A module for guiding at least one of the following: a guidewire and a catheter.

Abstract

A module according to one embodiment of the present invention includes a housing (900) extending longitudinally from front to back; a guidewire drive cassette (100) for pinching and driving a guidewire (1); at least one catheter drive cassette (200) for pinching and driving a catheter (2); and at least one catheter fixation cassette (300) to which the proximal end of the catheter (2) is connected. (300) is located in the housing (900), the guidewire drive cassette (100) includes a guidewire drive module that rotates the guidewire (1) while pinching the guidewire (1), the catheter drive cassette (200) includes a catheter drive module that rotates the catheter (2) while pinching the catheter (2), and the guidewire drive cassette (100) and the catheter drive cassette (200) include a structure that can move along the longitudinal direction of the housing (900) by their respective actuators.

Description

Technical Field

[0001] The present invention relates to a module for guiding at least one of a guide wire and a catheter used for minimally invasive intervention 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 body lumen, i.e., a blood vessel, through an incision through the patient's skin and lumen wall, and the introduction or distal end of the guide wire is then guided to a desired position in the lumen or the lumen into which the guide wire is introduced, or the lumen that branches therefrom. Also, the catheter is guided along the guide wire.

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

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

[0005] However, with such conventional cassettes, the guidewire and catheter can only perform either axial movement, such as forward or backward movement, or rotational movement, and there is a problem that axial movement and rotational movement, such as forward or backward movement, cannot be performed simultaneously. [Prior art documents] [Patent Documents]

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

[0007] The technical problem that the present invention aims to solve is to provide a module for guiding at least one of a guidewire and a catheter, wherein at least one of the guidewire and the catheter can perform axial movement such as forward movement and backward movement, and rotational movement, either individually or simultaneously. [Means for solving the problem]

[0008] A module according to one embodiment of the present invention includes a housing (900) extending longitudinally from front to back; a guidewire drive cassette (100) for pinching and driving a guidewire (1); at least one catheter drive cassette (200) for pinching and driving a catheter (2); and at least one catheter fixation cassette (300) to which the proximal end of the catheter (2) is connected. (300) is located in the housing (900), the guidewire drive cassette (100) includes a guidewire drive module that rotates the guidewire (1) while pinching the guidewire (1), the catheter drive cassette (200) includes a catheter drive module that rotates the catheter (2) while pinching the catheter (2), and the guidewire drive cassette (100) and the catheter drive cassette (200) include a structure that can move along the longitudinal direction of the housing (900) by their respective actuators.

[0009] A module according to one embodiment of the present invention includes a guidewire drive module and a catheter drive module, each comprising a rack (400), a pinion (500), a first bevel gear (600), a second bevel gear (700), and a pinch module (800).

[0010] A module according to one embodiment of the present invention includes a structure in which the rack (400) moves forward or backward due to the rotation of the pinion (500), and when the rack (400) moves backward, the guide wire (1) or the catheter (2) is pinched by the pinch module (800) in accordance with the movement of the rack (400), and when the rack (400) moves forward, the pinching of the guide wire (1) or the catheter (2) by the pinch module (800) is released in accordance with the movement of the rack (400).

[0011] A module according to one embodiment of the present invention includes a structure in which, when the guide wire (1) is pinched by the pinch module (800) of the guide wire drive cassette (100), the guide wire (1) is rotated by the rotation of the pinch module (800) of the guide wire drive cassette (100), and the guide wire (1) moves forward or backward as the guide wire drive cassette (100) moves forward or backward along the longitudinal direction of the housing (900); and when the catheter (2) is pinched by the pinch module (800) of the catheter drive cassette (200), the catheter (2) is rotated by the rotation of the pinch module (800) of the catheter drive cassette (200), and the catheter (2) moves forward or backward as the catheter drive cassette (200) moves forward or backward along the longitudinal direction of the housing (900).

[0012] A module according to one embodiment of the present invention includes a structure in which - only one of the following is driven: forward or backward movement of the guide wire (1) and / or rotation of the guide wire (1), or both are driven simultaneously; and - only one of the following is driven: forward or backward movement of the catheter (2) and / or rotation of the catheter (2), or both are driven simultaneously.

[0013] A module according to one embodiment of the present invention includes a structure in which the guidewire drive cassette (100) is positioned behind the catheter fixing cassette (300), and the catheter fixing cassette (300) is positioned behind the catheter drive cassette (200).

[0014] A module according to one embodiment of the present invention includes a structure in which, when the catheter (2) is pinched by the pinch module (800) of the catheter drive cassette (200), the catheter fixing cassette (300) moves forward or backward together with the forward or backward movement of the catheter drive cassette (200).

[0015] A module according to one embodiment of the present invention includes a structure in which, when the catheter (2) is released from being pinched by the pinch module (800) of the catheter drive cassette (200), the catheter drive cassette (200) moves forward or backward independently of the catheter fixing cassette (300).

[0016] A module according to one embodiment of the present invention includes a structure in which the diameter of the guidewire (1) is smaller than the diameter of the catheter (2), the guidewire (1) penetrates the inside of the catheter (2), and the driving of the guidewire (1) and the catheter (2) is performed independently of each other or synchronously with each other.

[0017] A module according to one embodiment of the present invention includes a structure in which the pinch module (800) is a collet structure (810) or a leaf spring structure (820).

[0018] A module according to one embodiment of the present invention includes a collet structure (810) comprising a first part (811), a second part (812), and a collet module (813), wherein the collet module (813) is positioned between the first part (811) and the second part (812), facing the inside of the first part (811), and coupled with the second part (812), and when the rack (400) moves backward, the first part (811) moves backward along with the movement of the rack (400). The structure includes a configuration in which, when the first portion (811) moves backward, the inside of the first portion (811) and the outside of one or more collets (814) of the collet module (813) are in contact with each other at one or more contact points, the collets (814) move toward the center (810A) of the collet structure (810), and the guidewire (1) or catheter (2) passing through the center (810A) of the collet structure (810) is pinched by the collets (814).

[0019] A module according to one embodiment of the present invention includes a structure in which the inside of the first portion (811) and the outside of one or more collets (814) of the collet module (813) are in contact with each other by at least two or more contacts (814A, 814B), and the at least two or more contacts (814A, 814B) are spaced apart from each other on the outside of the collet (814) along the longitudinal direction of the collet (814).

[0020] A module according to one embodiment of the present invention includes a structure in which at least one anti-slip groove (814C) is formed inside the collet (814) along the longitudinal direction of the collet (814).

[0021] A module according to one embodiment of the present invention comprises a leaf spring structure (820) including a movable part (821), a support part (822), and one or more leaf springs (823), wherein the leaf spring (823) is positioned between the movable part (821) and the support part (822), the first end (823A) of the leaf spring (823) is fixed to the inner surface of the movable part (821), and the second end (823B) of the leaf spring (823) is fixed to the support part (8 The structure includes a mechanism fixed to the inner surface of 22), wherein when the rack (400) moves backward, the movable part (821) moves backward along with the movement of the rack (400), and when the movable part (821) moves backward, the leaf spring (823) undergoes bending deformation in directions toward each other, thereby pinching the guide wire (1) or catheter (2) that passes through the center (820A) of the leaf spring structure (820).

[0022] A module according to one embodiment of the present invention includes a structure in which the degree of bending deformation of the leaf spring (823) increases as the distance the rack (400) moves backward increases.

[0023] A module according to an embodiment of the present invention has a guide wire supply line (101) through which the guide wire (1) can be supplied to the guide wire drive cassette (100). The guide wire supply line (101) includes an inlet portion (101A) into which the guide wire (1) flows, an outlet portion (101B) through which the guide wire (1) flows out, a curved portion (101C) and a protruding portion (101D) between the inlet portion (101A) and the outlet portion (101B).

[0024] A module according to an embodiment of the present invention includes a structure in which the distance that the guide wire drive cassette (100) and the catheter drive cassette (200) can move forward or backward along the longitudinal direction of the housing (900) is limited to a distance at which the guide wire (1) or the catheter (2) does not buckle.

[0025] A module according to an embodiment of the present invention includes a structure in which the at least one catheter drive cassette (200) includes a plurality of catheter drive cassettes, and the at least one catheter fixing cassette (300) includes a plurality of catheter fixing cassettes.

[0026] A module according to an embodiment of the present invention is such that the at least one catheter drive cassette (200) includes a first catheter drive cassette (210) and a second catheter drive cassette (220), the at least one catheter fixing cassette (300) includes a first catheter fixing cassette (310) and a second catheter fixing cassette (320), the guide wire drive cassette (100) is disposed behind the first catheter fixing cassette (310), the first catheter fixing cassette (310) is disposed behind the first catheter drive cassette (210), the first catheter drive cassette (210) is disposed behind the second catheter fixing cassette (320), the second catheter fixing cassette (320) is disposed behind the second catheter drive cassette (220), the proximal end of the first catheter is coupled to the first catheter fixing cassette (310), the proximal end of the second catheter is coupled to the second catheter fixing cassette (320), the diameter of the guide wire (1) is smaller than the diameter of the first catheter, the guide wire (1) penetrates inside the first catheter, the diameter of the first catheter is smaller than the diameter of the second catheter, and the structure includes that the first catheter penetrates inside the second catheter.

[0027] A module according to an embodiment of the present invention is such that the at least one catheter fixing cassette (300) further includes a third catheter fixing cassette (330), the third catheter fixing cassette (330) is disposed at the front end of the housing (900), the second catheter drive cassette (220) is disposed behind the third catheter fixing cassette (330), the proximal end of the third catheter is coupled to the third catheter fixing cassette, the diameter of the second catheter is smaller than the diameter of the third catheter, and the structure includes that the second catheter penetrates inside the third catheter.

Advantages of the Invention

[0028] According to the module of the present invention, the position of the distal end of the guidewire and catheter can be easily and accurately controlled so that at least one of the guidewire and catheter guided by the module can perform axial movement such as forward and backward movement and rotational movement, either individually or simultaneously, thereby effectively shortening the procedure time, such as in minimally invasive interventional procedures. [Brief explanation of the drawing]

[0029] [Figure 1] Figure 1 is a plan view of a module for guiding at least one of a guidewire and a catheter according to one embodiment of the present invention, the module showing the paths of the guidewire and the catheter. [Figure 2a] Figure 2a is a cross-sectional view of a catheter drive module or guidewire drive module in the pinch-release state according to one embodiment of the present invention. [Figure 2b] Figure 2b is a plan view of a catheter drive module or guidewire drive module in the pinch-release state according to one embodiment of the present invention. [Figure 3a] Figure 3a is a cross-sectional view of a catheter drive module or guidewire drive module in a pinched state according to one embodiment of the present invention. [Figure 3b] Figure 3b is a plan view of a catheter drive module or guidewire drive module in a pinched state according to one embodiment of the present invention. [Figure 4] Figure 4 is a plan view of a catheter drive module or guidewire drive module in rotational motion according to one embodiment of the present invention. [Figure 5a] Figure 5a is a plan view of the module before the catheter drive cassette and guidewire drive cassette of the module are moved forward according to one embodiment of the present invention. [Figure 5b]Figure 5b is a plan view of the module after the catheter drive cassette and guidewire drive cassette of the module have been moved forward according to one embodiment of the present invention. [Figure 6] Figure 6 is a perspective view of a collet structure according to one embodiment of the present invention. [Figure 7a] Figure 7a is a top view of the collet structure in the pinch-unpinned state of a module according to one embodiment of the present invention. [Figure 7b] Figure 7b is a side view of the collet structure in the pinch-unpinned state of a module according to one embodiment of the present invention. [Figure 8] Figure 8 is a cross-sectional view of a collet structure in the pinch-unpinned state of a module according to one embodiment of the present invention. [Figure 9a] Figure 9a is a top view of the collet structure in a pinched state of a module according to one embodiment of the present invention. [Figure 9b] Figure 9b is a side view of a collet structure in a pinched state of a module according to one embodiment of the present invention. [Figure 10] Figure 10 is a cross-sectional view of a collet structure in a pinched state of a module according to one embodiment of the present invention. [Figure 11] Figure 11 is an enlarged view of the anti-slip groove of the collet of a module according to one embodiment of the present invention. [Figure 12] Figure 12 is a cross-sectional view of a collet structure in the pinch-release state of a module according to a modified embodiment of the present invention. [Figure 13] Figure 13 is a perspective view of a module leaf spring structure according to one embodiment of the present invention. [Figure 14] Figure 14 is a perspective view of the module's leaf spring structure before assembly, according to one embodiment of the present invention. [Figure 15] Figure 15 is a cross-sectional view of a leaf spring structure in the pinch-release state of a module according to one embodiment of the present invention. [Figure 16] Figure 16 is a cross-sectional view of a leaf spring structure in a pinched state according to one embodiment of the present invention. [Figure 17]Figure 17 is a perspective view of a module guide wire drive cassette according to one embodiment of the present invention. [Modes for carrying out the invention]

[0030] Preferred embodiments of the present invention will be described below with reference to the attached drawings.

[0031] Figure 1 is a plan view of a module for guiding at least one of a guidewire and a catheter according to one embodiment of the present invention, the module showing the paths of the guidewire and the catheter.

[0032] In Figure 1, the direction in which the guidewire (1) and catheter (2) protrude from inside the housing (900) is defined as forward, and the direction opposite to the direction in which the guidewire (1) and catheter (2) protrude from inside the housing (900) is defined as backward.

[0033] Referring to Figure 1, the module (1000) for guiding at least one of a guidewire (1) and a catheter (2) includes a housing (900) extending longitudinally from front to back, a guidewire drive cassette (100) for pinching and driving the guidewire (1), at least one catheter drive cassette (200) for pinching and driving the catheter (2), and at least one catheter fixation cassette (300) to which the proximal end of the catheter (2) is connected.

[0034] The guidewire drive cassette (100) and the catheter drive cassette (200) are configured to move forward or backward within the housing (900) by a predetermined actuator.

[0035] Of the catheter fixing cassettes (300), the first catheter fixing cassette (310) and the second catheter fixing cassette (320) are configured to move forward or backward within the housing (900) by a predetermined actuator.

[0036] However, of the catheter fixing cassettes (300), the third catheter fixing cassette (330) is configured not to move within the housing (900) and is fixed to the anterior end of the housing (900).

[0037] The proximal end of the catheter (2), which is connected to the catheter fixing cassette (300), is maintained in a fixed state. However, the fixation of the proximal end of the catheter (2) can be released by the operator.

[0038] The guidewire (1) is a flexible wire-shaped structure that is introduced into a blood vessel through an incision in the patient's skin and moves forward, backward, or rotates within the blood vessel by the operator's module (1000) manipulation.

[0039] The catheter (2) has a flexible tube-like structure and, like the guidewire (1), is introduced into a blood vessel through an incision in the patient's skin and moves forward, backward, or rotates within the blood vessel by the operator's module (1000) manipulation.

[0040] The catheter (2) is tubular in shape with an outer diameter and an inner diameter, and the diameter of the guidewire (1) is smaller than the inner diameter of the catheter (2) so that the guidewire (1) can penetrate the inner diameter of the catheter (2).

[0041] The fact that the guide wire drive cassette (100) pinches the guide wire (1) means that the guide wire (1) is secured by a predetermined pinch module included in the guide wire drive cassette (100).

[0042] When the guide wire (1) is pinched, the guide wire drive cassette (100) is driven (forward movement, backward movement, or rotational movement), thereby driving the guide wire (1).

[0043] When the guide wire drive cassette (100) releases the pinch of the guide wire (1), it means that the state in which the guide wire (1) was fixed by a predetermined pinch module included in the guide wire drive cassette (100) is switched to a state in which the fixation is released.

[0044] When the guide wire (1) is released from pinch, the guide wire (1) will not be driven (moved forward, backward, or rotated) even if the guide wire drive cassette (100) is driven (moved forward, backward, or rotated). However, when the guide wire (1) is released from pinch, the guide wire (1) can be driven (moved forward, backward, or rotated) by the operator's manual operation.

[0045] The fact that the catheter drive cassette (200) pinches the catheter (2) means that the catheter (2) is secured by a predetermined pinch module included in the catheter drive cassette (200).

[0046] When the catheter (2) is pinched, the catheter drive cassette (200) is driven (forward movement, backward movement, or rotational movement), thereby driving the catheter (2).

[0047] When the catheter drive cassette (200) releases the pinch on the catheter (2), it means that the catheter (2) is switched from a state in which it was fixed by a predetermined pinch module included in the catheter drive cassette (200) to a state in which it is released from fixation.

[0048] When catheter (2) is released from the pinch, catheter (2) will not be driven (moved forward, backward, or rotated) even if the catheter drive cassette (200) is driven (moved forward, backward, or rotated). However, when catheter (2) is released from the pinch, catheter (2) can be driven (moved forward, backward, or rotated) by manual operation by the operator.

[0049] The guidewire drive cassette (100), catheter drive cassette (200), and catheter fixation cassette (300) are arranged in the housing (900).

[0050] The guidewire drive cassette (100) includes a guidewire drive module that rotates the guidewire (1) while pinching it, and the catheter drive cassette (200) includes a catheter drive module that rotates the catheter (2) while pinching it.

[0051] The guidewire drive cassette (100) and the catheter drive cassette (200) move forward or backward along the longitudinal direction of the housing (900) by their respective actuators, which are not shown.

[0052] The guidewire drive cassette (100) and the catheter drive cassette (200) rotate around the longitudinal axis of the housing (900) by their respective actuators, which are not shown.

[0053] The drive (forward movement, backward movement, or rotational movement) of the guidewire drive cassette (100) and the catheter drive cassette (200) may be performed independently of each other or in synchronous motion.

[0054] The guide wire (1) moves forward, backward, or rotates due to the drive (forward movement, backward movement, or rotational movement) of the guide wire drive cassette (100).

[0055] The catheter (2) moves forward, backward, or rotates as the catheter drive cassette (200) is driven (forward, backward, or rotational).

[0056] The guidewire (1) and catheter (2) can be driven independently of each other or synchronized with each other.

[0057] In a housing (900) that extends longitudinally from front to back, a guidewire (1) and a catheter (2) are passed through the anterior end of the housing (900) along the longitudinal direction.

[0058] A guidewire (1) is inserted into the guidewire drive cassette (100), and a catheter (2) is inserted into the catheter drive cassette (200).

[0059] Furthermore, the guidewire (1) and catheter (2) are made of flexible tube-shaped members, the diameter of the guidewire (1) is smaller than the diameter of the catheter (2), and the guidewire (1) passes through the inside of the catheter (2).

[0060] At least one catheter drive cassette (200) includes multiple catheter drive cassettes, and at least one catheter fixation cassette (300) includes multiple catheter fixation cassettes.

[0061] As an example of a module according to one embodiment of the present invention, at least one catheter drive cassette (200) includes one first catheter drive cassette (210) and one second catheter drive cassette (220), and at least one catheter fixation cassette (300) includes one first catheter fixation cassette (310) and one second catheter fixation cassette (320).

[0062] The guidewire drive cassette (100) is positioned behind the first catheter fixing cassette (310), the first catheter fixing cassette (310) is positioned behind the first catheter drive cassette (210), the first catheter drive cassette (210) is positioned behind the second catheter fixing cassette (320), and the second catheter fixing cassette (320) is positioned behind the second catheter drive cassette (220).

[0063] The first catheter fixing cassette (310) is configured to accommodate and secure the proximal end of the first catheter, and the second catheter fixing cassette (320) is configured to accommodate and secure the proximal end of the second catheter.

[0064] The proximal ends of the first catheter and the second catheter are attached to and fixed to the first catheter fixing cassette (310) and the second catheter fixing cassette (320), respectively, by means of a threaded coupling mechanism.

[0065] Therefore, the guidewire (1) can be inserted into the proximal end of the first catheter connected to the first catheter fixing cassette (310), and the first catheter can be inserted into the proximal end of the second catheter connected to the second catheter fixing cassette (320). Here, the proximal end of the guidewire (1) or catheter (2) means the portion of the guidewire (1) or catheter (2) that is located in the body or not inserted.

[0066] Since the diameter of the guidewire (1) is smaller than the internal diameter of the first catheter, the guidewire (1) can penetrate the internal diameter of the first catheter at the proximal end of the first catheter and extend beyond the distal end on the opposite side of the first catheter.

[0067] Furthermore, since the outer diameter of the first catheter is smaller than the inner diameter of the second catheter, the first catheter may extend beyond the distal end of the second catheter by penetrating its inner diameter at its proximal end.

[0068] Furthermore, as an example of a module according to one embodiment of the present invention, at least one catheter fixing cassette (300) further includes one third catheter fixing cassette (330).

[0069] The third catheter fixing cassette (330) is configured to have the proximal end of the third catheter attached to and fixed to it. Here, the attachment and fixing of the proximal end of the third catheter to the third catheter fixing cassette (330) is performed, for example, by a threaded coupling means.

[0070] The second catheter drive cassette (220) is positioned posterior to the third catheter fixation cassette (330), that is, adjacent to the proximal end of the third catheter.

[0071] Since the outer diameter of the second catheter is smaller than the inner diameter of the third catheter, the second catheter may extend beyond the distal end of the third catheter, penetrating its inner diameter at its proximal end.

[0072] Figure 2a is a cross-sectional view of a catheter drive module or guidewire drive module in the pinch-release state according to one embodiment of the present invention.

[0073] Figure 2b is a plan view of a catheter drive module or guidewire drive module in the pinch-release state according to one embodiment of the present invention.

[0074] Figure 3a is a cross-sectional view of a catheter drive module or guidewire drive module in a pinched state according to one embodiment of the present invention.

[0075] Figure 3b is a plan view of a catheter drive module or guidewire drive module in a pinched state according to one embodiment of the present invention.

[0076] Referring to Figures 2a, 2b, 3a, and 3b, the guidewire drive module included in the guidewire drive cassette (100) and the catheter drive module included in the catheter drive cassette (200) each include a rack (400), a pinion (500), a first bevel gear (600), a second bevel gear (700), and a pinch module (800).

[0077] In the guidewire drive module and catheter drive module, the direction in which the pinch module (800) is located is defined as the front, and the direction in which the first bevel gear (600) is located is defined as the rear.

[0078] However, the structure of the guidewire drive module included in the guidewire drive cassette (100) and the catheter drive module included in the catheter drive cassette (200) may differ from each other.

[0079] A series of splines arranged along the generally linear path of the rack (400) sequentially mesh with the gear teeth of the pinion (500) to induce linear motion of the rack (400) as the pinion (500) rotates relative to the drive shaft of the pinion (500), as is known to the average technician. The rack (400) extends along the longitudinal direction from front to back of the guidewire drive module or catheter drive module.

[0080] The pinion (500) rotates around the pinion shaft, which is rotated by a separate configuration not shown. The pinion (500) rotates in conjunction with the rotation of the pinion shaft.

[0081] The rotation of the pinion (500) causes the rack (400) to move forward or backward.

[0082] When the rack (400) moves backward, a portion of the pinch module (800) moves backward as the rack (400) moves backward, reducing the spacing between the pinches through which the guidewire (1) or catheter (2) passes, so that the guidewire (1) or catheter (2) is pinched or grasped by the pinch module (800).

[0083] The pinch module (800) is either a collet structure (810) or a leaf spring structure (820).

[0084] When the rack (400) moves forward, a portion of the pinch module (800) moves forward as the rack (400) moves forward, increasing the gap between the pinches through which the guidewire (1) or catheter (2) passes, and releasing the pinch or grip of the guidewire (1) or catheter (2) by the pinch module (800).

[0085] The first bevel gear (600) and the second bevel gear (700) mesh with each other. The rotating shafts of the first bevel gear (600) and the second bevel gear (700) can be arranged, for example, at a 90-degree angle to each other.

[0086] The ends of the second bevel gear (700) and the pinch module (800) adjacent to the second bevel gear (700) are mechanically coupled to each other or formed as a single unit.

[0087] Figure 4 is a plan view of a catheter drive module or guidewire drive module in rotational motion according to one embodiment of the present invention.

[0088] Referring to Figure 4, the first bevel gear (600) rotates around its shaft, and the shaft of the first bevel gear (600) is rotated by a separate configuration not shown. The second bevel gear (700) rotates in accordance with the rotation of the first bevel gear (600), and the pinch module (800) rotates in accordance with the rotation of the second bevel gear (700).

[0089] Furthermore, the rotational movement of the guidewire (1) and catheter (2) is performed on the premise that the guidewire (1) and catheter (2) are pinched or gripped by the pinch module (800).

[0090] In other words, the guide wire (1) is pinched or held by the pinch module (800) of the guide wire drive module included in the guide wire drive cassette (100), and the guide wire (1) is rotated in accordance with the rotation of the pinch module (800).

[0091] Furthermore, when the catheter (2) is pinched or gripped by the pinch module (800) of the catheter drive module included in the catheter drive cassette (200), the catheter (2) is rotated in accordance with the rotation of the pinch module (800).

[0092] Figure 5a is a plan view of the module before the catheter drive cassette and guidewire drive cassette of the module are moved forward according to one embodiment of the present invention.

[0093] In Figure 5a, the direction in which the guidewire (1) and catheter (2) protrude from inside the housing (900) is defined as forward, and the direction opposite to the direction in which the guidewire (1) and catheter (2) protrude from inside the housing (900) is defined as backward.

[0094] Referring to Figure 5a, the guidewire drive cassette (100) is positioned behind the catheter fixing cassette (300), i.e., at its proximal end or lateral side, at a predetermined distance from the catheter fixing cassette (300), and the catheter fixing cassette (300) is positioned behind the catheter driving cassette (200), i.e., at its proximal end or lateral side, at a predetermined distance from the catheter drive cassette (200).

[0095] Specifically, the guidewire drive cassette (100) is positioned behind the first catheter fixing cassette (310), separated by a predetermined distance. Since the diameter of the guidewire (1) is smaller than the internal diameter of the first catheter, the guidewire (1) can penetrate the inside of the first catheter and move forward or backward.

[0096] The guidewire (1) has a flexible wire shape and is not very rigid. Therefore, when the proximal end of the guidewire (1) is pinched or grasped and moves forward or backward, buckling may occur if the distance from the distal end of the guidewire (1) to the proximal end of the guidewire (1) exceeds a predetermined distance. Accordingly, the predetermined distance at which the guidewire drive cassette (100) is separated from the first catheter fixing cassette (310) is limited to a distance that prevents buckling when the guidewire (1) moves from the proximal end direction to the distal end direction, that is, when it is inserted into the body or penetrates the inside of the catheter (1). For example, the distance at which the guidewire (1) does not buckle is 40 mm to 60 mm, preferably 50 mm. However, the distance at which the guidewire (1) does not buckle varies depending on the rigidity of the material constituting the guidewire (1).

[0097] The first catheter drive cassette (210) is positioned behind the second catheter fixing cassette (320), separated by a predetermined distance. Since the outer diameter of the first catheter is smaller than the inner diameter of the second catheter, the first catheter can pass through the inside of the second catheter and move forward or backward.

[0098] The first catheter has a flexible tubular structure and is not highly rigid. Therefore, when the proximal end of the first catheter is pinched or grasped and moves forward or backward, buckling may occur if the distance from the distal end to the proximal end of the first catheter exceeds a predetermined distance. Accordingly, the predetermined distance at which the first catheter drive cassette (210) is separated from the second catheter fixing cassette (320) is limited to a distance such that the first catheter does not buckle when it moves through the inside of the second catheter. For example, the distance at which the first catheter does not buckle is 40 mm to 60 mm, preferably 50 mm. However, the distance at which the first catheter does not buckle varies depending on the rigidity of the material constituting the first catheter.

[0099] The second catheter drive cassette (220) is positioned behind the third catheter fixing cassette (330), separated by a predetermined distance. Since the outer diameter of the second catheter is smaller than the inner diameter of the third catheter, the second catheter can pass through the inside of the third catheter and move forward or backward.

[0100] The second catheter has a flexible tubular structure and is not highly rigid. Therefore, when the proximal end of the second catheter is pinched or grasped and moves forward or backward, buckling may occur if the distance from the distal end to the proximal end of the second catheter exceeds a predetermined distance. Accordingly, the predetermined distance at which the second catheter drive cassette (220) is separated from the third catheter fixing cassette (330) can be limited to a distance such that the second catheter does not buckle when it moves through the inside of the third catheter. The distance at which the second catheter does not buckle may be 40 mm to 60 mm, preferably 50 mm. However, the distance at which the second catheter does not buckle depends on the rigidity of the material constituting the second catheter.

[0101] Figure 5b is a plan view of the module after the catheter drive cassette and guidewire drive cassette of the module have been moved forward according to one embodiment of the present invention.

[0102] In Figure 5b, the direction in which the guidewire (1) and catheter (2) protrude from inside the housing (900) is defined as forward, and the direction opposite to the direction in which the guidewire (1) and catheter (2) protrude from inside the housing (900) is defined as backward.

[0103] Referring to Figure 5b, the guidewire drive cassette (100) moves forward or backward by an actuator (not shown) at a predetermined distance or less from the catheter fixing cassette (300), and the catheter drive cassette (200) moves forward or backward at a predetermined distance or less from the catheter fixing cassette (300).

[0104] With the catheter (2) pinched by the catheter drive cassette (200), the catheter (2) moves forward or backward along with the catheter drive cassette (200) as it moves forward or backward.

[0105] When the catheter (2) is released from being pinched by the catheter drive cassette (200), the catheter drive cassette (200) moves forward or backward independently of the catheter (2).

[0106] Specifically, the guidewire drive cassette (100) moves forward or backward by an actuator (not shown) at a predetermined distance or less that separates it from the catheter fixing cassette (300). When the guidewire drive cassette (100) moves while pinching the guidewire (1), the guidewire (1) moves forward or backward while maintaining a non-buckling state.

[0107] The first catheter drive cassette (210) moves forward or backward by an actuator (not shown) within a predetermined distance or less that separates it from the second catheter fixing cassette (320). When the first catheter drive cassette (210) moves with the first catheter pinched, the first catheter moves forward or backward while maintaining a non-buckling state. Also, when the first catheter drive cassette (210) moves with the first catheter pinched, the first catheter fixing cassette (310) moves forward or backward together with the movement of the first catheter drive cassette (210). However, when the first catheter drive cassette (210) moves with the first catheter released from pinching, the first catheter drive cassette (210) moves forward or backward independently of the first catheter fixing cassette (310).

[0108] The second catheter drive cassette (220) moves forward or backward by an actuator (not shown) within a predetermined distance or less that separates it from the third catheter fixing cassette (330). When the second catheter drive cassette (220) moves with the second catheter pinched, the second catheter moves forward or backward while maintaining a non-buckling state. Also, when the second catheter drive cassette (220) moves with the second catheter pinched, the second catheter fixing cassette (320) moves forward or backward together with the movement of the second catheter drive cassette (220). However, when the second catheter drive cassette (220) moves with the second catheter released from pinching, the second catheter drive cassette (220) moves forward or backward independently of the second catheter fixing cassette (320).

[0109] Figure 6 is a perspective view of a collet structure according to one embodiment of the present invention.

[0110] Figure 7a is a top view of the collet structure in the pinch-unpinned state of a module according to one embodiment of the present invention.

[0111] Figure 7b is a side view of the collet structure in the pinch-unpinned state of a module according to one embodiment of the present invention.

[0112] Figure 8 is a cross-sectional view of a collet structure in the pinch-unpinned state of a module according to one embodiment of the present invention.

[0113] Figure 9a is a top view of the collet structure in a pinched state of a module according to one embodiment of the present invention.

[0114] Figure 9b is a side view of a collet structure in a pinched state of a module according to one embodiment of the present invention.

[0115] Figure 10 is a cross-sectional view of a collet structure in a pinched state of a module according to one embodiment of the present invention.

[0116] Figure 11 is an enlarged view of the anti-slip groove of the collet of a module according to one embodiment of the present invention.

[0117] Referring to Figures 6 to 11, the collet structure (810) includes a first part (811), a second part (812), and a collet module (813).

[0118] The collet module (813) is positioned between the first part (811) and the second part (812), facing the inside of the first part (811), and coupled with the second part (812).

[0119] In the collet structure (810), the direction in which the first part (811) is located is defined as the front, and the direction in which the second part (812) is located is defined as the rear.

[0120] Since the first part (811) is connected to the straight-extending portion of the rack (400), when the rack (400) moves backward, the first part (811) also moves backward, and when the rack (400) moves forward, the first part (811) also moves forward.

[0121] The second part (812) is mechanically coupled to the second bevel gear (700), or the second part (812) is formed integrally with the second bevel gear (700). With this structure, the second part (812) rotates together with the rotation of the second bevel gear (700). The collet module (813) rotates together with the rotation of the second part (812).

[0122] The collet module (813) includes at least one collet (814), a guide plate (815), and at least one deflection member (816).

[0123] At least one collet (814) is two or more collets (814), three or more collets (814), preferably three collets (814). At least one deflection member (816) is made of an elastic material and has a restoring force that resists external forces. For example, the deflection member (816) is an elastic spring.

[0124] The guide groove (815A) is formed radially in a slot shape from the center of the guide plate (815) toward the outer circumference, a portion of the collet (814) is positioned in the guide groove (815A), and the deflection member (816) penetrates a portion of the collet (814) and is positioned on the outer circumference side of the guide groove (815A). When the collet (814) moves from the outer circumference to the center of the guide plate (815) along the guide groove (815A), the deflection member (816) applies a restoring force to the collet (814) toward the outer circumference from the center of the guide plate (815). Here, the center of the guide plate (815) coincides with the center (810A) of the collet structure (810).

[0125] The deflection member (816) penetrates the guide groove (815A) of the guide plate (815), thereby connecting the first part (811), the second part (812), and the guide plate (815). When the rack (400) moves backward, the first part (811) moves backward along with the backward movement of the rack (400).

[0126] Before the rack (400) moves backward, that is, as shown in Figures 7b and 8, the distance between the first part (811) and the second part (812) is large, so the inner tapered side surface of the first part (811) and the outer tapered side surface of the collet (814) do not come into contact with each other.

[0127] At this time, as shown in Figure 7a, the collet (814) does not move, so the distance between the collets (814) does not decrease with respect to the center (810A) of the collet structure (810), and therefore the guidewire (1) or catheter (2) passing through the center (810A) of the collet structure (810) is not pinched.

[0128] When the first part (811) moves backward, that is, as shown in Figures 9b and 10, the gap between the first part (811) and the second part (812) decreases and the inner tapered side surface of the first part (811) and the outer tapered side surface of the collet (814) come into contact with each other at one or more contact points, the outer tapered side surface of the collet (814) slides along the inner tapered side surface of the first part (811), causing the collet (814) to move toward the center (810A) of the collet structure (810).

[0129] At this time, as shown in Figure 9a, the collet (814) moves along the slot-shaped guide groove (815A) formed from the outer circumference to the center of the guide plate (815). As a result, the distance between the collets (814) decreases with respect to the center (810A) of the collet structure (810), and the guide wire (1) or catheter (2) passing through the center (810A) of the collet structure (810) is pinched.

[0130] The inner tapered side surface of the first part (811) and the outer tapered side surface of the collet (814) are in contact with each other at at least two or more contact points (814A, 814B). At least two or more contact points (814A, 814B) are spaced apart from each other along the longitudinal direction of the collet (814) on the outer tapered side surface of the collet (814).

[0131] Referring to Figure 11, on the inside of the collet (814) into which the guidewire (1) or catheter (2) is pinched, at least one anti-slip groove (814C) is formed along the longitudinal direction of the collet (814). There are flat surfaces between the anti-slip grooves (814C), and the depth of at least one of the anti-slip grooves (814C) is the same as that of the others. The anti-slip grooves (814C) have the effect of increasing the contact area between the collet (814) and the pinched guidewire (1) or catheter (2).

[0132] Specifically, since the guidewire (1) or catheter (2) is made of a flexible material and can be deformed by elastic force, when the collet (814) pinches the guidewire (1) or catheter (2), first the flat surface between the anti-slip grooves (814C) comes into contact with the guidewire (1) or catheter (2), and then the guidewire (1) or catheter (2) becomes fitted into the anti-slip grooves (814C) and comes into contact with them due to the deformation of the guidewire (1) or catheter (2).

[0133] This has the effect of increasing the contact area of ​​the collet (814) with the guidewire (1) or catheter (2), and this effect is more clearly demonstrated when pinching a catheter (2), which is a flexible tube shape with a relatively large diameter and is easily deformable. Figure 12 is a cross-sectional view of the collet structure in the unpinched state of a modified embodiment of the present invention.

[0134] The collet structure (810) shown in Figure 12 differs from the collet structures (810) shown in Figures 6 to 11 in that a through hole (811A) having a diameter smaller than the outer diameter of the collet (814) is formed in the first part (811).

[0135] Referring to Figure 12, in the collet structure (810), the direction in which the first part (811) is located is defined as the front, and the direction in which the second part (812) is located is defined as the rear.

[0136] A through hole (811A) having a diameter smaller than the outer diameter of the collet (814) is formed at the front end of the first portion (811) of the collet structure (810).

[0137] When the rack (400) moves backward, the first part (811) moves backward as the rack (400) moves backward, and when the first part (811) moves backward, that is, when the first part (811) and the second part (812) become closer to each other, the outer part of the collet (814) with a larger diameter is fitted into the through hole (811A) of the first part (811).

[0138] As a result, the inside of the through-hole (811A) of the first part (811) and the outside of the collet (814) make surface contact, and this surface contact causes a force to act on the collet (814) directed toward the center (810A) of the collet structure (810), causing the collet (814) to move, so that the guidewire (1) or catheter (2) passing through the center (810A) of the collet structure (810) can be stably pinched by the collet (814).

[0139] Figure 13 is a perspective view of a module leaf spring structure according to one embodiment of the present invention.

[0140] Figure 14 is a perspective view of the module's leaf spring structure before assembly, according to one embodiment of the present invention.

[0141] Figure 15 is a cross-sectional view of a leaf spring structure in the pinch-release state of a module according to one embodiment of the present invention.

[0142] Figure 16 is a cross-sectional view of a leaf spring structure in a pinched state according to one embodiment of the present invention.

[0143] Referring to Figures 13 to 16, the leaf spring structure (820) includes a movable part (821), a support part (822), and one or more leaf springs (823). In the leaf spring structure (820), the direction in which the movable part (821) is located is defined as the front, and the direction in which the support part (822) is located is defined as the rear.

[0144] Referring to Figure 15, the leaf spring (823) is positioned between the movable part (821) and the support part (822), with the first end (823A) of the leaf spring (823) fixed to the inner surface of the movable part (821) and the second end (823B) of the leaf spring (823) fixed to the inner surface of the support part (822).

[0145] Since the movable part (821) is connected to the straight-extending portion of the rack (400), when the rack (400) moves backward, the movable part (821) also moves backward, and when the rack (400) moves forward, the movable part (821) also moves forward.

[0146] The support portion (822) is mechanically coupled to the second bevel gear (700), or the support portion (822) is formed integrally with the second bevel gear (700). With this structure, the support portion (822) rotates together with the rotation of the second bevel gear (700). The leaf spring (823) rotates together with the rotation of the second portion (812).

[0147] The one or more leaf springs (823) are preferably two leaf springs (823). Figures 15 and 16 illustrate that two leaf springs (823) are arranged between the moving part (821) and the support part (822).

[0148] Referring to Figure 16, when the rack (400) moves backward, the moving part (821) moves backward along with the rack (400).

[0149] When the movable part (821) moves backward, the first end (823A) of the leaf spring (823) fixed to the inner surface of the movable part (821) also moves backward, causing the two leaf springs (823) facing each other with the guidewire (1) or catheter (2) in between to undergo bending deformation. This bending deformation narrows the gap between the two leaf springs (823), pinching the guidewire (1) or catheter (2) that passes through the center (820A) of the leaf spring structure (820).

[0150] Furthermore, as the distance the rack (400) moves backward increases, the distance the first end (823A) of the leaf spring (823) fixed to the inner surface of the moving part (821) also moves backward increases, resulting in a greater degree of bending deformation of the leaf spring (823) and a stronger pinching of the guidewire (1) or catheter (2).

[0151] Thus, when using the leaf spring structure (820), the degree of bending deformation of the leaf spring (823) is controlled, which has the effect of pinching guide wires (1) or catheters (2) of various sizes.

[0152] Figure 17 is a perspective view of a module guide wire drive cassette according to one embodiment of the present invention.

[0153] A guide wire drive cassette (100) of a module according to one embodiment of the present invention has a supply line (101) from which a guide wire (1) can be supplied.

[0154] The supply line (101) includes an inlet (101A) into which the guide wire (1) flows, an outlet (101B) into which the guide wire (1) flows out, a curved section (101C) and a protruding section (101D) between the inlet (101A) and the outlet (101B).

[0155] The width of the supply line (101) is greater than the diameter of the guide wire (1), and the guide wire (1) flows in from the inlet (101A), passes through the curved section (101C), and flows out to the outlet (101B).

[0156] In the supply line (101), one or more protrusions (101D) are formed at the inlet (101A) and the curved section (101C) to prevent the guide wire (1) from easily detaching from the supply line (101).

[0157] The guide wire drive cassette (100) effectively prevents the guide wire (1) located on the supply line (101) from detaching from the guide wire drive cassette (100) due to the curved portion (101C) and protruding portion (101D) formed on the supply line (101). [Explanation of Symbols]

[0158] 1 Guidewire 2 Catheter 100 Guide Wire Driven Cassette 101 Guidewire supply line 101A Guide wire supply line inlet 101B Outlet section of guide wire supply line 101C Guidewire supply line curved section 101D Guide wire supply line protrusion 200 Catheter Drive Cassette 210 First catheter drive cassette 220 Second catheter drive cassette 300 Catheter Fixation Cassettes 310 First catheter fixation cassette 320 Second catheter fixation cassette 330 Third Catheter Fixation Cassette 400 racks 500 pinion 600 1st Bevel Gear 700 2nd Bevel Gear 800 Pinch Modules 810 Collet Structure 810A Center of the collet structure 811 Part 1 of the collet structure 811A Through hole at the front end of the first part 812 Part 2 of the collet structure 813 Collet Module 814 Colette 814A, 814B: Two or more contacts 814C Anti-slip groove 815 Guide plate 815A Guide groove 816 Deflection member 820 Leaf spring structure 820A Center of the leaf spring structure 821 Mobile Unit 822 Support part 823 Leaf spring 823A First end of leaf spring 823B Second end of leaf spring 900 Housing 1000 Module for guiding at least one of a guidewire and a catheter.

Claims

1. A module (1000) for guiding at least one of a guidewire (1) and a catheter (2), The module (1000) is A housing (900) extending longitudinally from front to rear; A guide wire drive cassette (100) that pinches the guide wire (1) and drives the guide wire (1); At least one catheter drive cassette (200) for pinching the catheter (2) and driving the catheter (2); and At least one catheter fixing cassette (300) to which the proximal end of the catheter (2) is connected. Includes, The guidewire drive cassette (100), the catheter drive cassette (200), and the catheter fixing cassette (300) are arranged in the housing (900). The guide wire drive cassette (100) includes a guide wire drive module that rotates the guide wire (1) while pinching it. The catheter drive cassette (200) includes a catheter drive module that rotates the catheter (2) while pinching it. The guidewire drive cassette (100) and the catheter drive cassette (200) are modules that can move along the longitudinal direction of the housing (900) by their respective actuators.

2. The module according to claim 1, characterized in that the guidewire drive module and the catheter drive module each include a rack (400), a pinion (500), a first bevel gear (600), a second bevel gear (700), and a pinch module (800).

3. The rotation of the pinion (500) causes the rack (400) to move forward or backward. When the rack (400) moves backward, the guidewire (1) or the catheter (2) is pinched by the pinch module (800) as the rack (400) moves. The module according to claim 2, characterized in that when the rack (400) moves forward, the pinching of the guidewire (1) or the catheter (2) by the pinch module (800) is released as the rack (400) moves.

4. - When the guide wire (1) is pinched by the pinch module (800) of the guide wire drive cassette (100), The rotation of the pinch module (800) of the guide wire drive cassette (100) causes the guide wire (1) to rotate. The guide wire (1) moves forward or backward as the guide wire drive cassette (100) moves forward or backward along the longitudinal direction of the housing (900). - When the catheter (2) is pinched by the pinch module (800) of the catheter drive cassette (200), The catheter (2) is rotated by the rotation of the pinch module (800) of the catheter drive cassette (200). The module according to claim 3, characterized in that the catheter (2) moves forward or backward by the forward or backward movement of the catheter drive cassette (200) along the longitudinal direction of the housing (900).

5. - Either the forward or backward movement of the guide wire (1) and the rotation of the guide wire (1) are driven, or both are driven simultaneously. - The module according to claim 4, characterized in that only one of the following is driven: forward or backward movement of the catheter (2) and rotation of the catheter (2), or both are driven simultaneously.

6. The guidewire drive cassette (100) is positioned behind the catheter fixing cassette (300). The module according to claim 5, characterized in that the catheter fixing cassette (300) is positioned behind the catheter driving cassette (200).

7. When the catheter (2) is pinched by the pinch module (800) of the catheter drive cassette (200), The module according to claim 6, characterized in that the catheter fixing cassette (300) moves forward or backward together with the catheter driving cassette (200) as it moves forward or backward.

8. When the pinch of the catheter (2) by the pinch module (800) of the catheter drive cassette (200) is released, The module according to claim 7, wherein the catheter drive cassette (200) moves forward or backward independently of the catheter fixing cassette (300).

9. The diameter of the guide wire (1) is smaller than the diameter of the catheter (2), and the guide wire (1) penetrates the inside of the catheter (2). The module according to any one of claims 1 to 8, characterized in that the driving of the guide wire (1) and the catheter (2) is performed independently of each other or in synchronization with each other.

10. The module according to any one of claims 2 to 8, characterized in that the pinch module (800) is a collet structure (810) or a leaf spring structure (820).

11. The collet structure (810) includes a first part (811), a second part (812), and a collet module (813). The collet module (813) is positioned between the first portion (811) and the second portion (812), facing the inside of the first portion (811), and coupled with the second portion (812), When the rack (400) moves backward, the first portion (811) moves backward along with the movement of the rack (400). When the first portion (811) moves backward, the inside of the first portion (811) and the outside of one or more collets (814) of the collet module (813) come into contact with each other at one or more contact points, causing the collets (814) to move toward the center (810A) of the collet structure (810). The module according to claim 10, characterized in that the guide wire (1) or the catheter (2) passing through the center (810A) of the collet structure (810) is pinched by the collet (814).

12. The inside of the first portion (811) and the outside of one or more collets (814) of the collet module (813) are in contact with each other by at least two or more contacts (814A, 814B), The module according to claim 11, characterized in that the at least two or more contacts (814A, 814B) are spaced apart from each other on the outside of the collet (814) along the longitudinal direction of the collet (814).

13. The module according to claim 11, characterized in that at least one anti-slip groove (814C) is formed on the inside of the collet (814) along the longitudinal direction of the collet (814).

14. A through hole (811A) having a diameter smaller than the outer diameter of the collet (814) is formed at the front end of the first portion (811). The module according to claim 11, characterized in that when the first portion (811) moves backward, the through hole (811A) of the first portion (811) and the outside of the collet (814) come into contact with each other.

15. The leaf spring structure (820) includes a movable part (821), a support part (822), and one or more leaf springs (823). The leaf spring (823) is positioned between the movable part (821) and the support part (822), with the first end (823A) of the leaf spring (823) fixed to the inner surface of the movable part (821), and the second end (823B) of the leaf spring (823) fixed to the inner surface of the support part (822). When the rack (400) moves backward, the moving part (821) moves backward along with the movement of the rack (400). The module according to claim 10, characterized in that when the movable part (821) moves backward, the leaf spring (823) undergoes bending deformation in directions toward each other, and the guide wire (1) or the catheter (2) passing through the center (820A) of the leaf spring structure (820) is pinched.

16. The module according to claim 15, characterized in that the degree of bending deformation of the leaf spring (823) increases as the distance the rack (400) moves backward increases.

17. The guide wire drive cassette (100) has a guide wire supply line (101) into which the guide wire (1) can be supplied. The module according to any one of claims 1 to 8, characterized in that the guide wire supply line (101) includes an inlet (101A) into which the guide wire (1) flows, an outlet (101B) into which the guide wire (1) flows, a curved portion (101C) and a protruding portion (101D) between the inlet (101A) and the outlet (101B).

18. The distance over which the guidewire drive cassette (100) and the catheter drive cassette (200) can move forward or backward along the longitudinal direction of the housing (900) is: The module according to any one of claims 1 to 8, characterized in that the distance over which the guidewire (1) or the catheter (2) does not buckle is limited.

19. The at least one catheter drive cassette (200) includes a plurality of catheter drive cassettes, The module according to any one of claims 1 to 8, characterized in that the at least one catheter fixing cassette (300) includes a plurality of catheter fixing cassettes.

20. The at least one catheter drive cassette (200) includes one first catheter drive cassette (210) and one second catheter drive cassette (220), The at least one catheter fixing cassette (300) includes one first catheter fixing cassette (310) and one second catheter fixing cassette (320), The guidewire drive cassette (100) is positioned behind the first catheter fixing cassette (310). The first catheter fixing cassette (310) is positioned behind the first catheter driving cassette (210). The first catheter drive cassette (210) is positioned behind the second catheter fixing cassette (320). The second catheter fixing cassette (320) is positioned behind the second catheter driving cassette (220). The proximal end of the first catheter is connected to the first catheter fixing cassette (310). The proximal end of the second catheter is connected to the second catheter fixing cassette (320). The diameter of the guide wire (1) is smaller than the diameter of the first catheter, and the guide wire (1) penetrates the inside of the first catheter. The module according to any one of claims 1 to 8, characterized in that the diameter of the first catheter is smaller than the diameter of the second catheter, and the first catheter penetrates the inside of the second catheter.

21. The at least one catheter fixing cassette (300) further includes a third catheter fixing cassette (330), The third catheter fixing cassette (330) is positioned at the front end of the housing (900), The second catheter drive cassette (220) is positioned behind the third catheter fixing cassette (330). The proximal end of the third catheter is connected to the third catheter fixing cassette (330). The module according to claim 20, characterized in that the diameter of the second catheter is smaller than the diameter of the third catheter, and the second catheter penetrates the inside of the third catheter.

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