Surgical instrument control device

Abstract

According to an embodiment, the surgical instrument control device may comprise: a first driving part including a first roller module and a second roller module arranged side by side such that a first surgical instrument is held therebetween; a second driving part including a third roller module and a fourth roller module arranged side by side such that a second surgical instrument is held therebetween; and a processor configured to control operations of the first driving part and the second driving part. The processor may be configured to control the first driving part such that the first surgical instrument moves forward / backward along a path provided by the second surgical instrument in response to a user command that has been input thereto. If the path provided by the second surgical instrument is curved by a movement of the first surgical instrument in a first direction during a process in which the first surgical instrument moves along the path provided by the second surgical instrument, the processor may control the second driving part such that the curvature is alleviated, thereby performing a curvature alleviation procedure in which the second surgical instrument is moved in a second direction opposite to the first direction.

Description

Treatment tool control device

[0001] The following example relates to a surgical tool control device.

[0002] Conventional Percutaneous Coronary Intervention (PCI) procedures expose practitioners to the risk of continuous radiation exposure. Furthermore, significant time and cost are required to train skilled surgeons to a level capable of performing the procedure reliably. Furthermore, significant disparities in the quality of procedures between practitioners, regions, and / or hospitals hinder the universal provision of high-quality medical services. To address these shortcomings, interventional assist robots are being introduced. For example, interventional assist robots can be configured to advance, retract, or rotate surgical tools in response to user input.

[0003] The background technology described above is something that the inventor possessed or acquired in the process of deriving the disclosure of the present application, and cannot necessarily be said to be a publicly known technology disclosed to the general public prior to the present application.

[0004] An object of one embodiment is to provide a treatment tool control device that is controlled to alleviate a bend in the path provided by the second treatment tool when the first treatment tool is moved along the path provided by the second treatment tool due to a first direction movement (e.g., forward motion) of the first treatment tool.

[0005] An object of one embodiment is to provide a treatment tool control device that is controlled to mitigate a path difference between a first treatment tool and a second treatment tool when the first treatment tool is moved (e.g., advanced) in a first direction while being bent relative to a path provided by a second treatment tool due to resistance applied to an end of the first treatment tool during the process of moving the first treatment tool along a path provided by a second treatment tool.

[0006] In one embodiment, a surgical tool control device may include a first drive part including a first roller module and a second roller module arranged in parallel to hold a first surgical tool therebetween, a second drive part including a third roller module and a fourth roller module arranged in parallel to hold a second surgical tool therebetween, and a processor configured to control operations of the first drive part and the second drive part. The processor may be configured to control the first drive part to move the first surgical tool forward and backward along a path provided by the second surgical tool in response to an input user command. When a curve is generated in a path provided by the second surgical tool due to movement of the first surgical tool in a first direction during movement of the first surgical tool along the path provided by the second surgical tool, the processor may perform a curve mitigation procedure to control the second drive part to move the second surgical tool in a second direction opposite to the first direction so as to alleviate the curve.

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

[0008] In one embodiment, the first treatment tool and the second treatment tool can be positioned or shaped by an angiogram.

[0009] In one embodiment, the processor may be configured to analyze the angiogram to determine whether a curve occurs in the path provided by the second surgical tool.

[0010] In one embodiment, the processor may stop the bend relaxation procedure if it is determined that the bend in the path provided by the second treatment tool has been relaxed by a threshold value or more.

[0011] In one embodiment, the first treatment tool can be moved along a path provided by the second treatment tool while externally surrounding the second treatment tool.

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

[0013] In one embodiment, the present invention may include a first drive part including a first roller module and a second roller module arranged in parallel to hold a first treatment tool therebetween, a second drive part including a third roller module and a fourth roller module arranged in parallel to hold a second treatment tool therebetween, and a processor configured to control operations of the first drive part and the second drive part. The processor may be configured to control the first drive part to move the first treatment tool forward and backward along a path provided by the second treatment tool in response to an input user command. When an end of the first treatment tool does not move in a first direction due to resistance applied to an end of the first treatment tool during the process of moving the first treatment tool along a path provided by the second treatment tool, the processor may perform a path difference mitigation procedure to control the second drive part to move the second treatment tool in the first direction so as to mitigate a path difference between the first treatment tool and the second treatment tool.

[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 entrance leading to the affected area.

[0016] In one embodiment, the first treatment tool and the second treatment tool can be positioned or shaped by an angiogram.

[0017] In one embodiment, the processor may be configured to analyze the angiogram to determine whether a distal end of the first surgical tool does not move in the first direction when 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 treatment tool and the second treatment tool has been mitigated beyond a threshold value.

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

[0020] In one embodiment, the first treatment tool may comprise either a guide wire or a microcatheter. The second treatment tool may comprise a guide catheter.

[0021] A treatment tool control device according to one embodiment is controlled to alleviate bending that may occur in a second treatment tool during the process of moving the first treatment tool along a path provided by the second treatment tool, thereby allowing the first treatment tool to move more stably along the path provided by the second treatment tool.

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

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

[0024] FIG. 1 is a perspective view of a surgical tool control device according to one embodiment.

[0025] Figure 2 is a plan view of a surgical tool control device according to one embodiment.

[0026] Figure 3 is an exemplary usage state diagram of a treatment tool control device according to one embodiment.

[0027] FIG. 4 is a front view of some roller modules of a surgical tool control device according to one embodiment.

[0028] FIGS. 5A to 5C are cross-sectional views illustrating a process in which a first treatment tool is inserted along a path provided by a second treatment tool in one embodiment.

[0029] FIGS. 6A to 6C are cross-sectional views illustrating a process in which a first treatment tool is inserted along a path provided by a second treatment tool in one embodiment.

[0030] Hereinafter, embodiments are described in detail with reference to the attached drawings. However, the embodiments may be modified in various ways, and the scope of the patent application is not limited or restricted by these embodiments. It should be understood that all modifications, equivalents, or alternatives to the embodiments are included within the scope of the patent application.

[0031] The terms used in the examples are for illustrative purposes only and should not be construed as limiting. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "comprise" or "have" are intended to specify the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but should be understood to not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0032] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the embodiments pertain. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and shall not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0033]

[0034] In addition, when describing with reference to the attached drawings, identical components will be assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted. When describing embodiments, if a detailed description of a related known technology is judged to unnecessarily obscure the gist of the embodiment, the detailed description will be omitted.

[0035] Additionally, terms such as first, second, A, B, (a), (b), etc. may be used to describe components of the embodiments. These terms are only intended to distinguish the components from other components, and the nature, order, or sequence of the components are not limited by the terms. When a component is described as being "connected," "coupled," or "connected" to another component, it should be understood that the component may be directly connected or connected to the other component, but another component may also be "connected," "coupled," or "connected" between each component.

[0036] Components included in one embodiment and components with common functions will be described using the same names in other embodiments. Unless otherwise stated, the descriptions given in one embodiment may also apply to other embodiments, and detailed descriptions will be omitted to the extent of overlap.

[0037]

[0038] 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 use state diagram of a surgical tool control device according to one embodiment. Fig. 4 is a front view of some roller modules of a surgical tool control device according to one embodiment.

[0039] Referring to FIGS. 1 to 4, the surgical tool control device (100) can independently control at least one surgical tool (T). The surgical tool control device (100) can grip or release the surgical tool (T) between each roller module (21) through horizontal movement (e.g., y direction) of the roller module (21) described below. The surgical tool control device (100) can implement forward / backward 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) can be used, for example, for vascular intervention. However, this is exemplary, and the use of the surgical tool control device (100) is not limited thereto. The surgical tool (T) may mean 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 an example and the type of surgical tool (T) is not limited to this.

[0040] In describing the treatment tool control device (100) below, distal may be understood to mean the side in the direction toward the treatment site (e.g., +x direction side), and proximal may be understood to mean the side in the direction away from the treatment site (e.g., -x direction side).

[0041] A surgical tool control device (100) according to one embodiment may include a housing (1), a drive assembly (2), a connector mounter (3), a surgical tool proximal guide (4), a rear holder (5), and / or a processor (not shown).

[0042] In one embodiment, the housing (1) may form the outer shape of the surgical tool control device (100). The housing (1) may provide an area in which a drive assembly (2), a connector mounter (3), a surgical tool proximal guide (4), and / or a rear holder (5) are supported. The housing (1) may be connected to, for example, 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 the slave base. The housing (1) may be provided with a switch and / or a handle for positioning and / or tilting the housing (1). The housing (1) may be provided with a display panel for conveying information to a user regarding a method of using the device and / or a status of the device.

[0043] In one embodiment, the drive assembly (2) can grip or release the treatment tool (T). The drive assembly (2) can move or rotate the gripped treatment tool (T) in the longitudinal direction.

[0044] In one embodiment, the drive assembly (2) may include a plurality of roller modules (21). The roller modules (21) may be provided in at least one pair. 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 in parallel with each other. 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.

[0045] In one embodiment, a treatment tool (T) can be gripped between two adjacent roller modules (21). For this purpose, at least one roller module (21) can be horizontally movable toward the other roller module (21). For example, a second roller module (21b) can be horizontally movable toward the first roller module (21a) so that a first treatment tool (Ta) is gripped between the first roller module (21a) and the second roller module (21b). In this case, a second treatment tool (Tb) positioned between the second roller module (21b) and the third roller module (21c) can be released from grip. Also, conversely, the second roller module (21b) can be horizontally movable toward the third roller module (21c) so that a second treatment tool (Tb) is gripped between the second roller module (21b) and the third roller module (21c). In this case, the first treatment tool (Ta) positioned between the first roller module (21a) and the second roller module (21b) can be released.

[0046] Likewise, the fourth roller module (21d) may be horizontally movable 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) positioned between the fourth roller module (21d) and the fifth roller module (21e) may be released from grip. Also, conversely, the fourth roller module (21d) may be horizontally movable 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) positioned between the third roller module (21c) and the fourth roller module (21d) may be released from grip.

[0047] In one embodiment, the drive assembly (2) can implement forward / backward movement and / or rotation of the treatment 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 the first treatment tool (Ta) is held therebetween, the first roller module (21a) and the second roller module (21b) can rotate in one direction or the other direction, respectively, to move the first treatment tool (Ta) held therebetween forward or backward along the longitudinal direction. In addition, as shown in FIG. 4, when the first roller module (21a) and the second roller module (21b) are positioned adjacent to each other and the first treatment tool (Ta) is held therebetween, at least one roller module (21a, 21b) can move in the vertical direction to rotate the first treatment tool (Ta) held therebetween.

[0048] In one embodiment, the drive assembly (2) may include at least one drive part. The drive part is a part for controlling one treatment tool, and may mean a concept including a pair of roller modules adjacent to each other. For example, the drive part may include a pair of roller modules for controlling one treatment 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) that are arranged in parallel so that a first treatment tool (Ta) is gripped therebetween. For example, the second drive part may include a third roller module (21c) and a fourth roller module (21d) that are arranged in parallel so that a second treatment tool (Tb) is gripped therebetween. However, this is exemplary, and the drive parts may be formed in various combinations depending on the horizontal position of the roller modules (21).

[0049] 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 treatment 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's 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 treatment tool (T).

[0050] In one embodiment, the connector mounter (3) may be connected to the housing (1) so as to be positioned at a distal end (e.g., on the +x direction side) of the housing (1). The connector mounter (3) may be detachable with respect to the housing (1). The connector mounter (3) may be configured to be replaceable as a consumable. 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.

[0051] In one embodiment, the connector mounter (3) can hold a treatment tool connector (C). For example, the treatment tool connector (C) can be configured to collect at least one treatment tool (T) and guide a path of at least one treatment tool (T). For example, the treatment tool connector (C) can include a Y connector. However, this is exemplary, and the type of the treatment tool connector (C) is not limited thereto. The connector mounter (3) can guide a path of the treatment tool (T) passing through the treatment tool connector (C).

[0052] In one embodiment, the proximal guide (4) of the surgical tool may be connected to the housing (1) so as to be positioned proximal (e.g., in the -x direction) to the connector mounter (3). The proximal guide (4) of the surgical tool may be detachable with respect to the housing (1). The proximal guide (4) of the surgical tool may be configured to be replaceable as a consumable. The proximal guide (4) of the surgical tool may include, 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.

[0053] In one embodiment, the proximal guide (4) of the surgical tool can guide the path of the surgical tool (T) held by the drive assembly (2). For example, the proximal guide (4) of the surgical tool can be connected to the housing (1) so as 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 can include at least one channel through which the surgical tool (T) can be inserted and positioned. Each channel can be formed between two adjacent roller modules (21) of the drive assembly (2).

[0054] 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., in the -x direction). 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 more rear holders (5) may be provided. The rear holder (5) may be formed as a consumable and replaceable. 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.

[0055] In one embodiment, the connector mounter (3), the proximal guide for the surgical tool (4), and / or the rear holder (5) may be sealed and packaged after sterilization and provided as disposable items. 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, attached to the housing (1), and then held or guided in a path by a plurality of surgical tools (T). When the procedure is completed, 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 disposed of.

[0056]

[0057] FIGS. 5A to 5C are cross-sectional views illustrating a process of inserting a first treatment tool along a path provided by a second treatment tool in one embodiment. FIGS. 5A to 5C can be understood as a process of moving a first treatment tool (Ta) along a path provided by a second treatment tool (Tb) while the second treatment tool (Tb) is inserted and positioned in a patient's blood vessel (V). For example, the first treatment tool (Ta) may include any one of a balloon catheter, a stent catheter, or a micro catheter, and the second treatment tool (Tb) may include a guide wire. However, this is merely exemplary, and the types of the first treatment tool (Ta) and / or the second treatment tool (Tb) are not limited thereto.

[0058] Hereinafter, with reference to FIGS. 5a to 5c, a bending relaxation procedure of a treatment tool control device (e.g., the treatment tool control device (100) of FIG. 1) will be described.

[0059] In one embodiment, the processor may be configured to control the first driving part to move the first treatment tool (Ta) forward and backward along a path provided by the second treatment tool (Tb) in response to an input user command. The first driving part may refer to a pair of roller modules that hold the first treatment tool (Ta). For example, if the first treatment 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 treatment tool (Ta) forward and backward by rotating at least one of the first roller module (21a) and the second roller module (21b).

[0060] In one embodiment, the first treatment tool (Ta) may be moved along a path provided by the second treatment tool (Tb) while surrounding the second treatment tool (Tb) from the outside. For example, as illustrated by the white arrow in FIG. 5A, the first treatment tool (Ta) may be moved (e.g., moved forward) in a first direction along a path provided by the second treatment tool (Tb). As the first treatment tool (Ta) is moved along the path provided by the second treatment tool (Tb), the path provided by the second treatment tool (Tb) may be curved due to the movement (e.g., moved forward) of the first treatment tool (Ta) in the first direction. For example, when the first treatment tool (Ta) is moved (e.g., moved forward) in the first direction, the second treatment tool (Tb) may be unintentionally moved (e.g., moved forward) along a certain length in the first direction together with the first treatment tool (Ta) due to a frictional force between the first treatment tool (Ta) and the second treatment tool (Tb). When the second treatment tool (Tb) moves in the first direction (e.g., moves forward) by a certain length, an excess length may be generated in the second treatment tool (Tb), which may cause a bending in at least a portion of the second treatment tool (Tb), as illustrated in FIG. 5b. For example, the occurrence of a bending in at least a portion of the second treatment tool (Tb) may be understood as an unintended bending in the second treatment tool (Tb). For example, the occurrence of a bending in at least a portion of the second treatment tool (Tb) may mean that the path of at least a portion of the second treatment tool (Tb) is deformed, bent, wrinkled, or tortuous. When a bending in the second treatment tool (Tb) occurs, a restriction may be placed on moving the first treatment tool (Ta) along the path provided by the second treatment tool (Tb). For example, the first treatment tool (Ta) may not move smoothly in the bending portion that occurs in the second treatment tool (Tb).Alternatively, damage to the patient's body may occur due to the bending of the second surgical tool (Tb).

[0061] In one embodiment, the processor may perform a bending relief procedure to relieve the bending that occurs in the second treatment tool (Tb) in the above situation. For example, the bending relief procedure may include an operation of controlling a second driving part to move (e.g., move backward) the second treatment tool (Tb) in a second direction opposite to the first direction. The second driving part may refer to a pair of roller modules that hold the second treatment tool (Tb). For example, if the second treatment 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 rotate at least one of the third roller module (21c) and the fourth roller module (21d), thereby moving (e.g., move backward) the second treatment tool (Tb) in the second direction opposite to the first direction. For example, as illustrated by the black arrow in FIG. 5b, the second treatment tool (Tb) may be moved (e.g., moved backward) in a second direction relative to the first treatment tool (Ta) opposite to the first direction by the bending relaxation procedure of the processor. For example, when the second treatment tool (Tb) is moved backward, tension is generated in the second treatment tool (Tb), and the bending generated in the second treatment tool (Tb) may be relaxed, as illustrated in FIG. 5c. It should be understood that the expression that the bending is relaxed also includes that the bending is completely removed. In addition, although the processor has been described as controlling the second driving part to perform the bending relaxation procedure, this is exemplary, and the processor may also perform the bending relaxation procedure by controlling a separate driving part configured to drive the second treatment tool.

[0062] In one embodiment, the processor may be configured to analyze an angiogram to determine whether a curve exists in the path provided by the second treatment tool (Tb). For example, the positions or shapes of the first treatment tool (Ta) and the second treatment tool (Tb) may be determined by the angiogram. For example, the processor may analyze the angiogram image to determine whether an unintended curve exists in the path provided by the second treatment tool (Tb). For example, the processor's analysis of the angiogram image may be learned through machine learning or performed by artificial intelligence. For example, the processor may include a database of procedures for inserting the first treatment tool (Ta) and / or the second treatment tool (Tb), and may control the first treatment tool (Ta) and / or the second treatment tool (Tb) in a feedforward manner based on the database. If the processor determines that a curve exists in the path provided by the second treatment tool (Tb), the processor may immediately or automatically perform a curve mitigation procedure. If the processor determines that a curve has been alleviated beyond a threshold value in the path provided by the second treatment tool (Tb), the processor may stop the curve alleviation procedure. However, this is exemplary, and the curve alleviation procedure may be performed and / or stopped by a user's command. For example, the user may determine whether a curve has been created in the path provided by the second treatment tool (Tb) through an angiogram, and the user may input a command to perform the curve alleviation procedure. In one embodiment, the treatment tool control device (e.g., the treatment tool control device (100) of FIG. 1) may further include a sensor for determining whether a curve has been created in the path provided by the second treatment tool (Tb).

[0063] In one embodiment, according to the above-described bending relief procedure, when moving the first treatment tool (Ta) along the path provided by the second treatment tool (Tb), bending that may occur in the second treatment tool (Tb) can be immediately or automatically relieved, so that the first treatment tool (Ta) can be moved more stably along the path provided by the second treatment tool (Tb), and damage that may occur to the patient's body can be reduced.

[0064] Meanwhile, the situations described through FIGS. 5A to 5C are exemplary, and the bending relief procedure is not performed only in the situations described through FIGS. 5A to 5C. For example, in one embodiment, even when the first treatment tool (Ta) is moved inside the second treatment tool (Tb), if a bend occurs in the path of the second treatment tool (Tb), the bending relief procedure may be performed. In addition, the situations described through FIGS. 5A to 5C are exemplary, and if a bend occurs in the path provided by the second treatment tool during the process in which the first treatment tool moves backward, the bending relief procedure for advancing the second treatment tool may also be performed.

[0065]

[0066] FIGS. 6A to 6C are cross-sectional views illustrating a process of inserting a first treatment tool along a path provided by a second treatment tool in one embodiment. FIGS. 6A to 6C may be understood as a process of moving a first treatment tool (Ta) along a path provided by the second treatment tool (Tb), while the end of the second treatment tool (Tb) is positioned in the aorta (A) so as to span a blood vessel entrance (e.g., a coronary artery (V) entrance) leading to the affected area. For example, the first treatment tool (Ta) may include either a guide wire or a microcatheter, and the second treatment tool (Tb) may include a guide catheter. However, this is merely exemplary, and the types of the first treatment tool (Ta) and / or the second treatment tool (Tb) are not limited thereto.

[0067] Hereinafter, with reference to FIGS. 6a to 6c, a path difference mitigation procedure of a treatment tool control device (e.g., the treatment tool control device (100) of FIG. 1) will be described.

[0068] In one embodiment, the processor may be configured to control the first driving part to move the first treatment tool (Ta) forward and backward along a path provided by the second treatment tool (Tb) in response to an input user command. The first driving part may refer to a pair of roller modules that hold the first treatment tool (Ta). For example, if the first treatment 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 treatment tool (Ta) forward and backward by rotating at least one of the first roller module (21a) and the second roller module (21b).

[0069] In one embodiment, the first treatment tool (Ta) can be moved along a path provided by the second treatment tool (Tb) within the second treatment tool (Tb). For example, as illustrated by the white arrow in FIG. 6A, the first treatment tool (Ta) can be moved (e.g., advanced) in a first direction along a path provided by the second treatment tool (Tb). Meanwhile, resistance may be applied to an end of the first treatment tool (Ta) during the movement of the first treatment tool (Ta). For example, when the first treatment tool (Ta) is moved (e.g., advanced) in the first direction to pass through a lesion site within a blood vessel with the first treatment tool (Ta), resistance may be applied to the end of the first treatment tool (Ta) in a direction different from the first direction (e.g., the advancing direction) due to the blocked lesion site. For example, when the first treatment tool (Ta) is moved (e.g., advanced) in the first direction during the process of entering a blood vessel with the first treatment tool (Ta), resistance may be applied to the end of the first treatment tool (Ta) in a direction different from the first direction (e.g., the advancing direction) due to the shape of the blood vessel. In this way, when the first treatment tool (Ta) is moved (e.g., advanced) in the first direction while resistance is applied to the end of the first treatment tool (Ta), the end of the first treatment tool (Ta) may not move (e.g., advanced) in the first direction any further. For example, if a force is continuously applied to move (e.g., advance) the first treatment tool (Ta) in the first direction while resistance is applied to the end of the first treatment tool (Ta), the first treatment tool (Ta) may be substantially bent in the inner section of the second treatment tool (Tb), as shown in FIG. 6b. Accordingly, the length of the first treatment tool (Ta) positioned inside the second treatment tool (Tb) in the state of FIG. 6b may be longer than the length of the first treatment tool (Ta) positioned inside the second treatment tool (Tb) in the state of FIG. 6a.If the first treatment tool (Ta) becomes longer within the second treatment tool (Tb), the length of the first treatment tool (Ta) may become longer than the path provided by the second treatment tool (Tb). In other words, a path difference may occur between the first treatment tool (Ta) and the second treatment tool (Tb). In this state, since the first treatment tool (Ta) is positioned longer within the second treatment tool (Tb), tension and / or elastic force of the first treatment tool (Ta) may be applied to the second treatment tool (Tb). If such force is applied to the second treatment tool (Tb), there is a possibility that the end of the second treatment tool (Tb) may become dislodged from the entrance of the coronary artery (V), and the dislodged second treatment tool (Tb) may cause damage to the patient's body, or the procedure may be delayed due to the repetition of the process of restoring the position of the dislodged second treatment tool (Tb).

[0070] In one embodiment, the processor may perform a path difference mitigation procedure to mitigate the path difference between the first treatment tool (Ta) and the second treatment tool (Tb) in the above situation. For example, the path difference mitigation procedure may include an operation of controlling a second driving part to move (e.g., move forward) the second treatment tool (Tb) in a first direction. The second driving part may refer to a pair of roller modules that hold the second treatment tool (Tb). For example, if the second treatment 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). The processor may move (e.g., move forward) the second treatment tool (Tb) in the first direction by rotating at least one of the third roller module (21c) and the fourth roller module (21d) to perform the bending mitigation procedure. For example, as illustrated by the black arrow in FIG. 6b, the second treatment tool (Tb) may be moved (e.g., moved forward) in the first direction relative to the first treatment tool (Ta) by the path difference mitigation procedure of the processor. For example, when the second treatment tool (Tb) is moved (e.g., moved forward) in the first direction, the length difference between the first treatment tool (Ta) and the second treatment tool (Tb) may be mitigated as the path difference is mitigated. Meanwhile, the expression that the path difference is mitigated should be understood as the paths of the first treatment tool (Ta) and the second treatment tool (Tb) becoming substantially the same or similar. In addition, although the processor has been described as controlling the second driving part to perform the path difference mitigation procedure, 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 treatment tool.

[0071] In one embodiment, the processor may be configured to analyze an angiogram to determine whether a distal end of a first treatment tool (Ta) no longer moves (e.g., advances) in a first direction when a force is applied to move the first treatment tool (Ta) in a first direction. For example, the positions or shapes of the first treatment tool (Ta) and the second treatment tool (Tb) may be read from the angiogram. For example, the processor may analyze an angiogram image to determine whether a distal end of the first treatment tool (Ta) no longer moves (e.g., advances) in the first direction when a force is applied to move (e.g., advance) the first treatment tool (Ta) in the first direction. Alternatively, the processor may analyze an angiogram image to determine whether a bend has occurred in the first treatment tool (Ta) relative to a path provided by the second treatment tool (Tb). For example, the processor can analyze the image of the angiogram to determine whether a path difference has occurred between the first treatment tool (Ta) and the second treatment tool (Tb). For example, the angiogram image analysis of the processor can be learned through machine learning or performed by artificial intelligence. For example, the processor can include a database of the process of inserting the first treatment tool (Ta) and / or the second treatment tool (Tb), and can control the first treatment tool (Ta) and / or the second treatment tool (Tb) in a feed-forward manner based on the database. When the processor determines that the end of the first treatment tool (Ta) is not moving (e.g., advancing) in the first direction when a force is applied to move (e.g., advance) the first treatment tool (Ta) in the first direction (i.e., when it is determined that a path difference has occurred between the first treatment tool (Ta) and the second treatment tool (Tb), the processor can 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 treatment tool (Ta) begins to move (e.g., advance) in the first direction. Alternatively, the processor may stop the path difference mitigation procedure if it is determined that the path difference between the first treatment tool (Ta) and the second treatment 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, through an angiogram, whether the end of the first treatment tool (Ta) does not move (e.g., advance) in the first direction when a force is applied to move (e.g., advance) the first treatment tool (Ta) in the first direction and / or whether a path difference has occurred between the first treatment tool (Ta) and the second treatment tool (Tb), and the user may input a command to perform the path difference mitigation procedure. In one embodiment, the treatment tool control device (e.g., the treatment tool control device (100) of FIG. 1) may further include a sensor for measuring a length traveled by the first treatment tool (Ta) and / or the second treatment tool (Tb). In one embodiment, the treatment tool control device (e.g., the treatment tool control device (100) of FIG. 1) may further include a sensor for measuring a position of an end of the first treatment tool (Ta). In one embodiment, the treatment tool control device (e.g., the treatment tool control device (100) of FIG. 1) may further include a sensor for determining whether a bend has occurred in the first treatment tool (Ta) compared to a path provided by the second treatment tool (Tb) (i.e., when it is determined that a path difference has occurred between the first treatment tool (Ta) and the second treatment tool (Tb).

[0072] In one embodiment, according to the above-described path difference mitigation procedure, when moving the first treatment tool (Ta) along the path provided by the second treatment tool (Tb), a path difference that may occur between the first treatment tool (Ta) and the second treatment tool (Tb) can be immediately or automatically mitigated, so that the first treatment tool (Ta) can be moved more stably along the path provided by the second treatment tool (Tb), and damage that may occur to the patient's body can be reduced.

[0073] Meanwhile, the situations described through FIGS. 6A to 6C are exemplary, and the path difference mitigation procedure is not performed only in the situations described through FIGS. 6A to 6C. For example, in one embodiment, even when the first treatment tool (Ta) is moved while wrapping around the outside of the second treatment tool (Tb), if a path difference occurs between the first treatment tool (Ta) and the second treatment tool (Tb), the path difference mitigation procedure may be performed. In addition, the situations described through FIGS. 6A to 6C are exemplary, and if a path difference occurs between the first treatment tool and the second treatment tool during the process in which the first treatment tool moves backward, the path difference mitigation procedure for moving the second treatment tool backward may also be performed.

[0074]

[0075] Although the embodiments described above have been described with limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the above. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0076] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. A first drive part including a first roller module and a second roller module arranged in parallel so that a first treatment tool is disposed therebetween; A second drive part including a third roller module and a fourth roller module arranged in parallel so that a second treatment tool is inserted therebetween; and A processor configured to control the operation of the first driving part and the second driving part, The processor is configured to control the first driving part so that the first treatment tool moves forward and backward along a path provided by the second treatment tool in response to an input user command, A treatment tool control device, wherein the processor performs a bending alleviation procedure for moving the second treatment tool in a second direction opposite to the first direction so as to alleviate a bend in the path provided by the second treatment tool when the path provided by the second treatment tool is bent due to movement of the first treatment tool in the first direction during the process of moving the first treatment tool along the path provided by the second treatment tool.

2. In paragraph 1, A surgical tool control device, wherein the processor controls the second driving part to perform the bending relief procedure.

3. In paragraph 1, A treatment tool control device, wherein the first treatment tool and the second treatment tool are positioned or shaped by an angiogram.

4. In paragraph 3, A treatment tool control device, wherein the processor is configured to analyze the angiogram to determine whether a curve occurs in the path provided by the second treatment tool.

5. In paragraph 4, A treatment tool control device that stops the bending relaxation procedure when the processor determines that the bending in the path provided by the second treatment tool has been relaxed beyond a reference value.

6. In paragraph 1, A treatment tool control device in which the first treatment tool is moved along a path provided by the second treatment tool while surrounding the second treatment tool from the outside.

7. In paragraph 6, The above first treatment tool comprises any one of a balloon catheter, a stent catheter or a micro catheter, The second treatment tool is a treatment tool control device including a guide wire.

8. A first drive part including a first roller module and a second roller module arranged in parallel so that a first treatment tool is disposed therebetween; A second drive part including a third roller module and a fourth roller module arranged in parallel so that a second treatment tool is inserted therebetween; and A processor configured to control the operation of the first driving part and the second driving part, The processor is configured to control the first driving part so that the first treatment tool moves forward and backward along a path provided by the second treatment tool in response to an input user command, A treatment tool control device, wherein the processor performs a path difference mitigation procedure for moving the second treatment tool in the first direction so as to mitigate a path difference between the first treatment tool and the second treatment tool, when the end of the first treatment tool is not moved in the first direction due to resistance applied to the end of the first treatment tool during the process of moving the first treatment tool along the path provided by the second treatment tool.

9. In paragraph 8, A surgical tool control device, wherein the processor controls the second driving part to perform the path difference mitigation procedure.

10. In paragraph 8, A treatment tool control device in which the end of the second treatment tool is placed over the blood vessel entrance leading to the affected area.

11. In paragraph 8, A treatment tool control device, wherein the first treatment tool and the second treatment tool are positioned or shaped by an angiogram.

12. In paragraph 11, A treatment tool control device, wherein the processor is configured to analyze the angiogram to determine whether the end of the first treatment tool does not move in the first direction when a force is applied to move the first treatment tool in the first direction.

13. In paragraph 12, A treatment tool control device, wherein the processor stops the path difference mitigation procedure when it is determined that the path difference between the first treatment tool and the second treatment tool has been mitigated beyond a reference value.

14. In paragraph 8, A treatment tool control device in which the first treatment tool is moved along a path provided by the second treatment tool within the second treatment tool.

15. In paragraph 14, The above first surgical tool comprises either a guide wire or a microcatheter, The second treatment tool is a treatment tool control device including a guide catheter.

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