Treatment tool control device

Abstract

In one embodiment, the surgical tool control device may include a first driving part comprising a first roller module and a second roller module arranged side by side so that a first surgical tool is gripped between them, a second driving part comprising a third roller module and a fourth roller module arranged side by side so that a second surgical tool is gripped between them, and a processor configured to control the operation of the first driving part and the second driving part. The processor may be configured to control the first driving part so that the first surgical tool moves back and forth along a path provided by the second surgical tool in response to an input user command. When a bend occurs in the path provided by the second surgical tool due to the movement of the first surgical tool in a first direction during the process of moving the first surgical tool along the path provided by the second surgical tool, the processor may perform a bend mitigation procedure by controlling the second driving part to move the second surgical tool in a second direction opposite to the first direction so that the bend is mitigated.

Description

Technology Field

[0001] The following embodiment relates to a surgical tool control device. Background Technology

[0002] In conventional percutaneous coronary intervention (PCI) procedures, operators face the risk of continuous radiation exposure, and significant time and cost are required to train skilled personnel capable of performing stable procedures. Furthermore, large disparities in procedural quality between operators, regions, and / or hospitals make it difficult to universally provide high-quality medical services. To address these drawbacks, interventional assistance robots are being introduced. For example, interventional assistance robots can be configured to advance, retract, or rotate surgical tools upon user input.

[0003] The aforementioned background technology is one that the inventor possessed or acquired in the process of deriving the contents of the disclosure of the present application, and it cannot be considered as prior art disclosed to the general public prior to the filing of this application. The problem to be solved

[0004] The objective of one embodiment is to provide a surgical tool control device that is controlled to mitigate a bend in the path provided by the second surgical tool when the first surgical tool moves along the path provided by the second surgical tool in a first direction (e.g., forward movement) during the process of moving the first surgical tool along the path provided by the second surgical tool.

[0005] The objective of one embodiment is to provide a surgical tool control device that is controlled to mitigate the path difference between the first surgical tool and the second surgical tool when the first surgical tool moves in a first direction (e.g., forward) while bending relative to the path provided by the second surgical tool due to resistance applied to the end of the first surgical tool during the process of the first surgical tool moving along the path provided by the second surgical tool. means of solving the problem

[0006] In one embodiment, the surgical tool control device may include a first driving part comprising a first roller module and a second roller module arranged side by side so that a first surgical tool is gripped between them, a second driving part comprising a third roller module and a fourth roller module arranged side by side so that a second surgical tool is gripped between them, and a processor configured to control the operation of the first driving part and the second driving part. The processor may be configured to control the first driving part so that the first surgical tool moves back and forth along a path provided by the second surgical tool in response to an input user command. When a bend occurs in the path provided by the second surgical tool due to the movement of the first surgical tool in a first direction during the process of moving the first surgical tool along the path provided by the second surgical tool, the processor may perform a bend mitigation procedure by controlling the second driving part to move the second surgical tool in a second direction opposite to the first direction so that the bend is mitigated.

[0007] In one embodiment, the processor can control the second driving part to perform the bending relief procedure.

[0008] In one embodiment, the location or shape of the first surgical tool and the second surgical tool can be read by an angiogram.

[0009] In one embodiment, the processor may be configured to analyze the angiography image to determine whether a bend occurs in the path provided by the second procedure tool.

[0010] In one embodiment, the processor may stop the curvature relief procedure if it is determined that the curvature in the path provided by the second procedure tool has been relieved by more than a reference value.

[0011] In one embodiment, the first surgical tool may move along a path provided by the second surgical tool while wrapping the second surgical tool from the outside.

[0012] In one embodiment, the first surgical tool may include any one of a balloon catheter, a stent catheter, or a microcatheter. The second surgical tool may include a guide wire.

[0013] In one embodiment, the apparatus may include a first driving part comprising a first roller module and a second roller module arranged side by side so that a first surgical tool is gripped between them, a second driving part comprising a third roller module and a fourth roller module arranged side by side so that a second surgical tool is gripped between them, and a processor configured to control the operation of the first driving part and the second driving part. The processor may be configured to control the first driving part so that the first surgical tool moves back and forth along a path provided by the second surgical tool in response to an input user command. If, during the process of moving the first surgical tool along the path provided by the second surgical tool, the end of the first surgical tool does not move in a first direction due to resistance applied to the end of the first surgical tool, the processor may perform a path difference mitigation procedure to move the second surgical tool in the first direction by controlling the second driving part so that the path difference between the first surgical tool and the second surgical tool is mitigated.

[0014] In one embodiment, the processor can control the second driving part to perform the path difference mitigation procedure.

[0015] In one embodiment, the end of the second surgical tool may be positioned over a blood vessel opening connected to the affected area.

[0016] In one embodiment, the location or shape of the first surgical tool and the second surgical tool can be read by an angiogram.

[0017] In one embodiment, the processor may be configured to analyze the angiography image and determine whether the end of the first surgical tool does not move in the first direction under a situation where a force is applied to move the first surgical tool in the first direction.

[0018] In one embodiment, the processor may stop the path difference mitigation procedure if it is determined that the path difference between the first procedure tool and the second procedure tool has been mitigated by more than a reference value.

[0019] In one embodiment, the first surgical tool may be moved within the second surgical tool along a path provided by the second surgical tool.

[0020] In one embodiment, the first surgical tool may include either a guide wire or a microcatheter. The second surgical tool may include a guide catheter. Effects of the invention

[0021] A surgical tool control device according to one embodiment is controlled to mitigate bending that may occur in the second surgical tool during the process of moving the first surgical tool along the path provided by the second surgical tool, thereby enabling the first surgical tool to be moved more stably along the path provided by the second surgical tool.

[0022] A surgical tool control device according to one embodiment is controlled to mitigate a path difference that may occur between a first surgical tool and a second surgical tool during the process of moving a first surgical tool along a path provided by a second surgical tool, thereby enabling the first surgical tool to be moved more stably along a path provided by the second surgical tool.

[0023] The effects of the surgical tool control device according to one embodiment are not limited to those mentioned above, and other unmentioned effects will be clearly understood by a person skilled in the art from the description below. Brief explanation of the drawing

[0024] FIG. 1 is a perspective view of a surgical tool control device according to one embodiment. FIG. 2 is a plan view of a surgical tool control device according to one embodiment. FIG. 3 is an exemplary usage state diagram of a surgical tool control device according to one embodiment. FIG. 4 is a front view of a roller module of a surgical tool control device according to one embodiment. FIGS. 5a to 5c are cross-sectional views illustrating the process of inserting a first surgical tool along a path provided by a second surgical tool in one embodiment. FIGS. 6a to 6c are cross-sectional views illustrating the process of inserting a first surgical tool along a path provided by a second surgical tool in one embodiment. Specific details for implementing the invention

[0025] Hereinafter, embodiments are described in detail with reference to the attached drawings. However, various modifications may be made to the embodiments, and thus the scope of the patent application is not limited or restricted by these embodiments. It should be understood that all modifications, equivalents, and substitutions to the embodiments are included within the scope of the rights.

[0026] The terms used in the embodiments are for illustrative purposes only and should not be interpreted as intended to be limiting. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as "comprising" or "having" are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0027] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the embodiments pertain. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0029] In addition, when describing with reference to the attached drawings, identical components are assigned the same reference numeral regardless of drawing symbols, and redundant descriptions thereof are omitted. In describing the embodiments, if it is determined that a detailed description of related prior art could unnecessarily obscure the essence of the embodiments, such detailed description is omitted.

[0030] In addition, terms such as first, second, A, B, (a), (b), etc., may be used when describing the components of the embodiments. These terms are intended only to distinguish the components from other components, and the nature, order, or sequence of the components is not limited by the terms. Where it is stated that a component is "connected," "combined," or "connected" to another component, it should be understood that the component may be directly connected or connected to the other component, but that another component may also be "connected," "combined," or "connected" between each component.

[0031] Components included in any one embodiment and components having common functions shall be described using the same names in other embodiments. Unless otherwise stated, the description in any one embodiment may also apply to other embodiments, and specific descriptions shall be omitted to the extent of overlap.

[0033] FIG. 1 is a perspective view of a surgical tool control device according to one embodiment. FIG. 2 is a plan view of a surgical tool control device according to one embodiment. FIG. 3 is an exemplary usage state diagram of a surgical tool control device according to one embodiment. FIG. 4 is a front view of a part of a roller module of a surgical tool control device according to one embodiment.

[0034] Referring to FIGS. 1 through 4, the surgical tool control device (100) can independently control at least one surgical tool (T). The surgical tool control device (100) can grasp or release the surgical tool (T) between each roller module (21) through horizontal movement (e.g., y direction) of the roller module (21) described later. The surgical tool control device (100) can implement forward and / or movement and / or rotation of the surgical tool (T) through rotation and / or vertical movement (e.g., z direction) of the roller module (21). The surgical tool control device (100) may be used, for example, in vascular interventional procedures. However, this is exemplary, and the use of the surgical tool control device (100) is not limited thereto. The surgical tool (T) may refer to a surgical tool having a longitudinal direction. For example, the surgical tool (T) may include at least one of a guide wire, a balloon catheter, and a guide catheter having a longitudinal direction. However, this is for illustrative purposes only, and the types of surgical tools (T) are not limited to this.

[0035] In describing the surgical tool control device (100) below, it may be understood that "distal" refers to the direction side toward the surgical site (e.g., the +x direction side), and "proximal" refers to the direction side far from the surgical site (e.g., the -x direction side).

[0036] A surgical tool control device (100) according to one embodiment may include a housing (1), a driving assembly (2), a connector mounter (3), a surgical tool proximal guide (4), a rear holder (5) and / or a processor (not shown).

[0037] In one embodiment, the housing (1) may form the external shape of the surgical tool control device (100). The housing (1) may provide an area where the driving assembly (2), the connector mounter (3), the surgical tool proximal guide (4), and / or the rear holder (5) are supported. The housing (1) may be connected, for example, to a robot arm of a slave base. The surgical tool control device (100) may function as an end effector connected to the robot arm of a slave base. The housing (1) may be equipped with a switch and / or handle for position adjustment and / or tilting of the housing (1). The housing (1) may be equipped with a display panel for conveying information to the user regarding the method of using the device and / or the status of the device, etc.

[0038] In one embodiment, the driving assembly (2) can grasp or release the surgical tool (T). The driving assembly (2) can move or rotate the grasped surgical tool (T) in the longitudinal direction.

[0039] In one embodiment, the drive assembly (2) may include a plurality of roller modules (21). At least one pair of roller modules (21) may be provided. For example, the roller modules (21) may 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 illustrated in the drawing. The plurality of roller modules (21) may be arranged side by side. For example, the drive assembly (2) may independently control four surgical tools (Ta, Tb, Tc, Td) through five roller modules (21a, 21b, 21c, 21d, 21e). However, this is exemplary, and the number of roller modules (21) is not limited thereto.

[0040] In one embodiment, a surgical tool (T) may be gripped between two adjacent roller modules (21). To this end, at least one roller module (21) may be horizontally movable toward another roller module (21). For example, the second roller module (21b) may be horizontally movable toward the first roller module (21a) so that the first surgical tool (Ta) is gripped between the first roller module (21a) and the second roller module (21b). In this case, the second surgical tool (Tb) located between the second roller module (21b) and the third roller module (21c) may be released from gripping. Alternatively, the second roller module (21b) may be horizontally movable toward the third roller module (21c) so that the second surgical tool (Tb) is gripped between the second roller module (21b) and the third roller module (21c). In this case, the first surgical tool (Ta) located between the first roller module (21a) and the second roller module (21b) can be released from gripping.

[0041] Likewise, the fourth roller module (21d) may be horizontally movable toward the third roller module (21c) so that the third surgical tool (Tc) is gripped between the third roller module (21c) and the fourth roller module (21d). In this case, the fourth surgical tool (Td) located between the fourth roller module (21d) and the fifth roller module (21e) may be released from gripping. Also, conversely, the fourth roller module (21d) may be horizontally movable toward the fifth roller module (21e) so that the fourth surgical tool (Td) is gripped between the fourth roller module (21d) and the fifth roller module (21e). In this case, the third surgical tool (Tc) located between the third roller module (21c) and the fourth roller module (21d) may be released from gripping.

[0042] In one embodiment, the drive assembly (2) can implement forward and / or rotation of the surgical tool (T) through rotation and / or vertical movement of the roller module (21). For example, when the first roller module (21a) and the second roller module (21b) are positioned adjacent to each other and hold the first surgical tool (Ta) between them, the first roller module (21a) and the second roller module (21b) can each rotate in one direction or the other, thereby moving the first surgical tool (Ta) held between them forward or backward along the longitudinal direction. Additionally, as shown in FIG. 4, when the first roller module (21a) and the second roller module (21b) are positioned adjacent to each other and hold the first surgical tool (Ta) between them, at least one roller module (21a, 21b) can move in the vertical direction, thereby rotating the first surgical tool (Ta) held between them.

[0043] In one embodiment, the drive assembly (2) may include at least one drive part. The drive part is a part for controlling a surgical tool and may mean a concept comprising a pair of adjacent roller modules. For example, the drive part may include a pair of roller modules for controlling a surgical tool. For example, the drive assembly (2) may include at least a first drive part and a second drive part. For example, the first drive part may include a first roller module (21a) and a second roller module (21b) arranged side by side so that a first surgical tool (Ta) is gripped between them. For example, the second drive part may include a third roller module (21c) and a fourth roller module (21d) arranged side by side so that a second surgical tool (Tb) is gripped between them. However, this is exemplary, and the drive part may be formed in various combinations depending on the horizontal position of the roller module (21).

[0044] In one embodiment, a processor (not shown) may be configured to control the operation of the drive assembly (2). For example, the processor may be configured to control the rotation and / or vertical movement of the roller module (21) to implement the forward movement and / or rotation of the surgical tool (T). For example, the processor may be configured to control the operation of the first drive part and the second drive part. For example, the processor may be configured to control the drive assembly (2) in response to a user command. For example, the processor may be configured to perform any procedure (e.g., a bending relief procedure or a path difference relief procedure) to ensure smooth movement of the surgical tool (T).

[0045] In one embodiment, the connector mounter (3) may be connected to the housing (1) so as to be positioned at the distal end of the housing (1) (e.g., the +x direction side). The connector mounter (3) may be detachable from the housing (1). The connector mounter (3) may be formed to be replaceable as a consumable part. The connector mounter (3) may include, for example, a polycarbonate material. However, this is exemplary, and the material of the connector mounter (3) is not limited thereto.

[0046] In one embodiment, the connector mounter (3) can hold a surgical tool connector (C). For example, the surgical tool connector (C) may be configured to gather at least one surgical tool (T) and guide the path of at least one surgical tool (T). For example, the surgical tool connector (C) may include a Y connector. However, this is exemplary, and the type of surgical tool connector (C) is not limited thereto. The connector mounter (3) can guide the path of a surgical tool (T) passing through the surgical tool connector (C).

[0047] In one embodiment, the proximal guide (4) of the surgical tool may be connected to the housing (1) so as to be positioned proximal to the connector mounter (3) (e.g., on the -x direction side). The proximal guide (4) of the surgical tool may be detachable from the housing (1). The proximal guide (4) of the surgical tool may be formed to be replaceable as a consumable. The proximal guide (4) of the surgical tool may comprise, for example, a polycarbonate material. However, this is exemplary, and the material of the proximal guide (4) of the surgical tool is not limited thereto.

[0048] In one embodiment, the proximal guide (4) of the surgical tool may guide the path of the surgical tool (T) held by the drive assembly (2). For example, the proximal guide (4) of the surgical tool may be connected to the housing (1) to cover at least a portion (e.g., a proximal portion) of the drive assembly (2) from above. The proximal guide (4) of the surgical tool may include at least one channel so that the surgical tool (T) can be inserted and positioned. Each channel may be formed between two adjacent roller modules (21) of the drive assembly (2).

[0049] In one embodiment, the rear holder (5) may be connected to the housing (1) so as to be positioned proximal to the housing (1) (e.g., on the -x direction side). The rear holder (5) may hold the position of the surgical tool (T). For example, the rear holder (5) may include a clamp structure. For example, one or a plurality of rear holders (5) may be provided. The rear holder (5) may be formed to be replaceable as a consumable. The rear holder (5) may include, for example, a polycarbonate material. However, this is exemplary, and the material of the rear holder (5) is not limited thereto.

[0050] In one embodiment, the connector mounter (3), the proximal guide for the surgical tool (4), and / or the rear holder (5) may be provided as disposable items after being sterilized and sealed in a package. The connector mounter (3), the proximal guide for the surgical tool (4), and / or the rear holder (5) may be opened on-site for each procedure and attached to the housing (1) to hold or guide a plurality of surgical tools (T). When the procedure is finished, the connector mounter (3), the proximal guide for the surgical tool (4), and / or the rear holder (5) may be removed from the housing (1) and discarded.

[0052] FIGS. 5a to 5c are cross-sectional views illustrating the process of inserting a first surgical tool along a path provided by a second surgical tool in one embodiment. FIGS. 5a to 5c can be understood as the process of moving a first surgical tool (Ta) along a path provided by a second surgical tool (Tb) while the second surgical tool (Tb) is inserted and positioned in the patient's blood vessel (V). For example, the first surgical tool (Ta) may include a balloon catheter, a stent catheter, or a microcatheter, and the second surgical tool (Tb) may include a guide wire. However, this is exemplary, and the types of the first surgical tool (Ta) and / or the second surgical tool (Tb) are not limited thereto.

[0053] Hereinafter, with reference to FIGS. 5a to 5c, a flexion relief procedure of a surgical tool control device (e.g., the surgical tool control device (100) of FIG. 1) will be described.

[0054] In one embodiment, the processor may be configured to control a first driving part so that the first surgical tool (Ta) moves back and forth along a path provided by the second surgical tool (Tb) in response to an input user command. The first driving part may refer to a pair of roller modules holding the first surgical tool (Ta). For example, if the first surgical tool (Ta) is held between the first roller module (21a) and the second roller module (21b) of FIG. 3, the first driving part may include the first roller module (21a) and the second roller module (21b). The processor may move the first surgical tool (Ta) back and forth by rotating at least one of the first roller module (21a) and the second roller module (21b).

[0055] In one embodiment, the first surgical tool (Ta) can move along the path provided by the second surgical tool (Tb) while wrapping around the second surgical tool (Tb) from the outside. For example, as illustrated by the white arrow in FIG. 5a, the first surgical tool (Ta) can move in a first direction (e.g., forward) along the path provided by the second surgical tool (Tb). During the process of the first surgical tool (Ta) moving along the path provided by the second surgical tool (Tb), the movement of the first surgical tool (Ta) in the first direction (e.g., forward movement) may cause a bend in the path provided by the second surgical tool (Tb). For example, when the first surgical tool (Ta) moves in the first direction (e.g., forward), the second surgical tool (Tb) may unintentionally move in the first direction (e.g., forward) along with the first surgical tool (Ta) by a certain length due to the frictional force between the first surgical tool (Ta) and the second surgical tool (Tb). When the second surgical tool (Tb) moves in the first direction (e.g., forward) by a certain length, excess length is generated in the second surgical tool (Tb), and a bend may occur in at least a portion of the second surgical tool (Tb) as illustrated in FIG. 5b. For example, the occurrence of a bend in at least a portion of the second surgical tool (Tb) can be understood as an unintended bend occurring in the second surgical tool (Tb). For example, the occurrence of a bend in at least a portion of the second surgical tool (Tb) may mean that the path of at least a portion of the second surgical tool (Tb) is deformed, the path is bent, wrinkled, or the path becomes winding. If a bend occurs in the second surgical tool (Tb), there may be a restriction on moving the first surgical tool (Ta) along the path provided by the second surgical tool (Tb). For example, the first surgical tool (Ta) may not move smoothly at the bending part that occurs in the second surgical tool (Tb).Alternatively, damage to the patient's body may occur due to the bending of the second surgical tool (Tb).

[0056] In one embodiment, the processor may perform a bending relief procedure to relieve the bending that has occurred in the second surgical tool (Tb) in the above situation. For example, the bending relief procedure may include an action of controlling a second driving part to move the second surgical tool (Tb) in a second direction opposite to the first direction (e.g., backward). The second driving part may refer to a pair of roller modules holding the second surgical tool (Tb). For example, if the second surgical tool (Tb) is held between the third roller module (21c) and the fourth roller module (21d) of FIG. 3, the first driving part may include the third roller module (21c) and the fourth roller module (21d). To perform the bending relief procedure, the processor may move the second surgical tool (Tb) in a second direction opposite to the first direction (e.g., backward) by rotating at least one of the third roller module (21c) and the fourth roller module (21d). For example, as illustrated by the black arrow in FIG. 5b, the second surgical tool (Tb) may be moved (e.g., backward) in a second direction opposite to the first direction relative to the first surgical tool (Ta) by the processor's bending relief procedure. For example, when the second surgical tool (Tb) is backward, tension is generated in the second surgical tool (Tb), and the bending that has occurred in the second surgical tool (Tb) may be relieved as shown in FIG. 5c. Meanwhile, the expression that the bending is relieved should be understood to include the complete removal of the bending. Furthermore, although it has been described that the processor performs the bending relief procedure by controlling the second driving part, this is exemplary, and the processor may also perform the bending relief procedure by controlling a separate driving part configured to drive the second surgical tool.

[0057] In one embodiment, the processor may be configured to analyze an angiogram to determine whether a bend occurs in the path provided by the second surgical tool (Tb). For example, the location or shape of the first surgical tool (Ta) and the second surgical tool (Tb) may be read by the angiogram. For example, the processor may analyze an image of the angiogram to determine whether an unintended bend has occurred in the path provided by the second surgical tool (Tb). For example, the angiogram image analysis by the processor may be learned through machine learning or performed by artificial intelligence. For example, the processor may include a database regarding the process of inserting the first surgical tool (Ta) and / or the second surgical tool (Tb), and may control the first surgical tool (Ta) and / or the second surgical tool (Tb) in a feed-forward manner based on the database. If the processor determines that a bend has occurred in the path provided by the second surgical tool (Tb), it may immediately or automatically perform a bend relief procedure. The processor may stop the bending relief procedure if it is determined that the bending that has occurred in the path provided by the second procedure tool (Tb) has been relieved by more than a reference value. However, this is exemplary, and the bending relief procedure may be performed and / or stopped by a user's command. For example, the user may determine whether a bend has occurred in the path provided by the second procedure tool (Tb) through angiography, and the user may input a command to perform the bending relief procedure. In one embodiment, the procedure tool control device (e.g., the procedure tool control device (100) of FIG. 1) may further include a sensor for determining whether a bend occurs in the path provided by the second procedure tool (Tb).

[0058] In one embodiment, according to the above-described bending relief procedure, bending that may occur in the second surgical tool (Tb) during the process of moving the first surgical tool (Ta) along the path provided by the second surgical tool (Tb) can be relieved immediately or automatically, thereby allowing the first surgical tool (Ta) to be moved more stably along the path provided by the second surgical tool (Tb) and reducing damage that may occur to the patient's body.

[0059] Meanwhile, the situation described through FIGS. 5a to 5c is exemplary, and the bending relief procedure is not performed only in the situation described through FIGS. 5a to 5c. For example, in one embodiment, even when the first surgical tool (Ta) is moving inside the second surgical tool (Tb), if a bend occurs in the path of the second surgical tool (Tb), the bending relief procedure may be performed. Additionally, the situation described through FIGS. 5a to 5c is exemplary, and if a bend occurs in the path provided by the second surgical tool while the first surgical tool is moving backward, the bending relief procedure to advance the second surgical tool may also be performed.

[0061] FIGS. 6a to 6c are cross-sectional views illustrating the process of inserting a first surgical tool along a path provided by a second surgical tool in one embodiment. FIGS. 6a to 6c can be understood as the process of moving a first surgical tool (Ta) along a path provided by a second surgical tool (Tb) while the end of the second surgical tool (Tb) is positioned in the aorta (A) such that it spans a blood vessel entrance (e.g., a coronary artery (V) entrance) connected to the affected area. For example, the first surgical tool (Ta) may include either a guide wire or a microcatheter, and the second surgical tool (Tb) may include a guide catheter. However, this is exemplary, and the types of the first surgical tool (Ta) and / or the second surgical tool (Tb) are not limited thereto.

[0062] Hereinafter, with reference to FIGS. 6a to 6c, a procedure for mitigating path differences of a surgical tool control device (e.g., the surgical tool control device (100) of FIG. 1) will be described.

[0063] In one embodiment, the processor may be configured to control a first driving part so that the first surgical tool (Ta) moves back and forth along a path provided by the second surgical tool (Tb) in response to an input user command. The first driving part may refer to a pair of roller modules holding the first surgical tool (Ta). For example, if the first surgical tool (Ta) is held between the first roller module (21a) and the second roller module (21b) of FIG. 3, the first driving part may include the first roller module (21a) and the second roller module (21b). The processor may move the first surgical tool (Ta) back and forth by rotating at least one of the first roller module (21a) and the second roller module (21b).

[0064] In one embodiment, the first surgical tool (Ta) may be moved along a path provided by the second surgical tool (Tb) within the second surgical tool (Tb). For example, as illustrated by the white arrow in FIG. 6a, the first surgical tool (Ta) may be moved in a first direction (e.g., forward) along a path provided by the second surgical tool (Tb). Meanwhile, resistance may be applied to the end of the first surgical tool (Ta) during the movement of the first surgical tool (Ta). For example, when moving the first surgical tool (Ta) in a first direction (e.g., forward) to pass through a lesion site within a blood vessel, resistance may be applied to the end of the first surgical tool (Ta) in a direction different from the first direction (e.g., forward direction) due to the blocked lesion site. For example, when the first surgical tool (Ta) is moved in the first direction (e.g., forward) during the process of entering a blood vessel with the first surgical tool (Ta), resistance may be applied to the end of the first surgical tool (Ta) in a direction different from the first direction (e.g., forward direction) due to the shape of the blood vessel. In this way, if the first surgical tool (Ta) is moved in the first direction (e.g., forward) while resistance is applied to the end of the first surgical tool (Ta), the end of the first surgical tool (Ta) may not move further in the first direction (e.g., forward). For example, if a force is continuously applied to move the first surgical tool (Ta) in the first direction (e.g., forward) while resistance is applied to the end of the first surgical tool (Ta), the first surgical tool (Ta) may be substantially bent within the inner section of the second surgical tool (Tb), as shown in FIG. 6b. Therefore, the length of the first surgical tool (Ta) located inside the second surgical tool (Tb) in the state of Fig. 6b may be longer than the length of the first surgical tool (Ta) located inside the second surgical tool (Tb) in the state of Fig. 6a.If the first surgical tool (Ta) becomes longer within the second surgical tool (Tb), the length of the first surgical tool (Ta) may become longer than the path provided by the second surgical tool (Tb). In other words, a path difference may occur between the first surgical tool (Ta) and the second surgical tool (Tb). In such a state, because the first surgical tool (Ta) is positioned longer within the second surgical tool (Tb), the tension and / or elastic force of the first surgical tool (Ta) may be applied to the second surgical tool (Tb). If such force is applied to the second surgical tool (Tb), there is a possibility that the end of the second surgical tool (Tb) may detach from the coronary artery (V) inlet, and the detachment of the second surgical tool (Tb) may cause damage to the patient's body, or the procedure may be delayed due to the repeated process of restoring the position of the detached second surgical tool (Tb).

[0065] In one embodiment, the processor may perform a path difference mitigation procedure to mitigate the path difference between the first surgical tool (Ta) and the second surgical tool (Tb) in the above situation. For example, the path difference mitigation procedure may include an action of controlling a second driving part to move the second surgical tool (Tb) in a first direction (e.g., forward). The second driving part may refer to a pair of roller modules holding the second surgical tool (Tb). For example, if the second surgical tool (Tb) is held between the third roller module (21c) and the fourth roller module (21d) of FIG. 3, the first driving part may include the third roller module (21c) and the fourth roller module (21d). To perform a bending mitigation procedure, the processor may move the second surgical tool (Tb) in a first direction (e.g., forward) by rotating at least one of the third roller module (21c) and the fourth roller module (21d). For example, as illustrated by the black arrow in FIG. 6b, the second surgical tool (Tb) can be moved in a first direction (e.g., forward) relative to the first surgical tool (Ta) by the processor's path difference mitigation procedure. For example, when the second surgical tool (Tb) is moved in the first direction (e.g., forward), the length difference between the first surgical tool (Ta) and the second surgical tool (Tb) can be mitigated as the path difference is mitigated. Meanwhile, the expression that the path difference is mitigated should be understood as meaning that the paths of the first surgical tool (Ta) and the second surgical tool (Tb) become substantially identical or similar. Additionally, although it has been described that the processor performs the path difference mitigation procedure by controlling the second driving part, this is exemplary, and the processor may also perform the path difference mitigation procedure by controlling a separate driving part configured to drive the second surgical tool.

[0066] In one embodiment, the processor may be configured to analyze an angiogram to determine whether the end of the first surgical tool (Ta) no longer moves (e.g., advances) in the first direction when a force is applied to move the first surgical tool (Ta) in the first direction. For example, the position or shape of the first surgical tool (Ta) and the second surgical tool (Tb) may be read by the angiogram. For example, the processor may analyze an image of the angiogram to determine whether the end of the first surgical tool (Ta) no longer moves (e.g., advances) in the first direction when a force is applied to move the first surgical tool (Ta) in the first direction. Alternatively, the processor may analyze an image of the angiogram to determine whether a bend has occurred in the first surgical tool (Ta) relative to the path provided by the second surgical tool (Tb). For example, the processor can analyze an angiographic image to determine whether a path difference has occurred between the first surgical tool (Ta) and the second surgical tool (Tb). For example, the processor's analysis of the angiographic image may be learned through machine learning or performed by artificial intelligence. For example, the processor may include a database regarding the process of inserting the first surgical tool (Ta) and / or the second surgical tool (Tb), and may control the first surgical tool (Ta) and / or the second surgical tool (Tb) in a feedforward manner based on the database. If the processor determines that the end of the first surgical tool (Ta) is not moving in the first direction (e.g., forward) while a force is applied to move the first surgical tool (Ta) in the first direction (e.g., forward) (i.e., if it is determined that a path difference has occurred between the first surgical tool (Ta) and the second surgical tool (Tb)), it may immediately or automatically perform a path difference mitigation procedure.The processor may stop the path difference mitigation procedure if it is determined that the end of the first surgical tool (Ta) begins to move in the first direction (e.g., forward). Alternatively, the processor may stop the path difference mitigation procedure if it is determined that the path difference between the first surgical tool (Ta) and the second surgical tool (Tb) has been mitigated by a threshold value or more. However, this is exemplary, and the path difference mitigation procedure may be performed and / or stopped by a user's command. For example, the user may determine via angiography whether the end of the first surgical tool (Ta) does not move in the first direction (e.g., forward) and / or whether a path difference has occurred between the first surgical tool (Ta) and the second surgical tool (Tb) under conditions where a force is applied to move the first surgical tool (Ta) in the first direction (e.g., forward), and the user may input a command to perform the path difference mitigation procedure. In one embodiment, the surgical tool control device (e.g., the surgical tool control device (100) of FIG. 1) may further include a sensor for measuring the length traveled by the first surgical tool (Ta) and / or the second surgical tool (Tb). In one embodiment, the surgical tool control device (e.g., the surgical tool control device (100) of FIG. 1) may further include a sensor for measuring the position of the end of the first surgical tool (Ta). In one embodiment, the surgical tool control device (e.g., the surgical tool control device (100) of FIG. 1) may further include a sensor for determining whether a bend has occurred in the first surgical tool (Ta) compared to the path provided by the second surgical tool (Tb) (i.e., when it is determined that a path difference has occurred between the first surgical tool (Ta) and the second surgical tool (Tb)).

[0067] In one embodiment, according to the path difference mitigation procedure described above, in the process of moving the first surgical tool (Ta) along the path provided by the second surgical tool (Tb), the path difference that may occur between the first surgical tool (Ta) and the second surgical tool (Tb) can be immediately or automatically mitigated, thereby allowing the first surgical tool (Ta) to be moved more stably along the path provided by the second surgical tool (Tb) and reducing potential damage to the patient's body.

[0068] Meanwhile, the situation described through FIGS. 6a to 6c is exemplary, and the path difference mitigation procedure is not performed only in the situation described through FIGS. 6a to 6c. For example, in one embodiment, even when the first surgical tool (Ta) moves while wrapping around the outside of the second surgical tool (Tb), if a path difference occurs between the first surgical tool (Ta) and the second surgical tool (Tb), the path difference mitigation procedure may be performed. Additionally, the situation described through FIGS. 6a to 6c is exemplary, and if a path difference occurs between the first surgical tool and the second surgical tool during the process of the first surgical tool retracting, the path difference mitigation procedure to retract the second surgical tool may also be performed.

[0070] Although the embodiments have been described above with reference to the limited drawings, those skilled in the art can apply various technical modifications and variations based on the above. For example, suitable results may be achieved even if the described techniques are performed in a different order than described, and / or if the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents.

[0071] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below. Explanation of the symbols

[0072] 100: Procedure tool control device 1: Housing 2: Drive Assembly 3: Connector Mounter 4: Proximal Guide for Surgical Tools 5: Rear holder

Claims

Claim 1 A surgical tool control device comprising: a first driving part configured to implement forward and backward movement of a first surgical tool; a second driving part configured to implement forward and backward movement of a second surgical tool; and a processor configured to control the operation of the first driving part and the second driving part, wherein the processor is configured to control the first driving part so that the first surgical tool moves forward and backward along a path provided by the second surgical tool in response to an input user command, and wherein the processor performs a bend relief procedure to move the second surgical tool in a second direction opposite to the first direction so as to relieve the bend when a bend occurs in the path provided by the second surgical tool due to the movement of the first surgical tool in a first direction during the process of moving the first surgical tool along the path provided by the second surgical tool. Claim 2 A surgical tool control device according to claim 1, wherein the processor controls the second driving part to perform the bending relief procedure. Claim 3 A surgical tool control device according to claim 1, wherein the position or shape of the first surgical tool and the second surgical tool is read by an angiogram. Claim 4 In paragraph 3, the procedure tool control device is configured such that the processor analyzes the angiography image to determine whether a bend occurs in the path provided by the second procedure tool. Claim 5 In paragraph 4, the processing tool control device, wherein the processor stops the curvature relief procedure when it is determined that the curvature in the path provided by the second processing tool has been relieved by more than a reference value. Claim 6 A surgical tool control device according to claim 1, wherein the first surgical tool surrounds the second surgical tool from the outside and moves along the path provided by the second surgical tool. Claim 7 A surgical tool control device according to claim 6, wherein the first surgical tool comprises any one of a balloon catheter, a stent catheter, or a microcatheter, and the second surgical tool comprises a guide wire. Claim 8 A surgical tool control device comprising: a first driving part configured to implement forward and backward movement of a first surgical tool; a second driving part configured to implement forward and backward movement of a second surgical tool; and a processor configured to control the operation of the first driving part and the second driving part, wherein the processor is configured to control the first driving part so that the first surgical tool moves forward and backward along a path provided by the second surgical tool in response to an input user command, and wherein the processor performs a path difference mitigation procedure to move the second surgical tool in the first direction so as to mitigate the path difference between the first surgical tool and the second surgical tool when the end of the first surgical tool is not moved in the first direction due to resistance applied to the end of the first surgical tool during the process of the first surgical tool moving along the path provided by the second surgical tool. Claim 9 In claim 8, the above processor controls the second driving part to perform the path difference mitigation procedure, a surgical tool control device. Claim 10 In claim 8, a surgical tool control device wherein the end of the second surgical tool is positioned across a blood vessel opening connected to the affected area. Claim 11 In claim 8, the first surgical tool and the second surgical tool are a surgical tool control device in which the position or shape is read by an angiogram. Claim 12 A surgical tool control device according to claim 11, wherein the processor is configured to analyze the angiography image and determine whether the end of the first surgical tool does not move in the first direction under a situation where a force is applied to move the first surgical tool in the first direction. Claim 13 In paragraph 12, the procedure tool control device, wherein the processor stops the path difference mitigation procedure when it is determined that the path difference between the first procedure tool and the second procedure tool has been mitigated by more than a reference value. Claim 14 In claim 8, the first surgical tool is a surgical tool control device that moves along a path provided by the second surgical tool within the second surgical tool. Claim 15 A surgical tool control device according to claim 14, wherein the first surgical tool comprises either a guide wire or a microcatheter, and the second surgical tool comprises a guide catheter.

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