Collet structure

Abstract

A collet structure according to an embodiment of the present invention comprises a collet module cover portion (10), a collet module support portion (20), and a collet module (30). The collet module (30) is disposed between the collet module cover portion (10) and the collet module support portion (20). The collet module (30) faces the collet module cover portion (10) and is coupled to the collet module support portion (20). The collet module (30) comprises a collet (40), a guide plate (50), a biasing member (60), a guide pin (70), and a guide plate fixing member (80). A guide pin slot (40A) having a certain angle and length is formed in the side portion of the collet (40). The guide pin (70) is inserted through the guide pin slot (40A). The guide pin (70) is inserted into a guide pin hole (10A) formed in the collet module cover portion (10) and fixed. The guide plate (50) has formed therein a biasing member recess (50A) which extends from a position adjacent to the center of the guide plate (50) toward a position spaced in the radially inward direction from the outer circumference of the guide plate (50). The biasing member (60) comprises an elastic member. The biasing member (60) is inserted through the biasing member recess (50A) of the guide plate (50). The biasing member (60) is coupled to a rear portion (40R) of the collet (40), which faces the collet module support portion (20). The guide plate fixing member (80) is coupled to the collet module support portion (20) through a guide plate fixing member recess (50B) of the guide plate (50). A cover portion inner tapered surface (10T) is formed inside the collet module cover portion (10). A collet tapered surface (40T) having a shape corresponding to the cover portion inner tapered surface (10T) is formed on a front portion (40F) of the collet (40), which faces the inside of the collet module cover portion (10).

Description

Collet structure

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

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

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

[0004] In order for the guide wire and catheter to move forward, backward, and rotate, a collet structure capable of firmly pinching the guide wire and catheter is required. Prior art, such as Patent Document 1, proposes a technique for pinching the guide wire and catheter by passing the guide wire and catheter between spaced rollers.

[0005] However, as in Patent Document 1, the structure of pinching the guide wire and catheter using multiple rollers only pinches the guide wire and catheter in the vertical direction, so there is a concern that the contact area between the rollers and the guide wire and catheter is small, making it difficult to pinch stably. In addition, such a structure has a concern that the pinched state of the guide wire and catheter may be released by an external force in a direction other than the vertical direction. In addition, since a large number of rollers are required for the purpose of firmly pinching the guide wire and catheter, there is a concern that the size of the device may increase. In addition, since rollers for moving the guide wire and catheter forward and backward and rollers for rotating the guide wire and catheter are required separately, there is a problem that the manufacturing cost increases and the operating structure becomes complicated.

[0006] [Prior Art Literature]

[0007] [Patent Document]

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

[0009] The technical problem to be achieved by the present invention is to provide a collet structure having a simple structure that stably pinches a guide wire or catheter by improving the problems of the above-mentioned conventional technology in a module for guiding at least one of a guide wire and a catheter.

[0010] (1) A collet structure according to one embodiment of the present invention includes a collet module cover part (10), a collet module support part (20), and a collet module (30). The collet module (30) is disposed between the collet module cover part (10) and the collet module support part (20). The collet module (30) faces the collet module cover part (10) and is coupled with the collet module support part (20).

[0011] (2) A collet structure according to one embodiment of the present invention includes the collet module (30) including a collet (40), a guide plate (50), a deflection member (60), a guide pin (70), and a guide plate fixing member (80).

[0012] (3) In a collet structure according to one embodiment of the present invention, a guide pin slot (40A) having a predetermined angle and length is formed on the side of the collet (40). The guide pin (70) is inserted through the guide pin slot (40A).

[0013] (4) In a collet structure according to one embodiment of the present invention, the guide pin (70) is inserted into and fixed in a guide pin hole (10A) formed in the collet module cover part (10).

[0014] (5) According to one embodiment of the present invention, a collet structure is formed with a deflection member groove (50A) extending from a position adjacent to the center of the guide plate (50) toward a position spaced radially inwardly from the outer periphery of the guide plate (50). The deflection member (60) is made of an elastic member. The deflection member (60) is inserted by penetrating through the deflection member groove (50A) of the guide plate (50). The deflection member (60) is coupled with the rear portion (40R) of the collet (40) facing the collet module support (20). The guide plate fixing member (80) is coupled with the collet module support (20) by penetrating through the guide plate fixing member groove (50B) of the guide plate (50).

[0015] (6) In a collet structure according to one embodiment of the present invention, a cover part inner taper surface (10T) is formed on the inner side of the collet module cover part (10). A collet taper surface (40T) having a shape corresponding to the cover part inner taper surface (10T) is formed on the front side (40F) of the collet (40) facing the inner side of the collet module cover part (10).

[0016] (7) The collet structure according to one embodiment of the present invention is formed at a distance of 1 / 3 or more and less than 1 from the frontmost end of the front portion (40F) of the collet (40) when the guide pin slot (40A) divides the length direction of the front portion (40F) of the collet (40) into three equal parts.

[0017] (8) The collet structure according to one embodiment of the present invention is formed so that the distance from the central axis (1A) of the collet structure (1) decreases as the guide pin slot (40A) moves toward the forwardmost end of the front portion (40F) of the collet (40) facing the collet module cover portion (10).

[0018] (9) In a collet structure according to one embodiment of the present invention, the collet module cover part (10) is moved forward (F) or backward (B) by a predetermined power transmission means. When the collet module cover part (10) is moved backward (B), the cover part inner taper surface (10T) of the collet module cover part (10) and the collet taper surface (40T) of the collet (40) come into contact with each other. Thereafter, when the collet module cover part (10) is moved forward (F), the cover part inner taper surface (10T) of the collet module cover part (10) and the collet taper surface (40T) of the collet (40) are separated from each other.

[0019] (10) According to one embodiment of the present invention, a collet structure is formed such that a guide wire (G) or a catheter (C) is inserted through the central axis (1A) of the collet structure (1). When the collet module cover part (10) is moved rearward (B), the collet (40) is moved toward the central axis (1A) of the collet structure (1) and comes into contact with the guide wire (G) or the catheter (C). Thereafter, when the collet module cover part (10) is moved forward (F), the collet (40) is moved in the opposite direction to the direction toward the central axis (1A) of the collet structure (1) and is separated from the guide wire (G) or the catheter (C).

[0020] (11) A collet structure according to one embodiment of the present invention includes the collet module (30) including three or more collets (40), three or more deflection members (60), and three or more guide pins (70).

[0021] According to the collet structure of the present invention, a guide wire or catheter can be stably pinched in three directions (or more than three directions).

[0022] In addition, according to the collet structure of the present invention, a guide wire or catheter can be pinched without employing a complex structure such as a plurality of rollers, so that manufacturing costs can be reduced and the device can be further simplified.

[0023] In addition, according to the collet structure of the present invention, the front part of the collet and the rear part of the collet can move simultaneously toward the guide wire or catheter by the guide pin and the guide pin slot, so that the collet can be moved more stably.

[0024] FIG. 1 is an exploded perspective view of a collet structure according to one embodiment of the present invention.

[0025] FIG. 2 is a perspective view of a collet and a guide pin in a pinch-release state in a collet structure according to one embodiment of the present invention.

[0026] FIG. 3 is a perspective view of a collet and a guide pin in a pinch state in a collet structure according to one embodiment of the present invention.

[0027] FIG. 4 is a side view of a collet and a guide pin in a collet structure according to one embodiment of the present invention.

[0028] FIG. 5 is a side view of a collet structure in a pinch-release state according to one embodiment of the present invention.

[0029] FIG. 6 is a side view of a collet structure in a pinch state according to one embodiment of the present invention.

[0030] FIG. 7 is a front view of a collet module in a pinch-release state in a collet structure according to one embodiment of the present invention.

[0031] FIG. 8 is a front view of a collet module in a pinch state in a collet structure according to one embodiment of the present invention.

[0032] Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings.

[0033] FIG. 1 is an exploded perspective view of a collet structure according to one embodiment of the present invention.

[0034] The following description is provided with reference to Fig. 1.

[0035] The collet structure (1) includes a collet module cover portion (10), a collet module support portion (20), and a collet module (30). The collet module (30) is arranged between the collet module cover portion (10) and the collet module support portion (20). The collet module (30) faces the collet module cover portion (10) and is coupled to the collet module support portion (20).

[0036] In the collet structure (1), the direction in which the collet module cover part (10) is located is the front (F), and the direction in which the collet module support part (20) is located is the rear (B).

[0037] The collet module (30) includes a collet (40), a guide plate (50), a deflection member (60), a guide pin (70), and a guide plate fixing member (80).

[0038] A guide pin slot (40A) having a slot shape having a predetermined angle and length is formed on the side of the collet (40). The guide pin (70) is inserted through the guide pin slot (40A).

[0039] The guide pin (70) is inserted into and fixed in the guide pin hole (10A) formed in the collet module cover part (10). Accordingly, the guide pin (70) can remain in place even when the collet (40) is moved toward the central axis (1A) of the collet structure (1). In addition, the guide pin (70) can remain in place even when the collet (40) is moved in the opposite direction to the direction toward the central axis (1A) of the collet structure (1).

[0040] The guide pin (70) may be made of a material having a certain rigidity. In addition, it is preferable that the guide pin (70) be made of a material having a high rigidity.

[0041] The guide pin (70) may have a cylindrical shape with a circular cross-section. In addition, the diameter of the guide pin (70) may be substantially the same as the width of the slot of the guide pin slot (40A). In addition, the diameter of the guide pin (70) may be smaller than the width of the slot of the guide pin slot (40A).

[0042] The collet (40) is composed of a front portion (40F) having a collet taper surface (40T) formed on the outside, and a pin-shaped rear portion (40R) that is coupled to the front end of the deflection member (60).

[0043] A deflection member groove (50A) is formed on the guide plate (50) extending from a position adjacent to the center of the guide plate (50) toward a position spaced radially inwardly from the outer periphery of the guide plate (50).

[0044] The deflection member (60) is composed of an elastic member. For example, the deflection member (60) is an elastic spring such as a coil spring. The deflection member (60) has a restoring force that resists external force.

[0045] The deflection member (60) is inserted through the deflection member groove (50A) of the guide plate (50). The deflection member (60) is coupled with the rear portion (40R) of the collet (40) facing the collet module support (20).

[0046] The guide plate fixing member (80) penetrates the guide plate fixing member groove (50B) of the guide plate (50) and is coupled to the collet module support (20).

[0047] The front part (40F) of the collet (40) faces the inner tapered surface (10T) of the collet module cover part (10).

[0048] The rear portion (40R) of the collet (40) can move between a position adjacent to the center of the guide plate (50) and a position spaced radially inward from the outer periphery of the guide plate (50) while penetrating the deflection member groove (50A) of the guide plate (50).

[0049] The deflection member (60) is divided into a front end connected to the rear end (40R) of the collet (40) and a rear end fixed near the outer periphery of the collet module support (20).

[0050] In a state where the rear portion (40R) of the collet (40) penetrates a position near the outer periphery of the deflection member groove (50A), the front end of the deflection member groove (50A) is connected to the rear portion (40R) of the collet (40), and the rear end of the deflection member (60) is fixed at a position near the outer periphery of the collet module support (20). As a result, the rear portion (40R) of the collet (40), the deflection member (60), and the collet module support (20) are maintained in a state of being coupled to each other.

[0051] The center of the guide plate (50) coincides with the center (1A) of the collet structure (1).

[0052] The collet module (30) includes three or more collets (40), three or more deflection members (60), and three or more guide pins (70). In addition, it is preferable that the collet module (30) includes three collets (40), three deflection members (60), and three guide pins (70). Due to this structure, the collet module (30) can stably pinch a guide wire or catheter penetrating the central axis (1A) of the collet structure (1) in three directions (or more than three directions). In addition, due to this structure, the risk of the pinch state being released when the guide wire or catheter moves forward, backward, or rotates is reduced.

[0053] FIG. 2 is a perspective view of a collet and a guide pin in a pinch-release state in a collet structure according to one embodiment of the present invention.

[0054] FIG. 3 is a perspective view of a collet and a guide pin in a pinch state in a collet structure according to one embodiment of the present invention.

[0055] FIG. 4 is a side view of a collet and a guide pin in a collet structure according to one embodiment of the present invention.

[0056] FIG. 5 is a side view of a collet structure in a pinch-release state according to one embodiment of the present invention.

[0057] FIG. 6 is a side view of a collet structure in a pinch state according to one embodiment of the present invention.

[0058] FIG. 7 is a front view of a collet module in a pinch-release state in a collet structure according to one embodiment of the present invention.

[0059] FIG. 8 is a front view of a collet module in a pinch state in a collet structure according to one embodiment of the present invention.

[0060] The following description is provided with reference to Figures 2 to 8.

[0061] First, the pinch state means a state in which three or more collets (40) are moved toward the central axis (1A) of the collet structure (1) and come into contact with a guide wire (G) or catheter (C) penetrating the central axis (1A) of the collet structure (1). The guide wire (G) or catheter (C) can be firmly fixed by contact with the collet (40).

[0062] Next, the pinch release state means a state in which three or more collets (40) are moved in the opposite direction to the central axis (1A) of the collet structure (1) and separated from the guide wire (G) and the catheter (C). The guide wire (G) or the catheter (C) can perform at least one of forward movement, backward movement, and rotational movement by separation from the collet (40).

[0063] A cover inner taper surface (10T) is formed on the inner side of the collet module cover portion (10). A collet taper surface (40T) having a shape corresponding to the cover inner taper surface (10T) is formed on the front side (40F) of the collet (40) facing the inner side of the collet module cover portion (10).

[0064] The guide pin slot (40A) may be formed at a distance of 1 / 3 or more and less than 1 from the frontmost end of the front portion (40F) of the collet (40) when the length direction of the collet (40) is divided into three equal parts. Alternatively, the guide pin slot (40A) may be formed at a distance of 1 / 3 or more and less than 3 / 4 from the frontmost end of the front portion (40F) of the collet (40). Alternatively, the guide pin slot (40A) may be formed at a distance of 1 / 3 or more and less than 2 / 3 from the frontmost end of the collet (40).

[0065] By means of these guide pin slots (40A), when the collet (40) is moved toward the central axis (1A) of the collet structure (1), the entire front part (40F) of the collet (40) can be moved stably. In addition, the rear part (40R) of the collet (40), which is an integral part of the front part (40F) of the collet (40), can also be moved stably. Accordingly, when the collet (40) is moved toward the central axis (1A) of the collet structure (1), the front part (40F) of the collet (40) and the rear part (40R) of the collet (40) can be moved simultaneously.

[0066] Conversely, by means of these guide pin slots (40A), when the collet (40) is moved in the opposite direction toward the central axis (1A) of the collet structure (1), the entire front part (40F) of the collet (40) can be moved stably. In addition, the rear part (40R) of the collet (40), which is an integral part of the front part (40F) of the collet (40), can also be moved stably. Accordingly, when the collet (40) is moved in the opposite direction toward the central axis (1A) of the collet structure (1), the front part (40F) of the collet (40) and the rear part (40R) of the collet (40) can be moved simultaneously.

[0067] The distance between the guide pin slot (40A) and the central axis (1A) of the collet structure (1) is formed to decrease as it approaches the frontmost end of the collet (40) facing the collet module cover portion (10). That is, the guide pin slot (40A) may have a slot shape that extends from a position spaced radially inward from the outer periphery of the collet structure (1) to a position adjacent to the central axis (1A) of the collet structure (1).

[0068] The collet module cover part (10) can be moved forward (F) or backward (B) by a predetermined power transmission means. For example, the collet module cover part (10) can be moved forward (F) or backward (B) by a combination of a rack and pinion.

[0069] When the collet module cover part (10) is moved to the rear (B), the inner taper surface (10T) of the cover part of the collet module cover part (10) and the collet taper surface (40T) of the collet (40) can come into contact with each other.

[0070] In addition, as the inner taper surface (10T) of the cover portion of the collet module cover portion (10) and the collet taper surface (40T) of the collet (40) come into contact with each other, the collet (40) can be moved toward the central axis (1A) of the collet structure (1).

[0071] As the collet (40) moves toward the central axis (1A) of the collet structure (1), the collet (40) can come into contact with the guide wire (G) or the catheter (C) inserted through the central axis (1A) of the collet structure (1). The guide wire (G) or the catheter (C) can be firmly fixed by contact with the collet (40). In this way, a state in which the guide wire (G) or the catheter (C) is firmly fixed by contact with the collet (40) is referred to as a pinch state.

[0072] After the collet module cover part (10) is moved to the rear (B), when the collet module cover part (10) is moved to the front (F), the cover part inner taper surface (10T) of the collet module cover part (10) and the collet taper surface (40T) of the collet (40) can be separated from each other.

[0073] In addition, since the inner taper surface (10T) of the cover portion of the collet module cover portion (10) and the collet taper surface (40T) of the collet (40) are separated from each other, the collet (40) can be moved in the opposite direction toward the central axis (1A) of the collet structure (1).

[0074] As the collet (40) moves in the opposite direction toward the central axis (1A) of the collet structure (1), the collet (40) can be separated from the guide wire (G) or the catheter (C) inserted through the central axis (1A) of the collet structure (1). The guide wire (G) or the catheter (C) can be freely moved by separation from the collet (40). In this way, a state in which the guide wire (G) or the catheter (C) can be freely moved by separation from the collet (40) is called a pinch release state.

[0075] Below, the mechanism by which the guide wire (G) or catheter (C) is pinched and released by the collet (40) is described in more detail.

[0076] First, as illustrated in FIG. 5, before the collet module cover part (10) is moved to the rear (B), the collet module cover part (10) and the front part (40F) of the collet (40) are spaced apart from each other. Accordingly, the inner taper surface (10T) of the collet module cover part (10) and the collet taper surface (40T) of the collet (40) are separated from each other.

[0077] At this time, as shown in Fig. 7, the collet (40) does not move toward the central axis (1A) of the collet structure (1). That is, the gap between the collets (40) does not decrease based on the central axis (1A) of the collet structure (1), so the guide wire (G) or catheter (C) penetrating the central axis (1A) of the collet structure (1) is not pinched.

[0078] Thereafter, as shown in Fig. 6, when the collet module cover part (10) is moved to the rear (B), the distance between the collet module cover part (10) and the front part (40F) of the collet (40) becomes closer. Accordingly, the cover part inner taper surface (10T) of the collet module cover part (10) and the collet taper surface (40T) of the collet (40) come into contact with each other.

[0079] In addition, the collet taper surface (40T) of the collet (40) slides and moves along the inner taper surface (10T) of the cover portion of the collet module cover portion (10). Accordingly, the front portion (40F) of the collet (40) moves toward the central axis (1A) of the collet structure (1). In addition, since the guide pin (70) is inserted through the guide pin slot (40A) of the front portion (40F) of the collet (40), the entire front portion (40F) of the collet (40) stably moves toward the central axis (1A) of the collet structure (1). In addition, the rear portion (40R) of the collet (40), which is an integral component with the front portion (40F) of the collet (40), is moved toward the central axis (1A) of the collet structure (1) simultaneously with the front portion (40F) of the collet (40). That is, the rear portion (40R) of the collet (40) is moved along the formed deflection member groove (50A) from a position spaced radially inward from the outer periphery of the guide plate (50) to a position adjacent to the center of the guide plate (50).

[0080] At this time, as illustrated in FIG. 8, the collet (40) is moved toward the central axis (1A) of the collet structure (1). That is, since the gap between the collets (40) is reduced based on the central axis (1A) of the collet structure (1), the guide wire (G) or catheter (C) penetrating the central axis (1A) of the collet structure (1) is pinched. In addition, by the guide pin (70) and the guide pin slot (40A), the front part (40F) of the collet (40) and the rear part (40R) of the collet (40) can simultaneously move toward the guide wire (G) or catheter (C), so that the collet (40) can be moved more stably. As a result, the pinch state of the collet (40) and the guide wire (G) or catheter (C) is stably maintained.

[0081] Meanwhile, the front end of the deflection member (60) is connected to the rear end (40R) of the collet (40), and the rear end of the deflection member (60) is fixed at a position near the outer periphery of the collet module support member (20).

[0082] Due to this structure, when the rear portion (40R) of the collet (40) penetrating the deflection member groove (50A) moves from a position spaced radially inwardly from the outer periphery of the guide plate (50) to a position adjacent to the center of the guide plate (50), an elastic force is applied to return the rear portion (40R) of the collet (40) toward a position spaced radially inwardly from the outer periphery of the guide plate (50).

[0083] In a state where this elastic force is applied, when the collet module cover part (10) is moved forward (F), the distance between the collet module cover part (10) and the front part (40F) of the collet (40) increases as shown in Fig. 5. Accordingly, the cover part inner taper surface (10T) of the collet module cover part (10) and the collet taper surface (40T) of the collet (40) are separated from each other.

[0084] By this separation, the external force that moves the collet (40) toward the central axis (1A) of the collet structure (1) no longer acts. Accordingly, only the elastic force that tries to return the rear portion (40R) of the collet (40) to a position spaced radially inward from the outer periphery of the guide plate (50) acts.

[0085] Due to this elastic force, the rear portion (40R) of the collet (40) moves from a position adjacent to the center of the guide plate (50) toward a position spaced radially inwardly from the outer periphery of the guide plate (50). In addition, the front portion (40F) of the collet (40), which is integrally formed with the rear portion (40R) of the collet (40), also moves from a position adjacent to the center of the guide plate (50) toward a position spaced radially inwardly from the outer periphery of the guide plate (50). At this time, since the guide pin (70) is inserted through the guide pin slot (40A) of the front part (40F) of the collet (40), the entire front part (40F) of the collet (40) moves stably from a position adjacent to the center of the guide plate (50) to a position spaced radially inward from the outer periphery of the guide plate (50) at the same time as the rear part (40R) of the collet (40).

[0086] Accordingly, as illustrated in FIG. 7, the collet (40) moves in the opposite direction to the central axis (1A) of the collet structure (1). That is, since the gap between the collets (40) with respect to the central axis (1A) of the collet structure (1) widens, the guide wire (G) or catheter (C) penetrating the central axis (1A) of the collet structure (1) is pinch-released. In addition, since the front part (40F) of the collet (40) and the rear part (40R) of the collet (40) are both separated from the guide wire (G) or catheter (C) by the guide pin (70) and the guide pin slot (40A), the pinch-release state of the collet (40) and the guide wire (G) or catheter (C) is stably maintained.

[0087] The present invention is not limited to the above-described embodiments and the attached drawings, and various substitutions, modifications, and changes may be made by those skilled in the art within the scope of the technical idea of ​​the present invention described in the claims, and this also falls within the scope of the present invention.

[0088] [Explanation of symbols]

[0089] 1: Collet structure

[0090] 1A: Central axis of the collet structure

[0091] 10: Collet module cover

[0092] 10A: Guide pin hole

[0093] 10T: Inner tapered surface of cover

[0094] 20: Collet module support

[0095] 30: Collet Module

[0096] 40: Collet

[0097] 40A: Guide pin slot

[0098] 40F: Front of the collet

[0099] 40R: Rear of the collet

[0100] 40T: Collet taper face

[0101] 50: Guide plate

[0102] 50A: Deflection Absence Home

[0103] 50B: Guide plate fixing member groove

[0104] 60: Absence of bias

[0105] 70: Guide pin

[0106] 80: Guide plate fixing member

[0107] F: Front of the collet structure

[0108] B: Rear of the collet structure

[0109] G: Guide wire

[0110] C: Catheter

Claims

A collet structure (1) including a collet module cover portion (10), a collet module support portion (20), and a collet module (30), The collet module (30) is arranged between the collet module cover part (10) and the collet module support part (20), The collet module (30) is a collet structure (1) that faces the collet module cover (10) and is coupled with the collet module support (20). In the first paragraph, A collet structure (1), characterized in that the collet module (30) includes a collet (40), a guide plate (50), a deflection member (60), a guide pin (70), and a guide plate fixing member (80). In the second paragraph, A guide pin slot (40A) having a predetermined angle and length is formed on the side of the above collet (40). A collet structure (1), characterized in that the above guide pin (70) is inserted through the above guide pin slot (40A). In the third paragraph, A collet structure (1), characterized in that the above guide pin (70) is inserted into and fixed in a guide pin hole (10A) formed in the collet module cover part (10). In paragraph 4, The above guide plate (50) is formed with a deflection member groove (50A) extending from a position adjacent to the center of the guide plate (50) toward a position spaced radially inwardly from the outer periphery of the guide plate (50), The above deflection member (60) is composed of an elastic member, The above deflection member (60) is inserted through the deflection member groove (50A) of the above guide plate (50), The above deflection member (60) is coupled with the rear portion (40R) of the collet (40) facing the collet module support (20), A collet structure (1), characterized in that the guide plate fixing member (80) penetrates the guide plate fixing member groove (50B) of the guide plate (50) and is coupled with the collet module support (20). In paragraph 5, On the inside of the above collet module cover part (10), a cover part inner tapered surface (10T) is formed, A collet structure (1), characterized in that a collet taper surface (40T) having a shape corresponding to the inner taper surface (10T) of the cover portion is formed on the front portion (40F) of the collet (40) facing the inner side of the collet module cover portion (10). In paragraph 6, A collet structure (1), characterized in that the guide pin slot (40A) is formed at a distance of 1 / 3 or more and less than 1 from the frontmost end of the front portion (40F) of the collet (40) when the length direction of the front portion (40F) of the collet (40) is divided into three equal parts. In paragraph 7, A collet structure (1), characterized in that the guide pin slot (40A) is formed so that the distance from the central axis (1A) of the collet structure (1) decreases as it moves toward the frontmost end of the front portion (40F) of the collet (40) facing the collet module cover portion (10). In paragraph 8, The above collet module cover part (10) is moved forward (F) or backward (B) by a predetermined power transmission means, When the collet module cover part (10) is moved to the rear (B), the inner taper surface (10T) of the cover part of the collet module cover part (10) and the collet taper surface (40T) of the collet (40) come into contact with each other, Thereafter, when the collet module cover part (10) is moved forward (F), the inner taper surface (10T) of the cover part of the collet module cover part (10) and the collet taper surface (40T) of the collet (40) are separated from each other, characterized in that the collet structure (1). In paragraph 9, A guide wire (G) or catheter (C) is inserted through the central axis (1A) of the collet structure (1), When the collet module cover part (10) is moved to the rear (B), the collet (40) is moved toward the central axis (1A) of the collet structure (1) and comes into contact with the guide wire (G) or the catheter (C). Thereafter, when the collet module cover part (10) is moved forward (F), the collet (40) is moved in the opposite direction toward the central axis (1A) of the collet structure (1), thereby being separated from the guide wire (G) or the catheter (C), characterized in that the collet structure (1). In paragraph 10, A collet structure (1), characterized in that the collet module (30) comprises three or more collets (40), three or more deflection members (60) and three or more guide pins (70).

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