Module for guiding at least one of a guidewire and a catheter

Abstract

A combined box according to one embodiment of the present application includes: a first surgical tool fixing box (300) combined with a proximal end of a first surgical tool; a second surgical tool driving box (100, 200) clamping and driving a second surgical tool; and a frame (400), the first surgical tool fixing box (300) is arranged on the second surgical tool driving box (100, 200), the second surgical tool driving box (100, 200) is arranged 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 inside of the first surgical tool, and the position of the proximal end of the first surgical tool on the frame (400) is maintained during the movement of the second surgical tool forward along the length direction of the frame (400).

Description

Technical Field

[0001] This invention relates to a module for guiding at least one of a guidewire and a catheter in minimally invasive surgery. Background Technology

[0002] A guidewire is used to guide an auxiliary pin (e.g., a catheter) along the guidewire to the desired location in the body, such as in a mammal like the human. In one application, the guidewire is inserted into the body lumen, i.e., a blood vessel, through an incision in the patient's skin and the lumen wall. The guidewire is then introduced or its distal end is guided from this point to the desired location in the lumen or the lumen from which the guidewire branches.

[0003] One problem with guidewire and catheter insertion systems is the difficulty in moving the distal ends of the guidewire and catheter along the serpentine lumen geometry and in directing them to a lumen that intersects with or branches into another lumen. In some cases, this location involves the distal end of a branch into the destination lumen of the guidewire and catheter intersecting with a lumen at a large angle, such as greater than 45 degrees, and, in specified cases, greater than 90 degrees.

[0004] A robotic system for stabilizing the movement of a guidewire and catheter is disclosed to facilitate easy control of the distal end of the guidewire and catheter. A housing used in conjunction with the robotic system is also disclosed. Through the housing, the guidewire and catheter undergo at least one of forward, backward, and rotational movements to be directed to the desired position on the body.

[0005] The guidewire and catheter system can use multiple catheters with correspondingly smaller inner diameters, wherein each catheter except the one with the largest diameter can be telescopically housed within and extended into the next larger diameter catheter. In this system, the positions of each catheter and guidewire are controlled by different drive housings. Therefore, there is a problem of unnecessarily increasing the size of the module in order to house multiple housings within the module.

[0006] Existing technical documents Patent documents (Patent Document 1) US 2017-0274181 A1 Summary of the Invention The technical problem to be solved by the present invention is to reduce the size of a module in a module for guiding at least one of a guidewire and a catheter by reducing the number of boxes in the module.

[0007] Technical solution One embodiment of the present invention includes a merging box comprising: a first surgical tool fixing box 300, which is coupled to the proximal end of a first surgical tool; second surgical tool driving boxes 100 and 200, which clamp and drive the second surgical tool; and a frame 400, wherein the first surgical tool fixing box 300 is disposed on the second surgical tool driving boxes 100 and 200, the second surgical tool driving boxes 100 and 200 are 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 as the second surgical tool moves forward along the length direction of the frame 400.

[0008] In this case, the combination of the first surgical tool fixation box 300 and the second surgical tool drive box 100, 200 can be a combination of a small catheter fixation box 310 and a guidewire drive box 100, a combination of a medium-sized catheter fixation box 320 and a small catheter drive box 210, or a combination of a large catheter fixation box 330 and a medium-sized catheter drive box 220.

[0009] In one embodiment of the present invention, the second surgical tool drive box 100, 200 may include a clamping frame 10, a clamping gear 20 and a clamping module 800. By rotating the clamping gear 20, the clamping frame 10 moves forward or backward or rearward along the length direction.

[0010] In a merging box according to one embodiment of the present invention, when the clamping frame 10 moves backward along the length direction, the second surgical tool can be clamped by the clamping module 800 through the movement of the clamping frame 10. When the clamping frame 10 moves forward along the length direction, the clamping state of the second surgical tool by the clamping module 800 will be released through the movement of the clamping frame 10.

[0011] In one embodiment of the present invention, the first surgical tool fixing box 300 may include a fixing frame 30, and the second surgical tool driving box 100, 200 includes a fixing gear 40. By rotating the fixing gear 40, the fixing frame 30 moves forward or backward or rearward along the length direction.

[0012] In one embodiment of the present invention, when the second surgical tool is clamped by the clamping module 800, as the second surgical tool drive boxes 100 and 200 move forward along the length direction, the second surgical tool can move forward along the length direction. As the second surgical tool drive boxes 100 and 200 move forward along the length direction, the fixing frame 30 will simultaneously move backward along the length direction. As the fixing frame 30 moves backward along the length direction, the first surgical tool fixing box 300 will move backward along the length direction. The length and speed at which the first surgical tool fixing box 300 moves backward along the length direction are the same as the length and speed at which the second surgical tool drive boxes 100 and 200 move forward along the length direction.

[0013] In one embodiment of the present invention, when the clamping state of the second surgical tool by the clamping module 800 is released, as the second surgical tool drive boxes 100 and 200 move rearward along the length direction, the fixing frame 30 can simultaneously move forward along the length direction. As the fixing frame 30 moves forward along the length direction, the first surgical tool fixing box 300 will move forward along the length direction. The length and speed at which the first surgical tool fixing box 300 moves forward along the length direction are the same as the length and speed at which the second surgical tool drive boxes 100 and 200 move rearward along the length direction.

[0014] In one embodiment of the present invention, the second surgical tool drive box 100, 200 may include a movable frame 50 and a movable gear 60. By rotating the movable gear 60, the movable frame 50 will move forward or backward along the length direction.

[0015] In a merging box according to one embodiment of the present invention, when the second surgical tool is clamped by the clamping module 800, as the clamping frame 10 and the moving frame 50 move forward along the length direction, the clamping module 800 can move forward along the length direction, and as the clamping module 800 moves forward along the length direction, the second surgical tool will move forward along the length direction.

[0016] In a merging box according to one embodiment of the present invention, when the state in which the second surgical tool is clamped by the clamping module 800 is released, as the clamping frame 10 and the moving frame 50 can move rearward along the length direction, the clamping module 800 will move rearward along the length direction.

[0017] In one embodiment of the present invention, the first surgical tool and the second surgical tool can be catheters, and the catheters are flexible tubular.

[0018] In one embodiment of the present invention, the first surgical tool can be a catheter, and the second surgical tool can be a guidewire. The catheter is a flexible tubular shape, and the guidewire is a flexible filament.

[0019] One embodiment of the present invention may include a first merging box and a second merging box. The first surgical tool in the first merging box and the second surgical tool in the first merging box are both catheters. The first surgical tool in the second merging box is a catheter, and the second surgical tool in the second merging box is a guidewire. The catheter is a flexible tubular shape, and the guidewire is a flexible filament.

[0020] The effects of the invention The module of the present invention includes a merging box with a fixed box disposed on the drive box, thereby reducing the number of boxes and reducing the module size. Attached Figure Description

[0021] Figure 1 This is a top view of a module of the prior art used for guiding at least one of guidewires and catheters.

[0022] Figure 2 As a first embodiment of the present invention, the merging box is a top view of the merging box in which the first surgical tool and the second surgical tool are catheters.

[0023] Figure 3 As a first embodiment of the present invention, the merging box is shown in a perspective view of the forward movement of the catheter drive box in the merging box where the first surgical tool and the second surgical tool are catheters.

[0024] Figure 4 As a first embodiment of the present invention, the merging box is shown in a perspective view of the forward movement of the catheter drive box in the merging box where the first surgical tool and the second surgical tool are catheters.

[0025] Figure 5 As a first embodiment of the present invention, the merging box is a top view of a merging box in which the first surgical tool is a catheter and the second surgical tool is a guidewire.

[0026] Figure 6 As a first embodiment of the present invention, the merging box is a partially enlarged top view of a merging box in which the first surgical tool is a catheter and the second surgical tool is a guidewire.

[0027] Figure 7 As a second embodiment of the present invention, the merging box is a top view of the merging box in which the first surgical tool and the second surgical tool are catheters.

[0028] Figure 8 As a second embodiment of the present invention, the merging box is shown in a top view of the clamping module moving forward within the merging box in which the first surgical tool and the second surgical tool are catheters.

[0029] Figure 9 As a second embodiment of the present invention, the merging box is shown in a top view of the clamping module moving rearward within the merging box in which the first surgical tool and the second surgical tool are catheters. Detailed Implementation

[0030] Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described.

[0031] Figure 1 This is a top view of a module of the prior art used for guiding at least one of guidewires and catheters.

[0032] Reference Figure 1 A module 1000 for guiding at least one of guidewire 1 and catheters 2, 3, and 4 may include: a housing 900 extending along a length direction from front 901 to rear 902; a frame 400 extending along a length direction from front 401 to rear 402; a guidewire drive box 100 for clamping and driving guidewire 1; at least one catheter drive box 200 for clamping and driving catheters 2, 3, and 4; and at least one catheter fixation box 300 for engaging with the proximal end of catheters 2, 3, and 4.

[0033] The guidewire drive box 100, the catheter drive box 200, and the catheter fixation box 300 can be mounted on the frame 400.

[0034] Furthermore, the guidewire drive box 100, the catheter drive box 200, and the catheter fixation box 300 can be disposed within the housing 900.

[0035] The guidewire drive box 100 may include a guidewire drive module that rotates the guidewire 1 when the guidewire 1 is clamped, and the catheter drive box 200 may include a catheter drive module that rotates the catheters 2, 3, and 4 when the catheters 2, 3, and 4 are clamped.

[0036] The guidewire drive box 100 and the catheter drive box 200 can be moved forward or backward along the length of the frame 400 by various actuators (not shown).

[0037] The guidewire drive box 100 and the catheter drive box 200 can rotate about the length direction of the frame 400 as an axis by various actuators (not shown).

[0038] The guidewire 1 and catheters 2, 3, and 4 can move forward, backward, and rotate along the arrow directions F, B, and R, respectively.

[0039] The drive (forward movement, backward movement or rotational movement) of the guidewire drive box 100 and the catheter drive box 200 can be performed independently or synchronously.

[0040] Driven by the guidewire drive box 100 (forward movement, backward movement, or rotational movement), the guidewire can move forward, backward, or rotate.

[0041] Driven by the catheter drive box 200 (forward movement, backward movement, or rotational movement), catheters 2, 3, and 4 can move forward, backward, or rotate.

[0042] The actuation of guidewire 1 and catheters 2, 3, and 4 can be performed independently or synchronously.

[0043] Guide wire 1 and catheters 2, 3, and 4 extend through the housing 900 along its length from front to back.

[0044] Guidewire 1 can pass through guidewire drive box 100, and catheters 2, 3, and 4 can pass through catheter drive box 200.

[0045] Furthermore, guidewire 1 can be made of a flexible wire-shaped component, and catheters 2, 3, and 4 can be made of flexible tube-shaped components. The diameter of guidewire 1 can be smaller than the diameter of catheters 2, 3, and 4, and guidewire 1 can penetrate the interior of catheters 2, 3, and 4.

[0046] The guidewire drive box 100 can be located behind the catheter fixation box 300, and the catheter fixation box 300 can be located behind the catheter drive box 200.

[0047] At least one catheter drive box 200 may include multiple catheter drive boxes, and at least one catheter fixation box 300 may include multiple catheter fixation boxes.

[0048] For example, at least one catheter drive box 200 may include a small catheter drive box 210 and a medium catheter drive box 220, and at least one catheter fixation box 300 may include a small catheter fixation box 310 and a medium catheter fixation box 320. In this case, small and medium can refer to the relative diameter or circumference of the catheter, and the outer diameter or circumference of the small catheter may be smaller than the inner diameter or circumference of the medium catheter.

[0049] The guidewire drive box 100 can be located behind the small catheter fixation box 310, the small catheter fixation box 310 can be located behind the small catheter drive box 210, the small catheter drive box 210 can be located behind the medium-sized catheter fixation box 320, and the medium-sized catheter fixation box 320 can be located behind the medium-sized catheter drive box 220.

[0050] The small catheter fixation box 310 can be combined with the proximal end of the small catheter 2, and the medium catheter fixation box 320 can be combined with the proximal end of the medium catheter 3. In this case, the proximal ends of the guidewire 1 and catheters 2, 3, and 4 are located on the rear 902 side of the housing 900, and the distal ends of the guidewire 1 and catheters 2, 3, and 4 are located on the front 901 side of the housing 900.

[0051] The diameter of guidewire 1 can be smaller than the diameter of small catheter 2, and guidewire 1 can penetrate the interior of small catheter 2. The diameter of small catheter 2 can be smaller than the diameter of medium catheter 3, and small catheter 2 can penetrate the interior of medium catheter 3.

[0052] Furthermore, at least one catheter fixation box 300 may additionally include a large catheter fixation box 330.

[0053] The large catheter fixing box 330 can be located at the front end of the housing 900, and the medium-sized catheter drive box 220 can be located at the rear end of the large catheter fixing box 330.

[0054] The large catheter fixation box 330 can be combined with the proximal end of the large catheter 4.

[0055] The outer diameter or circumference of the medium-sized catheter 3 may be smaller than the inner diameter or circumference of the large-sized catheter 4, and the medium-sized catheter 3 may extend through the interior of the large-sized catheter 4.

[0056] on the other hand, Figure 1 The module 1000 shown may include a total of 6 types of boxes. As mentioned above, when the number of boxes included in the module 1000 increases, the size of the module 1000 will increase unnecessarily.

[0057] The present invention addresses the problems described above. The module of the present invention includes a merging box with a fixed box disposed on the drive box, thereby reducing the number of boxes and thus reducing the size of the module.

[0058] Figure 2 As a first embodiment of the present invention, the merging box is an enlarged top view of the merging box in which the first surgical tool and the second surgical tool are catheters.

[0059] Figure 3 As a first embodiment of the present invention, the merging box is shown in an enlarged perspective view of the movement of the catheter drive box in the merging box in which the first surgical tool and the second surgical tool are catheters.

[0060] Figure 4 As a first embodiment of the present invention, the merging box is shown in an enlarged perspective view of the movement of the catheter drive box in the merging box in which the first surgical tool and the second surgical tool are catheters.

[0061] Reference Figures 2 to 4 The figure shows a conduit holder 300, which is attached to the proximal end of the first surgical instrument, and is mounted on a conduit holder 200 that clamps the second surgical instrument. Furthermore, the conduit holder may be mounted on a frame 400 (see reference). Figure 1 )superior.

[0062] For example, when the first surgical instrument is a medium-sized catheter 3 (see reference) Figure 1 The second surgical tool is a small catheter 2 (see reference). Figure 1 )hour, Figures 2 to 4 The merging box shown can be a structure in which a medium catheter fixation box 320 is attached to the proximal end of a medium catheter 3 and is mounted on a small catheter drive box 210 that clamps a small catheter 2.

[0063] like Figures 2 to 4 As shown, when the catheter fixing box 300 is mounted on the catheter driving box 200, as Figure 1 As shown, compared to the case where the catheter fixation box 300 is not mounted on the catheter drive box 200, the size of the module 1000 can be reduced to or larger than the size of the catheter fixation box 300.

[0064] This is because when the conduit fixing box 300 is directly mounted on the conduit drive box 200, it is not necessary to mount the conduit fixing box 300 directly on the module 1000.

[0065] In particular, when the conduit fixing box 300 is mounted on the conduit drive box 200, the number of sensors or motors mounted on the module 1000 can be reduced, thus reducing the size of the module 1000.

[0066] The conduit drive box 200 may include a clamping frame 10, a clamping gear 20, and a clamping module 800. The clamping frame 10 may engage with the clamping gear 20. The clamping frame 10 may extend along the length of the frame 400.

[0067] The clamping gear 20 is rotatable about a pinion shaft, which can be rotated via a separate structure (not shown). As the pinion shaft rotates, the clamping gear 20 can also rotate.

[0068] The clamping gear 20 can be rotated, and the clamping frame 10 can move forward or backward along the frame 400.

[0069] Hereinafter, embodiments of the present invention will be described using a second surgical tool whose outer diameter is smaller than the inner diameter of the first surgical tool. For example, the second surgical tool may be a small catheter 2, and the first surgical tool may be a central catheter 3. Alternatively, the second surgical tool may be a guidewire 1, and the first surgical tool may be a small catheter 2, or the second surgical tool may be a medium-sized catheter 3, and the first surgical tool may be a large catheter 4.

[0070] In this configuration, when the clamping frame 10 moves rearward along the length of the frame 400, the second surgical tool can be clamped by the clamping module 800. Furthermore, when the clamping frame 10 moves forward along the length of the frame 400, the clamping of the second surgical tool by the clamping module 800 can be released. More specifically, the clamping module 800 may include a first portion coupled to the clamping frame 10, a second portion spaced apart from the first portion, and a plurality of clamps disposed between the first and second portions.

[0071] In this case, as the clamping frame 10 moves backward and the first part moves backward, the gap between the first part and the second part can be reduced, and the gap between the multiple clamps will be reduced, so that the guide wire 1 or the catheters 2, 3, 4 can be clamped.

[0072] Moreover, as the clamping frame 10 moves forward, the first part moves forward, the gap between the first part and the second part will increase, the gap between the multiple clamps will increase, and the clamped state of the guide wire 1 or the catheters 2, 3, 4 will be released.

[0073] The catheter fixation box 300 is coupled to the proximal end of the first surgical tool, and the catheter drive box 200 can clamp the second surgical tool to drive it. In this case, the diameter of the second surgical tool can be smaller than that of the first surgical tool, and the second surgical tool can penetrate the interior of the first surgical tool and extend thereafter. Both the first and second surgical tools can be catheters. For example, the first surgical tool can be a medium-sized catheter 3, and the second surgical tool can be a small catheter 2.

[0074] In this situation, in order to guide the surgical instruments to the desired location on the body, it is necessary to move the first and second surgical instruments, which are of different sizes, independently.

[0075] However, when the first surgical instrument moves along with the second surgical instrument, there is no need to move the first and second surgical instruments independently. In particular, when the catheter fixation box 300 is mounted on the catheter drive box 200, it is difficult to move the catheter fixation box 300 and the catheter drive box 200 independently. Therefore, it is difficult to move the first surgical instrument, which is proximal to the catheter fixation box 300, and the second surgical instrument, which is clamped by the catheter drive box 200, independently.

[0076] In order to solve the problems mentioned above, the present invention ensures that the position of the proximal end of the first surgical tool on the frame 400 is maintained as the second surgical tool moves forward along the length of the frame 400.

[0077] The first surgical tool may be a large catheter 4 (see reference). Figure 1 The second surgical tool is a medium-sized catheter 3 (see reference). Figure 1 The third surgical tool is a small catheter 2 (see reference). Figure 1 ).

[0078] For example, the catheter fixation box 300 may include a fixing frame 30, and the catheter drive box 200 may include a fixing gear 40.

[0079] The fixing bracket 30 can mesh with the fixing gear 40. The fixing bracket 30 can extend along the length of the frame 400.

[0080] The fixed gear 40 is rotatable about the pinion shaft, which rotates via a separate structure not shown. As the pinion rotates, the fixed gear 40 can rotate as well.

[0081] By rotating the fixed gear 40, the fixed frame 30 can move forward or backward along the length of the frame 400.

[0082] As the second surgical instrument moves forward along the length of the frame 400, the position of the proximal end of the first surgical instrument on the frame 400 is maintained as follows.

[0083] With the second surgical instrument clamped by the clamping module 800, as the catheter drive box 200 moves forward along the length of the frame 400, the second surgical instrument can also move forward along the length of the frame 400. In this case, as the catheter drive box 200 moves forward along the length of the frame 400, the fixation frame 30 simultaneously moves backward along the length of the frame 400 at the same speed as the forward movement of the second surgical instrument. Furthermore, as the fixation frame 30 moves backward along the length of the frame 400, the catheter fixation box 300 can also move backward along the length of the frame 400.

[0084] In this case, the length and speed at which the catheter fixation box 300 moves backward along the length direction of the frame 400 can be the same as the length and speed at which the catheter drive box 200 moves forward along the length direction of the frame 400.

[0085] As described above, the length and speed at which the catheter fixation box 300 moves rearward along the length direction of the frame 400 are the same as the length and speed at which the catheter drive box 200 moves forward along the length direction of the frame 400. Therefore, during the process of the second surgical instrument moving forward along the length direction of the frame 400, the position of the proximal end of the first surgical instrument on the frame 400 is maintained.

[0086] On the other hand, after the second surgical tool moves forward along the length direction of the frame 400, in order to release the clamping of the clamping module 800 on the second surgical tool in a rearward position based on the position of the clamping module 800 before the second surgical tool moves forward, the catheter drive box 200 including the clamping module 800 needs to move rearward along the length direction of the frame 400.

[0087] In this case, it is necessary to maintain the proximal end of the first surgical instrument on frame 400.

[0088] As the catheter drive box 200 moves rearward along the length of the frame 400, the proximal end of the first surgical instrument is maintained on the frame 400 by the fixation bracket 30 as follows.

[0089] With the clamping state of the second surgical instrument released by the clamping module 800, as the catheter drive box 200 moves rearward along the length direction of the frame 400, the fixation frame 30 can move forward along the length direction of the frame 400. Furthermore, as the fixation frame 30 moves forward along the length direction of the frame 400, the catheter fixation box 300 can move forward along the length direction of the frame 400.

[0090] In this case, the length and speed at which the catheter fixation box 300 moves forward along the length direction of the frame 400 are the same as the length and speed at which the catheter drive box 200 moves backward along the length direction of the frame 400.

[0091] As described above, the length and speed at which the catheter fixation box 300 moves forward along the length direction of the frame 400 are the same as the length and speed at which the catheter drive box 200 moves backward along the length direction of the frame 400. Therefore, during the process of the catheter drive box 200 moving backward along the length direction of the frame 400, the proximal end of the first surgical instrument is maintained on the frame 400.

[0092] Figure 5 As a first embodiment of the present invention, the merging box is a top view of a merging box in which the first surgical tool is a catheter and the second surgical tool is a guidewire.

[0093] Figure 6As a first embodiment of the present invention, the merging box is a merging box in which the first surgical tool is a catheter and the second surgical tool is a guidewire. Figure 5 A partially enlarged top view.

[0094] exist Figures 2 to 4 In the merging box shown, the catheter fixing box 300 is disposed on the catheter driving box 200, and conversely, in Figure 5 , Figure 6 In the merging box shown, the catheter fixation box 300 is mounted on the guidewire drive box 100. Figure 5 , Figure 6 The principle of relative forward or backward movement in the merged box shown is... Figures 2 to 4 The principle of relative forward or backward movement in the merged box shown is the same.

[0095] Reference Figure 5 , Figure 6 The figure shows a catheter fixation box 300, which is attached to the proximal end of a surgical instrument (specifically, a catheter of the smallest diameter), and is integrated into a guidewire drive box 100 that clamps additional surgical instruments (especially guidewire 1). Furthermore, the integrated box can be installed in the frame 400 (see reference 400). Figure 1 )superior.

[0096] For example, when the first surgical instrument is a small catheter 2 (see reference) Figure 1 The second surgical tool is guidewire 1 (see reference). Figure 1 )hour, Figure 5 , Figure 6 The merging box shown is a small catheter fixation box 310 that is combined with the proximal end of the small catheter 2 and is set on the guidewire drive box 100 that clamps the guidewire 1.

[0097] The following explanation is based on the case where the first surgical tool is a small catheter 2 and the second surgical tool is a guidewire 1.

[0098] like Figure 5 , Figure 6 As shown, when the catheter fixation box 300 is mounted on the guidewire drive box 100, as Figure 1 As shown, compared to the case where the catheter fixation box 300 is not mounted on the guidewire drive box 100, the size of the module 1000 can be reduced to or larger than the size of the catheter fixation box 300.

[0099] In particular, when the catheter fixation box 300 is mounted on the guidewire drive box 100, the number of sensors or motors mounted on the module 1000 can be reduced, thus reducing the size of the module 1000.

[0100] The wire guide drive box 100 may include a clamping frame 10, a clamping gear 20, and a clamping module 800. The clamping frame 10 may engage with the clamping gear 20. The clamping frame 10 may extend along the length of the frame 400.

[0101] The clamping gear 20 is rotatable about a pinion shaft, which can be rotated via a separate structure not shown. As the pinion shaft rotates, the clamping gear 20 can rotate as well.

[0102] The clamping frame 10 can move forward or backward along the length of the frame 400 by rotating the clamping gear 20.

[0103] In this case, when the clamping frame 10 moves rearward along the length of the frame 400, the guide wire 1 can be clamped by the clamping module 800. Moreover, when the clamping frame 10 moves forward along the length of the frame 400, the clamping state of the guide wire 1 by the clamping module 800 can be released.

[0104] The catheter fixation box 300 can be attached to the proximal end of the miniature catheter 2, and the guidewire drive box 100 can clamp the guidewire 1 to drive it along its length. In this case, the outer diameter or circumference of the guidewire 1 is smaller than the inner diameter or circumference of the miniature catheter 2, thus allowing the guidewire 1 to penetrate the interior of the miniature catheter 2. In this situation, to guide the surgical instruments to the desired location on the body, it is necessary to independently move the miniature catheter 2 and the guidewire 1, which are different in size (diameter or circumference).

[0105] However, when the guidewire 1 moves and the mini catheter 2 moves along with it, there is a problem that the guidewire 1 and the mini catheter 2 cannot be separated independently. In particular, when the catheter fixation box 300 is mounted on the guidewire drive box 100, it is difficult to move the catheter fixation box 300 and the guidewire drive box 100 independently. Therefore, it is difficult to move the mini catheter 2, which is attached to the catheter fixation box 300 at its proximal end, and the guidewire 1, which is clamped by the guidewire drive box 100, independently.

[0106] In order to solve the problems described above, the present invention can be configured such that, during the forward movement of the guidewire 1 along the length direction of the frame 400, the position of the proximal end of the small catheter 2 on the frame 400 is maintained.

[0107] For example, the catheter fixation box 300 may include a fixation frame 30, and the guidewire drive box 100 may include a fixing gear 40.

[0108] The fixing bracket 30 can mesh with the fixing gear 40. The fixing bracket 30 can extend along the length of the frame 400.

[0109] The fixed gear 40 is rotatable about the pinion shaft, which can be rotated via a separate structure not shown. As the pinion rotates, the fixed gear 40 can rotate as well.

[0110] The fixed frame 30 can move forward or backward along the length of the frame 400 by rotating the fixed gear 40.

[0111] As the guidewire 1 moves forward along the length of the frame 400, the position of the proximal end of the small catheter 2 on the frame 400 is maintained as follows.

[0112] With the guidewire 1 clamped by the clamping module 800, the guidewire drive box 100 moves forward along the length direction of the frame 400, allowing the guidewire 1 to move forward along the length direction of the frame 400. In this situation, as the guidewire drive box 100 moves forward along the length direction of the frame 400, the retainer 30 simultaneously moves backward along the length direction of the frame 400. Furthermore, as the retainer 30 moves backward along the length direction of the frame 400, the catheter retainer 300 can also move backward along the length direction of the frame 400.

[0113] In this case, the length and speed at which the catheter fixation box 300 moves backward along the length of the frame 400 can be the same as the length and speed at which the guidewire drive box 100 moves forward along the length of the frame 400.

[0114] As described above, the length and speed at which the catheter fixation box 300 moves backward along the length direction of the frame 400 are the same as the length and speed at which the guidewire drive box 100 moves forward along the length direction of the frame 400. Therefore, during the forward movement of the guidewire 1 along the length direction of the frame 400, the position of the proximal end of the small catheter 2 on the frame 400 is maintained.

[0115] On the other hand, after the guide wire 1 moves forward along the length direction of the frame 400, in order to release the clamping of the guide wire 1 at a position behind the position where the clamping module 800 clamped the guide wire 1 before the guide wire 1 moves forward, the guide wire drive box 100 including the clamping module 800 needs to move backward along the length direction of the frame 400.

[0116] In this case, it is necessary to maintain the position of the proximal end of the small catheter 2 on the frame 400.

[0117] As the guidewire drive box 100 moves rearward along the length of the frame 400, the position of the proximal end of the small catheter 2 on the frame 400 is maintained as follows.

[0118] When the clamping state of guidewire 1 by clamping module 800 is released, guidewire drive box 100 can move rearward along the length direction of frame 400, and at the same time, fixing bracket 30 can move forward along the length direction of frame 400. Moreover, as fixing bracket 30 moves forward along the length direction of frame 400, catheter fixing box 300 can move forward along the length direction of frame 400.

[0119] In this case, the length and speed at which the catheter fixation box 300 moves forward along the length direction of the frame 400 can be the same as the length and speed at which the guidewire drive box 100 moves backward along the length direction of the frame 400.

[0120] As described above, the length and speed at which the catheter fixation box 300 moves forward along the length direction of the frame 400 are the same as the length and speed at which the guidewire drive box 100 moves backward along the length direction of the frame 400. Therefore, during the process of the guidewire drive box 100 moving backward along the length direction of the frame 400, the position of the proximal end of the small catheter 2 on the frame 400 is maintained.

[0121] The module 1000 of the present invention may include a first merging box and a second merging box, wherein the first merging box is as follows: Figures 2 to 4 The first and second surgical instruments shown are catheter cassettes. The second cassette can be, for example, a catheter cassette. Figure 5 , Figure 6 The first surgical tool shown is a catheter, and the second surgical tool is a guidewire cassette.

[0122] For example, the first merging box can be a structure in which a medium-sized catheter fixation box 320, which is attached to the proximal end of a medium-sized catheter 3, is disposed on a small catheter drive box 210 that clamps a small catheter 2, and the second merging box can be a structure in which a small catheter fixation box 310, which is attached to the proximal end of a small catheter 2, is disposed on a guidewire drive box 100 that clamps a guidewire 1.

[0123] Figure 7 As a second embodiment of the present invention, the merging box is a top view of the merging box in which the first surgical tool and the second surgical tool are catheters.

[0124] Figure 8 As a second embodiment of the present invention, the merging box is shown in a top view of the clamping module moving forward within the merging box in which the first surgical tool and the second surgical tool are catheters.

[0125] Figure 9 As a second embodiment of the present invention, the merging box is shown in a top view of the clamping module moving rearward within the merging box in which the first surgical tool and the second surgical tool are catheters.

[0126] Reference Figures 7 to 9The figure shows a conjoined box 300, which is attached to the proximal end of the first surgical instrument, and is positioned on the conjoined box 200 that clamps the second surgical instrument. The inner diameter or circumference of the first surgical instrument may be larger than the outer diameter or circumference of the second surgical instrument. For example, the second surgical instrument may be a small catheter 2 (see figure). Figure 1 The first surgical tool was a medium-sized catheter (refer to...). Figure 1 Furthermore, the second surgical tool can be a medium-sized catheter 3 (see reference). Figure 1 The first surgical instrument was a large catheter (refer to...). Figure 1 In various cases, the second surgical instrument can be received and extended through the lumen along the length of the first surgical instrument. Furthermore, the merging box can be positioned within frame 400 (see reference). Figure 1 )superior.

[0127] like Figures 7 to 9 As shown, when the catheter fixing box 300 is mounted on the catheter driving box 200, as Figure 1 As shown, compared to the case where the catheter fixation box 300 is not mounted on the catheter drive box 200, the size of the module 1000 can be reduced to or larger than the size of the catheter fixation box 300.

[0128] In particular, when the conduit fixing box 300 is mounted on the conduit drive box 200, the number of sensors or motors mounted on the module 1000 can be reduced, thus reducing the size of the module 1000.

[0129] and Figures 2 to 4 The merging boxes shown are different. Figures 7 to 9 The merging box shown does not include the fixed frame 30 and the fixed gear 40, but includes the movable frame 50 and the movable gear 60.

[0130] Thus, during the forward movement of the second surgical instrument along the length of the frame 400, the position of the proximal end of the first surgical instrument on the frame 400 is maintained. Figures 7 to 9 The merging box shown Figures 2 to 4 The merge boxes shown are different.

[0131] In addition, for Figures 2 to 4 The description of the merging box shown can be applied in the same way. Figures 7 to 9 The merge box shown. For example, as... Figure 8 As shown in parts (a) and (b), when the clamping frame 10 moves rearward along the length of the frame 400, the second surgical tool can be clamped by the clamping module 800. Furthermore, as... Figure 9As shown in parts (a) and (b), when the clamping frame 10 moves forward along the length of the frame 400, the clamping state of the second surgical tool by the clamping module 800 can be released.

[0132] The movable frame 50 can mesh with the movable gear 60. The movable frame 50 can extend along the length of the frame 400.

[0133] The movable gear 60 is capable of rotating about a pinion shaft, which can be rotated via a separate structure not shown. As the pinion rotates, the movable gear 60 can also rotate.

[0134] As the moving gear 60 rotates, the moving frame 50 can move forward or backward along the length of the frame 400.

[0135] As the second surgical instrument moves forward along the length of the frame 400, the position of the proximal end of the first surgical instrument on the frame 400 is maintained as follows.

[0136] like Figure 8 As shown in parts (b) and (c), when the second surgical instrument is clamped by the clamping module 800, as the clamping frame 10 and the moving frame 50 move forward along the length direction of the frame 400, the clamping module 800 can also move forward along the length direction of the frame 400. Furthermore, as the clamping module 800 moves forward along the length direction of the frame 400, the second surgical instrument can also move forward along the length direction of the frame 400.

[0137] In this case, as the clamping module 800 moves forward along the length of the frame 400, even if the second surgical tool moves forward along the length of the frame 400, the catheter fixation box 300 will not move, but will remain fixed, and the position of the proximal end of the first surgical tool attached to the catheter fixation box 300 on the frame 400 will be maintained.

[0138] On the other hand, after the second surgical tool moves forward along the length of the frame 400, in order to release the clamping of the second surgical tool by clamping it at a position behind the position where the clamping module 800 clamped the second surgical tool before it moved forward, the clamping module 800 needs to move backward along the length of the frame 400.

[0139] In this case, it is necessary to maintain the proximal end of the first surgical instrument on frame 400.

[0140] As the clamping module 800 moves rearward along the length of the frame 400, the position of the proximal end of the first surgical tool on the frame 400 is maintained as follows.

[0141] like Figure 9 As shown in parts (b) and (c), when the clamping state of the second surgical tool being clamped by the clamping module 800 is released, as the clamping frame 10 and the moving frame 50 move rearward along the length direction of the frame 400, the clamping module 800 can move rearward along the length direction of the frame 400.

[0142] In this case, even if the clamping module 800 moves rearward along the length of the frame 400, the catheter fixation box 300 will not move but will be fixed. Therefore, the position of the proximal end of the first surgical tool attached to the catheter fixation box 300 on the frame 400 is maintained.

[0143] on the other hand, Figures 7 to 9 The image shows a cassette in which the first and second surgical instruments are catheters, but the same application can also be made to a cassette in which the first surgical instrument is a catheter and the second surgical instrument is a guidewire. Figures 7 to 9 The principle behind the forward or backward movement of the merged box shown.

[0144] This invention is not limited to the embodiments and drawings described herein. Within the scope of the technical concept of this invention as described in the claims, those skilled in the art can make various substitutions, modifications and alterations, which also fall within the scope of this invention.

[0145] Explanation of reference numerals in the attached figures 1: Guidewire 2: Catheter 10: Clamping bracket 20: Clamping gear 30: Fixture 40: Fixed gear 50: Mobile stand 60: Moving Gear 100: Guidewire drive box 200: Conduit Driving Box 210: First conduit drive box 220: Second conduit drive box 300: Catheter Fixation Box 310: First catheter fixation box 320: Second catheter fixation box 330: Third catheter fixation box 400: Framework 500: First Merging Box 600: Second merging box 800: Clamping Module 900: Housing 1000: A module used to guide at least one of a guidewire and a catheter.

Claims

1. A merging box, characterized in that, comprising: A first surgical tool holder (300) is attached to the proximal end of a first surgical tool; a second surgical tool drive holder (100, 200) clamps and drives a second surgical tool; and a frame (400). The first surgical tool holder (300) is mounted on the second surgical tool drive holder (100, 200). The second surgical tool drive box (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, and the second surgical tool penetrates the interior of the first surgical tool. As the second surgical tool moves forward along the length of the frame (400), the position of the proximal end of the first surgical tool on the frame (400) is maintained.

2. The merging box according to claim 1, characterized in that, The second surgical tool drive box (100, 200) includes a clamping frame (10), a clamping gear (20), and a clamping module (800). By rotating the clamping gear (20), the clamping frame (10) moves forward or backward or rearward along the length direction.

3. The merging box according to claim 2, characterized in that, When the clamping frame (10) moves rearward along the length direction, the second surgical tool is clamped by the clamping module (800) through the movement of the clamping frame (10). When the clamping frame (10) moves forward along the length direction, the clamping state of the second surgical tool by the clamping module (800) will be released by the movement of the clamping frame (10).

4. The merging box according to claim 3, characterized in that, The first surgical tool holder (300) includes a fixation frame (30). The second surgical tool drive box (100, 200) includes a fixed gear (40). By rotating the fixed gear (40), the fixed frame (30) moves forward or backward along the length direction.

5. The merging box according to claim 4, characterized in that, With the second surgical tool clamped by the clamping module (800), as the second surgical tool drive box (100, 200) moves forward along the length direction, the second surgical tool will also move forward along the length direction. As the second surgical tool drive box (100, 200) moves forward along the length direction, the fixing frame (30) will simultaneously move backward along the length direction. As the fixation frame (30) moves rearward along the length direction, the first surgical tool fixation box (300) will also move rearward along the length direction. The length and speed at which the first surgical tool fixing box (300) moves backward along the length direction are the same as the length and speed at which the second surgical tool driving box (100, 200) moves forward along the length direction.

6. The merging box according to claim 4, characterized in that, When the clamping state of the second surgical tool is released from the clamping module (800), as the second surgical tool drive box (100, 200) moves rearward along the length direction, the fixing frame (30) will simultaneously move forward along the length direction. As the fixation frame (30) moves forward along the length direction, the first surgical tool fixation box (300) will also move forward along the length direction. The length and speed at which the first surgical tool fixing box (300) moves forward along the length direction are the same as the length and speed at which the second surgical tool driving box (100, 200) moves backward along the length direction.

7. The merging box according to claim 3, characterized in that, The second surgical tool drive box (100, 200) includes a movable frame (50) and a movable gear (60). By rotating the moving gear (60), the moving frame (50) will move forward or backward along the length direction.

8. The merging box according to claim 7, characterized in that, With the second surgical tool clamped by the clamping module (800), as the clamping frame (10) and the moving frame (50) move forward along the length direction, the clamping module (800) will also move forward along the length direction. As the clamping module (800) moves forward along the length direction, the second surgical tool will also move forward along the length direction.

9. The combining cassette of claim 7, wherein, When the clamping state of the second surgical tool being clamped by the clamping module (800) is released, as the clamping frame (10) and the moving frame (50) move backward along the length direction, the clamping module (800) will move backward along the length direction.

10. The merging box according to any one of claims 1 to 9, characterized in that, The first surgical instrument and the second surgical instrument are catheters. The catheter is a flexible tubular shape.

11. The merging box according to any one of claims 1 to 9, characterized in that, The first surgical tool is a catheter, and the second surgical tool is a guidewire. The catheter is a flexible tubular shape, and the guidewire is a flexible filament.

12. A module for guiding at least one of a guidewire and a catheter, characterized in that, The module includes a first merging box and a second merging box according to any one of claims 1 to 9. The first surgical instrument in the first merging box and the second surgical instrument in the first merging box are both catheters. The first surgical tool in the second merging box is a catheter, and the second surgical tool in the second merging box is a guidewire. The catheter is a flexible tubular shape, and the guidewire is a flexible filament.

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