Guide catheter driving device and surgical tool control system including same

Abstract

A guide catheter driving device connected to a surgical tool control device according to an embodiment may comprise: a main assembly including a first assembly and a second assembly; a first roller module that includes a first roller and is detachably connected to the first assembly; and a second roller module that includes a second roller and is detachably connected to the second assembly. The first roller module can move toward the second roller module so that a guide catheter is clamped between the first roller and the second roller.

Description

Guide catheter driving device and surgical tool control system including the same

[0001] The following embodiments relate to a guide catheter driving device and a surgical tool control system including 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 technology that the inventor possessed or acquired in the process of deriving the disclosure of the present application, and cannot necessarily be said to be publicly known technology disclosed to the general public prior to the present application.

[0004] An object of one embodiment is to provide a guide catheter driving device capable of advancing and retracting a guide catheter by rotation of a first roller and / or a second roller while the guide catheter is clamped, and a surgical tool control system including the same.

[0005] An object of one embodiment is to provide a guide catheter drive device capable of rotating a guide catheter by relative sliding movement of a first roller module and / or a second roller module while the guide catheter is clamped, and a surgical tool control system including the same.

[0006] An object of one embodiment is to provide a guide catheter drive device capable of over-clamping a guide catheter to limit forward and backward movement of the guide catheter relative to the guide catheter drive device, and a surgical tool control system including the same.

[0007] In one embodiment, a guide catheter drive device connected to a surgical tool control device comprises a main assembly including a first assembly and a second assembly; a first roller module including a first roller and detachably connected to the first assembly; and a second roller module including a second roller and detachably connected to the second assembly, wherein the first roller module is movable toward the second roller module such that a guide catheter is clamped between the first roller and the second roller.

[0008] In one embodiment, the first assembly may include: a first main frame; a movable frame to which the first roller module is connected and movable relative to the first main frame; a link assembly connecting the first main frame and the movable frame; and a first actuator that provides power to the link assembly so that the first roller module connected to the movable frame moves toward or away from the second roller module.

[0009] In one embodiment, when the guide catheter is clamped between the first roller and the second roller, the guide catheter can be moved forward and backward along the longitudinal direction by rotation of the first roller.

[0010] In one embodiment, the first assembly further comprises a second actuator that provides rotational power to the first roller, wherein the second actuator can be connected to a drive shaft provided in the first roller module.

[0011] In one embodiment, when the direction in which the driving shaft protrudes toward the second actuator with respect to the first roller module is referred to as a first direction, the driving shaft includes a first portion having a cross-section formed in a first shape, and a second portion having a second shape positioned in the first direction and having a smaller size than the first shape, and the cross-section of the driving shaft can be continuously changed from the first portion to the second portion.

[0012] In one embodiment, the first assembly and the second assembly may be relatively slidable so that the guide catheter can rotate about its longitudinal axis while the guide catheter is clamped between the first roller and the second roller.

[0013] In one embodiment, the main assembly may further include a sliding assembly connecting the first assembly and the second assembly; and a third actuator providing power to the sliding assembly so that the first assembly and the second assembly slide relatively.

[0014] In one embodiment, the sliding assembly may include a first rack gear connected to the first assembly; a second rack gear connected to the second assembly; and a pinion gear that receives rotational power from the third actuator and meshes with the first rack gear and the second rack gear.

[0015] In one embodiment, the first roller module is further movable toward the second roller module such that the guide catheter is over-clamped between the first roller module and the second roller module, and in a state where the guide catheter is over-clamped, forward and backward movement of the guide catheter relative to the guide catheter driving device can be restricted.

[0016] In one embodiment, the first roller module further includes a first housing in which the first roller is rotatably arranged, and a portion of the first roller can be exposed to the outside of the first housing through an opening formed in a bottom surface of the first housing.

[0017] In one embodiment, the second roller module may include a second housing in which the second roller is rotatably arranged and has a bottom surface and side walls; a protruding structure protruding upward from the bottom surface of the second housing at a height lower than the uppermost end of the second roller and separated from the side wall; and a slit formed in the side wall of the second housing such that the side wall of the second housing is deformable by external pressure.

[0018] In one embodiment, when the guide catheter is clamped between the first roller module and the second roller module and the first roller module is moved further toward the second roller module, the first roller is elastically deformed and the side wall of the second housing is elastically deformed, so that the guide catheter is compressed between the bottom surface of the first housing and the first roller and the protruding structure, thereby allowing the guide catheter to be over-clamped.

[0019] In one embodiment, the guide catheter drive device and the surgical tool control device may be translationally movable relative to an external fixation structure such that the guide catheter is moved forward and backward along the longitudinal direction while the guide catheter is over-clamped.

[0020] In one embodiment, the second roller module is positioned relatively lower than the first roller module, and the diameter of the second roller may be smaller than the diameter of the first roller.

[0021] In one embodiment, a surgical tool control system comprises: a surgical tool control device configured to control a surgical tool; and a guide catheter drive device connected to the surgical tool control device, wherein the guide catheter drive device comprises: a main assembly comprising a first assembly and a second assembly; a first roller module comprising a first roller and detachably connected to the first assembly; and a second roller module comprising a second roller and detachably connected to the second assembly, wherein the first roller module is movable toward the second roller module such that a guide catheter is clamped between the first roller and the second roller.

[0022] According to one embodiment, a guide catheter driving device and a surgical tool control system including the same can advance and advance the guide catheter by rotation of a first roller and / or a second roller while the guide catheter is clamped.

[0023] According to one embodiment, a guide catheter driving device and a surgical tool control system including the same can rotate the guide catheter by relative sliding movement of a first roller module and / or a second roller module while the guide catheter is clamped.

[0024] A guide catheter driving device and a surgical tool control system including the same according to one embodiment can over-clamp the guide catheter so that forward and backward movement of the guide catheter with respect to the guide catheter driving device is limited.

[0025] FIG. 1 is a perspective view of a surgical tool control system including a guide catheter drive device and a surgical tool control device according to one embodiment.

[0026] FIGS. 2A to 2C are perspective, side, and front views, respectively, of a guide catheter driving device according to one embodiment.

[0027] FIGS. 3A to 3C are a perspective view, a rear view, and a bottom view, respectively, of a first roller module according to one embodiment.

[0028] FIGS. 4A and 4B are perspective and front views, respectively, of a second roller module according to one embodiment.

[0029] FIGS. 5A and 5B are side views of a guide catheter drive device according to one embodiment, illustrating drive of a link assembly with the first cover and the second cover removed.

[0030] FIG. 5c is a front view of a guide catheter driving device according to one embodiment, showing a state in which a guide catheter is clamped between a first roller and a second roller.

[0031] FIGS. 6A and 6B are side views of a guide catheter drive device according to one embodiment, showing the operation of the sliding assembly with the first cover and the second cover removed.

[0032] FIG. 7 is a front view of a guide catheter drive device according to one embodiment, showing a state in which the guide catheter is over-clamped between a first roller module and a second roller module.

[0033] FIGS. 8A and 8B are perspective views of a surgical tool control system including a guide catheter drive device and a surgical tool control device according to one embodiment.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040]

[0041] FIG. 1 is a perspective view of a surgical tool control system including a guide catheter drive device and a surgical tool control device according to one embodiment.

[0042] Referring to FIG. 1, a surgical tool control system (10) may include a guide catheter drive device (100) and a surgical tool control device (200). The surgical tool control system (10) may be configured to control various surgical tools (e.g., a guide catheter, a balloon catheter, or a microcatheter) and the motion of the guide catheter (e.g., forward / backward movement and / or rotation). For example, the surgical tool control system (10) may be a robotic system for vascular interventional procedures.

[0043] The surgical tool control device (200) can control the surgical tool. The surgical tool can be a surgical tool having a longitudinal direction. For example, the surgical tool can include various surgical tools such as a guide catheter, a balloon catheter, or a micro catheter. For example, the surgical tool control device (200) can move the surgical tool forward and backward in the longitudinal direction or rotate the surgical tool with respect to the longitudinal direction. For example, the surgical tool control device (200) can include a control assembly (not shown) including a plurality of roller modules (not shown) for controlling the surgical tool. For example, the surgical tool can be clamped between at least one pair of roller modules, can be moved forward and backward in the longitudinal direction by the rotation of the roller modules, and can be rotated with respect to the longitudinal direction by the relative sliding of the roller modules.

[0044] The guide catheter driving device (100) may be connected to the surgical tool control device (200). For example, the guide catheter driving device (100) may be connected to a front end (e.g., a +x direction end) of the surgical tool control device (200). The guide catheter driving device (100) may control a guide catheter (e.g., GC of FIG. 6) while being connected to the front end (e.g., a +x direction end) of the surgical tool control device (200). For example, the guide catheter driving device (100) may unclamp, clamp, or overclamp the guide catheter. For example, the guide catheter driving device (100) may move the guide catheter forward and backward or rotate the guide catheter while the guide catheter is clamped. The guide catheter driving device (100) may be placed adjacent to a human body (e.g., a patient's affected area). A guide catheter can be inserted to a target point within the human body by a guide catheter driving device (100).

[0045]

[0046] FIGS. 2A to 2C are perspective, side, and front views, respectively, of a guide catheter driving device according to one embodiment.

[0047] Referring to FIGS. 2A to 2C, a guide catheter driving device (100) according to one embodiment may include a main assembly (1000), a first roller module (2000), and a second roller module (3000).

[0048] According to one embodiment, a main assembly (1000) may include a first assembly (1100), a second assembly (1200), and a sliding assembly (1300). The first assembly (1100) may be positioned relatively higher (e.g., in the +z direction) than the second assembly (1200). For example, the first assembly (1100) may be understood as an upper assembly, and the second assembly (1200) may be understood as a lower assembly. According to one embodiment, the first assembly (1100) and the second assembly (1200) may include a first cover (1110) and a second cover (1210), respectively. The first assembly (1100) and the second assembly (1200) may be connected by a sliding assembly (1300). The first assembly (1100) and the second assembly (1200) may be connected to slide relatively by the sliding assembly (1300). For example, the first assembly (1100) and the second assembly (1200) can be slid in the +y direction and / or the -y direction, respectively, by the sliding assembly (1300). The sliding assembly (1300) may be a part connected to a surgical tool control device (e.g., 200 of FIG. 1). For example, the gear shaft (1350) of the sliding assembly (1300) may be connected to the surgical tool control device (200) so as to receive power from a third actuator (not shown) located on the side of the surgical tool control device (200). However, this is exemplary, and the third actuator for driving the gear shaft (1350) may also be located on the side of the main assembly (1000).

[0049]

[0050] FIGS. 3A to 3C are a perspective view, a rear view, and a bottom view, respectively, of a first roller module according to one embodiment.

[0051] Referring to FIGS. 3A to 3C, a first roller module (2000) according to one embodiment may include a first housing (2100), a first roller (2200), and a drive shaft (2300).

[0052] In one embodiment, the first roller module (2000) may be detachably connected to the first assembly (e.g., 1100 of FIG. 2A). For example, the first roller module (2000) may be connected to the +y-direction end of the first assembly (1100). For example, the drive shaft (2300) of the first roller module (2000) may be connected to the main assembly (1000) to receive power from the main assembly (1000).

[0053] In one embodiment, the first housing (2100) may have a space formed therein to accommodate a first roller (2200). The first roller (2200) may be rotatably arranged in the first housing (2100). For example, the first roller (2200) may be provided in multiple numbers. The first housing (2100) may include a bottom surface (2110), and an opening (2120) may be formed in the bottom surface (2110) of the first housing (2100). When a plurality of first rollers (2200) are provided, the rotational axes of each of the first rollers (2200) may be connected to the first housing (2100) in parallel with each other. As illustrated in FIGS. 3b and 3c, a portion of the first roller (2200) may be exposed to the outside through an opening (2120) formed in the bottom surface (2110) of the first housing (2100). Meanwhile, although two first rollers (2200) are illustrated in FIGS. 3a to 3c, this is merely exemplary, and it is also possible for three or more first rollers (2200) or one first roller (2200) to be connected.

[0054] In one embodiment, the drive shaft (2300) may be connected to the rotational axis of at least one first roller (2200). When the first roller module (2000) is connected to the first assembly (1100), the drive shaft (2300) may be inserted into the first assembly (1100). At this time, the drive shaft (2300) may be connected to a second actuator (e.g., 1160 of FIG. 5A) of the first assembly (1100). Accordingly, the drive shaft (2300) may transmit rotational power provided by the second actuator (1160) to the first roller (2200). The power transmitted to the drive shaft (2300) may be transmitted to a plurality of first rollers (2200) via a belt and / or gear.

[0055] In one embodiment, as illustrated in FIGS. 3B and 3C, the drive shaft (2300) may have a cross-section that may change along an axial direction (e.g., the y-axis direction). For example, the drive shaft (2300) may include a first portion (2310) and a second portion (2320) having different cross-sections. With respect to the first roller module (2000), when the direction in which the drive shaft (2300) protrudes toward the second actuator (e.g., 1160 of FIG. 5A) is referred to as a first direction (e.g., the -y direction), the second portion (2320) may be positioned in the first direction (e.g., the -y direction) relative to the first portion (2310). At this time, the cross-section of the first part (2310) and the cross-section of the second part (2320) may be formed as a first shape and a second shape, respectively, and the second shape may have a smaller size than the first shape. The first shape and the second shape may be shapes having a closed curve shape. For example, the first polygon may be substantially a hexagon, and the second polygon may be substantially a triangle. For example, the second shape may have a smaller number of vertices than the first shape. However, this is merely exemplary, and the shapes of the cross-sections of the first part (2310) and the second part (2320) are not limited thereto, and the vertices may be rounded and formed to be round, and the sides between the vertices may be curved or sawtoothed. As illustrated in FIGS. 3b and 3c, the cross-section of the drive shaft (2300) from the first portion (2310) to the second portion (2320) may be continuously changed. For example, the cross-sectional area of ​​the drive shaft (2300) may be continuously reduced from the first portion (2310) to the second portion (2320). This change in the cross-section of the drive shaft (2300) may allow the drive shaft (2300) to be naturally rotated in a direction corresponding to the shape of the insertion portion and inserted into the insertion portion during the process of inserting the drive shaft (2300) into the first assembly (e.g., 1100 of FIG. 2a).That is, due to the change in the cross-section of the drive shaft (2300) as described above, the drive shaft (2300) can be easily connected to the first assembly (1100). For example, when the drive shaft (2300) is inserted into the first assembly (1100), the drive shaft (2300) can be inserted starting from the second part (2320), and the drive shaft (2300) can be inserted while rotating to fit the shape of the insertion portion due to the continuous change in cross-section.

[0056]

[0057] Figures 4a and 4b are perspective views and front views, respectively, of a second roller module according to one embodiment. Referring to Figures 4a and 4b, a second roller module (3000) according to one embodiment may include a second housing (3100), a second roller (3200), a protruding structure (3300), and a slit (3400).

[0058] In one embodiment, the second roller module (3000) may be detachably connected to the second assembly (e.g., 1200 of FIG. 2A). For example, the second roller module (3000) may be connected to the +y-direction end of the second assembly (1200).

[0059] In one embodiment, the second housing (3100) may have a space formed therein to accommodate the second roller (3200). For example, the second housing (3100) may be formed in a form in which the upper portion (e.g., the +z direction portion) is open. The second housing (3100) may include a bottom surface (3110) and a side wall (3120). The second roller (3200) may be rotatably arranged in the second housing (3100). For example, the second roller (3200) may be provided in multiple numbers. When a plurality of second rollers (3200) are provided, the rotational axes of each of the second rollers (3200) may be connected to the second housing (3100) in parallel with each other. For example, the rotational axes of the second rollers (3200) may be connected to the side wall (3120) of the second housing (3100). As illustrated in FIGS. 4A and 4B, the uppermost portion of the second roller (3200) may be positioned higher than the side wall (3120) of the second housing (3100). Meanwhile, although four second rollers (3200) are illustrated in FIGS. 4A and 4B, this is merely exemplary, and it is also possible for two, three, five or more first rollers (2200) or one second roller (3200) to be connected.

[0060] In one embodiment, a slit (3400) may be formed in a side wall (3120) of the second housing (3100). The slit (3400) may be formed to penetrate the side wall (3120) of the second housing (3100). For example, at least a portion of the slit (3400) may be formed parallel to a bottom surface (3110) of the second housing (3100), and another portion of the slit (3400) may be formed perpendicular to the bottom surface (3110). When the slit (3400) is present, the side wall (3120) of the second housing (3100) may be deformed by an external pressure, for example, a pressure of a first roller module (e.g., 2000 of FIG. 2A) pressing the second roller (3200) downward (see FIG. 7). Although a thin and long slit (3400) is illustrated in FIGS. 4a and 4b, the shape and number of the slit (3400) are not limited thereto.

[0061] In one embodiment, the protruding structure (3300) may protrude upward (e.g., in the +z direction) from the bottom surface (3110) of the second housing (3100). At this time, the height at which the protruding structure (3300) protrudes may be lower than the uppermost end of the second roller (3200). The height at which the protruding structure (3300) protrudes may be lower than the height of the side wall (3120). The protruding structure (3300) may be separated from the side wall (3120). Therefore, even if the side wall (3120) of the second housing (3100) is deformed, the protruding structure (3300) may not be deformed. The protruding structure (3300) may be configured to over-clamp the guide catheter. A more detailed description thereof will be provided later.

[0062]

[0063] In one embodiment, as shown in FIG. 2B, the second roller module (3000) may be positioned relatively lower (e.g., in the -z direction) than the first roller module (2000). For example, the first roller module (2000) may be understood as an upper roller module, and the second roller module (3000) may be understood as a lower roller module. However, this is merely exemplary, and the positions of the first roller module (2000) and the second roller module (3000) are not limited thereto.

[0064] In one embodiment, the first roller module (2000) and the second roller module (3000) may be sterilized, sealed, and provided as disposable products. The first roller module (2000) and the second roller module (3000) may be opened on-site for each procedure, connected to the guide catheter drive device (100), and then removed from the guide catheter drive device (100) and discarded when the procedure is finished. For example, the first roller (2200) may include silicone, plastic, and / or rubber materials. For example, the second roller (3200) may include silicone, plastic, and / or rubber materials. However, this is merely exemplary, and the materials of the first roller (2200) and the second roller (3200) are not limited thereto.

[0065] In one embodiment, a surface treatment may be applied to the surface of the second roller (3200) to increase friction. As the guide catheter moves forward and backward by the rotation of the first roller (2200), the second roller (3200) may rotate. At this time, a surface treatment may be applied to the surface of the second roller (3200) so that the second roller (3200) rotates without slipping relative to the guiding catheter. For example, the second roller (3200) may include a plastic material, and a matte coating, knurling, and / or etching treatment may be applied to the surface of the second roller (3200). For example, the second roller (3200) may include a rubber material, and an appropriate hardness may be selected to increase friction at the contact surface between the second roller (3200) and the guide catheter. For example, the second roller (3200) may include a rubber material and have grooves (e.g., a sheath) formed at narrow intervals in the circumferential direction on the outer surface. However, this is merely exemplary, and the surface treatment of the second roller (3200) is not limited thereto. In addition, the above-described surface treatment may also be applied to the first roller (2200).

[0066] In one embodiment, the diameter of the second roller (3200) may be smaller than the diameter of the first roller (2200). For example, the diameter of the first roller (2200) may be about 18 mm, and the diameter of the second roller (3200) may be about 4 mm. For example, the second rollers (3200) may be provided in greater numbers than the first rollers (2200). For example, the guide catheter drive device (100) may be operated at a certain distance in the +z direction from the body into which the guide catheter is inserted. When the second roller module (3000) is positioned relatively lower (e.g., in the -z direction) than the first roller module (2000), the diameter of the second roller (3200) may be formed smaller than the diameter of the first roller (2200), thereby positioning the guide catheter drive device (100) closer to the patient's body.

[0067]

[0068] FIGS. 5A and 5B are side views of a guide catheter drive device according to one embodiment, illustrating drive of a link assembly with the first cover and the second cover removed.

[0069] Referring to FIGS. 5A and 5B, the first roller module (2000) may be movable toward the second roller module (3000) such that a guide catheter (GC) is clamped between the first roller (e.g., 2200a, 2200b of FIG. 5C) and the second roller (e.g., 3200 of FIG. 5C). For example, the guide catheter (GC) may be clamped between the first roller module (2000) and the second roller module (3000) by the operation of the link assembly (1140). A guide catheter (GC) of various thicknesses, for example, about 15 mm or less, may be clamped between the first roller module (2000) and the second roller module (3000). For example, depending on the thickness of the guide catheter (GC), the degree to which the first roller module (2000) is moved toward the second roller module (3000) may be controlled. While the guide catheter (GC) is clamped, the guide catheter (GC) can be moved forward and backward or rotated. It should be noted that FIGS. 5A to 7 are illustrated without considering the accumulation between the guide catheter and the guide catheter drive device (100).

[0070] According to one embodiment, a first assembly (e.g., 1100 of FIG. 2A) may include a first main frame (1120), a moving frame (1130), a link assembly (1140), and a first actuator (1150). A first roller module (2000) may be connected to the moving frame (1130). The link assembly (1140) may be connected to the first main frame (1120) and the moving frame (1130), and the moving frame (1130) may be moved relative to the first main frame (1120) by the operation of the link assembly (1140). Accordingly, the moving frame (1130) may be movable with respect to the first main frame (1120) together with the first roller module (2000). With this structure, the first roller module (2000) may be moved toward or away from the second roller module (3000). The first actuator (1150) can provide power to the link assembly (1140).

[0071] A link assembly (1140) according to one embodiment may include a first rail (1141), a sliding block (1142), and a link structure (1143). The first rail (1141), the sliding block (1142), the link structure (1143), and the moving frame (1130) may be connected to each other so that the moving frame (1130) can move relative to the first main frame (1120). For example, the sliding block (1142) may be connected so as to be slidable on the first rail (1141) fixed to the first main frame (1120). For example, the sliding block (1142) may slide along the y-axis direction on the first rail (1141). One end of the link structure (1143) is connected to the sliding block (1142) so as to slide on the first rail (1141) together with the sliding block (1142), and at least a portion of the link structure (1143) is rotatably connected to the first main frame (1120) so as to be link-driven. The moving frame (1130) can be connected to the link structure (1143) so that the first roller module (2000) moves toward or away from the second roller module (3000) while the sliding block (1142) slides on the first rail (1141). As illustrated in FIGS. 5b and 6, when the sliding block (1142) slides in the +y direction, the link structure (1143) can be rotated about a portion rotatably connected to the first main frame (1120), and the moving frame (1130) connected to the link structure (1143) can be moved toward the second roller module (3000) together with the first roller module (2000), thereby clamping the guide catheter (GC). For example, the link structure (1143) can include an L-shaped link or a parallelogram link, and the first roller module (2000) can be moved toward or away from the second roller module (3000) in an arc.

[0072]

[0073] FIG. 5c is a front view of a guide catheter driving device according to one embodiment, showing a state in which a guide catheter (GC) is clamped between a first roller and a second roller.

[0074] Referring to FIG. 5c, in a state where the guide catheter (GC) is clamped, the guide catheter (GC) can be brought into contact with the first roller (2200a, 2200b) and the second roller (3200). In a state where the guide catheter (GC) is clamped between the first roller (2200a, 2200b) and the second roller (3200), the first roller (2200a, 2200b) can be rotated, and the guide catheter (GC) can be moved forward and backward along the longitudinal direction (e.g., x-axis direction) by the rotation of the first roller (2200a). For example, based on the state of FIG. 5c, when the first roller (2200a) is rotated clockwise in a state where the guide catheter (GC) is clamped, the guide catheter (GC) can be moved forward in the +x direction. For example, based on the state of FIG. 5c, when the first roller (2200a) is rotated counterclockwise while the guide catheter (GC) is clamped, the guide catheter (GC) can be moved backward in the -x direction. Although not shown in FIG. 5c, the 1-1 roller (2200a) and the 1-2 roller (2200b) can be connected by a belt / gear so that their rotations can be synchronized. For example, the 2nd roller (3200) can be configured as an idle roller. However, this is exemplary, and the 2nd roller (3200) can also be powered by a separate actuator.

[0075]

[0076] FIGS. 6A and 6B are side views of a guide catheter drive device according to one embodiment, showing the operation of the sliding assembly with the first cover and the second cover removed.

[0077] Referring to FIGS. 6A and 6B, when the guide catheter (GC) is clamped between the first roller (e.g., 2200a, 2200b of FIG. 6) and the second roller (e.g., 3200 of FIG. 6), the first assembly (1100) and the second assembly (1200) can be relatively slidable so that the guide catheter (GC) rotates about its axis in the longitudinal direction (e.g., x-axis direction). By the sliding assembly (1300), the first assembly (1100) and the second assembly (1200) can be slidable in opposite directions. For example, based on the states of FIGS. 6A and 6B, when the first assembly (1100) moves in the +y direction with respect to the sliding assembly (1300) and the second assembly (1200) moves in the -y direction with respect to the sliding assembly (1300), the guide catheter (GC) can be rotated in the clockwise direction. For example, based on the states of FIGS. 6a and 6b, when the first assembly (1100) moves in the -y direction with respect to the sliding assembly (1300) and the second assembly (1200) moves in the +y direction with respect to the sliding assembly (1300), the guide catheter (GC) can be rotated counterclockwise.

[0078] A sliding assembly (1300) according to one embodiment may include a first rack gear (1310), a second rack gear (1320), a pinion gear (1330), and a second rail (1340). The first rack gear (1310) and the second rack gear (1320) may be connected to the first assembly (1100) and the second assembly (1200), respectively, and the first rack gear (1310) and the second rack gear (1320) may mesh with the pinion gear (1330) to drive the gears. The pinion gear (1330) may be powered by a third actuator (not shown). Accordingly, when the third actuator provides rotational power to the pinion gear (1330), the first rack gear (1310) and the second rack gear (1320) meshed with the pinion gear (1330) can move in opposite directions, and the first assembly (1100) and the second assembly (1200) connected to the first rack gear (1310) and the second rack gear (1320), respectively, can slide relatively on the second rail (1340). When the guide catheter (GC) is clamped between the first roller (2200) and the second roller (3200), the first assembly (1100) and the second assembly (1200) slide relatively, so that the guide catheter (GC) can rotate about its axis in the longitudinal direction (e.g., the x-axis direction). In one embodiment, the initial positions of the first assembly (1100) and / or the second assembly (1200) may be sensed by a sensor (not shown). However, this is exemplary, and either the first assembly (1100) or the second assembly (1200) may be configured to move relatively to the other.

[0079] The structure of the sliding assembly (1300) described above is exemplary, and the sliding assembly (1300) may include various structures for relatively sliding the first assembly (1100) and the second assembly (1200). For example, the sliding assembly (1300) may be configured to relatively slide the first assembly (1100) and the second assembly (1200) by utilizing the tension of a wire.

[0080]

[0081] FIG. 7 is a front view of a guide catheter drive device according to one embodiment, showing a state in which a guide catheter (GC) is over-clamped between a first roller module and a second roller module.

[0082] Referring to FIGS. 3b, 3c, 4a, 4b, and 7, in a state where the guide catheter (GC) is clamped, the first roller module (2000) may be further movable toward the second roller module (3000) so that the guide catheter (GC) is over-clamped between the first roller module (2000) and the second roller module (3000). The over-clamping state may be understood as a state in which the guide catheter (GC) is clamped to a stronger degree than the clamping state described above. In a state in which the guide catheter (GC) is over-clamped between the first roller module (2000) and the second roller module (3000), the forward and backward movement of the guide catheter (GC) with respect to the guide catheter drive device (100) may be restricted. Meanwhile, even when the guide catheter (GC) is over-clamped between the first roller module (2000) and the second roller module (3000), it may be possible for the guide catheter (GC) to rotate by relative sliding of the first roller module (2000) and the second roller module (3000).

[0083] In one embodiment, when the guide catheter (GC) is clamped (see FIG. 5c), the first roller module (2000) may be further moved toward the second roller module (3000), thereby deforming the first roller (2200) and the second housing (3100) so that the guide catheter (GC) may be over-clamped (see FIG. 7). When the first roller module (2000) is further moved toward the second roller module (3000), pressure may be applied to the first roller (2200) and the second roller (3200) that come into contact with the guide catheter (GC). In one embodiment, the first roller (2200) may be formed of a material that can be elastically deformed by an external pressure. In one embodiment, the second housing (3100) may be formed of a material that can be elastically deformed by an external pressure. For example, as described above, the side wall (3120) of the second housing (3100) can be elastically deformed by external pressure due to the slit (3400) formed in the side wall (3120) of the second housing (3100) (see FIG. 7). In other words, when the guide catheter (GC) is clamped, the first roller module (2000) moves further toward the second roller module (3000), so that the first roller (2200) can be elastically deformed, and the side wall (3120) of the second housing (3100) to which the second roller (3200) is connected can be elastically deformed. For example, the first roller (2200) can be elastically compressed into the space within the first housing (2100) so that the lower end is not exposed outside the opening (2120). According to this, the guide catheter (GC) can be in contact with both the bottom surface (2110) of the first roller module (2000) and the first roller (2200). In addition, since the protruding structure (3300) protruding from the bottom surface (3110) of the second housing (3100) is separated from the side wall (3120) of the second housing (3100), when the side wall (3120) of the second housing (3100) is elastically deformed, the protruding structure (3300) can protrude higher than the side wall (3120).Accordingly, the guide catheter (GC) can come into contact with the protruding structure (3300). As a result, the side wall (3120) of the first roller (2200) and the second housing (3100) is deformed so that the guide catheter (GC) can be compressed between the bottom surface (2110) of the first roller module (2000) and the protruding structure (3300) of the first roller (2200) and the second housing (3100), and the guide catheter (GC) can be over-clamped with a stronger force than in the clamping state. Meanwhile, in the over-clamping state, the guide catheter (GC) can also come into contact with the second roller (3200) while being compressed between the bottom surface (2110) of the first roller module (2000) and the protruding structure (3300) of the first roller (2200) and the second housing (3100).

[0084]

[0085] FIGS. 8A and 8B are perspective views of a surgical tool control system including a guide catheter drive device and a surgical tool control device according to one embodiment.

[0086] Referring to FIGS. 1, 8A, and 8B, when the guide catheter is over-clamped, the guide catheter drive device (100) and the surgical tool control device (200) as a whole can be translated with respect to an external fixed structure (e.g., a robot arm or the ground). In one embodiment, the guide catheter can be moved forward and backward by the translational movement of the guide catheter drive device (100) and the surgical tool control device (200). A third rail (210) can be formed on one side (e.g., the -y direction side) of the surgical tool control device (200), and the third rail (210) can be connected to a robot arm (not shown) via a connecting member (220). As the connecting member (220) moves along the third rail (210), the surgical tool control device (200) can be translated with respect to the robot arm. For example, when the third rail (210) is formed along the x-axis direction, the guide catheter driving device (100) and the surgical tool control device (200) may be translationally movable along the x-axis direction. In a state where the guide catheter is over-clamped, the guide catheter may be moved by the translational movement of the entire guide catheter driving device (100) and the surgical tool control device (200) rather than the rotation of the first roller (e.g., 2200 of FIG. 5c), and the guide catheter may be moved forward and backward more precisely and / or with a stronger force than in the forward and backward movement by the rotation of the first roller (2200).

[0087] In one embodiment, when the guide catheter is over-clamped, the guide catheter can be rotated about its longitudinal axis. As in the clamped state of the guide catheter, even when the guide catheter is over-clamped, the first assembly (e.g., 1100 of FIG. 6A) and the second assembly (e.g., 1200 of FIG. 6B) can be relatively slidable so that the guide catheter can be rotated about its longitudinal axis. When the guide catheter is over-clamped, the first assembly (e.g., 1100 of FIG. 2A) and the second assembly (e.g., 1200 of FIG. 2A) can be relatively slidable so that the guide catheter can be rotated about its longitudinal axis while simultaneously being moved forward and backward in the longitudinal direction by the translational movement of the entire guide catheter drive device (100) and the surgical tool control device (200).

[0088] In one embodiment, the guide catheter drive device (100) and the surgical tool control device (200) may be relatively translationally movable with respect to each other by a fourth actuator (not shown). For example, the guide catheter drive device (100) and the surgical tool control device (200) may be relatively translationally movable with respect to each other along a fourth rail (230). The fourth rail (230) may be arranged along a direction parallel to the longitudinal direction of the surgical tool (e.g., the x-direction). For example, in a state where the guide catheter is clamped, the guide catheter drive device (100) and the surgical tool control device (200) may be moved away from or toward each other in the +x direction or the -x direction. At this time, the surgical tool control device (200) may be moved with respect to the guide catheter drive device (100) such that the absolute position of the guide catheter drive device (100) is fixed. For example, the guide catheter drive device (100) can be moved in one direction relative to the surgical tool control device (200) along the fourth rail (230), and the surgical tool control device (200) can be moved in the other direction opposite to the one direction relative to the external fixing structure along the third rail (210) to the same extent, so that the guide catheter drive device (100) can be maintained in a fixed position relative to the external fixing structure. By such driving, the distance between the guide catheter drive device (100) and the surgical tool control device (200) can be adjusted, thereby moving the guide catheter forward and backward.

[0089]

[0090] 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.

[0091] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. In a guide catheter driving device connected to a surgical tool control device, A main assembly comprising a first assembly and a second assembly; A first roller module comprising a first roller and detachably connected to the first assembly; and A second roller module comprising a second roller and detachably connected to the second assembly, A guide catheter driving device, wherein the first roller module is movable toward the second roller module so that the guide catheter is clamped between the first roller and the second roller.

2. In paragraph 1, The above first assembly, 1st main frame; A movable frame to which the first roller module is connected and which is movable relative to the first main frame; A link assembly connecting the first main frame and the moving frame; and A guide catheter driving device comprising a first actuator that provides power to the link assembly so that the first roller module connected to the moving frame moves toward or away from the second roller module.

3. In paragraph 1, A guide catheter driving device, wherein the guide catheter is clamped between the first roller and the second roller, and the guide catheter is moved forward and backward along the longitudinal direction by rotation of the first roller.

4. In paragraph 3, The first assembly further includes a second actuator that provides rotational power to the first roller, A guide catheter driving device, wherein the second actuator is connected to a driving shaft provided in the first roller module.

5. In paragraph 4, Based on the first roller module, when the direction in which the driving shaft protrudes toward the second actuator is referred to as the first direction, The driving shaft includes a first part having a cross-section formed in a first shape, and a second part having a second shape positioned in the first direction and having a smaller size than the first shape. A guide catheter driving device, wherein the cross-section of the driving shaft is continuously changed from the first part to the second part.

6. In paragraph 1, A guide catheter driving device, wherein the first assembly and the second assembly are relatively slidable so that the guide catheter can rotate about its longitudinal axis while the guide catheter is clamped between the first roller and the second roller.

7. In paragraph 6, The above main assembly, A sliding assembly connecting the first assembly and the second assembly; and A guide catheter driving device, wherein the first assembly and the second assembly further include a third actuator that provides power to the sliding assembly so that the first assembly and the second assembly slide relatively.

8. In paragraph 7, The above sliding assembly, A first rack gear connected to the first assembly; a second rack gear connected to the second assembly; and A guide catheter driving device that receives rotational power from the third actuator and includes a pinion gear that meshes with the first rack gear and the second rack gear.

9. In paragraph 1, The first roller module is further movable toward the second roller module so that the guide catheter is over-clamped between the first roller module and the second roller module, A guide catheter driving device, wherein the forward and backward movement of the guide catheter relative to the guide catheter driving device is restricted while the guide catheter is over-clamped.

10. In paragraph 9, The first roller module further includes a first housing in which the first roller is rotatably arranged, A guide catheter driving device in which a part of the first roller is exposed to the outside of the first housing through an opening formed on the bottom surface of the first housing.

11. In paragraph 10, The above second roller module, A second housing having a bottom surface and side walls, wherein the second roller is rotatably arranged; A protruding structure that protrudes upward from the bottom surface of the second housing to a height lower than the top of the second roller and is separated from the side wall; and A guide catheter driving device comprising a slit formed in the side wall of the second housing so that the side wall of the second housing can be deformed by external pressure.

12. In paragraph 11, A guide catheter driving device, wherein when the first roller module is moved further toward the second roller module while the guide catheter is clamped between the first roller module and the second roller module, the first roller is elastically deformed and the side wall of the second housing is elastically deformed, so that the guide catheter is compressed between the bottom surface of the first housing and the first roller and the protruding structure, thereby over-clamping the guide catheter.

13. In paragraph 9, With the above guide catheter over-clamped, A guide catheter driving device, wherein the guide catheter driving device and the surgical tool control device are translationally movable relative to an external fixing structure so that the guide catheter moves forward and backward along the longitudinal direction.

14. In paragraph 1, The second roller module is positioned relatively lower than the first roller module, A guide catheter driving device, wherein the diameter of the second roller is smaller than the diameter of the first roller.

15. A treatment tool control device configured to control a treatment tool; and Includes a guide catheter driving device connected to the above-mentioned surgical tool control device, The above guide catheter driving device, A main assembly comprising a first assembly and a second assembly; A first roller module comprising a first roller and detachably connected to the first assembly; and A second roller module comprising a second roller and detachably connected to the second assembly, A surgical tool control system wherein the first roller module is movable toward the second roller module such that a guide catheter is clamped between the first roller and the second roller.

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