Connector mount connected to a treatment tool control device.

Abstract

In one embodiment, a connector mounter coupled to a surgical tool control device includes a base plate, a connector holder located distal to the base plate for holding a surgical tool connector, and a surgical tool guide located proximal to the base plate for guiding the path of a surgical tool passing through the surgical tool connector.

Description

[Technical Field]

[0001] The following embodiment relates to a connector mounter coupled to a treatment tool control device. [Background Art]

[0002] In the conventional process of Percutaneous Coronary Intervention (PCI), operators are at risk of continuous radiation exposure, large amounts of time and cost are required to train skilled physicians to reach a level enabling stable procedures, there are large disparities in the completion of procedures among operators, regions and hospitals, and it is difficult to universally provide high-level medical services. In order to compensate for these disadvantages, auxiliary robots for interventional surgery have been introduced. For example, an auxiliary robot for interventional surgery may be configured to advance, retract, or rotate a treatment tool when a user inputs a command.

[0003] The above-mentioned background art is what the inventor maintained or acquired in the process of deriving the disclosed content of the present specification, and cannot necessarily be said to be a known art publicly disclosed to the general public before the filing of the present application. [Prior Art Documents] [Patent Documents]

[0004] (Patent Document 1) Korean Published Patent Application No. 10-2019-0121928 (published on October 29, 2019) discloses a driving device for a medical robot and a medical robot. [Summary of the Invention] [Problem to be Solved by the Invention]

[0005] An object of one embodiment is to provide a connector mounter that, when a treatment tool control device for independently controlling a plurality of treatment tools for complex percutaneous coronary intervention (Complex PCI) is provided, enables the plurality of treatment tools to be conveniently and firmly gripped by the treatment tool control device.

[0006] The objective of one embodiment is to provide a connector mounter that allows anyone to easily perform the task of gripping a treatment tool with a treatment tool control device. [Means for solving the problem]

[0007] In one embodiment, a connector mounter connected to a treatment tool control device includes a base plate, a connector holder located distal to the base plate for holding a treatment tool connector, and a treatment tool guide located proximal to the base plate for guiding the path of a treatment tool through the treatment tool connector.

[0008] In one embodiment, the connector holder may include a holder plate hinged to the distal end of the base plate, and a proximal holder located proximal to the holder plate for holding the treatment tool connector.

[0009] In one embodiment, the connector holder may further include a distal holder located distal to the holder plate for holding the distal end of the treatment tool connector or for holding a treatment tool connected to the distal end of the treatment tool connector.

[0010] In one embodiment, the distal holder is detachable from the holder plate.

[0011] In one embodiment, the connector holder further includes a support link hinged to the holder plate, the end of the support link can engage with support jaws formed on the base plate so as to maintain the raised position of the holder plate when the holder plate is lifted upward relative to the base plate.

[0012] In one embodiment, the treatment tool guide may include a lower guide located proximal to the base plate and an upper guide hinged to the lower guide.

[0013] In one embodiment, the lower guide includes a lower body located proximal to the base plate and a valley formed recessed in the lower body for the insertion and positioning of the treatment tool, and the upper guide may include an upper body hinged to the lower body and a blade formed protruding from the lower part of the upper body to close the open upper part of the valley.

[0014] In one embodiment, the upper guide may further include at least one rib formed to protrude from both sides of the blade so as to protrude further downward as it moves away from the blade, and the lower guide may further include at least one rib insertion groove formed in the lower body into which the at least one rib is inserted.

[0015] In one embodiment, the rib formed at the proximal end of the upper guide among the at least one rib can be formed in a shape corresponding to the shape of the proximal end of the lower body.

[0016] In one embodiment, the valley may include a plurality of independent valleys formed independently of each other, and a convergent valley formed distal to the lower body such that the plurality of independent valleys converge into one.

[0017] In one embodiment, any one of the plurality of independent valleys can be formed to lie on the same straight line as the convergent valley.

[0018] In one embodiment, the valley may include a first space whose width narrows towards the bottom and a second space whose width remains constant below the first space.

[0019] In one embodiment, the lower guide may further include a gripping guide portion formed by recessing at least a part of the distal end of the lower body.

[0020] In one embodiment, the lower guide may further include a protruding wall formed to project upward from the lower body at the position where the valley curves.

[0021] In one embodiment, the base plate may include a discharge guide formed on the upper surface of the base plate so as to discharge foreign matter falling onto the base plate from the treatment tool in at least one direction.

[0022] In one embodiment, the treatment tool guide includes a plurality of recessed valleys formed to accommodate the insertion and position of the treatment tool, and at least one of the plurality of valleys may be formed in a linear shape so that the treatment tool is positioned in a straight line.

[0023] The proximal ends of the upper guide and the lower guide can be formed in a shape corresponding to a roller module connected to the treatment tool control device.

[0024] At least one of the aforementioned multiple independent valleys may include a first section that curves in one direction from the proximal end of the converging valley at an angle of 60 to 70 degrees with a radius of curvature of 25 mm to 35 mm, a second section that extends longitudinally from the proximal end of the first section at an angle of 25 mm to 35 mm, and a third section that curves in the other direction from the proximal end of the second section at an angle of 45 to 55 degrees with a radius of curvature of 25 mm to 35 mm.

[0025] At least one of the plurality of independent valleys comprises: a first section curved in one direction by an angle of 35 degrees to 45 degrees with a radius of curvature of 40 mm to 50 mm from the proximal end of the converging valley; a second section extending in the longitudinal direction by 15 mm to 25 mm from the proximal end of the first section; and a third section curved in the other direction by an angle of 25 degrees to 35 degrees with a radius of curvature of 40 mm to 50 mm from the proximal end of the second section.

Effects of the Invention

[0026] According to the connector mounter according to one embodiment, in the process of preparing for percutaneous coronary angioplasty performed through a treatment instrument control device, various treatment instruments can be easily and reliably gripped by the treatment instrument control device using the connector mounter.

[0027] According to the connector mounter according to one embodiment, it is possible to prevent the placed treatment instrument from being detached from the treatment instrument control device during a treatment procedure.

[0028] The effects of the connector mounter according to one embodiment are not limited to those mentioned above, and other effects not mentioned herein can be clearly understood by those skilled in the art from the following description.

Brief Description of the Drawings

[0029] [Figure 1] It is a perspective view of a treatment instrument control device according to one embodiment. [Figure 2] It is a plan view of a treatment instrument control device according to one embodiment. [Figure 3] It is an exemplary diagram illustrating a usage state of a treatment instrument control device according to one embodiment. [Figure 4] It is a front view of a partial roller module of a treatment instrument control device according to one embodiment, as viewed from the front. [Figure 5] It is a perspective view of a connector mounter according to one embodiment. [Figure 6] It is a perspective view showing a state where each component of a connector mounter according to one embodiment is opened. [Figure 7] This is a perspective view of the lower guide according to one embodiment. [Figure 8] This is a plan view of the lower guide according to one embodiment. [Figure 9] This is a bottom perspective view of the upper guide according to one embodiment. [Figure 10] This is a bottom view of the upper guide according to one embodiment. [Figure 11] This is a front view of the valley with the upper guide covering the lower guide according to one embodiment. [Modes for carrying out the invention]

[0030] This patent application claims priority based on Patent Application No. 10-2022-0136004, filed on October 20, 2022, and the entire contents of said application are included in this patent application by reference.

[0031] The embodiments will be described in detail below with reference to the attached drawings. However, various modifications may be made to the embodiments, and the scope of the patent application will not be limited or restricted by such embodiments. All modifications, equivalents, or substitutes to the embodiments should be understood to be included within the scope of the patent.

[0032] The terms used in the embodiments are for illustrative purposes only and should not be construed as intended to limit them. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as “includes” or “having” indicate the presence of features, figures, steps, actions, components, parts, or combinations thereof described in the specification, and should not be understood as preemptively excluding the possibility of the presence or addition of one or more other features, figures, steps, actions, components, parts, or combinations thereof.

[0033] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as those generally understood by a person of ordinary skill in the art to which this embodiment belongs. Commonly used, predefined terms should be interpreted as having the meaning consistent with their meaning in the context of the relevant art, and not as ideal or overly formal unless expressly defined herein.

[0034] Furthermore, when explaining with reference to the attached drawings, the same components will be assigned the same reference numerals regardless of the reference numerals used in the drawings, and redundant explanations will be omitted. In the description of embodiments, if a specific explanation of related prior art is deemed to unnecessarily obscure the gist of the embodiment, such detailed explanation will be omitted.

[0035] Furthermore, in describing the components of an embodiment, terms such as First, Second, A, B, (a), (b), etc., may be used. These terms are used to distinguish a component from other components, and the terms do not limit the nature, order, or sequence of the component in question. If it is stated that any component is “connected,” “joined,” or “connected” to another component, it should be understood that while that component may be directly connected or connected to the other components, further components may be “connected,” “joined,” or “connected” between each component.

[0036] Components included in any one embodiment and components with common functions will be described using the same names in the other embodiments. Unless otherwise stated, the descriptions in any one embodiment can be applied to the other embodiments, and specific descriptions will be omitted to the extent that they overlap.

[0037] Figure 1 is a perspective view of a treatment tool control device according to one embodiment. Figure 2 is a plan view of the treatment tool control device according to one embodiment. Figure 3 is an illustrative diagram of the treatment tool control device according to one embodiment in use. Figure 4 is a front view of a roller module, a part of the treatment tool control device according to one embodiment, seen from the front.

[0038] Referring to Figures 1 to 4, the instrument control device 100 can independently control at least one instrument T. The instrument control device 100 can grasp and release the instrument T between each roller module 21 through the horizontal (e.g., y-direction) movement of the roller modules 21, which will be described later. The instrument control device 100 can achieve forward and backward movement and / or rotation of the instrument T through the rotation and / or vertical (e.g., z-direction) movement of the roller modules 21. The instrument control device 100 may be used, for example, in percutaneous coronary intervention. However, this is illustrative and the use of the instrument control device 100 is not limited thereto. Instrument T means an instrument having a longitudinal direction. For example, instrument T may include at least one of a guidewire, balloon catheter, and guide catheter having a longitudinal direction. However, this is illustrative and the type of instrument T is not limited thereto.

[0039] In the following description of the treatment tool control device 100, it is understood that "proximal" refers to the -x direction and "distal" refers to the +x direction.

[0040] One embodiment of the treatment tool control device 100 includes a housing 1, a drive assembly 2, a connector mounter 3, a treatment tool proximal guide 4, and a rear holder 5.

[0041] In one embodiment, the housing 1 can form the external shape of the treatment tool control device 100. The housing 1 can provide an area for supporting the drive assembly 2, connector mounter 3, treatment tool proximal guide 4, and / or rear holder 5. The housing 1 may be connected, for example, to a slave-based robot arm. The treatment tool control device 100 functions as an end effector connected to the slave-based robot arm. The housing 1 may be provided with switches and / or handles for position adjustment and / or tilting of the housing 1. The housing 1 may be provided with a display panel for conveying information to the user regarding how to use the device and / or the status of the device.

[0042] In one embodiment, the drive assembly 2 can grip and release the treatment tool T. The drive assembly 2 can move and rotate the gripped treatment tool T in the longitudinal direction.

[0043] In one embodiment, the drive assembly 2 includes a plurality of roller modules 21. The roller modules 21 may be provided in at least one pair. For example, the roller modules 21 include a first roller module 21a, a second roller module 21b, a third roller module 21c, a fourth roller module 21d, and a fifth roller module 21e, as shown in the figure. The plurality of roller modules 21 may be arranged side by side. For example, the drive assembly 2 can independently control four treatment tools Ta, Tb, Tc, and Td via five roller modules 21a, 21b, 21c, 21d, and 21e. However, this is illustrative, and the number of roller modules 21 is not limited thereto.

[0044] In one embodiment, a treatment tool T can be held between two adjacent roller modules 21. To this end, at least one of the roller modules 21 can be moved horizontally toward the other roller module 21. For example, the second roller module 21b can be moved horizontally toward the first roller module 21a so that the first treatment tool Ta is held between the first roller module 21a and the second roller module 21b. In this case, the second treatment tool Tb, located between the second roller module 21b and the third roller module 21c, may be released from its grip. Conversely, the second roller module 21b can be moved horizontally toward the third roller module 21c so that the second treatment tool Tb is held between the second roller module 21b and the third roller module 21c. In this case, the first treatment tool Ta, located between the first roller module 21a and the second roller module 21b, may be released from its grip.

[0045] Similarly, the fourth roller module 21d can be moved horizontally toward the third roller module 21c so that the third treatment tool Tc is gripped between the third roller module 21c and the fourth roller module 21d. In this case, the fourth treatment tool Td, located between the fourth roller module 21d and the fifth roller module 21e, may be released from gripping. Conversely, the fourth roller module 21d can be moved horizontally toward the fifth roller module 21e so that the fourth treatment tool Td is gripped between the fourth roller module 21d and the fifth roller module 21e. In this case, the third treatment tool Tc, located between the third roller module 21c and the fourth roller module 21d, may be released from gripping.

[0046] In one embodiment, the drive assembly 2 can achieve forward, backward, and / or rotation of the treatment tool T through the rotation and / or vertical movement of the roller module 21. For example, with the first roller module 21a and the second roller module 21b positioned adjacent to each other and gripping the first treatment tool Ta between them, the first treatment tool Ta gripped between them can be moved forward or backward along its longitudinal direction by the rotation of the first roller module 21a and the second roller module 21b in one direction or the other. Also, as shown in Figure 4, with the first roller module 21a and the second roller module 21b positioned adjacent to each other and gripping the first treatment tool Ta between them, the first treatment tool Ta gripped between them can be rotated by the vertical movement of at least one of the roller modules 21a, 21b.

[0047] In one embodiment, the connector mounter 3 can be connected to the housing 1 so as to be located distal to the housing 1 (e.g., on the +x side). The connector mounter 3 is detachable from the housing 1. The connector mounter 3 can be made to be replaceable as a consumable item. The connector mounter 3 may include, for example, a polycarbonate material. However, this is illustrative and the material of the connector mounter 3 is not limited thereto.

[0048] In one embodiment, the connector mounter 3 can hold a treatment tool connector C. For example, the treatment tool connector C is configured to hold at least one treatment tool T and to guide the path of at least one treatment tool T. For example, the treatment tool connector C may include a Y connector. However, this is illustrative and the type of treatment tool connector C is not limited thereto. The connector mounter 3 can guide the path of the treatment tool T passing through the treatment tool connector C.

[0049] In one embodiment, the proximal tool guide 4 can be connected to the housing 1 so as to be located proximal to (e.g., on the -x side) the connector mounter 3. The proximal tool guide 4 is detachable from the housing 1. The proximal tool guide 4 may be formed to be replaceable as a consumable item. The proximal tool guide 4 may include, for example, a polycarbonate material. However, this is illustrative and the material of the proximal tool guide 4 is not limited to this.

[0050] In one embodiment, the proximal tool guide 4 can guide the path of a tool T to be gripped by the drive assembly 2. For example, the proximal tool guide 4 may be connected to the housing 1 so as to cover at least a portion (e.g., the proximal portion) of the drive assembly 2. The proximal tool guide 4 may include at least one channel into which the tool T is inserted and positioned. Each channel may be formed between two adjacent roller modules 21 of the drive assembly 2.

[0051] In one embodiment, the rear holder 5 can be connected to the housing 1 so as to be located proximal to the housing 1 (e.g., on the -x side). The rear holder 5 can hold the position of the treatment tool T. For example, the rear holder 5 may include a clamp structure. For example, there may be one or more rear holders 5. The rear holder 5 may be made replaceable as a consumable item. The rear holder 5 may include, for example, a polycarbonate material. However, this is illustrative and the material of the rear holder 5 is not limited to this.

[0052] In one embodiment, the connector mounter 3, the proximal tool guide 4, and / or the rear holder 5 can be sterilized, sealed, and provided as disposable supplies. The connector mounter 3, the proximal tool guide 4, and / or the rear holder 5 are opened on-site for each procedure, fastened to the housing 1, and then used to hold multiple procedure tools T or guide pathways. Once the procedure is complete, the connector mounter 3, the proximal tool guide 4, and / or the rear holder 5 are removed from the housing 1 and discarded.

[0053] Figure 5 is a perspective view of a connector mounter according to one embodiment. Figure 6 is a perspective view showing the connector mounter according to one embodiment in an open state.

[0054] The following describes the connector mounter 3 for connection to the treatment tool control device 100, referring to Figures 1 to 6. In the following description of the connector mounter 3, "proximal" refers to the -x direction side, and "distal" refers to the +x direction side.

[0055] One embodiment of the connector mounter 3 includes a base plate 30, a connector holder 31, and a surgical tool guide 32.

[0056] In one embodiment, the base plate 30 can form the base of the connector mounter 3. The base plate 30 may be formed substantially in a plate shape. The base plate 30 may be formed elongated so as to have a longitudinal direction from proximal (e.g., -x direction side) to distal (e.g., +x direction side). However, this is illustrative and the shape of the base plate 30 is not limited thereto. The base plate 30 is connected to the housing 1 of the treatment tool control device 100. The base plate 30 is detachable from the housing 1.

[0057] In one embodiment, the connector holder 31 is configured for holding the treatment tool connector C. The connector holder 31 can be positioned distal to the base plate 30 (e.g., on the +x side). For example, the connector holder 31 may be hinged to the distal end (e.g., the +x end) of the base plate 30.

[0058] In one embodiment, the connector holder 31 includes a holder plate 310, a proximal connector holder 311, a distal connector holder 315, and a support link 319.

[0059] In one embodiment, the holder plate 310 can form the base of the connector holder 31. The holder plate 310 may be formed substantially as a plate. The holder plate 310 may be formed to be elongated so as to have a longitudinal direction from proximal (e.g., -x direction side) to distal (e.g., +x direction side). However, this is illustrative and the shape of the holder plate 310 is not limited thereto.

[0060] In one embodiment, the proximal connector holder 311 is configured for holding the treatment tool connector C. The proximal connector holder 311 may be positioned proximal to the holder plate 310 (e.g., on the -x side). For example, the proximal connector holder 311 may be fixedly connected to the holder plate 310. However, this is illustrative, and the proximal connector holder 311 may be detachable from the holder plate 310.

[0061] In one embodiment, the proximal connector holder 311 includes a lower proximal connector holder 312, an upper proximal connector holder 313, and a fastening hook 314. The lower proximal connector holder 312 is connected to a holder plate 310. For example, the lower proximal connector holder 312 may be formed integrally with the holder plate 310. The upper proximal connector holder 313 may be hinged to the lower proximal connector holder 312. The upper proximal connector holder 313 can rotate between a state in which it covers the upper side (e.g., the +z side) of the lower proximal connector holder 312 by the hinge and a state in which it opens the upper side (e.g., the +z side) of the lower proximal connector holder 312. The lower proximal connector holder 312 and the upper proximal connector holder 313 have grooves 3121, 3131 for inserting and positioning a treatment tool connector C. The grooves 3121, 3131 are formed in a shape substantially corresponding to the treatment tool connector C. With the treatment tool connector C positioned in the groove 3121 formed in the lower proximal connector holder 312, the upper proximal connector holder 313 can rotate to cover the lower proximal connector holder 312. With the upper proximal connector holder 313 covering the lower proximal connector holder 312, the upper proximal connector holder 313 and the lower proximal connector holder 312 are fastened to each other by fastening hooks 314. According to this structure, the treatment tool connector C can be stably held between the lower proximal connector holder 312 and the upper proximal connector holder 313. However, this is illustrative, and the fastening method of the lower proximal connector holder 312 and the upper proximal connector holder 313 is not limited to this. For example, the lower proximal connector holder 312 and the upper proximal connector holder 313 can also be fastened to each other via magnets.

[0062] In one embodiment, the distal connector holder 315 is configured for holding a treatment tool connector C and / or a treatment tool T (e.g., a guide wire) connected to the distal end (e.g., the +x direction end) of the treatment tool connector C. The distal connector holder 315 can be positioned distal to the holder plate 310 (e.g., on the +x direction side). For example, the distal connector holder 315 may be detachably connected to the holder plate 310. For example, the distal connector holder 315 may be detachably attached to the holder plate 310 by a magnet. Such a structure improves versatility because the attachment position and / or direction of the distal connector holder 315 can be changed depending on the type of treatment tool connector C and / or treatment tool T, or the distal connector holder 315 can be removed and used, or other types of distal connector holders 315 can be attached and used. However, this is illustrative, and the distal connector holder 315 can also be fixedly connected to the holder plate 310.

[0063] In one embodiment, the distal connector holder 315 includes a lower distal connector holder 316 and an upper distal connector holder 317. The lower distal connector holder 316 is connected to a holder plate 310. For example, the lower distal connector holder 316 can be attached to and detached from the holder plate 310 by magnets. The upper distal connector holder 317 may be hinged to the lower distal connector holder 316. The upper distal connector holder 317 can rotate between a state in which it covers the upper side (e.g., the +z side) of the lower distal connector holder 316 by the hinge and a state in which it leaves the upper side (e.g., the +z side) of the lower distal connector holder 316 open. The lower distal connector holder 316 and the upper distal connector holder 317 have grooves 3161, 3171 for inserting and positioning a treatment tool connector C and / or treatment tool T. The grooves 3161, 3171 may be formed in a shape substantially corresponding to the treatment tool connector C and / or treatment tool T. With the treatment tool connector C and / or treatment tool T positioned in the groove 3161 formed in the lower distal connector holder 316, the upper distal connector holder 317 can rotate to cover the lower distal connector holder 316. For example, when the upper distal connector holder 317 is covering the lower distal connector holder 316, the magnet built into the upper distal connector holder 317 can attach to the magnet built into the holder plate 310 (or the magnet built into the lower distal connector holder 316), thereby maintaining the upper distal connector holder 317 in the position of covering the lower distal connector holder 316. With such a structure, the treatment tool connector C and / or treatment tool T can be stably held between the lower distal connector holder 316 and the upper distal connector holder 317. However, this is illustrative, and the fastening method of the lower distal connector holder 316 and the upper distal connector holder 317 is not limited to this. For example, the lower distal connector holder 316 and the upper distal connector holder 317 can also be fastened to each other via fastening hooks.

[0064] In one embodiment, the holder plate 310 can be hinged to the distal end (e.g., the +x end) of the base plate 30. For example, the distal end (e.g., the +x end) of the holder plate 310 and the distal end (e.g., the +x end) of the base plate 30 may be connected to each other via a hinge. With respect to the distal end (e.g., the +x end) of the base plate 30, the proximal end (e.g., the -x end) of the holder plate 310 is lifted upward (e.g., in the +z direction) relative to the base plate 30. For example, the holder plate 310 may be lifted by an angle between 0 and 6 degrees. However, this is illustrative, and the angle at which the holder plate 310 is lifted is not limited thereto. With such a structure, the user can lift the connector holder 31 upward (e.g., in the +z direction) by a predetermined angle relative to the base plate 30.

[0065] In one embodiment, the support link 319 can be hinged to the holder plate 310. For example, the support link 319 may be hinged to the distal end (e.g., the +x direction side) of the holder plate 310 so as to be adjacent to the distal connector holder 315. As shown in Figure 6, when the holder plate 310 is lifted upward (e.g., the +z direction side) relative to the base plate 30, the end of the support link 319 will catch on the support jaw 301 formed on the base plate 30 so that the lifted position of the holder plate 310 is maintained. With this structure, when the user lifts the connector holder 31 upward (e.g., the +z direction side) relative to the base plate 30, that position is maintained. In this state, the user can perform tasks such as inserting a treatment tool T into the proximal end (e.g., the -x direction end) of the treatment tool connector C. Once the work is complete, the user can return the connector holder 31 to its original position by hooking the support jaw 301 and lifting the support link 319 away from the support jaw 301. With this structure, even when the treatment tool connector C is being held in the proximal connector holder 311 and / or distal connector holder 315, the user can lift the treatment tool connector C and insert the treatment tool T into the treatment tool connector C, thereby improving user convenience. On the other hand, the support jaw 301 shown in the figure is illustrative, and multiple support jaws 301 may be formed at different positions from one another so that the holder plate 310 can be fixed at various angles.

[0066] In one embodiment, the base plate 30 includes a discharge guide 302. The discharge guide 302 can be formed on the upper surface of the base plate 30 (e.g., the +x direction surface) so that foreign matter (e.g., blood) falling from the treatment instrument T onto the base plate 30 is discharged in at least one direction. For example, the discharge guide 302 may be formed between the proximal connector holder 311 and the treatment instrument guide 32. The discharge guide 302 may be formed projecting from the upper surface of the base plate 30 (e.g., the +x direction surface) so as to form a dam 3021 with at least one side open. A separate waste disposal box may be placed at the open end of the dam 3021. For example, as the treatment instrument T is removed from the blood vessel after being inserted into it, foreign matter such as blood may adhere to the treatment instrument T. Here, the foreign matter that was attached to the treatment instrument T falls into the dam 3021 formed on the upper surface of the base plate 30 (e.g., the +x direction surface). For example, during a procedure, foreign matter such as blood may leak out from the inlet of the treatment tool connector C and fall into the dam 3021 formed on the upper surface of the base plate 30 (for example, the +x direction surface). The foreign matter such as blood that falls into the dam 3021 can be discharged by flowing in one direction through the discharge guide 302.

[0067] This structure makes it possible to prevent contamination of the treatment tool control device 100 by foreign substances (e.g., blood) generated during the treatment process.

[0068] Figure 7 is a perspective view of the lower guide according to one embodiment. Figure 8 is a plan view of the lower guide according to one embodiment. Figure 9 is a bottom perspective view of the upper guide according to one embodiment. Figure 10 is a bottom view of the upper guide according to one embodiment. Figure 11 is a front view of the valley with the upper guide covering the lower guide according to one embodiment.

[0069] The following describes a treatment tool guide 32 according to one embodiment, with reference to Figures 1 to 11. In the following description of the treatment tool guide 32, "proximal" is understood to mean the -x direction side, and "distal" is understood to mean the +x direction side.

[0070] In one embodiment, the treatment tool guide 32 is configured to guide the path of the treatment tool T as it passes through the treatment tool connector C. The treatment tool guide 32 is positioned proximal to the base plate 30 (for example, on the -x side).

[0071] In one embodiment, the treatment tool guide 32 includes a lower guide 33, an upper guide 34, and a fastening hook 35.

[0072] In one embodiment, the lower guide 33 can be positioned proximal to the base plate 30 (e.g., on the -x side). For example, the lower guide 33 may be fixedly connected to the proximal end of the base plate 30 (e.g., the -x end). For example, the lower guide 33 may be formed integrally with the base plate 30.

[0073] In one embodiment, the upper guide 34 can be hinged to the lower guide 33. The upper guide 34 can rotate between a state in which it covers the upper side (e.g., the +z side) of the lower guide 33 by the hinge and a state in which it leaves the upper side (e.g., the +z side) of the lower guide 33 open.

[0074] In one embodiment, the fastening hook 35 can fasten the lower guide 33 and the upper guide 34 together. The fastening hook 35 can fasten the lower guide 33 and the upper guide 34 together while the upper guide 34 is covering the upper side of the lower guide 33 (e.g., the +z side). The fastening hook 35 may maintain the state in which the upper guide 34 is covering the upper side of the lower guide 33 (e.g., the +z side). However, this is illustrative, and the state in which the upper guide 34 is covering the upper side of the lower guide 33 (e.g., the +z side) may be maintained by a magnet.

[0075] In one embodiment, the lower guide 33 includes a lower body 330, a valley 331, a rib insertion groove 332, a protruding wall 333, an alignment groove 334, and a gripping guide portion 335.

[0076] In one embodiment, the lower body 330 can form the outer shape of the lower guide 33. The lower body 330 may be positioned proximal to the base plate 30 (e.g., on the -x side). For example, the lower body 330 may be fixedly connected to the proximal end (e.g., the -x end) of the base plate 30. For example, the lower body 330 may be formed integrally with the base plate 30. The lower body 330 may be connected to the base plate 30 with a step on the upper side (e.g., in the +z direction) so that the lower body 330 is positioned above the base plate 30 (e.g., in the +z direction). The proximal end (e.g., the -x end) of the lower body 330 is formed in a shape that does not interfere with the drive assembly 2. For example, the proximal end (e.g., the -x end) of the lower body 330 can be formed in a shape corresponding to the roller module 21 so that the roller module 21 of the drive assembly 2 is inserted and positioned therein.

[0077] In one embodiment, the valley 331 is a space into which a treatment tool T is inserted and located. The valley 331 is formed by a depression in the upper surface (e.g., the +z direction surface) of the lower body 330. The valley 331 includes a plurality of valleys. For example, the valley 331 includes a plurality of independent valleys 3311 and a converging valley 3312. The plurality of independent valleys 3311 may be formed independently and spaced apart from each other. The plurality of independent valleys 3311 extend from the proximal end (e.g., the -x direction end) to the distal end (e.g., the +x direction side) of the lower body 330. For example, the plurality of independent valleys 3311 include a first independent valley 3311a, a second independent valley 3311b, a third independent valley 3311c, and a fourth independent valley 3311d. However, this is illustrative and the number of independent valleys 3311 is not limited thereto. The converging valley 3312 is a valley into which the plurality of independent valleys 3311 converge into one. The converging valley 3312 can be formed distal to the lower body 330 (e.g., on the +x side). For example, the converging valley 3312 communicates with a plurality of independent valleys 3311 and extends to the distal end of the lower body 330 (e.g., the +x end).

[0078] In one embodiment, any one of the multiple independent valleys 3311 can be positioned on the same straight line as the converging valley 3312. For example, as shown in Figure 8, the second independent valley 3311b may be positioned on the same straight line as the converging valley 3312. With such a structure, the treatment tool T may be positioned in a straight line with at least one of the multiple valleys 331. However, this is illustrative and not limited to independent valleys 3311 located on the same straight line as the converging valley 3312. The remaining independent valleys 3311 (e.g., the first independent valley 3311a, the third independent valley 3311c, and / or the fourth independent valley 3311d) can be formed by curving so as to converge toward the converging valley 3312. For example, the first independent valley 3311a, the third independent valley 3311c, and / or the fourth independent valley 3311d may be formed by curving once or twice. For example, the fourth independent valley 3311d extends proximal to the converging valley 3312 (e.g., in the -x direction) and includes a first section curved in one direction (e.g., in the +y direction) from the converging valley 3312 by an angle of 60 to 70 degrees with a radius of curvature of 25 mm to 35 mm, a second section extending longitudinally from the first section by 25 mm to 35 mm, and a third section curved in the other direction (e.g., in the -y direction) by an angle of 45 to 55 degrees with a radius of curvature of 25 mm to 35 mm. For example, the third independent valley 3311c extends proximal to the converging valley 3312 (e.g., in the -x direction) and includes a first section curved in one direction (e.g., in the +y direction) from the converging valley 3312 by an angle of 35 to 45 degrees with a radius of curvature of 40 to 50 mm, a second section extending longitudinally from the first section by 15 to 25 mm, and a third section curved in the other direction (e.g., in the -y direction) by an angle of 25 to 35 degrees with a radius of curvature of 40 to 50 mm. For example, the first independent valley 3311a may be formed substantially symmetrically with respect to the third independent valley 3311c with respect to the second independent valley 3311b. With this shape, even if some independent valleys 3311 are formed in a curved manner, when the treatment tool T inserted into the independent valley 3311 receives driving force from the drive assembly 2, the treatment tool T can smoothly receive driving force along the longitudinal direction without being distorted in the curved direction.However, this is illustrative, and the shape of each independent valley 3311 is not limited to this.

[0079] In one embodiment, the valley 331 (for example, the independent valley 3311 and / or convergent valley 3312 shown in Figure 9) includes a first space 331a and a second space 331b. The first space 331a is a space that narrows in width toward the downward side (e.g., in the -z direction). For example, the first space 331a may have a triangular cross-section that narrows substantially toward the downward side (e.g., in the -z direction). The second space 331b is located below the first space 331a (e.g., in the -z direction) and can communicate with the first space 331a. The second space 331b is a space that maintains a uniform width. For example, the second space 331b may have a substantially rectangular cross-section.

[0080] In one embodiment, the upper portion of the first space 331a (e.g., the portion in the +z direction) is relatively wide, which improves user convenience when inserting the treatment tool T into the valley 331. Furthermore, since the first space 331a narrows towards the lower side (e.g., the -z direction), the treatment tool T inserted into the upper portion of the first space 331a (e.g., the portion in the +z direction) is naturally guided and placed in the second space 331b. During the treatment, the treatment tool T may move forward, backward and / or rotate within the second space 331b. Since the second space 331b is formed with a uniform width, the frequency of contact between the treatment tool T and the inner wall of the valley 331 can be reduced as the treatment tool T moves forward, backward and / or rotates within the second space 331b.

[0081] In one embodiment, the protruding wall 333 can be formed to protrude upward (for example, in the +z direction) from the lower body 330 at the position where the valley 331 curves. For example, the protruding wall 333 may be formed on the inner part of the curve at the position where the valley 331 curves. For example, the protruding wall 333 may be formed according to the shape of the curve of the valley 331. For example, multiple protruding walls 333 may be formed. In the process of a user inserting a treatment tool T into the curved valley 331, the protruding wall 333 guides the treatment tool T to bend to suit the shape of the curved valley 331. For example, since the protruding wall 333 is formed on the inner part of the curve of the valley 331, the user can place the treatment tool T on the protruding wall 333 and bend the treatment tool T to suit the shape of the valley 331. The protruding wall 333 can prevent the treatment tool T inserted into the valley 331 from bouncing back out of the valley 331 due to its own elasticity at the curved portion. On the other hand, when the upper guide 34 covers the upper side (for example, the +z direction side) of the lower guide 33, a wall-through hole 343 may be formed in the upper body 340 of the upper guide 34 so that the upper guide 34 does not interfere with the protruding wall 333 of the lower guide 33. However, this is illustrative, and the wall-through hole 343 may be omitted depending on the height and / or position of the protruding wall 333.

[0082] In one embodiment, the gripping guide portion 335 can be formed by recessing at least a portion of the distal end (e.g., the +x direction end) of the lower body 330. The gripping guide portion 335 may be formed on both sides of the converging valley 3312 (e.g., the +y and -y direction sides) and spaced apart from the converging valley 3312. For example, as shown in Figure 7, the gripping guide portion 335 may be formed by recessing the upper corner (e.g., the +z direction side) of the distal end (e.g., the +x direction end) of the lower body 330. The gripping guide portion 335 may be formed at a substantially diagonal angle. When the user attempts to lift the treatment tool connector C while it is being held in the connector holder 31, the gripping guide portion 335 reduces interference between the user's fingers and the lower body 330. For example, a user can insert their fingers into the space formed by the gripping guide portion 335 and grasp the proximal end (e.g., the -x end) of the treatment tool connector C in order to lift the treatment tool connector C while it is being held in the connector holder 31. Such a structure can improve user convenience.

[0083] In one embodiment, the upper guide 34 includes an upper body 340, a blade 341, a rib 342, a wall-through hole 343, and an alignment projection 344.

[0084] In one embodiment, the upper body 340 can form the outer shape of the upper guide 34. The upper body 340 may be hinged to the lower body 330. The proximal end of the upper body 340 (e.g., the -x end) may be shaped so as not to interfere with the drive assembly 2. For example, the proximal end of the upper body 340 (e.g., the -x end) may be shaped to correspond to the roller module 21 so that the roller module 21 of the drive assembly 2 is inserted and positioned therein. For example, the upper body 340 may be shaped substantially to correspond to the lower body 330.

[0085] In one embodiment, the blade 341 is configured to close the open upper part of the valley 331 (e.g., the portion in the +z direction). The blade 341 may be formed to project from the lower part of the upper body 340 (e.g., the portion in the -z direction). The blade 341 may be formed in a shape substantially corresponding to the valley 331. The length to which the blade 341 projects is even smaller than the depth to which the valley 331 is recessed. For example, the length to which the blade 341 projects is greater than the depth of the first space 331a but less than the total depth of the valley 331. For example, the width of the blade 341 may be smaller than the second space 331b. With the upper guide 34 covering the upper side of the lower guide 33 (e.g., the +z direction side), the blade 341 may close the open upper part of the valley 331 (e.g., the portion in the +z direction). With this structure, the valley 331 and blade 341 can form a channel on which a treatment tool T is placed, with the upper guide 34 covering the upper side (for example, the +z direction side) of the lower guide 33. The treatment tool T can be placed in the channel formed by the valley 331 and blade 341 and its path can be guided along the channel.

[0086] In one embodiment, the ribs 342 can be formed protruding from both sides of the blade 341. For example, the ribs 342 may be formed perpendicular to the longitudinal direction of the blade 341. For example, as shown in Figure 11, the ribs 342 may be formed to protrude further downward (e.g., in the -z direction) as they move away from the blade 341. At least one or more ribs 342 may be formed. Multiple ribs 342 may be spaced apart along the longitudinal direction of the blade 341. With the upper guide 34 covering the upper side (e.g., the +z direction side) of the lower guide 33, the ribs 342 are inserted into rib insertion grooves 332 formed in the lower body 330. The rib insertion grooves 332 are formed in a position, shape, and / or number corresponding to the ribs 342. The rib 342 prevents the treatment tool T from getting caught between the blade 341 and the valley 331 as the user covers the upper guide 34 over the lower guide 33 (e.g., on the +z side) with the treatment tool T positioned in the valley 331. As the rib 342 protrudes further downward (e.g., in the -z direction) as it moves away from the blade 341, the rib 342 can guide the treatment tool T so that it gathers towards the blade 341 as the user covers the upper guide 34 over the lower guide 33 (e.g., on the +z side).

[0087] In one embodiment, of at least one rib 342, the proximal rib 342a formed at the proximal end (e.g., -x direction end) of the upper guide 34 can be formed in a shape corresponding to the shape of the proximal end (e.g., -x direction end) of the lower body 330. For example, the proximal rib 342a may be formed in a shape corresponding to the outer shape of the proximal end (e.g., -x direction end) of the lower body 330 when viewed from a plane (e.g., +z direction). Such a structure prevents the treatment tool T from protruding from the proximal end (e.g., -x direction end) of the valley 331 and getting caught in the blade 341 during the process of the user covering the upper guide 34 with the upper side (e.g., +z direction side) of the lower guide 33.

[0088] In one embodiment, the alignment projection 344 can be formed protruding from the lower part of the upper body 340 (for example, the portion in the -z direction). With the upper guide 34 covering the upper side of the lower guide 33 (for example, the +z direction side), the alignment projection 344 can be inserted into the alignment groove 334 formed in the lower body 330. The alignment groove 334 is formed in a position, shape, and / or number corresponding to the alignment projection 344. As the user covers the upper guide 34 over the upper side of the lower guide 33 (for example, the +z direction side), the alignment projection 344 is inserted into the alignment groove 334, thereby aligning the positions of the upper guide 34 and the lower guide 33.

[0089] Although embodiments of the present invention have been described in detail above with reference to the drawings, the present invention is not limited to the embodiments described above, and a person with ordinary skill in the art can apply various technical modifications and variations based on the above. For example, the described techniques may be performed in a different order than described, and / or the described systems, structures, devices, circuits, and other components may be combined or assembled in a different manner than described, or substituted or replaced by other components or equivalents, and still achieve appropriate results.

[0090] Therefore, other realizations, other embodiments, and those equivalent to the claims described below also fall within the scope of the claims. [Explanation of Symbols]

[0091] 100: Treatment tool control device 1: Housing 2: Drive Assembly 3: Connector mounter 4: Proximal guide for surgical tools 30: Base plate 31: Connector holder 32: Guide to Treatment Tools

Claims

1. A connector mounter connected to a treatment tool control device, base plate and A connector holder located distal to the base plate for holding the treatment tool connector, To guide the path of the treatment tool passing through the treatment tool connector, a treatment tool guide located proximal to the base plate, Includes, The aforementioned connector holder is A holder plate is rotatably connected to the distal end of the base plate, To hold the aforementioned surgical tool connector, a proximal holder located proximal to the holder plate, A distal holder located distal to the holder plate for holding the distal end of the treatment tool connector, or for holding a treatment tool connected to the distal end of the treatment tool connector, Includes a connector mounter.

2. The connector mounter according to claim 1, wherein the distal holder is detachable from the holder plate.

3. The connector holder further includes a support link that is hinged to the holder plate, The connector mounter according to claim 1, wherein when the holder plate is lifted upward relative to the base plate, the end of the support link catches on a support jaw formed on the base plate so as to maintain the lifted state of the holder plate.

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