Surgical tool control device and surgical tool control method using same

Abstract

A surgical tool control device for controlling a surgical tool, according to one embodiment, comprises: a roller assembly including a plurality of roller modules; a driving assembly for transmitting rotational power to the roller assembly; a channel guide including a plurality of main channels with open upper sides in order to guide the path of a surgical tool; and a cover connected to the upper side of the channel guide, wherein the cover can include: a cover plate for covering the channel guide at the upper side thereof; and a plurality of insertion valleys which protrude downward from the cover plate so as to be respectively inserted into the plurality of main channels, and of which the upper sides are recessed so that a plurality of auxiliary channels are formed thereon.

Description

Treatment tool control device and treatment tool control method using the same

[0001] The following embodiments relate to a treatment tool control device and a treatment tool control method using the same.

[0002] Conventional Percutaneous Coronary Intervention (PCI) procedures expose practitioners to the risk of continuous radiation exposure. Training skilled surgeons to a level capable of performing the procedure reliably requires significant time and resources. Furthermore, the disparity in the quality of procedures across practitioners, regions, and hospitals hinders 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 based on 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 capable of independently controlling a plurality of treatment tools and a treatment tool control method using the same.

[0005] The purpose of one embodiment is to provide a treatment tool control device capable of controlling one treatment tool and another treatment tool respectively while another treatment tool is inserted into the one treatment tool, and a treatment tool control method using the same.

[0006] In one embodiment, a surgical tool control device for controlling a surgical tool may include: a roller assembly including a plurality of roller modules; a drive assembly for transmitting rotational power to the roller assembly; a channel guide including a plurality of main channels having an open upper side to guide a path of the surgical tool; and a cover connected to an upper side of the channel guide, wherein the cover includes a cover plate covering the channel guide from an upper side; and a plurality of insertion valleys that protrude downward from the cover plate and are inserted into each of the plurality of main channels, and are formed by having an upper side that is recessed so that a plurality of auxiliary channels are formed on an upper side.

[0007] In one embodiment, each of the plurality of insertion valleys can close an open upper side of each of the plurality of main channels.

[0008] In one embodiment, the cover may further include a plurality of spacing ribs filling a lower portion of each of the plurality of insertion valleys such that each of the plurality of auxiliary channels is spaced a specified height above each of the plurality of main channels.

[0009] In one embodiment, the channel guide may include a cutout that opens at least a portion of a side of each of the plurality of main channels to allow a surgical tool accommodated in each of the plurality of main channels to contact a corresponding roller module.

[0010] In one embodiment, the cover may further include a cover cutout that opens at least a portion of a side of each of the plurality of auxiliary channels to allow a surgical tool accommodated in each of the plurality of auxiliary channels to contact a corresponding roller module.

[0011] In one embodiment, the cover may further include a plurality of slits formed by cutting the cover plate so as to extend in the longitudinal direction of each of the plurality of auxiliary channels at a distal portion of each of the plurality of auxiliary channels.

[0012] In one embodiment, the channel guide may include a plurality of grooves formed by being sunken at positions corresponding to the plurality of slits.

[0013] In one embodiment, the cover may further include a plurality of protrusions protruding inward from each side of each of the plurality of auxiliary channels to prevent dislodgement of a surgical tool accommodated in each of the plurality of auxiliary channels.

[0014] In one embodiment, the plurality of protrusions may be formed alternately along the length direction of each of the plurality of auxiliary channels.

[0015] In one embodiment, the cover may include a treatment tool hook positioned proximal to each of the plurality of auxiliary channels and for securing a treatment tool head.

[0016] In one embodiment, a method for controlling a treatment tool using a treatment tool control device according to claim 1 may include the steps of: positioning a first treatment tool in a first main channel among the plurality of main channels; inserting a second treatment tool along the first treatment tool; bending proximal ends of the first treatment tool and the second treatment tool in a distal direction; and positioning the first treatment tool in a first auxiliary channel among the plurality of auxiliary channels.

[0017] In one embodiment, the first auxiliary channel may be a channel that does not correspond to the first main channel.

[0018] In one embodiment, the method for controlling the surgical tool may further include a step of securing a proximal end of the second surgical tool to a surgical tool hook positioned proximal to the first auxiliary channel.

[0019] In one embodiment, the rotational direction of a roller module corresponding to the first main channel among the plurality of roller modules for moving the first treatment tool in the first direction may be opposite to the rotational direction of a roller module corresponding to the first auxiliary channel among the plurality of roller modules for moving the second treatment tool in the first direction.

[0020] A treatment tool control device and a treatment tool control method using the same according to one embodiment can independently control a plurality of treatment tools.

[0021] A treatment tool control device according to one embodiment and a treatment tool control method using the same can control one treatment tool and another treatment tool respectively while another treatment tool is inserted into one treatment tool.

[0022] FIG. 1 is a front perspective view of a surgical tool control device according to one embodiment.

[0023] FIG. 2 is a rear perspective view of a surgical tool control device according to one embodiment.

[0024] FIG. 3 is an exploded perspective view of a drive assembly, a drape plate, a roller assembly, a channel guide, and a cover according to one embodiment.

[0025] Figure 4 is a perspective view of a surgical tool guide according to one embodiment.

[0026] Figure 5 is a plan view of a channel guide according to one embodiment.

[0027] Figure 6 is a top perspective view of a cover according to one embodiment.

[0028] Figure 7 is a perspective view of the bottom of a cover according to one embodiment.

[0029] FIGS. 8 to 12 are diagrams illustrating the use state of a treatment tool guide according to one embodiment, and illustrate a process of controlling a treatment tool using a treatment tool control device.

[0030] Fig. 13 is a cross-sectional view of a surgical tool guide according to one embodiment, showing a cross-section obtained in direction A of Fig. 12.

[0031] Fig. 14 is a cross-sectional view of a surgical tool guide according to one embodiment, showing a cross-section obtained in direction B in Fig. 12.

[0032] FIG. 15 is a cross-sectional view of a surgical tool guide including a protrusion according to one embodiment.

[0033] 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.

[0034] The terms used in the examples are for the purpose of description only and should not be construed as limiting. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, the terms "comprises" or "has" and the like 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 possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039]

[0040] FIG. 1 is a front perspective view of a surgical tool control device according to one embodiment. FIG. 2 is a rear perspective view of a surgical tool control device according to one embodiment. FIG. 3 is an exploded perspective view of a drive assembly, a drape plate, a roller assembly, a channel guide, and a cover according to one embodiment.

[0041] In describing the surgical tool control device (100) below, it can be understood that the upper side means the +Z direction side, the lower side means the -Z direction side, the proximal side means the -X direction side, and the distal side means the +X direction side (see FIG. 3).

[0042] Referring to FIGS. 1 to 3, the surgical tool control device (100) may be configured to control various surgical tools. For example, the surgical tool control device (100) may be a robotic system for vascular intervention. The surgical tool may be a longitudinal surgical tool. For example, the surgical tool may include various surgical tools such as a guide catheter, a balloon catheter, or a microcatheter. For example, the surgical tool control device (100) may move the surgical tool forward and backward in the longitudinal direction, or rotate the surgical tool with respect to the longitudinal direction.

[0043] A treatment tool control device (100) according to one embodiment may include a housing (1), a drive assembly (2), a drape plate (3), a roller assembly (4), a treatment tool guide (5), a guide catheter drive device (6), and a connection assembly (7).

[0044] In one embodiment, the housing (1) may form the housing (1) of the surgical tool control device (100). A drive assembly (2), a drape plate (3), a roller assembly (4), and a surgical tool guide (5) may be sequentially connected to an upper side of the housing (1) (e.g., a +Z direction side in FIG. 3). The roller assembly (4) may include a plurality of roller modules (41). For example, the roller assembly (4) may include a first roller module (41a), a second roller module (42b), a third roller module, and a fourth roller module (41d). The surgical tool may be held between the roller modules (41) of the roller assembly (4). The surgical tool may be moved forward and backward in the longitudinal direction by the rotation of the roller modules (41), and may be rotated in the longitudinal direction by the relative sliding of the roller modules (41). The roller assembly (4) may control the surgical tool by receiving rotational power from the drive assembly (2). A drape plate (3) may be positioned between the drive assembly (2) and the roller assembly (4). The drape plate (3) may be a portion for mounting a disposable sterile drape. When the drape plate (3) is positioned between the drive assembly (2) and the roller assembly (4), the drape plate (3) may be fixed on the drive assembly (2) by a locking lever positioned on the drive assembly (2). The surgical tool guide (5) may guide a path of a surgical tool controlled by the roller assembly (4). The surgical tool guide (5) may have a channel formed therein that may guide the path of the surgical tool. For example, the channel guide (51) of the surgical tool guide (5) may include a main channel (e.g., 512 in FIG. 5). For example, the cover (52) of the surgical tool guide (5) may include an auxiliary channel (e.g., 523 in FIG. 6). By opening the side of the main channel (512), the surgical tool accommodated in the main channel (512) can come into contact with the roller module (41) of the roller assembly (4).By opening the side of the auxiliary channel (523), the surgical tool accommodated in the auxiliary channel (523) can come into contact with the roller module (41) of the roller assembly (4). The cover (52) can prevent the surgical tool accommodated in the channel guide (51) from coming off. Although the cover (52) is illustrated as being separate from the channel guide (51) in FIG. 3, it is also possible for the cover (52) to rotate with respect to the channel guide (51) while one side of the cover (52) is connected to the channel guide (51) (e.g., see FIG. 8). The guide catheter drive device (6) can be configured to grip and / or control the guide catheter. The guide catheter drive device (6) can be positioned distal to the roller assembly (4) (e.g., in the +X direction in FIG. 3). The guide catheter drive device (6) can be translated with respect to the housing (1) along the longitudinal direction of the rail (72).

[0045] In one embodiment, the drape plate (3), the roller assembly (4), and / or the surgical tool guide (5) may be sealed and packaged after sterilization and provided as disposable items. The drape plate (3), the roller assembly (4), and / or the surgical tool guide (5) may be opened on-site for each procedure, connected to the surgical tool control device (100), and then removed from the surgical tool control device (100) and disposed of after the procedure is completed.

[0046] Referring to FIG. 2, a connecting assembly (7) may be connected to one side of a housing (1). The connecting assembly (7) according to one embodiment may include a rail (72) and a connecting member (71) movably connected to the rail (72). The rail (72) may be formed to have a longitudinal direction on one side of the housing (1) of the surgical tool control device (100). The surgical tool control device (100) may be connected to a robot arm (not shown) via the connecting member (71). As the connecting member (71) moves along the rail (72), the surgical tool control device (100) may be translationally movable along the longitudinal direction of the rail (72) with respect to the robot arm.

[0047]

[0048] Figure 4 is a perspective view of a surgical tool guide according to one embodiment.

[0049] Referring to FIGS. 3 and 4, a surgical tool guide (5) according to one embodiment may include a channel guide (51), a cover (52), and a hinge structure (53). The hinge structure (53) may be a portion that connects the channel guide (51) and the cover (52). The cover (52) may be moved between a state in which the cover covers the channel guide (51) by the hinge structure (53) (e.g., see FIG. 9) and a state in which the cover is separated from the channel guide (51) (e.g., see FIG. 8). For example, the hinge structure (53) may connect the cover (52) and the channel guide (51) such that the cover (52) can translate (e.g., move in the Z-axis direction) and / or rotate relative to the channel guide (51).

[0050]

[0051] Fig. 5 is a plan view of a channel guide according to one embodiment. Fig. 6 is a top perspective view of a cover according to one embodiment. Fig. 7 is a bottom perspective view of a cover according to one embodiment.

[0052] Hereinafter, the channel guide (51) and cover (52) will be described with reference to FIGS. 3 to 7.

[0053] A channel guide (51) according to one embodiment may include a guide body (511), a main channel (512), a cutout (not shown), a groove (513), a Y-connector receiving assembly (514), a valve opening assembly (515), an insertion groove (516), and a magnet (517). In one embodiment, the channel guide (51) may receive a surgical tool. The channel guide (51) may guide a path of the received surgical tool. For example, the surgical tool received in the channel guide (51) may move forward and backward along the longitudinal direction of the surgical tool. For example, the surgical tool received in the channel guide (51) may rotate with respect to the longitudinal direction of the surgical tool.

[0054] In one embodiment, the guide body (511) may be formed in the form of a housing with an open lower side (e.g., a -Z direction side). The guide body (511) may be a portion to which components of the channel guide (51) are connected. The surgical tool guide (5) may be connected to the roller assembly (4) such that the open lower side (e.g., a -Z direction side) of the guide body (511) covers the upper side (e.g., a +Z direction side) of the roller assembly (4).

[0055] In one embodiment, a main channel (512) may be formed at a position corresponding to the roller assembly (4) on the upper side (e.g., on the +Z direction side) of the guide body (511). The main channel (512) may be a space for accommodating a surgical tool. A plurality of main channels (512) may be formed. For example, the channel guide (51) may include a first main channel (512a), a second main channel (512b), and a third main channel (512c). The main channel (512) may have an upper side (e.g., on the +Z direction side) open to accommodate a surgical tool. At least a portion of the side of the main channel (512) may be opened by a cutout (not shown). The surgical tool accommodated in the main channel (512) may come into contact with the roller module (41) of the roller assembly (4) through the open side. At this time, the roller module (41) that comes into contact with the treatment tool accommodated in the main channel (512) may be referred to as the corresponding roller module (41). For example, the treatment tool accommodated in the first main channel (512a) may correspond to the first roller module (41a) and the second roller module (41b). For example, the treatment tool accommodated in the second main channel (512b) may correspond to the second roller module (41b) and the third roller module (41c). For example, the treatment tool accommodated in the third main channel (512c) may correspond to the third roller module (41c) and the fourth roller module (41d). The treatment tool accommodated in the main channel (512) may be moved forward and backward along the main channel (512) by the rotation of the roller module (41) while in contact with the corresponding roller module (41). The treatment tool accommodated in the main channel (512) can be rotated in the longitudinal direction of the treatment tool within the main channel (512) by relative sliding of the roller module (41) while in contact with the corresponding roller module (41).

[0056] In one embodiment, a groove (513) having a longitudinal direction may be formed in the distal direction (e.g., +X direction) of the guide body (511). As described below, the groove (513) may be formed by being sunken at a position corresponding to a slit (527) of the cover (52).

[0057] In one embodiment, the Y connector receiving assembly (514) can be configured to receive and / or hold a Y connector (C). The Y connector (C) can be configured to collect at least one surgical tool and guide the path of the at least one surgical tool. The Y connector (C) can be connected to the Y connector receiving assembly (514) for each procedure. For example, during a procedure, the Y connector (C) can be held by the Y connector receiving assembly (514), and when the procedure is finished, the Y connector (C) can be removed from the Y connector receiving assembly (514). In one embodiment, the Y connector receiving assembly (514) can be connected to an upper side (e.g., +Z direction side) of the guide body (511) so that a surgical tool received in the main channel (512) can pass through the Y connector (C), and can be positioned distal (e.g., +X direction side) from the main channel (512). The surgical tool can pass through the proximal end (e.g., -X direction end) of the Y connector (C) accommodated in the Y connector accommodation assembly (514) and then exit through the distal end (e.g., +X direction end) of the Y connector (C).

[0058] In one embodiment, the valve opening assembly (515) may be configured to open a valve of the Y connector (C) while the Y connector (C) is accommodated in the Y connector receiving assembly (514). The valve opening assembly (515) may be positioned between the main channel (512) and the Y connector receiving assembly (514) to open a valve of the Y connector (C). For example, the valve opening assembly (515) may be positioned distal (e.g., toward the +X direction) relative to the main channel (512), and the valve opening assembly (515) may be positioned proximal (e.g., toward the -X direction) relative to the Y connector receiving assembly (514). However, this is exemplary, and the Y connector receiving assembly (514) and / or the valve opening assembly (515) may also be formed as a separate component from the surgical tool guide (5).

[0059] In one embodiment, an insertion groove (516) may be formed on the upper side (e.g., the +Z direction side) of the guide body (511). The insertion groove (516) may be formed by being sunken into the guide body (511). The insertion groove (516) may be formed to have a longitudinal direction (e.g., the Z-axis direction). A first elastic member (not shown) may be positioned in the insertion groove (516) along the longitudinal direction of the insertion groove (516). The insertion groove (516) may be a portion into which an insertion protrusion (529) of the cover (52) is inserted when the cover (52) covers the channel guide (51). The first elastic member positioned in the insertion groove (516) may generate an elastic force that presses the insertion protrusion (529) in an upward direction (e.g., the +Z direction) when the insertion protrusion (529) is inserted into the insertion groove (516).

[0060] In one embodiment, when the insertion protrusion (529) of the cover (52) is inserted into the insertion groove (516) of the channel guide (51), the magnet (517) can generate a magnetic force to maintain the cover (52) covering the channel guide (51). When the cover (52) covers the channel guide (51), the downward magnetic force (e.g., -Z direction) applied by the magnet (517) to the cover (52) may be greater than the upward elastic force (e.g., +Z direction) applied by the first elastic member (not shown) to the cover (52). At this time, when an upward external force (e.g., +Z direction) is applied to the cover (52), the coupled state of the channel guide (51) and the cover (52) can be released. For example, as described below, an upward external force (e.g., +Z direction) may be applied to the cover (52) by the separation lever (530).

[0061] A cover (52) according to one embodiment may include a cover plate (521), an insertion valley (522), an auxiliary channel (523), a cover cutout (524), a separation jaw (525), a slit (527), a surgical tool hook (528), an insertion protrusion (529), and a separation lever (530).

[0062] In one embodiment, the cover (52) may be connected to the upper side (e.g., the +Z direction side) of the channel guide (51). The cover (52) may be a part to prevent the surgical tool accommodated in the main channel (512) of the channel guide (51) from being dislodged.

[0063] In one embodiment, the cover plate (521) may be configured to cover the channel guide (51) from the upper side (e.g., the +Z direction side). The cover plate (521) may be a portion to which a component of the cover (52) is connected. The cover plate (521) may be connected to the channel guide (51) by a hinge structure (53) so as to be translationally movable (e.g., movable in the Z direction) and / or rotatable.

[0064] In one embodiment, the insertion valley (522) may be formed to protrude downward (e.g., toward the -Z direction) from the cover plate (521). When the cover (52) covers the channel guide (51) from the upper side (e.g., toward the +Z direction), the insertion valley (522) may be inserted into the main channel (512). For example, the insertion valley (522) may close the open upper side (e.g., toward the +Z direction) of the main channel (512) (e.g., see FIG. 13). When the main channel (512) is formed in multiple pieces, the insertion valley (522) may be formed in multiple pieces. In FIG. 7, the insertion valley (522) is illustrated as being formed integrally with the cover plate (521), but it may also be possible for the insertion valley (522) and the cover plate (521) to be formed as separate parts.

[0065] In one embodiment, an auxiliary channel (523) may be formed on the upper side (e.g., on the +Z direction side) of the insertion valley (522) to accommodate a surgical tool. For example, the upper side (e.g., on the +Z direction side) of the insertion valley (522) may be sunken so that the auxiliary channel (523) is formed on the upper side (e.g., on the +Z direction side) of the insertion valley (522). The auxiliary channels (523) may be formed in multiple numbers. For example, the cover (52) may include a first auxiliary channel (523a) and a second auxiliary channel (523b). The auxiliary channel (523) may be opened on the upper side (e.g., on the +Z direction side) to accommodate a surgical tool. At least a portion of the side of the auxiliary channel (523) may be opened by a cover cutout (524). The surgical tool accommodated in the auxiliary channel (523) may come into contact with the roller module (41) of the roller assembly (4) through the open side. At this time, the roller module (41) that comes into contact with the treatment tool accommodated in the auxiliary channel (523) may be referred to as the corresponding roller module (41). For example, the treatment tool accommodated in the first auxiliary channel (523a) may correspond to the third roller module (41c) and the fourth roller module (41d). For example, the treatment tool accommodated in the second auxiliary channel (523b) may correspond to the first roller module (41a) and the second roller module (41b). The treatment tool accommodated in the auxiliary channel (523) may be moved forward and backward along the auxiliary channel (523) by the rotation of the roller module (41) while in contact with the corresponding roller module (41). The treatment tool accommodated in the auxiliary channel (523) may be rotated in the longitudinal direction of the treatment tool within the auxiliary channel (523) by the relative sliding of the roller module (41) while in contact with the corresponding roller module (41).

[0066] In one embodiment, the spacing step (525) may fill the lower portion of the insertion valley (522). For example, the spacing step (525) may be formed to protrude upward (e.g., toward the +Z direction) from the inner lower portion of the insertion valley (522). The spacing step (525) may be a portion for spacing the auxiliary channel (523) apart from the main channel (512) by a specified height (e.g., see FIG. 14). For example, a surgical tool accommodated in the auxiliary channel (523) may be spaced upward (e.g., toward the +Z direction) by a specified height compared to a surgical tool accommodated in the main channel (512). A plurality of spacing steps (525) may be formed within the insertion valley (522).

[0067] In one embodiment, the cover plate (521) may be cut at a distal portion (e.g., a +X direction portion) of the cover plate (521) to form a slit (527). The slit (527) may be formed to extend in the longitudinal direction of the auxiliary channel (523) at the distal portion (e.g., a +X direction portion) of the auxiliary channel (523). That is, when viewed from above (e.g., a +Z direction side), the slit (527) may be formed to be positioned on an extension line of the auxiliary channel (523). A surgical tool accommodated in the auxiliary channel (523) may exit out of the surgical tool guide (5) through the slit (527). The slit (527) formed in the cover (52) may correspond to a groove (513) formed in the channel guide (51). In other words, when the cover (52) and the channel guide (51) are combined, the slit (527) and the groove (513) can be connected.

[0068] In one embodiment, a treatment tool hook (528) may be positioned in the proximal direction (e.g., -X direction) of the cover plate (521). The treatment tool hook (528) may be connected to one side of the cover plate (521), for example, a proximal end (e.g., -X direction end). The treatment tool hook (528) may be a portion for fixing a treatment tool head (not shown) accommodated in an auxiliary channel (523). For example, the treatment tool hook (528) may fix a treatment tool head (e.g., a microcatheter) while the treatment tool is accommodated in the auxiliary channel (523).

[0069] In one embodiment, the insertion protrusion (529) may be formed to protrude downwardly (e.g., in the -Z direction) from the cover plate (521). The insertion protrusion (529) may be a portion to be inserted into the insertion groove (516) of the channel guide (51). When the cover (52) covers the channel guide (51), the insertion protrusion (529) may be inserted into the insertion groove (516). While the cover (52) is translated relative to the channel guide (51), the insertion protrusion (529) may be inserted into or withdrawn from the insertion groove (516). The number, shape, and / or arrangement of the insertion protrusions (529) may not be limited to those illustrated in FIG. 6. For example, the cover (52) may include only two insertion protrusions (529). For example, the insertion protrusion (529) may be formed to extend along the edge of the cover plate (521).

[0070] In one embodiment, the separation lever (530) may have a structure for separating the cover (52) from the channel guide (51) when the cover (52) covers the channel guide (51). For example, the separation lever (530) may have a lever structure. When the cover (52) covers the channel guide (51), the user can easily separate the cover (52) from the channel guide (51) by pulling the separation lever (530) upward (e.g., toward the +Z direction) to apply an upward external force (e.g., toward the +Z direction) to the cover (52).

[0071]

[0072] FIGS. 8 to 12 are diagrams illustrating a state of use of a surgical tool guide according to an embodiment, and illustrate a process of controlling a surgical tool using a surgical tool control device. FIG. 13 is a cross-sectional view of a surgical tool guide according to an embodiment, illustrating a cross-section taken in direction A of FIG. 12. FIG. 14 is a cross-sectional view of a surgical tool guide according to an embodiment, and illustrates a cross-section taken in direction B of FIG. 12.

[0073] A method of controlling a treatment tool using a treatment tool control device (100) will be described with reference to FIGS. 8 to 14.

[0074] In one embodiment, a first treatment tool (T1) may be positioned in a main channel (512) of the channel guide (51) while the cover (52) is separated from the channel guide (51) (e.g., see FIG. 8). For example, the first treatment tool (T1) may be positioned in the first main channel (512a). Although FIG. 8 illustrates that the treatment tool is accommodated only in the first main channel (512a), this is exemplary, and it is also possible for a separate treatment tool to be accommodated in a main channel (512) other than the first main channel (512a). After the first treatment tool (T1) is accommodated in the first main channel (512a), the cover (52) may cover the channel guide (51). For example, the first treatment tool (T1) may be a guide wire. For example, the second treatment tool (T2) may be a microcatheter. However, this is an example, and the types of the first treatment tool (T1) and the second treatment tool (T2) are not limited thereto.

[0075] In one embodiment, a first treatment tool (T1) accommodated in a first main channel (512a) can be controlled while the cover (52) covers the channel guide (51) (e.g., see FIG. 9). For example, the first treatment tool (T1) can be moved forward and backward along the longitudinal direction by the rotation of the corresponding roller module (e.g., 41a and / or 41b of FIG. 3). For example, the first treatment tool (T1) can be rotated in the longitudinal direction by the relative sliding of the corresponding roller module (e.g., 41a and / or 41b of FIG. 3).

[0076] In one embodiment, a second treatment tool (T2) may be inserted along a first treatment tool (T1) (e.g., see FIG. 10). For example, as shown in FIG. 10, the second treatment tool (T2) may be inserted along the first treatment tool (T1) such that the second treatment tool (T2) surrounds the first treatment tool (T1). However, this is exemplary, and if a lumen is formed in the first treatment tool (T1), the second treatment tool (T2) may also be inserted into the interior of the first treatment tool (T1). A treatment tool head (not shown) may be positioned at a proximal end (e.g., an end in the -X direction) of the first treatment tool (T1) and / or the second treatment tool (T2). The second treatment tool (T2) inserted along the first treatment tool (T1) may be moved forward and backward along the longitudinal direction of the first treatment tool (T1). For example, the second treatment tool (T2) can reach the target point by advancing along the longitudinal direction of the first treatment tool (T1). Hereinafter, a treatment tool control method will be described based on a state in which the second treatment tool (T2) is inserted so as to surround the first treatment tool (T1), as illustrated in the drawing.

[0077] In one embodiment, the proximal ends (e.g., -X-direction ends) of the first treatment tool (T1) and the second treatment tool (T2) can be bent in the distal direction (e.g., +X-direction) (e.g., see FIG. 11). For example, the user can bend the proximal ends (e.g., -X-direction ends) of the first treatment tool (T1) and the second treatment tool (T2) in the distal direction (e.g., +X-direction).

[0078] In one embodiment, a first treatment tool (T1) may be positioned in an auxiliary channel (523) of a cover (52) (e.g., see FIG. 12). For example, the first treatment tool (T1) may be positioned in a first auxiliary channel (523a). A proximal end of a second treatment tool (T2) may be secured to a treatment tool hook (528) positioned in a proximal direction (e.g., in the -X direction) of the first auxiliary channel. The first treatment tool (T1) may pass through a groove (e.g., 513 of FIG. 5) and a slit (e.g., 527 of FIG. 6) positioned in a distal direction (e.g., in the +X direction) of the treatment tool guide (5). According to this structure, since the second treatment tool (T2) passes through the slit (527) of the cover (52) and the groove (513) of the channel guide (51), the first treatment tool (T1) accommodated in the auxiliary channel (523) can be positioned higher (e.g., in the +Z direction) than the second treatment tool (T2) accommodated in the main channel (512). Accordingly, the path of the second treatment tool (T2) may not interfere with the path of the first treatment tool (T1).

[0079] In one embodiment, when a second treatment tool (T2) is accommodated in a first main channel (512a) and a first treatment tool (T1) is accommodated in a first auxiliary channel (523a), the first treatment tool (T1) and the second treatment tool (T2) can be controlled, respectively. The second treatment tool (T2) accommodated in the first main channel (512a) can be controlled to move forward and backward and / or rotate by a corresponding roller module (e.g., 41a and / or 41b of FIG. 3). The first treatment tool (T1) accommodated in the first auxiliary channel (523a) can be controlled to move forward and backward and / or rotate by a corresponding roller module (e.g., 41c and / or 41d of FIG. 3). According to this structure, it is possible to control the first treatment tool (T1) and the second treatment tool (T2) even when the first treatment tool (T1) is inserted into the inside of the second treatment tool (T2).

[0080] In one embodiment, the first treatment tool (T1) and the second treatment tool (T2) can each be moved along the longitudinal direction. For example, the first treatment tool (T1) and the second treatment tool (T2) can be moved in a direction in which they are inserted toward the affected area of ​​the patient and / or in a direction in which they are withdrawn from the affected area of ​​the patient. Here, the direction in which they are inserted toward the affected area can be understood as a distal direction (e.g., direction P of FIG. 12). Meanwhile, since the first treatment tool (T1) is accommodated in the auxiliary channel (523) with its proximal end bent in the opposite direction, the rotational direction of the roller module (41) for moving the first treatment tool (T1) in one direction and the rotational direction of the roller module (41) for moving the second treatment tool (T2) in the same direction can be opposite to each other. For example, a roller module (e.g., 41a and / or 41b in FIG. 3) corresponding to a first main channel (512a) among roller modules (41) may be rotated in a first rotational direction to move a second treatment tool (T2) in a first direction, and a roller module (e.g., 41c and / or 41d in FIG. 3) corresponding to a first auxiliary channel (523a) among roller modules (41) may be rotated in a second rotational direction opposite to the first rotational direction to move the first treatment tool (T1) in the first direction.

[0081] In one embodiment, in a state such as FIG. 12, both the first treatment tool (T1) and the second treatment tool (T2) can be substantially held between the first main channel (512a) and the corresponding roller module (e.g., 41a and / or 41b of FIG. 3). When the first main channel (512a) and the corresponding roller module (e.g., 41a and / or 41b of FIG. 3) rotate, both the first treatment tool (T1) and the second treatment tool (T2) can be moved forward and backward by substantially the same amount. For example, in order to simultaneously move the first treatment tool (T1) and the second treatment tool (T2) in the first direction (e.g., P in FIG. 12), the roller module (e.g., 41a and / or 41b in FIG. 3) corresponding to the first main channel (512a) may be rotated in the first rotational direction, and the roller module (e.g., 41c and / or 41d in FIG. 3) corresponding to the first auxiliary channel (523a) may be stopped. By this driving, the second treatment tool (T2) may be moved in the first direction (e.g., P in FIG. 12), and at the same time, the first treatment tool (T1) inserted inside the second treatment tool (T2) may be moved in the first direction (e.g., P in FIG. 12). However, this is exemplary, and a difference may occur between the movement amounts of the first treatment tool (T1) and the second treatment tool (T2) depending on the gripping force of the roller module (41).

[0082] In one embodiment, in order to move only the second treatment tool (T2) in the first direction (e.g., P in FIG. 12), the roller module (e.g., 41a and / or 41b in FIG. 3) corresponding to the first main channel (512a) may be rotated in the first rotational direction, and the roller module (e.g., 41c and / or 41d in FIG. 3) corresponding to the first auxiliary channel (523a) may be rotated in the first rotational direction. By this driving, the movement of the second treatment tool (T2) due to the rotation of the roller module (41a and / or 41b) corresponding to the first main channel (512a) and the movement of the first treatment tool (T1) due to the rotation of the roller module (41c and / or 41d) corresponding to the first auxiliary channel (523a) may be offset. In other words, only the second treatment tool (T2) can be moved in the first direction (e.g., P in FIG. 12) while the relative movement of the first treatment tool (T1) with respect to the treatment tool control device (100) is stopped. For example, the rotational motion of the roller module (e.g., 41a and / or 41b in FIG. 3) corresponding to the first main channel (512a) and the rotational motion of the roller module (e.g., 41c and / or 41d in FIG. 3) corresponding to the first auxiliary channel (523a) may occur simultaneously or with a time difference.

[0083] In one embodiment, in order to move only the first treatment tool (T1) in the first direction (e.g., P in FIG. 12), the roller module (e.g., 41a and / or 41b in FIG. 3) corresponding to the first main channel (512a) may be stopped, and the roller module (e.g., 41c and / or 41d in FIG. 3) corresponding to the first auxiliary channel (523a) may be rotated in a second rotational direction opposite to the first rotational direction described above. By this driving, only the first treatment tool (T1) may be moved in the first direction (e.g., P in FIG. 12) while the relative movement of the second treatment tool (T2) with respect to the treatment tool control device (100) is stopped.

[0084] In one embodiment, the first auxiliary channel (523a) in which the first treatment tool (T1) is accommodated may be a channel that does not correspond to the first main channel (512a) in which the second treatment tool (T2) is accommodated. At this time, channels having the same corresponding roller modules (41) may be referred to as corresponding channels. For example, the first main channel (512a) corresponds to the first roller module (e.g., 41a of FIG. 3) and the second roller module (e.g., 41b of FIG. 3), and the second auxiliary channel (523b) corresponds to the first roller module (41a) and the second roller module (41b), so the first main channel (512a) and the second auxiliary channel (523b) may be corresponding channels. For example, in FIG. 14, the third main channel (512c) corresponds to the third roller module (e.g., 41c of FIG. 3) and the fourth roller module (e.g., 41d of FIG. 3), and the first auxiliary channel (523a) corresponds to the third roller module (41c) and the fourth roller module (41d), so the third main channel (512c) and the first auxiliary channel (523a) may be corresponding channels. The second auxiliary channel (523b) corresponding to the first main channel (512a) in which the second treatment tool (T2) is accommodated may not accommodate the treatment tool (e.g., see FIG. 13). The third main channel (512c) corresponding to the first auxiliary channel (523a) in which the second treatment tool (T2) is accommodated may not accommodate the treatment tool (e.g., see FIG. 14).

[0085]

[0086] FIG. 15 is a cross-sectional view of a surgical tool guide including a protrusion according to one embodiment.

[0087] Referring to FIG. 15, a cover (52) according to one embodiment may further include a protrusion (526). The protrusion (526) may protrude from the side of the auxiliary channel (523) (e.g., the first auxiliary channel (523a)) toward the inside of the auxiliary channel (523). The protrusion (526) may be a portion for preventing a surgical tool accommodated in the auxiliary channel (523) from being detached. A plurality of protrusions (526) may be formed for one auxiliary channel (523). When a plurality of protrusions (526) are formed, the protrusions (526) may be formed alternately along the longitudinal direction of the auxiliary channel (523). With such a structure, the protrusions (526) may prevent a surgical tool accommodated in the auxiliary channel (523) from being detached from the auxiliary channel (523). However, the protrusion (526) illustrated in FIG. 15 is exemplary, and the position, size, and / or shape of the protrusion (526) are not limited thereto. For example, in one embodiment, the protrusion may be formed at the upper end of the auxiliary channel (523).

[0088]

[0089] 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.

[0090] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. In a surgical tool control device for controlling a surgical tool, A roller assembly comprising a plurality of roller modules; A drive assembly for transmitting rotational power to the above roller assembly; A channel guide including a plurality of main channels with open upper sides to guide the path of the surgical tool; and Including a cover connected to the upper side of the above channel guide, The above cover, A cover plate covering the above channel guide from the upper side; and A surgical tool control device comprising a plurality of insertion valleys that protrude downward from the cover plate and are inserted into each of the plurality of main channels, and whose upper side is formed by being sunken so that a plurality of auxiliary channels are formed on the upper side.

2. In paragraph 1, A surgical tool control device, wherein each of the plurality of insertion valleys closes the open upper side of each of the plurality of main channels.

3. In paragraph 2, A surgical tool control device, wherein the cover further includes a plurality of spacing jaws filling the lower portion of each of the plurality of insertion valleys so that each of the plurality of auxiliary channels is spaced apart from each of the plurality of main channels by a specified height upward.

4. In paragraph 1, A treatment tool control device, wherein the channel guide includes a cut-out portion that opens at least a portion of a side of each of the plurality of main channels so that a treatment tool accommodated in each of the plurality of main channels comes into contact with a corresponding roller module.

5. In paragraph 4, A treatment tool control device, wherein the cover further includes a cover cutout that opens at least a portion of a side of each of the plurality of auxiliary channels so that the treatment tool accommodated in each of the plurality of auxiliary channels comes into contact with the corresponding roller module.

6. In paragraph 1, A surgical tool control device, wherein the cover further includes a plurality of slits formed by cutting the cover plate so as to extend in the longitudinal direction of each of the plurality of auxiliary channels at a distal portion of each of the plurality of auxiliary channels.

7. In paragraph 6, A surgical tool control device, wherein the channel guide includes a plurality of grooves formed by being sunken in at positions corresponding to the plurality of slits.

8. In paragraph 1, A treatment tool control device, wherein the cover further includes a plurality of protrusions protruding inward from each side of each of the plurality of auxiliary channels to prevent the treatment tool accommodated in each of the plurality of auxiliary channels from being detached.

9. In paragraph 8, A surgical tool control device, wherein the plurality of protrusions are formed alternately along the longitudinal direction of each of the plurality of auxiliary channels.

10. In paragraph 1, A treatment tool control device, wherein the cover is positioned in the proximal direction of each of the plurality of auxiliary channels and includes a treatment tool hook for fixing a treatment tool head.

11. In a method for controlling a treatment tool using a treatment tool control device according to Article 1, A step in which a first treatment tool is positioned in a first main channel among the plurality of main channels; A step in which a second treatment tool is inserted along the first treatment tool; A step in which the proximal ends of the first treatment tool and the second treatment tool are bent in the distal direction; and A method for controlling a treatment tool, comprising a step of positioning the first treatment tool in a first auxiliary channel among the plurality of auxiliary channels.

12. In paragraph 11, A method for controlling a surgical tool, wherein the first auxiliary channel is a channel that does not correspond to the first main channel.

13. In paragraph 12, A method for controlling a treatment tool, further comprising a step of fixing a proximal end of the second treatment tool to a treatment tool hook positioned in the proximal direction of the first auxiliary channel.

14. In paragraph 12, A method for controlling a treatment tool, wherein the rotation direction of a roller module corresponding to the first main channel among the plurality of roller modules for moving the first treatment tool in the first direction is opposite to the rotation direction of a roller module corresponding to the first auxiliary channel among the plurality of roller modules for moving the second treatment tool in the first direction.

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