Vascular intervention treatment device

Abstract

A vascular intervention device is provided. The vascular intervention device includes a platform, a catheter module for rotating a catheter, and a guidewire module for rotating a guidewire. The platform includes a base frame, a first conveying section that is moved in the front-rear direction relative to the base frame, a second conveying section that is moved in the front-rear direction rearward of the first conveying section relative to the base frame independently of the first conveying section, and a third conveying section that is moved in the front-rear direction rearward of the second conveying section relative to the base frame independently of the first and second conveying sections. The catheter module is detachably coupled to the first conveying section. The guidewire module is detachably coupled to the second conveying section or the third conveying section.

Description

Technical Field

[0001] The present disclosure relates to a vascular intervention device for transporting and / or rotating a surgical tool for a vascular intervention procedure.

Background Art

[0002] An interventional procedure is a treatment method for treating a specific disease through a percutaneous and minimally invasive operation using various tools such as a guide wire, a catheter, a balloon, and a stent under various imaging devices. An interventional procedure does not require a large surgical incision. An interventional procedure has advantages such as less blood loss due to a minimal skin incision, rapid recovery of the patient, and no occurrence of complications due to local anesthesia. An interventional procedure can be classified into a non-vascular procedure and a vascular procedure.

[0003] A vascular interventional procedure is used for the treatment of vascular diseases and cancer. A vascular interventional procedure includes percutaneously inserting a catheter with a diameter of 1 to 7 mm under the guidance of ultrasound or fluoroscopy to approach a target organ. A vascular interventional procedure can be applied to liver tumors, arterial bleeding, vascular occlusion or stenosis, uterine myoma embolization, and its scope of application is currently expanding.

[0004] As an example, in vascular intervention procedures, the blood vessel is perforated by ultrasonic guidance or arterial promotion, and an introducer sheath is inserted and fixed to protect the blood vessel from trauma. Thereafter, surgical tools such as guide wires and catheters are inserted into the blood vessel through the guide sheath, and the guide wire and catheter are manipulated to select the target blood vessel. The guide wire reaches the target blood vessel by insertion and rotational operation. Thereafter, the catheter is inserted into the target blood vessel along the guide wire. To reach the catheter to the target blood vessel, the insertion and rotation of the guide wire and the insertion and rotation of the catheter can be repeated. To approach smaller blood vessels, a microcatheter and a microguide wire having a diameter smaller than the diameter of the catheter are used, and the microcatheter and the microguide wire are inserted into the catheter. The direction to the target blood vessel is determined by the insertion and rotation of the microguide wire, and then the microcatheter is inserted along the microguide wire. After the guide wire or the microguide wire is removed, a drug or a therapeutic agent is injected into the target blood vessel through the catheter or the microcatheter.

[0005] Since vascular intervention procedures are generally performed under the guidance of fluoroscopy (X-ray radiography), the operator is exposed to X-ray irradiation. In the vascular intervention procedure room, the operator wears heavy clothes and equipment for shielding radiation, so the operator suffers a lot of physical stress. Compared with a normal operating room, due to radiation exposure, the operator frequently enters and exits the operating room, so the vascular intervention procedure room tends to have a low level of disinfection and cleanliness. Since the operation of the catheter and the guide wire in the vascular intervention procedure depends on the experience and skill of the operator, accurate and precise operations may not be performed.

Summary of the Invention

Problems to be Solved by the Invention

[0006] Embodiments of the present disclosure solve the problems of vascular intervention procedures by the operations of the aforementioned operators. Embodiments of the present disclosure provide a vascular intervention device for inserting and / or rotating an operating tool used in a vascular intervention procedure. Embodiments of the present disclosure provide a vascular intervention device having improved operability and usability. Each embodiment of the present disclosure provides a vascular intervention device in which a component that supports and rotates an operating tool is detachable from a platform.

Means for Solving the Problems

[0007] A vascular intervention device in one embodiment includes a platform, a catheter module, and a guide wire module. The platform includes a base frame extending in the front-rear direction, a first transfer unit configured to be transferred in the front-rear direction with respect to the base frame, a second transfer unit configured to be transferred in the front-rear direction independently of the first transfer unit with respect to the base frame behind the first transfer unit, and a third transfer unit configured to be transferred in the front-rear direction independently of the first transfer unit and the second transfer unit with respect to the base frame behind the second transfer unit. The catheter module is detachably coupled to the first transfer unit and is transferred in the front-rear direction. The catheter module is configured to rotate a catheter about a rotation axis in the front-rear direction. The guide wire module is detachably coupled to the second transfer unit or the third transfer unit and is transferred in the front-rear direction independently of the catheter module. The guide wire module is configured to rotate a guide wire inserted into the catheter about a rotation axis.

[0008] In one embodiment, the vascular intervention device may further include a micro-catheter module that is detachably coupled to the second transfer unit and is transferred in the front-rear direction independently of the catheter module, and the micro-catheter module is configured to support a micro-catheter inserted into the catheter.

[0009] In one embodiment, the vascular intervention device may further include a micro guide wire module that is detachably coupled to the third transfer unit and is transferred in the front-rear direction independently of the catheter module and the micro catheter module. The micro guide wire module is configured to rotate a micro guide wire inserted into the micro catheter about a rotation axis.

[0010] In one embodiment, the micro catheter module is configured to be alternately coupled to the second transfer unit with the guide wire module, and the micro guide wire module is configured to be alternately coupled to the third transfer unit with the guide wire module.

[0011] In one embodiment, the vascular intervention device may be configured to have a first operation mode in which the catheter module is coupled to the first transfer unit and the guide wire module is coupled to the second transfer unit or the third transfer unit, and a second operation mode in which the catheter module is coupled to the first transfer unit, the micro catheter module is coupled to the second transfer unit, and the micro guide wire module is coupled to the third transfer unit.

[0012] In one embodiment, the first transfer unit is configured to transmit a rotational force for rotating the catheter to the catheter module in a state of being coupled to the catheter module, and the second transfer unit or the third transfer unit is configured to transmit a rotational force for rotating the guide wire to the guide wire module in a state of being coupled to the guide wire module.

[0013] In one embodiment, the first transfer unit is configured to transmit a rotational force for rotating the catheter to the catheter module in a state of being coupled to the catheter module, and the third transfer unit is configured to transmit a rotational force for rotating the micro guide wire to the micro guide wire module in a state of being coupled to the micro guide wire module.

[0014] In one embodiment, at least any one of the first transfer unit, the second transfer unit, and the third transfer unit includes a rotational force generating unit and a transmission unit. The rotational force generating unit generates a rotational force for rotating any one of the corresponding treatment tools, which is either the catheter or the guide wire. The transmission unit is coupled to the rotational force generating unit and is configured to be detachably coupled to any one of the corresponding treatment tool modules, which are the catheter module and the guide wire module, to transmit the rotational force.

[0015] In one embodiment, the transmission unit may extend in the circumferential direction centered on the rotation axis.

[0016] In one embodiment, the transmission unit may be configured to be detachably coupled to the rotational force generating unit.

[0017] In one embodiment, the platform may include a transfer frame coupled to the base frame so as to be transferred in the front-rear direction along the base frame. The transmission unit includes an input end for receiving a rotational force and an output end located above the transfer frame and detachably coupled to any one of the treatment tool modules to output the rotational force.

[0018] In one embodiment, with any one of the treatment tool modules coupled to the output end of the transmission unit, any one of the treatment tool modules is disposed between the transfer frame and the output end.

[0019] In one embodiment, the rotational force generating unit includes a first rotating body that is rotatable to output a rotational force. The transmission unit includes a second rotating body having a shape complementary to that of the first rotating body and configured to receive the rotational force, a rotating body guide for maintaining the second rotating body movably, and a spring for pressing the second rotating body toward the first rotating body. The first rotating body and the second rotating body are detachably coupled to each other under the pressing force of the spring.

[0020] In one embodiment, the transmission part includes an input end part that receives a rotational force, an output end part that is detachably coupled to any one of the treatment tool modules to output a rotational force, and a drive gear that is disposed at the output end part and configured to rotate. Any one of the treatment tool modules includes a driven gear that meshes with the drive gear, and is configured to rotate any one of the treatment tools by the rotation of the driven gear.

[0021] In one embodiment, any one of the transmission part and the rotational force generation part includes an elastically deformable locking latch, and the other of the transmission part and the rotational force generation part includes a locking groove to which the locking latch is detachably coupled.

[0022] In one embodiment, any one of the transmission part and the rotational force generation part that includes the locking latch includes a unlocking part configured to elastically deform the locking latch to separate the locking latch from the locking groove.

[0023] In one embodiment, the unlocking part may include an unlocking hook that pushes in a direction to separate the locking latch from the locking groove, and an unlocking slider that is slidably configured such that the unlocking hook is inserted between the locking latch and the locking groove.

[0024] In one embodiment, the transmission part has a fitting groove formed in a lateral direction orthogonal to the front-rear direction, and any one of the treatment tool modules has a fitting protrusion that is laterally fitted into the fitting groove.

[0025] In one embodiment, the transmission part may include a rotation latch configured to lock any one of the treatment tool modules by rotation in order to prevent lateral separation of any one of the treatment tool modules.

[0026] In one embodiment, at least one of the first transfer unit, the second transfer unit, and the third transfer unit includes a rotational force generating unit and a transmission unit. The rotational force generating unit generates a rotational force for rotating any one of the corresponding treatment tools among a catheter, a guide wire, a microcatheter, and a microguide wire. The transmission unit is detachably coupled to the rotational force generating unit. The transmission unit is configured to transmit the rotational force to any one of the corresponding treatment tool modules among a catheter module, a guide wire module, a microcatheter module, and a microguide wire module.

Advantages of the Invention

[0027] According to an embodiment of the present disclosure, multi-degree-of-freedom operation of a plurality of treatment tools is realized, and the operability and usability of the vascular intervention treatment device are improved.

[0028] According to an embodiment of the present disclosure, since the modular components are easily assembled and disassembled, the modular components can be conveniently replaced or disinfected.

[0029] According to an embodiment of the present disclosure, the module supporting the treatment tool is detachably coupled to the platform, so that the structure of the platform can be simplified, and the module supporting the treatment tool can be selectively coupled to the transfer unit of the platform and used for vascular intervention treatment.

Brief Description of the Drawings

[0030]

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Modes for Carrying Out the Invention

[0031] The embodiments of the present disclosure are exemplified for the purpose of explaining the technical idea of the present disclosure. The scope of rights according to the present disclosure is not limited by the embodiments presented below or the specific descriptions related to these embodiments.

[0032] All technical and scientific terms used in this disclosure shall have the meaning generally understood by those of ordinary skill in the technical field to which this disclosure pertains, unless otherwise defined. All terms used in this disclosure are selected for the purpose of further clarifying this disclosure and are not selected for the purpose of limiting the scope of rights under this disclosure.

[0033] Expressions such as "comprising", "including", "having" and the like used in this disclosure shall be understood as open-ended terms that encompass the possibility of including other embodiments, unless otherwise specified in the clauses or sentences in which such expressions are included.

[0034] The singular forms described in this disclosure may include the plural meanings unless otherwise specified, and this also applies to the singular forms described in the claims.

[0035] Expressions such as "first", "second" and the like used in this disclosure are used to distinguish multiple components from each other and do not limit the order or importance of such components.

[0036] In this disclosure, when a certain component is referred to as being "connected to" or "coupled to" another component, it should be understood that the certain component can be directly connected to or coupled to the other component, or can be connected to or coupled to the other component via a new other component.

[0037] In this disclosure, the forward direction means the direction in which the long side of the platform of the vascular intervention device faces the patient (the direction indicated by the symbol FD in FIG. 4), the rearward direction means the opposite direction of the forward direction, and the anteroposterior direction includes the forward direction and the rearward direction. The lateral direction in this disclosure means the direction perpendicular to the anteroposterior direction, that is, the direction in which the short side of the platform is located, and includes the left side direction and the right side direction. The vertical direction in this disclosure means the direction perpendicular to the anteroposterior direction and the lateral direction.

[0038] Hereinafter, examples will be described with reference to the attached drawings. In the attached drawings, the same or corresponding components are given the same reference numerals. Also, in the description of the following examples, the description of the same or corresponding components may be omitted. However, even if the description of the components is omitted, it should not be construed that such components are not included in the examples where they exist.

[0039] The examples disclosed below and the examples shown in the attached drawings relate to a vascular intervention device used to introduce a surgical tool into a target blood vessel while transporting and rotating the surgical tool used in vascular intervention procedures. The vascular intervention device according to the examples is used in vascular intervention procedures using a catheter, a guide wire, a microcatheter, and a microguide wire. In the present disclosure, the catheter, the guide wire, the microcatheter, and the microguide wire are referred to as surgical tools.

[0040] The catheter is a flexible tube and enters the target blood vessel. The guide wire is inserted into the catheter to guide the catheter to the target blood vessel. The microcatheter can be inserted into the catheter and is a flexible tube. The microcatheter enters a target blood vessel that is even narrower and cannot be entered by the catheter, and is used to inject drugs or aspirate thrombi into the even narrower target blood vessel. The microguide wire has a smaller thickness than the guide wire and is used to guide the microcatheter into the even narrower target blood vessel. The microguide wire is inserted into the microcatheter. FIGS. 1 and 2 schematically show examples of the insertion and rotation of the surgical tool in vascular intervention procedures.

[0041] Referring to FIG. 1, an example of reaching a catheter to a target blood vessel using a catheter and a guide wire by an angiographic intervention device according to an embodiment will be described. The angiographic intervention device can transfer the catheter 20 and the guide wire 30 to enter the vicinity of the first target blood vessel T1. The angiographic intervention device can transfer and rotate the guide wire 30 to enter the guide wire 30 into the first target blood vessel T1. Further, the angiographic intervention device can rotate the catheter 20 along with the transfer and rotation of the guide wire 30. When the guide wire 30 enters the first target blood vessel T1, the angiographic intervention device can cause the catheter 20 to enter the first target blood vessel T1 along the guide wire 30. When the catheter 20 reaches the first target blood vessel T1, the guide wire 30 is removed from the catheter 20. The catheter 20 can be used to inject a drug into the first target blood vessel T1 or to aspirate a thrombus in the first target blood vessel T1.

[0042] Referring to FIG. 2, an example of reaching a microcatheter to a target blood vessel using a catheter, a microcatheter, and a microguide wire by an endovascular treatment device will be described. When the catheter 20 reaches the first target blood vessel T1, it may be necessary to inject a drug or aspirate a thrombus into the second target blood vessel T2 that is narrower than the first target blood vessel T1. The microcatheter 40 is inserted into the catheter 20, and the microguide wire 50 is inserted into the microcatheter 40. The endovascular treatment device transfers and rotates the microguide wire 50 to cause the microguide wire 50 to enter the second target blood vessel T2. Thereafter, the endovascular treatment device transfers the microcatheter 40 to cause the microcatheter 40 to enter the second target blood vessel T2 along the microguide wire 50. When the microcatheter 40 reaches the second target blood vessel T2, the microguide wire 50 is removed from the microcatheter 40. The microcatheter 40 can be used to inject a drug or aspirate a thrombus into the second target blood vessel T2. Alternatively, various devices can enter the second target blood vessel T2 through the microcatheter 40 for additional procedures.

[0043] FIG. 3 schematically shows an example of a state in which an endovascular treatment device according to an embodiment is used for an endovascular treatment. The endovascular treatment device 10 includes a platform 100 for transferring and rotating the above-described treatment tools. The platform 100 of the endovascular treatment device 10 can be removably attached to the arm of the multi-degree-of-freedom positioning device 60. Thereby, the operator can easily move the endovascular treatment device 10 to a desired position and position the front end of the platform 100 to face the treatment site of the patient. The multi-degree-of-freedom positioning device 60 may be located near the operating table on which the patient lies. As another example, a mechanism capable of supporting, rotating, and moving the endovascular treatment device 10 may be provided on the operating table, and the endovascular treatment device 10 may be removably attached to such a mechanism.

[0044] Hereinafter, an embodiment of the vascular intervention treatment device will be described with reference to FIGS. 4 to 38.

[0045] FIG. 4 is a perspective view showing a vascular intervention treatment device according to an embodiment in one operation mode, and FIG. 5 is a perspective view showing the vascular intervention treatment device according to an embodiment in another operation mode.

[0046] The vascular intervention treatment device 10 shown in FIG. 4 is operable for a vascular intervention treatment (for example, the vascular intervention treatment illustrated in FIG. 1) using the catheter 20 and the guide wire 30, and the operation mode shown in FIG. 4 is referred to as the first operation mode. The vascular intervention treatment device 10 shown in FIG. 5 is operable for a vascular intervention treatment (for example, the vascular intervention treatment illustrated in FIG. 2) using the microcatheter 40 and the micro guide wire 50 in a state where the catheter 20 has reached the target blood vessel, and the operation mode shown in FIG. 5 is referred to as the second operation mode. The vascular intervention treatment device 10 of an embodiment can be configured to have a first operation mode of independently transferring or rotating the catheter 20 and the guide wire 30, and a second operation mode of independently transferring or rotating the catheter 20, the microcatheter 40, and the micro guide wire 50.

[0047] In the first operation mode shown in FIG. 4, the catheter module 200 that supports the catheter 20 and the guide wire module 300 that supports the guide wire 30 are coupled to the platform 100 of the vascular intervention treatment device 10. In the second operation mode shown in FIG. 5, the catheter module 200 that supports the catheter 20, the microcatheter module 400 that supports the microcatheter 40, and the micro guide wire module 500 that supports the micro guide wire 50 are coupled to the platform 100 of the vascular intervention treatment device 10.

[0048] In the present disclosure, an operative instrument that is first arranged in the direction from the front end to the rear end of the platform 100 is referred to as a first operative instrument, and an operative instrument that is inserted into the first operative instrument behind the first operative instrument is referred to as a second operative instrument. An operative instrument that is inserted into the second operative instrument behind the second operative instrument is referred to as a third operative instrument. In FIG. 4, the first operative instrument is the catheter 20, and the second operative instrument is the guide wire 30. In FIG. 5, the first operative instrument is the catheter 20, the second operative instrument is the microcatheter 40, and the third operative instrument is the microguide wire 50.

[0049] Also, in the present disclosure, a module that supports each of the above-described operative instruments and is coupled to the platform 100 is referred to as an operative instrument module. A module of an operative instrument that is first arranged in the direction from the front end to the rear end of the platform 100 is referred to as a first operative instrument module, and a module of an operative instrument that is arranged behind the first operative instrument module is referred to as a second operative instrument module. A module of an operative instrument that is arranged behind the second operative instrument module is referred to as a third operative instrument module. In FIG. 4, the first operative instrument module is the catheter module 200, and the second operative instrument module is the guide wire module 300. In FIG. 5, the first operative instrument module is the catheter module 200, the second operative instrument module is the microcatheter module 400, and the third operative instrument module is the microguide wire module 500.

[0050] Referring to FIG. 4, a vascular intervention treatment device 10 according to an embodiment includes a platform 100, a catheter module 200, and a guide wire module 300. The platform 100 is the basis of the vascular intervention treatment device 10 and generates power to transfer and rotate the treatment tool. The catheter module 200 (first treatment tool module) and the guide wire module 300 (second treatment tool module) are disposed on the platform 100. The catheter module 200 is configured to support and rotate a catheter 20 (first treatment tool). The guide wire module 300 is configured to support and rotate a guide wire 30 (second treatment tool).

[0051] Referring to FIG. 5, a vascular intervention treatment device 10 according to an embodiment includes a platform 100, a catheter module 200, a micro catheter module 400, and a micro guide wire module 500. The catheter module 200 (first treatment tool module), the micro catheter module 400 (second treatment tool module), and the micro guide wire module 500 (third treatment tool module) are disposed on the platform 100. The micro catheter module 400 is configured to support a micro catheter 40 (second treatment tool). The micro guide wire module 500 is configured to support and rotate a micro guide wire 50 (third treatment tool).

[0052] In the vascular intervention treatment device 10 shown in FIG. 5, a micro catheter module 400 is adopted as the second treatment tool module instead of the guide wire module shown in FIG. 4. The micro catheter module 400, which is the second treatment tool module, is not used together with the guide wire module and can be adopted in the vascular intervention treatment device 10 instead of the guide wire module.

[0053] Referring to FIGS. 4 and 5, the platform 100 is positioned in the front-rear direction FR. The platform 100 can be supported by the multi-degree-of-freedom positioning device shown in FIG. 3 and can be positioned in the front-rear direction FR.

[0054] The platform 100 can be configured to transfer at least one of the aforementioned treatment tools in the front-rear direction and generate a rotational force for rotating about the rotational axis in the front-rear direction. The platform 100 may be configured as one module, or may be configured as two modules that are relatively movably coupled to each other. The platform 100 may include at least one transfer unit for transferring and rotating at least one of the aforementioned treatment tools. Such a transfer unit may be disposed within the one module, or may be disposed within the movable module of the two modules.

[0055] The platform 100 of one embodiment may be composed of a fixed base module 101 and a movable transfer module 102. The base module 101 is located on the lower side, and the transfer module 102 is located on the upper side of the base frame 110. The base module 101 includes a base frame 110 that extends in the front-rear direction FR. The base frame 110 can be detachably fixed to the multi-degree-of-freedom positioning device. The transfer module 102 can be moved in the front-rear direction FR with respect to the base frame 110. The transfer module 102 includes a transfer frame 120 that is coupled to the base frame 110 so as to be transferred in the front-rear direction FR along the base frame 110.

[0056] The catheter module 200 and the guide wire module 300 shown in FIG. 4 are arranged on the transfer module 102. The catheter module 200, the micro catheter module 400, and the micro guide wire module 500 shown in FIG. 5 are arranged on the transfer module 102. The transfer module 102 is configured to transfer the surgical tool module in the front-rear direction FR. The surgical tool module is coupled to the transfer module 102 and can be transferred independently or simultaneously in the front-rear direction FR by the transfer module 102.

[0057] Referring to FIG. 4, the catheter module 200 that supports the catheter 20 (first surgical tool) is coupled to the transfer module 102. The catheter module 200 is transferred in the front-rear direction FR with respect to the base frame 110. When the transfer module 102 is transferred in the forward direction FD along the base frame 110, the catheter 20 (first surgical tool) of the catheter module 200 can be transferred forward. Thereby, the catheter 20 can enter the target blood vessel along the guide wire 30. The guide wire module 300 (second surgical tool module) that supports the guide wire 30 (second surgical tool) is coupled to the transfer module 102 behind the catheter module 200. Further, the transfer module 102 is configured to transfer the guide wire module 300 independently of the catheter module 200 in the front-rear direction FR. The guide wire module 300 is transferred in the front-rear direction FR with respect to the base frame 110. When the transfer module 102 is transferred in the forward direction FD along the base frame 110, the guide wire 30 can be transferred forward. Also, the guide wire 30 of the guide wire module 300 can be transferred forward by the transfer unit 140 of the transfer module 102. Thereby, the guide wire 30 (second surgical tool) inserted into the catheter 20 (first surgical tool) can enter the target blood vessel. FIG. 4 shows that the guide wire module 300 is coupled to the transfer unit 140, but in other embodiments, the guide wire module 300 may be coupled to the transfer unit 150.

[0058] Referring to FIG. 5, a catheter module 200 that supports a catheter 20 (first treatment tool) is coupled to a transfer module 102, and the catheter module 200 is transferred in the front-rear direction FR with respect to a base frame 110. A micro-catheter module 400 (second treatment tool module) that supports a micro-catheter 40 (second treatment tool) is coupled to the transfer module 102 behind the catheter module 200. The transfer module 102 is configured to transfer the micro-catheter module 400 independently of the catheter module 200 in the front-rear direction FR. The micro-catheter module 400 is transferred in the front-rear direction FR with respect to the base frame 110. The transfer module 102 can be transferred in the forward direction FD along the base frame 110, and the micro-catheter 40 can be transferred forward. Also, the micro-catheter 40 of the micro-catheter module 400 can be transferred forward by a transfer unit 140 of the transfer module 102. Thereby, the micro-catheter 40 (second treatment tool) inserted into the catheter 20 (first treatment tool) can enter the target blood vessel.

[0059] A micro-guide wire module 500 that supports a micro-guide wire 50 (third treatment tool) is coupled to a transfer module 102 behind a micro-catheter module 400. The transfer module 102 is configured to transfer the micro-guide wire module 500 in the front-rear direction FR independently of the catheter module 200 and the micro-catheter module 400. The micro-guide wire module 500 is transferred in the front-rear direction FR with respect to the base frame 110 by the transfer module 102. The transfer module 102 is transferred in the forward direction FD along the base frame 110. Also, independently of the catheter (first treatment tool) of the catheter module 200 or the micro-catheter (second treatment tool) of the micro-catheter module 400, the micro-guide wire (third treatment tool) of the micro-guide wire module 500 is transferred forward by the transfer module 102. Thereby, the micro-guide wire inserted into the micro-catheter 40 can enter the target blood vessel.

[0060] FIG. 6 is a perspective view showing a platform of a vascular intervention treatment device according to an embodiment. FIG. 7 is a perspective view showing a base frame of the platform shown in FIG. 6. FIG. 8 is a plan view showing the base frame of the platform shown in FIG. 6. FIG. 9 is a cross-sectional view taken along line IX-IX of FIG. 8. Hereinafter, reference will be made to FIGS. 6 to 9.

[0061] The base frame 110 can be formed from a housing having a drive element therein. The transfer frame 120 of the transfer module 102 is slidably coupled to the base frame 110 in the front-rear direction FR.

[0062] The vascular intervention device includes a transfer module drive unit that transfers the transfer module 102 with respect to the base frame 110. The transfer module drive unit can be arranged on the base frame 110 or on the transfer frame 120. According to one embodiment, the transfer module drive unit is arranged inside the base frame 110. The transfer frame 120 can be slidably coupled to the base frame 110 by the transfer module drive unit.

[0063] The transfer module drive unit includes a frame transfer lead screw 111, a frame transfer motor 112 for rotating the frame transfer lead screw 111, and a frame slider 113 that is coupled to the frame transfer lead screw 111 and the transfer frame 120 and is transferred along the frame transfer lead screw 111 by screw movement. The frame transfer lead screw 111 is arranged along the front-rear direction FR on the bottom of the base frame 110 and is rotatably supported. The frame transfer motor 112 is connected to the frame transfer lead screw 111 via a coupling 1121. The frame transfer motor 112 rotates the frame transfer lead screw 111 in the clockwise direction or the counterclockwise direction. Thereby, the transfer module 102 coupled to the frame slider 113 is transferred in the forward direction FD or the rearward direction RD.

[0064] The frame slider 113 is configured to support the transfer frame 120 with respect to the base frame 110, and transfers the transfer frame 120 in the front-rear direction FR by the rotation of the frame transfer lead screw. The frame slider 113 includes a slide portion 1131 having a transfer nut 1132 coupled to be transferred by screw movement to the frame transfer lead screw 111, and a pair of support portions 1133 extending laterally LR from the slide portion 1131 and coupled to the bottom of the transfer frame 120. A pair of linear rails 1134 are arranged in the front-rear direction FR on the upper surface of the bottom of the base frame 110, and slits 1135 are formed along each linear rail 1134 through the bottom of the base frame 110. The slide portion 1131 is slidably coupled to the linear rail 1134. Each support portion 1133 extends upward through the slit 1135. Each support portion 1133 is formed to vertically separate the upper surface of the base frame 110 and the lower surface of the transfer frame 120. The transfer frame 120 coupled to the frame slider 113 is connected to the base frame 110 with a vertical interval. Since the transfer frame 120 is supported and transferred by the frame slider 113, the transfer frame 120 can be coupled to the base frame 110 without friction with the base frame 110.

[0065] Further, the base frame 110 includes a guide module holder 114 at its front end (the front end of the platform). The guide module holder 114 can be detachably coupled to the guide housing of the first guide module described later. The guide module holder 114 includes a stand 1141 protruding laterally at the front end of the base frame 110, and a housing holder 1142 detachably coupled to the stand 1141 in the vertical direction. A fitting groove 1143 can be formed in the housing holder 1142 in the front-rear direction.

[0066] FIG. 10 is an exploded perspective view showing the transfer frame of the platform shown in FIG. 6. FIG. 11 is a cross-sectional view taken along line XI-XI of FIG. 10. FIG. 12 is a cross-sectional view taken along line XII-XII of FIG. 10. FIG. 13 is a perspective view showing an example of the transfer unit shown in FIG. 10. Hereinafter, reference will be made to FIGS. 4 to 6 and FIGS. 10 to 13.

[0067] The transfer module 102 of one embodiment includes transfer units 130, 140, and 150 that transfer the treatment tool module. The catheter module 200 is coupled to the transfer unit 130 (the first transfer unit of the platform). The guide wire module 300 is coupled to the transfer unit 140 (the second transfer unit of the platform) or the transfer unit 150 (the third transfer unit of the platform). The microcatheter module 400 is coupled to the transfer unit 140 (the second transfer unit of the platform). The micro guide wire module 500 is coupled to the transfer unit 150 (the third transfer unit of the platform). The transfer module 102 may be configured to transfer the transfer units 130, 140, and 150 simultaneously in the front-rear direction FR. The transfer module 102 may be configured such that the transfer unit 140 is transferred independently of the transfer unit 130. The transfer module 102 may be configured such that the transfer unit 150 is transferred independently of the transfer units 130 and 140.

[0068] The transfer units 130 and 140 may be arranged on the transfer frame 120 so as to be transferable in the front-rear direction FR. The transfer unit 140 is arranged on the transfer frame 120 behind the transfer unit 130. The transfer unit 150 may be arranged on the transfer frame 120 so as to be transferable in the front-rear direction FR. The transfer unit 150 is arranged on the transfer frame 120 behind the transfer unit 130. Alternatively, the transfer unit 150 is arranged on the transfer frame 120 behind the transfer unit 140.

[0069] The transfer frame 120 may be formed of a housing having a drive element inside. A frame slider 113 (see FIG. 6) of the base frame may be detachably coupled to the lower surface of the transfer frame 120. FIG. 10 shows the drive element inside the transfer frame 120 that can be seen by removing the upper part of the transfer frame 120.

[0070] On the upper surface of the bottom of the transfer frame 120, a pair of linear rails 121 extending in the front-rear direction FR are arranged, and a slit 122 is formed in one side wall portion of the transfer frame 120 in the front-rear direction FR. The plurality of transfer units 130, 140, 150 may have the same configuration as each other. Each of the transfer units 130, 140, 150 may have module sliders 131, 141, 151 slidably coupled to the linear rail 121. Each of the transfer units 130, 140, 150 can be slidably transferred in the front-rear direction FR along the linear rail 121. Each of the module sliders 131, 141, 151 extends in the lateral direction LR orthogonal to the front-rear direction FR, and the end portions thereof may protrude outside the transfer frame 120 through the slit 122.

[0071] The transfer module 102 can transfer the plurality of transfer units 130, 140, 150 in the front-rear direction simultaneously. The transfer module 102 may be rotatably supported on the bottom of the transfer frame 120 and include a module transfer lead screw 123 arranged along the front-rear direction FR. The transfer module 102 may include a module transfer motor 124 for rotating the module transfer lead screw 123. The module transfer motor 124 is connected to the module transfer lead screw 123 via a coupling 1241. The module transfer motor 124 rotates the module transfer lead screw 123 in the clockwise direction or the counterclockwise direction.

[0072] The module transfer lead screw 123 is coupled to each of the transfer units 130, 140, 150 so as to transfer each of the transfer units 130, 140, 150 by screw movement. The module transfer lead screw 123 may be coupled to the module sliders 131, 141, 151 of each transfer unit.

[0073] The transfer unit 130 includes a transfer nut 132 (first transfer nut) that is coupled to be transferred by a screw motion to the module transfer lead screw 123. The transfer nut 132 is disposed on the module slider 131. The transfer unit 130 is transferred in the front-rear direction FR by the rotation of the module transfer lead screw 123.

[0074] The transfer unit 140 is disposed to be transferred in the front-rear direction FR independently of the transfer unit 130. The transfer unit 140 includes a transfer nut 142 (second transfer nut) that is coupled to be transferred by a screw motion to the module transfer lead screw 123. The transfer nut 142 is disposed on the module slider 141. The transfer unit 140 is transferred in the front-rear direction FR by the rotation of the module transfer lead screw 123.

[0075] Also, the transfer unit 140 may include a transfer motor 143 (second transfer motor) configured to rotate the transfer nut 142 (see FIGS. 10 and 12). The transfer motor 143 may be disposed on the module slider 141. The rotation shaft of the transfer motor 143 and the transfer nut 142 may be connected by a gear transmission. As an example, a spur gear 1431 may be coupled to the rotation shaft of the transfer motor 143, and a spur gear 1421 meshing with the spur gear 1431 may be integrally coupled to the transfer nut 142, but the rotation shaft of the transfer motor 143 and the transfer nut 142 may also be connected by other structures such as bevel gears. If the transfer nut 142 rotates, the transfer unit 140 is transferred in the front-rear direction FR along the module transfer lead screw 123. Since the transfer motor 143 allows the transfer nut 142 to rotate independently of the rotation of the module transfer lead screw 123, the transfer unit 140 can be transferred in the front-rear direction independently of the transfer unit 130.

[0076] The transfer unit 150 is arranged to be transferred in the front-rear direction FR independently of the transfer units 130 and 140. The transfer unit 150 includes a transfer nut 152 (third transfer nut) that is coupled to be transferred by screw movement to the module transfer lead screw 123. The transfer nut 152 is arranged on the module slider 151. The transfer unit 150 is transferred in the front-rear direction FR by the rotation of the module transfer lead screw 123.

[0077] Also, the transfer unit 150 may include a transfer motor 153 (third transfer motor) configured to rotate the transfer nut 152 (see FIGS. 10 and 12). The transfer motor 153 may be arranged on the module slider 151. The rotation axis of the transfer motor 153 and the transfer nut 152 may be connected by gear transmission. As an example, a spur gear 1531 is coupled to the rotation axis of the transfer motor 153, and a spur gear 1521 meshing with the spur gear 1531 may be integrally coupled to the transfer nut 152, but the rotation axis of the transfer motor 153 and the transfer nut 152 may also be connected by other structures such as bevel gears. When the transfer nut 152 rotates, the transfer unit 150 is transferred in the front-rear direction FR along the module transfer lead screw 123. Since the transfer nut 152 can rotate independently of the rotation of the module transfer lead screw 123 by the transfer motor 153, the transfer unit 150 can be transferred in the front-rear direction independently of the transfer units 130 and 140.

[0078] In a vascular intervention treatment device of another embodiment not shown, the transfer unit 130 may be configured to be fixed to the transfer module 102. In such an example, as the transfer frame 120 is transferred in the front-rear direction FR along the base frame 110, the transfer unit 130 can be transferred in the front-rear direction FR. Also, in such an example, the module transfer lead screw 123 may be arranged on the transfer frame 120 such that the transfer units 140 and 150 move by screw movement, and the transfer unit 140 may be configured without the transfer motor 143.

[0079] In the vascular intervention device of other embodiments not shown, the transfer module 102 may include only the transfer unit 130 and the transfer unit 140. In such an example, only the catheter module 200 and the guide wire module 300 can be coupled to the transfer unit 130 and the transfer unit 140 respectively, and the vascular intervention device can be used for the vascular intervention shown in FIG. 1.

[0080] As another example, the platform 100 may include only one modularized frame (for example, a base frame). In such an example, the transfer unit can be arranged on the one frame.

[0081] Referring to FIGS. 4 and 5, the catheter 20 of the catheter module 200 can be transferred in the front-rear direction FR by the transfer of the transfer frame 120 or by the transfer of the transfer unit 130. The catheter module 200 is configured to rotate the catheter 20 about the rotation axis RA in the front-rear direction FR.

[0082] The guide wire 30 of the guide wire module 300 can be transferred in the front-rear direction FR by the transfer of the transfer frame 120 or by the transfer of the transfer unit 140 or the transfer unit 150. The guide wire module 300 is configured to rotate the guide wire 30 about the rotation axis RA.

[0083] The micro-catheter 40 of the micro-catheter module 400 can be transferred in the front-rear direction FR by the transfer of the transfer frame 120 or by the transfer of the transfer unit 140. The micro-catheter module 400 is configured to support the micro-catheter 40. The micro-catheter module 400 may be configured to fixedly hold the micro-catheter 40 non-rotatably, or may be configured to rotatably support the micro-catheter 40 (see the embodiment according to FIG. 54 described later).

[0084] By the transfer of the transfer frame 120 or by the transfer of the transfer unit 150, the micro guide wire 50 of the micro guide wire module 500 can be transferred in the front-rear direction FR. The micro guide wire module 500 is configured to rotate the micro guide wire 50 about the rotation axis RA.

[0085] The transfer module 102 can be configured to generate a rotational force for rotating the treatment tool in each of the treatment tool modules and transmit this rotational force to each module. Each transfer unit of the transfer frame 120 can be configured to generate and transmit the rotational force. The transfer unit 130, in a state of being coupled to the catheter module 200, is configured to generate a rotational force for rotating the catheter 20 and transmit this rotational force to the catheter module 200. The transfer unit 140 is configured to generate a rotational force for rotating the second treatment tool (guide wire or micro catheter) and transmit this rotational force to the second treatment tool module. When the second treatment tool module is the guide wire module 300, the transfer unit 140, in a state of being coupled to the guide wire module 300, is configured to generate a rotational force for rotating the guide wire 30 and transmit this rotational force to the guide wire module 300. When the second treatment tool module is the micro catheter module 400, the transfer unit 140 can be configured to generate and transmit a rotational force, but the micro catheter module 400 can be operated so as not to rotate the micro catheter. The transfer unit 150, in a state of being coupled to the micro guide wire module 500, is configured to generate a rotational force for rotating the micro guide wire 50 and transmit this rotational force to the micro guide wire module 500.

[0086] As another example, each of the transfer units can be configured to transmit only the rotational force, and a rotational force generation unit for generating the rotational force transmitted by each transfer unit can be arranged on the transfer frame.

[0087] In an embodiment of the vascular intervention device, at least any one of the transfer portions of the platform includes a rotational force generating portion that generates a rotational force and a transmission portion configured to transmit the rotational force to any one of the treatment tool modules. The transmission portion is configured to be detachably coupled to the rotational force generating portion. Further, the transmission portion is configured to be detachably coupled to any one of the treatment tool modules. Accordingly, since the treatment tool module that supports and rotates the treatment tool and the transfer portion of the platform are connected through the transmission portion, each treatment tool module and the platform can have a simplified structure.

[0088] The rotational force generating portion can generate a rotational force for rotating any one of the corresponding treatment tools among the catheter, the guide wire, and the micro guide wire. Further, the transmission portion can transmit the rotational force to any one of the corresponding treatment tool modules among the catheter module, the guide wire module, and the micro guide wire module. In an embodiment of the vascular intervention device, each transfer portion may include the rotational force generating portion and the transmission portion.

[0089] FIGS. 14 to 17 show the components of the transfer portion shown in FIG. 13. Hereinafter, with respect to the transfer portion in one embodiment, reference is made to FIGS. 4, 5, 10, 11, and FIGS. 13 to 17.

[0090] Each of the transfer portions 130, 140, 150 may include a rotational force generating portion 160 that generates a rotational force. Each of the transfer portions 130, 140, 150 may include a transmission portion 170 that transmits the rotational force.

[0091] The rotational force generating unit 160 of the transfer unit 130 can be connected to a portion of the module slider 131 that passes through the slit 122 and protrudes to the side of the transfer frame 120. The rotational force generating unit 160 includes a motor housing 161 coupled to the module slider 131, a rotary motor 162 disposed within the motor housing 161, and a first rotating body 1621 coupled to the rotating shaft of the rotary motor 162 and rotatable to output the rotational force of the rotary motor 162. The rotational force generating units 160 of the transfer units 140 and 150 may have the same structure as that of the rotational force generating unit 160 of the transfer unit 130. The rotational force generating units 160 of the transfer units 140 and 150 can be respectively connected to portions of the module sliders 141 and 151 protruding through the slit 122. As another example (not shown), the rotational force generating unit may be disposed inside the transfer frame 120.

[0092] The transmission unit 170 can be disposed outside the transfer frame 120. The transmission unit 170 of the transfer unit 140 can be detachably coupled to the rotational force generating unit 160 from the vertical direction VD. The transmission unit 170 of the transfer unit 140 is coupled to the catheter module 200. The transmission unit 170 of the transfer unit 140 is configured to receive the rotational force from the rotational force generating unit 160 and transmit it to the catheter module 200.

[0093] Since the rotational force generating unit 160 and the transmission unit 170 are disposed outside the transfer frame 120 (e.g., on the side of the transfer frame 120), the transfer unit 130 is configured to transmit the rotational force to the catheter module 200 in the lateral direction LR.

[0094] The transmission unit 170 may have a bent shape corresponding to the outer surface shape of the transfer frame 120 (or the platform 100). As shown in FIG. 4, when the transfer module 102 (platform 100) is viewed from the front-rear direction FR, the transmission unit 170 may be formed to extend in the circumferential direction CD centered on the rotation axis RA. For example, the transmission unit 170 may have an inverted L-shaped configuration corresponding to the outer surface shapes of the side wall portion and the upper portion of the transfer frame.

[0095] The transmission parts 170 of the transfer parts 140 and 150 may have the same structure as the transmission part 170 of the transfer part 130. The transmission part 170 of the transfer part 140 can transmit the rotational force of the rotational force generation part 160 to the second treatment tool module (the guide wire module 300 or the micro catheter module 400). The transmission part 170 of the transfer part 150 can transmit the rotational force of the rotational force generation part 160 of the transfer part 150 to the micro guide wire module 500.

[0096] According to each embodiment, the rotational force generation part and the transmission part of each transfer part may be detachably coupled to each other by fitting. Further, a treatment tool module that supports and rotates the treatment tool is detachably coupled to the transmission part of the transfer part. The transmission part of each transfer part and the treatment tool module corresponding to each transfer part may be detachably coupled by fitting. Thereby, in the vascular intervention treatment device of the embodiment, each functional component can be modularized, each functional component can be selectively adopted on the platform as needed, and the usability and convenience can be improved.

[0097] According to an embodiment, each transmission part may be configured to be coupled to the corresponding treatment tool module by fitting in a lateral direction orthogonal to the front-rear direction. As another example, each transmission part and the corresponding treatment tool module may be configured to be coupled by fitting in the front-rear direction or in an oblique direction between the front-rear direction and the lateral direction.

[0098] Hereinafter, with reference to FIGS. 13 to 17, the rotational force generation part and the transmission part will be described more specifically.

[0099] The transmission unit 170 includes an input end 171 that receives a rotational force from the rotational force generation unit, and an output end 172 that outputs the rotational force to the corresponding treatment tool module. The transmission unit 170 includes a bridge part 173 that connects the input end 171 and the output end 172. The input end 171 may be formed such that the output end of the rotational force generation unit 160 is fitted in the vertical direction. The input end 171 may be located on the side of the transfer frame. The output end 172 may be detachably coupled to the corresponding treatment tool module. The output end 172 may be located above the transfer frame (above the platform). The treatment tool module may be disposed between the transfer frame and the output end 172 while being coupled to the output end of the transmission unit.

[0100] The rotational force generation unit 160 includes, at its upper end, a first rotating body 1621 that outputs a rotational force. The transmission unit 170 includes, at the input end 171, a second rotating body 1711 corresponding to the first rotating body 1621. The second rotating body 1711 is configured to have a shape complementary to that of the first rotating body 1621. One of the first rotating body 1621 and the second rotating body 1711 may have a protrusion, and the other of the first rotating body 1621 and the second rotating body 1711 may have a recess into which the protrusion is fitted. As an example, as shown in FIG. 13, the first rotating body 1621 has a protrusion 1622 protruding upward, and as shown in FIG. 14, the second rotating body 1711 has a recess 1712 into which the protrusion 1622 can be fitted.

[0101] The rotational force generating unit 160 and the transmission unit 170 are detachably coupled, and the transmission unit 170 may include a rotator guide 1713 that maintains the second rotator 1711 movably in the vertical direction at the input end 171 so that the transmission unit 170 can receive a rotational force. The transmission unit 170 may include a spring 1714 that presses the second rotator 1711 toward the first rotator 1621. The first rotator 1621 and the second rotator 1711 may be detachably coupled under the pressing force of the spring 1714. When coupling the input end 171 of the transmission unit 170 to the upper end of the rotational force generating unit 160, due to the shapes of the first rotator 1621 and the second rotator 1711, the first rotator 1621 and the second rotator 1711 may not be coupled to each other. As the first rotator 1621 rotates, when the first rotator 1621 and the second rotator 1711 are aligned so as to mesh with each other, the second rotator 1711 moves in the direction toward the first rotator 1621 along the rotator guide 1713 by the pressing force of the spring 1714 and can mesh with the first rotator 1621.

[0102] The transmission unit 170 includes a connecting shaft 1715 inserted into the second rotator 1711 and an input timing pulley 1716 coupled to the connecting shaft 1715. The spring 1714 is disposed between the connecting shaft 1715 and the second rotator 1711, and the connecting shaft 1715 may be partially inserted into the second rotator 1711. The second rotator 1711 and the connecting shaft 1715 may be connected using a convex portion and a concave portion. The transmission unit 170 includes a drive gear 1721 that outputs a rotational force. The drive gear 1721 is coupled to an output timing pulley 1722 rotatably disposed at the output end 172. The input timing pulley 1716 and the output timing pulley 1722 are connected by a timing belt 1731 disposed inside the bridge portion 173. The drive gear 1721 may rotate through belt transmission by the rotational force of the first rotator 1621.

[0103] The transmission part 170 has a pair of fitting grooves 1723 for coupling with the treatment tool module corresponding to the output end part 172. The drive gear 1721 is exposed between the fitting grooves 1723. The pair of fitting grooves 1723 are formed in the lateral direction LR. Each treatment tool module has, at its upper end, a pair of fitting protrusions 2111, 3111, 4111, 5111 (see FIGS. 19, 22, 26, and 28) that are fitted into the fitting grooves 1723 in the lateral direction LR. Each treatment tool module can be detachably coupled to the transmission part of the corresponding transfer part by lateral LR fitting. As another example, the orientation of the fitting grooves 1723 and the fitting protrusions 2111, 3111, 4111, 5111 may be in the front-rear direction or an oblique direction between the front-rear direction and the lateral direction. As still another example, the transmission part 170 may have the fitting protrusions, and each treatment tool module may have the fitting grooves.

[0104] Each treatment tool module is exposed between the pair of fitting protrusions and includes driven gears 220, 320, 420, 520 (see FIGS. 19, 22, 26, and 28) that mesh with the drive gear 1721 of the transmission part. Each treatment tool module is configured to rotate the treatment tool by the rotation of the driven gear. The drive gear 1721 may be a bevel gear that rotates about a vertical rotation axis, and the driven gear may be a bevel gear that rotates about a front-rear rotation axis RA. As another example, spur gears may be used as the drive gear and the driven gear.

[0105] The upper end part of the rotational force generation part 160 can be fitted to and detachably coupled to the input end part 171 of the transmission part 170. A locking part may be provided for the transmission part 170 and the rotational force generation part 160. The locking part may be composed of an elastically deformable locking latch and a locking groove to which such a locking latch is detachably coupled. One of the locking latch and the locking groove may be provided for the transmission part 170, and the other of the locking latch and the locking groove may be provided for the rotational force generation part 160.

[0106] Referring to FIGS. 16 and 17, the transmission unit 170 may include a pair of elastically deformable locking latches 1717. The rotational force generating unit 160 includes a locking groove 163 at its upper end to which the locking latch 1717 is detachably coupled. The locking latch 1717 may have a hook shape. When the transmission unit 170 is coupled to the rotational force generating unit 160, the locking latch 1717 detachably engages with the locking groove 163 to fix the transmission unit 170 to the rotational force generating unit 160.

[0107] Also, one of the transmission unit and the rotational force generating unit to which the locking latch is provided may be provided with a locking release unit for releasing the locking latch. Such a locking release unit may be configured to elastically deform the locking latch to separate the locking latch from the locking groove, and may be configured to slide in the vertical direction to improve the convenience of use.

[0108] Referring to FIGS. 16 and 17, the transmission unit 170 including the locking latch 1717 includes a unlocking portion 174 configured to elastically deform the locking latch 1717 to separate the locking latch 1717 from the inside of the transmission unit out of the locking groove 163. When separating the transmission unit 170 from the rotational force generating unit 160, the locking between the transmission unit 170 and the rotational force generating unit 160 can be released by the unlocking portion 174. The unlocking portion 174 includes an unlocking slider 1741 having an unlocking hook 1742. The unlocking slider 1741 can be formed to surround the outer peripheral surface of the input end portion 171. The unlocking slider 1741 can be slidably coupled to the input end portion 171 in the vertical direction. A stopper 1743 can be fixed to the input end portion 171 under the unlocking slider 1741. The stopper 1743 can have a shape fitted to the input end portion 171 to prevent the unlocking slider 1741 from being separated downward from the input end portion 171. As shown in FIG. 17, when the transmission unit 170 and the rotational force generating unit 160 are coupled, the unlocking hook 1742 of the unlocking slider 1741 is positioned between the locking latch 1717 and the locking groove 163. As the unlocking slider 1741 is slid upward, the unlocking hook 1742 is inserted between the locking latch 1717 and the locking groove 163 and pushes the locking latch 1717 to the outside of the input end portion 171 (e.g., in a direction away from the locking groove 163) to elastically deform the locking latch 1717. Thereby, the locking latch 1717 is removed from the locking groove 163, and the transmission unit 170 can be separated from the rotational force generating unit 160. Thereby, the locking between the transmission unit 170 and the rotational force generating unit 160 can be released.

[0109] When each treatment tool module is detachably coupled to the transmission unit 170, a latch unit may be provided in the transmission unit 170 to prevent lateral LR separation of the treatment tool module. Referring to FIG. 18, the transmission unit 170 includes a rotary latch 175 that is rotatably disposed on the outer surface of the output end portion 172 and is configured to lock the treatment tool module by rotation. The latch portion 1751 of the rotary latch 175 may be positioned to face upward or downward by the rotation of the rotary latch 175. When the transmission unit 170 and each treatment tool module are coupled, the rotary latch 175 may be rotated so that the latch portion 1751 locks the treatment tool module to the transmission unit 170.

[0110] A vascular intervention treatment device according to an embodiment includes a treatment tool module coupled to the platform. As described above, the platform selectively transfers a catheter, a guide wire, a microcatheter, and a microguide wire used in vascular intervention treatment in the front-rear direction, and generates a rotational force for rotating about a rotational axis in the front-rear direction. The treatment tool module supports a treatment tool that is any one of a catheter, a guide wire, a microcatheter, and a microguide wire, and may be detachably coupled to the platform. Further, the treatment tool module can rotate the treatment tool by receiving the rotational force from the platform.

[0111] In one embodiment of the present disclosure, the treatment tool module includes a module housing configured to be detachably coupled to the platform. The treatment tool module may include a passive gear that is rotatably disposed about a rotation axis in the module housing and is configured to rotate the treatment tool. The passive gear is coupled to the treatment tool of each treatment tool module. The passive gear is driven by the rotational force from the platform in a state where the module housing is coupled to the platform, and rotates the treatment tool about the rotation axis.

[0112] The catheter module is coupled to the transfer unit 130 of the transfer module and is transferred in the front - rear direction, and can rotate the first surgical tool (catheter). FIG. 19 is a perspective view showing the catheter module of the vascular intervention surgical device according to an embodiment. FIG. 20 is a cross - sectional view taken along the line XX - XX of FIG. 19. FIG. 21 is a bottom exploded perspective view of the catheter module shown in FIG. 19. Hereinafter, reference is made to FIGS. 4, 5, and 19 - 21.

[0113] The catheter module 200 houses components for fixing and rotating the catheter 20, and can be individually detached from the platform 100 (the transfer unit 130 of the platform). The catheter module 200 includes a first module housing 210 and a first driven gear 220 that is rotatably disposed within the first module housing 210 and coupled to the first surgical tool.

[0114] The first module housing 210 is configured to be separably coupled to the transfer unit 130 (specifically, to the transmission part of the transfer unit 130). The first module housing 210 includes a coupling part 211 that is coupled to the transfer unit 130 of the platform. The first module housing 210 includes a housing part 212 that is configured to house a part of the first driven gear 220 and the catheter 20.

[0115] The coupling part 211 is formed in the lateral direction LR and can be configured to be fitted into the transfer unit 130 of the platform in the lateral direction LR. The coupling part 211 may include a fitting protrusion 2111 that is formed in the lateral direction LR and is fitted into the fitting groove of the transfer unit 130. The first module housing 210 may be configured such that a part of the first driven gear 220 is located and exposed within the coupling part 211.

[0116] The housing portion 212 can form the internal space of the first module housing 210. The housing portion 212 has an opening 2121 formed in the outer radial direction RO of the rotation axis RA. Although the outer radial direction may be downward, the present disclosure is not limited thereto. Further, the housing portion 212 has a front slit 2122 that communicates with the opening 2121 and is formed to extend to the front end of the first module housing 210. The first passive gear 220 and the catheter 20 are configured to be accommodated in the housing portion 212 through the opening 2121 and the front slit 2122. Further, the first passive gear 220 and the catheter 20 are configured to be separable in the outer radial direction RO through the opening 2121 and the front slit 2122.

[0117] Further, the first module housing 210 includes a housing cover 213 configured to be separably coupled to the housing portion 212 so as to open and close the opening 2121 of the housing portion. For example, the housing cover 213 may be configured to be fitted to the housing portion 212 in the inner radial direction opposite to the outer radial direction. The housing cover 213 can open and close the lower end of the housing portion 212 opened by the opening 2121. With the housing cover 213 removed from the housing portion 212, the first passive gear 220 and the catheter 20 can be separated from the housing portion 212 in the outer radial direction RO. Since the housing cover 213 can be removed from the housing portion 212, in the event of an emergency in which the operation of the vascular intervention device becomes impossible during a vascular intervention procedure, even when a plurality of surgical tools are maintained inserted into the target blood vessel of the patient, the first passive gear 220 and the catheter 20 can be separated from the first module housing 210, and the plurality of surgical tools can be manually operated.

[0118] The first passive gear 220 may be composed of one bevel gear. The first passive gear 220 may be arranged in the first module housing 210 so as to mesh with the drive gear 1721 (see FIG. 14) of the transfer unit 130. The first passive gear 220 is coupled to the first module housing rotatably about the rotation axis RA. The central portion of the first passive gear 220 is formed to have a circular through-hole 221. A bush 222 is fitted into the through-hole 221. The connecting end portion 21 of the catheter 20 (the first surgical instrument) is fitted to the inner peripheral surface of the bush 222. The first passive gear 220 is coupled to the connecting end portion 21 of the catheter through the bush 222 at its central portion. By the rotation of the first passive gear 220, the catheter 20 can rotate. A part of the catheter 20 is arranged in the first module housing 210 so as to extend forward from the central portion of the first passive gear 220.

[0119] The catheter module 200 includes a connecting tube 230 connected to the connecting end portion 21 of the catheter 20. The connecting tube 230 may be fixed to the housing cover 213. The front end portion of the connecting tube 230 is inserted into the connecting end portion 21 of the catheter. The bush 222 is rotatably coupled to the connecting tube. The bush 222 is coupled to the rear portion of the front end portion of the connecting tube 230. When the bush 222 coupled to the first passive gear 220 and the catheter 20 rotate integrally, the connecting tube 230 does not rotate. The connecting tube 230 has a branch portion 232 branched radially outward from the guide portion 231 between the guide portions 231. A guide wire or a microcatheter (the second surgical instrument) is inserted into the catheter 20 through the guide portion 231 of the connecting tube 230. The branch portion 232 of the connecting tube 230 can be used to inject a fluid drug into the target blood vessel or to aspirate a thrombus in the target blood vessel when the tip of the catheter 20 reaches the target blood vessel.

[0120] The guide wire module 300 (second surgical tool module) is coupled to the transfer unit 140 or the transfer unit 150 of the transfer module and is transferred in the front-rear direction. Also, the guide wire module 300 can rotate the second surgical tool (guide wire). FIG. 22 is a perspective view showing the guide wire module of the vascular intervention surgical device according to an embodiment. FIG. 23 is a bottom exploded perspective view of the guide wire module shown in FIG. 22. FIG. 24 shows a cross-sectional shape taken along line XXIV-XXIV of FIG. 22, and FIG. 25 shows a part of the guide wire module. Hereinafter, reference will be made to FIGS. 4 and 22 to 25.

[0121] The guide wire module 300 houses components for fixing and rotating the guide wire 30 (second surgical tool) and can be individually detached from the platform 100 (transfer unit 140 of the platform). The guide wire module 300 includes a second module housing 310 and a second driven gear 320 rotatably disposed within the second module housing 310 and coupled to the guide wire 30.

[0122] The second module housing 310 is configured to be separably coupled to the transfer unit 140 or the transfer unit 150. The second module housing 310 includes a coupling portion 311 that is coupled to the transfer unit 140 or the transfer unit 150 of the platform. The second module housing 310 includes a housing portion 312 configured to house a part of the second driven gear 320 and the guide wire 30.

[0123] The coupling portion 311 is formed in the lateral direction LR and may be configured to be fitted into the transfer unit 140 of the platform in the lateral direction LR. The coupling portion 311 may include a fitting protrusion 3111 formed in the lateral direction LR and fitted into a fitting groove of the transfer unit 140 or a fitting groove of the transfer unit 150. The second module housing 310 may be configured such that a part of the second driven gear 320 is positioned and exposed within the coupling portion 311.

[0124] The housing portion 312 can form the internal space of the second module housing 310. The housing portion 312 has an opening 3121 formed in the outer radial direction RO of the rotation axis RA. The outer radial direction may be downward, but the present disclosure is not limited thereto. The second driven gear 320 is configured to be housed in the housing portion 312 through the opening 2121. The guide wire 30 penetrates the second driven gear 320.

[0125] Further, the second module housing 310 includes a housing cover 313 configured to be detachably coupled to the housing portion 312 so as to open and close the opening 3121 of the housing portion. For example, the housing cover 313 is fitted to the housing portion 312 in the inner radial direction opposite to the outer radial direction, and can open and close the lower end of the housing portion 212 opened by the opening 2121. With the housing cover 313 removed from the housing portion 312, the second driven gear 320 can be separated from the housing portion 312 in the outer radial direction RO. For example, when the above-described emergency occurs, even when a plurality of surgical tools are inserted into a patient's blood vessel and maintained in a coupled state with each other, the second driven gear 320 can be separated from the second module housing 310, and the plurality of surgical tools can be manually operated.

[0126] The second driven gear 320 may be composed of one bevel gear. The second driven gear 320 can be arranged in the second module housing 310 so as to mesh with the drive gear 1721 (see FIG. 14) of the transfer unit 140 or the transfer unit 150. The second driven gear 320 is coupled to the second module housing so as to be rotatable about the rotation axis RA. The central portion of the second driven gear 320 is formed to have a circular through-hole 321 and is coupled to the guide wire 30. The guide wire 30 can be rotated by the rotation of the second driven gear 320. A part of the guide wire 30 is arranged in the second module housing 310 so as to extend forward from the central portion of the second driven gear 320.

[0127] A guide pipe 322 is coupled to the through hole 321 of the second driven gear 320. The guide pipe 322 is formed such that the guide wire 30 passes through the guide pipe 322. The guide pipe 322 is disposed in the internal space of the accommodating portion 312 and rotates together with the second driven gear 320.

[0128] The guide wire module 300 of one embodiment includes a guide wire holder 330 configured to be coupled to the second driven gear 320 to fix the guide wire 30. The guide wire holder 330 is coaxially coupled to the rotation axis RA of the second driven gear 320 in the through hole 221 formed in the central portion of the second driven gear 320. The guide wire holder 330 is configured to removably fix the guide wire 30.

[0129] The guide wire holder 330 includes a clamp holder 331 and a wire clamp 332. The clamp holder 331 is coupled to the through hole 321 of the second driven gear 320 behind the guide pipe 322. The guide pipe 322 and the clamp holder 331 may be integrally formed. The wire clamp 332 is configured to removably fix the guide wire 30 and is movably coupled to the clamp holder 331 in the front-rear direction FR. The wire clamp 332 is configured to move to the clamp holder 331 to fix the guide wire 30 and move away from the clamp holder 331 to release the guide wire 30.

[0130] The clamp holder 331 includes a conical pressing portion 3311 with an increasing diameter in the rearward direction and a threaded portion 3312 adjacent to the pressing portion 3311. The wire clamp 332 includes a threaded portion 3321 that is threadedly coupled to the threaded portion 3312 of the clamp holder and a plurality of fingers 3322 formed at the front end of the threaded portion 3321 for releasably fixing the guide wire 30. The threaded portion 3321 is movably coupled to the threaded portion 3312 of the clamp holder by screw movement. As the wire clamp 332 is rotated in one direction, the wire clamp 332 is inserted forward into the clamp holder 331, and as the wire clamp 332 is rotated in the other direction, the wire clamp 332 moves rearward from the clamp holder 331. The plurality of fingers 3322 are separated from each other in the circumferential direction CD with respect to the rotation axis RA. Also, the plurality of fingers 3322 are elastically deformable in the outer radial direction and the inner radial direction with respect to the rotation axis RA. The plurality of fingers 3322 can contact the conical pressing portion 3311 of the clamp holder.

[0131] As the wire clamp 332 moves forward, the plurality of fingers 3322 contact the conical pressing portion 3311, are elastically deformed in the inner radial direction, and fix the guide wire 30. As the wire clamp 332 moves rearward, the plurality of fingers 3322 are elastically deformed in the outer radial direction and release the guide wire 30. As the wire clamp 332 is rotated in one direction, the guide wire 30 can be fixed to the second driven gear 320, and as the wire clamp 332 is rotated in the other direction, the fixation between the guide wire 30 and the second driven gear 320 can be released.

[0132] The microcatheter module 400 (second treatment tool module) is transferred in the front - rear direction by the transfer unit 140 of the transfer module. The microcatheter module 400 is configured to be detachably coupled to the transfer unit 140 of the transfer module alternately with the guide wire module 300. If necessary, the microcatheter module 400 can also rotate the microcatheter (second treatment tool). FIG. 26 is a perspective view showing the microcatheter module of the vascular intervention treatment device according to an embodiment. FIG. 27 is a cross - sectional view taken along line XXVII - XXVII of FIG. 26. Hereinafter, refer to FIGS. 5, 26, and 27.

[0133] The microcatheter module 400 houses components for supporting the microcatheter 40 (second treatment tool) and can be individually detached from and attached to the platform (transfer unit 140 of the platform). In one embodiment, the microcatheter module 400 may have the same structure as the catheter module 200. Another module configured identically to the catheter module 200 is configured to support and fix the microcatheter and can be adopted in the vascular intervention treatment device as the microcatheter module 400.

[0134] The microcatheter module 400 includes a third module housing 410 and a third passive gear 420 rotatably disposed within the third module housing 410 and coupled to the microcatheter 40. The third module housing 410 includes a coupling portion 411 fitted to the transfer unit 140 (fitting groove of the transmission unit 170) and a housing portion 412 configured to house a part of the third passive gear 420 and the microcatheter 40. The third module housing 410 and the third passive gear 420 may be configured identically to the first module housing and the first passive gear of the catheter module 200, respectively. The opening 4121, the front slit 4122, and the housing cover 413 of the third module housing 410 may be configured identically to the opening 2121, the front slit 2122, and the housing cover 213 of the first module housing 210, respectively.

[0135] FIG. 28 is a perspective view showing a micro guide wire module of a vascular intervention treatment device according to an embodiment. FIG. 29 is a cross-sectional view taken along line XXIX-XXIX of FIG. 28. Hereinafter, reference is made to FIGS. 5, 28, and 29.

[0136] The micro guide wire module 500 can be configured to be detachably coupled to the transfer unit 150 alternately with the guide wire module 300. Further, the micro guide wire module 500 can rotate the micro guide wire (third treatment tool) by the rotational force from the transfer unit 150.

[0137] The micro guide wire module 500 houses components for fixing and rotating the micro guide wire 50 and can be individually attached to and detached from the platform 100 (transfer unit 150 of the platform). In one embodiment, the micro guide wire module 500 can have the same structure as that of the guide wire module 300. Another module configured identically to the guide wire module 300 can be employed in the vascular intervention treatment device as a module configured to support and rotate the micro guide wire 50.

[0138] The micro guide wire module 500 includes a fourth module housing 510 and a fourth passive gear 520 that is rotatably disposed within the fourth module housing 510 and coupled to the micro guide wire 50. The fourth module housing 510 includes a coupling portion 511 that is coupled to the transfer portion 150 (the fitting groove of the transmission portion 170), and a housing portion 512 that is configured to accommodate a part of the fourth passive gear 520 and the micro guide wire 50. The fourth module housing 510 and the fourth passive gear 520 may be respectively configured identically to the second module housing and the second passive gear of the guide wire module 300. The opening 5121 of the fourth module housing 510 and the housing cover 513 may be respectively configured identically to the opening of the second module housing 310 and the housing cover. Further, the micro guide wire module 500 includes a micro guide wire holder 530 that is coupled to the fourth passive gear 520 and configured to fix the micro guide wire 50. The micro guide wire holder 530 may be configured identically to the guide wire holder of the guide wire module 300.

[0139] The aforementioned passive gears of the respective modules may include bevel gears. In one embodiment, the module housing of each module is configured to expose a part of the passive gear, and the passive gear meshes with the drive gear of the transfer portion at its exposed portion. In other embodiments, the module housing of each module may further include a rotational force transmission portion that is rotatably disposed in the module housing so as to be coupled to the passive gear. The rotational force transmission portion is configured to receive the rotational force generated on the platform in a state where each module housing is coupled to the platform (each transfer portion of the platform), and may be configured to be coupled to the passive gear. For example, such a rotational force transmission portion may have a rotational force transmission gear that meshes perpendicularly with the passive gear.

[0140] An angiographic intervention device according to an embodiment may include a guide module for guiding and supporting a treatment tool to be transferred. The guide module is arranged in a guide section and configured to guide and support the forward and backward transfer of the treatment tool. Since treatment tools such as catheters, guide wires, micro-catheters, and micro-guide wires are flexible, they may bend or curve during transfer by the transfer force of the transfer section. During the transfer of the treatment tool, in the guide section of the treatment tool, the guide module guides and supports the treatment tool so that no bending or curving occurs in the treatment tool, and reliable transfer of the treatment tool can be realized.

[0141] FIG. 4 shows a first guide section GS1 between the front end of the base frame 110 and the catheter module 200, and a second guide section GS2 between the catheter module 200 and the guide wire module 300 (second treatment tool module). The angiographic intervention device 10 may include a first guide module 600 arranged in the first guide section GS1 and configured to guide and support the forward and backward transfer of the catheter 20 (first treatment tool), and a second guide module 700 arranged in the second guide section GS2 and configured to guide and support the forward and backward transfer of the guide wire 30 (second treatment tool).

[0142] FIG. 5 shows a first guide section GS1 between the front end of the base frame 110 and the catheter module 200, a second guide section GS2 between the catheter module 200 and the micro-catheter module 400 (second treatment tool module), and a third guide section GS3 between the micro-catheter module 400 and the micro-guide wire module 500. The vascular intervention treatment device 10 includes a first guide module 600 disposed in the first guide section GS1 and configured to guide and support the forward and backward movement of the catheter 20 (first treatment tool), a second guide module 700 disposed in the second guide section GS2 and configured to guide and support the forward and backward movement of the micro-catheter 40 (second treatment tool), and a third guide module 800 disposed in the third guide section GS3 and configured to guide and support the forward and backward movement of the micro-guide wire 50 (third treatment tool).

[0143] The above-described guide modules 600, 700, and 800 can be individually detached from the platform or the treatment tool module.

[0144] According to an embodiment, each of the guide modules 600, 700, and 800 may include a guide housing disposed at the front end or the rear end of the corresponding guide section, and a pair of support members configured to be drawn into and drawn out of the guide housing and to engage with each other to clamp the treatment tool in the lateral direction. When the vascular intervention treatment device 10 is operated, the lengths of the guide sections GS1, GS2, and GS3 in the front-back direction are changed. The pair of support members are configured to have a variable length in the front-back direction FR within the guide section in response to the change in the length of the guide section. As the length of each guide section decreases in the front-back direction FR, the pair of support members can be drawn into the guide housing. As the length of each guide section increases in the front-back direction FR, the pair of support members can be drawn out of the guide housing.

[0145] Each guide module can have a connector at an end in the direction in which the pair of support members is pulled out. The connector of each guide module can be positioned to face in the front-rear direction with respect to the guide housing in the guide section. The guide housing can be disposed at the front end of each guide section, and the connector can be disposed at the rear end of each guide section. The connector can be disposed at the front end of each guide section, and the guide housing can be disposed at the rear end of each guide section.

[0146] FIG. 30 is a perspective view showing a first guide module of a vascular intervention treatment device according to an embodiment. FIG. 31 is an exploded perspective view of the first guide module shown in FIG. 30. FIG. 32 is a bottom exploded perspective view showing a first guide housing of the first guide module shown in FIG. 30. FIG. 33 is a perspective view showing an example in which the first guide module shown in FIG. 30 is coupled to the front end of a base frame. Hereinafter, reference is made to FIGS. 4 and 30 to 33.

[0147] The vascular intervention treatment device 10 includes, as one of the guide modules, a first guide module 600 disposed in a first guide section GS1. The first guide module 600 includes a first guide housing 610 disposed at the front end of the base frame 110 (the front end of the first guide section) and detachably attached to the base frame 110, and a pair of first support members 620 configured to be retracted and pulled out in the first guide housing 610. The first guide module 600 also includes a first connector 630 that fixes an end of the pair of first support members 620 in the pulled-out direction and is detachably coupled to the catheter module 200.

[0148] The first guide housing 610 houses a pair of first support members 620 such that the pair of first support members 620 are retracted into and drawn out from the first guide housing. According to one embodiment, the pair of first support members 620 includes a first chain assembly 621 and a second chain assembly 622 configured to mesh with each other in the lateral direction LR. When the first chain assembly 621 and the second chain assembly 622 mesh with each other in the lateral direction LR, the first and second chain assemblies 621, 622 sandwich a surgical tool (e.g., a catheter) with the surgical tool positioned in the internal space between the first and second chain assemblies 622.

[0149] The first chain assembly 621 is configured such that adjacent links 6212 are connected by pins 6211. The first chain assembly 621 has meshing teeth 6213 and meshing grooves 6214 arranged alternately. The meshing teeth 6213 may be formed on each link 6212, and the meshing grooves 6214 may be formed between adjacent links 6213. The second chain assembly 622 is configured such that adjacent links 6222 are connected by pins 6221. The second chain assembly 622 has a meshing groove 6223 corresponding to the meshing teeth 6213 of the first chain assembly and meshing teeth 6224 corresponding to the meshing grooves 6214 of the first chain assembly, and the meshing groove 6223 and the meshing teeth 6224 are arranged alternately. The pins 6211, 6221 of the first and second chain assemblies 621, 622 are positioned in the vertical direction. Adjacent links of each chain assembly can rotate relative to each other in the lateral direction LR about the axes of the pins 6211, 6221.

[0150] The first guide module 600 is disposed in the first guide housing 610 and includes a first engagement portion 640 configured such that a pair of first support members mesh with each other. The first engagement portion 640 contacts the pair of first support members 620 respectively when the variable length of the first guide section GS1 increases and the pair of first support members 620 are pulled out from the first guide housing 610, and configures the pair of first support members 620 to mesh with each other in the lateral direction LR. Also, the first engagement portion 640 can separate the pair of first support members 620 from each other in the lateral direction LR when the pair of first support members 620 are pulled into the first guide housing 610.

[0151] The first engagement portion 640 includes a pair of first engagement wheels 641 that respectively contact and rotate on the pair of first support members 620. The pair of first engagement wheels 641 are separated by a distance that allows the pair of first support members 620 to be coupled to each other therebetween. The pair of first engagement wheels 641 are sprocket wheels having grooves that respectively mesh with the pins 6211, 6221 of the first and second chain assemblies. The pair of first engagement wheels 641 are rotated by the pair of first support members 620 when the pair of first support members 620 are pulled into the first guide housing 610 and also when pulled out from the first guide housing 610.

[0152] In response to a change in the longitudinal length of the guide section accompanying the longitudinal transfer of the treatment tool module, the pair of first support members 620 can be pulled into and pulled out from the first guide housing 610. As the pair of first support members 620 are pulled out from the first guide housing 610, the pair of first support members 620 can mesh with each other by the pair of first engagement wheels 641. As the pair of first support members 620 are pulled into the first guide housing 610, the pair of first support members 620 passing through the pair of first engagement wheels 641 are separated from each other.

[0153] The first meshing portion 640 includes a spring 642 that presses the pair of first meshing wheels 641 in the direction in which the pair of first support members 620 are drawn into the first guide housing 610. The spring 642 may be a torsion spring. The inner end of the spring 642 is coupled to a slit 6431 formed in the spring shaft 643 in the vertical direction. The outer end of the spring 642 is coupled to the inner circumferential surface of the first meshing wheel 641. The spring 642 is disposed between the first meshing wheel 641 and the spring shaft 643 in a pre-wound state in the direction in which the pair of first support members 62 are drawn. The first meshing wheel 641 can be pressed in the direction in which the pair of first support members 620 are drawn. Since the first meshing wheel 641 is pressed, in the free state of the first guide module 600, the pair of first support members 620 can have a minimum protruding length from the first guide housing 610. Further, when the pair of first support members 620 are drawn into the first guide housing 610, the pressing force of the spring 642 can support the drawing operation of the pair of first support members 620.

[0154] The restoring force of the pair of springs 642 within the first guide housing 610 can be adjusted. A spring shaft 643 coupled to each of the pair of springs 642 can be configured to adjust the restoring force of the springs 642. The spring shaft 643 can have a slit 6431 formed long in the vertical direction. The spring shaft 643 can be separated downward while accommodating one end of the spring 642. The spring shaft 643 has a pair of protruding pieces 6432 at its lower end. Further, on the lower surface of the bottom of the first guide housing 610, a pair of semi-circular protruding portions 612 into which the pair of protruding pieces 6432 are respectively inserted protrude downward. When the pair of protruding pieces 6432 are positioned between the pair of protruding portions 612 by rotation of the spring shaft 643, the spring shaft 643 can be taken out downward from the first guide housing 610. With the spring shaft 643 taken out from the first guide housing 610, the restoring force of the spring 642 can be adjusted by rotation of the spring shaft 643, whereby the pressing force of the spring 642 can be adjusted. After adjusting the restoring force of the spring 642 to a desired level, the spring shaft 643 is inserted into the first guide housing 610, and the pair of protruding pieces 6432 are respectively fitted into the pair of protruding portions 612. The spring 642 can be arranged within the first guide housing 610 in a state having the adjusted restoring force.

[0155] Further, the first guide housing 610 includes a pair of tubes 613 extending rearward from the first guide housing 610. Each portion of the pair of first support members 620 that passes beyond the first meshing wheel 641 and is separated from each other can be inserted into the pair of tubes 613 respectively.

[0156] The first guide module 600 can further include a dividing portion 650 configured to split the pair of first support members 620 from each other when the pair of first support members 620 are drawn into the first guide housing 610. The dividing portion 650 can be arranged between the pair of first support members 620 within the first guide housing 610. The dividing portion 650 can be configured to allow the catheter 20 to pass in the front-rear direction FR.

[0157] The first connector 630 of the first guide module 600 can be detachably coupled to the first module housing 210 of the catheter module 200. Referring to FIG. 31, the first connector 630 is formed as a female component. The first connector 630 can be composed of two halves that can sandwich the ends of a pair of first support members 620 in the lateral direction LR. The first connector 630 has a pair of fitting slits 631 formed in the circumferential direction CD. The first connector 630 is detachably coupled to a connecting portion 214 formed at the front end of the first module housing 210. The connecting portion 214 is a male component. A front slit 2122 (see FIG. 21) of the first module housing is formed in the connecting portion 214. The connecting portion 214 has a fitting pin 2141 that is fitted into the fitting slit 631 and is fitted to the first connector 630. The fitting slit 631 and the fitting pin 2141 enable the first connector 630 and the pair of first support members 620 to be positioned in a fixed position with respect to the catheter module 200 and can be easily coupled to the catheter module 200.

[0158] The first guide housing 610 is detachably coupled to the front end of the base frame 110. Referring to FIG. 33, the housing holder 1142 of the base frame 110 has a fitting groove 1143 formed in the front-rear direction FR and an elastically deformable hook 1144 formed at the rear end of the fitting groove 1143. The first guide housing 610 has, at the upper part, a holder coupling portion 611 that has a U shape with the housing holder 1142 fitted therein from the rear. A pair of protrusions 6111 of the holder coupling portion 611 are fitted into the fitting groove 1143. The hook 1144 engages with an engagement portion 6112 of the holder coupling portion 611 between the pair of protrusions 6111 to lock the first guide housing 610 to the housing holder 1142. When removing the first guide housing 610 from the housing holder 1142, the hook 1144 is pushed upward and the hook 1144 can be separated from the engagement portion 6112.

[0159] FIG. 34 is a perspective view showing a second guide module of a vascular intervention treatment device according to an embodiment. FIG. 35 is an exploded perspective view of the second guide module shown in FIG. 34. FIG. 36 is a lower exploded perspective view of the second guide module shown in FIG. 34. FIG. 37 is a cross-sectional view taken along line XXXVII-XXXVII of FIG. 34. Hereinafter, refer to FIGS. 4, 5, and FIGS. 34 to 37.

[0160] The vascular intervention treatment device 10 includes, as one of the guide modules, a second guide module 700 disposed in a second guide section GS2. The second guide module 700 includes a second guide housing 710 disposed at the front end of the second guide section GS2 and detachably attached to the catheter module 200, and a pair of second support members 720 configured to be retracted and extended into and from the second guide housing 710. Further, the second guide module 700 includes a second connector 730 that fixes an end portion of the pair of second support members 720 in the extending direction and is detachably coupled to the guide wire module 300 or the microcatheter module 400.

[0161] The second guide housing 710 houses a pair of second support members 720 such that the pair of second support members 720 are retracted into and extended from the second guide housing. According to an embodiment, the pair of second support members 720 includes a first band 721 and a second band 722 configured to mesh with each other in the lateral direction LR. When the first band 721 and the second band 722 mesh with each other in the lateral direction LR, the first and second bands 721, 722 sandwich a treatment tool (for example, a guide wire or a microcatheter) in a state where the treatment tool is positioned in the internal space between the first and second bands 721, 722.

[0162] The first band 721 has engagement protrusions 7211 formed in the front-rear direction FR on the surface facing the second band 722. The engagement protrusions 7211 can extend continuously in the front-rear direction FR. Alternatively, the engagement protrusions 7211 may be formed as a plurality of intermittently arranged engagement protrusions. The second band 722 has engagement grooves 7221 into which the engagement protrusions 7211 are fitted on the surface facing the first band 721. The first band 721 may have both the engagement protrusions 7211 and the engagement grooves 7212, and the second band 722 may have engagement grooves 7221 corresponding to the engagement protrusions 7211 of the first band and engagement protrusions 7222 corresponding to the engagement grooves 7212 of the first band. The first and second bands 721, 722 are arranged such that their width directions are in the vertical direction VD.

[0163] The second guide housing 710 is detachably coupled to the catheter module 200. The second guide housing 710 is detachably coupled to the first module housing 210 of the catheter module 200. The second guide housing 710 has a rear slit 711 formed in the front-rear direction FR on the lower side. The rear slit 711 is formed to communicate with the opening 2121 (see FIG. 21) of the first module housing and extend from the opening 2121 to the rear end. As another example, the first module housing 210 of the catheter module may be configured to have the rear slit 711. Alternatively, in a state where the first module housing 210 of the catheter module and the second guide housing 710 of the second guide module are integrally coupled, the first module housing 210 may be configured to have the rear slit 711.

[0164] The second guide housing 710 includes a cover latch 712 that is slidably fitted into the second guide housing 710 through a rear slit 711. With the second guide housing 710 coupled to the first module housing 210, the cover latch 712 can support the housing cover 213 (see FIG. 21) and fix the housing cover 213 to the accommodating portion 212. The cover latch 712 can be separated from the second guide housing 710, whereby the housing cover 313 can be separated from the accommodating portion 312.

[0165] The second guide module 700 includes a second meshing portion 740 that is disposed in the second guide housing 710 and configured such that a pair of second support members mesh with each other. The second meshing portion 740 is configured such that as the variable length of the second guide section GS2 increases and when the pair of second support members 720 are pulled out from the second guide housing 710, the second meshing portion 740 contacts the pair of second support members 720 respectively, and the pair of second support members 720 are configured to mesh with each other in the lateral direction LR. Further, the second meshing portion 740 can also separate the pair of second support members 720 from each other in the lateral direction LR when the pair of second support members 720 are drawn into the second guide housing 710.

[0166] The second meshing portion 740 includes a pair of second meshing wheels 741 that rotate in contact with the pair of second support members 720 respectively. The pair of second meshing wheels 741 are rollers that can rotate in contact with the first and second bands 721, 722 respectively. The pair of second meshing wheels 741 are rotated by the pair of second support members 720 when the pair of second support members 720 are drawn into the second guide housing 710 and also when the pair of second support members 720 are pulled out from the second guide housing 710. Further, the second meshing portion 740 includes a pair of reels 742 around which each second support member passing through the second meshing wheel 741 is wound and unwound. The pair of reels 742 are disposed outside the second meshing wheels 741 respectively.

[0167] In response to a change in the longitudinal length of the guide section accompanying the longitudinal transfer of the treatment tool module, the pair of second support members 720 can be retracted into and extended from the second guide housing 710. When the pair of second support members 720 are pulled out from the second guide housing 710, the pair of second support members 720 can mesh with each other by a pair of second meshing wheels 741. When the pair of second support members 720 are retracted into the second guide housing 710, the pair of second support members 720 passing through the pair of second meshing wheels 741 are separated from each other.

[0168] The second meshing portion 740 includes a spring 743 that presses the pair of second meshing wheels 741 in the direction in which the pair of second support members 720 are retracted into the second guide housing 710. The spring 743 may be a torsion spring. The inner end of the spring 743 is coupled to a slit 7441 formed in the spring shaft 744 in the vertical direction. The outer end of the spring 743 is coupled to the inner peripheral surface of the reel 742. The pair of springs 743 are arranged between each reel 742 and each spring shaft 744 in a state of being pre-wound in the direction in which the pair of second support members 720 are retracted. The pair of reels 742 are respectively connected to the second meshing wheels 741 through the first and second bands 721, 722. The second meshing wheel 741 can be pressed by the spring 743 in the direction in which the pair of second support members 720 are retracted. Since the second meshing wheel 741 is pressed, in the free state of the second guide module 700, the pair of second support members 720 can have the minimum protruding length from the second guide housing 710. Also, when the pair of second support members 720 are retracted into the second guide housing 710, the pressing force of the spring 743 can support the retracting operation of the pair of second support members 720.

[0169] The restoring force of the pair of springs 743 within the second guide housing 710 can be adjusted. A spring shaft 744 coupled to each of the pair of springs 743 can be configured to adjust the restoring force of the spring 743. After adjusting the restoring force of the spring 743 to a desired level, the spring shaft 744 is inserted into the second guide housing 710, and the pair of protruding pieces 7442 can be respectively fitted into the pair of protrusions 713. The method of adjusting the restoring force of the spring 743 by the spring shaft 744 may be the same as the method of adjusting the restoring force by the spring shaft 643 in the first guide module.

[0170] The second connector 730 of the second guide module 700 can be detachably coupled to the second module housing of the guide wire module 300 or the third module housing of the micro catheter module. Referring to FIG. 34, the second connector 730 is formed as a female component. The second connector 730 can be composed of two halves that can sandwich the ends of the pair of second support members 720 in the lateral direction LR. The second connector 730 has a pair of fitting slits 731 formed in the circumferential direction CD. The second connector 730 is detachably coupled to a connecting portion 314 (see FIG. 22) formed at the front end of the second module housing or a connecting portion 414 (see FIG. 26) formed at the front end of the third module housing. The connecting portions 314 and 414 are male components. A front slit 4122 of the third module housing is formed in the connecting portion 414. The connecting portions of the second and third module housings have fitting pins 3141 and 4141 that are fitted into the fitting slits 731 and are fitted to the second connector 730. The fitting slits 731 and the fitting pins 3141 and 4141 enable the second connector 730 and the pair of second support members 720 to be positioned in a fixed position with respect to the guide wire module or the micro catheter module and can be easily coupled to the guide wire module or the micro catheter module.

[0171] Referring to FIG. 38, a front slit 2122 communicating with the opening 3121 of the first module housing 210 is formed in the connecting portion 214 of the first module housing 210. The front slit 2122 is formed below the connecting portion 214 and is formed to allow a part of the catheter 20 located within the connecting portion 214 to pass through. With the cover latch of the second guide housing 710 removed, the housing cover 213 of the first module housing 210 can be removed, and the rear slit 711 of the second guide housing 710 can be exposed. Also, the second connector 730 can be separated from the pair of second support members 720. The reel within the second guide housing 710 is pressed in the retracting direction of the pair of second support members 720. When the second connector 730 is separated from the ends of the pair of second support members 720, the pair of second support members 720 can be completely wound around the reel, and the guide wire can be exposed. The housing cover 213 can be configured to be separable from the first module housing 210, and the second connector 730 can be configured to be separable from the pair of second support members 720. The catheter 20 and the first passive gear 220 can be separated in the outer radial direction RO from the accommodating portion 212 through the front slit 2122 and the opening 2121, and the guide wire inserted into the catheter 20 can be separated in the outer radial direction RO from the accommodating portion 212 through the rear slit 711 of the second guide housing 710.

[0172] Referring to FIGS. 5 and 30 to 37, the vascular intervention treatment device 10 may include first, second, and third guide modules 600, 700, and 800 respectively disposed in the first, second, and third guide sections GS1, GS2, GS3. In the second operation mode of the vascular intervention treatment device 10, the first, second, and third guide modules 600, 700, and 800 may be employed. In the second operation mode of the vascular intervention treatment device 10 shown in FIG. 5, the second guide module 700 guides and supports the transfer of the micro catheter 40 of the micro catheter module 400. The third guide module 800 guides and supports the transfer of the micro guide wire 50 of the micro guide wire module 500.

[0173] The second guide module 700 in the first operation mode shown in FIG. 4 is used as the second guide module in the second operation mode shown in FIG. 5. The second guide housing 710 of the second guide module 700 is disposed at the front end of the second guide section GS2 and is detachably coupled to the catheter module 200. The second connector 730 of the second guide module 700 is disposed at the rear end of the second guide section GS2 and is detachably coupled to the microcatheter module 400. The second guide module 700 guides and supports the transfer of the microcatheter in the second guide section GS2.

[0174] The third guide module 800 has the same configuration as that of the second guide module 700. That is, the third guide housing 810, the pair of third support members 820, and the third connector 830 of the third guide module 800 may have the same configuration as the second guide housing 710, the pair of second support members 720, and the second connector 730 of the second guide module 700, respectively. Also, the configuration of the third meshing portion of the third guide module 800 has the same configuration as the configuration of the second meshing portion 740 of the second guide module 700. The pair of third support members 820 composed of the first and second bands described above guide and support the transfer of the treatment tool (for example, the micro guide wire) in the third guide section GS3.

[0175] Referring to FIGS. 39 to 52, an operation example of a vascular intervention treatment device according to an embodiment will be described. FIGS. 39 to 46 show an operation example of the vascular intervention treatment device according to an embodiment in the first operation mode. FIGS. 47 to 52 show an operation example of the vascular intervention treatment device according to an embodiment in the second operation mode.

[0176] Referring to FIG. 39, the platform 100 is in a preparatory state before operation, and the catheter module 200 (the first treatment tool module in the first operating state) and the guide wire module 300 (the second treatment tool module in the first operating state) are prepared. The first connector 630 of the first guide module 600 is coupled to the catheter module 200, and the pair of first support members of the first guide module 600 can be drawn into the first guide housing of the first guide module 600. The second guide housing 710 of the second guide module 700 is coupled to the catheter module 200. The second connector 730 of the second guide module 700 is coupled to the second module housing 310 of the guide wire module 300, and the guide wire module 300 is connected to the catheter module 200 through the second guide module 700. Also, each transmission part 170 is fitted to the corresponding rotational force generating part 160.

[0177] Referring to FIG. 40, the catheter module 200 is fitted to the transmission part 170 of the transfer part 130 in the lateral direction LR, and the guide wire module 300 is fitted to the transmission part 170 of the transfer part 140 in the lateral direction LR. The guide wire module 300 may be fitted to the transmission part 170 of the transfer part 150, and in this case, no treatment tool module is coupled to the transfer part 140.

[0178] Referring to FIG. 41, the first guide housing 610 of the first guide module 600 is coupled to the housing holder 1142 disposed at the front end of the base frame 110. The first guide housing 610 is pulled forward from the catheter module 200. Also, the pair of first support members 620 are pulled out from the first guide housing 610 and sandwich the catheter 20 in a state of meshing with each other in the first guide section GS1. The second guide module 700 is disposed in the second guide section GS2 and sandwiches the guide wire 30.

[0179] Referring to FIG. 42, the transfer units 130 and 140 are transferred, and the catheter module 200 and the guide wire module 300 are simultaneously transferred forward. As a result, the catheter 20 and the guide wire 30 can be transferred forward. Referring to FIG. 43, the transfer frame 120 of the transfer module is transferred forward. As a result, the catheter 20 and the guide wire 30 can be transferred forward. Referring to FIG. 44, the transfer unit 140 is further transferred forward, and the guide wire 30 can be further transferred forward. Referring to FIG. 45, the transfer frame 120 is further transferred forward, the transfer unit 140 is transferred backward, and the catheter 20 can be inserted into the target blood vessel along the guide wire 30. In the examples shown in FIGS. 42 to 45, the catheter module 200 can rotate the catheter 20 by the rotational force from the transfer unit 130, and the guide wire module 300 can rotate the guide wire 30 by the rotational force from the transfer unit 140. Referring to FIG. 46, in a state where the catheter 20 has reached the target blood vessel, the guide wire 30 is removed from the catheter 20. The second module housing 310 of the guide wire module 300 is separated from the transfer unit 140, and the guide wire module 300 is moved backward. As a result, the guide wire 30 is removed from the catheter 20.

[0180] FIG. 47 shows the initial state in the second operation mode of the vascular intervention treatment device according to an embodiment. The catheter 20 has reached the target blood vessel, and the catheter module 200 (the first treatment tool module in the second operation state) and the transfer frame 120 are stopped. The transfer unit 140 is transferred rearward to couple the micro-catheter module 400. The micro-catheter module 400 (the second treatment tool module in the second operation state) and the micro-guide wire module 500 (the third treatment tool module in the second operation state) are prepared. The micro-catheter 40 extends forward from the micro-catheter module 400. The third guide housing 810 of the third guide module 800 is coupled to the third module housing 410 of the micro-catheter module 400. The third connector 830 of the third guide module 800 is coupled to the fourth module housing 510 of the micro-guide wire module 500, and the micro-guide wire module 500 is connected to the micro-catheter module 400 through the third guide module 800. The micro-guide wire 50 is inserted into the micro-catheter 40 through the micro-catheter module 400 while being supported by a pair of third support members 820.

[0181] Referring to FIG. 48, the micro catheter module 400 is fitted to the transmission part 170 of the transfer part 140 in the lateral direction LR, and the micro guide wire module 500 is fitted to the transmission part 170 of the transfer part 150 in the lateral direction LR. The pair of second support members of the second guide module 700 are drawn into the second guide housing 710. The micro catheter 40 and the micro guide wire 50 are inserted into the pair of second support members of the second guide module 700 through the second connector 730 of the second guide module 700, and then inserted into the catheter 20. Referring to FIG. 49, the pair of second support members 720 of the second guide module 700 are pulled backward from the second guide housing 710, and the second connector 730 of the second guide module 700 is coupled to the connecting part 414 formed at the front end of the third module housing 410 of the micro catheter module 400.

[0182] Referring to FIG. 50, the transfer part 150 is transferred forward, and the micro guide wire 50 is transferred forward in a state of being inserted into the micro catheter 40. Referring to FIG. 51, the transfer parts 140 and 150 are transferred forward simultaneously, and the micro catheter and the micro guide wire 50 are transferred forward simultaneously. In the examples shown in FIGS. 50 and 51, the micro guide wire module 500 can rotate the micro guide wire 50 by the rotational force from the transfer part 150. Also, if necessary, the micro catheter module 400 can also rotate the micro catheter by the rotational force from the transfer part 140. Referring to FIG. 52, in a state where the micro guide wire 50 reaches the target blood vessel, the transfer part 140 is further transferred forward. Thereby, the micro catheter can enter the target blood vessel along the micro guide wire 50. When the micro catheter enters the target blood vessel, the fourth module housing 510 of the micro guide wire module 500 is separated from the transfer part 150, and the micro guide wire module 500 is moved backward. Thereby, the micro guide wire 50 is removed from the micro catheter.

[0183] As shown in FIGS. 42 to 52, a vascular intervention treatment device 10 according to an embodiment performs operations with at least five degrees of freedom. The five degrees of freedom include three degrees of freedom related to the insertion movement of the treatment tool and two degrees of freedom related to the rotation of the treatment tool. The three degrees of freedom can be realized by the forward and backward movement of the transfer frame 120, the forward and backward movement of the transfer unit 140, and the forward and backward movement of the transfer unit 150. The two degrees of freedom can be realized by the rotation about the rotation axis of the catheter and the rotation about the rotation axis of the guide wire. Further, since the transfer unit 130 can be moved forward and backward with respect to the transfer frame 120, the vascular intervention treatment device 10 according to an embodiment may have an additional one degree of freedom related to the insertion movement of the treatment tool. Also, since the micro catheter can be rotated by the micro catheter module 400 coupled to the transfer unit 140, the vascular intervention treatment device 10 according to an embodiment may have an additional one degree of freedom related to the rotation of the treatment tool.

[0184] Referring to FIGS. 53 to 59, another embodiment of the vascular intervention treatment device will be described. FIG. 53 schematically shows the configuration of a vascular intervention treatment device according to another embodiment. FIGS. 54, 55, and 56 show the micro catheter module, the guide wire module, and the first guide module of a vascular intervention treatment device according to another embodiment, respectively. FIG. 57 shows the first guide module and the second guide module of a vascular intervention treatment device according to another embodiment, and FIG. 58 shows the cross-sectional shape of the second guide module shown in FIG. 57.

[0185] Referring to FIG. 53, in a vascular intervention treatment device 10 according to another embodiment, the transfer frame 120 of the transfer module 102 is moved in the forward and backward direction FR with respect to the base frame 110 of the platform 100. The frame slider 113 is coupled to the frame transfer lead screw 111 so as to be transferred by screw movement, and the transfer frame 120 is coupled to the frame slider 113.

[0186] The catheter module 200 is configured to rotate the catheter 20 and is detachably coupled to the transfer portion 130 of the transfer frame 120. The transfer portion 130 is disposed at the front end of the transfer frame 120. The transfer portion 130 is fixed to the transfer frame 120 and is transferred in the front-rear direction by the transfer of the transfer frame 120 in the front-rear direction FR. The transfer portion 130 has a rotational force generation unit 160 and transmits a rotational force to rotate the catheter to the catheter module 200 by the transmission unit 170. The transmission unit 170 is detachably coupled to the rotational force generation unit 160. The catheter module 200 includes a first driven gear 220 coupled to the catheter 20 within the first module housing 210. The catheter module 200 includes a rotational force transmission unit 240, and the rotational force transmission unit 240 includes a rotational force transmission gear 241 that transmits a rotational force to the first driven gear 220. The rotational force transmission gear 241 receives a rotational force from the transmission unit 170 of the transfer portion 130.

[0187] The transfer portion 140 is coupled to be transferred by a screw motion to the module transfer lead screw 123. The transfer portion 140 is transferred independently of the transfer portion 130. The transfer portion 140 includes a rotational force generation unit 160 near the rear end of the transfer portion 140 and a transmission unit 170 that is detachably coupled to the rotational force generation unit 160 to transmit a rotational force. The guide wire module 300 is configured to rotate the guide wire 30 inserted into the catheter 20 or the micro guide wire 50 inserted into the micro catheter 40. The guide wire module 300 includes a second driven gear 320 for rotating the guide wire within the second module housing 310. The guide wire module 300 includes a rotational force transmission unit 340, and the rotational force transmission unit 340 includes a rotational force transmission gear 341 that transmits a rotational force to the second driven gear 320. The rotational force transmission gear 341 receives a rotational force from the transmission unit 170 of the transfer portion 140.

[0188] Also, the micro catheter module 400 is detachably coupled to the front end of the transfer unit 140. The micro catheter module 400 can be transferred in the front-rear direction independently of the transfer unit 130 and the catheter module 200. The micro catheter module 400 can be detachably coupled to a holder device extending from the transfer unit 140. Referring to FIGS. 53 and 54, the micro catheter module 400 includes a third module housing 410 and a guide pipe 430 coaxially fitted to the third module housing 410 with the rotation axis RA. The guide pipe 430 can be configured to fix the micro catheter 40 at its rear end.

[0189] A transfer unit 150 can be provided to the transfer unit 140. The transfer unit 140 includes a lead screw 144 driven to rotate and arranged in the front-rear direction FR, and the transfer unit 150 can be coupled to be transferred by screw movement on the lead screw 144. The transfer unit 150 can be transferred independently of the transfer unit 130 and the transfer unit 140.

[0190] The wire transfer module 900 of the guide wire module 300 is detachably coupled to the transfer unit 150. The wire transfer module 900 can be detachably coupled to a holder device extending from the transfer unit 150. The wire transfer module 900 is configured to support a guide wire or a micro guide wire. Referring to FIG. 55, the wire transfer module 900 includes a fifth module housing 910 and a guide pipe 940 coaxially fitted to the fifth module housing 910 with the rotation axis RA. The guide pipe 940 can be configured to fix the guide wire or the micro guide wire at its rear end.

[0191] In the vascular intervention treatment device of this embodiment, the guide wire 30 and the micro guide wire 50 may be rotated by the guide wire module 300. Referring to FIG. 55, a central portion of the second passive gear 320 is formed as a through hole 321, and the rotating plate 350 is coaxially coupled to the second passive gear. A through hole 351 corresponding to the through hole of the second passive gear is formed in the rotating plate 350. The guide pipe 940 of the wire transfer module 900 passes through the through hole 321 and the through hole 351. The guide wire module 300 includes a flexible guide tube 360 whose both ends are respectively coupled to the guide pipe 940 and the rotating plate 350. One end of the guide tube 360 is coupled to the guide pipe 940, and the other end of the guide tube 360 is eccentrically coupled to the rotating plate 350 from the rotation axis RA.

[0192] The guide wire 30 or the micro guide wire 50 passes through the guide tube 360 and the guide pipe 940. The guide wire 30 or the micro guide wire 50 may be arranged coaxially with the rotation axis RA within the guide pipe 940. One end of the guide wire 30 is coupled to the rotating plate 350, and the guide wire is inserted into the catheter. One end of the micro guide wire 50 is coupled to the rotating plate 350, and the micro guide wire is inserted into the micro catheter 40. As the second passive gear 320 rotates due to the rotational force from the transfer unit 140, the rotating plate 350 rotates together with the second passive gear 320. Since one end of the guide tube 360 is separated from the rotation axis RA, the guide wire 30 or the micro guide wire 50 can be rotated by the rotation of the rotating plate 350.

[0193] As shown in FIG. 53, the vascular intervention treatment device 10 may include a first guide module 600 that guides and supports the transfer of a catheter (or a micro catheter inserted into the catheter) in a guide section between the front end of the platform 100 (the front end of the base frame) and the catheter module 200.

[0194] Referring to FIG. 56, the first guide housing 610 of the first guide module 600 is coupled to the catheter module 200. A pair of first support members 620 may be composed of the aforementioned first and second chain assemblies 621, 622. The pair of first support members 620 are drawn into and out of the first guide housing 610. A first meshing portion 640 configured such that the pair of first support members 620 mesh with each other is disposed in the first guide housing 610, and the first meshing portion 640 includes a pair of first meshing wheels 641. A first connector 630 is fixed to an end portion of the pair of first support members 620 in the drawn-out direction. The first connector 630 may be detachably coupled to the front end of the platform (the front end of the base frame).

[0195] The first guide module 600 may include a dividing portion 650 configured to separate the pair of first support members 620 from each other when the pair of first support members 620 are drawn into the first guide housing 610. The dividing portion 650 is disposed between the pair of first support members 620 within the first guide housing 610 and may be configured to allow the catheter 20 to pass in the front-rear direction FR. As shown in FIG. 56, the dividing portion 650 may be formed as a wedge-shaped member.

[0196] As shown in FIG. 53, the vascular intervention treatment device 10 may include a second guide module 700 that guides and supports the transfer of a microcatheter (or a microguide wire inserted into the microcatheter) in the guide section between the catheter module 200 and the microcatheter module 400. The second guide module 700 is disposed between the catheter module 200 and the microcatheter module 400 and may be composed of a guide pipe that can be inserted into the guide pipe 430 of the microcatheter module 400.

[0197] The vascular intervention treatment device 10 may configure the first guide module and the second guide module in a manner similar to the first and second bands in the foregoing embodiments. In this regard, reference will be made to FIGS. 57 and 58 below.

[0198] The first guide module 600 and the second guide module 700 include a pair of support members that guide and support the transfer of the treatment tool and are drawn into and out of the guide housing in accordance with a change in the length of the guide section. The pair of first support members 620 of the first guide module 600 and the pair of second support members 720 of the second guide module 700 may be configured in the same manner as the first and second bands described above. For example, the pair of first support members 620 includes a first band 661 and a second band 662 configured to mesh with each other in the lateral direction LR. The first and second bands 661, 662 in this embodiment may have a semi-circular cross-sectional shape. The first band 661 has an engagement protrusion 6611 and an engagement groove 6612 formed in the front-rear direction FR on the surface facing the second band 662. The second band 662 has an engagement groove corresponding to the engagement protrusion 6611 of the first band and an engagement protrusion corresponding to the engagement groove 6612 of the first band on the surface facing the first band 661.

[0199] The second guide housing 710 of the second guide module is coupled to the second module housing 310 of the guide wire module and includes a second engagement portion 740 and a splitting portion 750. The second engagement portion 740 and the splitting portion 750 may be integrally formed. The second engagement portion 740 is configured to contact a pair of second support members 720 as the pair of second support members 720 are drawn out from the second guide housing 710, so that the pair of second support members 720 mesh with each other. The rear end of the second engagement portion 740 is formed wider than the front end, and the splitting portion 750 is located within the rear end of the second engagement portion 740. The splitting portion 750 may have a wedge shape. When the pair of second support members 720 are drawn into the second guide housing 710, the pair of second support members 720 can be split from each other. The second guide module includes a second connector 730 that fixes an end portion of the pair of second support members 720 in the drawing direction. The second connector 730 may be configured in the same manner as the second connector described above and may be detachably coupled to a coupling portion 214 formed at the rear end of the first module housing of the catheter module 200. The first guide module 600 may have the same configuration as that of the second guide module 700. In the first guide module 600, a first connector that fixes an end portion of the pair of first support members 620 in the drawing direction may be detachably fixed to the front end of the platform (the front end of the base frame).

[0200] As described above, although the technical idea of the present disclosure has been described by some embodiments and examples shown in the accompanying drawings, it should be understood that various substitutions, modifications, and changes can be made without departing from the technical idea and scope of the present disclosure that can be understood by those having ordinary knowledge in the technical field to which the present disclosure belongs. Also, such substitutions, modifications, and changes should be considered to be within the scope of the appended claims.

Claims

1. A platform including a base frame extending in the front-rear direction, a first transfer unit configured to be transferred in the front-rear direction with respect to the base frame, a second transfer unit configured to be transferred in the front-rear direction independently of the first transfer unit with respect to the base frame behind the first transfer unit, and a third transfer unit configured to be transferred in the front-rear direction independently of the first transfer unit and the second transfer unit with respect to the base frame behind the second transfer unit, A catheter module separably coupled to the first transfer unit and transferred in the front-rear direction, configured to rotate the catheter about the rotation axis in the front-rear direction, A guide wire module separably coupled to the second transfer unit or the third transfer unit and transferred in the front-rear direction independently of the catheter module, configured to rotate the guide wire inserted into the catheter about the rotation axis, The base frame is configured to be removably attached to a mechanism capable of moving the base frame to a desired position, The platform further includes a transfer frame coupled to the base frame so as to be transferred in the front-rear direction along the base frame, The first transfer unit to the third transfer unit are coupled to the transfer frame so as to be transferred in the front-rear direction, A vascular intervention treatment device.

2. Further including a micro-catheter module separably coupled to the second transfer unit and transferred in the front-rear direction independently of the catheter module, configured to support the micro-catheter inserted into the catheter, The vascular intervention treatment device according to Claim 1.

3. Further including a micro-guide wire module separably coupled to the third transfer unit and transferred in the front-rear direction independently of the catheter module and the micro-catheter module, configured to rotate the micro-guide wire inserted into the micro-catheter about the rotation axis, The vascular intervention treatment device according to Claim 2.

4. The micro-catheter module is configured to be alternately coupled to the second transfer portion with respect to the guide wire module, and the micro-guide wire module is configured to be alternately coupled to the third transfer portion with respect to the guide wire module. The vascular intervention treatment device according to claim 3.

5. A first operation mode in which the catheter module is coupled to the first transfer portion and the guide wire module is coupled to the second transfer portion or the third transfer portion, and a second operation mode in which the catheter module is coupled to the first transfer portion, the micro-catheter module is coupled to the second transfer portion, and the micro-guide wire module is coupled to the third transfer portion. The vascular intervention treatment device according to claim 3.

6. The first transfer portion is configured to transmit a rotational force for rotating the catheter to the catheter module in a state of being coupled to the catheter module. The second transfer portion or the third transfer portion is configured to transmit a rotational force for rotating the guide wire to the guide wire module in a state of being coupled to the guide wire module. The vascular intervention treatment device according to claim 1.

7. The first transfer portion is configured to transmit a rotational force for rotating the catheter to the catheter module in a state of being coupled to the catheter module. The third transfer portion is configured to transmit a rotational force for rotating the micro-guide wire to the micro-guide wire module in a state of being coupled to the micro-guide wire module. The vascular intervention treatment device according to claim 3.

8. At least one of the first transfer portion, the second transfer portion, and the third transfer portion includes a rotational force generation unit that generates a rotational force for rotating any one of the corresponding treatment tools among the catheter and the guide wire, and a transmission unit that is coupled to the rotational force generation unit and is configured to be detachably coupled to any one of the corresponding treatment tool modules among the catheter module and the guide wire module to transmit the rotational force. The vascular intervention treatment device according to claim 6.

9. The transmission unit extends in a circumferential direction centered on the rotation axis. ​ The vascular intervention treatment device according to claim 8.

10. The transmission part is configured to be detachably coupled to the rotational force generation part. The vascular intervention treatment device according to claim 8.

11. The transmission part includes an input end for receiving the rotational force and an output end located above the transfer frame and detachably coupled to any one of the treatment tool modules to output the rotational force. The vascular intervention treatment device according to claim 8.

12. With any one of the treatment tool modules coupled to the output end of the transmission part, any one of the treatment tool modules is disposed between the transfer frame and the output end. The vascular intervention treatment device according to claim 11.

13. The rotational force generation part includes a first rotating body that is rotatable to output the rotational force. The transmission part includes a second rotating body having a shape complementary to that of the first rotating body and configured to receive the rotational force, a rotating body guide for maintaining the second rotating body movably, and a spring for pressing the second rotating body toward the first rotating body. The first rotating body and the second rotating body are detachably coupled to each other under the pressing force of the spring. The vascular intervention treatment device according to claim 10.

14. The transmission part includes an input end for receiving the rotational force, an output end detachably coupled to any one of the treatment tool modules to output the rotational force, and a drive gear disposed at the output end and configured to rotate. Any one of the treatment tool modules includes a driven gear that meshes with the drive gear, and is configured to rotate any one of the treatment tools by the rotation of the driven gear. The vascular intervention treatment device according to claim 8.

15. Either one of the transmission part and the rotational force generation part includes an elastically deformable locking latch, and the other of the transmission part and the rotational force generation part includes a locking groove to which the locking latch is detachably coupled. The vascular intervention treatment device according to claim 10.

16. Any one of the transmission part and the rotational force generation part including the locking latch includes a locking release part configured to elastically deform the locking latch to separate the locking latch from the locking groove. The vascular intervention treatment device according to claim 15.

17. The locking release part includes a locking release hook that pushes the locking latch in a direction to separate the locking latch from the locking groove, and includes a locking release slider configured to be slidable so that the locking release hook is inserted between the locking latch and the locking groove. The vascular intervention treatment device according to claim 16.

18. The transmission part has a fitting groove formed in a lateral direction orthogonal to the front-rear direction. Any one of the treatment tool modules has a fitting protrusion that is fitted in the fitting groove in the lateral direction. The vascular intervention treatment device according to claim 8.

19. The transmission part includes a rotation latch configured to lock any one of the treatment tool modules by rotation in order to prevent separation of any one of the treatment tool modules in the lateral direction. The vascular intervention treatment device according to claim 18.

20. At least any one of the first transfer part, the second transfer part, and the third transfer part includes a rotational force generation part that generates a rotational force for rotating any one of the corresponding treatment tools among the catheter, the guide wire, the microcatheter, and the micro guide wire; and includes a transmission part that is detachably coupled to the rotational force generation part and is configured to transmit the rotational force to any one of the corresponding treatment tool modules among the catheter module, the guide wire module, the microcatheter module, and the micro guide wire module. The vascular intervention treatment device according to claim 7.

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