Medical procedure instrument driving apparatus

Abstract

A medical procedure instrument driving apparatus according to the present disclosure may comprise: a main frame provided on the floor; an instrument support provided on the main frame so as to support a medical procedure instrument; and driving units arranged on both sides of the medical procedure instrument so as to drive the medical procedure instrument.

Description

Medical surgical instrument drive device

[0001] The present disclosure relates to a device for controlling the operation of a medical surgical device such as a guide wire or a catheter.

[0002]

[0003] Vascular interventional procedures utilize surgical instruments such as guidewires and catheters, which are inserted along blood vessels. These procedures utilize actuators that can drive the guidewires and catheters.

[0004] Conventional driving devices use a method of holding surgical instruments such as guide wires and catheters and moving or rotating the guide wires and catheters through a number of actuators and mechanical elements (gears, joints, links, etc.).

[0005] However, these driving devices generally have to have a complex structure, and thus have limitations in miniaturization for application to limited treatment spaces due to their large shape and weight.

[0006] Additionally, since only a single treatment device can be operated at a time, there is a problem of time delay for device replacement when device replacement is required during the treatment.

[0007]

[0008] According to the present disclosure, a medical surgical instrument driving device capable of effectively driving and controlling a medical surgical instrument can be provided.

[0009]

[0010] A medical surgical instrument driving device according to the present disclosure may include a main frame provided on the floor; an instrument support member installed on the main frame to support a medical surgical instrument; and a driving unit disposed on both sides of the medical surgical instrument to drive the medical surgical instrument.

[0011] In addition, the above-mentioned device support is horizontally formed so that the above-mentioned medical treatment device is inserted.

[0012] It may include a horizontal support supporting movement toward the direction; and a vertical support installed on the main frame and supporting the horizontal support.

[0013] Additionally, the horizontal supports may be arranged so that a pair of them have a set interval in the horizontal direction so that the medical surgical instrument is exposed.

[0014] In addition, the above horizontal support is inserted and moved by the above medical surgical instrument.

[0015] It can be configured in the shape of a tube so that it can be used.

[0016] In addition, the above driving unit is exposed to the above-described medical procedure at the above-described interval.

[0017] It may include a pair of rollers arranged to face each other with a mechanism in between; a driving device that rotates each of the pair of rollers; and a driving support installed on the main frame to support the driving device.

[0018] In addition, through the rotation of the above pair of rollers, the above medical surgical instrument

[0019] It can move backwards or rotate.

[0020] Additionally, the pair of rollers may be installed so that their rotational axes are inclined at a set angle with respect to the medical surgical instrument.

[0021] Additionally, the pair of rollers may be installed so that the rotation axis is perpendicular to the medical surgical instrument.

[0022] Additionally, a gap adjusting device may be installed on the drive support to adjust the distance between the pair of rollers.

[0023] Additionally, the medical device may be a guide wire or a catheter.

[0024] The medical surgical instrument driving system according to the present disclosure may be connected in series with at least two medical surgical instrument driving devices according to the present disclosure in the direction of movement of the medical surgical instrument.

[0025] Additionally, the at least two or more medical treatment device driving devices may be connected to each other by a connecting portion.

[0026]

[0027] According to the present disclosure, there is an effect that allows miniaturization of the driving device due to its simple structure.

[0028] Additionally, it has the effect of simultaneously controlling the translational and rotational movements of small medical surgical instruments such as guide wires and catheters.

[0029] Additionally, by arranging multiple driving devices simultaneously, it is possible to control multiple medical surgical instruments simultaneously.

[0030]

[0031] Figure 1 is a drawing showing a medical surgical instrument driving device according to one embodiment.

[0032] Figure 2 is an enlarged drawing of a medical surgical instrument and a pair of rollers in Figure 1.

[0033] FIG. 3 is a drawing showing a medical surgical instrument moving with a roller in a medical surgical instrument driving device according to one embodiment.

[0034] FIG. 4 is a drawing showing a medical surgical instrument driving device according to another embodiment of the present invention for moving a medical surgical instrument using a roller.

[0035] FIG. 5 is a drawing showing a medical surgical instrument driving system according to one embodiment.

[0036] Figure 6 is a drawing showing in detail the movement of the medical surgical instrument in Figure 3.

[0037] Figure 7 is a drawing showing in detail the movement of the medical surgical instrument in Figure 4.

[0038] [Explanation of symbols]

[0039] 10: Medical surgical instruments

[0040] 11: Guide wire

[0041] 12: Catheter

[0042] 100: Medical surgical instrument driving device

[0043] 110: Mainframe

[0044] 120: Mechanical support

[0045] 121: Horizontal support

[0046] 122: Vertical support

[0047] 123: Set interval

[0048] 130: Drive unit

[0049] 131: A pair of rollers

[0050] 132: Drive unit

[0051] 133: Drive support

[0052] 134: Spacing adjustment device

[0053] 1000: Medical surgical instrument drive system

[0054] 1100: Connection

[0055]

[0056] The present disclosure is described in detail below with reference to the attached drawings. However, these are merely examples and the present disclosure is not limited to the specific embodiments illustrated by way of example.

[0057]

[0058] Referring to FIG. 1, a medical surgical instrument driving device (100, hereinafter referred to as a driving device) according to one embodiment of the present disclosure may be configured to include a main frame (110), an instrument support (120), and a driving unit (130).

[0059] ​The main frame (110) may be installed on the floor. The main frame (110) may be fixed to the floor, or may be placed on the floor without being fixed. However, it is preferable to place it on the patient who is the subject of the procedure.

[0060] The main frame (110) can serve as a support for the entire component.

[0061] The device support (120) can be installed on the main frame (110) to support the medical treatment device (10).

[0062] The driving unit (130) moves the medical treatment device (10) and is arranged on both sides of the medical treatment device (10) to drive the medical treatment device (10).

[0063] Here, the medical surgical device (10) may be a guide wire or a catheter.

[0064] The device support (120) may include a horizontal support (121) into which a medical treatment device (10) is inserted and supports movement in a horizontal direction, and a vertical support (122) installed on the main frame (110) and supporting the horizontal support (121).

[0065] The horizontal support (121) may be configured in a tubular shape so that a medical surgical instrument (10) may be inserted and moved. The medical surgical instrument (10) may use a guide wire or a catheter, and the horizontal support (121) may be configured in a tubular shape with a set length so that the medical surgical instrument (10) of a thin and long shape may be supported and moved.

[0066] The horizontal supports (121) can be arranged so that a pair of them have a set interval (123) in the horizontal direction so that the medical treatment device (10) is exposed.

[0067] A pair of horizontal supports (121) may be arranged so that they are connected in the direction of movement of the medical surgical instrument (10), but a pair of horizontal supports (121) may not be connected to each other and may be arranged so that they have a set interval (123) in the horizontal direction.

[0068] The arrangement of a pair of horizontal supports (121) forms a space with a gap (123) set at the portion where the pair of horizontal supports (121) are connected. A medical surgical instrument (10) inserted into the horizontal support (121) can be exposed at the portion where the pair of horizontal supports (121) are connected.

[0069] As described above, a driving unit (130) to be described later is placed on a medical treatment device (10) exposed between a pair of horizontal supports (121) to drive the medical treatment device (10).

[0070] The driving unit (130) may include a pair of rollers (131) arranged to face each other with a medical treatment device (10) exposed at a set interval (123) therebetween, a driving device (132) that rotates each of the pair of rollers (131), and a driving support (133) that is installed on the main frame (110) and supports the driving device (132).

[0071] A pair of rollers (131) can be installed on each driving device (132). The driving device (132) can be installed on a driving support (133) and then installed on the main frame (110).

[0072] The driving support (133) can be configured to be vertically erected and support the driving device (132) at a set height. A roller (131) is installed on the driving device (132) to rotate the roller (131). Here, the driving device (132) can use a motor.

[0073] In response to a pair of rollers (131), a driving device (132) and a driving support (133) may each be configured as a pair of two. The driving device (132) and the driving support (133) may be arranged symmetrically with the medical surgical instrument (10) in the middle.

[0074] Referring to FIG. 2, a roller (131) on one side is arranged on both sides of a medical treatment device (10) and can move the medical treatment device (10) through rotation.

[0075] Referring to FIGS. 3 and 4 together, the medical treatment device (10) can move forward and backward or rotate by rotating a pair of rollers (131). The medical treatment device (10) is inserted between a pair of rollers (131). The medical treatment device (10) can move forward and backward or rotate by rotating a pair of rollers (131).

[0076] Referring to FIG. 3, a pair of rollers (131) can be installed so that the rotation axis (Xr) has a set angle (θ) with the vertical axis (y) perpendicular to the ground.

[0077] Here, the driving device (132) is installed at an angle to the driving support (133), and a pair of rollers (131) can transmit rotational force to the medical surgical instrument (10) in a state in which the rotational axis (Xr) is inclined at a set angle (θ) with the vertical axis (y).

[0078] At this time, referring to FIG. 6, if a pair of rollers (131) are divided into a first roller (1311) and a second roller (1312), the first roller (1311) and the second roller (1312) can rotate in different directions with respect to the rotation axis (Xr). (With respect to FIG. 6, the first roller (1311) rotates clockwise, and the second roller (1312) rotates counterclockwise) Then, the x-direction forces generated from the first roller (1311) and the second roller (1312) are added together, and the y-direction force is offset by the horizontal support (121), so that the medical surgical instrument (10) can perform a translational motion, which is a forward and backward movement.

[0079] Also, referring to FIG. 7, the first roller (1311) and the second roller (1312) can rotate in the same direction with respect to the rotation axis (Xr). (Both the first roller (1311) and the second roller (1312) rotate clockwise with respect to FIG. 7) Then, the x-direction force generated from the first roller (1311) and the second roller (1312) is canceled, and the y-direction force generates a rotational force (torque) in the x-axis direction, so that the medical surgical device (10) can perform a rotational movement. At this time, the rotational force in the y-axis direction can be canceled by the horizontal support (121).

[0080] In this way, by controlling the rotational speed and rotational direction of a pair of rollers (131), the translational and rotational motions of the medical surgical instrument (10) can be controlled.

[0081] Referring to Fig. 4, a pair of rollers (131) can be installed to form a rotation axis (Xr).

[0082] Here, the driving device (132) can be installed vertically (in the y-axis direction) so as to be perpendicular to the floor on the driving support (133). At this time, the rotational axis of the driving device (132) and the movement direction of the medical surgical instrument (10) can be vertical.

[0083] At this time, by setting the set angle (θ) to 0 degrees, the force for rotation as described above is not transmitted to the medical treatment device (10). Therefore, forward and backward movement can be performed according to the rotation of the first roller (1311) and the second roller (1312) as described above.

[0084] Referring again to FIGS. 1 and 2, a gap adjusting device (134) may be installed on the driving support (133) to adjust the distance between a pair of rollers (131). The gap adjusting device (134) may be installed on the driving support (133) to adjust the gap (d) between a pair of rollers (131).

[0085] The gap adjustment device (134) can adjust the gap (d) between a pair of rollers (131) by moving the driving supports (133) closer to or farther away from each other.

[0086] The gap adjustment device (134) can be configured to include a motor and a lead screw.

[0087] Referring to FIG. 5, a medical surgical instrument drive system (1000, hereinafter referred to as the drive system) according to one embodiment of the present disclosure may include at least two or more medical surgical instrument drive devices (100) connected in series in the direction of movement of the medical surgical instrument (10).

[0088] And at least two or more medical treatment device driving devices (100) can be connected to each other by a connecting part (1100). The medical treatment device driving devices (100) can be fixed to each other by the connecting part (1100).

[0089] The driving system (1000) can drive at least two medical treatment devices (10) simultaneously, rather than one medical treatment device (10).

[0090] Referring to FIG. 5, a guide wire (11) and a catheter (12) can be inserted into a horizontal support (121) at the same time, and one driving device (100) can drive the guide wire (11), and the other driving device (100) can drive the catheter (12).

[0091] The efficiency of the procedure can be improved by simultaneously driving different guide wires (11) and catheters (12).

[0092]

[0093] The embodiments of the present disclosure described above are merely illustrative, and those skilled in the art will readily appreciate that various modifications and equivalent other embodiments are possible. Therefore, it should be understood that the present disclosure is not limited to the forms set forth in the detailed description above. Accordingly, the true technical protection scope of the present disclosure should be determined by the technical spirit of the appended claims. Furthermore, it should be understood that the present disclosure encompasses all modifications, equivalents, and alternatives within the spirit and scope of the present disclosure as defined by the appended claims.

Claims

1. Main frame installed on the floor; A device support installed on the main frame above to support a medical device; and A driving unit disposed on both sides of the medical treatment device and driving the medical treatment device; Medical surgical instrument drive device.

2. In paragraph 1, The above mechanism support is, A horizontal support for supporting horizontal movement of the above medical surgical instrument; and A vertical support installed on the main frame and supporting the horizontal support; Medical surgical instrument drive device.

3. In paragraph 2, The horizontal supports are arranged so that a pair of them have a set interval in the horizontal direction so that the medical surgical instrument is exposed. Medical surgical instrument drive device.

4. In paragraph 2, The above horizontal support is configured in a tubular shape so that the above medical surgical instrument can be inserted and moved. Medical surgical instrument drive device.

5. In paragraph 3, The above driving part, A pair of rollers arranged facing each other with the medical surgical instrument exposed at the above-described interval between them; A driving device for rotating each of the above pair of rollers; and A driving support installed on the main frame and supporting the driving device; Medical surgical instrument drive device.

6. In paragraph 5, By the rotation of the above pair of rollers, the medical surgical instrument moves forward and backward or rotates. Medical surgical instrument drive device.

7. In paragraph 6, The above pair of rollers are installed so that their rotational axes are inclined at an angle set with respect to the above medical surgical instrument. Medical surgical instrument drive device.

8. In paragraph 6, The above pair of rollers are installed so that the rotation axis is perpendicular to the medical surgical instrument. Medical surgical instrument drive device.

9. In paragraph 5, A gap adjusting device is installed on the driving support to adjust the distance between the pair of rollers. Medical surgical instrument drive device.

10. In paragraph 1, The above medical surgical device is a guide wire or catheter. Medical surgical instrument drive device.

11. A medical treatment device driving device according to any one of the first to tenth clauses is connected in series in the direction of movement of at least two or more of the medical treatment devices. Medical surgical instrument drive system.

12. In paragraph 11, The above at least two medical treatment device driving devices are connected to each other by a connecting part, Medical surgical instrument drive system.

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