System for guiding at least one of guidewire and catheter

Abstract

A system (1000) according to an embodiment of the present invention comprises: a housing (100) extending in the longitudinal direction from the front to the rear; a plurality of cassettes (200) through which at least one of one or more catheters (1, 2, 3) and a guidewire (4) passes; a plurality of cassette actuators (300) which are arranged in the housing (100) and are arranged below respective cassettes (200) to drive the respective cassettes (200); and a drape (D) which covers the housing (100), wherein the cassettes (200) are movable in the longitudinal direction of the housing (100) by the actuators (300), the plurality of cassettes (200) are arranged above the drape (D) such that a portion of the drape (D) is fixed between the cassettes (200) and the cassette actuators (300), and at least one metal rod (B) is attached to the drape (D) between adjacent cassette actuators (300).

Description

A system for guiding at least one of a catheter and a guide wire.

[0001] The present invention relates to a system for guiding at least one of a guide wire and a catheter used for minimally invasive interventional procedures.

[0002] A guide wire is used to guide a secondary sheath (e.g., a catheter) along the guide wire to a desired location in the body, e.g., a mammalian body, such as a human body. In one application, the guide wire is introduced into a body lumen, i.e., a blood vessel, through an incision through the patient's skin and lumen wall, and the introduction or distal end of the guide wire is guided therefrom to a desired location in the lumen or a lumen into which the guide wire is introduced or branched therefrom. Alternatively, a catheter is guided along the guide wire.

[0003] To facilitate the control of the distal end of a catheter and guide wire, a robotic system is proposed for stably controlling the movement of the catheter and guide wire. Furthermore, a cassette for use in the robotic system and a cassette actuator for driving the same are also proposed. The cassette guides the catheter and guide wire to the desired position in the body by performing forward, backward, and rotational movements.

[0004] Catheters, guide wires, and cassettes are sterilized prior to use and are not reused for single use to prevent cross-infection between patients undergoing surgery using the guide wires and catheters. However, since the cassette actuator for driving the cassette must be reused, a drape is installed between the cassette actuator and the cassette to prevent blood or other fluids refluxed during surgery from penetrating the cassette actuator or the system. For example, Patent Document 1 discloses that a sterile plastic cover is placed over the motor drive base before connecting the cassette to the motor drive base.

[0005] However, when multiple cassettes are moved by multiple cassette actuators, there was a problem that the drape between adjacent cassette actuators could become crumpled or tangled, which could interfere with the operation of a catheter or guide wire penetrating the cassette.

[0006] [Prior Art Literature]

[0007] [Patent Document]

[0008] (Patent Document 1) US 2017-0274181 A1

[0009] The technical problem to be achieved by the present invention is to provide a system for guiding at least one of a catheter and a guide wire, in which even if a drape installed between a cassette actuator and a cassette is crumpled, the operation of the catheter or guide wire is not hindered.

[0010] A system (1000) according to one embodiment of the present invention is a system for guiding at least one catheter (1, 2, 3) and at least one guide wire (4), comprising: a housing (100) extending in a longitudinal direction (L) from the front to the rear; a plurality of cassettes (200) through which at least one of the at least one catheter (1, 2, 3) and the guide wire (4) passes; a plurality of cassette actuators (300) disposed within the housing (100) and disposed below each cassette (200) to drive each of the cassettes (200); And a drape (D) covering the housing (100), wherein the cassette (200) is movable along the longitudinal direction (L) of the housing (100) by the actuator (300), and the plurality of cassettes (200) are arranged on the drape (D), so that a part of the drape (D) is fixed between the cassette (200) and the cassette actuator (300), and at least one metal rod (B) can be attached to the drape (D) between adjacent cassette actuators (300).

[0011] In one embodiment, the plurality of cassettes (200) include at least one catheter fixing cassette (210) to which the proximal ends of the catheters (1, 2, 3) are coupled; at least one catheter driving cassette (220) that pinches the catheter (1, 2, 3) and moves along the longitudinal direction (L) of the housing (100) to drive the catheter (1, 2, 3) while the catheter (1, 2, 3) is pinched; And a guide wire drive cassette (230) for driving the guide wire (4) by moving along the longitudinal direction (L) of the housing (100) while pinching the guide wire (4) and while pinching the guide wire (4), the plurality of cassette actuators (300) may include at least one catheter fixation cassette actuator (310) for driving the at least one catheter fixation cassette (210); at least one catheter drive cassette actuator (320) for driving the at least one catheter drive cassette (220); and a guide wire drive cassette actuator (330) for driving the guide wire drive cassette (230).

[0012] In one embodiment, a plurality of metal rods (B) may be attached to a drape (D) between the catheter drive cassette actuator (320) and the catheter fixation cassette actuator (310) positioned behind it.

[0013] In one embodiment, a plurality of metal rods (B) may be attached to a drape (D) between the guide wire drive cassette actuator (330) and the catheter fixation cassette actuator (310) positioned immediately in front thereof.

[0014] In one embodiment, the metal rod (B) may be arranged on the drape (D) so as to extend further in the width direction (W) perpendicular to the longitudinal direction (L) of the housing (100).

[0015] In one embodiment, the metal rod (B) can be made of stainless steel.

[0016] In one embodiment, the metal rod (B) can be made of a material having magnetism.

[0017] As shown in FIG. 3, in one embodiment, a drape plate (400) is disposed between the cassette (200) and the drape (D), and the drape plate (400) may include a main plate (410) whose length in the longitudinal direction (L) of the housing (100) is the same as that of the cassette actuator (300), and the drape plate (400) is disposed above the cassette actuator (300) and between the cassette (200) and the cassette actuator (300).

[0018] In one embodiment, a bridge plate (420) is formed integrally with the main plate (410) on one side of the width direction (W) perpendicular to the longitudinal direction (L) of the housing (100) of the main plate (410), and the bridge plate (420) can be formed to extend forward in the longitudinal direction (L) of the housing (100).

[0019] In one embodiment, the bridge plate (420) may have a different height position from the adjacent bridge plate (420', 420") so as not to interfere with the adjacent bridge plate (420', 420"). In other words, even when the bridge plate (420') moves toward the bridge plate (420) or vice versa, the bridge plate (420') may extend over the bridge plate (420). Similarly, even when the bridge plate (420) moves toward the bridge plate (420") or vice versa, the bridge plate (420) may extend over the bridge plate (420").

[0020] In one embodiment, a sensor for detecting buckling of the catheter (2, 3) or guide wire (4) may be mounted at the rear of the cassette (200).

[0021] According to the system of the present invention, even if the drape is crumpled due to movement of the cassette, the crumpled drape cannot reach the catheter or guide wire passing through the cassette, and thus cannot interfere with the operation of the catheter or guide wire.

[0022] FIG. 1 is a perspective view illustrating a system according to one embodiment of the present invention.

[0023] FIG. 2 is a side view illustrating a system according to one embodiment of the present invention.

[0024] FIG. 3 is a perspective view illustrating drape plates of a system according to one embodiment of the present invention.

[0025] Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings.

[0026] Figures 1 and 2 are perspective and side views, respectively, of a system (1000) according to one embodiment of the present invention.

[0027] Referring to FIGS. 1 and 2, a system (1000) for guiding at least one catheter (1, 2, 3) and a guide wire (4) may include a housing (100) extending in a longitudinal direction (L) from anterior to posterior; a plurality of cassettes (200) through which at least one of the at least one catheter (1, 2, 3) and the guide wire (4) passes; a plurality of cassette actuators (300) disposed within the housing (100) and disposed below each cassette (200) to drive each cassette (200); and a drape (D) covering the housing (100), wherein the cassette (200) is movable along the longitudinal direction (L) of the housing (100) by the actuators (300).

[0028] The catheters (1, 2, 3) have a flexible tube-shaped configuration, and the guide wire (4) has a flexible wire-shaped configuration. The catheters (1, 2, 3) and the guide wire (4) are introduced into a blood vessel through an incision in the patient's skin.

[0029] At least one catheter (1, 2, 3) includes a large catheter (1), a medium catheter (2), and a small catheter (3). The diameter of the large catheter (1) is larger than the diameter of the medium catheter (2), the diameter of the medium catheter (2) is larger than the diameter of the small catheter (3), and the diameter of the small catheter (3) is larger than the diameter of the guide wire (4). The medium catheter (2) extends through the interior of the large catheter (1), the small catheter (3) extends through the interior of the medium catheter (2), and the guide wire (4) extends through the interior of the small catheter (3).

[0030] The plurality of cassettes (200) include at least one catheter fixing cassette (210) to which proximal ends of catheters (1, 2, 3) are coupled; at least one catheter drive cassette (220) that pinches the catheter (1, 2, 3) to drive (forwardly move, backwardly move, or rotate) the catheter (1, 2, 3); and a guide wire drive cassette (230) that pinches the guide wire (4) to drive (forwardly move, backwardly move, or rotate) the guide wire (4). Referring to FIG. 1, for example, the plurality of cassettes (200) may include three catheter fixing cassettes (210), two catheter drive cassettes (220), and one guide wire drive cassette (230). A catheter drive cassette (220) or a guide wire drive cassette (230) is placed at the rear of the catheter fixation cassette (210).

[0031] The plurality of cassette actuators (300) include at least one catheter fixation cassette actuator (310) for driving at least one catheter fixation cassette (210); at least one catheter drive cassette actuator (320) for driving at least one catheter drive cassette (220); and a guide wire drive cassette actuator (330) for driving a guide wire drive cassette (230).

[0032] A plurality of cassettes (200) are arranged on the drape (D), and a portion of the drape (D) is fixed between the cassettes (200) and the cassette actuator (300).

[0033] When the cassette (200) moves along the longitudinal direction (L) of the housing (100) by the actuator (300), the drape (D) between adjacent cassette actuators (300) may be crumpled, causing problems such as bending the catheters (2, 3) and guide wires (4), thereby interfering with the driving of the catheters (2, 3) and guide wires (4).

[0034] In order to prevent such a problem, the present invention provides a method in which at least one metal rod (B) is attached to a drape (D) between adjacent cassette actuators (300), so that even if the drape (D) is crumpled, the driving of the catheter (2, 3) and the guide wire (4) is not hindered.

[0035] A catheter fixing cassette actuator (310) may be placed in front and behind the catheter driving cassette actuator (320), respectively.

[0036] In order to prevent the catheter (2, 3) from buckling, the distance between the catheter drive cassette actuator (320) and the catheter fixing cassette actuator (310) positioned in front thereof may be shorter than the distance between the catheter drive cassette actuator (320) and the catheter fixing cassette actuator (310) positioned behind it. As a result, the drape (D) between the catheter drive cassette actuator (320) and the catheter fixing cassette actuator (310) positioned behind it is more likely to be buckled and interfere with the driving of the catheter (2, 3). Therefore, it is preferable that a plurality of metal rods (B) are attached to the drape (D) between the catheter drive cassette actuator (320) and the catheter fixing cassette actuator (310) positioned behind it. Referring to FIG. 1, for example, two or three metal rods (B) may be attached to the drape (D) between the catheter drive cassette actuator (320) and the catheter fixing cassette actuator (310) positioned behind it.

[0037] A catheter fixation cassette actuator (310) may be positioned in front of the guide wire drive cassette actuator (330). Similarly, it is preferable that a plurality of metal rods (B) be attached to the drape (D) between the guide wire drive cassette actuator (330) and the catheter fixation cassette actuator (310) positioned in front thereof. Referring to FIG. 1, for example, three metal rods (B) may be attached to the drape (D) between the guide wire drive cassette actuator (330) and the catheter fixation cassette actuator (310) positioned in front thereof.

[0038] The metal rod (B) can be arranged on the drape (D) in a width direction (W) perpendicular to the length direction (L) of the housing (100) so as to be easily moved in the length direction (L) of the housing (100). Here, the length of the metal rod (B) in the width direction (W) is substantially longer than the length of the metal rod (B) in the length direction (L) of the housing (100).

[0039] Preferably, the gap between the plurality of metal rods (B) is less than twice the height from the surface of the housing (100) to the opening of the catheter fixing cassette (210), the catheter drive cassette (220) and the guide wire drive cassette (230) through which the catheter (2, 3) or the guide wire (4) extends. As a result, even if the drape (D) is crumpled, it is difficult for the drape (D) to touch the catheter (2, 3) or the guide wire (4).

[0040] The metal rod (B) may be made of a corrosion-resistant material to avoid exposure to blood, drugs, etc. Preferably, the metal rod (B) may be made of stainless steel. Alternatively, the metal rod (B) may be made of a magnetic material and may be magnetically coupled to the housing (100).

[0041] A drape plate (400) may be placed between the cassette (200) and the drape (D). The drape plate (400) may include a main plate (410) whose length in the longitudinal direction (L) of the housing (100) is the same as that of the cassette actuator (300). Therefore, the movement distance of the cassette (200) is not reduced by the drape plate (400), while the drape (D) may not be wrinkled at least by the length of the main plate (410). Accordingly, the problem of the driving of the catheter (2, 3) or the guide wire (4) passing through the cassette (200) placed above the cassette actuator (300) being hindered by the drape (D) can be prevented.

[0042] Referring to FIG. 3, the drape plate (400) may additionally include a bridge plate (420). The bridge plate (420) may be formed integrally with the main plate (410) on one side in the width direction (W) perpendicular to the length direction (L) of the housing (100) of the main plate (410). The bridge plate (420) may be formed to extend forward in the length direction (L) of the housing (100). Therefore, even if the drape (D) near one side in the width direction (W) of the cassette actuator (300) is crumpled, the drape (D) can be prevented from rising above the height of the bridge plate (420), thereby preventing the problem of the drape (D) interfering with the driving of the catheter (2, 3) or the guide wire (4).

[0043] The bridge plate (420) may have a different height position from the adjacent bridge plates (420', 420") so as not to interfere with the adjacent bridge plates (420', 420").

[0044] A sensor that detects buckling of the catheter (2, 3) or guide wire (4) may be mounted at the rear of the cassette (200). When buckling of the catheter (2, 3) or guide wire (4) is detected by the sensor mounted at the rear of the cassette (200), the operation of the cassette (200) can be stopped, thereby preventing the crumpled drape (D) from rising any further.

[0045] The present invention is not limited to the above-described embodiments and the attached drawings, and various substitutions, modifications, and changes may be made by those skilled in the art within the scope of the technical idea of ​​the present invention described in the claims, and this also falls within the scope of the present invention.

[0046] [Explanation of symbols]

[0047] 1, 2, 3: Catheter

[0048] 4: Guide wire

[0049] 100: Housing

[0050] 200: Cassette

[0051] 210: Catheter fixation cassette

[0052] 220: Catheter drive cassette

[0053] 230: Guide wire drive cassette

[0054] 300: Cassette Actuator

[0055] 310: Catheter fixation cassette actuator

[0056] 320: Catheter-driven cassette actuator

[0057] 330: Guide wire driven cassette actuator

[0058] 400: Drape Plate

[0059] 410: Main plate

[0060] 420, 420', 420": Bridge Plate

[0061] 1000: System

[0062] D: Drape

[0063] B: Metal rod

[0064] L: length direction

[0065] W: width direction

Claims

A system (1000) for guiding at least one catheter (1, 2, 3) and at least one guide wire (4), The above system (1000) is, A housing (100) extending longitudinally (L) from the front to the rear; A plurality of cassettes (200) through which at least one of the above catheters (1, 2, 3) and at least one of the above guide wires (4) pass; A plurality of cassette actuators (300) arranged within the housing (100) and arranged below each cassette (200) to drive each cassette (200); and Drape (D) covering the above housing (100) Including, A system (1000), characterized in that the cassette (200) is movable along the longitudinal direction (L) of the housing (100) by the actuator (300), the plurality of cassettes (200) are arranged on the drape (D), a part of the drape (D) is fixed between the cassette (200) and the cassette actuator (300), and at least one metal rod (B) is attached to the drape (D) between adjacent cassette actuators (300). In the first paragraph, The above plurality of cassettes (200) are, At least one catheter fixation cassette (210) to which the proximal end of the above catheter (1, 2, 3) is connected; At least one catheter driving cassette (220) for driving the catheter (1, 2, 3) by pinching the catheter (1, 2, 3); and A guide wire drive cassette (230) that drives the guide wire (4) by pinching the guide wire (4). Including, The above plurality of cassette actuators (300) are, At least one catheter securing cassette actuator (310) for driving at least one catheter securing cassette (210); At least one catheter drive cassette actuator (320) for driving at least one catheter drive cassette (220); and A guide wire drive cassette actuator (330) that drives the above guide wire drive cassette (230) A system (1000), characterized by including: In the second paragraph, A system (1000) characterized in that a plurality of metal rods (B) are attached to a drape (D) between a catheter drive cassette actuator (320) and a catheter fixation cassette actuator (310) positioned behind it. In the second or third paragraph, A system (1000), characterized in that a plurality of metal rods (B) are attached to a drape (D) between the guide wire drive cassette actuator (330) and the catheter fixation cassette actuator (310) positioned in front thereof. In any one of claims 1 to 3, A system (1000), characterized in that the metal rod (B) is arranged on the drape (D) so as to extend further in the width direction (W) perpendicular to the longitudinal direction (L) of the housing (100). In any one of claims 1 to 3, A system (1000), characterized in that the above metal rod (B) is made of stainless steel. In the first paragraph, A system (1000) characterized in that a drape plate (400) is arranged between the cassette (200) and the drape (D), and the drape plate (400) includes a main plate (410) whose length in the longitudinal direction (L) of the housing (100) is the same as that of the cassette actuator (300). In paragraph 7, A system in which a bridge plate (420) is formed integrally with the main plate (410) on one side of the width direction (W) perpendicular to the longitudinal direction (L) of the housing (100) of the main plate (410), and the bridge plate (420) is formed to extend forward in the longitudinal direction (L) of the housing (100). In paragraph 8, A system characterized in that the bridge plate (420) has a different height position from the adjacent bridge plate (420', 420") so as not to interfere with the adjacent bridge plate (420', 420"). In the first paragraph, A system characterized in that a sensor for detecting buckling of the catheter (2, 3) or the guide wire (4) is mounted at the rear of the cassette (200).

Images