Connector mounter connected to the surgical tool control device

Abstract

In one embodiment, a connector mounter coupled to a surgical tool control device includes a base plate, a connector holder located distal to the base plate for holding a surgical tool connector, and a surgical tool guide located proximal to the base plate for guiding the path of a surgical tool passing through the surgical tool connector.

Description

[Technical Field]

[0001] The following embodiments relate to a connector mounter that is connected to a surgical tool control device. [Background technology]

[0002] In conventional percutaneous coronary intervention (PCI) procedures, the surgeon faces the risk of continuous radiation exposure, and training skilled surgeons to perform the procedure reliably requires significant time and expense. Furthermore, the level of completion of the procedure varies greatly between surgeons, regions, and hospitals, making it difficult to provide high-quality medical services universally. To address these shortcomings, interventional robots have been introduced. For example, interventional robots can be configured to move surgical tools forward, backward, or rotate in response to user commands.

[0003] The above-mentioned background art was held or acquired by the inventors in the process of deriving the contents of the disclosure of this specification, and is not necessarily publicly known art that was disclosed to the general public prior to the filing of this application. [Prior art documents] [Patent documents]

[0004] (Patent Document 1) Korean Patent Publication No. 10-2019-0121928 (published on October 29, 2019) discloses a driving device for a medical robot and a medical robot. Summary of the Invention [Problem to be solved by the invention]

[0005] An object of one embodiment is to provide a connector mount that enables a surgical tool control device to conveniently and firmly hold multiple surgical tools when a surgical tool control device is provided that independently controls multiple surgical tools for complex percutaneous coronary intervention (Complex PCI).

[0006] An object of one embodiment is to provide a connector mounter that allows anyone to easily perform the task of gripping a surgical tool on a surgical tool control device. [Means for solving the problem]

[0007] In one embodiment, a connector mounter coupled to a surgical tool control device includes a base plate, a connector holder located distal to the base plate for holding a surgical tool connector, and a surgical tool guide located proximal to the base plate for guiding the path of a surgical tool passing through the surgical tool connector.

[0008] In one embodiment, the connector holder may include a holder plate hingedly connected to the distal end of the base plate, and a proximal holder located proximal to the holder plate for holding the surgical tool connector.

[0009] In one embodiment, the connector holder may further include a distal holder located distal to the holder plate for holding the distal end of the surgical tool connector or for holding a surgical tool connected to the distal end of the surgical tool connector.

[0010] In one embodiment, the distal holder is detachable from the holder plate.

[0011] In one embodiment, the connector holder further includes a support link hingedly connected to the holder plate, and when the holder plate is lifted upward relative to the base plate, an end of the support link can be hooked onto a support jaw formed on the base plate so that the lifted state of the holder plate is maintained.

[0012] In one embodiment, the surgical tool guide can include a lower guide located proximal to the base plate and an upper guide hingedly connected to the lower guide.

[0013] In one embodiment, the lower guide may include a lower body located proximal to the base plate and a valley recessed into the lower body so that the surgical tool can be inserted and positioned therein, and the upper guide may include an upper body hingedly connected to the lower body and a blade protruding from a lower portion of the upper body to close an open upper portion of the valley.

[0014] In one embodiment, the upper guide may further include at least one rib protruding from both sides of the blade so as to protrude further downward as it moves away from the blade, and the lower guide may further include at least one rib insertion groove formed in the lower body so that the at least one rib is inserted therein.

[0015] In one embodiment, the at least one rib formed at the proximal end of the upper guide may be formed in a shape corresponding to a shape of the proximal end of the lower body.

[0016] In one embodiment, the valley may include a plurality of independent valleys formed independently of each other and a converging valley formed distally of the lower body such that the plurality of independent valleys converge into one.

[0017] In one embodiment, any one of the plurality of independent valleys may be formed to be located on the same straight line as the converging valley.

[0018] In one embodiment, the valley may include a first space that narrows downward, and a second space that maintains the same width below the first space.

[0019] In an embodiment, the lower guide may further include a grip guide portion formed by recessing at least a portion of the distal end of the lower body.

[0020] In an embodiment, the lower guide may further include a protruding wall protruding upward from the lower body at a position where the valley curves.

[0021] In one embodiment, the base plate may include a discharge guide formed on an upper surface of the base plate so that foreign matter dropping from the surgical tool onto the base plate is discharged in at least one direction.

[0022] In one embodiment, the treatment tool guide includes a plurality of valleys formed by recesses into which the treatment tools are inserted and positioned, and at least one of the plurality of valleys may be formed linearly so that the treatment tools can be arranged in a straight line.

[0023] The proximal end of each of the upper guide and the lower guide may be formed in a shape corresponding to a roller module connected to the surgical tool control device.

[0024] At least one of the plurality of independent valleys may include a first section curved in one direction from the proximal end of the converging valley at an angle of 60 to 70 degrees with a radius of curvature of 25 to 35 mm, a second section extending longitudinally from the proximal end of the first section by 25 to 35 mm, and a third section curved in the other direction from the proximal end of the second section by an angle of 45 to 55 degrees with a radius of curvature of 25 to 35 mm.

[0025] At least one of the plurality of independent valleys may include a first section curved in one direction from the proximal end of the converging valley at an angle of 35 to 45 degrees with a radius of curvature of 40 to 50 mm, a second section extending longitudinally from the proximal end of the first section by 15 to 25 mm, and a third section curved in the other direction from the proximal end of the second section by an angle of 25 to 35 degrees with a radius of curvature of 40 to 50 mm. [Effects of the Invention]

[0026] According to one embodiment of the connector mount, various surgical tools can be easily and securely held by the surgical tool control device during the process of preparing for percutaneous transluminal coronary intervention using the surgical tool control device.

[0027] According to the connector mounter of one embodiment, it is possible to prevent the placed surgical tool from being detached from the surgical tool control device during a surgical procedure.

[0028] The effects of the connector mounter according to one embodiment are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description. [Brief explanation of the drawings]

[0029] [Figure 1] FIG. 1 is a perspective view of a surgical tool control device according to an embodiment. [Figure 2] FIG. 2 is a plan view of a surgical tool control device according to an embodiment. [Figure 3] 1 is an exemplary usage state diagram of a surgical tool control device according to one embodiment. [Figure 4] FIG. 10 is a front view of a roller module, a part of a surgical tool control device according to one embodiment, seen from the front. [Figure 5] FIG. 1 is a perspective view of a connector mounter according to an embodiment. [Figure 6] FIG. 2 is a perspective view illustrating a state in which each component of the connector mounter according to the embodiment is opened. [Figure 7] FIG. 10 is a perspective view of a lower guide according to one embodiment. [Figure 8] FIG. 10 is a plan view of a lower guide according to one embodiment. [Figure 9] FIG. 10 is a bottom perspective view of an upper guide according to one embodiment. [Figure 10] FIG. 10 is a bottom view of an upper guide according to one embodiment. [Figure 11] FIG. 10 is a front view of a valley with an upper guide covering a lower guide according to one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0030] This patent application claims priority to Patent Application No. 10-2022-0136004, filed October 20, 2022, the entire contents of which are incorporated herein by reference.

[0031] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, various modifications may be made to the embodiments, and the scope of the patent application is not limited or restricted by such embodiments. It should be understood that all modifications, equivalents, and alternatives to the embodiments are included in the scope of the patent.

[0032] The terms used in the embodiments are merely used for the purpose of explanation and are not to be construed as limiting. A singular expression includes a plural expression unless the context clearly indicates otherwise. In this specification, the terms "comprise" or "have" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, and should be understood as not precluding the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0033] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention pertains. Commonly used predefined terms should be interpreted as having a meaning consistent with the meaning they have in the context of the relevant art, and should not be interpreted as having an ideal or overly formal meaning unless expressly defined herein.

[0034] In addition, in the description with reference to the accompanying drawings, the same components are denoted by the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted. In the description of the embodiments, if a detailed description of related known technology is determined to unnecessarily obscure the gist of the embodiments, the detailed description thereof will be omitted.

[0035] Furthermore, when describing components of an embodiment, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are used to distinguish the component from other components, and do not limit the nature, order, or sequence of the components. When a component is described as being "coupled," "coupled," or "connected" to another component, it should be understood that the component may be directly coupled or connected to the other component, but additional components may be "coupled," "coupled," or "connected" between the components.

[0036] Components having common functions to components included in one embodiment will be described using the same names in other embodiments. Unless otherwise specified, the description of one embodiment may also be applied to other embodiments, and detailed description will be omitted to the extent that it overlaps.

[0037] Fig. 1 is a perspective view of a treatment tool control device according to one embodiment. Fig. 2 is a plan view of a treatment tool control device according to one embodiment. Fig. 3 is a diagram showing an exemplary use state of a treatment tool control device according to one embodiment. Fig. 4 is a front view of a roller module, which is a part of a treatment tool control device according to one embodiment.

[0038] 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 grip or release the surgical tool T between each roller module 21 by moving the roller modules 21 in a horizontal direction (e.g., the y direction), which will be described later. The surgical tool control device 100 can achieve forward / backward movement and / or rotation of the surgical tool T by rotating and / or moving the roller modules 21 in a vertical direction (e.g., the z direction). The surgical tool control device 100 may be used, for example, for percutaneous transluminal coronary intervention (PCA). However, this is merely an example, and the use of the surgical tool control device 100 is not limited thereto. The surgical tool T refers to a surgical tool having a longitudinal direction. For example, the surgical tool T may include at least one of a guidewire, a balloon catheter, and a guide catheter, each having a longitudinal direction. However, this is merely an example, and the type of the surgical tool T is not limited thereto.

[0039] Hereinafter, in the description of the surgical tool control device 100, proximal is understood to mean the -x direction side, and distal is understood to mean the +x direction side.

[0040] The surgical tool control device 100 according to one embodiment includes a housing 1 , a drive assembly 2 , a connector mounter 3 , a surgical tool proximal guide 4 , and a rear holder 5 .

[0041] In one embodiment, the housing 1 may form the outer shape of the surgical tool control device 100. The housing 1 may provide an area for supporting the drive assembly 2, connector mounter 3, surgical tool proximal guide 4, and / or rear holder 5. The housing 1 may be connected to, for example, a slave-based robot arm. The surgical tool control device 100 functions as an end effector connected to the slave-based robot arm. The housing 1 may be provided with a switch and / or a handle for adjusting the position and / or tilting of the housing 1. The housing 1 may be provided with a display panel for communicating information to the user regarding how to use the device and / or the device status.

[0042] In one embodiment, the drive assembly 2 can grip and ungrip the surgical tool T. The drive assembly 2 can longitudinally translate and rotate the gripped surgical tool T.

[0043] In one embodiment, the drive assembly 2 includes a plurality of roller modules 21. The roller modules 21 may be provided in at least one pair. For example, as shown in the figure, the roller modules 21 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 side by side. For example, the drive assembly 2 may independently control four treatment tools Ta, Tb, Tc, and Td via five roller modules 21a, 21b, 21c, 21d, and 21e. However, this is merely an example, and the number of roller modules 21 is not limited thereto.

[0044] In one embodiment, a treatment tool T may be held between two adjacent roller modules 21. To this end, at least one roller module 21 may move horizontally toward the other roller modules 21. For example, the second roller module 21b may move horizontally toward the first roller module 21a so that the first treatment tool Ta may be held between the first roller module 21a and the second roller module 21b. In this case, the second treatment tool Tb located between the second roller module 21b and the third roller module 21c may be released from the grip. Conversely, the second roller module 21b may move horizontally toward the third roller module 21c so that the second treatment tool Tb may be held between the second roller module 21b and the third roller module 21c. In this case, the first treatment tool Ta located between the first roller module 21a and the second roller module 21b may be released from the grip.

[0045] Similarly, the fourth roller module 21d can move horizontally toward the third roller module 21c so that the third treatment tool Tc is held between the third roller module 21c and the fourth roller module 21d. In this case, the fourth treatment tool Td located between the fourth roller module 21d and the fifth roller module 21e may be released from grip. Conversely, the fourth roller module 21d can move horizontally toward the fifth roller module 21e so that the fourth treatment tool Td is held between the fourth roller module 21d and the fifth roller module 21e. In this case, the third treatment tool Tc located between the third roller module 21c and the fourth roller module 21d may be released from grip.

[0046] In one embodiment, the drive assembly 2 can achieve forward and backward movement and / or rotation of the surgical tool T through rotation and / or vertical movement of the roller modules 21. For example, when the first roller module 21a and the second roller module 21b are positioned adjacent to each other and hold the first surgical tool Ta therebetween, the first roller module 21a and the second roller module 21b can rotate in one direction or the other to move the first surgical tool Ta held therebetween forward or backward along the longitudinal direction. Also, as shown in FIG. 4, when the first roller module 21a and the second roller module 21b are positioned adjacent to each other and hold the first surgical tool Ta therebetween, the first surgical tool Ta can be rotated by moving at least one of the roller modules 21a and 21b in the vertical direction.

[0047] In one embodiment, the connector mounter 3 may be coupled to the housing 1 so as to be located distally (e.g., on the +x direction side) of the housing 1. The connector mounter 3 may be detachable from the housing 1. The connector mounter 3 may be formed so as to be replaceable as a consumable item. The connector mounter 3 may include, for example, a polycarbonate material. However, this is merely an example, and the material of the connector mounter 3 is not limited thereto.

[0048] In one embodiment, the connector mounter 3 can hold a surgical tool connector C. For example, the surgical tool connector C is configured to hold at least one surgical tool T and guide the path of at least one surgical tool T. For example, the surgical tool connector C may include a Y connector. However, this is merely an example, and the type of the surgical tool connector C is not limited thereto. The connector mounter 3 can guide the path of the surgical tool T passing through the surgical tool connector C.

[0049] In one embodiment, the surgical tool proximal guide 4 can be connected to the housing 1 so as to be located more proximal (e.g., on the −x direction side) than the connector mounter 3. The surgical tool proximal guide 4 is detachable from the housing 1. The surgical tool proximal guide 4 may be formed so as to be replaceable as a consumable item. The surgical tool proximal guide 4 may include, for example, a polycarbonate material. However, this is merely an example, and the material of the surgical tool proximal guide 4 is not limited thereto.

[0050] In one embodiment, the surgical tool proximal guide 4 can guide the path of the surgical tool T held by the drive assembly 2. For example, the surgical tool proximal guide 4 may be coupled to the housing 1 so as to cover at least a portion (e.g., a proximal portion) of the drive assembly 2. The surgical tool proximal guide 4 may include at least one or more channels into which the surgical tool T is inserted and positioned. Each channel may be formed between every two adjacent roller modules 21 of the drive assembly 2.

[0051] In one embodiment, the rear holder 5 may be connected to the housing 1 so as to be located proximal to the housing 1 (e.g., on the -x direction side). The rear holder 5 may hold the position of the surgical tool T. For example, the rear holder 5 may include a clamp structure. For example, one or more rear holders 5 may be provided. The rear holder 5 may be formed to be replaceable as a consumable item. The rear holder 5 may include, for example, a polycarbonate material. However, this is merely an example, and the material of the rear holder 5 is not limited thereto.

[0052] In one embodiment, the connector mounter 3, the surgical tool proximal guide 4, and / or the rear holder 5 can be provided as disposable items in a sealed package after sterilization. The connector mounter 3, the surgical tool proximal guide 4, and / or the rear holder 5 are opened on-site for each procedure and fastened to the housing 1 to hold or guide the paths of multiple surgical tools T. Once the procedure is completed, the connector mounter 3, the surgical tool proximal guide 4, and / or the rear holder 5 are removed from the housing 1 and discarded.

[0053] Fig. 5 is a perspective view of the connector mounter according to one embodiment, and Fig. 6 is a perspective view showing a state in which each component of the connector mounter according to one embodiment is opened.

[0054] 1 to 6, the connector mounter 3 for connection to the surgical tool control device 100 will be described below. In the following description of the connector mounter 3, it is understood that proximal means the -x direction side and distal means the +x direction side.

[0055] The connector mounter 3 according to one embodiment includes a base plate 30, a connector holder 31, and a surgical tool guide 32.

[0056] In one embodiment, the base plate 30 can form the base of the connector mounter 3. The base plate 30 may be formed substantially in a plate shape. The base plate 30 may be formed long so that its longitudinal direction extends from the proximal side (e.g., the -x direction side) to the distal side (e.g., the +x direction side). However, this is merely an example, and the shape of the base plate 30 is not limited thereto. The base plate 30 is connected to the housing 1 of the surgical tool control device 100. The base plate 30 is detachable from the housing 1.

[0057] In one embodiment, the connector holder 31 is configured to hold the surgical tool connector C. The connector holder 31 can be disposed distally (e.g., on the +x direction side) of the base plate 30. For example, the connector holder 31 may be hingedly connected to the distal end portion (e.g., the +x direction end portion) of the base plate 30.

[0058] In one embodiment, the connector holder 31 includes a holder plate 310 , a proximal connector holder 311 , a distal connector holder 315 , and a support link 319 .

[0059] In one embodiment, the holder plate 310 can form a base of the connector holder 31. The holder plate 310 may be formed substantially in a plate shape. The holder plate 310 may be formed long so that its longitudinal direction extends from the proximal side (e.g., the -x direction side) to the distal side (e.g., the +x direction side). However, this is merely an example, and the shape of the holder plate 310 is not limited thereto.

[0060] In one embodiment, the proximal connector holder 311 is configured to hold the surgical tool connector C. The proximal connector holder 311 may be disposed proximal to the holder plate 310 (e.g., on the −x direction side). For example, the proximal connector holder 311 may be fixedly connected to the holder plate 310. However, this is merely an example, and the proximal connector holder 311 may also be detachable from the holder plate 310.

[0061] In one embodiment, the proximal connector holder 311 includes a lower proximal connector holder 312, an upper proximal connector holder 313, and a fastening hook 314. The lower proximal connector holder 312 is connected to the holder plate 310. For example, the lower proximal connector holder 312 may be formed integrally with the holder plate 310. The upper proximal connector holder 313 may be hingedly connected to the lower proximal connector holder 312. The upper proximal connector holder 313 can rotate between a state in which it covers the upper side (e.g., the +z direction side) of the lower proximal connector holder 312 by the hinge and a state in which it opens the upper side (e.g., the +z direction side) of the lower proximal connector holder 312. Grooves 3121 and 3131 into which the surgical tool connector C is inserted and positioned are formed in the lower proximal connector holder 312 and the upper proximal connector holder 313. The grooves 3121 and 3131 are formed to have shapes that substantially correspond to the shapes of the surgical tool connectors C. With the surgical tool connector C positioned in the groove 3121 formed in the lower proximal connector holder 312, the upper proximal connector holder 313 can rotate to cover the lower proximal connector holder 312. With the upper proximal connector holder 313 covering the lower proximal connector holder 312, the upper proximal connector holder 313 and the lower proximal connector holder 312 are fastened to each other by the fastening hooks 314. With this structure, the surgical tool connector C can be stably held between the lower proximal connector holder 312 and the upper proximal connector holder 313. However, this is merely an example, and the fastening method of the lower proximal connector holder 312 and the upper proximal connector holder 313 is not limited thereto. For example, the lower proximal connector holder 312 and the upper proximal connector holder 313 can also be fastened to each other using magnets.

[0062] In one embodiment, the distal connector holder 315 is configured to hold the surgical tool connector C and / or the surgical tool T (e.g., a guidewire) connected to the distal end (e.g., the +x-direction end) of the surgical tool connector C. The distal connector holder 315 can be disposed distally (e.g., on the +x-direction side) of the holder plate 310. For example, the distal connector holder 315 can be detachably connected to the holder plate 310. For example, the distal connector holder 315 can be detachably attached to the holder plate 310 using a magnet. This structure improves versatility by allowing the attachment position and / or direction of the distal connector holder 315 to be changed, the distal connector holder 315 to be removed, or another type of distal connector holder 315 to be attached and used depending on the type of surgical tool connector C and / or surgical tool T. However, this is merely an example, and the distal connector holder 315 can also be fixedly connected to the holder plate 310.

[0063] In one embodiment, the distal connector holder 315 includes a lower distal connector holder 316 and an upper distal connector holder 317. The lower distal connector holder 316 is connected to the holder plate 310. For example, the lower distal connector holder 316 can be attached and detached to the holder plate 310 by a magnet. The upper distal connector holder 317 may be hingedly connected to the lower distal connector holder 316. The upper distal connector holder 317 can rotate between a state in which it covers the upper side (e.g., the +z direction side) of the lower distal connector holder 316 by the hinge and a state in which it opens the upper side (e.g., the +z direction side) of the lower distal connector holder 316. The lower distal connector holder 316 and the upper distal connector holder 317 are formed with grooves 3161, 3171 into which the surgical tool connector C and / or the surgical tool T are inserted and positioned. The grooves 3161, 3171 may be formed in shapes that substantially correspond to the shapes of the surgical tool connector C and / or the surgical tool T. With the surgical tool connector C and / or the surgical tool T positioned in the groove 3161 formed in the lower distal connector holder 316, the upper distal connector holder 317 can rotate to cover the lower distal connector holder 316. For example, with the upper distal connector holder 317 covering the lower distal connector holder 316, a magnet built into the upper distal connector holder 317 can be attached to a magnet built into the holder plate 310 (or a magnet built into the lower distal connector holder 316), thereby maintaining the upper distal connector holder 317 covering the lower distal connector holder 316. With this structure, the surgical tool connector C and / or the surgical tool T can be stably held between the lower distal connector holder 316 and the upper distal connector holder 317. However, this is merely an example, and the fastening method of the lower distal connector holder 316 and the upper distal connector holder 317 is not limited thereto. For example, the lower distal connector holder 316 and the upper distal connector holder 317 can be fastened to each other via fastening hooks.

[0064] In one embodiment, the holder plate 310 may be hingedly connected to a distal end (e.g., end in the +x direction) of the base plate 30. For example, the distal end (e.g., end in the +x direction) of the holder plate 310 and the distal end (e.g., end in the +x direction) of the base plate 30 may be hingedly connected to each other. With respect to the distal end (e.g., end in the +x direction) of the base plate 30 as a reference, the proximal end (e.g., end in the -x direction) of the holder plate 310 is lifted upward (e.g., in the +z direction) relative to the base plate 30. For example, the holder plate 310 may be lifted by an angle ranging from 0 to 6 degrees. However, this is merely an example, and the angle by which the holder plate 310 is lifted is not limited thereto. With this structure, a user can lift the connector holder 31 upward (e.g., in the +z direction) relative to the base plate 30 by a predetermined angle.

[0065] In one embodiment, the support link 319 may be hingedly connected to the holder plate 310. For example, the support link 319 may be hingedly connected to the distal end (e.g., the +x-direction side) of the holder plate 310 so as to be adjacent to the distal connector holder 315. As shown in FIG. 6 , when the holder plate 310 is lifted upward (e.g., the +z-direction side) relative to the base plate 30, the end of the support link 319 hooks onto the support jaw 301 formed on the base plate 30 so as to maintain the lifted state of the holder plate 310. With this structure, when a user lifts the connector holder 31 upward (e.g., the +z-direction side) relative to the base plate 30, the state is maintained. In this state, the user can perform an operation such as inserting a surgical tool T into the proximal end (e.g., the -x-direction end) of the surgical tool connector C. When the operation is completed, the user can return the connector holder 31 to its original position by lifting the support link 319 from the support jaw 301 while it is caught in the support jaw 301. With this structure, even when the surgical tool connector C is held in the proximal connector holder 311 and / or the distal connector holder 315, the user can lift the surgical tool connector C and perform operations such as inserting the surgical tool T into the surgical tool connector C, thereby improving user convenience. Meanwhile, the support jaw 301 shown in the drawings is merely exemplary, and multiple support jaws 301 may be formed at different positions so that the holder plate 310 can be fixed at various angles.

[0066] In one embodiment, the base plate 30 includes a discharge guide 302. The discharge guide 302 may be formed on an upper surface (e.g., the +x-direction surface) of the base plate 30 so that foreign matter (e.g., blood) falling from the surgical tool T onto the base plate 30 is discharged in at least one direction. For example, the discharge guide 302 may be formed between the proximal connector holder 311 and the surgical tool guide 32. The discharge guide 302 may be formed to protrude from an upper surface (e.g., the +x-direction surface) of the base plate 30 so as to form a dam 3021 with at least one open side. A separate waste disposal box may be disposed at the open end of the dam 3021. For example, when the surgical tool T inserted into a blood vessel is removed from the blood vessel, foreign matter such as blood may adhere to the surgical tool T. Here, the foreign matter adhering to the surgical tool T falls into the dam 3021 formed on the upper surface (e.g., the +x-direction surface) of the base plate 30. For example, during treatment, foreign matter such as blood may flow out from the inlet of the treatment tool connector C and fall into a dam 3021 formed on the upper surface (e.g., the +x direction surface) of the base plate 30. The foreign matter such as blood that has fallen into the dam 3021 can be discharged by flowing in one direction by the discharge guide 302.

[0067] This structure can prevent the surgical tool control device 100 from being contaminated by foreign matter (eg, blood) generated during the surgical procedure.

[0068] Figure 7 is a perspective view of a lower guide according to an embodiment. Figure 8 is a plan view of a lower guide according to an embodiment. Figure 9 is a bottom perspective view of an upper guide according to an embodiment. Figure 10 is a bottom view of an upper guide according to an embodiment. Figure 11 is a front view of a valley with an upper guide covering a lower guide according to an embodiment.

[0069] A surgical tool guide 32 according to one embodiment will be described below with reference to Figures 1 to 11. In the following description of the surgical tool guide 32, it is understood that proximal means the -x direction side, and distal means the +x direction side.

[0070] In one embodiment, the surgical tool guide 32 is configured to guide the path of the surgical tool T passing through the surgical tool connector C. The surgical tool guide 32 is disposed proximal to the base plate 30 (for example, on the −x direction side).

[0071] In one embodiment, the surgical tool guide 32 includes a lower guide 33 , an upper guide 34 , and a fastening hook 35 .

[0072] In one embodiment, the lower guide 33 can be disposed proximal (e.g., on the −x direction side) of the base plate 30. For example, the lower guide 33 may be fixedly coupled to the proximal end (e.g., the −x direction end) of the base plate 30. For example, the lower guide 33 may be formed integrally with the base plate 30.

[0073] In one embodiment, the upper guide 34 may be hingedly connected to the lower guide 33. The upper guide 34 may rotate between a state in which it covers the upper side (e.g., the +z direction side) of the lower guide 33 by the hinge and a state in which it opens the upper side (e.g., the +z direction side) of the lower guide 33.

[0074] In one embodiment, the fastening hooks 35 can fasten the lower guide 33 and the upper guide 34 to each other. In a state in which the upper guide 34 covers an upper side (e.g., the +z direction side) of the lower guide 33, the fastening hooks 35 can fasten the lower guide 33 and the upper guide 34 to each other. The fastening hooks 35 may maintain the state in which the upper guide 34 covers the upper side (e.g., the +z direction side) of the lower guide 33. However, this is merely an example, and the state in which the upper guide 34 covers the upper side (e.g., the +z direction side) of the lower guide 33 may be maintained by a magnet.

[0075] In one embodiment, the lower guide 33 includes a lower body 330 , a valley 331 , a rib insertion groove 332 , a protruding wall 333 , an alignment groove 334 , and a gripping guide portion 335 .

[0076] In one embodiment, the lower body 330 may form the outer shape of the lower guide 33. The lower body 330 may be disposed proximal to the base plate 30 (e.g., on the −x direction side). For example, the lower body 330 may be fixedly connected to the proximal end (e.g., the −x direction end) of the base plate 30. For example, the lower body 330 may be formed integrally with the base plate 30. The lower body 330 may be connected to the base plate 30 with a step on the upper side (e.g., in the +z direction) so that the lower body 330 is positioned above the base plate 30 (e.g., in the +z direction). The proximal end (e.g., the −x direction end) of the lower body 330 is formed in a shape that does not interfere with the drive assembly 2. For example, the proximal end (e.g., the −x direction end) of the lower body 330 may be formed in a shape that corresponds to the roller module 21 of the drive assembly 2 so that the roller module 21 is inserted and positioned therein.

[0077] In one embodiment, the valley 331 is a space into which the surgical tool T is inserted. The valley 331 is recessed into the upper surface (e.g., the +z direction surface) of the lower body 330. The valley 331 includes a plurality of valleys. For example, the valley 331 includes a plurality of independent valleys 3311 and a converging valley 3312. The plurality of independent valleys 3311 may be formed independently and spaced apart from one another. The plurality of independent valleys 3311 extend from a proximal end (e.g., the -x direction end) of the lower body 330 toward a distal end (e.g., the +x direction side) thereof. For example, the plurality of independent valleys 3311 include a first independent valley 3311a, a second independent valley 3311b, a third independent valley 3311c, and a fourth independent valley 3311d. However, this is merely an example, and the number of independent valleys 3311 is not limited thereto. The converging valley 3312 is formed when the plurality of independent valleys 3311 converge into one. The converging valley 3312 can be formed distally (e.g., on the +x-direction side) of the lower body 330. For example, the converging valley 3312 communicates with the multiple independent valleys 3311 and extends to the distal end (e.g., the +x-direction end) of the lower body 330.

[0078] In one embodiment, any one of the plurality of independent valleys 3311 may be arranged on the same straight line as the converging valley 3312. For example, as shown in FIG. 8 , the second independent valley 3311b may be arranged on the same straight line as the converging valley 3312. According to this structure, a treatment tool T may be arranged on at least one of the plurality of valleys 331. However, this is merely an example, and the independent valleys 3311 arranged on the same straight line as the converging valley 3312 are not limited to this. The remaining independent valleys 3311 (e.g., the first independent valley 3311a, the third independent valley 3311c, and / or the fourth independent valley 3311d) may be curved to converge toward the converging valley 3312. For example, the first independent valley 3311a, the third independent valley 3311c, and / or the fourth independent valley 3311d may be curved once or twice. For example, the fourth independent valley 3311d extends proximally (e.g., in the -x direction) from the converging valley 3312 and includes a first section curved in one direction (e.g., in the +y direction) from the converging valley 3312 at an angle of 60 to 70 degrees with a radius of curvature of 25 mm to 35 mm, a second section extending longitudinally from the first section by 25 mm to 35 mm, and a third section curved in the other direction (e.g., in the -y direction) from the second section by an angle of 45 to 55 degrees with a radius of curvature of 25 mm to 35 mm. For example, the third independent valley 3311c may extend proximally (e.g., in the -x direction) from the converging valley 3312 and include a first section curved in one direction (e.g., in the +y direction) from the converging valley 3312 at an angle of 35° to 45° with a radius of curvature of 40 mm to 50 mm, a second section extending longitudinally from the first section by 15 mm to 25 mm, and a third section curved in the other direction (e.g., in the -y direction) at an angle of 25° to 35° with a radius of curvature of 40 mm to 50 mm. For example, the first independent valley 3311a may be formed substantially symmetrically with the third independent valley 3311c about the second independent valley 3311b. Due to this shape, even if some of the independent valleys 3311 are formed curved, when the driving force is transmitted from the driving assembly 2 to the treatment tool T inserted into the independent valley 3311, the driving force can be transmitted smoothly along the longitudinal direction without the treatment tool T being distorted in the curved direction.However, this is merely an example, and the shape of each independent valley 3311 is not limited to this.

[0079] In one embodiment, the valley 331 (e.g., the independent valley 3311 and / or the converging valley 3312 shown in FIG. 9 ) includes a first space 331a and a second space 331b. The first space 331a is a space whose width narrows downward (e.g., in the −z direction). For example, the first space 331a may have a substantially triangular cross section whose width narrows downward (e.g., in the −z direction). The second space 331b is located below the first space 331a (e.g., in the −z direction) and may communicate with the first space 331a. The second space 331b is a space whose width is maintained constant. For example, the second space 331b may have a substantially rectangular cross section.

[0080] In one embodiment, the upper portion (e.g., the portion in the +z direction) of the first space 331a is relatively wide, thereby improving the user's convenience when inserting the treatment tool T into the valley 331. In addition, the width of the first space 331a narrows toward the lower portion (e.g., the -z direction), so the treatment tool T inserted into the upper portion (e.g., the portion in the +z direction) of the first space 331a is naturally guided and placed in the second space 331b. During treatment, the treatment tool T may move forward, backward, and / or rotate within the second space 331b. Because the second space 331b is formed with the same width, the frequency of the treatment tool T coming into contact with the inner wall of the valley 331 when the treatment tool T moves forward, backward, and / or rotates within the second space 331b may be reduced.

[0081] In one embodiment, the protruding wall 333 may be formed to protrude upward (e.g., in the +z direction) from the lower body 330 at a position where the valley 331 curves. For example, the protruding wall 333 may be formed on the inner side of the curve where the valley 331 curves. For example, the protruding wall 333 may be formed according to the curved shape of the valley 331. For example, a plurality of protruding walls 333 may be formed. When a user inserts a treatment tool T into the curved valley 331, the protruding wall 333 guides the treatment tool T to bend the treatment tool T to fit the shape of the curved valley 331. For example, because the protruding wall 333 is formed on the inner side of the curve of the valley 331, the user can hang the treatment tool T on the protruding wall 333 and bend the treatment tool T to fit the shape of the valley 331. The protruding wall 333 may prevent the treatment tool T inserted into the valley 331 from bouncing off the valley 331 due to its own elasticity at the curved portion. Meanwhile, in a state where the upper guide 34 covers the upper side (e.g., the +z direction side) of the lower guide 33, a wall-passing hole 343 may be formed in the upper body 340 of the upper guide 34 so that the upper guide 34 does not interfere with the protruding wall 333 of the lower guide 33. However, this is merely an example, and the wall-passing hole 343 may be omitted depending on the height and / or position of the protruding wall 333.

[0082] In one embodiment, the grip guide portion 335 may be formed by recessing at least a portion of the distal end (e.g., the +x-direction end) of the lower body 330. The grip guide portion 335 may be formed on both sides (e.g., the +y- and −y-direction sides) of the convergent valley 3312, spaced apart from the convergent valley 3312. For example, as shown in FIG. 7 , the grip guide portion 335 may be formed by recessing an upper corner (e.g., the +z-direction side) of the distal end (e.g., the +x-direction end) of the lower body 330. The grip guide portion 335 may be formed with a substantially diagonal inclination. When a user attempts to lift the surgical tool connector C while the surgical tool connector C is held in the connector holder 31, the grip guide portion 335 reduces interference between the user's fingers and the lower body 330. For example, in order to lift the surgical tool connector C while it is held in the connector holder 31, the user can insert his / her fingers into the space formed by the grip guide portion 335 and grip the proximal end (e.g., the end in the -x direction) of the surgical tool connector C. This structure can improve user convenience.

[0083] In one embodiment, the upper guide 34 includes an upper body 340 , a blade 341 , a rib 342 , a wall through-hole 343 , and an alignment protrusion 344 .

[0084] In one embodiment, the upper body 340 can form the outer shape of the upper guide 34. The upper body 340 may be hingedly connected to the lower body 330. The proximal end (e.g., the end in the -x direction) of the upper body 340 may be formed in a shape that does not interfere with the drive assembly 2. For example, the proximal end (e.g., the end in the -x direction) of the upper body 340 may be formed in a shape that corresponds to the roller module 21 of the drive assembly 2 so that the roller module 21 is inserted and positioned therein. For example, the upper body 340 may be formed in a shape that substantially corresponds to the shape of the lower body 330.

[0085] In one embodiment, the blade 341 is configured to close the open upper portion (e.g., the portion in the +z direction) of the valley 331. The blade 341 may be formed to protrude from the lower portion (e.g., the portion in the -z direction) of the upper body 340. The blade 341 may be formed in a shape that substantially corresponds to the valley 331. The protruding length of the blade 341 is smaller than the recessed depth of the valley 331. For example, the protruding length of the blade 341 may be greater than the depth of the first space 331a but less than the entire depth of the valley 331. For example, the width of the blade 341 may be smaller than the second space 331b. When the upper guide 34 covers the upper side (e.g., the +z direction) of the lower guide 33, the blade 341 may close the open upper portion (e.g., the portion in the +z direction) of the valley 331. According to this structure, with the upper guide 34 covering the upper side (e.g., the +z direction side) of the lower guide 33, the valley 331 and the blade 341 can form a channel in which the surgical tool T is placed. The surgical tool T can be placed in the channel formed by the valley 331 and the blade 341, and its path can be guided along the channel.

[0086] In one embodiment, the ribs 342 may be formed to protrude from both sides of the blade 341. For example, the ribs 342 may be formed in a direction perpendicular to the longitudinal direction of the blade 341. For example, as shown in FIG. 11 , the ribs 342 may be formed to protrude further downward (e.g., in the −z direction) as they move away from the blade 341. At least one rib 342 may be formed. The plurality of ribs 342 may be spaced apart along the longitudinal direction of the blade 341. With the upper guide 34 covering the upper side (e.g., the +z direction side) of the lower guide 33, the ribs 342 are inserted into the rib insertion grooves 332 formed in the lower body 330. The rib insertion grooves 332 are formed in positions, shapes, and / or numbers corresponding to the ribs 342. The rib 342 can prevent the treatment tool T from being pinched between the blade 341 and the valley 331 when the user covers the upper guide 34 over the lower guide 33 (e.g., the +z direction side) with the treatment tool T positioned in the valley 331. The rib 342 protrudes further downward (e.g., in the -z direction) as it moves away from the blade 341, so that the rib 342 can guide the treatment tool T so that the treatment tool T gathers on the blade 341 side when the user covers the upper guide 34 over the lower guide 33 (e.g., the +z direction side).

[0087] In one embodiment, among the at least one rib 342, a proximal rib 342a formed at the proximal end (e.g., the end in the −x direction) of the upper guide 34 may be formed in a shape corresponding to the shape of the proximal end (e.g., the end in the −x direction) of the lower body 330. For example, the proximal rib 342a may be formed in a shape corresponding to the outer contour of the proximal end (e.g., the end in the −x direction) of the lower body 330 when viewed from a plane (e.g., the +z direction). This structure can prevent the surgical tool T from jumping out from the proximal end (e.g., the end in the −x direction) of the valley 331 and being pinched by the blade 341 when the user covers the upper guide 34 over the upper side (e.g., the +z direction) of the lower guide 33.

[0088] In one embodiment, the alignment protrusions 344 may be formed to protrude from a lower portion (e.g., a portion in the -z direction) of the upper body 340. When the upper guide 34 covers an upper side (e.g., a side in the +z direction) of the lower guide 33, the alignment protrusions 344 may be inserted into alignment grooves 334 formed in the lower body 330. The alignment grooves 334 are formed in positions, shapes, and / or numbers corresponding to the alignment protrusions 344. When a user covers the upper side (e.g., a side in the +z direction) of the lower guide 33 with the upper guide 34, the alignment protrusions 344 are inserted into the alignment grooves 334, thereby aligning the positions of the upper guide 34 and the lower guide 33.

[0089] Although the embodiments of the present invention have been described above in detail with reference to the drawings, the present invention is not limited to the above-described embodiments, and a person skilled in the art can apply various technical modifications and variations based on the above. For example, the described techniques may be performed in an order different from that described, and / or the components of the described systems, structures, devices, circuits, etc. may be combined or combined in a form different from that described, or may be replaced or substituted with other components or equivalents, and still achieve appropriate results.

[0090] Accordingly, other implementations, other embodiments, and equivalents of the claims are within the scope of the following claims. [Explanation of symbols]

[0091] 100: Treatment tool control device 1: Housing 2: Drive assembly 3: Connector mounter 4: Proximal guide for surgical tools 30: Base plate 31: Connector holder 32: Treatment Tool Guide

Claims

1. A connector mounter connected to a surgical tool control device, A base plate and a connector holder located distal to the base plate for holding a surgical tool connector; a surgical tool guide located proximal to the base plate for guiding the path of a surgical tool passing through the surgical tool connector; Includes a connector mounter.

2. The connector holder includes: a holder plate hingedly connected to a distal end of the base plate; a proximal holder located proximal to the holder plate for holding the surgical tool connector; The connector mounter of claim 1 , comprising:

3. The connector mounter of claim 2, wherein the connector holder further includes a distal holder positioned distal to the holder plate for holding a distal end of the surgical tool connector or for holding a surgical tool connected to the distal end of the surgical tool connector.

4. The connector mounter according to claim 3 , wherein the distal holder is detachable from the holder plate.

5. the connector holder further includes a support link hingedly connected to the holder plate; 3. The connector mounter according to claim 2, wherein when the holder plate is lifted upward relative to the base plate, an end of the support link is caught in a support jaw formed on the base plate so that the holder plate is maintained in a lifted state.

6. The treatment tool guide is a lower guide located proximal to the base plate; an upper guide hingedly connected to the lower guide; The connector mounter of claim 1 , comprising:

7. The lower guide is a lower body located proximal to the base plate; a valley formed by being recessed in the lower body so that the treatment tool can be inserted and positioned therein; Including, The upper guide is an upper body hingedly connected to the lower body; a blade protruding from a lower portion of the upper body to close the open upper portion of the valley; The connector mounter of claim 6, comprising:

8. The upper guide further includes at least one rib formed to protrude downward from both sides of the blade so as to protrude further downward as it moves away from the blade; The connector mounter according to claim 7 , wherein the lower guide further includes at least one rib insertion groove formed in the lower body for inserting the at least one rib therein.

9. The connector mounter according to claim 8 , wherein the at least one rib formed on the proximal end of the upper guide is formed in a shape corresponding to a shape of the proximal end of the lower body.

10. The valley is A plurality of independent valleys formed independently of each other; a converging valley formed distally of the lower body such that the plurality of independent valleys converge into one; The connector mounter of claim 7, comprising:

11. The connector mounter according to claim 10 , wherein any one of the plurality of independent valleys is formed to be located on the same straight line as the converging valley.

12. The valley is A first space whose width narrows toward the bottom; a second space below the first space and having the same width; The connector mounter of claim 7, comprising:

13. The connector mounter according to claim 7 , wherein the lower guide further includes a gripping guide portion formed by recessing at least a portion of the distal end portion of the lower body.

14. The connector mounter according to claim 7 , wherein the lower guide further includes a protruding wall formed to protrude upward from the lower body at a position where the valley curves.

15. The connector mounter according to claim 1 , wherein the base plate includes a discharge guide formed on an upper surface of the base plate so that foreign matter dropping from the surgical tool onto the base plate is discharged in at least one direction.

16. The surgical tool guide includes a plurality of valleys formed by being recessed so that the surgical tool can be inserted and positioned therein, The connector mounter according to claim 1 , wherein at least one of the plurality of valleys is formed in a linear shape so that the surgical tool is arranged in a straight line.

17. The connector mounter according to claim 6 , wherein the proximal end portions of the upper guide and the lower guide are formed in a shape corresponding to a roller module connected to the surgical tool control device.

18. At least one of the plurality of independent valleys is a first section curved in one direction from the proximal end of the converging valley at an angle of 60 to 70 degrees with a radius of curvature of 25 to 35 mm; a second section extending longitudinally from the proximal end of the first section by 25 mm to 35 mm; a third section curved in another direction from the proximal end of the second section at an angle of 45 to 55 degrees with a radius of curvature of 25 to 35 mm; The connector mounter of claim 10, comprising:

19. At least one of the plurality of independent valleys is a first section curved in one direction from the proximal end of the converging valley at an angle of 35 to 45 degrees with a radius of curvature of 40 to 50 mm; a second section extending longitudinally from the proximal end of the first section by 15 mm to 25 mm; a third section curved in another direction from the proximal end of the second section at an angle of 25 to 35 degrees with a radius of curvature of 40 to 50 mm; The connector mounter of claim 10, comprising:

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