool control device 100. Each roller cover 411 may be configured to cover at least a portion of each roller module 21 from the upper side (e.g., +z direction side). For example, the roller cover 411 may include a first roller cover 411a, a second roller cover 411b, a third roller cover 411c, a fourth roller cover 411d, and a fifth roller cover 411e to cover the first roller module 21a, the second roller module 21b, the third roller module 21c, the fourth roller module 21d, and the fifth roller module 21e from the upper side (e.g., +z direction side), respectively. The first roller cover 411a, the second roller cover 411b, the third roller cover 411c, the fourth roller cover 411d, and the fifth roller cover 411e may be spaced apart from each other in the width direction (e.g., the y direction). The roller cover 411 may extend upward (e.g., the +z direction side) from the lower base 410 in a stepped manner. For example, the roller cover 411 may be substantially formed as one piece with the lower base 410. A space for placing the roller module 21 may be formed on the lower side (e.g., the -z direction side) of the roller cover 411.

[0075] In one embodiment, at least one magnet (not shown) may be disposed on at least a portion of the plurality of roller covers 411. For example, magnets may be embedded in the second roller cover 411b and the fourth roller cover 411d. However, this is only an example, and the position and / or number of the magnets are not limited thereto.

[0076] In one embodiment, a plurality of main valleys 412 may be formed. The plurality of main valleys 412 may extend downward (e.g., -z direction side) between the plurality of roller covers 411. For example, each main valley 412 may extend downward (e.g., -z direction side) between two adjacent roller covers 411. The main valley 412 may be formed in a substantially V-shaped or U-shaped shape. The main valley 412 may form at least a portion of the interval of the channel C. For example, a channel C with an upper portion (e.g., +z direction portion) open may be formed in the valley portion of the main valley 412 to arrange the surgical tool T. In a state where the roller cover 411 covers the upper side (e.g., +z direction side) of the roller module 21, the plurality of main valleys 412 may be located between each of the plurality of roller modules 21. For example, the main valley 412 may include a first main valley 412a, a second main valley 412b, a third main valley 412c, and a fourth main valley 412d.

[0077] In one embodiment, the main valley 412 may include a valley body 4121 and a support protrusion 4122 (see Fig. 9 The valley body 4121 may be formed substantially in a valley shape. For example, the valley body 4121 may be formed substantially in a V-shape or a U-shape. The valley body 4121 may form at least a portion of the passage C. The blades (e.g. Fig.14 The blade 4211 of the upper guide member 42 can be inserted into the valley body 4121. The support protrusion 4122 can be formed to protrude from the lower end portion (e.g., the end portion in the -z direction) of the valley body 4121 in the distal direction (e.g., the +x direction) and / or in the proximal direction (e.g., the -x direction). The support post (e.g., the support post 4212 of FIG. 14 ) and the toe-shaped member (e.g., Fig.14 The toe-shaped member 4213 of the support protrusion 4122 can be fixed to the support protrusion 4122 for support. The support protrusion 4122 can form a part of the channel C that is open at the upper part (e.g., +z direction). The support protrusion 4122 may include a central space 4123 and an inclined wall 4124. The central space 4123 may be a space for forming the channel C. The inclined wall 4124 may be formed on both sides of the central space 4123 (e.g., +y direction side and -y direction side), and gradually tilted downward (e.g., -z direction) from the center to both sides (e.g., +y direction side and -y direction side). The support protrusion 4122 may be formed to gradually narrow the width (e.g., y direction width) toward the distal direction (e.g., +x direction) or the proximal direction (e.g., -x direction). Alternatively, the support protrusion 4122 may be formed to have a substantially predetermined width (e.g., y direction width). However, this is only an example, and the shape of the valley body 4121 and / or the support protrusion 4122 is not limited thereto.

[0078] In one embodiment, the valley 413 is formed recessed in the lower base 410. The valley 413 may form a channel C for placing the surgical tool T together with the main valley 412. A plurality of valleys 413 may be formed. For example, the number of valleys 413 may correspond to the number of main valleys 412. For example, the valleys 413 may include a first valley 413a, a second valley 413b, a third valley 413c, and a fourth valley 413d. The first valley 413a, the second valley 413b, the third valley 413c, and the fourth valley 413d may be substantially formed on the extension lines of the first main valley 412a, the second main valley 412b, the third main valley 412c, and the fourth main valley 412d, respectively. The first valley 413a, the second valley 413b, the third valley 413c, and the fourth valley 413d may respectively form the first channel Ca, the second channel Cb, the third channel Cc, and the fourth channel Cd together with the first main valley 412a, the second main valley 412b, the third main valley 412c, and the fourth main valley 412d. At least a portion of the plurality of channels C may be formed in a substantially straight line shape. For example, the second channel Cb and the third channel Cc may be formed in a substantially straight line shape. For example, the first channel Ca and the fourth channel Cd may be formed in a curved shape. However, this is only an example, and the shapes of the first channel Ca, the second channel Cb, the third channel Cc, and the fourth channel Cd are not limited thereto.

[0079] In one embodiment, the valley 413 may include a first recessed space 4131 and a second recessed space 4132 (see Fig.10). The first recessed space 4131 may be a space whose width gradually narrows toward the lower side (e.g., -z direction). For example, the first recessed space 4131 may have a substantially triangular cross-section whose width gradually narrows toward the lower side (e.g., -z direction). The second recessed space 4132 is located at the lower side (e.g., -z direction) than the first recessed space 4131 and is connected to the first recessed space 4131. The second recessed space 4132 may be a space whose width is substantially the same, or whose width gradually narrows compared to the first recessed space 4131. For example, the second recessed space 4132 may have a substantially rectangular or trapezoidal cross-section. Since the upper part (e.g., +z direction part) of the first recessed space 4131 is relatively wide, the user's convenience when inserting the surgical tool T into the recessed space 413 can be improved. In addition, since the width of the first recessed space 4131 gradually narrows toward the lower side (e.g., in the -z direction), the surgical tool T inserted into the upper portion (e.g., in the +z direction portion) of the first recessed space 4131 can be naturally guided and arranged in the second recessed space 4132. As a result, the surgical tool T can move forward, backward, and / or rotate in the second recessed space 4132 during surgery. Since the second recessed space 4132 is formed to have a substantially uniform width, the frequency of the surgical tool T contacting the inner wall of the valley 413 during the process of moving forward, backward, and / or rotating in the second recessed space 4132 can be reduced.

[0080] In one embodiment, the expansion slot 414 is formed concavely in the lower base 410, and has a width (e.g., width in the y direction) wider than the valley 413 at the proximal end (e.g., end in the -x direction) of the valley 413. The expansion slot 414 may be substantially formed at the proximal end (e.g., end in the -x direction) of the lower base 410. For example, the expansion slot 414 may be formed so that the width gradually becomes wider (e.g., width in the y direction) toward the proximal direction (e.g., -x direction). A plurality of expansion slots 414 may be formed. For example, the number of expansion slots 414 may correspond to the number of valleys 413. For example, the expansion slots 414 may include a first expansion slot 414a, a second expansion slot 414b, a third expansion slot 414c, and a fourth expansion slot 414d. The first expansion slot 414a, the second expansion slot 414b, the third expansion slot 414c, and the fourth expansion slot 414d may be formed at the proximal end (e.g., the end in the -x direction) with the first concave valley 413a, the second concave valley 413b, the third concave valley 413c, and the fourth concave valley 413d, respectively. The expansion slot 414 may improve the convenience of the user to put the surgical tool T into the concave valley 413 by extending the width (e.g., the width in the y direction) of the proximal end (e.g., the end in the -x direction) of the channel C.

[0081] In one embodiment, a retainer configuration hole 415 may be formed through the lower base 410. The retainer configuration hole 415 may provide a space for placing a front retainer (e.g., the front retainer 6 in FIG. 3 ). The retainer configuration hole 415 may be formed in at least a portion of the plurality of valleys 413. For example, one or more retainer configuration holes 415 may be formed. For example, the first retainer configuration hole 415a and the second retainer configuration hole 415b may be formed in a portion of the second valley 413b and the third valley (413c), respectively. However, this is only an example, and the position and / or number of the retainer configuration holes 415 are not limited thereto. The front retainer 6 may be exposed to the upper side (e.g., toward the +z direction side) through the retainer configuration hole 415, and retain the surgical tool T located in the valley 413.

[0082] In one embodiment, the expansion space 416 may be formed on the proximal side (e.g., the -x direction side) of the main valley 412. The expansion space 416 may be formed between the roller cover 411 and the lower substrate 410, and the width (e.g., the y direction width) is greater than the main valley 412. The expansion space 416 may be formed in a space substantially connecting the roller cover 411 and the lower substrate 410. A plurality of expansion spaces 416 may be formed. For example, the expansion space 416 may include a first expansion space 416a, a second expansion space 416b, a third expansion space 416c, and a fourth expansion space 416d. For example, the first expansion space 416a and the fourth expansion space 416d may be formed substantially adjacent to the first main valley 412a and the fourth main valley 412d, respectively. For example, the second expansion space 416b and the third expansion space 416c can be separated from the second main valley 412b and the third main valley 412c in the proximal direction (e.g., -x direction) respectively. However, this is only an example, and the position, number and / or shape of the expansion space 416 are not limited thereto. Since the expansion space 416 is formed to have a wider width (e.g., y direction width) than the main valley 412, the convenience of use when the user inserts the surgical tool T into the main valley 412 can be improved. For example, for surgical tools such as balloon catheters, one end thereof may have an adapter (e.g., Lure lock) to connect a device for balloon expansion. Since the expansion space 416 has a wider width (e.g., y direction width) than the main valley 412 on the proximal side (e.g., -x direction side) of the main valley 412, when the surgical tool (e.g., balloon catheter) is located in the main valley 412, the above-mentioned adapter can be located in the expansion space 416. However, this is merely an example, and the structure that may be located in the expansion space 416 is not limited thereto.

[0083] In one embodiment, the additional support protrusion 417 may be formed to protrude from the distal end (eg, the end in the +x direction) of at least a portion of the plurality of valleys 413 toward the distal direction (eg, the +x direction) (see Figure 7). The additional support protrusion 417 may be separated from the main valley 412 in the proximal direction (e.g., -x direction). A space for two adjacent roller modules 21 to communicate with each other may be formed between the main valley 412 and the additional support protrusion 417. Two adjacent roller modules 21 may contact the surgical tool T located in the corresponding channel C through the space between the main valley 412 and the additional support protrusion 417. One or more additional support protrusions 417 may be formed. For example, the additional support protrusion 417 may include a first additional support protrusion 417a and a second additional support protrusion 417b. The first additional support protrusion 417a may be formed to protrude from the distal end (e.g., the end in the +x direction) of the second valley 413b in the distal direction (e.g., +x direction). The second additional support protrusion 417b may be formed to protrude from the distal end (e.g., the end in the +x direction) of the third valley 413c in the distal direction (e.g., +x direction). The additional support protrusion 417 may substantially form a partial section of the channel C. The additional leg-shaped member (e.g., Fig.12 Additional leg members 422) of the toe member (eg, Fig.12 The toe-shaped member 4221) may be arranged to be supported by the additional support protrusion 417. The additional support protrusion 417 may be formed in substantially the same shape as the above-mentioned support protrusion 4122. The specific details of the shape of the additional support protrusion 417 may apply the content of the above-mentioned support protrusion 4122.

[0084] Fig.11 is a perspective view of an upper guide according to an embodiment. Fig.12 is a bottom perspective view of an upper guide according to an embodiment. Fig.13 is a bottom view of an upper guide according to an embodiment. Fig.14 is a perspective view of a leg according to an embodiment.

[0085] Below, refer to Figures 1 to 14 The upper guide 42 will be described. In describing the upper guide 42, the proximal end can be understood as the -x direction side, and the distal end can be understood as the +x direction side.

[0086] In one embodiment, the upper guide member 42 may include an upper base 420 , a leg member 421 , an additional leg member 422 , and a disassembly and assembly auxiliary member 423 .

[0087] In one embodiment, the upper base 420 may form the base of the upper guide 42. The upper base 420 may be mounted on the upper side (e.g., +z direction side) of the plurality of roller covers 411. At least one magnet (not shown) may be disposed on the upper base 420. For example, the magnet located on the upper base 420 may correspond to the magnet located on the roller cover 411 of the lower guide 41. The upper base 420 and the roller cover 411 are assembled and disassembled by magnets. That is, the upper guide 42 and the lower guide 41 may be magnetically coupled.

[0088] In one embodiment, the leg-shaped member 421 may extend downward (e.g., in the -z direction) from the lower portion (e.g., the -z direction portion) of the upper base 420. A plurality of leg-shaped members 421 may be formed. For example, the number of leg-shaped members 421 may correspond to the number of main valleys 412. In a state where the upper guide 42 is connected to the lower guide 41, each leg-shaped member 421 may be inserted into a corresponding main valley 412. The leg-shaped member 421 may be formed in a shape substantially corresponding to the main valley 412. When the leg-shaped member 421 is inserted into the main valley 412, each leg-shaped member 421 may close an upper portion (e.g., a +z direction portion) of a channel C formed in each main valley 412 (see Fig.15 and Fig.16 ). For example, the leg-shaped member 421 may include a first leg-shaped member 421a, a second leg-shaped member 421b, a third leg-shaped member 421c, and a fourth leg-shaped member 421d. The first leg-shaped member 421a, the second leg-shaped member 421b, the third leg-shaped member 421c, and the fourth leg-shaped member 421d may be inserted into the first main valley 412a, the second main valley 412b, the third main valley 412c, and the fourth main valley 412d, respectively.

[0089] In one embodiment, the leg 421 may include a blade 4211, a pillar 4212, and a toe 4213 (see FIG. 14 ). The shape of the blade 4211 may substantially correspond to the valley body 4121. The blade 4211 may be inserted into the valley body 4121 to close the upper portion (e.g., +z direction portion) of the channel C formed in the valley body 4211. To this end, the length of the blade 4211 (e.g., z direction length) may be less than the depth (e.g., z direction depth) of the valley body 4121. The pillar 4212 is formed at the distal end (e.g., +x direction) and / or the proximal end (e.g., -x direction) of the blade 4211, and its width (e.g., y direction width) is wider than the width of the blade 4211. For example, the pillar 4212 may be formed to be substantially columnar. When the blade 4211 is inserted into the valley body 4121, the pillar 4212 may be located at the distal side (e.g., +x direction side) and / or the proximal side (e.g., -x direction side) of the valley body 4121. This structure allows the leg 421 to be stably inserted and positioned in the main valley 412. A toe 4213 may be formed at the lower end (e.g., the end in the -z direction) of the pillar 4212. The shape of the toe 4213 may substantially correspond to the support protrusion 4122. When the blade 4211 is inserted into the valley body 4121, the toe 4213 may be fixed to the support protrusion 4122. The toe 4213 may include a central space 4214 and an inclined wall 4215. The central space 4214 may be a space forming a channel C. The inclined wall 4215 may be formed on both sides (e.g., +y direction side and -y direction side) of the central space 4214 and inclined downward (e.g., -z direction) from the center toward both sides (e.g., +y direction side and -y direction side). The width (e.g., y direction width) of the toe-shaped member 4213 gradually narrows toward the distal direction (e.g., +x direction) or the proximal direction (e.g., -x direction). Alternatively, the toe-shaped member 4213 may be formed to have a substantially predetermined width (e.g., y direction width). However, this is only an example, and the shapes of the blade 4211, the pillar 4212 and / or the toe-shaped member 4213 are not limited thereto.

[0090] In one embodiment, the additional leg-shaped member 422 may extend downward (e.g., in the -z direction) from the lower portion (e.g., in the -z direction) of the upper base 420. For example, the additional leg-shaped member 422 may be arranged on the additional support protrusion 417 through the expansion space 416. The additional leg-shaped member 422 may be formed in plurality. For example, the number of additional leg-shaped members 422 may correspond to the number of additional support protrusions 417. For example, the additional leg-shaped member 422 may include a first additional leg-shaped member 422a and a second additional leg-shaped member 422b. The first additional leg-shaped member 422a and the second additional leg-shaped member 422b may be formed at positions corresponding to the first additional support protrusion 417a and the second additional support protrusion 417b, respectively, and fixed to the first additional support protrusion 417a and the second additional support protrusion 417b. The first additional leg-shaped member 422a and the second additional leg-shaped member 422b may be spaced apart from the second main leg-shaped member 421b and the third main leg-shaped member 421c toward the proximal direction (e.g., along the -x direction). A space for two adjacent roller modules 21 to communicate with each other may be formed between the additional leg-shaped member 422 and the leg-shaped member 421. Two adjacent roller modules 21 may contact the surgical tool T located in the corresponding channel C through the space between the additional leg-shaped member 422 and the leg-shaped member 421.

[0091] In one embodiment, the lower end portion (eg, the end portion in the −z direction) of the additional leg-shaped member 422 may be formed with a toe-shaped member 4221 (see Fig.12 ). The shape of the toe 4221 of the additional leg 422 may substantially correspond to the additional support protrusion 417. The shape of the toe 4221 of the additional leg 422 may be substantially the same as the toe 4213 of the above-mentioned leg 421. The specific description of the shape of the toe 4221 of the additional leg 422 may apply the content of the toe 4213 of the above-mentioned leg 421.

[0092] In one embodiment, the disassembly and assembly assisting member 423 is used to assist in releasing the magnetic bond between the lower guide 41 and the upper guide 42. For example, the disassembly and assembly assisting member 423 may be formed in a pair at positions facing each other. The disassembly and assembly assisting member 423 may be formed by cutting off a portion of the side (e.g., the side in the +x / -x direction) and the bottom (e.g., the surface in the -z direction) of the upper base 420. For example, a portion other than the axis 4231 in the disassembly and assembly assisting member 423 may be cut off, thereby being substantially connected to the upper base 420 through the axis 4231. The disassembly and assembly assisting member 423 may be elastically rotatable relative to the upper base 420 around the axis 4231. For example, when the lower guide 41 and the upper guide 42 are magnetically coupled to each other, the user may press the side (e.g., the side in the +x / -x direction) of the disassembly and assembly assisting member 423 to release the magnetic bond between the lower guide 41 and the upper guide 42. When the side surface (e.g., the side surface in the +x / -x direction) of the disassembly and assembly assisting member 423 is pressed, as the disassembly and assembly assisting member 423 elastically rotates relative to the upper base 420 about the axis 4231, the lower surface (e.g., the surface in the -z direction) of the disassembly and assembly assisting member 423 is pressed downward (e.g., in the -z direction). As a result, as the lower surface (e.g., the surface in the -z direction) of the disassembly and assembly assisting member 423 pushes the lower guide 41, the magnetism between the lower guide 41 and the upper guide 42 is overcome, so that the upper guide 42 is separated from the lower guide 41. This structure can improve the convenience of the user when separating the upper guide 42 from the lower guide 41.

[0093] Fig.15 for Figure 5 Enlarged view of part A. Fig.16 yes Fig.15 Cross-sectional view of the BB portion.

[0094] refer to Figure 5 , Fig.15 and Fig.16 , the leg-shaped member 421 can be inserted into the main valley 412 in a state where the lower guide 41 is connected to the upper guide 42. The leg-shaped member 421 can close the upper portion (e.g., the +z direction portion) of the channel C formed in the main valley 412. Fig.16 As shown, the blade 4211 can be shorter than the valley body 4121 to close the upper portion (e.g., the +z direction portion) of the channel C. Fig.15 As shown, when the toe 4213 of the leg 421 is arranged on the support protrusion 417, a channel C can be formed between the toe 4213 and the support protrusion 417. Additional support protrusions (e.g., Figure 8 Additional support protrusions 417) and additional leg-shaped members (eg, Fig.12 Additional leg members 422) of the toe member (eg, Fig.12According to this structure, in a surgical tool (for example, Figure 3 In a state where a surgical tool T is arranged in the channel C of the lower guide member 41, when the upper guide member 42 is coupled to the lower guide member 41, the upper portion (e.g., the +z direction portion) of the channel C can be closed in at least a portion of the channel C (e.g., at least the main valley 412 and / or the additional support protrusion 417). Thus, the surgical tool T can be stably positioned in the channel C, and its path can be stably guided along the channel C.

[0095] In summary, the embodiments are described through limited drawings, and a person skilled in the art can make various changes and modifications based on the 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 by other constituent elements or equivalents, and appropriate results can also be obtained.

[0096] Accordingly, other embodiments, other examples, and equivalents thereof are within the scope of the appended claims.

Claims

1. A surgical tool guide connected to a surgical tool control device, characterized in that: The surgical tool guide comprises: a lower guide formed with a plurality of channels opened at the top for arranging surgical tools; and An upper guide is connected to an upper side of the lower guide to close an upper portion of at least a portion of each of the channels.

2. The surgical tool guide according to claim 1, characterized in that: The lower guide member comprises: lower base body; a plurality of roller covers, located at the distal end of the lower base, to cover at least a portion of a plurality of roller modules provided in the surgical tool control device from an upper side; and A main valley extends downward between the plurality of roller covers to be located between each of the plurality of roller covers and forms at least a portion of the passage.

3. The surgical tool guide according to claim 2, characterized in that: The upper guide member comprises: an upper base disposed on an upper side of the plurality of roller covers; and A plurality of leg-shaped members extend downward from the lower portion of the upper base to be respectively inserted into the plurality of main valleys.

4. The surgical tool guide according to claim 3, characterized in that: In a state where the upper guide is connected to the lower guide, the plurality of leg members close an upper portion of each of the channels formed in the plurality of main valleys.

5. The surgical tool guide according to claim 3, characterized in that: Each of the main valleys comprises: a valley body forming at least a portion of the channel; and The supporting protrusion protrudes from the lower end of the valley body toward the distal direction or the proximal direction.

6. The surgical tool guide according to claim 5, characterized in that: Each of the legs comprises: a blade inserted into the valley body to close an upper portion of the channel formed in the valley body; a pillar formed at a distal end or a proximal end of the blade, and having a width greater than that of the blade; and A toe-shaped member is formed at the lower end of the support column into a shape corresponding to the supporting protrusion.

7. The surgical tool guide according to claim 6, characterized in that: The support protrusion and the toe-shaped member respectively include: a central space for forming the central space of the channel; and The inclined walls are on both sides of the central space and are inclined downward from the center to both sides.

8. The surgical tool guide according to claim 3, characterized in that: The lower guide member further comprises: A plurality of expansion spaces are formed on the proximal side of each of the plurality of main valleys and have a width wider than that of the main valleys between the roller cover and the lower base.

9. The surgical tool guide according to claim 3, characterized in that: The lower guide member further comprises: A plurality of valleys are recessed and formed in the lower base to form the channel together with the plurality of main valleys.

10. The surgical tool guide according to claim 9, characterized in that: The lower guide member further comprises: A plurality of expansion grooves are formed at proximal ends of each of the plurality of valleys, recessed in the lower base to have a width wider than that of the valley.

11. The surgical tool guide according to claim 9, characterized in that: The lower guide member further comprises: A retainer configuration hole is formed through the lower base in at least a portion of the plurality of valleys to retain a surgical tool located in the valley.

12. The surgical tool guide according to claim 9, characterized in that: The lower guide member further includes an additional support protrusion, which is formed to protrude from a distal end of at least a portion of the plurality of valleys toward a distal direction. The upper guide further includes an additional leg extending downward from a lower portion of the upper base to be fixed to the additional supporting protrusion.

13. The surgical tool guide according to claim 9, characterized in that: The plurality of valleys respectively include: The first concave space gradually narrows in width toward the bottom; and The second recessed space is located below the first recessed space and maintains the same width.

14. The surgical tool guide according to claim 3, characterized in that: The plurality of roller covers are provided with at least one magnet, and the upper base is provided with at least one magnet, so that the lower guide and the upper guide are magnetically coupled to each other.

15. The surgical tool guide according to claim 14, characterized in that: The upper guide member further comprises: The disassembly and assembly auxiliary piece is formed by cutting a part of the side surface and the bottom of the upper base so as to be elastically rotated relative to the upper base, thereby helping to release the magnetic combination between the lower guide piece and the upper guide piece.

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