Module for guiding at least one of guidewire or catheter

Abstract

A module according to an embodiment of the present invention comprises: a housing (900) extending in the longitudinal direction from the front to the rear; a guide wire-moving cassette (100) that pinches a guide wire (1) to move the guide wire (1); a guide wire-rotating cassette (110) that pinches the guide wire (1) to rotate the guide wire (1); at least one catheter-driving cassette (200) that pinches the catheter (2) to drive the catheter (2); and at least one catheter-fixing cassette (300) to which the proximal end of the catheter (2) is coupled. The module has a structure in which: the guide wire-moving cassette (100), the guide wire-rotating cassette (110), the catheter-driving cassette (200), and the catheter-fixing cassette (300) are arranged in the housing (900); the guide wire-moving cassette (100) includes a guide wire-moving module that moves the guide wire (1) while pinching the guide wire (1); the guide wire-rotating cassette (110) includes a guide wire-rotating module that rotates the guide wire (1) while pinching the guide wire (1); the catheter-driving cassette (200) includes a catheter-driving module that rotates the catheter (2) while pinching the catheter (2); the guide wire-moving cassette (100) and the catheter-driving cassette (200) are movable along the longitudinal direction of the housing (900) by respective actuators; and the guide wire-rotating cassette (110) is spaced apart from the guide wire-moving cassette (100) in a direction perpendicular to the longitudinal direction of the housing (900) and is fixed to the housing (900).

Description

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

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

[0002] A guide wire is positioned within the body and is used to guide a secondary sheath (e.g., a catheter) along the guide wire to a desired location within 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 the 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, i.e., over the guide wire.

[0003] One challenge with guidewire and catheter introduction systems is the difficulty in guiding the distal end of the guidewire and catheter through tortuous lumen geometries, into lumens that intersect the main lumen through which the guidewire is traveling, or into branch lumens where the distal end of the guidewire and catheter should be positioned. In some cases, the branch lumen, the intended destination of the distal end of the guidewire and catheter, intersects another lumen at a significant angle, for example, greater than 45 degrees, and in some cases, greater than 90 degrees.

[0004] 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. A cassette for use with the robotic system is also proposed. Using the cassette, the guide wire and catheter are guided to the desired location in the body through forward, backward, or rotational movements.

[0005] However, with such conventional cassettes, there was a problem in that the catheter could only perform either axial movement, such as forward and backward movement, or rotational movement, and that axial movement, such as forward and backward movement, and rotational movement could not be performed simultaneously.

[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 module for guiding at least one of a guide wire and a catheter, wherein the catheter can perform axial movement such as forward movement and backward movement and rotational movement, respectively or simultaneously.

[0010] According to one embodiment of the present invention, a module comprises: a housing (900) extending longitudinally from the front to the rear; a guide wire moving cassette (100) for pinching a guide wire (1) to move the guide wire (1); a guide wire rotation cassette (110) for pinching the guide wire (1) to rotate the guide wire (1); and at least one catheter driving cassette (200) for pinching a catheter (2) to drive the catheter (2). And at least one catheter fixing cassette (300) to which the proximal end of the catheter (2) is coupled, the guide wire moving cassette (100), the guide wire rotating cassette (110), the catheter driving cassette (200) and the catheter fixing cassette (300) are arranged in the housing (900), the guide wire moving cassette (100) includes a guide wire moving module that moves the guide wire (1) in a pinched state, the guide wire rotating cassette (110) includes a guide wire rotating module that rotates the guide wire (1) in a pinched state, the catheter driving cassette (200) includes a catheter driving module that rotates the catheter (2) in a pinched state, the guide wire moving cassette (100) and the catheter driving cassette (200) is movable along the longitudinal direction of the housing (900) by each actuator, and the guide wire rotation cassette (110) includes a structure in which the guide wire movement cassette (100) is spaced apart from the guide wire movement cassette (100) in a direction perpendicular to the longitudinal direction of the housing (900) and is fixed to the housing (900).

[0011] According to one embodiment of the present invention, a module comprises a structure in which the catheter drive module includes a rack (400), a pinion (500), a first bevel gear (600), a second bevel gear (700) and a pinch module (800), the guide wire movement module includes a rack (400), a pinion (500) and a pinch module (800), and the guide wire rotation module includes a first bevel gear (600), a second bevel gear (700) and a fixed collet (830) that maintains the guide wire (1) in a pinched state.

[0012] According to one embodiment of the present invention, a module includes a structure in which the rack (400) is moved forward or backward by rotation of the pinion (500), and when the rack (400) is moved backward, the guide wire (1) or the catheter (2) is pinched by the pinch module (800) in conjunction with the movement of the rack (400), and when the rack (400) is moved forward, the guide wire (1) or the catheter (2) is released from being pinched by the pinch module (800) in conjunction with the movement of the rack (400).

[0013] According to one embodiment of the present invention, a module is provided, wherein - when the guide wire (1) is pinched by the pinch module (800) of the guide wire moving cassette (100), the guide wire (1) is moved forward or backward by the forward or backward movement of the guide wire moving cassette (100) along the longitudinal direction of the housing (900), - when the guide wire (1) is released from being pinched by the pinch module (800) of the guide wire moving cassette (100), the guide wire (1) is rotated by the rotation of the fixed collet (830) of the guide wire rotation cassette (110), - when the catheter (2) is pinched by the pinch module (800) of the catheter drive cassette (200), the catheter is rotated by the rotation of the pinch module (800) of the catheter drive cassette (200). (2) It includes a structure in which the catheter (2) is moved forward or backward by rotating and moving the catheter driving cassette (200) forward or backward along the longitudinal direction of the housing (900).

[0014] A module according to one embodiment of the present invention includes a structure in which only one of the forward or backward movement of the catheter (2) and the rotation of the catheter (2) is driven, or is driven simultaneously.

[0015] A module according to one embodiment of the present invention includes a structure in which the guide wire moving cassette (100) is positioned at the rear of the catheter fixing cassette (300), and the catheter fixing cassette (300) is positioned at the rear of the catheter driving cassette (200).

[0016] A module according to one embodiment of the present invention includes a structure in which, when the catheter (2) is pinched by the pinch module (800) of the catheter drive cassette (200), the catheter fixing cassette (300) moves forward or backward together with the forward or backward movement of the catheter drive cassette (200).

[0017] A module according to one embodiment of the present invention includes a structure in which, when the catheter (2) is released from being pinched by the pinch module (800) of the catheter drive cassette (200), the catheter drive cassette (200) moves forward or backward independently from the catheter fixing cassette (300).

[0018] A module according to one embodiment of the present invention includes a structure in which the outer diameter of the guide wire (1) is smaller than the inner diameter of the catheter (2), the guide wire (1) penetrates the inside of the catheter (2), and movement of the guide wire (1) and driving of the catheter (2) are performed independently of each other or in synchronization with each other.

[0019] A module according to one embodiment of the present invention includes a structure in which the pinch module (800) is a collet structure (810) or a plate spring structure (820).

[0020] According to one embodiment of the present invention, a module comprises a collet structure (810) including a first part (811), a second part (812) and a collet module (813), and the collet module (813) is disposed between the first part (811) and the second part (812), so as to face the inner side of the first part (811) and be coupled with the second part (812), and when the rack (400) moves rearward, the first part (811) moves rearward together with the movement of the rack (400), and when the first part (811) moves rearward, the inner side of the first part (811) and the outer side of one or more collets (814) of the collet module (813) come into contact with each other at one or more contact points, so that the collet (814) is in contact with the collet It includes a structure in which the guide wire (1) or the catheter (2) penetrating the center (810A) of the collet structure (810) is moved toward the center (810A) of the structure (810) and is pinched by the collet (814).

[0021] According to one embodiment of the present invention, a module includes a structure in which the inner side of the first part (811) and the outer side of one or more collets (814) of the collet module (813) are in contact with each other at at least two contact points (814A, 814B), and the at least two contact points (814A, 814B) are spaced apart from each other along the longitudinal direction of the collet (814) on the outer side of the collet (814).

[0022] A module according to one embodiment of the present invention includes a structure in which at least one anti-slip groove (814C) is formed along the longitudinal direction of the collet (814) on the inside of the collet (814).

[0023] According to one embodiment of the present invention, a module comprises a plate spring structure (820) including a moving part (821), a supporting part (822) and one or more plate springs (823), and the plate spring (823) is arranged between the moving part (821) and the supporting part (822), such that a first end (823A) of the plate spring (823) is fixed to an inner surface of the moving part (821), and a second end (823B) of the plate spring (823) is fixed to an inner surface of the supporting part (822), and when the rack (400) moves rearward, the moving part (821) moves rearward together with the movement of the rack (400), and when the moving part (821) moves rearward, the plate springs (823) are bent in a direction toward each other, so that the plate spring structure (820) includes a structure in which the guide wire (1) or the catheter (2) penetrating the center (820A) is pinched.

[0024] A module according to one embodiment of the present invention includes a structure in which the degree of bending deformation of the plate spring (823) increases as the distance by which the rack (400) moves rearward increases.

[0025] A module according to one embodiment of the present invention includes a structure in which the distance by which the guide wire moving cassette (100) and the catheter driving cassette (200) can move forward or backward along the longitudinal direction of the housing (900) is limited to a distance at which the guide wire (1) or the catheter (2) does not buckle.

[0026] A module according to one embodiment of the present invention comprises a structure in which at least one catheter drive cassette (200) includes a plurality of catheter drive cassettes, and at least one catheter fixing cassette (300) includes a plurality of catheter fixing cassettes.

[0027] According to one embodiment of the present invention, a module comprises: at least one catheter drive cassette (200) comprises one first catheter drive cassette (210) and one second catheter drive cassette (220); at least one catheter fixing cassette (300) comprises one first catheter fixing cassette (310) and one second catheter fixing cassette (320); and the guide wire moving cassette (100) is disposed at the rear of the first catheter fixing cassette (310), the first catheter fixing cassette (310) is disposed at the rear of the first catheter drive cassette (210), the first catheter drive cassette (210) is disposed at the rear of the second catheter fixing cassette (320), and the second catheter fixing cassette (320) is The second catheter drive cassette (220) is positioned at the rear, and the first catheter fixing cassette (310) is coupled to a proximal end of the first catheter, the second catheter fixing cassette (320) is coupled to a proximal end of the second catheter, and the outer diameter of the guide wire (1) is smaller than the inner diameter of the first catheter, the guide wire (1) penetrates the inside of the first catheter, the outer diameter of the first catheter is smaller than the inner diameter of the second catheter, and the first catheter includes a structure that penetrates the inside of the second catheter.

[0028] According to one embodiment of the present invention, a module further comprises at least one catheter fixing cassette (300) including a third catheter fixing cassette (330), wherein the third catheter fixing cassette (330) is disposed at a front end of the housing (900), the second catheter drive cassette (220) is disposed at a rear end of the third catheter fixing cassette (330), the third catheter fixing cassette is coupled to a proximal end of the third catheter, an outer diameter of the second catheter is smaller than an inner diameter of the third catheter, and the second catheter has a structure penetrating the interior of the third catheter.

[0029] According to the module of the present invention, the catheter guided by the module can perform axial movement such as forward movement and backward movement and rotational movement, respectively or simultaneously, so that the position of the distal end of the catheter can be easily and accurately controlled, and thus the procedure time for a minimally invasive intervention procedure, etc. can be effectively shortened.

[0030] FIG. 1 is a plan view of a module for guiding at least one of a guide wire and a catheter according to one embodiment of the present invention, showing the path of the guide wire and the catheter.

[0031] FIG. 2a is a cross-sectional view of a catheter drive module in a pinch-release state of the module according to one embodiment of the present invention.

[0032] FIG. 2b is a plan view of a catheter drive module in a pinch-release state of the module according to one embodiment of the present invention.

[0033] FIG. 3a is a cross-sectional view of a catheter drive module in a pinch state according to one embodiment of the present invention.

[0034] FIG. 3b is a plan view of a catheter drive module in a pinch state according to one embodiment of the present invention.

[0035] FIG. 4 is a plan view of a catheter drive module in a rotational motion state of the module according to one embodiment of the present invention.

[0036] FIG. 5 is a plan view of a guide wire movement module in a pinch state of a module according to one embodiment of the present invention.

[0037] FIG. 6a is a cross-sectional view of a guide wire rotation module in a pinch state of the module according to one embodiment of the present invention.

[0038] FIG. 6b is a plan view of a guide wire rotation module in a rotational motion state of the module according to one embodiment of the present invention.

[0039] FIG. 7a is a plan view of the module before forward movement of the catheter drive cassette and guide wire movement cassette of the module according to one embodiment of the present invention.

[0040] FIG. 7b is a plan view of the module after forward movement of the catheter drive cassette and guide wire movement cassette of the module according to one embodiment of the present invention.

[0041] Figure 8 is a perspective view of a collet structure according to one embodiment of the present invention.

[0042] FIG. 9a is a longitudinal cross-sectional view of a collet structure in a pinch-release state of a module according to one embodiment of the present invention.

[0043] FIG. 9b is a side view of a collet structure in a pinch-release state of a module according to one embodiment of the present invention.

[0044] FIG. 10 is a cross-sectional view of a collet structure in a pinch-release state of a module according to one embodiment of the present invention.

[0045] FIG. 11a is a cross-sectional view of a collet structure in a pinch state of a module according to one embodiment of the present invention.

[0046] FIG. 11b is a side view of a collet structure in a pinch state of a module according to one embodiment of the present invention.

[0047] FIG. 12 is a cross-sectional view of a collet structure in a pinch state of a module according to one embodiment of the present invention.

[0048] Figure 13 is an enlarged view of an anti-slip groove of a collet of a module according to one embodiment of the present invention.

[0049] FIG. 14 is a cross-sectional view of a collet structure in a pinch-release state of a module according to a modified embodiment of the present invention.

[0050] FIG. 15 is a perspective view of a plate spring structure of a module according to one embodiment of the present invention.

[0051] Figure 16 is a perspective view of a plate spring structure of a module according to one embodiment of the present invention before assembly.

[0052] FIG. 17 is a cross-sectional view of a plate spring structure in a pinch-release state of a module according to one embodiment of the present invention.

[0053] Fig. 18 is a cross-sectional view of a plate spring structure in a pinch state of a module according to one embodiment of the present invention.

[0054] Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings.

[0055] FIG. 1 is a plan view of a module for guiding at least one of a guide wire and a catheter according to one embodiment of the present invention, showing the path of the guide wire and the catheter.

[0056] In Fig. 1, the direction in which the guide wire (1) and the catheter (2) protrude from the inside of the housing (900) is forward, and the direction opposite to the direction in which the guide wire (1) and the catheter (2) protrude from the inside of the housing (900) is rearward.

[0057] Referring to FIG. 1, a module (1000) for guiding at least one of a guide wire (1) and a catheter (2) includes a housing (900) extending longitudinally from the front to the rear, a guide wire moving cassette (100) for moving the guide wire (1) by pinching the guide wire (1), a guide wire rotating cassette (110) for rotating the guide wire (1) by pinching the guide wire (1), at least one catheter driving cassette (200) for driving the catheter (2) by pinching the catheter (2), and at least one catheter fixing cassette (300) to which a proximal end of the catheter (2) is coupled.

[0058] The guide wire moving cassette (100) and the catheter driving cassette (200) are configured to move forward or backward by a predetermined actuator within the housing (900).

[0059] The guide wire rotation cassette (110) is spaced apart from the guide wire movement cassette (100) in a direction perpendicular to the longitudinal direction of the housing (900) and is fixed to the housing (900).

[0060] Among the catheter fixing cassettes (300), the first catheter fixing cassette (310) and the second catheter fixing cassette (320) are configured to move forward or backward by a predetermined actuator within the housing (900).

[0061] However, among the catheter fixing cassettes (300), the third catheter fixing cassette (330) is configured not to move within the housing (900) and is fixed to the front end of the housing (900).

[0062] The proximal end of the catheter (2) connected to the catheter fixation cassette (300) is maintained in a fixed state. However, the fixed state of the proximal end of the catheter (2) can be released by the operator's manipulation.

[0063] The guide wire (1) is a flexible wire-shaped configuration, is introduced into a blood vessel through an incision in the patient's skin, and moves forward, backward, or rotates within the blood vessel by the operator's manipulation of the module (1000).

[0064] The catheter (2) is a flexible tube-shaped configuration, and, like the guide wire (1), is introduced into a blood vessel through an incision in the patient's skin, and moves forward, backward, or rotates within the blood vessel along the guide wire (1) by manipulation of the operator's module (1000).

[0065] The catheter (2) is a tube shape having an outer diameter and an inner diameter, and the outer diameter of the guide wire (1) is smaller than the inner diameter of the catheter (2) so that the guide wire (1) can penetrate the inner diameter of the catheter (2).

[0066] The guide wire moving cassette (100) pinching the guide wire (1) means that the guide wire (1) is fixed by a predetermined pinch module included in the guide wire moving cassette (100).

[0067] When the guide wire (1) is pinched, the guide wire (1) moves (forward or backward) as the guide wire movement cassette (100) moves (forward or backward).

[0068] The guide wire moving cassette (100) releasing the pinch of the guide wire (1) means that the guide wire (1) is switched from a state in which it was fixed by a predetermined pinch module included in the guide wire moving cassette (100) to a state in which it is released from fixation.

[0069] When the guide wire (1) is released from the pinch, even if the guide wire movement cassette (100) is moved (forward or backward), the guide wire (1) does not move (forward or backward). However, when the guide wire (1) is released from the pinch, the guide wire (1) can be moved (forward or backward) by manual operation of the operator.

[0070] The catheter drive cassette (200) pinching the catheter (2) means that the catheter (2) is fixed by a predetermined pinch module included in the catheter drive cassette (200).

[0071] When the catheter (2) is pinched, the catheter drive cassette (200) is driven (moved forward, backward, or rotated), and thus the catheter (2) is driven (moved forward, backward, or rotated).

[0072] The catheter drive cassette (200) releasing the pinch from the catheter (2) means that the catheter (2) is switched from a state in which it was fixed by a predetermined pinch module included in the catheter drive cassette (200) to a state in which it is released from fixation.

[0073] When the catheter (2) is released from the pinch, even if the catheter drive cassette (200) is driven (moved forward, backward, or rotated), the catheter (2) is not driven (moved forward, backward, or rotated). However, when the catheter (2) is released from the pinch, the catheter (2) can be driven (moved forward, backward, or rotated) by manual operation of the operator.

[0074] A guide wire moving cassette (100), a guide wire rotating cassette (110), a catheter driving cassette (200), and a catheter fixing cassette (300) are placed in a housing (900).

[0075] The guide wire movement cassette (100) includes a guide wire movement module that moves the guide wire (1) while pinching the guide wire (1).

[0076] The guide wire rotation cassette (110) includes a guide wire rotation module that rotates the guide wire (1) while pinching the guide wire (1).

[0077] The catheter drive cassette (200) includes a catheter drive module that rotates the catheter (2) while pinching the catheter (2).

[0078] The guide wire moving cassette (100) and the catheter driving cassette (200) are moved forward or backward along the length of the housing (900) by respective actuators not shown.

[0079] A rotation mechanism for rotating the guide wire (1) and the catheter (2) is arranged in the guide wire rotation cassette (110) and the catheter drive cassette (200), and rotates about the longitudinal direction of the housing (900) as an axis by each actuator not shown.

[0080] Movement (forward or backward movement) of the guide wire moving cassette (100) and driving (forward or backward movement or rotational movement of the catheter within the catheter driving cassette) of the catheter driving cassette (200) can be performed independently of each other or synchronized with each other.

[0081] The guide wire (1) is moved forward or backward by the movement (forward or backward movement) of the guide wire movement cassette (100).

[0082] The guide wire (1) is rotated by the rotational movement of the rotation mechanism within the guide wire rotation cassette (110).

[0083] The catheter (2) is moved forward, backward, or rotated by driving (forward movement, backward movement, or rotational movement of the catheter rotation mechanism) of the catheter drive cassette (200).

[0084] Movement of the guide wire (1) and driving of the catheter (2) can be performed independently of each other or synchronized with each other.

[0085] In a housing (900) extending longitudinally from the front to the rear, a guide wire (1) and a catheter (2) pass longitudinally through the front end of the housing (900).

[0086] A guide wire (1) is passed through the inside of a guide wire moving cassette (100) and a guide wire rotating cassette (110), and a catheter (2) is passed through the inside of a catheter driving cassette (200).

[0087] Additionally, the guide wire (1) and the catheter (2) are composed of flexible tube-shaped members, the outer diameter of the guide wire (1) is smaller than the inner diameter of the catheter (2), and the guide wire (1) penetrates into the interior of the catheter (2). The guide wire (1) may alternatively be a solid wire having a circular or other shaped outer periphery.

[0088] At least one catheter drive cassette (200) comprises a plurality of catheter drive cassettes, and at least one catheter fixation cassette (300) comprises a plurality of catheter fixation cassettes, each of the plurality of catheter drive cassettes and the plurality of catheter fixation cassettes being dedicated to a catheter of a particular relative size with respect to each other and with respect to the guide wire.

[0089] As an example of a module according to one embodiment of the present invention, at least one catheter drive cassette (200) includes one first catheter drive cassette (210) and one second catheter drive cassette (220), and at least one catheter fixation cassette (300) includes one first catheter fixation cassette (310) and one second catheter fixation cassette (320).

[0090] The guide wire moving cassette (100) is positioned behind the first catheter fixing cassette (310), the first catheter fixing cassette (310) is positioned behind the first catheter driving cassette (210), the first catheter driving cassette (210) is positioned behind the second catheter fixing cassette (320), and the second catheter fixing cassette (320) is positioned behind the second catheter driving cassette (220).

[0091] The first catheter fixing cassette (310) is configured to have the proximal end of the first catheter attached and fixed, and the second catheter fixing cassette (320) is configured to have the proximal end of the second catheter attached and fixed.

[0092] Attaching and securing the proximal ends of the first catheter and the second catheter to the first catheter securing cassette (310) and the second catheter securing cassette (320) is accomplished, for example, by means of a threaded connection means.

[0093] Accordingly, the guide wire (1) is insertable into the proximal end of the first catheter connected to the first catheter fixing cassette (310), and the first catheter is insertable into the proximal end of the second catheter connected to the second catheter fixing cassette (320). Here, the proximal end of the guide wire (1) or the catheter (2) means a part where the guide wire (1) or the catheter (2) is not positioned or inserted into the body.

[0094] Since the outer diameter of the guide wire (1) is smaller than the inner diameter of the first catheter, the guide wire (1) can extend beyond the distal end of the first catheter on the opposite side by penetrating the inner diameter of the first catheter from the proximal end of the first catheter.

[0095] Additionally, since the outer diameter of the first catheter is smaller than the inner diameter of the second catheter, the first catheter can extend beyond the distal end of the second catheter by penetrating the inner diameter of the second catheter at the proximal end of the second catheter.

[0096] Additionally, as an example of a module according to one embodiment of the present invention, at least one catheter securing cassette (300) further includes one third catheter securing cassette (330).

[0097] The third catheter fixing cassette (330) is configured to have the proximal end of the third catheter attached and fixed thereto. Here, the proximal end of the third catheter is attached and fixed to the third catheter fixing cassette (330) by, for example, a threaded connection means.

[0098] The second catheter drive cassette (220) is positioned posterior to the third catheter fixation cassette (330), i.e., adjacent to the proximal end of the third catheter.

[0099] Since the outer diameter of the second catheter is smaller than the inner diameter of the third catheter, the second catheter can extend beyond the distal end of the third catheter by penetrating the inner diameter of the third catheter at the proximal end of the third catheter.

[0100] FIG. 2a is a cross-sectional view of a catheter drive module in a pinch-release state of the module according to one embodiment of the present invention.

[0101] FIG. 2b is a plan view of a catheter drive module in a pinch-release state of the module according to one embodiment of the present invention.

[0102] FIG. 3a is a cross-sectional view of a catheter drive module in a pinch state according to one embodiment of the present invention.

[0103] FIG. 3b is a plan view of a catheter drive module in a pinch state according to one embodiment of the present invention.

[0104] Referring to FIGS. 2a, 2b, 3a, and 3b, the catheter drive module included in the catheter drive cassette (200) includes a rack (400), a pinion (500), a first bevel gear (600), a second bevel gear (700), and a pinch module (800).

[0105] In the catheter drive module, the direction in which the pinch module (800) is located is forward, and the direction in which the first bevel gear (600) is located is rearward.

[0106] A series of splines arranged along a generally straight path of the rack (400) sequentially mesh with gear teeth of the pinion (500) to cause linear movement of the rack (400) in conjunction with rotation of the pinion (500) about the drive shaft of the pinion (500), as is known to those skilled in the art. The rack (400) extends longitudinally from the front to the rear of the catheter drive module.

[0107] The pinion (500) rotates around the pinion shaft, and the pinion shaft is rotated by a separate configuration not shown. The pinion (500) rotates in conjunction with the rotation of the pinion shaft.

[0108] The rack (400) moves forward or backward by the rotation of the pinion (500).

[0109] When the rack (400) moves rearward, a part of the pinch module (800) moves rearward along with the rearward movement of the rack (400), so that the interval of the pinch through which the catheter (2) passes becomes smaller, and the catheter (2) is pinched or held by the pinch module (800).

[0110] The pinch module (800) is either a collet structure (810) or a plate spring structure (820).

[0111] When the rack (400) moves forward, a part of the pinch module (800) moves forward along with the forward movement of the rack (400), so that the gap between the pinches through which the catheter (2) passes increases, and the catheter (2) is released from being pinched or held by the pinch module (800).

[0112] The first bevel gear (600) and the second bevel gear (700) mesh with each other. The rotation shaft of the first bevel gear (600) and the rotation shaft of the second bevel gear (700) can be arranged at an angle of, for example, 90 degrees to each other.

[0113] The ends of the second bevel gear (700) and the pinch module (800) adjacent to the second bevel gear (700) are mechanically coupled to each other or formed as an integral configuration.

[0114] FIG. 4 is a plan view of a catheter drive module in a rotational motion state of the module according to one embodiment of the present invention.

[0115] Referring to FIG. 4, the first bevel gear (600) rotates around the shaft of the first bevel gear (600), and the shaft of the first bevel gear (600) rotates by a separate configuration that is not shown. The second bevel gear (700) rotates according to the rotation of the first bevel gear (600), and the pinch module (800) rotates according to the rotation of the second bevel gear (700).

[0116] In addition, the rotational movement of the catheter (2) is performed on the premise that the catheter (2) is pinched or held by the pinch module (800).

[0117] That is, the catheter (2) is pinched or held by the pinch module (800) of the catheter drive module included in the catheter drive cassette (200), and rotates together with the rotation of the pinch module (800).

[0118] FIG. 5 is a plan view of a guide wire movement module in a pinch state of a module according to one embodiment of the present invention.

[0119] Referring to FIG. 5, the guide wire movement module included in the guide wire movement cassette (100) includes a rack (400), a pinion (500), and a pinch module (800).

[0120] In the guide wire movement module illustrated in Fig. 5, the left side is considered to be the front and the right side is considered to be the rear with reference to Fig. 5.

[0121] A series of splines arranged along a generally straight path of the rack (400) sequentially mesh with gear teeth of the pinion (500) to cause linear movement of the rack (400) accompanying rotation of the pinion (500) about the drive shaft of the pinion (500), as is known to those skilled in the art. The rack (400) extends longitudinally from the front to the rear of the guide wire travel module.

[0122] The pinion (500) rotates around the pinion shaft, and the pinion shaft is rotated by a separate configuration not shown. The pinion (500) rotates in conjunction with the rotation of the pinion shaft.

[0123] The rack (400) moves forward or backward by the rotation of the pinion (500).

[0124] When the rack (400) moves rearward, a part of the pinch module (800) moves rearward along with the rearward movement of the rack (400), so that the interval of the pinch through which the guide wire (1) passes becomes smaller, and the guide wire (1) is pinched or held by the pinch module (800).

[0125] The pinch module (800) is either a collet structure (810) or a plate spring structure (820).

[0126] When the rack (400) moves forward, a part of the pinch module (800) moves forward along with the forward movement of the rack (400), so that the gap between the pinches through which the guide wire (1) passes increases, and the guide wire (1) is released from being pinched or held by the pinch module (800).

[0127] FIG. 6a is a cross-sectional view of a guide wire rotation module in a pinch state of the module according to one embodiment of the present invention.

[0128] FIG. 6b is a plan view of a guide wire rotation module in a rotational motion state of the module according to one embodiment of the present invention.

[0129] Referring to FIGS. 6a and 6b, the guide wire rotation module included in the guide wire rotation cassette (110) includes a first bevel gear (600), a second bevel gear (700), and a fixed collet (830) that maintains the guide wire (1) in a pinched state.

[0130] The first bevel gear (600) and the second bevel gear (700) mesh with each other. The rotation shaft of the first bevel gear (600) and the rotation shaft of the second bevel gear (700) can be arranged at an angle of, for example, 90 degrees to each other.

[0131] The ends of the second bevel gear (700) and the fixed collet (830) adjacent to the second bevel gear (700) are mechanically coupled to each other or formed as an integral configuration.

[0132] The operator can pass the guide wire (1) through the fixed collet (830) so that the guide wire (1) is pinched or held by the fixed collet (830) to maintain the pinched state.

[0133] The first bevel gear (600) rotates around the shaft of the first bevel gear (600), and the shaft of the first bevel gear (600) rotates by a separate configuration that is not shown. The second bevel gear (700) rotates according to the rotation of the first bevel gear (600), and the fixed collet (830) rotates according to the rotation of the second bevel gear (700).

[0134] In addition, the rotational movement of the guide wire (1) is performed on the premise that the guide wire (1) is pinched or held by the fixed collet (830) of the guide wire rotation cassette (110) while being released from being pinched by the pinch module (800) of the guide wire moving cassette (100).

[0135] That is, the guide wire (1) is pinched or held by the fixed collet (830) of the guide wire rotation module included in the guide wire rotation cassette (110), and rotates together with the rotation of the fixed collet (830).

[0136] FIG. 7a is a plan view of the module before forward movement of the catheter drive cassette and guide wire movement cassette of the module according to one embodiment of the present invention.

[0137] In Fig. 7a, the direction in which the guide wire (1) and the catheter (2) protrude from the inside of the housing (900) is forward, and the direction opposite to the direction in which the guide wire (1) and the catheter (2) protrude from the inside of the housing (900) is rearward.

[0138] Referring to FIG. 7a, the guide wire rotation cassette (110) is spaced apart from the guide wire movement cassette (100) in a direction perpendicular to the longitudinal direction of the housing (900) and is fixed to the housing (900), the guide wire movement cassette (100) is spaced apart from the catheter fixing cassette (300) by a predetermined distance and is disposed at the rear, i.e., the proximal end or the side, of the catheter fixing cassette (300), and each catheter fixing cassette (300) is spaced apart from the catheter drive cassette (200) by a predetermined distance and is disposed at the rear, i.e., the proximal end or the side, of the catheter drive cassette (200).

[0139] Specifically, the guide wire rotation cassette (110) is spaced apart from the guide wire movement cassette (100) in a direction perpendicular to the longitudinal direction of the housing (900) and is fixed to the housing (900), and the guide wire movement cassette (100) is spaced apart from the first catheter fixing cassette (310) by a predetermined distance and is placed at the rear of the first catheter fixing cassette (310). Since the outer diameter of the guide wire (1) is smaller than the inner diameter of the first catheter, the guide wire (1) can pass through the interior of the first catheter and move forward or backward.

[0140] Since the guide wire (1) is not highly rigid due to its flexible wire-shaped configuration, when the proximal end of the guide wire (1) is moved forward or backward while being pinched or held, there is a possibility that buckling may occur if the distance from the distal end of the guide wire (1) to the proximal end of the guide wire (1) exceeds a predetermined distance.

[0141] Therefore, the predetermined distance at which the guide wire moving cassette (100) is spaced from the first catheter fixing cassette (310) is limited to a distance that prevents buckling when the guide wire (1) moves from the proximal end direction to the distal end direction, i.e., when inserted into the body or penetrates the inside of the catheter (1).

[0142] For example, the distance at which the guide wire (1) does not buckle is 40 mm to 60 mm, and preferably 50 mm. However, the distance at which the guide wire (1) does not buckle varies depending on the rigidity of the material constituting the guide wire (1), i.e., the rigidity of the guide wire (1).

[0143] The first catheter drive cassette (210) is positioned at a predetermined distance from the second catheter fixing cassette (320) and behind the second catheter fixing cassette (320). Since the outer diameter of the first catheter is smaller than the inner diameter of the second catheter, the first catheter can move forward or backward by penetrating the interior of the second catheter.

[0144] Since the first catheter has a flexible tube-shaped configuration and does not have high rigidity, when the proximal end of the first catheter is moved forward or backward while being pinched or held, there is a possibility that buckling may occur if the distance from the distal end of the first catheter to the proximal end of the first catheter exceeds a predetermined distance.

[0145] Therefore, the predetermined distance at which the first catheter drive cassette (210) is spaced from the second catheter fixing cassette (320) is limited to a distance at which the first catheter does not buckle when it moves through the interior of the second catheter.

[0146] For example, the distance at which the first catheter does not buckle is 40 mm to 60 mm, and preferably 50 mm. However, the distance at which the first catheter does not buckle varies depending on the rigidity of the material constituting the first catheter.

[0147] The second catheter drive cassette (220) is positioned at a predetermined distance from the third catheter fixing cassette (330) and behind the third catheter fixing cassette (330). Since the outer diameter of the second catheter is smaller than the inner diameter of the third catheter, the second catheter can move forward or backward by penetrating the interior of the third catheter.

[0148] Since the second catheter has a flexible tube-shaped configuration and does not have high rigidity, when the proximal end of the second catheter is moved forward or backward while being pinched or held, there is a possibility that buckling may occur if the distance from the distal end of the second catheter to the proximal end of the second catheter exceeds a predetermined distance.

[0149] Therefore, the predetermined distance at which the second catheter drive cassette (220) is spaced from the third catheter fixing cassette (330) here can be limited to a distance at which the second catheter does not buckle when moving through the interior of the third catheter.

[0150] For example, the distance at which the second catheter does not buckle may be 40 mm to 60 mm, and preferably 50 mm. However, the distance at which the second catheter does not buckle varies depending on the rigidity of the material constituting the second catheter.

[0151] FIG. 7b is a plan view of the module after forward movement of the catheter drive cassette and guide wire movement cassette of the module according to one embodiment of the present invention.

[0152] In Fig. 7b, the direction in which the guide wire (1) and the catheter (2) protrude from the inside of the housing (900) is forward, and the direction opposite to the direction in which the guide wire (1) and the catheter (2) protrude from the inside of the housing (900) is rearward.

[0153] Referring to FIG. 7b, the guide wire moving cassette (100) is moved forward or backward by an actuator not shown, less than a predetermined distance from the catheter fixing cassette (300), and the catheter driving cassette (200) is moved forward or backward by a predetermined distance from the catheter fixing cassette (300).

[0154] At this time, the guide wire rotation cassette (110) is fixed to the housing (900) in a direction perpendicular to the longitudinal direction of the housing (900) from the guide wire movement cassette (100), so that it does not move forward or backward.

[0155] When the catheter (2) is pinched by the catheter drive cassette (200), the catheter (2) moves forward or backward along with the forward or backward movement of the catheter drive cassette (200).

[0156] When the catheter (2) is released from being pinched by the catheter drive cassette (200), the catheter drive cassette (200) is moved forward or backward independently of the catheter (2).

[0157] Specifically, the guide wire moving cassette (100) is moved forward or backward by an actuator not shown, a predetermined distance away from the catheter fixing cassette (300).

[0158] Here, when the guide wire moving cassette (100) is moved while pinching the guide wire (1), the guide wire (1) is moved forward or backward while maintaining a non-buckling state due to its greater rigidity compared to the catheter (2).

[0159] The first catheter drive cassette (210) is moved forward or backward by an actuator (not shown) to a predetermined distance or less from the second catheter fixing cassette (320). Here, when the first catheter drive cassette (210) is moved while pinching the first catheter, the first catheter is moved forward or backward while maintaining a non-buckling state. In addition, when the first catheter drive cassette (210) is moved while pinching the first catheter, the first catheter fixing cassette (310) is moved forward or backward together with the movement of the first catheter drive cassette (210). However, when the first catheter driving cassette (210) is moved with the first catheter released from the pinch, the first catheter driving cassette (210) is moved forward or backward independently of the first catheter fixing cassette (310).

[0160] The second catheter drive cassette (220) is moved forward or backward by an actuator (not shown) to a predetermined distance or less from the third catheter fixing cassette (330). Here, when the second catheter drive cassette (220) is moved while pinching the second catheter, the second catheter is moved forward or backward while maintaining a non-buckling state. In addition, when the second catheter drive cassette (220) is moved while pinching the second catheter, the second catheter fixing cassette (320) is moved forward or backward together with the movement of the second catheter drive cassette (220). However, when the second catheter drive cassette (220) is moved with the second catheter released from the pinch, the second catheter drive cassette (220) is moved forward or backward independently of the second catheter fixing cassette (320).

[0161] Figure 8 is a perspective view of a collet structure according to one embodiment of the present invention.

[0162] FIG. 9a is a longitudinal cross-sectional view of a collet structure in a pinch-release state of a module according to one embodiment of the present invention.

[0163] FIG. 9b is a side view of a collet structure in a pinch-release state of a module according to one embodiment of the present invention.

[0164] FIG. 10 is a cross-sectional view of a collet structure in a pinch-release state of a module according to one embodiment of the present invention.

[0165] FIG. 11a is a cross-sectional view of a collet structure in a pinch state of a module according to one embodiment of the present invention.

[0166] FIG. 11b is a side view of a collet structure in a pinch state of a module according to one embodiment of the present invention.

[0167] FIG. 12 is a cross-sectional view of a collet structure in a pinch state of a module according to one embodiment of the present invention.

[0168] Figure 13 is an enlarged view of an anti-slip groove of a collet of a module according to one embodiment of the present invention.

[0169] Referring to FIGS. 8 to 13, the collet structure (810) includes a first portion (811), a second portion (812), and a collet module (813).

[0170] The collet module (813) is disposed between the first part (811) and the second part (812), facing the inner side of the first part (811), and coupled with the second part (812).

[0171] In the collet structure (810), the direction in which the first part (811) is located is forward, and the direction in which the second part (812) is located is rearward.

[0172] The first part (811) is connected to the straight-line extended part of the rack (400), so that when the rack (400) moves backward, the first part (811) also moves backward, and when the rack (400) moves forward, the first part (811) also moves forward.

[0173] Limited to the catheter drive module only, the second part (812) is mechanically coupled with the second bevel gear (700), or the second part (812) is formed as an integral structure with the second bevel gear (700). Due to this structure, the second part (812) is rotated together by the rotation of the second bevel gear (700), and the collet module (813) is rotated together by the rotation of the second part (812).

[0174] The collet module (813) includes at least one collet (814), a guide plate (815), and at least one biasing member (816).

[0175] At least one collet (814) is two or more collets (814), three or more collets (814), and preferably three collets (814).

[0176] At least one biasing member (816) is formed of an elastic material and has a restoring force that resists an external force. For example, the biasing member (816) is an elastic spring such as a coil spring.

[0177] The radial guide groove (815A) is formed along a radius from a position near the center of the guide plate (815) to a position near the outer periphery of the guide plate (815) and extends in a slot shape.

[0178] The collet (814) is composed of a front portion (814F) having a tapered side surface formed on the outside, and a pin-shaped rear portion (814R) penetrating a radial guide groove (815A).

[0179] The front portion (814F) of the collet (814) faces the inner tapered side surface of the first portion (811).

[0180] The rear portion (814R) of the collet (814) can move between a position near the center of the guide plate (815) and a position near the outer periphery of the guide plate (815) while penetrating the radial guide groove (815A).

[0181] The deflection member (816) is divided into a front end connected to the rear end (814R) of the collet (814) and a rear end fixed near the outer periphery of the second part (812).

[0182] Each radial guide groove (815A) extends radially along a path extending from the center of the guide plate (815), and thus has a radial inner end spaced from the center of the guide plate (815) and a radial outer end located further from the center of the guide plate (815) than the location of the spaced radial inner end.

[0183] The front end of the deflection member (816) is connected to the rear end (814R) of the collet (814) at a position near the radial outer end of the radial guide groove (815A), and the rear end of the deflection member (816) is fixed at a position near the outer periphery of the second part (812).

[0184] In this way, the rear portion (814R) of the collet (814), the deflection member (816) and the second portion (812) are maintained in a state of being coupled to each other.

[0185] Here, the center of the guide plate (815) coincides with the center (810A) of the collet structure (810).

[0186] The mechanism by which the guide wire (1) or catheter (2) is pinched and released by the collet structure (810) is as follows.

[0187] First, before the rack (400) moves rearward, that is, as shown in FIGS. 9b and 10, the gap between the first part (811) and the second part (812) is large, so that the inner tapered side surface of the first part (811) and the front part (814F) of the collet (814) do not contact each other.

[0188] At this time, since the collet (814) is not moved as shown in FIG. 9a, the gap between the collets (814) based on the center (810A) of the collet structure (810) does not decrease, so the guide wire (1) or catheter (2) penetrating the center (810A) of the collet structure (810) is not pinched.

[0189] Thereafter, when the rack (400) is moved rearward, the first part (811) is moved rearward along with the rearward movement of the rack (400). When the first part (811) is moved rearward, that is, when the gap between the first part (811) and the second part (812) is reduced as shown in FIGS. 11B and 12, and the inner tapered side surface of the first part (811) and the front part (814F) of the collet (814) come into contact with each other at one or more contact points, the front part (814F) of the collet (814) slides and moves along the inner tapered side surface of the first part (811), and the collet (814) is moved toward the center (810A) of the collet structure (810).

[0190] At this time, as shown in Fig. 11a, the rear portion (814R) of the collet (814) moves along the radial guide groove (815A) in the shape of a slot formed from a position near the outer periphery of the guide plate (815) to a position near the center, so that the gap between the collets (814) with respect to the center (810A) of the collet structure (810) is reduced, and the guide wire (1) or catheter (2) penetrating through the center (810A) of the collet structure (810) is pinched.

[0191] In addition, since the front end of the biasing member (816) is connected to the rear end (814R) of the collet (814), and the rear end of the biasing member (816) is fixed at a position near the outer periphery of the second part (812), when the rear end (814R) of the collet (814) extending to the radial guide groove (815A) moves from a position near the outer periphery of the guide plate (815) (i.e., a position adjacent to the radial outer end of the radial guide groove (815A)) to a position near the center of the guide plate (815) (i.e., a position near or at the radial inner end of the radial guide groove (815A)), the rear end (814R) of the collet (814) is further An elastic force is applied to return the rear portion (814R) of the collet (814) in the direction of the near or radial outer end.

[0192] Meanwhile, in a state where this elastic force is applied, when the rack (400) moves forward again, the first part (811) moves forward again along with the forward movement of the rack (400). When the first part (811) moves forward, as shown in FIGS. 9b and 10, the inner tapered side surface of the first part (811) and the front part (814F) of the collet (814) gradually separate from each other while in contact with each other.

[0193] As this separation occurs, the external force that moves the collet (814) toward the center (810A) of the collet structure (810) no longer acts, and only the elastic force that attempts to return the rear portion (814R) of the collet (814) to a position at or near the radial outer end of the guide groove (815A) acts.

[0194] Due to this elasticity, the rear portion (814R) of the collet (814) moves from a position near the center of the guide plate (815) to a position near the outer periphery of the guide plate (815), and as shown in FIG. 9a, the gap between the collets (814) with respect to the center (810A) of the collet structure (810) widens, thereby releasing the pinch state of the guide wire (1) or catheter (2) penetrating the center (810A) of the collet structure (810).

[0195] Referring to FIG. 12, the inner tapered side surface of the first portion (811) and the front portion (814F) of the collet (814) are in contact with each other at at least two contact points (814A, 814B).

[0196] In the front part (814F) of the collet (814), at least two contact points (814A, 814B) are structured to be spaced apart from each other along the length direction of the collet (814).

[0197] Referring to FIG. 13, on the inner side of the collet (814) in which the guide wire (1) or the catheter (2) is pinched, that is, on the surface of each collet (814) that engages with the outer surface of the guide wire (1) or the catheter (2), at least one anti-slip groove (814C) is formed along the longitudinal direction of the collet (814). The anti-slip groove (814C) extends in a direction transverse to the longitudinal axis of the guide wire (1) or the catheter (2) pinched by the collet (814). When a plurality of anti-slip grooves (814C) are provided, there is a flat surface between the plurality of anti-slip grooves (814C), and the groove depths of at least one of the anti-slip grooves (814C) are the same as each other. The collet (814) has an anti-slip groove (814C) that increases the contact area with the pinched guide wire (1) or catheter (2). Similarly, there is a flat surface between the anti-slip groove (814C) and the anterior and posterior ends of the collet (814).

[0198] Specifically, since the guide wire (1) or catheter (2) is configured to be flexible and can be shaped according to elasticity, when the collet (814) pinches the guide wire (1) or catheter (2), first, the flat surface between the anti-slip grooves (814C) comes into contact with the guide wire (1) or catheter (2), and then, due to the shape deformation of the guide wire (1) or catheter (2), the guide wire (1) or catheter (2) is inserted into the anti-slip groove (814C) and comes into contact with the surface of the anti-slip groove (814C).

[0199] Accordingly, the collet (814) has the effect of increasing the contact area with the guide wire (1) or catheter (2), and this effect is more clearly shown when pinching the catheter (2), which is a flexible tube shape with a relatively large diameter and easy to change shape.

[0200] FIG. 14 is a cross-sectional view of a collet structure in a pinch-release state of a module according to a modified embodiment of the present invention.

[0201] The collet structure (810) illustrated in FIG. 14 differs from the collet structure (810) illustrated in FIGS. 8 to 13 in that an extended through hole (811A) having a diameter smaller than the outer diameter of the collet (814) is formed in the first portion (811).

[0202] Referring to FIG. 14, in the collet structure (810), the direction in which the first part (811) is located is forward, and the direction in which the second part (812) is located is rearward.

[0203] An enlarged through hole (811A) having a diameter smaller than the outer diameter of the collet (814) is formed at the front end of the first part (811) of the collet structure (810).

[0204] When the rack (400) moves rearward, the first part (811) moves rearward along with the rearward movement of the rack (400), and when the first part (811) moves rearward, i.e., when the first part (811) and the second part (812) come closer to each other, the outer part of the collet (814) with a large diameter is fitted into the expanded through hole (811A) of the first part (811). The annular inner wall of the first part (811) surrounds the expanded through hole (811A).

[0205] Accordingly, the annular inner wall surrounding the inside of the expanded through hole (811A) of the first portion (811) and the outer portion of the collet (814) come into surface contact, and due to this surface contact, a force is applied to the collet (814) toward the center (810A) of the collet structure (810), causing the collet (814) to move, so that the guide wire (1) or catheter (2) penetrating the center (810A) of the collet structure (810) can be stably pinched by the collet (814).

[0206] FIG. 15 is a perspective view of a plate spring structure of a module according to one embodiment of the present invention.

[0207] Figure 16 is a perspective view of a plate spring structure of a module according to one embodiment of the present invention before assembly.

[0208] FIG. 17 is a cross-sectional view of a plate spring structure in a pinch-release state of a module according to one embodiment of the present invention.

[0209] Fig. 18 is a cross-sectional view of a plate spring structure in a pinch state of a module according to one embodiment of the present invention.

[0210] Referring to FIGS. 15 to 18, the plate spring structure (820) includes a moving portion (821), a supporting portion (822), and one or more plate springs (823).

[0211] In the plate spring structure (820), the direction in which the moving part (821) is located is forward, and the direction in which the supporting part (822) is located is rearward.

[0212] Referring to FIG. 17, a plate spring (823) is disposed between a moving part (821) and a supporting part (822), a first end (823A) of the plate spring (823) is fixed to an inner surface of the moving part (821), and a second end (823B) of the plate spring (823) is fixed to an inner surface of the supporting part (822).

[0213] Since the moving part (821) is connected to the straight extended part of the rack (400), when the rack (400) moves backward, the moving part (821) also moves backward, and when the rack (400) moves forward, the moving part (821) also moves forward.

[0214] Limited to the catheter drive module only, the support (822) is mechanically coupled with the second bevel gear (700), or the support (822) is formed as an integral structure with the second bevel gear (700). Due to this structure, the support (822) rotates together with the rotation of the second bevel gear (700). The plate spring (823) rotates together with the rotation of the second part (812).

[0215] The one or more leaf springs (823) are preferably two leaf springs (823). FIGS. 17 and 18 illustrate two leaf springs (823) being arranged between the moving portion (821) and the supporting portion (822).

[0216] Referring to FIG. 18, when the rack (400) moves rearward, the moving part (821) moves rearward along with the movement of the rack (400).

[0217] When the moving part (821) moves rearward, the first end (823A) of the plate spring (823) fixed to the inner surface of the moving part (821) also moves rearward, and accordingly, the two plate springs (823) facing each other with the guide wire (1) or catheter (2) therebetween are bent in a direction toward each other. Due to this bending deformation, the gap between the two plate springs (823) narrows, and the guide wire (1) or catheter (2) penetrating the center (820A) of the plate spring structure (820) is pinched.

[0218] In addition, as the distance by which the rack (400) moves rearward increases, the distance by which the first end (823A) of the plate spring (823) fixed to the inner surface of the moving part (821) moves rearward also increases, so the degree of bending deformation of the plate spring (823) increases, and the guide wire (1) or catheter (2) is pinched more strongly.

[0219] In this way, when using the plate spring structure (820), there is an effect of pinching guide wires (1) or catheters (2) of various sizes by controlling the degree of bending deformation of the plate spring (823).

[0220] As the rack (400) moves forward, the plate spring (823) pushes the support member (822) away from the moving member (821), thereby releasing the pinch of the guide wire (1) or catheter (2).

[0221] [Explanation of symbols]

[0222] 1: Guide wire

[0223] 2: Catheter

[0224] 100: Guide wire transfer cassette

[0225] 110: Guide wire rotation cassette

[0226] 200: Catheter drive cassette

[0227] 210: First catheter drive cassette

[0228] 220: Second catheter drive cassette

[0229] 300: Catheter fixation cassette

[0230] 310: First catheter fixation cassette

[0231] 320: Second catheter fixation cassette

[0232] 330: Third catheter fixation cassette

[0233] 400: Rack

[0234] 500: Pinion

[0235] 600: 1st bevel gear

[0236] 700: 2nd bevel gear

[0237] 800: Pinch Module

[0238] 810: Collet structure

[0239] 810A: Center of collet structure

[0240] 811: First part of the collet structure

[0241] 811A: Enlarged through hole in the forward end of the first section

[0242] 812: Second part of the collet structure

[0243] 813: Collet Module

[0244] 814: Colette

[0245] 814F: Forward part of the collet

[0246] 814R: Rear of the collet

[0247] 814A, 814B: Two or more contacts

[0248] 814C: Anti-slip groove

[0249] 815: Guide plate

[0250] 815A: Radial guide groove

[0251] 816: Absence of bias

[0252] 820: Plate spring structure

[0253] 820A: Center of the leaf spring structure

[0254] 821: Moving Department

[0255] 822: Support

[0256] 823: Leaf spring

[0257] 823A: First end of the leaf spring

[0258] 823B: Second end of the leaf spring

[0259] 830: Fixed collet

[0260] 900: Housing

[0261] 1000: Module for guiding at least one of a guide wire and a catheter

Claims

As a module (1000) for guiding at least one of a guide wire (1) and a catheter (2), The above module (1000) is, A housing (900) extending longitudinally from front to rear; A guide wire moving cassette (100) that pinches the guide wire (1) to move the guide wire (1); A guide wire rotation cassette (110) that rotates the guide wire (1) by pinching the guide wire (1); At least one catheter driving cassette (200) for driving the catheter (2) by pinching the catheter (2); and At least one catheter fixing cassette (300) to which the proximal end of the above catheter (2) is connected Including, The above guide wire moving cassette (100), the above guide wire rotating cassette (110), the above catheter driving cassette (200) and the above catheter fixing cassette (300) are placed in the above housing (900), The above guide wire moving cassette (100) includes a guide wire moving module that moves the guide wire (1) while pinching the guide wire (1), The above guide wire rotation cassette (110) includes a guide wire rotation module that rotates the guide wire (1) while pinching the guide wire (1), The above catheter drive cassette (200) includes a catheter drive module that rotates the catheter (2) while pinching the catheter (2), The above guide wire moving cassette (100) and the above catheter driving cassette (200) are movable along the length direction of the housing (900) by respective actuators, The above guide wire rotation cassette (110) is a module that is spaced apart from the guide wire movement cassette (100) in a direction perpendicular to the longitudinal direction of the housing (900) and is fixed to the housing (900). In the first paragraph, The above catheter drive module includes a rack (400), a pinion (500), a first bevel gear (600), a second bevel gear (700) and a pinch module (800). The above guide wire movement module includes a rack (400), a pinion (500) and a pinch module (800), A module characterized in that the guide wire rotation module comprises a first bevel gear (600), a second bevel gear (700) and a fixed collet (830) for holding the guide wire (1) in a pinched state. In the second paragraph, The rack (400) moves forward or backward by the rotation of the pinion (500), When the above rack (400) is moved backward, the guide wire (1) or the catheter (2) is pinched by the pinch module (800) in accordance with the movement of the rack (400). A module characterized in that when the rack (400) is moved forward, the guide wire (1) or the catheter (2) is released from being pinched by the pinch module (800) in accordance with the movement of the rack (400). In the third paragraph, - In a state where the guide wire (1) is pinched by the pinch module (800) of the guide wire moving cassette (100), the guide wire (1) is moved forward or backward by the forward or backward movement of the guide wire moving cassette (100) along the longitudinal direction of the housing (900), - In a state where the guide wire (1) is released from being pinched by the pinch module (800) of the guide wire moving cassette (100), the guide wire (1) is rotated by the rotation of the fixed collet (830) of the guide wire rotation cassette (110), - In a state where the catheter (2) is pinched by the pinch module (800) of the catheter driving cassette (200), The catheter (2) is rotated by the rotation of the pinch module (800) of the catheter drive cassette (200), A module characterized in that the catheter (2) is moved forward or backward by forward or backward movement of the catheter drive cassette (200) along the longitudinal direction of the housing (900). In paragraph 4, A module characterized in that either the forward or backward movement of the catheter (2) or the rotation of the catheter (2) is driven, or both are driven simultaneously. In paragraph 5, The above guide wire moving cassette (100) is placed at the rear of the above catheter fixing cassette (300), A module characterized in that the catheter fixing cassette (300) is positioned at the rear of the catheter driving cassette (200). In paragraph 6, In a state where the above catheter (2) is pinched by the pinch module (800) of the above catheter driving cassette (200), A module characterized in that the catheter fixing cassette (300) moves forward or backward together with the forward or backward movement of the catheter driving cassette (200). In paragraph 7, In a state where the above catheter (2) is released from being pinched by the pinch module (800) of the above catheter drive cassette (200), The above catheter drive cassette (200) is a module that moves forward or backward independently from the above catheter fixing cassette (300). In any one of claims 1 to 8, The outer diameter of the above guide wire (1) is smaller than the inner diameter of the above catheter (2), and the above guide wire (1) penetrates the inside of the above catheter (2), A module characterized in that the movement of the guide wire (1) and the driving of the catheter (2) are performed independently of each other or in synchronization with each other. In any one of claims 2 to 8, A module characterized in that the above pinch module (800) is a collet structure (810) or a plate spring structure (820). In paragraph 10, The collet structure (810) includes a first part (811), a second part (812) and a collet module (813), The collet module (813) is disposed between the first part (811) and the second part (812), facing the inner side of the first part (811), and coupled with the second part (812). When the above rack (400) is moved backward, the first part (811) is moved backward along with the movement of the rack (400), When the first part (811) is moved rearward, the inner side of the first part (811) and the outer side of one or more collets (814) of the collet module (813) come into contact with each other at one or more contact points, so that the collet (814) moves toward the center (810A) of the collet structure (810). A module characterized in that the guide wire (1) or the catheter (2) penetrating the center (810A) of the collet structure (810) is pinched by the collet (814). In paragraph 11, The inner side of the first part (811) and the outer side of one or more collets (814) of the collet module (813) are in contact with each other at at least two contact points (814A, 814B), A module characterized in that the at least two contact points (814A, 814B) are spaced apart from each other along the length of the collet (814) on the outside of the collet (814). In paragraph 11, A module characterized in that at least one anti-slip groove (814C) is formed along the longitudinal direction of the collet (814) on the inner side of the collet (814). In paragraph 11, An expanded through hole (811A) having a diameter smaller than the outer diameter of the collet (814) is formed at the front end of the first part (811). A module characterized in that when the first part (811) is moved rearward, the expanded through hole (811A) of the first part (811) and the outer side of the collet (814) come into contact with each other. In paragraph 10, The above plate spring structure (820) includes a moving part (821), a supporting part (822) and one or more plate springs (823), The above plate spring (823) is arranged between the moving part (821) and the supporting part (822), the first end (823A) of the plate spring (823) is fixed to the inner surface of the moving part (821), and the second end (823B) of the plate spring (823) is fixed to the inner surface of the supporting part (822). When the above rack (400) is moved backward, the moving part (821) is moved backward along with the movement of the rack (400). A module characterized in that when the above moving part (821) moves backward, the plate springs (823) are bent in a direction toward each other, so that the guide wire (1) or the catheter (2) penetrating the center (820A) of the plate spring structure (820) is pinched. In paragraph 15, A module characterized in that as the distance by which the above rack (400) moves rearward increases, the degree of bending deformation of the above plate spring (823) increases. In any one of claims 1 to 8, The distance that the guide wire moving cassette (100) and the catheter driving cassette (200) can move forward or backward along the length of the housing (900) is A module characterized in that the guide wire (1) or the catheter (2) is limited to a distance at which it does not buckle. In any one of claims 1 to 8, The above at least one catheter drive cassette (200) comprises a plurality of catheter drive cassettes, A module characterized in that the at least one catheter fixation cassette (300) comprises a plurality of catheter fixation cassettes. In any one of claims 1 to 8, The at least one catheter drive cassette (200) comprises one first catheter drive cassette (210) and one second catheter drive cassette (220), The at least one catheter fixation cassette (300) comprises one first catheter fixation cassette (310) and one second catheter fixation cassette (320), The above guide wire moving cassette (100) is placed behind the first catheter fixing cassette (310), The first catheter fixing cassette (310) is positioned at the rear of the first catheter driving cassette (210), The above first catheter driving cassette (210) is placed behind the second catheter fixing cassette (320), The second catheter fixing cassette (320) is positioned at the rear of the second catheter driving cassette (220), The proximal end of the first catheter is connected to the first catheter fixing cassette (310), The proximal end of the second catheter is connected to the second catheter fixing cassette (320). The outer diameter of the guide wire (1) is smaller than the inner diameter of the first catheter, and the guide wire (1) penetrates the inside of the first catheter, A module characterized in that the outer diameter of the first catheter is smaller than the inner diameter of the second catheter, and the first catheter penetrates the interior of the second catheter. In paragraph 19, The at least one catheter securing cassette (300) further comprises a third catheter securing cassette (330), The third catheter fixing cassette (330) is positioned at the front end of the housing (900), The second catheter driving cassette (220) is positioned behind the third catheter fixing cassette (330), The proximal end of the third catheter is connected to the third catheter fixing cassette (330). A module characterized in that the outer diameter of the second catheter is smaller than the inner diameter of the third catheter, and the second catheter penetrates the interior of the third catheter.

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