Catheter-providing apparatus and method using bed-integrated electromagnetic field apparatus and grip-type catheter feeder apparatus

Abstract

The present invention comprises: a catheter inserted into the body of a patient; a bed-integrated electromagnetic apparatus comprising one or more electromagnetic modules and a support unit that can support the body of a patient, one or more of the electromagnetic modules being disposed therein; and a grip-type catheter feeder apparatus comprising a driving module for moving the catheter forward and backward, and a control module for controlling the current applied to one or more of the electromagnetic modules to control the degree and direction of the curve of the catheter, wherein the grip-type catheter feeder apparatus comprises: a first adjustment unit allowing an operator to control the control module via up, down, left and right adjustments; and a second adjustment unit allowing an operator to control the driving module via front and back adjustments.

Description

A catheter supply device using a bed-integrated electromagnetic field device and a grip-type catheter feeder device, and a catheter supply method using the same

[0001] The present invention was made with the support of the Ministry of Science and ICT, the Ministry of Trade, Industry and Energy, the Ministry of Health and Welfare, and the Ministry of Food and Drug Safety, under the project identification number RS-2021-KD000001 and project number 1415184155. The research management specialized organization of the project is the Inter-Ministry Full-Cycle Medical Device Research and Development Project, the research project name is "Inter-Ministry Full-Cycle Medical Device Research and Development Project", the research project name is "Development of a medical device for active precision delivery of therapeutic substances based on microcarriers for knee cartilage regeneration", the main organization is the Korea Micro Medical Robot Research Institute, and the research period is from January 1, 2023 to December 31, 2023.

[0002] The present invention relates to a catheter supply device using a bed-integrated electromagnetic field device and a grip-type catheter feeder device, and a catheter supply method using the same, and more particularly, to a catheter supply device using a bed-integrated electromagnetic field device and a grip-type catheter feeder device, which utilize an electromagnet module installed on a medical bed and a grip-type catheter feeder device equipped with a small motor together to numerically control and accurately insert a catheter inserted into a patient, and a catheter supply method using the same.

[0003] Catheterization is a common medical procedure, involving the insertion or movement of fluids or devices into a patient's body. Catheters are typically thin, flexible tubes used for medical purposes such as direct drug administration, blood collection, urine drainage, endoscopic manipulation, lesion drainage, and blood vessel dilation and maintenance. Depending on the patient's condition and purpose, catheterization can utilize various sizes and types of catheters. After the procedure, appropriate aftercare and ongoing monitoring are required to prevent infection and complications. Manual catheterization requires additional imaging equipment, such as ultrasound, MRI (Magnetic Resonance Imaging), and X-ray, to identify the location of the lesion and the catheter.

[0004] Automated catheterization methods are broadly divided into a mechanical method in which the direction and insertion depth are controlled through a wire attached to the catheter, and a magnetically controlled method in which a magnetic catheter is controlled through magnetic control.

[0005] Manual catheterization techniques are problematic because they rely solely on the human hand for catheter insertion and manipulation, which can lead to various difficulties and issues, potentially leading to complications and suboptimal outcomes. Human hands are prone to errors due to factors such as fatigue, hand tremors, poor visibility, and individual skill levels. These errors can lead to improper catheter placement, vessel damage, and other complications. The complex anatomy limits the fine motor skills required for accurate catheter navigation, which can result in minor deviations or inaccuracies in catheter placement, particularly in delicate areas such as the patient's blood vessels or heart. The varying skill levels and expertise of healthcare providers contribute to inconsistent catheter placement, trajectory, and overall procedural quality. Manual catheter manipulation can cause trauma or injury to blood vessels, surrounding tissues, and organs, potentially leading to bleeding, thrombosis, vessel perforation, or organ damage. Additionally, procedures involving fluoroscopy or other imaging techniques required for manual catheterization expose healthcare providers to radiation during the procedure, which can pose long-term health risks.

[0006] Automated catheterization techniques also present challenges. Wire-driven catheter control devices have significant limitations, such as their large diameter and limited length, making them difficult to use in peripheral blood vessels with narrow internal diameters, such as cerebral blood vessels. Permanent magnet or electromagnetic catheter control devices require extensive space and equipment for procedures, consume significant power, and are complex to install.

[0007] As such, manual catheterization methods and automatic catheterization methods each have problems, and therefore, there is a need for a catheter supply device using a bed-integrated electromagnetic field device and a grip-type catheter feeder device that can solve these problems, and a catheter supply method using the same.

[0008] The present invention aims to provide a bed-integrated electromagnetic field device that utilizes a grip-type catheter feeder device equipped with an electromagnet module and a small motor installed on a medical bed to numerically control and accurately insert a catheter inserted into a patient, and a catheter supply device using the grip-type catheter feeder device, and a catheter supply method using the same.

[0009] In order to achieve the above object, the present invention comprises a grip-type catheter feeder device including a catheter inserted into a patient's body; one or more electromagnet modules and a support member capable of supporting the patient's body, wherein the bed-integrated electric field device has one or more electromagnet modules disposed therein; and a drive module for moving the catheter back and forth and a control module for controlling a current applied to one or more electromagnet modules to control the degree and direction of bending of the catheter. The grip-type catheter feeder device is characterized in that it includes a first operation unit capable of being operated up, down, left, and right to enable a practitioner to control the control module, and a second operation unit capable of being operated forward and backward to enable a practitioner to control the drive module.

[0010] Preferably, the catheter may include a PIR detection sensor or a 6-axis force sensor that can determine whether it is close to human tissue, an FBG sensor that provides information on the shape and position of the catheter, and a flexible pressure sensor that recognizes bending.

[0011] Preferably, the grip-type catheter feeder device may include a reaction force sensor that measures the current or reaction force of the motor that applies driving force to the driving module.

[0012] Preferably, the grip-type catheter feeder device can generate a warning notification with light, sound, or vibration when it receives a signal from the PIR detection sensor or the 6-axis force sensor that the catheter is approaching human tissue or when a reaction force greater than a certain size is measured from the reaction force sensor.

[0013] Preferably, the drive module includes two gears that mesh with each other, a motor that rotates the two gears, and two feeders positioned above the two gears and rotating together with the two gears, and the two feeders are interlocked with each other with the catheter between them, and can move the catheter forward or backward depending on the direction of rotation.

[0014] Preferably, the two feeders or the catheter may be provided with a silicone cover to increase friction and prevent damage to the catheter.

[0015] Preferably, the drive module may further include a tensioner for adjusting the distance between the two feeders.

[0016] Preferably, the apparatus further includes a control unit that automatically inserts or moves the catheter into the body by controlling the grip-type catheter feeder device or the bed-integrated electric field device, wherein the control unit can control the grip-type catheter feeder device or the bed-integrated electric field device so that the catheter is inserted or moved by a preset insertion depth along a preset moving speed and moving direction of the catheter.

[0017] Preferably, the present invention further comprises a control unit for automatically inserting or moving the catheter into the body by controlling a grip-type catheter feeder device or a bed-integrated electric field device, wherein the catheter further comprises a camera capable of taking images, and the control unit determines current position information of the catheter using the image taken by the camera and information about the shape and position of the catheter provided by the FBG sensor, and controls the bed-integrated electric field device using information provided by the flexible pressure sensor so that the catheter can be steered along a movement path within the body shown in the image taken by the camera, and controls the grip-type catheter feeder device so that the catheter can be inserted or moved to a certain depth.

[0018] In addition, the present invention is characterized in that a catheter supply method using a catheter supply device including a bed-integrated electric field device having one or more electromagnet modules and a support capable of supporting a patient's body and one or more electromagnet modules disposed therein, and a grip-type catheter feeder device including a drive module for moving a catheter back and forth and a control module for controlling a degree of bending and a direction of the catheter by controlling a current applied to one or more electromagnet modules, comprises the steps of: setting parameters including an insertion depth, a movement speed, or a movement direction of the catheter; controlling the bed-integrated electric field device so that the catheter can be steered according to the set parameters; controlling the grip-type catheter feeder device so that the catheter can be moved according to the set parameters; and stopping the bed-integrated electric field device and the grip-type catheter feeder device when the catheter reaches the set insertion depth.

[0019] The present invention has the advantage of being able to precisely and accurately control catheter placement and movement, and minimizing the possibility of error by reducing dependence on human skills.

[0020] Additionally, the present invention has the advantage of maintaining a consistent speed and trajectory during catheter insertion and navigation, so that the catheter can be appropriately positioned along the intended path.

[0021] Additionally, the present invention has the advantage of enabling easier and more accurate navigation of complex paths in procedures requiring precise catheter navigation through complex anatomical structures such as blood vessels or the cardiac system.

[0022] Figures 1 and 2 show a configuration diagram of a catheter supply device using a bed-integrated electromagnetic field device and a grip-type catheter feeder device according to an embodiment of the present invention.

[0023] Figure 3 shows a configuration diagram of an electromagnet module according to an embodiment of the present invention.

[0024] Fig. 4 shows a configuration diagram of a support according to an embodiment of the present invention.

[0025] FIG. 5 illustrates an example of a sensing method for position control and feedback control according to an embodiment of the present invention.

[0026] FIG. 6 is a drawing illustrating a catheter safety function and a procedure assistance haptic function of a catheter supply device according to an embodiment of the present invention.

[0027] Figure 7 shows an internal exploded view of a grip-type catheter feeder device according to an embodiment of the present invention.

[0028] Figure 8 is a drawing illustrating the configuration and function of the first operating unit according to an embodiment of the present invention.

[0029] Figure 9 is a drawing illustrating the configuration and function of a second operating unit according to an embodiment of the present invention.

[0030] FIG. 10 illustrates three operation modes of a catheter supply device using a bed-integrated electromagnetic field device and a grip-type catheter feeder device according to an embodiment of the present invention.

[0031] FIG. 11 shows a flow chart of a catheter supply method using a bed-integrated electromagnetic field device and a grip-type catheter feeder device according to an embodiment of the present invention.

[0032] A catheter inserted into the patient's body;

[0033] A bed-integrated electric field device comprising one or more electromagnet modules and a support member capable of supporting a patient's body, wherein one or more electromagnet modules are disposed therein; and

[0034] A grip-type catheter feeder device including a driving module for moving the catheter back and forth and a control module for controlling the degree and direction of curvature of the catheter by controlling the current applied to one or more electromagnet modules;

[0035] Including,

[0036] The above grip-type catheter feeder device,

[0037] A catheter supply device characterized by including a first operating unit capable of being operated up, down, left, and right to enable the operator to control the control module, and a second operating unit capable of being operated forward and backward to enable the operator to control the drive module.

[0038] Hereinafter, the present invention will be described in detail with reference to the contents described in the attached drawings. However, the present invention is not limited or restricted by the exemplary embodiments. The same reference numerals in each drawing indicate components that perform substantially the same functions.

[0039] The purpose and effects of the present invention can be naturally understood or made clearer by the following description, and the purpose and effects of the present invention are not limited solely by the following description. Furthermore, in describing the present invention, if a detailed description of known technologies related to the present invention is deemed to unnecessarily obscure the gist of the present invention, such detailed description will be omitted.

[0040] The terminology used herein is merely used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprise" or "have" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the description of the invention, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0041] While terms like "first" and "second" may be used to describe various components, these components should not be limited by these terms. These terms are used solely to distinguish one component from another. For example, without departing from the scope of the present invention, a first component could be referred to as a "second component," and similarly, a second component could also be referred to as a "first component."

[0042] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. 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.

[0043] When interpreting components, even if there is no explicit description, it is interpreted as including the margin of error. When describing temporal relationships, for example, when temporal continuity is described with phrases such as "after," "following," "next to," or "before," this also includes cases where the relationship is not continuous, unless "immediately" or "directly" is used.

[0044] Hereinafter, the technical configuration of the present invention will be described in detail with reference to the attached drawings.

[0045] FIG. 1 and FIG. 2 illustrate a configuration diagram of a catheter supply device (1000) using a bed-integrated electromagnetic field device (200) and a grip-type catheter feeder device (300) according to an embodiment of the present invention. Referring to FIG. 1 and FIG. 2, the catheter supply device (1000) may include a bed-integrated electromagnetic field device (200), a grip-type catheter feeder device (300), a catheter (400), and a control unit (500). The catheter supply device (1000) may further include a first monitoring unit (600), a second monitoring unit (700), and an imaging device (800).

[0046] The catheter supply device (1000) can utilize an electromagnet module (100) installed on a medical bed to numerically control and accurately insert a catheter (400) inserted into a patient, and a grip-type catheter feeder device equipped with a small motor (312). The catheter supply device (1000) can make the medical procedure process safer and more efficient by providing accurate movement of the catheter (400), and can integrate safety features such as a pressure sensor or an alarm into the catheter (400) to prevent excessive insertion or complications, and can generate an alarm or stop the motor when excessive resistance or pressure is detected. The catheter supply device (1000) can be operated in various ways, such as automatically performing a procedure at a preset position and procedure method from the outside while being fixed to a medical bed through remote control, or by allowing medical staff to directly control the catheter (400) at a desired speed and depth by operating buttons, levers, and a steering device while holding it in their hand. The catheter supply device (1000) can continuously accumulate medical data through a computer, and analyze and utilize the accumulated data to improve the quality of medical treatment and procedures.

[0047] The catheter delivery device (1000) is designed to provide precise and accurate control of catheter (400) placement and movement, making it particularly useful in delicate catheterization procedures where even minor errors can have serious consequences. The catheter delivery device (1000) can be controlled passively, actively, or autonomously. Utilizing automated control, such as active or autonomous control, can reduce the reliance on dexterity and human skill, minimizing the potential for errors due to fatigue, hand tremor, or other factors that can impact the healthcare provider's performance. Utilizing automated control, the catheter delivery device (1000) can maintain a consistent speed and trajectory of the catheter (400) during insertion and navigation, ensuring proper catheter (400) placement along the intended path. The catheter delivery device (1000) can easily and accurately navigate complex paths in procedures requiring precise catheter navigation through complex anatomical structures, such as the vascular or cardiac systems.

[0048] The catheter delivery device (1000) can potentially lower the technical barrier to performing certain medical procedures, helping less experienced healthcare providers achieve consistent results. Utilizing automated control, the catheter delivery device (1000) can reduce radiation exposure for both patients and healthcare providers during procedures involving X-rays or other imaging techniques.

[0049] FIG. 3 is a block diagram of an electromagnet module (100) according to an embodiment of the present invention. FIG. 4 is a block diagram of a support member (130) according to an embodiment of the present invention. Referring to FIGS. 3 and 4, a bed-integrated electromagnetic field device (200) includes one or more electromagnet modules (100) and a support member (130) capable of supporting a patient's body, and one or more electromagnet modules (100) may be disposed inside. Specifically, the bed-integrated electromagnetic field device (200) may include an electromagnet module (100) including a first electromagnet (110) and one or more second electromagnets (120(a), 120(b)) disposed to form a certain angle with the first electromagnet (110), and a support member (130).

[0050] As illustrated in FIGS. 3 and 4, the first electromagnet (110) may be a circular electromagnet. The first electromagnet (110) may include a first support plate (111) arranged on one side, a second support plate (112) arranged on the other side of the first support plate (111), a central portion (114) connecting the first support plate (111) and the second support plate (112) via a connecting portion (115), and a first winding (113) wound around the circumference of the central portion (114).

[0051] The first support plate (111) is arranged on the upper side of the first electromagnet (110), and can support one or more second electromagnets (120) while being in contact with one or more second electromagnets (120). The first support plate (111) can include a groove (not shown), and thus, when connected to the second electromagnet (120), the second electromagnet (120) can be firmly supported.

[0052] The second support plate (112) may have a flat shape. The second support plate (112) is positioned on the lower side of the second electromagnet (120) so as to be in contact with the lower side of the bed (200) and can support the entire electromagnet module (100). The second support plate (112) can firmly support the first electromagnet (110) and the second electromagnet (120) without changing their relative positions when the electromagnet module (100) moves.

[0053] The connecting portion (115) can connect the first support plate (111) and the second support plate (112) to the center (114), and may be in the form of a corner of a vertically bent portion as shown in FIGS. 3 and 4, but is not limited thereto, and may be in the form of a surface having a certain slope, for example.

[0054] One or more second electromagnets (120) may be arranged to form a certain angle on the first support plate (111) or the connecting portion (115). The connecting portion (115) may include a groove (not shown) that can be coupled with one or more second electromagnets (120), and at this time, one or more second electromagnets (120) may be firmly attached to a certain position within the electromagnet module (100) by engaging with the groove of the connecting portion (115).

[0055] The center (114) can form a hollow space within the first electromagnet (110) together with the first support plate (111), the second support plate (112), and the connecting portion (115). The first electromagnet (110) can form a space in which one or more second electromagnets (120) can be placed through the hollow space formed in the center, and accordingly, a part of the second electromagnet (120) can be placed within the hollow space and form a certain angle with the first electromagnet (110).

[0056] The first electromagnet (110) may include a first winding (113) wound around a center portion (114). Current provided from a bed-integrated electromagnetic field device (1000) or a power supply (not shown) disposed within the bed (200) may flow through the first winding (113), and since the center portion (114) is disposed in a direction perpendicular to the first support plate (111) and the second support plate (112), the first winding (113) may form an electromagnetic field in a direction perpendicular to the first support plate (111) and the second support plate (112).

[0057] Accordingly, the first electromagnet (110) can form an electromagnetic field in the up-and-down direction of the bed (200) when current is applied to the first winding (113) wound around the center (114), and through this, the position of a medical device inserted into the human body can be adjusted up and down through a magnet embedded in the medical device, such as a catheter.

[0058] The second electromagnet (120) may be a solenoid electromagnet. The second electromagnet (120) may include a core (125) including a lower surface (122) arranged to form a certain angle with the first electromagnet (110), an upper surface (121) arranged on the other side of the lower surface (122), and a second winding (123) wound between the lower surface (122) and the upper surface (121).

[0059] The second electromagnet (120) may be included in the bed-integrated electromagnetic field device (200) at least once, and preferably, two may be included in the device. Meanwhile, as illustrated in FIG. 1, the second electromagnet (120) may be positioned at an angle to the first electromagnet (110) such that a portion of the second electromagnet (120) is positioned in the hollow space formed in the first electromagnet (110) and forms a certain angle with the first support plate (111) or the connecting portion (115). Accordingly, the second electromagnet (120) can form an electromagnetic field in the front, back, left, and right directions of the bed-integrated electromagnetic field device (1000). In other words, the second electromagnet can be arranged so that the upper side (121) faces the central axis (1) of the first electromagnet (110), as shown in FIG. 1, and accordingly, it is possible to freely move the catheter (400) in the x-axis and y-axis directions of the electromagnet module.

[0060] The support member (130) may have a flat shape to stably support the patient's body.

[0061] The catheter (400) can be inserted into the patient's body. Since the catheter (400) is inserted into the patient's body, it can be formed of a material that is harmless to the human body, and can be formed of a magnetic material that can be affected by the magnetic field generated by the bed-integrated electromagnetic field device (200). Since the catheter (400) is moved forward or backward by a pair of feeders (313) that are rotated by a motor (312) of a grip-type catheter feeder device (300), it can be provided with a silicone cover to prevent damage by the feeders (313).

[0062] The catheter (400) can be moved by the bed-integrated electric field device (200) or the grip-type catheter feeder device (300). The catheter (400) can freely move in the x-axis and y-axis directions by the magnetic field generated by one or more electromagnet modules (100) of the bed-integrated electric field device (200). That is, the direction in which the catheter (400) moves can be set by the bed-integrated electric field device (200) during the process of moving to the depth to be inserted. The catheter (400) can be moved forward or backward by the grip-type catheter feeder device (300). That is, the catheter (400) can be substantially moved to the depth to be inserted by the grip-type catheter feeder device (300). Accordingly, the catheter (400) is steered by the bed-integrated electric field device (200) and can be moved back and forth by the grip-type catheter feeder device (300).

[0063] Fig. 5 illustrates an example of a sensing method for position control and feedback control according to an embodiment of the present invention. Referring to Fig. 5, a catheter (400) may include a PIR detection sensor (Passive infrared sensor) or a 6-axis force sensor that can determine proximity to human tissue, an FBG sensor (Fiber Bragg Grating sensor) that provides information on the shape and position of the catheter (400), a flexible pressure sensor that recognizes bending, and a camera (450).

[0064] The catheter (400) may be equipped with a PIR detection sensor (410) or a 6-axis force sensor (420) at the tip. The PIR detection sensor is a device that detects movement by receiving infrared rays, and detects rapid changes in infrared energy. Referring to FIG. 5, the PIR sensor detects a specific object when it appears within the focal range. The PIR sensor can react when the catheter (400) approaches human tissue. That is, the PIR sensor can detect a blockage in a bend in a blood vessel or the like, thereby preventing damage to the blood vessel or the like. The 6-axis force sensor can measure accurate force and torque along all 6 axes, and thus can detect when the catheter (400) is close to the human body, and performs the same function as the PIR sensor mentioned above. The catheter (400) may be equipped with either the PIR sensor or the 6-axis force sensor, but may be equipped with both to increase accuracy.

[0065] The catheter (400) is equipped with an FBG sensor and a flexible pressure sensor, and can detect the bending of the catheter (400). Accordingly, by detecting the bending of the catheter (400) through the FBG or the flexible pressure sensor, the catheter (400) can be bent in a desired direction. The FBG sensor utilizes the phenomenon that the refractive index slightly increases when the core portion of an optical fiber to which germanium is added is exposed to light in the ultraviolet region, and can provide information on the shape and position of the catheter (400). The flexible pressure sensor can measure the bending of the catheter (400) by recognizing the resistance value according to the bending.

[0066] The grip-type catheter feeder device (300) may include a driving module (310), a control module (320), and a force sensor (340).

[0067] FIG. 6 is a diagram illustrating a catheter safety function and a procedure assistance haptic function of a catheter supply device (1000) according to an embodiment of the present invention. The grip-type catheter feeder device (300) can prevent complications due to excessive insertion of the catheter (400) by using a PIR detection sensor (410) or a 6-axis force sensor (420). In order to prevent excessive insertion of the catheter (400), the grip-type catheter feeder device (300) can generate a warning notification by light, sound, or vibration when it receives a signal from the PIR detection sensor (410) or the 6-axis force sensor (420) that the catheter (400) is close to human tissue or when a reaction force greater than a certain size is measured from the reaction force sensor (340). Additionally, the grip-type catheter feeder device (300) can stop the motor (312) when excessive resistance or pressure is detected by the PIR detection sensor (410), the 6-axis force sensor (420), or the reaction force sensor (450). That is, the grip-type catheter feeder device (300) can integrate safety functions such as sensors and warnings. Such warning and stopping functions can also be performed by the control unit (500).

[0068] The grip-type catheter feeder device (300) can be powered by a commercial power source, but can be powered by a reliable power source such as a rechargeable battery or direct power connection to ensure continuous operation during medical procedures, so as to be free from power outages, etc.

[0069] The grip-type catheter feeder device (300), when operated in an active or autonomous catheterization method, can send signals to the user using vibration, resistance, deceleration, etc. as the catheter (400) reaches a pre-targeted location. Here, the signal sent to the user may be light, sound, or vibration.

[0070] The driving module (310) can move the catheter (400) back and forth. The principle by which the driving module (310) moves the catheter (400) back and forth is described below.

[0071] Fig. 7 illustrates an internal exploded view of a grip-type catheter feeder device (300) according to an embodiment of the present invention. Referring to Fig. 7, the drive module (310) may include a gear (311), a motor (312), a feeder (313), and a tensioner (314).

[0072] The gear (311) may be composed of two pieces, and different gears may mesh with each other. The gear (311) may transmit the rotational force received from the motor (312) to the feeder (313). The gear (311) may receive the rotational force generated from the motor (312) from a bevel gear. The gear (311) may share a central axis with the feeder (313), and accordingly, the rotational speed of the feeder (313) may be calculated, thereby deriving the length of the inserted catheter (400).

[0073] The motor (312) can rotate two gears (311). Since the motor (312) has a different rotation axis from the gear (311), the rotational force generated through the bevel gear can be transmitted to the gear (311). The motor (312) can measure the reaction force through changes in current or torque. Accordingly, it is possible to determine whether the catheter (400) has reached a desired depth or is in close contact with human tissue through the measured reaction force, and when such a situation is confirmed, the control unit (500) or the grip-type catheter feeder device (300) can stop the motor (312).

[0074] The feeder (313) may be composed of two, and may be positioned above two gears (311) and rotate together with the two gears (311). The feeder (313) may receive the rotational power of the motor (312) through the gear (311). The feeder (313) may share a central axis with the gear (311), and accordingly, the rotational speed of the gear (311) becomes the rotational speed of the feeder (313).

[0075] The feeders (313) are interlocked with each other with a catheter (400) placed between them, and can move the catheter (400) forward or backward depending on the direction of rotation. Since the feeders (313) are interlocked with the catheter (400) and move the catheter (400), the movement distance of the catheter (400) can be derived from the rotational speed of the feeders (313).

[0076] The feeder (313) may be provided with a silicone cover to increase friction and prevent damage to the catheter (400). The silicone cover can increase friction and prevent damage to the catheter (400) when the catheter (400) is engaged with two feeders (313) and moves forward or backward. In the present embodiment, the silicone cover is described as surrounding the feeder (313), but this is only one embodiment, and the silicone cover may also surround the exterior of the catheter (400).

[0077] The tensioner (314) can adjust the distance between two feeders. In the present invention, two gears (311) are meshed, and the catheter (400) moves forward or backward as the feeder (313) located on the upper part of each gear is meshed with the catheter (400). The tensioner (314) can adjust the distance between the two feeders (313) to increase the accuracy of the movement distance of the catheter (400).

[0078] The control module (320) can control the degree and direction of curvature of the catheter (400) by controlling the current applied to one or more electromagnet modules (100). The control module (320) can be controlled through the first operating unit (331). The control module (320) can steer the catheter (400).

[0079] The reaction force sensor (340) can measure the current or reaction force of the motor (312) that applies driving force to the driving module (310). The reaction force sensor (340) can measure the reaction force of the catheter (400) insertion by measuring the current supplied to the motor. In addition, the reaction force sensor (340) can measure the reaction force of the catheter (400) insertion through the torque sensor of the motor.

[0080] The grip-type catheter feeder device (300) may further include a first operating unit (331) and a second operating unit (332).

[0081] FIG. 8 is a drawing illustrating the configuration and function of a first operating unit (331) according to an embodiment of the present invention. Referring to FIG. 8, the first operating unit (331) allows the operator to control the control module (320) and can be operated up, down, left, and right. The first operating unit (331) may be formed in the form of a joystick and can be operated up, down, left, and right by the operator's thumb. The operator can control the magnetic field applied to the electromagnet module (100) installed in the bed-integrated electric field device (200) through the first operating unit (331), thereby manipulating the degree of bending and direction of a catheter (Magnetic Catheter) and a magnetic catheter wire (Magnetic Guide wire) formed of a magnetic material with two degrees of freedom. The operator can move the catheter (400) with 5 degrees of freedom in three-dimensional space using both the first operating unit (331) and the second operating unit (332).

[0082] As shown in Fig. 8, the grip-type catheter feeder device (300) may be equipped with a speed control button and a display. The operator can adjust the movement or steering speed of the catheter (400) via the speed control button. The adjustable speed can be adjusted to 1 mm / s, 5 mm / s, 10 mm / s, etc., and the current speed can be output through the display.

[0083] Fig. 9 is a diagram illustrating the configuration and function of a second operating unit (332) according to an embodiment of the present invention. Referring to Fig. 9, the second operating unit (332) allows the operator to control the drive module (310) and can be operated forward and backward. The second operating unit (332) may be formed in the form of a lever, and the operator may be able to manipulate it forward and backward by hooking the index finger thereon. The catheter (400) can be moved forward and backward with one degree of freedom through the second operating unit (332).

[0084] FIG. 10 illustrates three operation modes of a catheter supply device using a bed-integrated electromagnetic field device and a grip-type catheter feeder device according to an embodiment of the present invention.

[0085] Referring to FIG. 10, the passive catheter procedure (a) is a method in which the practitioner directly holds the grip-type catheter feeder device (300) in his / her hand and controls the catheter (400) to a desired speed and depth by operating the speed control button, the first operating unit (331), and the second operating unit (332). The active catheter procedure (b) is a method in which the grip-type catheter feeder device (300) is fixed to a medical bed and the catheter (400) is controlled by remote control or externally in a preset position and operating method, and the practitioner monitors the values ​​and status while watching the first monitoring unit (600) or the second monitoring unit (700) to perform the procedure. The autonomous catheter procedure (c) is a method in which the operator directly analyzes image data using an autonomous navigation system according to the patient's condition and the purpose of the surgery, derives the optimal operating method, operating trajectory, etc., and automatically performs the procedure under the supervision of a medical professional. The autonomous navigation system employed in autonomous catheterization procedures is equipped with sensors capable of real-time data collection and image analysis capabilities, so that existing procedure data can be used for analysis of future procedures, quality control, and improvement of procedures over time.

[0086] The control unit (500) can control the grip-type catheter feeder device (300) or the bed-integrated electric field device (200) to automatically insert or move the catheter (400) into the body. The control unit (500) can control the grip-type catheter feeder device (300) or the bed-integrated electric field device (200) to insert or move the catheter (400) to a preset insertion depth along a preset movement speed and movement direction of the catheter (400).

[0087] The control unit (500) can determine the current position of the catheter (400) by using the image captured by the camera (450) and the information on the shape and position of the catheter provided by the FBG sensor (430), control the bed-integrated electric field device (200) by using the information provided by the flexible pressure sensor (440) so that the catheter (450) can be steered along the movement path within the human body shown in the image captured by the camera (450), and control the grip-type catheter feeder device (300) so that the catheter (400) can be inserted or moved to a certain depth. The control unit (500) can terminate the control of the grip-type catheter feeder device (300) or the bed-integrated electric field device (200) when a specific landmark is recognized in the image captured by the camera (450) or the catheter (400) is inserted to a certain length.

[0088] Fig. 11 is a flowchart showing a catheter supply method using a bed-integrated electromagnetic field device (200) and a grip-type catheter feeder device (300), which are other embodiments of the present invention. Referring to Fig. 11, the catheter supply method can supply a catheter using a catheter supply device (100) including a bed-integrated electromagnetic field device including one or more electromagnet modules and a support member capable of supporting a patient's body, in which one or more electromagnet modules are disposed inside, and a grip-type catheter feeder device including a drive module for moving a catheter back and forth and a control module for controlling a current applied to one or more electromagnet modules to control the degree and direction of bending of the catheter.

[0089] First, catheter placement can be accomplished by performing patient preparation and sterilization procedures. The patient should lie flat on a bed in an appropriate position, and the site where the catheter will be inserted (e.g., the urethra or blood vessel) should be cleaned and disinfected with an antiseptic solution to minimize the risk of infection. The practitioner can then wear sterile gloves and use a sterile drapery to create a sterile field around the catheter insertion site.

[0090] Next, the catheter delivery method may perform a catheter placement step. The catheter may be placed in the patient's body part where it will be inserted. Subsequently, the catheter delivery method may perform a device attachment step. The catheter may be firmly attached to a catheter holder or clamp.

[0091] Next, the catheter supply method may perform a step of setting parameters including the insertion depth, movement speed, or movement direction of the catheter. The catheter supply method may set the parameters required according to the procedure method.

[0092] Subsequently, the catheter supply method may perform a step of controlling a bed-integrated electric field device so that the catheter can be steered according to set parameters. The catheter supply method may perform a step of controlling the grip-type catheter feeder device so that the catheter can move according to the set parameters. According to the set parameters, the bed-integrated electric field device (200) or the grip-type catheter feeder device (300) is activated, and the catheter begins to move in a specified direction and at a specified speed.

[0093] Next, the catheter feeding method may perform a step of stopping the bed-integrated electric field device and the grip-type catheter feeder device when the catheter reaches a set insertion depth. This step ensures that the catheter does not exceed the predetermined insertion depth, and stops the motor when the catheter is inserted to that depth to prevent further insertion of the catheter.

[0094] Additionally, the catheter delivery method can include a monitoring and feedback step, as well as a completion and removal step. Throughout the insertion process, the patient's condition and the progress of the catheter can be displayed through a monitoring unit. Light, sound, or vibration can be used to indicate the progress and successful completion of the insertion. Furthermore, once the catheter has been inserted to the desired depth, the motor can be stopped and the catheter removed.

[0095] While the present invention has been described in detail through representative examples above, those skilled in the art will understand that various modifications to the above-described embodiments are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined not only by the claims described below but also by all changes or modifications derived from the claims and equivalent concepts.

[0096]

[0097] [Explanation of symbols]

[0098] 100: Electromagnet module 110: First electromagnet

[0099] 111: First support plate 112: Second support plate

[0100] 113: First coil 114: Center

[0101] 115: Connector 120: Second electromagnet

[0102] 121: Upper side 122: Lower side

[0103] 123: Second winding 130: Support

[0104] 200: Bed-integrated electric field device 300: Grip-type catheter feeder device

[0105] 310: Drive module 311: Gear

[0106] 312: Motor 313: Feeder

[0107] 314: Tensioner 320: Control module

[0108] 331: First operating unit 332: Second operating unit

[0109] 340: Force sensor 400: Catheter

[0110] 410: PIR detection sensor 420: 6-axis force sensor

[0111] 430: FBG sensor 440: Flexible pressure sensor

[0112] 450: Camera 500: Control Unit

[0113] 600: 1st Monitoring Unit 700: 2nd Monitoring Unit

[0114] 800: Imaging device 1000: Catheter supply device

[0115] The present invention aims to provide a bed-integrated electromagnetic field device that utilizes a grip-type catheter feeder device equipped with an electromagnet module and a small motor installed on a medical bed to numerically control and accurately insert a catheter inserted into a patient, and a catheter supply device using the grip-type catheter feeder device, and a catheter supply method using the same.

Claims

1. A catheter inserted into the patient's body; A bed-integrated electric field device comprising one or more electromagnet modules and a support member capable of supporting a patient's body, wherein one or more electromagnet modules are disposed therein; and A grip-type catheter feeder device including a driving module for moving the catheter back and forth and a control module for controlling the degree and direction of curvature of the catheter by controlling the current applied to one or more electromagnet modules; Including, The above grip-type catheter feeder device, A catheter supply device characterized by including a first operating unit capable of being operated up, down, left, and right to enable the operator to control the control module, and a second operating unit capable of being operated forward and backward to enable the operator to control the drive module.

2. In paragraph 1, The above catheter is, A catheter supply device characterized by including a PIR detection sensor or a 6-axis force sensor capable of determining proximity to human tissue, an FBG sensor (Fiber Bragg Grating sensor) providing information on the shape and position of a catheter, and a flexible pressure sensor (Flexible sensor) that recognizes bending.

3. In paragraph 2, The above grip-type catheter feeder device, A catheter supply device characterized by including a reaction force sensor that measures the current or reaction force of a motor that applies driving force to the above driving module.

4. In paragraph 3, The above grip-type catheter feeder device, A catheter supply device characterized in that, when a signal indicating that the catheter is approaching human tissue is received from the PIR detection sensor or the 6-axis force sensor, or when a reaction force greater than a certain size is measured from the reaction force sensor, a warning notification is generated by light, sound, or vibration.

5. In paragraph 1, The above drive module is, It comprises two gears that mesh with each other, a motor that rotates the two gears, and two feeders that are positioned above the two gears and rotate together with the two gears. The above two feeders are, A catheter supply device characterized in that the catheters are interlocked with each other and the catheters are moved forward or backward depending on the direction of rotation.

6. In paragraph 5, The above two feeders or the above catheters, A catheter supply device characterized by having a silicone cover for increasing friction and preventing damage to the catheter.

7. In paragraph 5, The above drive module is, A catheter supply device further comprising a tensioner for adjusting the distance between the two feeders.

8. In paragraph 1, Further comprising a control unit that automatically inserts or moves the catheter into the body by controlling a grip-type catheter feeder device or a bed-integrated electric field device; The above control unit, A catheter supply device characterized in that the grip-type catheter feeder device or the bed-integrated electric field device is controlled so that the catheter is inserted or moved to a preset insertion depth along a preset moving speed and moving direction of the catheter.

9. In paragraph 2, Further comprising a control unit that automatically inserts or moves the catheter into the body by controlling a grip-type catheter feeder device or a bed-integrated electric field device; The above catheter is, Including a camera capable of recording video, The above control unit, A catheter supply device characterized in that the current location information of the catheter is determined using the image captured by the camera and the information on the shape and location of the catheter provided by the FBG sensor, the bed-integrated electric field device is controlled using the information provided by the flexible pressure sensor so that the catheter can be steered along the movement path within the human body shown in the image captured by the camera, and the grip-type catheter feeder device is controlled so that the catheter can be inserted or moved to a certain depth.

10. A catheter supply method using a catheter supply device including a bed-integrated electric field device having one or more electromagnet modules and a support capable of supporting a patient's body and one or more electromagnet modules disposed therein, and a grip-type catheter feeder device including a drive module for moving a catheter back and forth and a control module for controlling the degree and direction of bending of the catheter by controlling the current applied to one or more electromagnet modules, A step of setting parameters including the insertion depth, movement speed, or movement direction of the catheter; A step of controlling the bed-integrated electric field device so that the catheter can be steered according to set parameters; A step of controlling the grip-type catheter feeder device so that the catheter can move according to set parameters; and When the catheter reaches the set insertion depth, a step of stopping the bed-integrated electric field device and the grip-type catheter feeder device; A catheter supply method comprising:

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