Guidewire and catheter drive assembly

Abstract

A drive assembly according to one embodiment of the present invention includes a drive roller (11); a first idler roller (12) facing the drive roller (11); and a pinch frame (13) to which the first idler roller (12) is coupled, wherein the movement of the pinch frame (13) can move the first idler roller (12) toward the drive roller (11) or away from the drive roller (11), and a guide between the first idler roller (12) and the drive roller (11). A wire (30) is positioned, and the pinch frame (13) includes a deflection member (18) positioned in the direction of movement of the pinch frame (13) to adjust the pressure applied to the guide wire (30), the guide wire (30) is moved forward or backward by the drive roller (11), and as the guide wire (30) moves forward or backward, the pinch frame (13) is moved so that the first idler roller (12) contacts the guide wire (30).

Description

Technical Field

[0001] The present invention relates to a drive assembly for a guide wire and a catheter used for minimally invasive arbitration procedures.

Background Art

[0002] A guide wire is used to guide a secondary sheath (e.g., a catheter) along the guide wire to a desired position in a body, such as the body of a mammal like a human body. In one application, the guide wire is introduced into a lumen of the body, i.e., a blood vessel, through an incision through the patient's skin and lumen wall, and the introduced or distal end of the guide wire is then guided to a desired position in the lumen or a lumen into which the lumen or the guide wire is introduced or branches therefrom.

[0003] One problem with guide wire introduction systems is that it is difficult to make the distal end of the guide wire follow a tortuous lumen geometry and to guide the distal end of the guide wire to a lumen where it is positioned in a lumen that intersects a lumen or branch lumen that the distal end crosses. In some cases, the branch lumen that is the target destination of the distal end of the guide wire intersects a lumen that exists at an angle greater than, for example, 45 degrees, and in some cases greater than 90 degrees.

[0004] To facilitate orientation control of the distal end of the guide wire, a robotic system for stably controlling the movement of the guide wire is presented. Also presented is a cassette for use with the robotic system. By the cassette, the guide wire is guided to a desired position in the body by performing forward movement, backward movement, and rotational movement.

[0005] Such a cassette drive assembly includes a drive roller and an idler roller. When the guide wire moves forward or backward, the drive roller and idler roller come into contact with the guide wire. In this case, if the contact surface between the guide wire and the drive roller and idler roller is small, the frictional force between the guide wire and the drive roller and idler roller is small, which can cause slippage when the guide wire moves forward or backward. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] U.S. Patent Application Publication No. 2017 / 0274181 [Overview of the Initiative] [Problems that the invention aims to solve]

[0007] The technical problem that this invention aims to solve is to provide a drive assembly that reduces the occurrence of guide wire slippage. [Means for solving the problem]

[0008] A drive assembly according to one embodiment of the present invention includes a drive roller (11); a first idler roller (12) facing the drive roller (11); and a pinch frame (13) to which the first idler roller (12) is coupled, wherein the movement of the pinch frame (13) can move the first idler roller (12) toward the drive roller (11) or away from the drive roller (11), and a guide wire is placed between the first idler roller (12) and the drive roller (11). (30) is positioned, and the pinch frame (13) includes deflection members (18) positioned in the direction of movement of the pinch frame (13) to adjust the pressure applied to the guide wire (30), the guide wire (30) is moved forward or backward by the drive roller (11), and when the guide wire (30) is moved forward or backward, the pinch frame (13) can be moved so that the first idler roller (12) contacts the guide wire (30).

[0009] In one embodiment, the pinch frame (13) may include a first frame member (13a) coupled to a first surface of the deflection member (18) and a second frame member (13b) coupled to a second surface of the deflection member (18) opposite to the first surface.

[0010] In one embodiment, the system may further include a guide member (19) that is arranged parallel to the deflection member (18) and coupled to the first and second frame members (13a, 13b).

[0011] In one embodiment, the system further includes a rack (14) coupled to the second frame member (13b), and a pinion (15) that meshes with the rack (14), wherein the pinion (15) can be driven to move the first idler roller (12) toward or away from the drive roller (11).

[0012] In one embodiment, the diameter of the drive roller (11) may be larger than the diameter of the first idler roller (12).

[0013] In one embodiment, when the guide wire (30) moves forward or backward, the point at which the guide wire (30) contacts the drive roller (11) can be located at the center point of the point at which the guide wire (30) contacts the first idler roller (12).

[0014] In one embodiment, when the guide wire (30) moves forward or backward, the guide wire (30) can form a main bent portion (M) that bends along the contact surface with the drive roller (11) and a sub-bent portion (S) that bends along the contact surface with the first idler roller (12).

[0015] In one embodiment, the system further includes a sensor roller (11') and a second idler roller (12') that include a sensor for sensing the movement of the guide wire (30) when the guide wire (30) moves forward or backward, the second idler roller (12') can be coupled to the pinch frame (13).

[0016] In one embodiment, the movement of the pinch frame (13) can move the second idler roller (12') toward or away from the sensor roller (11'), a guide wire (30) is positioned between the second idler roller (12') and the sensor roller (11'), and the pinch frame (13) includes a deflection member (18) positioned in the direction of movement of the pinch frame (13) to adjust the pressure applied to the guide wire (30), and when the guide wire (30) moves forward or backward, the pinch frame (13) can be moved so that the second idler roller (12') comes into contact with the guide wire (30).

[0017] In one embodiment, when the guide wire (30) rotates, the pinch frame (13) moves, allowing the first idler roller (12) to move away from the drive roller (11).

[0018] In one embodiment, when the guide wire (30) rotates, the pinch frame (13) moves, allowing the second idler roller (12’) to move away from the sensor roller (11’).

[0019] In one example of the present invention, a catheter can be used instead of the guide wire (30).

Advantages of the Invention

[0020] By increasing the contact surface between the guide wire, the drive roller, and the idler roller, the frictional force between the guide wire, the drive roller, and the idler roller increases, and the occurrence of slip of the guide wire can be reduced.

Brief Description of the Drawings

[0021] [Figure 1a] Fig. 1a is an exploded perspective view showing a cassette according to an example of the present invention. [Figure 1b] Fig. 1b is an exploded plan view showing a cassette according to an example of the present invention. [Figure 2a] Fig. 2a is a perspective view showing a drive assembly and a rotation assembly according to an example of the present invention. [Figure 2b] Fig. 2b is a plan view showing a drive assembly and a rotation assembly according to an example of the present invention. [Figure 2c] Fig. 2c is a front view showing a drive assembly and a rotation assembly according to an example of the present invention. [Figure 2d] Fig. 2d is a rear view showing a drive assembly and a rotation assembly according to an example of the present invention. [Figure 2e] Fig. 2e is a side view showing a drive assembly and a rotation assembly according to an example of the present invention. [Figure 2f] Figure 2f is a side view showing a drive assembly and a rotating assembly according to an embodiment of the present invention. [Figure 3] Figure 3 is a perspective view showing a drive assembly according to an embodiment of the present invention. [Figure 4a] Figure 4a is a perspective view for showing the forward or backward movement of a guide wire according to an embodiment of the present invention. [Figure 4b] Figure 4b is a plan view for showing the forward or backward movement of a guide wire according to an embodiment of the present invention. [Figure 4c] Figure 4c is a side view for showing the forward or backward movement of a guide wire according to an embodiment of the present invention. [Figure 4d] Figure 4d is a side view for showing the forward or backward movement of a guide wire according to an embodiment of the present invention. [Figure 5a] Figure 5a is a perspective view for showing the rotational movement of a guide wire according to an embodiment of the present invention. [Figure 5b] Figure 5b is a plan view for showing the rotational movement of a guide wire according to an embodiment of the present invention. [Figure 5c] Figure 5c is a side view for showing the rotational movement of a guide wire according to an embodiment of the present invention. [Figure 5d] Figure 5d is a side view for showing the rotational movement of a guide wire according to an embodiment of the present invention. [Figure 6a] Figure 6a is a plan view for showing the bending of a guide wire according to an embodiment of the present invention. [Figure 6b] Figure 6b is a partially enlarged plan view for showing the bending of a guide wire according to an embodiment of the present invention.

Best Mode for Carrying Out the Invention

[0022] Hereinafter, preferred embodiments of the present invention will be described as follows with reference to the accompanying drawings. Figures 1a and 1b are, respectively, an exploded perspective view and an exploded plan view showing a cassette (1) according to an embodiment of the present invention.

[0023] Referring to Figures 1a and 1b, the cassette (1) may include a drive assembly (10) and a rotation assembly (20). The guide wire (30) can move forward, backward, and rotate through the drive assembly (10) and the rotation assembly (20).

[0024] Depending on the embodiment, the cassette (1) can be used for the forward, backward, and rotational movement of the catheter, and the structure of the rotating assembly (20) for using a guidewire (30) and the structure of the rotating assembly (20) for using a catheter may differ from each other.

[0025] The configurations of the drive assembly (10) and the rotary assembly (20) will be described with reference to the following drawings.

[0026] Figures 2a to 2f are perspective views, plan views, front views, rear views, side views, and side views, respectively, showing a drive assembly and a rotary assembly according to one embodiment of the present invention. Figure 3 is a perspective view showing a drive assembly according to one embodiment of the present invention.

[0027] The drive assembly (10) may include a drive roller (11), a sensor roller (11'), a first idler roller (12), a second idler roller (12'), a pinch frame (13), a rack (14), a pinion (15), a pinch shaft (16), a drive shaft (17), a deflection member (18), and a guide member (19).

[0028] The drive roller (11) and the first idler roller (12) face each other, and the guide wire (30) can come into contact with the drive roller (11) and the first idler roller (12) between them.

[0029] When the contact surface between the guide wire (30) and the roller is small, the frictional force between the guide wire (30) and the roller is small, which can lead to the problem of the guide wire (30) slipping. The present invention presents a structure to solve the aforementioned problem.

[0030] Referring to Figures 6a and 6b, when the guide wire (30) moves forward or backward, the guide wire (30) can form a main bent portion (M) that bends along the contact surface with the drive roller (11) and a sub-bent portion (S) that bends along the contact surface with the first idler roller (12).

[0031] This increases the contact surface area between the guide wire (30) and the drive roller (11) and the first idler roller (12), thereby increasing the frictional force between the guide wire (30) and the drive roller (11) and the first idler roller (12), and reducing the occurrence of slippage of the guide wire (30).

[0032] Referring again to Figures 2a to 2f and Figure 3, the diameter of the drive roller (11) may be larger than the diameter of the first idler roller (12). When the guide wire (30) moves forward or backward, the point where the guide wire (30) contacts the drive roller (11) can be located at the center point where the guide wire (30) contacts the first idler roller (12).

[0033] The sensor roller (11') may include a sensor for sensing the movement of the guide wire (30) when the guide wire (30) moves forward or backward.

[0034] The pinch frame (13) may include a first frame member (13a) and a second frame member (13b). The first frame member (13a) and the second frame member (13b) may be coupled to each other. A first idler roller (12), a second idler roller (12'), a deflection member (18), and a guide member (19) may be coupled to the first frame member (13a). A first idler roller (12), a rack (14), a deflection member (18), and a guide member (19) may be coupled to the second frame member (13b). Movement of the pinch frame (13) may move the first idler roller (12) toward the drive roller (11) or away from the drive roller (11). Movement of the pinch frame (13) may move the second idler roller (12') toward the sensor roller (11') or away from the sensor roller (11'). When the guide wire (30) moves forward or backward, the pinch frame (13) is moved so that the first idler roller (12) contacts the guide wire (30), and the guide wire (30) can be moved forward or backward by the drive roller (11). Also, when the guide wire (30) moves forward or backward, the pinch frame (13) can be moved so that the second idler roller (12') contacts the guide wire (30).

[0035] The rack (14) is coupled to the second frame member (13b) and can mesh with the pinion (15). The rack (14) can extend in a direction perpendicular to the coupling surface with the second frame member (13b). The rotational motion of the pinion (15) can cause the rack (14) to move forward or backward, which can cause the first idler roller (12) to move forward or backward.

[0036] The pinion (15) engages with the rack (14) and can surround the pinch shaft (16). The pinion (15) may be separate from or integrated with the pinch shaft (16).

[0037] The pinch shaft (16) is surrounded by the pinion (15) and can rotate by a separate configuration not shown. The rotation of the pinch shaft (16) causes the pinion (15) to rotate.

[0038] The drive shaft (17) is surrounded by the drive roller (11) and can rotate by a separate configuration not shown. The rotation of the drive shaft (17) causes the drive roller (11) to rotate.

[0039] The deflection member (18) is positioned between the first frame member (13a) and the second frame member (13b) and can be coupled to the first frame member (13a) and the second frame member (13b). The deflection member (18) can be positioned in the direction of movement of the pinch frame (13) to adjust the pressure applied to the guide wire (30) positioned between the first idler roller (12) and the drive roller (11) and between the second idler roller (12') and the sensor roller (11'). Specifically, as the rack (14) moves forward toward the first idler roller (12), the first idler roller (12) moves forward toward the guide wire (30), so that the first idler roller (12) can pinch the guide wire (30) together with the drive roller (11). At this time, due to the elasticity of the deflection member (18), the rack (14) can move more strongly forward in the direction toward the first idler roller (12), thereby allowing the first idler roller (12) to pinch the guide wire (30) more strongly together with the drive roller (11).

[0040] The deflection member (18) is configured such that when the pinch frame (13) moves the first idler roller (12) closer to the drive roller (11), the first idler roller (12) and the drive roller (11) can be brought into closer contact, and when the pinch frame (13) moves the first idler roller (12) away from the drive roller (11), the first idler roller (12) and the drive roller (11) can be moved further apart from each other. The deflection member (18) may be a spring, for example, a coil spring or a leaf spring. In some embodiments, the deflection member (18) may be made of a material other than a spring, for example, a pneumatic cylinder.

[0041] The guide member (19) is positioned parallel to the deflection member (18) between the first frame member (13a) and the second frame member (13b), and can be coupled to the first frame member (13a) and the second frame member (13b). The guide member (19) may be configured to prevent the first frame member (13a) and the first idler roller (12) from detaching from the second frame member (13b).

[0042] The rotating assembly (20) may include a center roller (21), side rollers (22), a rotating frame (23), a first bevel gear (24), a second bevel gear (25), a first spur gear (26), a second spur gear (27), a third spur gear (28), and a gear frame (29).

[0043] The central roller (21) can be positioned between the side rollers (22). Connecting the points where the guide wire (30) contacts the central roller (21) and the points where the guide wire (30) contacts the side rollers (22) can form a triangular shape, and the guide wire (30) can have an arched shape with a protruding point where it contacts the central roller (21). The rotational axis of the guide wire (30) can be a linear shape extending from the point where the guide wire (30) contacts the drive roller (11) to the point where the guide wire (30) contacts the side rollers (22). The point where the guide wire (30) contacts the central roller (21) can be the point where the guide wire (30) deviates from the rotational axis.

[0044] A center roller (21) and side rollers (22) can be connected to the rotating frame (23). The rotating frame (23) is connected to a third spur gear (28), and as the third spur gear (28) rotates, the rotating frame (23) also rotates, and the center roller (21), side rollers (22), and guide wire (30) can rotate together.

[0045] The first bevel gear (24) can rotate by a separate configuration not shown. As the first bevel gear (24) rotates, the second bevel gear (25), the first spur gear (26), the second spur gear (27), and the third spur gear (28) can rotate in sequence, ultimately causing the guide wire (30) to rotate.

[0046] The gear frame (29) can be coupled with a first spur gear (26), a second spur gear (27), and a third spur gear (28), and the drive assembly (10) and the rotary assembly (20) can be separated by the gear frame (29).

[0047] Figures 4a to 4d are perspective views, plan views, side views, and side views, respectively, illustrating the forward or backward movement of a guide wire (30) according to one embodiment of the present invention.

[0048] Referring to Figures 4a to 4d, the forward or backward movement of the guide wire (30) can be understood.

[0049] First, the guide wire (30) can be pinched in order to move it forward. This means that the guide wire (30) is in contact with both the drive roller (11) and the first idler roller (12). Whether or not the guide wire (30) is pinched can be determined by the forward movement of the first idler roller (12). The rotational motion of the pinion (15) can cause the rack (14) to move forward, which can cause the first idler roller (12) to move forward. That is, the drive of the pinion (15) can move the first idler roller (12) toward the drive roller (11) or away from the drive roller (11). This means that the forward movement of the first idler roller (12) is possible without a gear directly coupled to the first idler roller (12).

[0050] In order to move the guide wire (30) forward, the drive shaft (17) can rotate first. As the drive shaft (17) rotates, the drive roller (11) rotates, which in turn causes the first idler roller (12) to rotate. The rotational motion of the drive roller (11) and the first idler roller (12) allows the guide wire (30) to move forward.

[0051] In this case, by using a first idler roller (12), which is a plurality of rollers facing the drive roller (11), the contact surface between the guide wire (30) and the drive roller (11) and the first idler roller (12) is increased, the frictional force between the guide wire (30) and the drive roller (11) and the first idler roller (12) is increased, and the occurrence of slippage of the guide wire (30) can be reduced.

[0052] For your reference, the backward movement of the guide wire (30) differs from the forward movement of the guide wire (30) only in direction, and the provisions regarding the forward movement of the guide wire (30) can be similarly applied to the backward movement of the guide wire (30).

[0053] Figures 5a to 5d are perspective views, plan views, side views, and side views, respectively, illustrating the rotational motion of a guide wire (30) according to one embodiment of the present invention.

[0054] Referring to Figures 5a to 5d, the rotational motion of the guide wire (30) can be understood.

[0055] First, due to the rotational motion of the guide wire (30), it is possible that the guide wire (30) may not be pinched. In other words, this can mean that the guide wire (30) is not in full contact with the drive roller (11) and the first idler roller (12).

[0056] During the rotational motion of the guide wire (30), the movement of the pinch frame (13) allows the first idler roller (12) to separate from the drive roller (11), and the second idler roller (12') to separate from the sensor roller (11').

[0057] In order to rotate the guide wire (30), the first bevel gear (24) can rotate first. As the first bevel gear (24) rotates, the second bevel gear (25), the first spur gear (26), the second spur gear (27), and the third spur gear (28) can rotate in sequence, and as a result, the guide wire (30) can ultimately rotate.

[0058] On the other hand, the drive assembly (10) can be used for the forward or rotational movement of the catheter instead of being used for the forward or rotational movement of the guide wire (30).

[0059] The present invention is not limited by the embodiments described above and the accompanying drawings, and various forms of substitution, modification, and alteration should be possible by persons with ordinary skill in the art, within the scope of the technical idea of ​​the invention as described in the claims, and these also fall within the scope of the present invention. [Explanation of Symbols]

[0060] 1 cassette 10 Drive Assembly 11 Drive rollers 11' Sensor Roller 12 First Idlerola 12' Second Idler Roller 13 Pinch Frames 13a First frame member 13b Second frame member 14 racks 15 pinion 16 Pinch Shafts 17 Drive shaft 18 Deflection member 19 Guide member 20 Rotating Assembly 21 Center roller 22 Side Rollers 23 rotation frames 24 First bevel gear 25. Second bevel gear 26 First spur gear 27 Second spur gear 28 Third spur gear 29 Gear Frame 30 guide wires M Main flex section S Sub-flex section

Claims

1. Drive roller (11); A first idler roller (12) facing the drive roller (11); and The pinch frame (13) to which the first idler roller (12) is connected is included. The movement of the pinch frame (13) can cause the first idler roller (12) to move toward the drive roller (11) or to move away from the drive roller (11). A guide wire (30) is positioned between the first idler roller (12) and the drive roller (11). The pinch frame (13) includes a deflection member (18) positioned in the direction of movement of the pinch frame (13) to adjust the pressure applied to the guide wire (30), The drive roller (11) drives the guide wire (30) forward or backward, and the pinch frame (13) moves so that the first idler roller (12) contacts the guide wire (30) when the guide wire (30) moves forward or backward.

2. The drive assembly (10) according to claim 1, wherein the pinch frame (13) includes a first frame member (13a) coupled to a first surface of the deflection member (18) and a second frame member (13b) coupled to a second surface of the deflection member (18) facing the first surface.

3. The drive assembly (10) according to claim 2, further comprising a guide member (19) arranged parallel to the deflection member (18) and coupled to the first and second frame members (13a, 13b).

4. The drive assembly (10) according to claim 2, further comprising a rack (14) coupled to the second frame member (13b), and a pinion (15) that meshes with the rack (14), wherein the drive of the pinion (15) moves the first idler roller (12) toward or away from the drive roller (11).

5. The drive assembly (10) according to claim 1, wherein the diameter of the drive roller (11) is larger than the diameter of the first idler roller (12).

6. The drive assembly (10) according to claim 1, wherein, when the guide wire (30) moves forward or backward, the point at which the guide wire (30) contacts the drive roller (11) is located at the center point of the point at which the guide wire (30) contacts the first idler roller (12).

7. The drive assembly (10) according to claim 1, wherein when the guide wire (30) moves forward or backward, the guide wire (30) has a main bent portion (M) that bends along the contact surface with the drive roller (11) and a sub-bent portion (S) that bends along the contact surface with the first idler roller (12).

8. The drive assembly (10) according to claim 1, further comprising a sensor roller (11') and a second idler roller (12') including a sensor for sensing the movement of the guide wire (30) when the guide wire (30) moves forward or backward, wherein the second idler roller (12') is coupled to the pinch frame (13).

9. The movement of the pinch frame (13) can cause the second idler roller (12') to move toward the sensor roller (11') or to move away from the sensor roller (11'). A guide wire (30) is positioned between the second idler roller (12') and the sensor roller (11'). The pinch frame (13) includes a deflection member (18) positioned in the direction of movement of the pinch frame (13) to adjust the pressure applied to the guide wire (30), The drive assembly (10) according to claim 8, wherein when the guide wire (30) moves forward or backward, the pinch frame (13) is moved so that the second idler roller (12') contacts the guide wire (30).

10. The drive assembly (10) according to claim 1, wherein, during the rotational motion of the guide wire (30), the movement of the pinch frame (13) causes the first idler roller (12) to separate from the drive roller (11).

11. The drive assembly (10) according to claim 10, wherein, during the rotational motion of the guide wire (30), the movement of the pinch frame (13) causes the second idler roller (12') to separate from the sensor roller (11').

12. The drive assembly (10) according to any one of claims 1 to 11, wherein a catheter is used instead of the guide wire (30).

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