Treatment tool control system

Abstract

According to one embodiment, the surgical tool control system includes a drive assembly including a first roller module and a second roller module arranged in parallel to hold a surgical tool therebetween, an operation assembly into which a command to be transmitted to the drive assembly is input from a user, and a processor that controls the operation of the drive assembly according to a selected mode, wherein when a first mode is selected, the processor rotates the first roller module and the second roller module so that the surgical tool moves forward / backward in response to the input user command, or moves at least one of the first roller module and the second roller module vertically so that the surgical tool rotates, and when a second mode is selected, the processor continuously moves at least one of the first roller module and the second roller module vertically so that the surgical tool continuously rotates.

Description

[Technical Field]

[0001] The following embodiments relate to a surgical tool control system. [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] 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 surgical tool control system with improved ease of operation.

[0006] An object of one embodiment is to provide a surgical tool control system that allows for easy access to the lesion site. [Means for solving the problem]

[0007] According to one embodiment, the surgical tool control system includes a drive assembly including a first roller module and a second roller module arranged in parallel so that a surgical tool can be held therebetween; an operation assembly into which a command to be transmitted to the drive assembly is input from a user; and a processor that controls the operation of the drive assembly according to a selected mode. When a first mode is selected, the processor rotates the first roller module and the second roller module so that the surgical tool moves forward / backward in response to the input user command, or moves at least one of the first roller module and the second roller module vertically so that the surgical tool rotates. When a second mode is selected, the processor can continuously move at least one of the first roller module and the second roller module vertically so that the surgical tool continuously rotates.

[0008] When the second mode is selected, when the drive assembly reaches a limit at which it can no longer rotate the surgical tool in one direction, the processor can continuously move at least one of the first roller module and the second roller module vertically so that the surgical tool continues to rotate in the other direction opposite to the one direction.

[0009] When the second mode is selected, if a command to move the treatment tool forward or backward is input to the operating assembly, the processor can rotate the first roller module and the second roller module so that the treatment tool moves forward or backward in response to the user's command input while the treatment tool is continuously rotating.

[0010] When the second mode is selected, the operation assembly may receive a command for at least one of a speed at which the surgical tool continuously rotates and a speed at which the surgical tool moves forward or backward.

[0011] The operating assembly may include an operating handle that is movable forward / backward along a first axis and rotatable about the first axis.

[0012] When the second mode is selected, if the operating handle is rotated in one direction or the other around the first axis, the processor can decrease or increase the speed at which the surgical tool is continuously rotated.

[0013] When the second mode is selected, if the operating handle is rotated in one direction or the other around the first axis, the processor can decrease or increase the speed at which the treatment tool is continuously rotated in proportion to the rotation angle of the operating handle.

[0014] When the second mode is selected, if the operating handle is rotated in one direction or the other around the first axis, the processor can discretely decrease or increase the speed at which the treatment tool is continuously rotated depending on the section to which the rotation angle of the operating handle belongs.

[0015] When the second mode is selected, the processor can change the speed at which the surgical tool is advanced or retracted in proportion to the stroke at which the operating handle is advanced or retracted along the first axis.

[0016] When the second mode is selected, the processor can discretely change the speed at which the surgical tool is moved forward or backward depending on the section to which the stroke in which the operating handle is moved forward or backward along the first axis belongs.

[0017] The manipulation assembly may include a jog wheel rotatable in discrete first angular increments about a second axis.

[0018] When the second mode is selected, the processor can discretely decrease or increase the speed at which the treatment tool is continuously rotated by a first magnitude each time the jog wheel rotates by the first angle in one direction or the other around the second axis.

[0019] When the second mode is selected and a pause command is input by the user, the processor can stop the vertical movement of the first roller module and the second roller module so that the rotation of the treatment tool stops.

[0020] When the second mode is selected, each time the jog wheel rotates in one direction or the other about the second axis by the first angle, the processor can generate a signal to move the treatment tool forward or backward by a first pitch.

[0021] When the second mode is selected, the processor can vary the speed at which the treatment tool is continuously rotated according to a predetermined pattern. [Effects of the Invention]

[0022] According to an embodiment of the treatment tool control system, the convenience of operation for the user can be improved.

[0023] According to the surgical tool control system of one embodiment, it is possible to easily enter the lesion site.

[0024] The effects of the treatment tool control system 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]

[0025] [Figure 1] 1 is a schematic perspective view of a surgical tool control system according to one embodiment. FIG. [Figure 2]FIG. 1 is a perspective view of a drive assembly according to one embodiment. [Figure 3] FIG. 1 is a plan view of a drive assembly according to one embodiment. [Figure 4] FIG. 10 is a view illustrating a state in which a drive assembly according to one embodiment is used. [Figure 5] 10 illustrates a process in which a roller module of a drive assembly advances and retracts a surgical tool according to one embodiment. [Figure 6] 10 illustrates how a roller module of a drive assembly rotates a surgical tool, according to one embodiment. [Figure 7] FIG. 1 is a perspective view of an operating assembly according to one embodiment. [Figure 8] 1 is a schematic perspective view illustrating the entry of a surgical tool into the site of an exemplary chronic occlusive lesion. DETAILED DESCRIPTION OF THE INVENTION

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] FIG. 1 is a schematic perspective view of a surgical tool control system according to one embodiment.

[0034] 1, a surgical tool control system 1 according to one embodiment receives an operation command from a user and drives a surgical tool in accordance with the input command. For example, the surgical tool control system 1 may be used for percutaneous transluminal coronary intervention (PCI). However, this is merely an example, and the use of the surgical tool control system 1 is not limited thereto.

[0035] In one embodiment, the treatment tool control system 1 includes a master part 10 and a slave part 20. The master part 10 can receive commands from a user and display information to the user. The slave part 20 can receive commands from the master part 10 and drive a treatment tool according to the received commands. For example, the slave part 20 is located in a treatment space equipped with an X-ray device, and the master part 10 is located in a shielded space separated from the treatment space. Since the user can input commands through the master part 10 in the shielded space, they are not exposed to radiation from X-ray imaging.

[0036] In one embodiment, the master part 10 includes a display 11, a manipulation assembly 12, and a processor (not shown). The display 11 can provide visual information to a user. For example, the display 11 can display information about the slave part 20 or an X-ray image. The display 11 receives input from a user via a touch panel. The manipulation assembly 12 receives commands from the user to operate a surgical tool. The commands input via the manipulation assembly 12 are transmitted to the processor, and the processor can control the drive assembly 23 in accordance with the input commands.

[0037] In one embodiment, a processor (not shown) can control the operation of the drive assembly 23 according to the selected mode. For example, the processor may include a CPU and / or a memory. The processor is provided in the master part 10, but this is an example, and some or all of the processor may be provided in the slave part 20. The user can select the treatment tool control mode via the display 11 and / or the operation assembly 12. For example, the treatment tool control mode may include a first mode and a second mode. A detailed description of the first mode and the second mode will be provided later.

[0038] In one embodiment, the slave part 20 includes a slave base 21, an arm 22, and a drive assembly 23. The slave base 21 provides a base on which the slave part 20 is mounted. The drive assembly 23 is connected to the slave base 21 via at least one arm 22. For example, the at least one arm 22 may connect the drive assembly 23 to the slave base 21 via a link structure. The position of the drive assembly 23 relative to the slave base 21 is adjusted by the at least one arm 22. At least one surgical tool may be attached to the drive assembly 23. The drive assembly 23 drives the attached at least one surgical tool. For example, the drive assembly 23 can move the surgical tool forward, backward, or rotate. The drive assembly 23 receives commands from the master part 10 and can drive the at least one surgical tool in response to the transmitted commands.

[0039] Figure 2 is a perspective view of a drive assembly according to one embodiment. Figure 3 is a plan view of a drive assembly according to one embodiment. Figure 4 is a view of a drive assembly according to one embodiment in use. Figure 5 illustrates a process in which a roller module of a drive assembly according to one embodiment moves a surgical tool forward and backward. Figure 6 illustrates a process in which a roller module of a drive assembly according to one embodiment rotates a surgical tool.

[0040] 2 to 6, the drive assembly 23 can independently control a plurality of surgical tools T. Here, the surgical tool T refers to a surgical tool having a longitudinal direction. For example, the surgical tool T may include various surgical tools having a longitudinal direction, such as a guide wire or a balloon catheter. However, this is merely an example, and the type of the surgical tool T is not limited thereto.

[0041] In one embodiment, the drive assembly 23 includes a plurality of roller modules 231. At least one pair of roller modules 231 may be provided. For example, as shown in the figure, the roller modules 231 include a first roller module 231a, a second roller module 231b, a third roller module 231c, a fourth roller module 231d, and a fifth roller module 231e. However, this is merely an example, and the number of roller modules 231 is not limited thereto. The plurality of roller modules 231 may also be arranged in parallel with one another.

[0042] In one embodiment, a treatment tool T may be held between two adjacent roller modules 231. To this end, at least one roller module 231 may move horizontally toward the other roller modules 231. For example, as shown in FIG. 4, the second roller module 232b may move horizontally toward the first roller module 231a so that the first treatment tool Ta may be held between the first roller module 231a and the second roller module 231b. In this case, the second treatment tool Tb located between the second roller module 231b and the third roller module 231c is released from the grip. Conversely, the second roller module 231b may move horizontally toward the third roller module 231c so that the second treatment tool Tb may be held between the second roller module 231b and the third roller module 231c. In this case, the first treatment tool Ta located between the first roller module 231a and the second roller module 231b is released from the grip.

[0043] Similarly, the fourth roller module 231d can move horizontally toward the third roller module 231c so that the third treatment tool Tc is held between the third roller module 231c and the fourth roller module 231d. In this case, the fourth treatment tool Td located between the fourth roller module 231d and the fifth roller module 231e is released from its grip. Conversely, the fourth roller module 231d can move horizontally toward the fifth roller module 231e so that the fourth treatment tool Td is held between the fourth roller module 231d and the fifth roller module 231e. In this case, the third treatment tool Tc located between the third roller module 231c and the fourth roller module 231d is released from its grip.

[0044] In one embodiment, the drive assembly 23 can achieve forward / backward movement and rotation of the surgical tool T through rotation and vertical movement of the roller module 231. Specifically, as shown in FIG. 5, when the first roller module 231a and the second roller module 231b are positioned adjacent to each other and hold the first surgical tool Ta therebetween, the first roller module 231a and the second roller module 231b rotate in one direction or the other, thereby moving the first surgical tool Ta held therebetween forward or backward along the longitudinal direction. Also, as shown in FIG. 6, when the first roller module 231a and the second roller module 231b are positioned adjacent to each other and hold the first surgical tool Ta therebetween, at least one of the roller modules 231a and 231b moves in the vertical direction, thereby rotating the first surgical tool Ta held therebetween.

[0045] FIG. 7 is a perspective view of an operating assembly according to one embodiment.

[0046] 1 and 7, in one embodiment, the operation assembly 12 receives commands to be transmitted to the drive assembly 23. The commands received via the operation assembly 12 are transmitted to a processor, which can control the drive assembly 23 in accordance with the received commands. The operation assembly 12 includes a base housing 121, an operation handle 122, and a jog wheel 123.

[0047] In one embodiment, the base housing 121 can form at least a part of the exterior of the operation assembly 12. The base housing 121 can be fixedly attached to the master part 10. The base housing 121 can provide a space in which various components are disposed inside. For example, components such as shafts, gears, motors, wires, and / or freewheels can be disposed inside the base housing 121. However, this is merely an example, and the configuration disposed inside the base housing 121 is not limited to this.

[0048] In one embodiment, the operating handle 122 allows a user to input commands for controlling the drive assembly 23. The operating handle 122 may be formed in a shape that allows a user to easily hold it with one hand. However, the position, shape, and / or size of the operating handle 122 shown in the drawings are exemplary and are not limited to those shown in the drawings. The operating handle 122 is coupled to the base housing 121 so as to be movable forward, backward, and / or rotatable.

[0049] In one embodiment, the operating handle 122 can move forward and / or backward along the first axis A1 relative to the base housing 121. The operating handle 122 can rotate in one direction and / or the other about the first axis A1 relative to the base housing 121. However, the illustrated direction of the first axis A1 is merely an example, and the direction of the first axis A1 is not limited thereto.

[0050] In one embodiment, the jog wheel 123 receives commands from the user to control the drive assembly 23. For example, the jog wheel 123 may be configured to be used to control the surgical tool more precisely than the operating handle 122. The jog wheel 123 may be coupled to the operating handle 122. The jog wheel 123 is rotatable in one direction or the other about a second axis relative to the operating handle 122. When the user holds the operating handle 122 in his or her hand, the user's fingers (e.g., thumb or index finger) may be placed on the jog wheel 123. The illustrated position, shape, and / or size of the jog wheel 123 are exemplary and are not limited to those shown. Furthermore, the illustrated direction of the second axis A2 is exemplary and is not limited to the direction of the second axis A2.

[0051] In one embodiment, the jog wheel 123 can be rotated discretely in first angle units around the second axis A2 relative to the operating handle 122. By configuring the jog wheel 123 to rotate discretely in first angle units, a user can rotate the jog wheel 123 in units of one graduation (i.e., first angle units). For example, the first angle may be 5 degrees. With this configuration, the jog wheel 123 may have a rotation range of a total of 72 graduations. However, this is merely an example, and the first angle is not limited to this. However, two or more jog wheels 123 may be provided.

[0052] The case where the first mode is selected will be described below with reference to FIGS.

[0053] In one embodiment, the first mode may be a basic control mode set as a default mode. When the first mode is selected, the processor can rotate the roller modules 231 (e.g., the first roller module 231a and the second roller module 231b) so that the surgical tool T (e.g., the first surgical tool Ta) advances / reverses in response to an input user command, or can vertically move at least one of the roller modules 231 (e.g., the first roller module 231a and the second roller module 231b) so that the surgical tool T (e.g., the first surgical tool Ta) rotates. For example, when the first mode is selected, the user can freely advance, reverse, and / or rotate the surgical tool T by inputting a command to the operation assembly 12. For example, the first mode may be selected in a general situation where the surgical tool T is to enter a blood vessel. However, this is merely an example, and the situation in which the first mode is used is not limited thereto.

[0054] In one embodiment, when the first mode is selected, the processor can generate a forward or backward movement signal for the surgical tool T when the operating handle 122 is moved forward or backward along the first axis A1. The forward or backward movement signal generated by the processor is transmitted to the drive assembly 23, and the roller module 231 can rotate so that the surgical tool T held by the roller module 231 is moved forward or backward. With this configuration, in the first mode, when the user moves the operating handle 122 forward along the first axis A1, the surgical tool T moves forward, and when the user moves the operating handle 122 backward along the first axis A1, the surgical tool T moves backward. Depending on the degree to which the operating handle 122 is moved forward or backward along the first axis A1, the processor can change the speed at which the surgical tool T is moved forward or backward. For example, the processor may change the speed at which the surgical tool T is moved forward or backward in proportion to the stroke by which the operating handle 122 is moved forward or backward along the first axis A1. Alternatively, the processor may discretely change the speed at which the treatment tool T is advanced or retracted depending on the section to which the stroke of the operating handle 122 is advanced or retracted along the first axis A1 belongs. For example, the processor may discretely change the forward or retraction speed of the treatment tool T by 0.5 times, 1 time, 2 times, or the like depending on the section to which the stroke of the operating handle 122 is advanced or retracted along the first axis A1 belongs. The manner in which the forward or retraction speed of the treatment tool T is changed depending on the degree to which the operating handle 122 is advanced or retracted along the first axis A1 is changed according to user settings.

[0055] In one embodiment, when the first mode is selected, the processor can generate a rotation signal for the treatment tool T in one direction or the other when the operating handle 122 is rotated in one direction or the other around the first axis A1. The rotation signal for one direction or the other generated by the processor is transmitted to the drive assembly 23, and at least one of the roller modules 231 is moved vertically so that the treatment tool T held by the roller modules 231 rotates in one direction or the other. With this configuration, in the first mode, when the user rotates the operating handle 122 clockwise around the first axis A1, the treatment tool T rotates clockwise, and when the user rotates the operating handle 122 counterclockwise around the first axis A1, the treatment tool T rotates counterclockwise. The processor can change the speed at which the treatment tool T rotates depending on the degree to which the operating handle 122 rotates around the first axis A1. For example, the processor can change the rotation speed of the treatment tool T in proportion to the rotation angle of the operating handle 122. Alternatively, the processor can discretely change the rotation speed of the treatment tool T depending on the section to which the rotation angle of the operating handle 122 belongs. For example, when the rotation angle of the operating handle 122 belongs to a first section, the rotation speed of the treatment tool T is set to a first speed, and when the rotation angle of the operating handle 122 belongs to a second section, the rotation speed of the treatment tool T is set to a second speed. The manner in which the rotation speed of the treatment tool T is changed depending on the degree to which the operating handle 122 is rotated may be changed depending on a user setting.

[0056] In one embodiment, when the first mode is selected, the surgical tool T can be continuously advanced, rotated, or turned while the operating handle 122 is advanced, reversed, or rotated. When the force applied to the operating handle 122 is released, the operating handle 122 returns to its original position. For example, when the user advances, reverses, or rotates the operating handle 122 and then releases the force, the operating handle 122 returns to its original position. When the operating handle 122 returns to its original position, the driving of the surgical tool T is stopped.

[0057] In one embodiment, when the first mode is selected, when the jog wheel 123 rotates in one direction or the other about the second axis A2, the processor can generate a rotation signal for the treatment tool T in one direction or the other. The rotation signal for one direction or the other generated by the processor is transmitted to the drive assembly 23, and at least one of the roller modules 231 is moved vertically so that the treatment tool T held by the roller modules 231 rotates in one direction or the other. According to this configuration, when the user rotates the jog wheel 123 clockwise about the second axis A2, the treatment tool T rotates clockwise, and when the user rotates the jog wheel 123 counterclockwise about the second axis A2, the treatment tool T rotates counterclockwise.

[0058] In one embodiment, when the first mode is selected, the processor may generate a signal to rotate the treatment tool T by a second angle each time the jog wheel 123 is rotated by a first angle. That is, each time the user rotates the jog wheel 123 by one notch (i.e., the first angle), the treatment tool T is rotated by the second angle. The second angle may be set to be the same as the first angle. For example, if the first angle is 5 degrees, the second angle may also be set to 5 degrees, like the first angle. Alternatively, the second angle may be set to an angle obtained by multiplying the first angle by a scale factor. For example, the scale factor may be set to a number smaller than 1. For example, if the first angle is 5 degrees, the second angle may also be set to 1 degree. Preferably, the second angle may be set in the range of 1 to 5 degrees. However, this is merely an example, and the second angle is not limited thereto. The second angle may be variously changed according to the user's setting.

[0059] In one embodiment, when the first mode is selected, the processor may be configured to generate a signal for advancing or reversing the surgical tool T when the jog wheel 123 rotates. For example, the processor may generate a signal for advancing or reversing the surgical tool T by a first pitch each time the jog wheel 123 is rotated in one direction or the other by a first angle. The first pitch, which is the distance by which the surgical tool T is advanced or reversed per rotation of one scale of the jog wheel 123, may be varied according to user settings. For example, the first angle may be 1 to 5 degrees. For example, the first pitch may be 0.5 mm to 1.5 mm. For example, the first angle may be 5 degrees and the first pitch may be 1 mm. However, this is merely an example, and the first angle and / or the first pitch are not limited thereto. Whether the surgical tool T is rotated or advanced or reversed via the jog wheel 123 in the first mode may be varied according to user selection.

[0060] FIG. 8 is a schematic perspective view showing the entry of a surgical tool into the site of an exemplary chronic occlusive lesion.

[0061] The case where the second mode is selected will be described below with reference to FIGS.

[0062] In one embodiment, the second mode may be a mode in which the surgical tool T automatically and continuously rotates in one direction or the other. When the second mode is selected, the processor may continuously move at least one of the roller modules 231 (e.g., the first roller module 231a and the second roller module 231b) in the vertical direction so that the surgical tool T (e.g., the first surgical tool Ta) continuously rotates. For example, in the second mode, a default value of the continuous rotation speed of the surgical tool T may be set to 180° / sec to 360° / sec. However, this is merely an example, and in the second mode, the default value of the continuous rotation speed of the surgical tool T may be variously changed according to user settings. In the second mode, the surgical tool T automatically and continuously rotates, which is advantageous in a situation where the surgical tool T needs to pass through a blocked portion of a blood vessel. For example, as shown in FIG. 8, the second mode is selected in a situation where the surgical tool T is passing through a site of a chronic occlusion. However, this is merely an example, and the situation in which the second mode is used is not limited thereto.

[0063] In one embodiment, in the second mode, the surgical tool T may be repeatedly and continuously rotated within a maximum driving range in which the drive assembly 23 can maximally rotate the surgical tool T. For example, when the second mode is selected, at least one of the roller modules 231 (e.g., the first roller module 231a and the second roller module 231b) holding the surgical tool T (e.g., the first surgical tool Ta) is continuously moved vertically so that the surgical tool T continuously rotates in one direction. Meanwhile, referring to FIG. 6 , because there is a physical limit to the extent to which the roller modules 231a and 231b can move vertically, if the surgical tool T continuously rotates in one direction, the drive assembly 23 reaches a limit at which it cannot further rotate the surgical tool T. In this way, when the drive assembly 23 reaches a limit at which it can no longer rotate the treatment tool T (e.g., the first treatment tool Ta) in one direction, the processor can continuously move at least one of the roller modules 231 (e.g., the first roller module 231a and the second roller module 231b) in a vertical direction (e.g., a vertical direction opposite to the existing direction) so that the treatment tool T (e.g., the first treatment tool Ta) continuously rotates in the other direction opposite to the one direction. For example, when the second mode is selected, at least one of the roller modules 231 continuously rises so that the treatment tool T continuously rotates clockwise, and when the corresponding roller module 231 reaches its lift limit, the corresponding roller module 231 continuously descends so that the treatment tool T continuously rotates counterclockwise. By repeating this control, the treatment tool T can continuously and repeatedly rotate within the maximum rotation angle range in the second mode.

[0064] In one embodiment, when the second mode is selected, the operating assembly 12 receives a command regarding the speed at which the surgical tool T is continuously rotated and / or the speed at which the surgical tool T is advanced or reversed. That is, in the second mode, the processor responds to the received command by changing the speed at which the surgical tool T is continuously rotated or by moving the surgical tool T forward or reverse while the surgical tool T is continuously rotating. However, this is merely an example, and the user can also input a command regarding the speed at which the surgical tool T is continuously rotated and / or the speed at which the surgical tool T is advanced or reversed via the display 11 of the master part 10 in addition to the operating assembly 12.

[0065] In one embodiment, when the second mode is selected, if a command to move the surgical tool T (e.g., the first surgical tool Ta) forward or backward is input to the manipulation assembly 12, the processor can rotate the roller modules 231 (e.g., the first roller module 231a and the second roller module 231b) so that the surgical tool T (e.g., the first surgical tool Ta) moves forward or backward in response to the input user command while the surgical tool T (e.g., the first surgical tool Ta) is continuously rotating. When the second mode is selected, the manner in which the manipulation assembly 12 receives a command to move the surgical tool T forward or backward is substantially similar to when the first mode is selected.

[0066] In one embodiment, when the second mode is selected, the processor can generate a forward or backward movement signal for the surgical tool T when the operating handle 122 is moved forward or backward along the first axis A1. The forward or backward movement signal generated by the processor is transmitted to the drive assembly 23, which rotates the roller module 231 so that the surgical tool T held by the roller module 231 is moved forward or backward. Depending on the degree to which the operating handle 122 is moved forward or backward along the first axis A1, the processor can change the speed at which the surgical tool T is moved forward or backward. For example, the processor can change the speed at which the surgical tool T is moved forward or backward in proportion to the stroke by which the operating handle 122 is moved forward or backward along the first axis A1. Alternatively, the processor can discretely change the speed at which the surgical tool T is moved forward or backward depending on the section to which the stroke by which the operating handle 122 is moved forward or backward along the first axis A1 belongs. For example, the processor may discretely change the forward or backward speed of the surgical tool T by 0.5 times, 1 time, 2 times, or the like depending on the section to which the operating handle 122 is advanced or retracted along the first axis A1 belongs. The manner in which the forward or retraction speed of the surgical tool T is changed depending on the degree to which the operating handle 122 is advanced or retracted along the first axis A1 may be changed according to user settings. Through this control, the user can advance or retract the surgical tool T while simultaneously maintaining the automatic rotation state of the surgical tool T via the second mode. Therefore, when the surgical tool T penetrates and passes through the site of a chronic occlusion lesion as shown in FIG. 8, using the second mode can improve convenience of operation.

[0067] In one embodiment, when the second mode is selected, the processor may decrease or increase the continuous rotation speed of the treatment tool T when the operating handle 122 is rotated in one direction or the other around the first axis A1. For example, the processor may decrease or increase the continuous rotation speed of the treatment tool T in proportion to the rotation angle of the operating handle 122. Alternatively, the processor may discretely decrease or increase the continuous rotation speed of the treatment tool T depending on the interval to which the rotation angle of the operating handle 122 belongs. For example, when the rotation angle of the operating handle 122 belongs to the first interval, the continuous rotation speed of the treatment tool T is decreased or increased by a first magnitude, and when the rotation angle of the operating handle 122 belongs to the second interval, the continuous rotation speed of the treatment tool T is decreased or increased by a second magnitude. On the other hand, when the second mode is selected, when the force applied to the operating handle 122 is released (e.g., when the user rotates the operating handle 122 and then releases the force), the operating handle 122 returns to its original position, and the continuous rotation speed of the treatment tool T is controlled to restore to the default value. For example, the continuous rotation speed of the treatment tool T may be controlled to change only when the operating handle 122 is being rotated. However, this is merely an example, and the manner in which the continuous rotation speed of the treatment tool T is changed depending on the degree to which the operating handle 122 is rotated in the second mode may be changed according to user settings.

[0068] In one embodiment, when the second mode is selected, the processor may decrease or increase the speed at which the treatment tool T is continuously rotated when the jog wheel 123 rotates in one direction or the other around the second axis A2. For example, the processor may discretely decrease or increase the speed at which the treatment tool T is continuously rotated by a first magnitude each time the jog wheel 123 is rotated by a first angle. That is, in the second mode, each time the user rotates the jog wheel 123 by one scale (i.e., a first angle), the continuous rotation speed of the treatment tool T is decreased or increased by the first magnitude. For example, the first magnitude may be set to 360° / sec to 900° / sec. However, this is merely an example, and the first magnitude is not limited thereto. The first magnitude may be variously changed according to user settings.

[0069] In one embodiment, when the second mode is selected, the processor may be configured to generate a signal for advancing or reversing the surgical tool T when the jog wheel 123 rotates. For example, the processor may generate a signal for advancing or reversing the surgical tool T by a first pitch each time the jog wheel 123 is rotated in one direction or the other by a first angle. The first pitch, which is the distance by which the surgical tool T is advanced or reversed per rotation of one scale of the jog wheel 123, may be varied according to user settings. For example, the first angle may be 1 to 5 degrees. For example, the first pitch may be 0.5 mm to 1.5 mm. For example, the first angle may be 5 degrees and the first pitch may be 1 mm. In the second mode, whether the continuous rotation speed of the surgical tool T is changed via the jog wheel 123 or the surgical tool T is advanced or reversed may be varied according to user selection.

[0070] In one embodiment, when the second mode is selected and a pause command is input by the user, the processor can stop the vertical movement of the roller modules 231 (e.g., the first roller module 231a and the second roller module 231b) holding the treatment tool T (e.g., the first treatment tool Ta) so that the rotation of the treatment tool T (e.g., the first treatment tool Ta) stops. When a resume command is input by the user in the paused state, the processor can continuously move at least one of the roller modules 231 (e.g., the first roller module 231a and the second roller module 231b) in the vertical direction so that the treatment tool T (e.g., the first treatment tool Ta) automatically and continuously rotates again.

[0071] In one embodiment, when the second mode is selected, the processor may change the speed at which the treatment tool T is continuously rotated according to a predetermined pattern. For example, when the second mode is selected and the user inputs an automatic control command, the speed at which the treatment tool T is rotated is automatically changed according to a predetermined pattern. For example, the predetermined pattern may be a pattern in which the magnitude of the speed changes in the form of a triangular function, a triangular wave, or a pulse wave. However, the above-mentioned patterns are merely examples and are not limited thereto. The speed change pattern may be variously set or adjusted by the user.

[0072] Although the embodiments of the present invention have been described in detail above with reference to the drawings, the present invention is not limited to the above-described embodiments, and a person skilled in the art may 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 substituted or replaced by other components or equivalents, and still achieve appropriate results.

[0073] Accordingly, other implementations, other embodiments, and equivalents of the claims are within the scope of the following claims.

Claims

1. A treatment tool control system, a drive assembly including a first roller module and a second roller module arranged side by side such that a surgical tool is gripped therebetween; an operating assembly into which commands are input from a user for transmission to said drive assembly; a processor for controlling operation of the drive assembly in accordance with a selected mode; When the first mode is selected, the processor rotates the first roller module and the second roller module so that the treatment tool moves forward / backward in response to an input user command, or moves at least one of the first roller module and the second roller module vertically so that the treatment tool rotates; When the second mode is selected, the processor continuously moves at least one of the first roller module and the second roller module in a vertical direction so that the treatment tool continuously rotates.

2. 2. The treatment tool control system of claim 1, wherein when the second mode is selected, when the drive assembly reaches a limit at which it can no longer rotate the treatment tool in one direction, the processor continuously moves at least one of the first roller module and the second roller module vertically so that the treatment tool continuously rotates in the other direction opposite to the one direction.

3. 2. The treatment tool control system of claim 1, wherein when the second mode is selected, if a command to move the treatment tool forward or backward is input to the operating assembly, the processor rotates the first roller module and the second roller module so that the treatment tool moves forward or backward in response to the user's command input while the treatment tool is continuously rotating.

4. 2. The surgical tool control system of claim 1, wherein when the second mode is selected, the operating assembly receives a command for at least one of a speed at which the surgical tool continuously rotates and a speed at which the surgical tool moves forward or backward.

5. The surgical tool control system of claim 4 , wherein the operating assembly includes an operating handle that is movable forward and backward along a first axis and rotatable about the first axis.

6. 6. The surgical tool control system of claim 5, wherein when the second mode is selected, if the operating handle is rotated in one direction or the other around the first axis, the processor decreases or increases the speed at which the surgical tool is continuously rotated.

7. 7. The surgical tool control system of claim 6, wherein when the second mode is selected, if the operating handle is rotated in one direction or the other direction around the first axis, the processor decreases or increases the speed at which the surgical tool is continuously rotated in proportion to the rotation angle of the operating handle.

8. 7. The treatment tool control system of claim 6, wherein when the second mode is selected, if the operating handle is rotated in one direction or the other direction around the first axis, the processor discretely decreases or increases the speed at which the treatment tool is continuously rotated depending on the interval to which the rotation angle of the operating handle belongs.

9. 6. The surgical tool control system of claim 5, wherein when the second mode is selected, the processor changes the speed at which the surgical tool is advanced or retracted in proportion to the stroke at which the operating handle is advanced or retracted along the first axis.

10. 6. The surgical tool control system according to claim 5, wherein when the second mode is selected, the processor discretely changes the speed at which the surgical tool is moved forward or backward depending on a section to which a stroke in which the operating handle is moved forward or backward along the first axis belongs.

11. The surgical tool control system according to claim 4 , wherein the operation assembly includes a jog wheel that is rotatable discretely in first angular units about a second axis.

12. 12. The treatment tool control system of claim 11, wherein when the second mode is selected, the processor discretely decreases or increases the speed at which the treatment tool is continuously rotated by a first magnitude each time the jog wheel rotates by the first angle in one direction or the other around the second axis.

13. The treatment tool control system of claim 1, wherein when the second mode is selected and a pause command is input by the user, the processor stops the vertical movement of the first roller module and the second roller module so that the rotation of the treatment tool stops.

14. 12. The surgical tool control system of claim 11, wherein when the second mode is selected, the processor generates a signal to move the surgical tool forward or backward by a first pitch each time the jog wheel rotates in one direction or the other about the second axis by the first angle.

15. The surgical tool control system of claim 1 , wherein when the second mode is selected, the processor varies the speed at which the surgical tool is continuously rotated according to a predetermined pattern.

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