Electrode devices for blocking or regulating nerves in the body

Abstract

An electrode device for blocking or regulating nerves in the body includes a main body with a shaft, an electrode unit formed to extend from one end of the shaft and blocking or regulating at least a portion of the nerves in the tube inside the body, an electrode guide for guiding the electrode unit and comprising a plurality of nodes and wires connecting the plurality of nodes to each other, a sensor unit formed in a preset portion of the electrode unit and measuring the temperature of the tube inside the body, and a signal processing unit that converts the analog signal value measured from the sensor unit into a digital signal value and sends the converted digital signal value to an RF energy generator.

Description

Technical Field

[0001] The present invention relates to an electrode device for blocking or regulating nerves in the body.

Background Art

[0002] Neurotomy refers to a procedure that damages specific nerves to control an autonomic nervous system that is abnormally and overly activated. For example, renal denervation can treat hypertension and heart disease by damaging the renal sympathetic nerves that go to the kidneys, and pulmonary denervation can treat lung diseases by damaging the parasympathetic nerves that go to the lungs.

[0003] In performing such a procedure, it is important to accurately transmit the electrical stimulation necessary for the procedure to the nerve to be treated. Specifically, in order to effectively block or regulate the nerves of the tube in the body to be treated, it is important to accurately transmit the RF energy necessary for the procedure according to the state of the tube (e.g., the temperature of the tube, etc.) where the nerve is distributed.

[0004] FIG. 1 is a diagram showing a process of processing a signal regarding a temperature value of a tube in the body measured from an electrode device according to the prior art.

[0005] Referring to FIG. 1, the temperature data of the tube in the body measured by the thermocouple 11 in the electrode device 10 is processed by the RF energy generator 20 via the cable 30.

[0006] For example, an analog signal measured in the electrode device 10 is transmitted to the RF energy generator 20 via the cable 30, and the RF energy generator 20 converts the received analog signal into a digital signal. Then, the RF energy generator 20 outputs RF energy to the electrode device 10 based on the converted digital signal.

[0007] At this time, as the analog signal measured by the electrode device 10 is transmitted to the RF energy generator 20 via the cable 30, it may be exposed to noise 40 from the cable 30, which could reduce the accuracy of the measured analog signal, i.e., the measured temperature. In particular, the electrode device 10 measures the temperature of tubes inside the body being treated using thermocouples, but the voltage difference generated by the thermocouples is very small, only a few μV per 1°C, so even small noises 40 can have a significant impact. [Overview of the project] [Problems that the invention aims to solve]

[0008] This invention aims to ensure that the temperature of the treatment target measured in the electrode device is accurately transmitted to the RF energy generator, and that the RF energy generator accurately outputs the RF energy necessary for nerve blockade.

[0009] Furthermore, the present invention provides an electrode device that can accurately transmit information regarding the temperature of a treatment target, measured by a thermocouple, to an RF energy generator.

[0010] Furthermore, the present invention aims to provide an improved electrode device that reduces errors in measurement signals between an electrode device and an RF energy generator connected via a cable.

[0011] However, the technical problems that this embodiment aims to solve are not limited to those described above, and other technical problems may exist. [Means for solving the problem]

[0012] To achieve one objective of the present invention, the electrode device according to the present invention is an electrode device for blocking or regulating nerves in the body, and may include: a main body having a shaft; an electrode unit formed to extend from one end of the shaft and blocking or regulating at least a portion of the nerves in the tube in the body; an electrode guide for guiding the electrode unit, comprising a plurality of nodes and wires connecting the plurality of nodes to each other; a sensor unit formed in a preset portion of the electrode unit and measuring the temperature of the tube in the body; and a signal processing unit that converts the analog signal value measured from the sensor unit into a digital signal value and sends the converted digital signal value to an RF energy generator.

[0013] The electrode unit may include a base layer, a plurality of electrode layers arranged on the base layer, and a top layer arranged so as to overlap at least a portion of the electrode layers, sandwiching the plurality of electrode layers.

[0014] The sensor portion is a thermocouple made of a first metal and a second metal, and the thermocouple may include a cold junction placed on the base layer.

[0015] The means for solving the above-described problems are merely illustrative and should not be construed as limiting the present invention. In addition to the exemplary embodiments described above, there may be additional embodiments described in the drawings and the detailed description of the invention. [Effects of the Invention]

[0016] According to the electrode device of the present invention, information regarding the temperature of the treatment target measured by a thermocouple in the electrode device can be accurately transmitted to the RF energy generator. This reduces errors in the measurement signals between the electrode device and the RF energy generator connected via a cable, enabling precise treatment. [Brief explanation of the drawing]

[0017] [Figure 1] It is a diagram showing the process of processing a signal regarding the temperature value of a tube inside the body measured from an electrode device according to the prior art. [Figure 2] It is a side view of an electrode device according to an embodiment of the present invention. [Figure 3] It is a diagram showing a state where the electrode guide shown in FIG. 2 is positioned to guide the electrode unit and is wound around a blood vessel. [Figure 4] It is a plan view showing a part of the electrode unit shown in FIG. 2. [Figure 5] It is a diagram showing a signal processing unit disposed inside the main body shown in FIG. 2. [Figure 6] It is a diagram showing a sensor unit of the electrode unit in region A shown in FIG. 5. [Figure 7] It is a diagram showing the internal components of the shaft in region A shown in FIG. 3. [Figure 8] It is an exploded perspective view of a part of the joint shown in FIG. 3. [Figure 9] It is a cross-sectional view of a drive unit disposed inside the main body shown in FIG. 2. [Figure 10] It is a diagram showing the operation process of an electrode guide according to an embodiment of the present invention.

Mode for Carrying Out the Invention

[0018] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those having ordinary knowledge in the technical field to which the present invention pertains can easily implement it. However, the present invention can be embodied in various different forms and is not limited to the embodiments described here. And in the drawings, in order to clearly explain the present invention, parts not related to the explanation are omitted, and similar reference numerals are given to similar parts throughout the specification.

[0019] Throughout the specification, when a part is "connected" to another part, this includes not only cases where it is "directly connected", but also cases where it is "electrically connected" with other elements interposed therebetween. Also, when a part "includes" a certain component, this means that, unless otherwise stated to the contrary, it does not exclude other components, but may further include other components, and it should not be understood as precluding the presence or possibility of addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof. Further, throughout the specification of the present application, when a member is "above" another member, this includes not only cases where a member is in contact with another member, but also cases where there are other members between the two members.

[0020] FIG. 2 is a side view of an electrode device 100 according to an embodiment of the present invention, and FIG. 3 is a view showing a state where the electrode guide 130 shown in FIG. 2 is positioned to guide the electrode unit 120 to be wound around a blood vessel. FIG. 4 is a plan view showing a part of the electrode unit shown in FIG. 2, and FIG. 5 is a view showing a signal processing unit disposed inside the main body shown in FIG. 2.

[0021] Referring to FIG. 2, an electrode device 100 according to an embodiment of the present invention includes a main body 110, an electrode unit 120, and an electrode guide 130. The main body 110 may include a shaft 111 extending in one direction, a grip portion 112 formed to be connected to the shaft 111 so that an operator can grip it, a guide operation portion 113 formed on the grip portion 112 to operate the operation of the electrode guide 130, and an electrode operation portion 114 formed on the grip portion 112 to operate energy transmission to the electrode unit 120. Inside the main body 110, elements for driving and controlling the electrode unit 120 and the electrode guide 130 may be arranged.

[0022] The electrode unit 120 is formed to extend from one end of the shaft 111 and is configured to block or regulate at least a portion of nerves distributed in tissues including tubes within the body through manipulation by a practitioner. The electrode unit 120 is housed inside the shaft 111 and may be extended to the outside by an electrode guide 130, which will be described later, when the electrode device 100 of the present invention is in operation.

[0023] Referring to Figure 3, the electrode guide 130 has the function of bringing the electrode unit 120 into contact with the tube inside the body. The electrode guide 130 supports the electrode unit 120 and guides it to come into contact with the tube inside the body.

[0024] The electrode guide 130 provided in the present invention comprises a plurality of nodes 131. The plurality of nodes 131 may form a curved winding path so as to wrap around the tube V inside the body, sandwiching the electrode unit 120. The state shown in Figures 3 and 10(c) may be a state in which the plurality of nodes 131 are fully extended and positioned along the curved winding path.

[0025] Referring to Figures 3 and 4, the electrode unit 120 may include a base layer 121, an electrode layer 122, and a top layer 124. The electrode device 100 according to the present invention may have electrodes wrapped around the outer surface of a tube or tubular tissue V in the body, and energy may be transmitted through the electrodes. For this purpose, the base layer 121 may be a flexible PCB.

[0026] The electrode layer 122 is formed on the base layer 121, and in the embodiment shown in Figure 3, the electrode layer 122 may consist of two electrodes extending parallel to each other on the base layer 121. In this embodiment, the base layer 121 and the electrode layer 122 may be configured to extend circumferentially and be wrapped around a tube or the like inside the body.

[0027] The electrode layer 122 may be made of a material that is harmless to the human body and can conduct electricity, such as stainless steel or gold, in order to block or denervate or control or modulation nerves. The electrode layer 122 may also transmit various types of energy from an energy source generator. For example, radio-frequency (RF) energy, electrical energy, laser energy, ultrasonic energy, high-intensity focused ultrasound energy, cryogenic energy, and other thermal energy may be used.

[0028] Furthermore, the electrode layer 122 may be embodied in a flexible circuit board for transmitting high-frequency energy, a transducer for transmitting ultrasonic energy, or a metal electrode for transmitting high-voltage energy, and may transmit energy to damage nerves.

[0029] Furthermore, the electrode unit 120 may include a base layer 121, an electrode layer 122 placed on the base layer 121, and a top layer 124 placed on either side of the electrode layer 122 so as to overlap a portion of the electrode layer 122. The top layer 124 may also have a through hole 120a.

[0030] Furthermore, the electrode unit 120 may include a sensor unit 123. The sensor unit 123 may be formed in a preset area of ​​the electrode unit 120 to measure the temperature of a tube inside the body. When nerve transection is performed using the electrode device 100 according to the present invention, the sensor unit 123 may also monitor the temperature of the treatment site.

[0031] The sensor unit 123 may be a thermocouple that measures temperature by contacting a tube or the like inside the body. For example, the sensor unit 123 may be a thermocouple formed on the base layer 121 and may include a first metal 123a and a second metal 123b. In one example, the first metal 123a may be copper, and the second metal 123b may be constantan.

[0032] Referring to Figure 5, the sensor unit 123 is a thermocouple consisting of a first metal 123a and a second metal 123b, and includes a cold junction (CJ) 125 and a hot junction (HJ) 127. Generally, a thermocouple generates an electromotive force, i.e., thermoelectric power, by connecting two metals 123a and 123b with different junction temperatures, and allows an electric current to flow.

[0033] In this case, the thermocouple includes a point where it transitions from the first metal 123a to the second metal 123b and connects, and these points are called the cold junction 125 and the hot junction 127. The sensor unit 123, i.e., the thermocouple, in the embodiment shown in Figure 5 may be placed on the base layer 121 to form a cold junction.

[0034] Figure 6 shows the sensor portion of the electrode unit in region A shown in Figure 5. Referring to Figure 6(a), the signal processing unit 150 may insert the temperature sensor 126 into the cold junction 125. In other words, referring to Figure 6(b), the signal processing unit 150 can improve the error in temperature measurement by thermocouple by placing the temperature sensor 126 at the point where the first metal 123a begins and the second metal 123b ends.

[0035] Therefore, by placing the sensor unit in the electrode unit, the accuracy of temperature measurement at the cold junction can be increased, and the accuracy of the thermocouple's measured temperature can be improved.

[0036] On the other hand, referring again to Figure 5, the electrode device 100 according to the present invention may directly process the signal for the temperature of the tube inside the body measured by the sensor unit 123 inside the main body 110. The electrode device 100 may also include a signal processing unit 150 inside the main body 110 to directly process the information regarding the temperature of the tube inside the body measured.

[0037] In conventional technology, the signal for the tube temperature measured by the electrode device 100 was converted into temperature data by the RF energy generator 200 via the cable 300, but this may reduce the accuracy of the tube temperature information. For example, in the process of transmitting the analog signal measured by the sensor part 123 of the electrode device 100 to the RF energy generator 200 via the cable 300, it is exposed to noise 400 from the cable 300, which may reduce the accuracy of the measured temperature value, i.e., the temperature value of the tube inside the body.

[0038] Therefore, the electrode device 100 according to the present invention is equipped with a signal processing unit 150 inside the main body 110, and the signal for the tube temperature measured by the sensor unit 123 is directly processed by the signal processing unit 150 before being transmitted to the RF energy generator 200, thereby eliminating noise 400 from the cable 300 and improving the accuracy of the procedure.

[0039] In the embodiment shown in Figure 5, the electrode device 100 may include a signal processing unit 150 inside the main body 110. For example, the electrode device 100 may have a handle portion that can be grasped by the practitioner, i.e., the signal processing unit 150 inside the main body 110, and directly convert the analog signal measured from the sensor portion 123 of the electrode unit 120 into temperature data.

[0040] The signal processing unit 150 may convert the analog signal value measured from the sensor unit 123 into a digital signal value. The signal processing unit 150 may also send the converted digital signal value to the RF energy generator 200. In this way, the electrode device 100 according to the present invention can prevent signal distortion or loss because the digital signal value converted in the signal processing unit 150 is sent directly to the RF energy generator 200.

[0041] Figure 7 shows the internal components of the shaft in region A shown in Figure 3, Figure 8 is an exploded perspective view of a part of the joint shown in Figure 3, Figure 9 is a cross-sectional view of the drive unit arranged inside the main body shown in Figure 2, and Figure 10 is a diagram showing the operation process of an electrode guide according to one embodiment of the present invention.

[0042] Referring to Figures 7 and 8, the wire 133 may be formed to sequentially pass through a plurality of nodes 131. Wire holes 131c may be formed in the nodes 131 in the longitudinal direction for the wire 133 to pass through. The ends of the wire 133 that have sequentially passed through the wire holes 131c may be coupled and fixed to the tip joints 132, and the wire 133 is slidable in the longitudinal direction relative to each node 131 within the wire holes 131c. This allows the wire 133 to guide the plurality of nodes 131 and tip joints 132 to be positioned on the winding path and to provide a tensile force in the direction in which the plurality of nodes 131 and tip joints 132 are wound around the pipe V.

[0043] The wire 133 may be operated to protrude from one end of the shaft 111 along with a plurality of nodes 131. In this case, the wire 133 can be designed so that the amount it protrudes is less than the amount the nodes 131 protrude, thereby allowing the wire 133 to provide a force that pulls the plurality of nodes 131 along a curved path.

[0044] Referring to Figure 8, the joint portion 131 may include a hinge portion 131a and a winding support portion 131b. The hinge portion 131a is configured to rotatably connect with an adjacent joint and may be formed on one or both sides in the longitudinal direction in which the joint portions 131 are connected side by side. As shown in the drawing, the hinge portion 131a may form a rotation axis in a direction intersecting the longitudinal direction and be connected to the hinge portion 131a of an adjacent joint portion 131. Each hinge portion 131a may be fastened by inserting a hinge pin (not shown) in the direction in which the rotation axis is formed.

[0045] The winding support portion 131b is configured to support a plurality of nodes 131 along the winding path and may be formed on one or both sides in the longitudinal direction so as to support adjacent nodes 131 from each other. As shown in the drawings, the winding support portion 131b may be formed adjacent to the hinge portion 131a in the direction inward of the electrode guide 130 (where the nodes 131 are wound). The winding support portion 131b may consist of a surface having a predetermined angle and area, for example, and the wound form of the electrode guide 130 may be fixed by being supported by surface contact with adjacent winding support portions 131b. The winding support portion 131b and the wire hole 131c may be formed at positions away from the rotation center of the hinge portion 131a toward the tube V inside the body.

[0046] If the wire 133 is pulled backward relative to the electrode guide 130 (i.e., the length of wire 133 pulled out from the shaft 111 is smaller than the length of the node 131), tension may be applied to the wire 133 in the direction of winding the electrode guide 130. Conversely, the winding support portion 131b may provide a force that supports the nodes 131 in a direction that suppresses the winding of the electrode guide 130. By balancing the forces of the wire 133 and the winding support portion 131b in opposite directions, the electrode guide 130 can be fixed on the winding path.

[0047] On the other hand, as shown in Figure 8, the electrode guide 130 may include a first group of nodes 131x and a second group of nodes 131y. In other words, the multiple nodes 131 may be divided into a first group of nodes 131x and a second group of nodes 131y having different lengths.

[0048] Due to the difference in length, the first group of nodes 131x may form a first radius of curvature, and the second group of nodes 131y may form a second radius of curvature that is larger than the first radius of curvature. As can be seen from Figure 10(c), the nodes with relatively shorter lengths (first group of nodes 131x) may form a smaller radius of curvature, and the nodes with longer lengths (second group of nodes 131y) may form a larger radius of curvature.

[0049] By forming a path with a smaller radius of curvature using the node 131 located closer to the tip joint 132, a path can be created for the tip joint 132 to enter the space between the tube inside the body and the shaft 111, as shown in Figure 10(c). Furthermore, the electrode guide 130, including the node 131, may have an overall helical shape.

[0050] Referring to Figure 9, the drive unit 140 may include a frame 141, a motor section 142, a rod block 143, a wire block 144, and a variable connecting section 145. The drive unit 140 drives the node 131 and wire 133 of the electrode guide 130 to protrude from one end of the shaft, and interlocks the node 131 and wire 133 so that they have different displacements from each other.

[0051] In other words, the drive unit 140 may be controlled to increase the displacement difference between the node 131 and the wire 133, so that the electrode guide 130 is in a winding state, wrapped around the tube V inside the body. Alternatively, the drive unit 140 may be controlled to decrease the displacement difference between the node 131 and the wire 133, so that the electrode guide 130 is in a straight state.

[0052] For example, the drive unit 140 may cause the wire 133 to protrude from one end of the shaft 111 by a smaller amount (length) than the node 131. The node 131 may be pulled in one direction (the direction in which it is wrapped around the tube inside the body) by the wire 133 by an amount corresponding to this difference in protrusion, and protrude while forming a curved winding path. More specifically, each time the node 131 rotates by the winding angle (for example, 30 degrees) formed by the winding support part 131b while protruding, the wire 133 may protrude by a relatively smaller amount.

[0053] As shown in Figure 9, the frame 141 may be fixed inside the main body and may be provided with guide slots or guide shafts extending in the front-rear direction. The motor unit 142 may be connected to the frame 141 and may be provided with a rotating shaft 142a that is rotatably supported by the frame 141. The motor unit 142 may rotate the rotating shaft 142a by receiving electrical energy, for example.

[0054] One end of the rod block 143 may be connected to the joint 131. The rod block 143 may be moved forward and backward by the motor unit 142. Specifically, the rod block 143 may extend in the front-rear direction and be moved forward and backward by engaging with a rotating shaft 142a on which a screw thread is formed. The rod block 143 may be positioned inside the shaft 111, formed to extend in one direction (front-rear direction), and may include a rod 143a that supports the joint 131, and a protruding and recessed configuration that is slidably connected to a guide slot or guide shaft of the frame 141.

[0055] In addition to the configurations of the rotating shaft 142a and motor unit 142 described above, the drive unit 140 according to the present invention may be configured to move the rod block 143 in the front-rear direction by various linear actuation methods. For example, the drive unit 140 may include a cylinder-type linear actuator including pneumatic, hydraulic, or electric types, or a piezo / ultrasonic linear actuator.

[0056] The wire block 144 is formed to support the wire 133 and may move forward and backward in conjunction with the rod block 143. The wire block 144 has a grooved configuration into which it is slidably inserted into a guide slot or guide shaft, and a slide hole 144a that slidably accommodates the rotating shaft 142a, and may move forward and backward alongside the rod block 143.

[0057] The variable connecting section 145 connects the rod block 143 and the wire block 144 to each other, and the distance between the rod block 143 and the wire block 144 may be varied. For this purpose, the variable connecting section 145 may include a rod link 145a, a wire link 145b, a hinge pin 145c, and a pin slot 145d.

[0058] Furthermore, the rod link 145a and the wire link 145b may be rotatably connected to the rod block 143 and the wire block 144, respectively. Alternatively, the rod link 145a and the wire link 145b may be rotatably connected to each other by a hinge pin 145c.

[0059] The pin slot 145d is formed to slidably accommodate the hinge pin 145c. Specifically, the pin slot 145d is formed to extend in the front-rear direction and at a predetermined inclination angle. The pin slot 145d may be formed in the frame 141.

[0060] According to the present invention, the drive unit 140 may wind the multiple nodes 131 in a direction that wraps around the tube V while being pulled out from the shaft 111. Therefore, the space in which the electrode guide 130 operates can be minimized, and nerve blocking or modulation can be performed safely and accurately even in a confined space.

[0061] Furthermore, by having the drive unit 140 generate the displacement of the wire 133 in a manner different from that of the node portion 131, the electrode guide 130 of the electrode device 100 according to the present invention can ensure accuracy and repeatability of the operating path.

[0062] Referring to Figures 10(a) to (c), the electrode guide 130 may further include a tip joint 132 and a wire 133. The tip joint 132 supports the electrode unit 120 and may be coupled to the ends of a plurality of sequentially connected nodes 131. The tip joint 132 may be drawn out from one end of the shaft 111 before the plurality of nodes 131.

[0063] As shown in Figure 10(c), the tip joint 132 may be positioned close to the tube V inside the body, and may have a tapered shape that becomes thinner towards the end to prevent interference with the electrode unit 120 and to maximize the surface area that wraps around the tube inside the body. The end of the electrode unit 120 may be fastened and fixed to the tip joint 132.

[0064] As shown in Figures 10(a) to (c), the multiple nodes 131 may be sequentially pulled out and moved toward one side, resulting in a winding state where they are wrapped around the tube V. However, in the winding state, the electrode guide 130 may be positioned away from the outer surface of the tube V, and the electrode unit 120, which is positioned inside the wrapped electrode guide 130, may be in close contact with the outer surface of the tube V.

[0065] Referring to Figures 10(a) and (b), the electrode guide 130 is housed inside the shaft 111 together with the electrode unit 120 and may protrude from one end toward the front F, forming a curved winding path for treatment.

[0066] Referring to Figure 10(c), the electrode guide 130 may be deformed into a winding state, wrapped around the tube V inside the body, due to the amplified displacement difference between the nodes 131 and the wire 133. Specifically, the multiple nodes 131 may be sequentially pulled out from the shaft 111 and moved along a curved winding path due to the displacement difference with the wire 133, so that they are wrapped around the tube V as a whole. Furthermore, the electrode guide 130 may be positioned away from the outer surface of the tube V, and the electrode unit 120, which is positioned inside the wrapped electrode guide 130, may be in close contact with the outer surface of the tube V.

[0067] This minimizes the operating space of the electrode guide 130, allowing for safe and accurate nerve blocking or modulation even in confined spaces.

[0068] The above description of the present invention is illustrative, and a person with ordinary skill in the art to which the present invention pertains should understand that it can be easily modified into other specific forms without altering the technical idea or essential features of the present invention. Therefore, the above-described embodiments should be understood to be illustrative in all respects and not limiting.

[0069] Furthermore, the scope of the present invention is indicated by the claims described below, rather than by the detailed description above, and all modified or altered forms derived from the meaning and scope of the claims, as well as the concept of equivalents thereof, should be interpreted as being included within the scope of the present invention.

Claims

1. In an electrode device for blocking or regulating nerves in the body, A main body equipped with a shaft, An electrode unit formed to extend from one end of the shaft, which blocks or modulates at least a portion of the nerves in the tube inside the body, The electrode unit comprises a plurality of nodes and wires connecting the plurality of nodes to each other, and an electrode guide that guides the electrode unit, A sensor unit is formed in a predetermined area of ​​the electrode unit to measure the temperature of the tube inside the body, A signal processing unit converts the analog signal value measured from the sensor unit into a digital signal value and sends the converted digital signal value to the RF energy generator. An electrode device, including one.

2. The electrode unit is Base layer and, Multiple electrode layers arranged on the base layer, The electrode apparatus according to claim 1, further comprising a top layer positioned so as to overlap at least a portion of the electrode layers, sandwiching the plurality of electrode layers.

3. The aforementioned sensor unit is A thermocouple made of a first metal and a second metal, The electrode device according to claim 2, wherein the thermocouple includes a cold junction disposed on the base layer.

4. A drive unit located inside the main body, which controls the displacement difference between the node and the wire to be large so that the electrode guide has a winding state where it is wrapped around the tube inside the body, and controls the displacement difference between the node and the wire to be small so that the electrode guide has a straight state. The electrode device according to claim 1, further comprising:

5. The aforementioned drive unit is A rod block, one end of which is connected to the joint and which moves forward and backward, A wire block that supports the aforementioned wire and moves forward and backward, The electrode device according to claim 4, further comprising a variable connecting portion that connects the rod block and the wire block to each other and is formed to vary the distance between the rod block and the wire block.

6. The aforementioned drive unit is Motor section and A rod block comprising a rod with one end connected to the joint, which is moved forward and backward by the motor unit, Includes a wire block that supports the wire and moves forward and backward alongside the rod block, The electrode device according to claim 4, characterized in that the wire block is further away from the rod block when the rod block moves forward, and closer to the rod block when the rod block moves backward.

7. The electrode device according to claim 1, characterized in that the wire is formed such that the displacement protruding from one end of the shaft is smaller than that of the node, and provides a force that pulls the node in the direction of wrapping it around the pipe.

8. The aforementioned section is, A hinge portion formed on one or both sides in the longitudinal direction, which connects to adjacent joints, The electrode device according to claim 1, further comprising a wire hole formed such that the wire is inserted at a position away from the rotation center of the hinge portion.

9. The aforementioned multiple nodes are integrally formed from an elastically deformable material. The electrode device according to claim 1, characterized in that winding support grooves are formed between adjacent nodes of the electrode guide, which are deformed so as to be closed by the force of the wire.

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