Elongated medical device motion assembly and medical robot utilizing the same

Abstract

The present invention aims to solve the following problems in a rotational assembly for an elongated medical device, where the presence of the rotational assembly outside the cassette leads to increased volume and manufacturing costs due to an increase in the number of components constituting the rotational assembly; the problem of rotational force not being properly transmitted from the rotational assembly to the elongated medical device; the problem of twisting occurring when the elongated medical device rotates as a result; and the problem that the direction of rotation in the rotational assembly and the direction in which the elongated medical device rotates inside the cassette are opposite. An elongated medical instrument rotating assembly (400) relating to one aspect of the present invention includes a rotating member (401), a support member (500), and an offset member (660). The rotating member (401) rotates by the drive of an actuator. The support member (500) is coupled to the rotating member (401) and supports at least a portion of the elongated medical instrument (800) and rotates the elongated medical instrument (800) about a longitudinal axis in conjunction with the rotation of the rotating member (401). The support member (500) includes an offset member (660) for separating at least a portion of the elongated medical instrument (800) by a predetermined distance d from a virtual line extending along the rotation axis of the rotating member (401) on the surface on which the elongated medical instrument (800) is placed.

Description

Technical Field

[0001] The present invention relates to an elongated medical instrument movement assembly for advancing, retreating, and rotating a medical catheter or guide wire, for example, an instrument that can be inserted into the body, and a medical robot using the same. Specifically, the present invention relates to an elongated medical instrument movement assembly that enables a guide wire and a catheter in a body, for example, in a blood vessel, to be positioned precisely and allows an operator to perform a desired operation by advancing, retreating, and rotating the elongated medical instrument, and a medical robot using the same.

Background Art

[0002] Catheters and guide wires can be used very widely in medicine. The present invention can be used in minimally invasive vascular intervention procedures. Minimally invasive vascular intervention procedures are minimally invasive procedures aimed at treating vascular diseases and cancers. Mainly, a catheter is inserted through a blood vessel under fluoroscopy to reach a target organ or blood vessel for treatment. To move an elongated medical instrument, operations such as advancing and rotating the elongated medical instrument are required.

[0003] Blood vessels have various shapes, and foreign substances such as edema exist in the blood vessels. Also, since blood is flowing inside the blood vessels, there has been a problem that it is difficult to easily move an elongated medical instrument such as a catheter to the target point. In addition, blood vessels are classified in various ways, such as arteries, veins, and capillaries, and their diameters, rigidities, and degrees of bending are very diverse. Also, if an injury occurs inside the blood vessel during the operation, it may lead to infection or bleeding. From such points, very precise manipulation of an elongated medical instrument has been one of the very important requirements in the industry. In particular, since a guide wire is very thin, there has been a problem that it is difficult to rotate.

[0004] Therefore, there is a demand in the industry for a technology that can rotate a guide wire as precisely as possible.

[0005] Figures 1(a) and 1(b) are schematic diagrams illustrating the forward movement and rotation of conventional elongated medical devices, respectively.

[0006] A conventional proximal cassette includes a pinch and forward assembly and an elongated medical instrument rotating assembly. The pinch and forward assembly includes forward rollers (9352, 9354). The surfaces of the forward rollers (9352, 9354) face each other. During operation, the elongated medical instrument is positioned between the surfaces of the forward rollers (9352, 9354). This causes the surfaces of the forward rollers (9352, 9354) to contact the elongated medical instrument, thereby advancing the elongated medical instrument. In this case, advancing means either feeding the elongated medical instrument into the human body or retrieving the elongated medical instrument from the human body. The elongated medical instrument rotating assembly includes a second spur gear (9496), a cap (9512), a plate spur gear (9514), and an elongated medical instrument connector (9518). The rotation of the second spur gear (9496) causes the plate spur gear (9514) to rotate in the opposite direction, thereby causing the elongated medical instrument rotating assembly to rotate the elongated medical instrument.

[0007] To advance the guide wire (9732), the pinch and advance assembly of the proximal cassette (9148) pinches the guide wire (9732). The advance roller (9354) moves laterally so that the opposing advance roller (9352) applies an opposing force (e.g., pinch) to the guide wire (9732). The advance roller (9354) moves toward the advance roller (9352) to the pinch position (9742). With the guide wire (9732) pinched by the pinch and advance assembly, the pinch and advance assembly can advance the guide wire (9732) (e.g., feed it into the body or retrieve it from the body). The rotation (9744, 9746) of the advance rollers (9352, 9354) can be used to feed the guide wire (9732) into the body. The rotation of the forward rollers (9352, 9354) opposite to the respective illustrated rotations (9744, 9746) can be used to retrieve the catheter from the body.

[0008] Regardless of the movement of the elongated medical instrument (9732) (e.g., rotation, forward movement, and no movement), the elongated medical instrument rotation assembly of the proximal cassette (9148) can be maintained in a mechanically coupled state to the elongated medical instrument (9732). First, assuming that the proximal cassette (9148) is in a position where the elongated medical instrument (9732) does not move, the pinch and forward assembly of the proximal cassette (9148) causes the elongated medical instrument (9732) to be fixed between the forward rollers (9352, 9354) of the proximal cassette (9148). To rotate the elongated medical instrument (9732), the pinch and forward assembly release the elongated medical instrument (9732). The forward roller (9354) of the proximal cassette (9148) translates laterally in the direction (9734) such that the opposing forward roller (9352) does not apply an opposing force to the elongated medical instrument (9732). The pinch and forward assembly of the proximal cassette (9148) releases the elongated medical instrument (9732), allowing the elongated medical instrument rotation assembly of the proximal cassette (9148) to rotate the elongated medical instrument (9732).

[0009] Figure 1(c) is an exploded perspective view of the pinch and forward assembly. Figure 1(c) is a diagram illustrating the operation of the pinch and forward assembly. Figure 1(d) is an exploded perspective view of the elongated medical instrument rotating assembly. Figure 1(d) is a diagram illustrating the operation of the elongated medical instrument rotating assembly.

[0010] The elongated medical instrument rotating assembly further includes a drive bevel gear (9482), first and second spur gears (9494, 9496), and a drive bevel gear (9492) that meshes with a bracket (9498). The first spur gear (9494) meshes with the second spur gear (9496). The bevel drive gear (9492) is mechanically attached to the first spur gear (9494). The rotation axes of the bevel drive gear (9492) and the first spur gear (9494) are collinear. The elongated medical instrument rotating assembly includes a cap (9512), a plate spur gear (9514), a collet (9516), an elongated medical instrument connector (9518), and a clamping bracket (9520). In the illustrated example, the plate spur gear (9514) is coupled to the cap (9512). The cap (9512) includes a threaded female connector. The elongated medical device connector (9518) includes a threaded male connector (9522). When assembled, the threaded female connector of the cap (9512) engages with the threaded male connector (9522) of the elongated medical device connector (9518). When assembled, the collet (9516) is inserted into the gradually tapering recess of the elongated medical device connector (9518), causing the threaded female connector of the cap (9512) to engage with the threaded male connector (9522) of the elongated medical device connector (9518). The clamping bracket (9520) holds the elongated medical device connector (9518) while it rotates. The rotation of the drive bevel gear (9492) causes the first spur gear (9494) to rotate in the same direction. The rotation of the first spur gear (9494) causes the second spur gear (9496) to rotate in the opposite direction, in other words, in the opposite direction. The rotation of the second spur gear (9496) causes the plate spur gear (9514) to rotate in the opposite direction, which rotates the elongated medical instrument when the collet (9516) clamps onto the elongated medical instrument through which it extends.

[0011] As described above, the pinch and forward assembly of the elongated medical instrument in the prior art had to include forward spur gears (9356, 9358) to advance the elongated medical instrument. Furthermore, the forward shaft (9360) had to be coupled to the forward spur gear (9356), and the forward shaft (9362) had to be coupled to the forward spur gear (9358). Also, the forward spur gears (9356) and (9358) had to be positioned on the forward shafts (9360) and (9362), respectively, and had to be structured to surround the forward shafts (9360) and (9362). Additionally, the rotation of the forward shaft (9360) had to result in the rotation of the forward spur gear (9356), which in turn had to result in the rotation of the forward spur gear (9358) and forward shaft (9362) in the opposite direction. This meant that the reverse rotation of the forward shafts (9360, 9362) would result in the reverse rotation of the forward rollers (9352, 9354), and in such a pinched position, the forward rollers (9352, 9354) would pinch the elongated medical instrument, causing the instrument to move forward through the rotation of the forward rollers (9352, 9354).

[0012] Furthermore, the elongated medical device rotating assembly had to include a cap (9512), a collet (9516), an elongated medical device connector (9518), and a clamping bracket (9520). The plate spur gear (9514) had to be coupled to the cap (9512), and the cap (9512) had to include a threaded female connector. The elongated medical device connector (9518) had to include a threaded male connector (9522). Also, when assembled, the threaded female connector of the cap (9512) had to mesh with the threaded male connector (9522) of the elongated medical device connector (9518). Furthermore, when assembled, the collet (9516) had to be inserted into the gradually tapering recess of the elongated medical device connector (9518), and the threaded female connector of the cap (9512) had to engage with the threaded male connector (9522) of the elongated medical device connector (9518). The clamping bracket (9520) had to hold the elongated medical device connector (9518) while it rotated.

[0013] Due to these circumstances, the conventional technology may result in a large pinching force applied by the rollers to the elongated medical instrument, which could potentially cause physical changes to the instrument. For example, the elongated medical instrument may become thinner due to the pinching force of the rollers. Furthermore, in such cases, if the forward spur gear is engaged to rotate the forward rollers and thereby advance the elongated medical instrument, as in the conventional method, the elongated medical instrument may not make contact with some of the rollers. In this case, the rollers may continue to spin freely, and the elongated medical instrument may not advance properly.

[0014] Furthermore, in conventional technology, the rotational assembly of the elongated medical device was located externally. This required separate spaces and components to cover the other parts, except for those belonging to the cassette. This resulted in increased volume and cost. Also, in such a structure, the guide wire exited the external rotational assembly of the elongated medical device and entered the cassette in a parabolic trajectory (e.g., U-shape). Therefore, because the elongated medical device is made of a deformable material, it may twist during the rotation process. This could result in the elongated medical device not being able to properly receive the rotation provided by the rotational assembly. In addition, if the elongated medical device twists too much and becomes entangled, it may become unusable. This could result in the elongated medical device being worn out unnecessarily. Furthermore, situations can arise where the direction in which the elongated medical device exits the rotational assembly is opposite to the direction in which it enters the cassette. This causes the elongated medical device to rotate within the cassette in the opposite direction to the rotation performed in the rotating assembly of the elongated medical device. In this case, the need to think in reverse when manipulating it can result in difficulty in precise control. [Overview of the Initiative] [Problems that the invention aims to solve]

[0015] Therefore, the object of the present invention is to solve these conventional problems and to provide a rotary assembly, a motion assembly for an elongated medical device, and a medical robot utilizing the same, which enable a user to precisely control an elongated medical device.

[0016] Furthermore, the invention aims to provide a rotating assembly, an elongated medical device motion assembly, and a medical robot utilizing the same, which can be installed inside the cassette rather than outside it.

[0017] Furthermore, the aim is to provide a rotating assembly, an elongated medical device motion assembly, and a medical robot utilizing the same, which can be installed inside the cassette, eliminating the need for additional parts to be installed outside the cassette, thus reducing costs.

[0018] Furthermore, by installing it inside the cassette, the structure is simplified, thereby minimizing errors during operation. The aim is to provide a rotating assembly, an elongated medical device motion assembly, and a medical robot utilizing the same.

[0019] Furthermore, the invention provides a rotating assembly, a slender medical instrument motion assembly, and a medical robot utilizing the same, which eliminate the possibility of twisting occurring during the rotation of a slender medical instrument, since the slender medical instrument only passes through the inside of the cassette and does not form a parabolic shape such as a U-shape outside the cassette.

[0020] Furthermore, the invention aims to provide a rotating assembly, a slender medical instrument motion assembly, and a medical robot utilizing the same, which prevent twisting of slender medical instruments, thereby preventing unnecessary wear and tear on slender medical instruments, and thus providing cost savings and improved surgical accuracy.

[0021] Furthermore, the objective is to provide a rotating assembly, an elongated medical device motion assembly, and a medical robot utilizing the same, which can achieve the effect that the direction in which the elongated medical device is inserted into the elongated medical device motion assembly coincides with the direction in which the elongated medical device is inserted into the opening of the shaft fixing part, passes the support member, and exits into the opening of the plate spur gear, regardless of the direction in which the elongated medical device enters from outside the cassette.

[0022] Furthermore, the objective is to provide a rotation assembly, an elongated medical device motion assembly, and a medical robot utilizing the same, in which the direction of rotation provided by the rotation assembly and the direction of rotation of the elongated medical device are the same with respect to the longitudinal central axis of the elongated medical device.

[0023] Also, by including an offset member, there is provided a rotation assembly, an elongated medical device movement assembly, and a medical robot using the same, which can separate a part of the elongated medical device that abuts against the offset member by a predetermined distance d from a virtual line extending along the rotation axis of the rotation member.

Means for Solving the Problem

[0024] An elongated medical device rotation assembly related to one aspect of the present invention for solving the above problems includes a rotation member, a support member, and an offset member. The rotation member rotates by driving of an actuator. The support member is coupled to the rotation member, supports at least a part of the elongated medical device, and is for rotating the elongated medical device about a vertical axis in conjunction with the rotation of the rotation member. The support member includes an offset member for separating at least a part of the elongated medical device by a predetermined distance d from a virtual line extending along the rotation axis of the rotation member on a surface on which the elongated medical device is placed.

[0025] In an elongated medical device rotation assembly related to another aspect of the present invention, the rotation member includes an opening for inserting the elongated medical device. The support member includes an opening for inserting the elongated medical device. The predetermined distance d indicates the maximum distance from a virtual straight line connecting the opening of the rotation member and the opening of the support member to at least a part of the elongated medical device.

[0026] In an elongated medical device rotation assembly related to another aspect of the present invention, the offset member includes a free roller pivotally supported in a direction perpendicular to the surface on which the elongated medical device is placed. The free roller includes a contact surface at least a part of which contacts at least a part of the elongated medical device.

[0027] Preferably, when the elongated medical device moves back and forth in the longitudinal direction, the free roller can freely rotate due to the frictional force with the elongated medical device.

[0028] In an elongated medical device rotation assembly related to another aspect of the present invention, a groove may be formed in the contact surface of the offset member that contacts at least a part of the elongated medical device.

[0029] In an elongated medical device rotation assembly related to another aspect of the present invention, at least two offset members are included.

[0030] In an elongated medical device rotation assembly related to another aspect of the present invention, the support member further includes a movement guide portion. The offset member may be installed movably along the movement guide portion.

[0031] A medical robot using an elongated medical device related to one aspect of the present invention includes a frame, a track, a cassette platform, a forward and backward movement assembly, and a rotation assembly. The track is coupled to the frame. The cassette platform is movably coupled along the track. The forward and backward movement assembly is provided on the cassette platform and is for moving the elongated medical device forward and backward. The elongated medical device rotation assembly is for rotating the elongated medical device. The elongated medical device rotation assembly includes a rotation member and a support member. The rotation member rotates by the drive of an actuator. The support member supports the elongated medical device and rotates the elongated medical device in conjunction with the rotation of the rotation member. The support member includes an offset member. The offset member is for offsetting at least a part of the elongated medical device by an offset d from the rotation axis of the elongated medical device on the surface where the elongated medical device is placed.

[0032] In a medical robot using an elongated medical device related to another aspect of the present invention, the rotation member includes an opening for inserting the elongated medical device. The support member includes an opening for inserting the elongated medical device. The offset d indicates the distance from the straight line connecting the opening of the rotation member and the opening of the support member to at least a part of the elongated medical device.

[0033] A rotating assembly for an elongated medical instrument, relating to one aspect of the present invention, includes a rotating member, a support member, and a free roller. The rotating member rotates by the drive of an actuator. The support member supports the elongated medical instrument and rotates the elongated medical instrument about its longitudinal central axis in conjunction with the rotation of the rotating member. The support member includes a free roller pivotally supported perpendicular to the surface on which the elongated medical instrument is placed.

[0034] In a rotating assembly for an elongated medical device relating to another aspect of the present invention, the free roller includes a contact surface which at least a portion of the elongated medical device is in contact with at least a portion of the elongated medical device.

[0035] In a rotational assembly for an elongated medical instrument relating to another aspect of the present invention, when the elongated medical instrument is placed on the support member, at least a portion of the elongated medical instrument is separated by a free roller by a maximum distance d from the central axis in the direction in which the elongated medical instrument moves back and forth.

[0036] In a rotational assembly for an elongated medical instrument relating to another aspect of the present invention, the free roller can rotate freely due to the frictional force with the elongated medical instrument when the elongated medical instrument moves back and forth in the longitudinal direction.

[0037] In an elongated medical device rotating assembly relating to another aspect of the present invention, grooves may be formed on the contact surface of the free roller.

[0038] In an elongated medical device rotating assembly relating to another aspect of the present invention, the free roller may include at least two free rollers.

[0039] An elongated medical device motion assembly relating to one aspect of the present invention includes a forward / backward assembly and an elongated medical device rotation assembly. The forward / backward assembly is for moving the elongated medical device forward and backward. The elongated medical device rotation assembly may include any one of the elongated medical devices relating to another aspect of the present invention.

[0040] A medical robot relating to one aspect of the present invention may include an elongated medical device motion assembly relating to one aspect of the present invention. [Effects of the Invention]

[0041] According to one embodiment of the present invention, the presence of an elongated medical device rotating assembly inside the cassette has the advantage of allowing for a simpler structure compared to when it is located outside the cassette.

[0042] Furthermore, this has the advantage of reducing the manufacturing cost of the slender medical instrument rotation assembly and reducing the overall volume of the medical robot system used to rotate the slender medical instrument.

[0043] Furthermore, because the elongated medical instrument passes only within the cassette, it no longer needs to form a parabolic shape such as a U-shape outside the cassette. This has the advantage of eliminating the possibility of the elongated medical instrument twisting during rotation.

[0044] Furthermore, by preventing the slender medical instruments from twisting, it is possible to prevent unnecessary wear and tear on these instruments.

[0045] Furthermore, there is the advantage that the direction in which the elongated medical instrument enters the opening of the rotating member and the opening of the shaft fixing part, respectively, coincides with the direction in which it exits the rotating assembly of the elongated medical instrument.

[0046] Furthermore, a rotating assembly for elongated medical instruments is provided, enabling precise manipulation of these instruments.

[0047] Furthermore, according to one embodiment of the invention, the support member may include an offset member. This has the advantage of making it easier for the elongated medical instrument to rotate when it rotates together with the support member.

[0048] Furthermore, according to one embodiment of the invention, grooves may be carved into the offset member. This has the advantage of preventing the elongated medical instrument from detaching in the y-axis or z-axis direction when it is rotated.

[0049] Furthermore, according to one embodiment of the invention, a movable guide portion can be present on the plate of the support member. This has the advantage that the offset member can be moved freely in the y-axis direction, allowing the elongated medical instrument to be easily attached to the elongated medical instrument rotating assembly. [Brief explanation of the drawing]

[0050] [Figure 1(a)-1(d)] Figures 1(a) and 1(b) are schematic diagrams illustrating the forward and rotation of a conventional elongated medical device, respectively, while Figure 1(c) is an exploded perspective view of the pinch and forward assembly of a conventional elongated medical device. Figure 1(d) is an exploded perspective view of the rotation assembly of a conventional elongated medical device. [Figure 2] Figure 2 is a schematic diagram of an elongated medical device system (100) according to one embodiment of the present invention. [Figure 3(a)-3(b)] Figure 3(a) is a schematic diagram illustrating the operation of the forward / backward movement assembly (300) to move the elongated medical instrument (800) forward and backward, and Figure 3(b) is a schematic diagram illustrating the operation of the elongated medical instrument rotation assembly (400) to rotate the elongated medical instrument (800). [Figure 4] Figure 4 is a schematic perspective view of a medical robot according to one embodiment of the present invention. [Figures 5(a)-5(b)] Figure 5(a) is a schematic plan view illustrating the state in which an elongated medical device motion assembly (200) according to one embodiment of the present invention rotates an elongated medical device (800), and Figure 5(b) is a schematic plan view illustrating the state in which the elongated medical device motion assembly (200) moves the elongated medical device (800) forward and backward. [Figures 6(a)-6(b)]Figure 6(a) is a front view of portion i in Figure 5(a) of an elongated medical device movement assembly (200) according to one embodiment of the present invention, and Figure 6(b) is a rear view of portion ii in Figure 5(a) of an elongated medical device movement assembly (200) according to one embodiment of the present invention. [Figure 7] Figure 7 is a detailed configuration diagram illustrating the state in which the support member (500) of an elongated medical device motion assembly (200) according to one embodiment of the present invention is rotating. [Figure 8] Figure 8 is a schematic plan view of an elongated medical device motion assembly (200) according to a second embodiment of the present invention. [Figure 9] Figure 9 is a detailed configuration diagram illustrating the state in which the support member (500) of the elongated medical device motion assembly (200) according to the second embodiment of the present invention shown in Figure 8 is rotating. [Figure 10] Figure 10 is an exploded perspective view showing that in a second embodiment of the present invention, an elongated medical device motion assembly (200), the offset member (660) is connected to an elongated medical device support member (650). [Figure 11] Figure 11 is a drawing illustrating various embodiments of grooves (670) formed on the contact surface of an offset member (660) in an elongated medical device motion assembly (200) according to a second embodiment of the present invention. [Figure 12] Figure 12 is a drawing illustrating another embodiment of the plate (650) to which the offset member (660) is attached in the elongated medical device motion assembly (200) according to the second embodiment of the present invention. [Figure 13] Figure 13 is a schematic plan view of an elongated medical device motion assembly (200) according to a third embodiment of the present invention. [Figure 14] Figure 14 is a detailed configuration diagram illustrating the state in which the support member (500) of the elongated medical device motion assembly (200) according to the third embodiment of the present invention shown in Figure 13 is rotating. [Figure 15]Figure 15 is a drawing that shows a detailed front view of the elongated medical device rotating assembly (400) according to the third embodiment of the present invention shown in Figure 13, along with left and right side views as seen from the left and right sides. [Figure 16] Figure 16 is a schematic plan view of an elongated medical device motion assembly (200) according to a fourth embodiment of the present invention. [Figure 17] Figure 17 is a detailed configuration diagram illustrating the state in which the support member (500) of the elongated medical device motion assembly (200) according to the fourth embodiment of the present invention shown in Figure 16 is rotating. [Figure 18] Figure 18 is a detailed perspective view illustrating the state in which the support member (500) of the elongated medical device motion assembly (200) according to the fourth embodiment of the present invention, as shown in Figure 16, is rotating. [Figure 19] Figure 19 is a detailed front view of the elongated medical device motion assembly (200) according to the fourth embodiment of the present invention, viewed from the side (-Y direction). [Figure 20] Figure 20 is a drawing illustrating various embodiments of grooves (670) formed on the contact surface of an offset member (660) in an elongated medical device motion assembly (200) according to a fourth embodiment of the present invention. [Figures 21(a)-21(c)] Figure 21(a) is a schematic plan view of the elongated medical device motion assembly (200) according to the fifth embodiment of the present invention, Figure 21(b) is a front view of part i in Figure 21(a) of the elongated medical device motion assembly (200) according to the fifth embodiment of the present invention, and Figure 21(c) is a rear view of part ii in Figure 21(a) of the elongated medical device motion assembly (200) according to the fifth embodiment of the present invention. [Figures 22(a)-22(c)] Figure 22(a) is a schematic plan view of the elongated medical device movement assembly (200) according to the sixth embodiment of the present invention, Figure 22(b) is a front view of part i in Figure 22(a) of the elongated medical device movement assembly (200) according to the sixth embodiment of the present invention, and Figure 22(c) is a rear view of part ii in Figure 22(a) of the elongated medical device movement assembly (200) according to the sixth embodiment of the present invention. [Figures 23(a)-23(c)]Figure 23(a) is a schematic plan view of the elongated medical device motion assembly (200) according to the seventh embodiment of the present invention, Figure 23(b) is a front view of part i in Figure 23(a) of the elongated medical device motion assembly (200) according to the seventh embodiment of the present invention, and Figure 23(c) is a rear view of part ii in Figure 23(a) of the elongated medical device motion assembly (200) according to the seventh embodiment of the present invention. [Figures 24(a)-24(c)] Figure 24(a) is a schematic plan view of the elongated medical device motion assembly (200) according to the eighth embodiment of the present invention, Figure 24(b) is a front view of part i in Figure 24(a) of the elongated medical device motion assembly (200) according to the eighth embodiment of the present invention, and Figure 24(c) is a rear view of part ii in Figure 24(a) of the elongated medical device motion assembly (200) according to the eighth embodiment of the present invention. [Figures 25(a)-25(c)] Figure 25(a) is a schematic plan view of the elongated medical device motion assembly (200) according to the ninth embodiment of the present invention, Figure 25(b) is a front view of part i in Figure 25(a) of the elongated medical device motion assembly (200) according to the ninth embodiment of the present invention, and Figure 25(c) is a rear view of part ii in Figure 25(a) of the elongated medical device motion assembly (200) according to the ninth embodiment of the present invention. [Figures 26(a)-26(c)] Figure 26(a) is a schematic plan view of the elongated medical device motion assembly (200) according to the 10th embodiment of the present invention, Figure 26(b) is a front view of part i in Figure 26(a) of the elongated medical device motion assembly (200) according to the 10th embodiment of the present invention, and Figure 26(c) is a rear view of part ii in Figure 26(a) of the elongated medical device motion assembly (200) according to the 10th embodiment of the present invention. [Figures 27(a)-27(c)] Figure 27(a) is a schematic plan view of the elongated medical device movement assembly (200) according to the 11th embodiment of the present invention, Figure 27(b) is a front view of part i in Figure 27(a) of the elongated medical device movement assembly (200) according to the 11th embodiment of the present invention, and Figure 27(c) is a rear view of part ii in Figure 27(a) of the elongated medical device movement assembly (200) according to the 11th embodiment of the present invention. [Figures 28(a)-28(b)]Figure 28 is a schematic plan view of an elongated medical device motion assembly (200) according to the twelfth embodiment of the present invention. Figure 28(a) is a schematic plan view of an elongated medical device motion assembly (200) according to the twelfth embodiment of the present invention, in which the offset member (660) is, for example, semicircular in the +y axis direction, and a projection protruding in the -z axis direction is placed on the support member (650). Figure 28(b) is a schematic plan view of an elongated medical device motion assembly (200) according to the twelfth embodiment of the present invention, in which the offset member (660) is, for example, semicircular in the -y axis direction, and a semicircular projection protruding in the -z axis direction is placed on the support member (650). [Figures 29(a)-29(b)] Figure 29(a) is a schematic plan view of the elongated medical device motion assembly (200) in the stage of attaching the elongated medical device (800) to the elongated medical device rotation assembly (400) according to the 13th embodiment of the present invention. Figure 29(b) is a schematic plan view of the elongated medical device motion assembly (200) in the stage of rotating the elongated medical device (800) after moving and fixing the offset member (665) in the +y axis direction, according to the 13th embodiment. [Modes for carrying out the invention]

[0051] [Best mode for carrying out the invention] (Overall structure) Figure 2 is a schematic diagram of an elongated medical device system (100) according to one embodiment of the present invention. In the following, the forward movement and rotation of the elongated medical device (800) according to one embodiment of the present invention will be described with reference to Figure 2.

[0052] In this specification, “elongated medical device” refers to a medical device that is elongated in shape and can be inserted into the body. Such elongated medical devices (800) may include, for example, intravascular insertion devices, catheters, and guidewires. In Figure 2, the direction in which the elongated medical device (800) moves forward is called the X direction, the direction in which it moves backward is called the -X direction, the direction perpendicular to the X direction and upward on the drawing (also referred to as the lateral direction of the elongated medical device movement assembly) is called the Y direction, and the direction perpendicular to the X and Y directions is called the z direction.

[0053] As illustrated in Figure 2, an elongated medical device system (100) according to one embodiment of the present invention includes a motion assembly (200) for moving an elongated medical device (800) forward, backward, and rotationally. Figure 2 illustrates, as an example, that the elongated medical device system (100) is for moving an elongated medical device (800) and a large-diameter elongated medical device (805) that is larger in diameter than the elongated medical device (800) that is inserted coaxially with the elongated medical device (800), i.e., for moving two elongated medical devices in a coaxial insertion relationship forward and backward and rotating them, respectively. For example, the elongated medical device (800) may be a guidewire inserted into a blood vessel, and the large-diameter elongated medical device (805) may be a catheter inserted into a blood vessel.

[0054] According to an exemplary embodiment of the present invention shown in Figure 2, the elongated medical device system (100) may further include an elongated medical device motion assembly (200) for moving an elongated medical device (800) back and forth and rotating it, and a separate large-diameter elongated medical device motion assembly (205) for moving an elongated medical device (805) back and forth and rotating it. According to one embodiment of the present invention, with the elongated medical device (800) inserted into the large-diameter elongated medical device (805), the large-diameter elongated medical device motion assembly (205) moves the large-diameter elongated medical device (805) to a desired point in the body. Then, with the movement of the large-diameter elongated medical device (805) stopped, the elongated medical device motion assembly (200) moves only the elongated medical device (800) further in the body to reach the target point.

[0055] In the following, only the operation of the elongated medical device motion assembly (200) will be described, but the entire structure and operation of the elongated medical device motion assembly (200) or part thereof may be adopted for the large-diameter elongated medical device motion assembly (205). Also, although only two elongated medical device motion assemblies are shown in Figure 2, if there are three or four elongated medical devices, three or four elongated medical device motion assemblies may be provided to move each elongated medical device forward and backward and rotate it.

[0056] The elongated medical device motion assembly (200) includes a forward / backward assembly (300) for moving the elongated medical device (800) forward and backward, and an elongated medical device rotation assembly (400) for rotating the elongated medical device (800).

[0057] The forward / reverse assembly (300) includes a roller assembly. The roller assembly includes a first roller (352) and a second roller (354). The first roller (352) and the second roller (354) are spaced apart on the Y axis. An elongated medical instrument (800) can be positioned between the first roller (352) and the second roller (354). The elongated medical instrument (800) can form contact surfaces with the first roller (352) and the second roller (354), respectively. When the first roller (352) and the second roller (354) rotate with the elongated medical instrument (800) in contact with each other, the elongated medical instrument (800) can move forward or backward.

[0058] The elongated medical instrument rotating assembly (400) rotates the elongated medical instrument (800). The detailed structure and operation of the rotating assembly (400) will be described later.

[0059] In the following, the structure and operation of the elongated medical device motion assembly (200) will be described. However, as mentioned above, the operation of the elongated medical device motion assembly (200) can also be applied to the large-diameter elongated medical device motion assembly (205). Therefore, for the sake of clarity, only the operation of the elongated medical device motion assembly (200) will be described.

[0060] Figure 3 is a schematic diagram illustrating the forward / backward movement and rotation of the elongated medical device by the forward / backward movement assembly (300) and the elongated medical device rotation assembly (400) in the elongated medical device motion assembly (200). Figure 3(a) is a schematic diagram illustrating the forward / backward movement of the elongated medical device (800) by the forward / backward movement assembly (300), and Figure 3(b) is a schematic diagram illustrating the rotation of the elongated medical device (800) by the rotation assembly (400).

[0061] As shown in Figure 3(a), in the forward / reverse assembly (300), when the first roller (352) and the second roller (354) rotate in contact with each other while gripping the elongated medical instrument (800), the elongated medical instrument (800) can move forward or backward. As shown in Figure 3(a), when the first roller (352) rotates counterclockwise (direction I) and the second roller (354) rotates clockwise at the same time, the elongated medical instrument (800) moves forward (direction I). Conversely, when the first roller (352) rotates clockwise (direction II) and the second roller (354) rotates counterclockwise at the same time, the elongated medical instrument (800) moves backward (direction II).

[0062] As shown in Figure 3(b), in the forward / reverse assembly (300), the first roller (352) and the second roller (354) sandwich the elongated medical instrument (800) and, with them separated from each other, the elongated medical instrument rotation assembly (400) can rotate the elongated medical instrument (800).

[0063] (Overall configuration of a medical robot to which the present invention may be applied) Figure 4 is a schematic perspective view of a medical robot according to one embodiment of the present invention. As illustrated in Figure 4, a medical robot (700) according to one embodiment of the present invention includes a frame (712), a track (714), cassette platforms (722, 724, 726, 728), and a drive unit. Each cassette platform (722, 724, 726, 728) may contain a drive unit within its housing. Each cassette may be mechanically attached to the cassette platform and drive unit. In some examples, the cassette platform and drive unit may consist of multiple units.

[0064] The frame (712) is a support structure to which the various components of the multiaxial catheter system are mechanically coupled and supported. The track (714) lies below the frame (712) and is mechanically coupled to it. The track is mechanically coupled to the track (714) in a direction parallel to the longitudinal axis (e.g., the X direction) to allow the translational motion of other components that can move along the track (714).

[0065] The cassette platforms (722, 724, 726, 728) can be mechanically coupled to the frame (712). The cassette platforms (722, 724, 726, 728) may include a cassette, a rotary assembly, and an advance assembly. In one embodiment, the cassette may be a disposable cassette. In one embodiment, as shown in Figure 4, the drive unit may be mechanically attached to the bottom of the cassette.

[0066] As illustrated in Figure 4, in one embodiment, the cassette platform may consist of four parts: a proximal cassette platform (728), a first intermediate cassette platform (724), a second intermediate cassette platform (726), and a distal cassette platform (722). Each cassette platform is mechanically coupled to its respective drive unit to receive power transmission.

[0067] The distal cassette platform (722) is fixed to the frame (712) and configured so that it cannot be translated by the drive unit along a direction parallel to the longitudinal direction of the track, and therefore cannot be translated along the track (714). The first and second intermediate cassette platforms (724, 726) and the proximal cassette platform (728) are attached to the frame (712) and configured so that they can be translated by the drive unit along a direction parallel to the longitudinal direction of the track (714), and therefore can be translated individually along the track (714).

[0068] An elongated medical device motion assembly (200) according to one embodiment of the present invention can be assembled onto each of the cassette platforms (722, 724, 726, 728).

[0069] The embodiments described in this invention generally relate to systems and robots for endovascular procedures. More specifically, some examples described in this invention relate to robotic systems for endovascular procedures and enable the operation of such robotic systems. Figure 2 is a schematic diagram of a catheter and guidewire insertion medical robot to which this invention may be applied.

[0070] In some cases, catheter and guidewire insertion medical devices consist of a catheter rotation assembly, a catheter advance assembly, a guidewire advance assembly, and a guidewire rotation assembly. Each assembly is independently mounted on the device and may also be mounted within a single housing. Each assembly can move independently. Each assembly generates translational and rotational motion of the catheter and guidewire. Through translational and rotational motion, the ends of the catheter and guidewire can be steered.

[0071] The guidewire moves through the bore (inner diameter) of the catheter, and the catheter bore is larger than the outer diameter of the guidewire. The guidewire assembly and the catheter assembly may each consist of several or more components.

[0072] (Catheter connection and advancements) When the device is in operation, each cassette, along with its respective drive unit, is configured to advance its respective catheter. The catheter advanced by the cassette has a proximal end mechanically coupled to a Y-connector fixed by the next nearest cassette. For example, a catheter advanced by the distal cassette has a proximal end mechanically coupled to a Y-connector fixed by a first intermediate cassette, and a catheter advanced by the first intermediate cassette has a proximal end mechanically coupled to a Y-connector fixed by a second intermediate cassette. Thus, advancing the catheter by the cassette can result in translational motion of the next nearest cassette and the corresponding cassette platform and drive unit. The device may further include one or more translational assemblies that can cooperatively translate the cassette (and the corresponding cassette platform and drive unit) when a catheter with a proximal end fixed by a cassette is advanced, which can reduce or prevent the catheter from becoming taut or flexing. Furthermore, the proximal cassette is configured to advance a guidewire.

[0073] Furthermore, each cassette is configured to rotate the respective catheter, which has a proximal end mechanically coupled to the cassette. The proximal cassette is also configured to rotate the guidewire.

[0074] In the device, each catheter and guidewire can advance independently of each other. Furthermore, each catheter and guidewire can rotate independently of each other.

[0075] Each catheter may have different internal and external diameters. In the embodiment shown in Figure 4, a second catheter, supported and driven by a second drive unit, advances through the bore (inner diameter) of a first catheter, which is driven and supported by a first drive unit. A third catheter, supported and driven by a third drive unit, advances through the bore (inner diameter) of a second catheter, which is driven and supported by a second drive unit. A guidewire, supported and driven by a fourth drive unit, advances through the bore (inner diameter) of a third catheter, which is driven and supported by a third drive unit. Here, the inner diameter of the first catheter is larger than the outer diameter of the second catheter, and the inner diameter of the second catheter is larger than the outer diameter of the third catheter. Also, the inner diameter of the third catheter is larger than the outer diameter of the guidewire.

[0076] The distal cassette is configured to advance the first catheter together with the distal drive unit (first drive unit), and the first intermediate cassette is configured to rotate the first catheter together with the first intermediate drive unit (second drive unit). The first intermediate cassette is configured to advance the second catheter together with the first drive unit (second drive unit), and the second intermediate cassette is configured to rotate the second catheter together with the second intermediate drive unit (third drive unit). The second intermediate cassette is configured to advance the third catheter together with the second intermediate drive unit (third drive unit), and the proximal cassette is configured to rotate the third catheter together with the proximal drive unit (fourth drive unit). The proximal cassette is configured to rotate and advance the guidewire.

[0077] The present invention relates to a medical robot and system for inserting elongated medical instruments for endovascular procedures. The present invention may include a cassette system for inserting elongated medical instruments (e.g., catheters and guidewires). The operation of inserting an elongated medical instrument includes the advancement and rotation of the elongated medical instrument. The cassette system includes a cassette, a frame, a track, a cassette platform, and a drive unit. In such a system, the advancement and rotation of an elongated medical instrument may be independent of the advancement or rotation of any other elongated medical instrument. The present invention may include a casing or shroud around the frame, where each cassette may be a disposable cassette (e.g., one usable for a single endovascular procedure).

[0078] [Modes for carrying out the invention] (Overall structure of an elongated medical device movement assembly according to one embodiment of the present invention) Figure 5 is a schematic plan view illustrating an elongated medical device motion assembly (200) according to one embodiment of the present invention. Figure 5(a) is a schematic plan view illustrating the state in which the elongated medical device motion assembly (200) according to one embodiment of the present invention rotates an elongated medical device (800), and Figure 5(b) is a schematic plan view illustrating the state in which the elongated medical device motion assembly (200) moves the elongated medical device (800) forward and backward. Figure 6(a) is a front view of part i in Figure 5(a) of the elongated medical device motion assembly (200) according to one embodiment of the present invention. Figure 6(b) is a rear view of part ii in Figure 5(a) of the elongated medical device motion assembly (200) according to one embodiment of the present invention. Figure 7 is a detailed configuration diagram illustrating the state in which the support member (500) of the elongated medical device motion assembly (200) according to one embodiment of the present invention is rotating.

[0079] As shown in Figure 5(a), the elongated medical device motion assembly (200) includes a forward / backward assembly (300) for moving the elongated medical device (800) back and forth, and an elongated medical device rotation assembly (400) for rotating the elongated medical device (800).

[0080] According to an exemplary embodiment of the present invention shown in Figures 5 to 7, the forward / backward assembly (300) includes a first roller (352) which rotates in a direction that causes an elongated medical instrument (800) to move forward and backward by friction when driven by an actuator (not shown), a second roller (354) which rotates freely due to the frictional force with the elongated medical instrument (800) that moves forward and backward as a result of the rotation of the first roller (352), a gear (382) which rotates when driven by an actuator (not shown), and a rack (380) which meshes with the gear (382) and allows the second roller (354) to move laterally (in the Y direction). As the gear (382) rotates, the rack (380) meshes with the gear and moves laterally, and the second roller (354) coupled to the rack (380) also moves laterally in conjunction with the rotation of the gear (382). According to one embodiment, an upper support frame (372) is connected to the upper part of the second roller (354), and the rack (380) and the upper support frame (372) may be connected by a connecting frame.

[0081] The elongated medical instrument rotating assembly (400) includes a rotating member (401) that rotates by the drive of an actuator (not shown), and an elongated medical instrument support member (500) that supports the elongated medical instrument (800) and rotates the elongated medical instrument (800) in conjunction with the rotation of the rotating member (401). At this time, the elongated medical instrument support member (500) is positioned and attached to the rotating member (401) so that the elongated medical instrument (800) can rotate around its longitudinal (X-direction) central axis. Furthermore, the elongated medical instrument (800) can be inserted through an opening (525) up to the center of the rotation axis of the rotating member (401) so that it can rotate around its elongated (X-direction) central axis.

[0082] According to one embodiment of the present invention, the rotating member (401) may further include a bevel drive gear (482) connected to an actuator (not shown) and rotated by the drive of the actuator (not shown), a bevel driven gear (492) that rotates in perpendicular mesh with the bevel drive gear (482), a first spur gear (494) that rotates axially fixed to the opposite side of the gear of the bevel driven gear (492), a second spur gear (496) that rotates in mesh with the first spur gear (494), and a plate spur gear (514) that rotates in mesh with the second spur gear (496). As a result, the plate spur gear (514) rotates in conjunction with the drive of the actuator (not shown), and the rotational force of the plate spur gear (514) is transmitted to the elongated medical device (800) by a support member (500) described later, causing rotational motion of the elongated medical device (800). At this time, by aligning the central axis of the cross-section of the elongated medical instrument (800) with the rotation axis of the plate spur gear (514), the elongated medical instrument (800) can rotate about the same axis as the rotation axis of the plate spur gear (514). The gear connection structure from the actuator (not shown) to the plate spur gear (514) can be modified within the limits of what a person skilled in the art can conceive. The transmission of power from the actuator (not shown) to the plate spur gear (514) can employ a form other than gears within the limits of what a person skilled in the art can conceive.

[0083] According to one embodiment of the present invention, the rotating member (401) may further include a structure for inserting an elongated medical instrument (800). According to an exemplary embodiment of the present invention shown in Figures 5 to 7, an opening (525) for inserting an elongated medical instrument (800) may be provided in the plate spur gear (514) of the rotating member (401), extending from the outer circumference of the plate spur gear (514) to the central axis. When a user intends to move the elongated medical instrument (800) according to one embodiment of the present invention forward or backward or rotate it, the elongated medical instrument (800) can be pre-inserted through the opening (525) to the central axis of the plate spur gear (514). The opening (525) may be narrow and long, and may have the shape of a slit extending from the outer circumference to the central axis.

[0084] According to one embodiment of the present invention, the elongated medical instrument support member (500) may further include an offset member (660) which is pivotally supported in a direction that protrudes perpendicularly to the surface on which the elongated medical instrument (800) is placed, with one side connected to a plate spur gear (514) and rotating coaxially with the rotation of the plate spur gear (514). The offset member (660) is intended to separate at least a portion of the elongated medical instrument (800) by a predetermined distance d from an imaginary line extending along the rotation axis of the rotating member (401). The offset member (660) is positioned such that at least a portion of its contact surface contacts at least a portion of the elongated medical instrument (800) placed on the support member (500). As a result, when the elongated medical instrument (800) is placed on the support member (500), at least a portion of the elongated medical instrument (800) comes into contact with at least a portion of the contact surface of the offset member (660). Furthermore, the portion of the elongated medical instrument (800) that comes into contact with the offset member (660) is separated by a maximum distance d from the central axis in the direction in which the elongated medical instrument (800) moves back and forth.

[0085] Specifically, the elongated medical device support member (500) may further include a plate (650) on one side connected to a plate spur gear (514) and rotating coaxially with the rotation of the plate spur gear (514), a shaft fixing part (653) that axially supports the other side of the plate (650), and an offset member (660) formed on the upper surface of the plate (650) in a direction that protrudes perpendicular to the upper surface. The plate (650) can rotate in conjunction with the rotation of the plate spur gear (514) because one side is coupled to the plate spur gear (514) and the other side is axially supported by the shaft fixing part (653).

[0086] When the elongated medical instrument (800) moves back and forth, frictional force may be generated at the point where the contact surfaces of the elongated medical instrument (800) and the offset member (660) come into contact with each other. Thus, the frictional force generated at the contact surfaces makes the rotation of the elongated medical instrument (800) more robust when it is rotating, but hinders its forward and backward movement when it is moving back and forth. Therefore, according to one embodiment of the invention, in order to reduce the frictional force generated between the contact surface of the offset member (660) and the elongated medical instrument (800), the offset member (660) can be formed as a free roller. As a result, when the elongated medical instrument (800) that is in contact with the contact surface of the free roller moves back and forth, the free roller (660) can rotate freely due to the frictional force between the contact surface and the elongated medical instrument (800).

[0087] (Insertion of an elongated medical device (800) into an elongated medical device movement assembly (200)) First, the elongated medical device (800) is inserted into the elongated medical device motion assembly (200). Once the user inserts the elongated medical device (800) into the elongated medical device motion assembly (200), the elongated medical device (800), having entered the space containing the roller assembly, is positioned on the surfaces where the first roller (352) and the second roller face each other. Furthermore, the elongated medical device (800), having entered the rotating member (401) and the support member (500), is inserted through the openings (525) and openings (625) formed in the plate spur gear (514) and the shaft fixing part (653), respectively, up to the central axis of the plate spur gear (514) and the shaft fixing part (653).

[0088] The elongated medical instrument (800), inserted through the openings (525) and (625) formed in the plate spur gear (514) and the shaft fixing part (653), respectively, and entering the space containing the elongated medical instrument rotating assembly (400), is supported by the support member (500) on the same line as the axis of rotation of the plate spur gear (514), which rotates around the x-axis. Here, among the elongated medical instruments (800) supported by the support member (500), those elongated medical instruments (800) positioned near the offset member (660) come into contact with the contact surface of the offset member (660) in such a way that a frictional force acts upon it.

[0089] (Forward and backward movement of an elongated medical device (800) by an elongated medical device motion assembly (200)) In the following, with reference to Figures 5 to 7, the forward and backward motion of an elongated medical device (800) by an elongated medical device motion assembly (200) according to one embodiment of the present invention will be described.

[0090] Power is transmitted to the forward / reverse drive assembly (not shown), and when the gear (382) rotates due to the drive of the actuator (not shown), the second roller (354) moves laterally (-Y direction) in conjunction with the rotation of the gear (382) and, together with the first roller (352), grips the elongated medical instrument (800) as shown in Figure 5(b).

[0091] When the actuator (not shown) for the forward and backward movement of the elongated medical instrument (800) is driven, the power transmitted by the actuator (not shown) rotates the first roller (352). At this time, each roller has one contact surface with the elongated medical instrument (800). The first roller (352) and the second roller (354) mesh with each other, and the rotation of the first roller (352) causes the second roller (354) to rotate in the opposite direction. At this time, the second roller (354) rotates freely. As a result, the elongated medical instrument (800) located between the first roller (352) and the second roller (354) can move forward or backward in the x-axis direction.

[0092] As shown in Figure 5(b), when the first roller (352) rotates in direction I (counterclockwise), the elongated medical instrument (800) moves forward in direction X, and when the first roller (352) rotates in direction II (clockwise), the elongated medical instrument (800) moves backward in direction -X. The rotation of the first roller (352) of the roller assembly in direction I and the rotation of the second roller in the opposite direction cause the elongated medical instrument to move forward in direction X, thereby supplying the end of the elongated medical instrument (800) into the body. The rotation of the roller in the opposite direction allows the elongated medical instrument (800) to be retrieved from the body.

[0093] (Rotational motion of an elongated medical device (800) by an elongated medical device motion assembly (200)) In the following, with reference to Figures 5 to 7, the rotational motion of an elongated medical device (800) by an elongated medical device motion assembly (200) according to one embodiment of the present invention will be described.

[0094] When power is transmitted to the rotary drive assembly (not shown), the power transmitted to the rotary drive assembly rotates the bevel drive gear (482). Therefore, the bevel driven gear (492), which meshes perpendicularly with the bevel drive gear (482), rotates around the x-axis. As the bevel driven gear (492) rotates, the first spur gear (494), which is fixed to the axis on the opposite side of the bevel driven gear (492), also rotates around the x-axis. At this time, the second spur gear (496) and the plate spur gear (514), which mesh with the first spur gear (494) on the y-axis, rotate due to the rotation of the first spur gear (494). At this time, the rotation of the first spur gear (494), the second spur gear (496), and the plate spur gear (514) causes the elongated medical device (800) to rotate, as will be described later.

[0095] As described above, the elongated medical instrument (800), which is inserted through the openings (525) and (625) formed in the plate spur gear (514) and the shaft fixing part (653), respectively, and enters the space where the elongated medical instrument rotating assembly (400) is located, is supported by the support member (500) on the same line as the axis of rotation of the plate spur gear (514), which rotates about the x-axis.

[0096] Here, as described above, among the elongated medical instruments (800) supported by the support member (500), the elongated medical instruments (800) positioned near the offset member (660) are in contact with the contact surface of the offset member (660) in such a way that a frictional force acts upon it. At this time, the elongated medical instruments (800) can be supported while in contact with a part or all of the contact surface of the offset member (660) on the support member (500). At this time, a tensile force acts in the X-axis direction on the elongated medical instruments (800) extending in the X-axis direction, and as a result, a force directed toward the center of the offset member (660) may be generated on the elongated medical instruments (800). This subsequently plays a role in making the rotation more robust when the elongated medical instruments (800) are rotated (rotated on their own axis) by the rotating member (401). At this time, according to other embodiments of the present invention described later, grooves (670) may be carved into the contact surface of the offset member (660) so that the elongated medical instrument (800) can be guided. The elongated medical instrument (800), having passed over the offset member (660), passes through the opening (525) of the rotating member (401). At this time, the rotation of the rotating member (401) induces the rotation of the elongated medical instrument (800), and the rotating member (401) and the elongated medical instrument (800) come to rotate on the same axis.

[0097] In one embodiment shown in Figures 5 to 7, among the elongated medical instruments (800) supported by the support member (500), the elongated medical instrument (800) positioned near the offset member (660) is supported so as to be in contact with a part of the upper surface of the offset member (660).

[0098] According to the prior art shown in Figure 1, the rotation of the forward shaft (9360) resulted in the rotation of the forward spur gear (9356), which had to be structured in such a way that it resulted in the forward spur gear (9358) and the forward shaft (9362) rotating in opposite directions. This meant that the reverse rotation of the forward shafts (9360, 9362) resulted in the reverse rotation of the forward rollers (9352, 9354). In other words, the forward shafts (9360) and the forward rollers (9352, 9354) could only rotate in the presence of the forward spur gear (9356). The rotating assembly also had to include a cap (9512), a collet (9516), a connector (9518), and a clamping bracket (9520). The plate spur gear (9514) had to be coupled to the cap (9512), and the cap (9512) had to include a screw-type female connector. The connector (9518) had to include a threaded male connector (9522). Furthermore, during assembly, the threaded female connector of the cap (9512) had to engage with the threaded male connector (9522) of the connector (9518). Also, once assembled, the collet (9516) had to be inserted into the gradually tapering recess of the connector (9518), so that the threaded female connector of the cap (9512) would engage with the threaded male connector (9522) of the connector (9518). The clamping bracket (9520) had to hold the connector (9518) while it rotated. Thus, the need for an external rotating assembly to rotate the elongated medical device presented a problem: it required additional components.

[0099] In contrast, as described above, according to the present invention, the rotation of the forward shaft (9362) can be directly transmitted to the forward rollers (9352, 9354) without the need for forward spur gears (9356, 9358). Therefore, the effect of further narrowing the gap between the forward rollers (9352, 9354) is produced. This prevents the slender medical instrument (800) from being unable to move forward or backward and the forward rollers (9352, 9354) from spinning freely.

[0100] According to the present invention, the elongated medical instrument rotating assembly (400) can be built into the cassette instead of being installed outside the cassette. This eliminates the need for additional parts to cover the elongated medical instrument rotating assembly (400), which has an advantage in terms of cost. Furthermore, by configuring the elongated medical instrument rotating assembly (400) as a component inside the cassette, the structure is simplified. This has the effect of minimizing errors during operation and minimizing the overall volume of the medical robot.

[0101] Furthermore, by adopting the above-described structure, the present invention eliminates the need for the elongated medical instrument (800) to form a parabolic shape such as a U-shape outside the medical robot, as it passes only within the cassette. This eliminates the possibility of the elongated medical instrument (800) twisting during rotation. In other words, it has the effect of allowing the elongated medical instrument (800) to directly receive the rotational force provided by the elongated medical instrument rotation assembly (400).

[0102] Furthermore, by preventing the elongated medical instrument (800) from twisting, it is possible to prevent unnecessary wear and tear of the elongated medical instrument (800), thereby reducing costs and improving the quality of the surgery.

[0103] Furthermore, because the elongated medical instrument rotation assembly (400) is located inside the cassette, and the shaft fixing part (653) and the rotating member (401) are included within the elongated medical instrument rotation assembly (400), the direction in which the elongated medical instrument (800) enters the opening (525) of the rotating member (401) and the opening (625) of the shaft fixing part (653), respectively, and the direction in which it exits the elongated medical instrument rotation assembly (400) are all the same. This means that the elongated medical instrument rotation assembly (400) and the elongated medical instrument (800) can rotate around the longitudinal central axis of the elongated medical instrument (800). As a result, the operator of a medical robot to which the present invention is applied can control it with greater precision.

[0104] Furthermore, according to one embodiment of the present invention, an offset member (660) can be added to the support member (500). As a result, when the elongated medical instrument (800) that has entered through the opening (625) of the shaft fixing part (653) comes into contact with the offset member (660) while moving in the direction of the opening (525) of the plate spur gear (514), it passes through while in contact with the contact surface of the offset member (660). At this time, a part of the elongated medical instrument (800) that comes into contact with the offset member (660) will bend in an arc along the contact surface of the offset member (660). As a result, when the elongated medical instrument (800) rotates together with the support member (500) on which it is placed, a torque is generated equal to the amount by which the elongated medical instrument (800) is separated from the central axis of the offset member (660). This makes it easier to rotate the elongated medical instrument (800) than if it simply passed through the plate (650) in a straight line. In this case, as in other embodiments described later, the number of offset members may be several, and if there are multiple offset members, the offset members, excluding the one placed in the middle, can grip the elongated medical instrument (800) to prevent it from floating too high. In this case, multiple offset members can be located on the same x-axis.

[0105] Furthermore, the offset member may have grooves (670) carved into its surface so that an elongated medical instrument (800) can fit inside. The grooves (670) may be carved along the surface of the offset member in a predetermined shape, such as a rectangle, triangle, quadrilateral, or U-shape. This allows the elongated medical instrument (800) to fit completely into the surface of the offset member. This restricts the lateral (Y-direction) movement of the elongated medical instrument (800) when it is inside the surface of the offset member. Through this, if the elongated medical instrument (800) rotates, it is possible to prevent it from moving freely in the y-axis or z-axis direction on the plate (650).

[0106] Furthermore, there may be a movable guide portion (611) that allows the offset member (660) to move freely in the y-axis direction on the plate (650). Through this, the advantage can be obtained that the elongated medical instrument (800) can be attached to the elongated medical instrument rotating assembly (400) more easily. According to one embodiment of the invention, when attaching the elongated medical instrument (800) to the elongated medical instrument rotating assembly (400), the offset member (660) is moved downward along the movable guide portion (611) (-y-axis direction) to attach it. Then, when rotating the elongated medical instrument (800), the offset member (660) is moved upward along the movable guide portion (611) (+y-axis direction) and fixed before it can be rotated. Therefore, when attaching the elongated medical instrument (800) to the elongated medical instrument rotating assembly (400), it can be attached easily while avoiding the offset member (660). In this case, the movement of the offset member (660) along the movement guide portion (611) can, of course, be automated. In one embodiment, the movement guide portion (611) may be recessed, flat, or protruding. At this time, the movement guide portion (611) may include a fixing portion that can fix the offset member (660) in place when the offset member (660) moves to the +y side or -y side end of the movement guide portion (611).

[0107] (Second embodiment of the present invention (an embodiment in which grooves are formed on the contact surface of the offset member)) Figures 8 to 12 are drawings illustrating an elongated medical device motion assembly (200) according to a second embodiment of the present invention. Figure 8 is a schematic plan view of the elongated medical device motion assembly (200) according to a second embodiment of the present invention. Figure 9 is a detailed configuration diagram illustrating the state in which the support member (500) of the elongated medical device motion assembly (200) according to a second embodiment of the present invention shown in Figure 8 is rotating. Figure 10 is an exploded perspective view showing that the offset member (660) is coupled to the elongated medical device support member (650) in the elongated medical device motion assembly (200) according to a second embodiment of the present invention. Figure 11 is a drawing illustrating various embodiments of the groove (670) formed on the contact surface of the offset member (660) in the elongated medical device motion assembly (200) according to a second embodiment of the present invention. Figure 12 is a drawing illustrating another embodiment of the plate (650) to which the offset member (660) is attached in the elongated medical device motion assembly (200) according to the second embodiment of the present invention.

[0108] As shown in Figure 8, in the slender medical device rotation assembly according to the second embodiment of the present invention, a U-shaped recess is formed on the upper surface of the plate (650) of the slender medical device support member (500). The offset member (660) is positioned in the recess of the support member (500). The offset member (660) may have a groove (670) formed around the periphery of its contact surface (side surface). The groove (670) formed in the offset member (660) may be formed with different cross-sections, as shown in Figure 11, such as (a) and (b), (c) and (d), and (e) and (f). Of course, other cross-sectional configurations can also be adopted by those skilled in the art. Furthermore, as shown in Figure 12, the offset member (660) may be positioned on the upper surface of the slender medical device support member (500) rather than in the recess. In this way, when a groove (670) is formed in the offset member (660), when the elongated medical instrument (800) is connected to the offset member (660), it is wound along this groove (670) and connected, and when the roller (660) rotates freely, the elongated medical instrument (800) is more securely placed within this groove (670). In this way, when the elongated medical instrument (800) is more securely placed within the groove (670) of the offset member (660), it is possible to more reliably prevent the elongated medical instrument (800) from detaching from the offset member (660) when it rotates together with the elongated medical instrument support member (500).

[0109] The groove (670) may be carved along the surface of the offset member (660) in a predetermined shape, such as a rectangle, triangle, quadrilateral, or U-shape. This allows the elongated medical instrument (800) to fit completely into the surface of the offset member (660). This restricts the lateral (Y-direction) movement of the elongated medical instrument (800) when it is in contact with the surface of the offset member (660). Through this, it is possible to prevent the elongated medical instrument (800) from rotating and dislodging from the offset member (660).

[0110] (Third embodiment of the present invention (an embodiment in which there are multiple offset members)) Figures 13 to 15 are diagrams illustrating an elongated medical device motion assembly (200) according to a third embodiment of the present invention. Figure 13 is a schematic plan view of the elongated medical device motion assembly (200) according to the third embodiment of the present invention. Figure 14 is a detailed configuration diagram illustrating the state in which the support member (500) of the elongated medical device motion assembly (200) according to the third embodiment of the present invention shown in Figure 13 is rotating. Figure 15 is a diagram illustrating a detailed front view of the elongated medical device rotation assembly (400) according to the third embodiment of the present invention shown in Figure 13, along with left and right side views.

[0111] As shown in Figures 13 to 15, in the slender medical device rotation assembly according to the third embodiment of the present invention, the offset members (663, 665, 667) arranged on the slender medical device support member (500) may consist of multiple members. The above drawings show an example where there are three members. As shown in Figure 13, these three offset members (663, 665, and 667) are positioned with their centers separated in the Y direction from the rotation axis of the elongated medical instrument (800). The centers of the first offset member (663) and the third offset member (667) are positioned at the same distance in the Y direction from the rotation axis of the elongated medical instrument (800), while the center of the second offset member (665) is positioned at a shorter distance than that of the first and third offset members (663 and 667). These three rollers (663, 665, and 667) are positioned so that their outer shapes overlap when viewed from the x-axis direction. Furthermore, it is obvious that the arrangement structure of these multiple rollers can be modified by those skilled in the art.

[0112] In the third embodiment of the present invention, the elongated medical instrument rotation assembly configured in this way has multiple offset members (663, 665, 667) that pull the elongated medical instrument (800) while keeping a certain portion away from its axis of rotation, and are straddling it.

[0113] In this way, when the elongated medical instrument (800) is pulled with a certain portion separated from its axis of rotation and is straddling the roller, the frictional force between the elongated medical instrument (800) and the roller increases, making it possible to more reliably prevent the elongated medical instrument (800) from detaching from the offset members (663, 665, 667) when it rotates together with the elongated medical instrument support member (500). Furthermore, if there are multiple offset members, the offset members (663, 667), excluding the offset member placed in the middle, can play a role in gripping the elongated medical instrument (800) to prevent it from floating too high. At this time, multiple rollers can be located on the same x-axis.

[0114] (Fourth embodiment of the present invention (an embodiment in which there are multiple offset members, and grooves are formed on the contact surface of each offset member) Figures 16 to 20 are diagrams illustrating an elongated medical device motion assembly (200) according to a fourth embodiment of the present invention. Figure 16 is a schematic plan view of the elongated medical device motion assembly (200) according to the fourth embodiment of the present invention. Figure 17 is a detailed configuration diagram illustrating the state in which the support member (500) of the elongated medical device motion assembly (200) according to the fourth embodiment of the present invention shown in Figure 16 is rotating. Figure 18 is a detailed perspective view illustrating the state in which the support member (500) of the elongated medical device motion assembly (200) according to the fourth embodiment of the present invention shown in Figure 16 is rotating. Figure 19 is a detailed front view of the elongated medical device motion assembly (200) according to the fourth embodiment of the present invention viewed from the side (-Y direction). Figure 20 is a diagram illustrating various embodiments of the groove (670) formed on the contact surface of the offset member (660) in the elongated medical device motion assembly (200) according to the fourth embodiment of the present invention.

[0115] As shown in Figures 16 to 19, the elongated medical device motion assembly (200) according to the fourth embodiment of the present invention includes a plurality of offset members (663, 665, 667), similar to the elongated medical device motion assembly (200) according to the third embodiment, and grooves (670) are formed around the contact surface of each offset member (663, 665, 667). As shown in Figure 20, when grooves (670) are formed around the contact surfaces of the plurality of offset members (663, 665, 667), the cross-section of the grooves (670) can be changed to the shapes of (a), (b), and (c), respectively.

[0116] When grooves (670) are formed in the offset members (663, 665, 667) in this manner, when the elongated medical instrument (800) is connected to the offset members (663, 665, 667), it is wound along these grooves (670) and connected, and when the offset members (663, 665, 667) rotate freely, the elongated medical instrument (800) is more securely placed within these grooves (670). The groove (670) may be carved along the surface of the offset members (663, 665, 667) in a predetermined shape, such as a rectangle, triangle, quadrilateral, or U-shape. This allows the guide wire to fully enter the surface of the offset members (663, 665, 667). This restricts the lateral (Y-direction) movement of the elongated medical instrument (800) when it enters the surface of the offset members (663, 665, 667). Through this, it is possible to prevent the elongated medical instrument (800) from rotating and detaching from the offset members (663, 665, 667).

[0117] In this way, as the elongated medical instrument (800) is more securely positioned within the grooves (670) of the offset members (663, 665, 667), it becomes even more reliable to prevent the elongated medical instrument (800) from detaching from the offset members (663, 665, 667) when it rotates together with the elongated medical instrument support member (500).

[0118] (Fifth embodiment of the present invention (an embodiment in which an elongated medical device is wound around an offset member one or more times) Figure 21(a) is a schematic plan view of the elongated medical device motion assembly (200) according to the fifth embodiment of the present invention. Figure 21(b) is a front view of portion i in Figure 21(a) of the elongated medical device motion assembly (200) according to the fifth embodiment of the present invention. Figure 21(c) is a rear view of portion ii in Figure 21(a) of the elongated medical device motion assembly (200) according to the fifth embodiment of the present invention.

[0119] As shown in Figure 21, in the fifth embodiment of the present invention, in the slender medical instrument rotating assembly, the slender medical instrument (800) can be wound around the offset member (660) once and connected.

[0120] In this way, when the elongated medical instrument (800) is wrapped around the offset member (660) once and connected, the frictional force between the elongated medical instrument (800) and the offset member (660) is increased, making it possible to more reliably prevent the elongated medical instrument (800) from detaching from the offset member (660) when it rotates together with the elongated medical instrument support member (500).

[0121] (Sixth embodiment of the present invention) Figure 22(a) is a schematic plan view of the elongated medical device motion assembly (200) according to the sixth embodiment of the present invention. Figure 22(b) is a front view of portion i in Figure 22(a) of the elongated medical device motion assembly (200) according to the sixth embodiment of the present invention. Figure 22(c) is a rear view of portion ii in Figure 22(a) of the elongated medical device motion assembly (200) according to the sixth embodiment of the present invention.

[0122] As shown in Figure 22, if grooves (670) are formed on the roller (660), the elongated medical instrument (800) can be wound around the offset member (660) once and connected. In this case, it is possible to more reliably prevent the elongated medical instrument (800) from detaching from the offset member (660) when it rotates together with the elongated medical instrument support member (500).

[0123] (Seventh Embodiment of the Invention) Figure 23(a) is a schematic plan view of the elongated medical device motion assembly (200) according to the seventh embodiment of the present invention. Figure 23(b) is a front view of portion i in Figure 23(a) of the elongated medical device motion assembly (200) according to the seventh embodiment of the present invention. Figure 23(c) is a rear view of portion ii in Figure 23(a) of the elongated medical device motion assembly (200) according to the seventh embodiment of the present invention.

[0124] As shown in Figure 23, the elongated medical instrument (800) can enter the underside of the offset member (660) and be wound around it once to connect. In this case, it is possible to more reliably prevent the elongated medical instrument (800) from detaching from the offset member (660) when it rotates together with the elongated medical instrument support member (500).

[0125] (Eighth embodiment of the present invention) Figure 24(a) is a schematic plan view of the elongated medical device motion assembly (200) according to the eighth embodiment of the present invention. Figure 24(b) is a front view of portion i in Figure 24(a) of the elongated medical device motion assembly (200) according to the eighth embodiment of the present invention. Figure 24(c) is a rear view of portion ii in Figure 24(a) of the elongated medical device motion assembly (200) according to the eighth embodiment of the present invention.

[0126] As shown in Figure 24, when the roller (660) is positioned such that its lower circumference is in contact with the rotation axis of the elongated medical instrument (800), the elongated medical instrument (800) enters the underside of the offset member (660) and is wound around it once, connecting them. In this case, it is possible to more reliably prevent the elongated medical instrument (800) from detaching from the offset member (660) when it rotates together with the elongated medical instrument support member (500).

[0127] (9th embodiment of the present invention) Figure 25(a) is a schematic plan view of the elongated medical device motion assembly (200) according to the ninth embodiment of the present invention. Figure 25(b) is a front view of portion i in Figure 25(a) of the elongated medical device motion assembly (200) according to the ninth embodiment of the present invention. Figure 25(c) is a rear view of portion ii in Figure 25(a) of the elongated medical device motion assembly (200) according to the ninth embodiment of the present invention.

[0128] As shown in Figure 25, according to the ninth embodiment of the present invention, the elongated medical instrument rotating assembly, the offset members (669, 671) positioned on the elongated medical instrument support member (500) can be arranged coaxially and vertically along the y-axis. In this case, the elongated medical instrument (800) enters while wrapping around the upper end of the upper offset member (671), wraps around and passes between the upper offset member (671) and the lower offset member (669), and is connected while covering the lower end of the lower offset member (669), resulting in an S-shaped covering and connection of the roller. In this way, when the elongated medical instrument (800) is wrapped in an S-shape around the two offset members (669, 671) and connected, the frictional force between the elongated medical instrument (800) and the rollers (669, 671) is increased, making it possible to more reliably prevent the elongated medical instrument (800) from detaching from the rollers (669, 671) when it rotates together with the elongated medical instrument support member (500).

[0129] (Tenth embodiment of the present invention) Figure 26(a) is a schematic plan view of the elongated medical device motion assembly (200) according to the 10th embodiment of the present invention. Figure 26(b) is a front view of portion i in Figure 26(a) of the elongated medical device motion assembly (200) according to the 10th embodiment of the present invention. Figure 26(c) is a rear view of portion ii in Figure 26(a) of the elongated medical device motion assembly (200) according to the 10th embodiment of the present invention.

[0130] In the tenth embodiment shown in Figure 26, the upper offset member (671) and the lower offset member (669) are arranged to be separated in the x-axis direction within a range in which their centers overlap along the y-axis direction, compared to the embodiment shown in Figure 25. In this way, when the elongated medical instrument (800) is wound and connected in an inclined S-shape around the two offset members (669, 671), the frictional force between the elongated medical instrument (800) and the rollers (669, 671) is increased, making it possible to more reliably prevent the elongated medical instrument (800) from detaching from the rollers (669, 671) when it rotates together with the elongated medical instrument support member (500).

[0131] Furthermore, while Figures 25 and 26 show that the elongated medical instrument (800) enters the upper end of the upper roller, it is of course also possible that it enters the lower end of the lower roller.

[0132] (11th embodiment of the present invention) Figure 27(a) is a schematic plan view of an elongated medical device movement assembly (200) according to the 11th embodiment of the present invention. Figure 27(b) is a front view of portion i in Figure 27(a) of the elongated medical device movement assembly (200) according to the 11th embodiment of the present invention. Figure 27(c) is a rear view of portion ii in Figure 27(a) of the elongated medical device movement assembly (200) according to the 11th embodiment of the present invention.

[0133] In the 11th embodiment shown in Figure 27, the upper offset member (671) and the lower offset member (669) may be arranged side by side along the x-axis, within the range in which their centers overlap along the y-axis, as shown in the embodiment shown in Figure 25. In this case, they may also be arranged coaxially along the x-axis without overlapping along the y-axis. In this way, when the elongated medical instrument (800) is wound and connected in a horizontal S-shape around the two offset members (669, 671), the frictional force between the elongated medical instrument (800) and the rollers (669, 671) is increased, making it possible to more reliably prevent the elongated medical instrument (800) from detaching from the rollers (669, 671) when it rotates together with the elongated medical instrument support member (500).

[0134] (Twelfth embodiment of the present invention) Figure 28 is a schematic plan view of an elongated medical device motion assembly (200) according to a twelfth embodiment of the present invention. Figure 28(a) is a schematic plan view of an elongated medical device motion assembly (200) according to a twelfth embodiment of the present invention, in which the offset member (660) is, for example, semicircular in the +y axis direction, and a projection protruding in the -z axis direction is placed on the support member (650). Figure 28(b) is a schematic plan view of an elongated medical device motion assembly (200) according to a twelfth embodiment of the present invention, in which the offset member (660) is, for example, semicircular in the -y axis direction, and a semicircular projection protruding in the -z axis direction is placed on the support member (650). According to such embodiments, the elongated medical device (800) can be separated by a predetermined distance d from a virtual line extending along the rotation axis of the rotating member by the offset member (660). As a result, when the elongated medical instrument (800) rotates together with the support member (500) on which it is placed, a torque is generated equal to the distance the elongated medical instrument (800) is separated from the central axis of the offset member (660). This makes it easier for the elongated medical instrument (800) to rotate than if it simply passed through the plate (650) in a straight line.

[0135] In this case, although a semicircular shape was adopted for the protruding portion as one embodiment to illustrate the invention, any shape is acceptable as long as it can separate the elongated medical instrument (800) in the +y or -y axis direction.

[0136] (13th embodiment of the present invention) Figure 29(a) is a schematic plan view of the elongated medical device motion assembly (200) in the stage of attaching the elongated medical device (800) to the elongated medical device rotation assembly (400) according to the 13th embodiment of the present invention. Figure 29(b) is a schematic plan view of the elongated medical device motion assembly (200) in the stage of rotating the elongated medical device (800) after moving and fixing the offset member (665) in the +y axis direction, according to the 13th embodiment.

[0137] As shown in Figure 29(a), the elongated medical device movement assembly (200) according to the thirteenth embodiment of the present invention allows for the installation of a movement guide (611) on a plate (650) on which the second offset member (665) is located. In this case, the movement guide (611) facilitates the movement of the second offset member (665) in the y-side direction, making it convenient to attach the elongated medical device (800) to the elongated medical device rotation assembly (400).

[0138] According to one embodiment of the invention, when attaching an elongated medical instrument (800) to an elongated medical instrument rotating assembly (400), the offset member (665) is moved downward along the movable guide portion (611) to attach it (-y axis direction). Then, when rotating the elongated medical instrument (800), the offset member (665) is moved upward along the movable guide portion (611) to fix it (+y axis direction) and then it can be rotated. Therefore, when attaching an elongated medical instrument (800) to an elongated medical instrument rotating assembly (400), it can be easily attached while avoiding the offset member (665). In this case, it goes without saying that the movement of the offset member (665) along the movable guide portion (611) can be automated.

[0139] The electronic devices disclosed in this document in various embodiments can take on a variety of forms. These electronic devices may include, for example, portable communication devices (e.g., smartphones), computer devices, portable multimedia devices, portable medical devices, cameras, wearable devices, or consumer electronics devices. The electronic devices disclosed in this document are not limited to the aforementioned devices.

[0140] While embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto. Various modifications and improvements made by those skilled in the art, utilizing the basic concepts of the present invention as defined in the following claims, also fall within the scope of the present invention. [Explanation of Symbols]

[0141] 100 Elongated Medical Device System 800 Long and slender medical devices 200 Elongated Medical Device Exercise Assembly 300 Forward / Reverse Assembly 400 Elongated Medical Instrument Rotating Assembly 401 Rotating member 500 Support member 482 Bevel drive gear 492 Bevel Driven Gear 494 First Spur Gear 496 Second Spur Gear 514 Plate Spur Gear 525 Opening 650 Plate 611 Mobile Guide Section 653 Shaft fixing part 625 Opening 660 Offset member 663 First offset member 665 Second offset member 667 Third offset member 670 Grooves

Claims

1. In a slender medical device rotation assembly, A rotating member that rotates by the drive of an actuator, and The rotating member is connected to the aforementioned rotating member and includes a support member that supports at least a portion of the elongated medical instrument and rotates the elongated medical instrument about its vertical axis in conjunction with the rotation of the rotating member, The support member includes an offset member that, on the surface on which the elongated medical instrument is placed, separates at least a portion of the elongated medical instrument by a predetermined distance d from an imaginary line extending along the rotation axis of the rotating member. A slender, rotating medical device assembly characterized by the following features.

2. The rotating member includes an opening into which the elongated medical instrument is inserted. The support member includes an opening into which the elongated medical instrument is inserted. The predetermined distance d represents the maximum distance from a virtual straight line connecting the opening of the rotating member and the opening of the support member to at least a portion of the elongated medical device. The elongated medical device rotating assembly according to feature 1.

3. The offset member includes a free roller pivotally supported perpendicular to the surface on which the elongated medical instrument is placed. The free roller includes a contact surface that at least a portion of which contacts at least a portion of the elongated medical device. The elongated medical device rotating assembly according to feature 1.

4. The free roller can rotate freely due to the frictional force with the elongated medical instrument when the elongated medical instrument moves back and forth in the longitudinal direction. The elongated medical device rotating assembly according to feature 3.

5. A groove is formed on the contact surface of the offset member that contacts at least a portion of the elongated medical device. The elongated medical device rotating assembly according to feature 1.

6. The offset member includes at least two offset members, The elongated medical device rotating assembly according to feature 1.

7. The support member further includes a movable guide portion, The offset member is installed so as to be movable along the movable guide portion. The elongated medical device rotating assembly according to feature 1.

8. In medical robots that utilize elongated medical instruments, Frame and, Tracks coupled to the frame, and A cassette platform that is movably coupled along the aforementioned track, A forward and backward assembly provided on the cassette platform for moving the elongated medical instrument forward and backward, and A rotating assembly for the elongated medical instrument, Includes, The aforementioned elongated medical device rotating assembly is A rotating member that rotates by the drive of an actuator, and A support member for supporting the elongated medical instrument and for rotating the elongated medical instrument in conjunction with the rotation of the rotating member, Includes, The support member includes an offset member on the surface on which the elongated medical instrument is placed, which offsets at least a portion of the elongated medical instrument by an offset d from the axis of rotation of the elongated medical instrument. A medical robot characterized by the following features.

9. The rotating member includes an opening into which the elongated medical instrument is inserted. The support member includes an opening into which the elongated medical instrument is inserted. The offset d represents the distance from the straight line connecting the opening of the rotating member and the opening of the support member to at least a portion of the elongated medical device. The medical robot according to feature 8.

10. In a slender medical device rotation assembly, A rotating member that rotates by the drive of an actuator, and A support member for supporting an elongated medical instrument, and for rotating the elongated medical instrument about its longitudinal central axis in conjunction with the rotation of the rotating member, Includes, The support member includes a free roller pivotally supported perpendicular to the surface on which the elongated medical instrument is placed. A slender, rotating medical device assembly characterized by the following features.

11. The free roller includes a contact surface that at least a portion of which contacts at least a portion of the elongated medical device. The elongated medical device rotating assembly according to feature 10.

12. When the elongated medical device is placed on the support member, at least a portion of the elongated medical device is separated by the free roller by a maximum distance d from the central axis in the direction in which the elongated medical device moves back and forth. The elongated medical device rotating assembly according to feature 10.

13. The free roller can rotate freely due to the frictional force with the elongated medical instrument when the elongated medical instrument moves back and forth in the longitudinal direction. The elongated medical device rotating assembly according to feature 10.

14. Grooves are formed on the contact surface of the free roller. The elongated medical device rotating assembly according to feature 10.

15. The free roller includes at least two free rollers, The elongated medical device rotating assembly according to feature 10.

16. A forward and backward movement assembly for moving an elongated medical instrument forward and backward, and an elongated medical instrument rotation assembly according to claims 10 to 15. A slender medical device exercise assembly including a medical device.

17. The elongated medical device exercise assembly according to claim 16, Medical robots, including [specific type of robot].

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