Procedure tool drive module for vascular interventional procedure device and vascular interventional procedure device having same

Abstract

The present invention relates to a procedure tool drive module for a vascular interventional procedure device, the procedure tool drive module comprising: a bobbin structure on which, while rotating and moving up or down, a procedure tool is helically wound; a cassette assembly for accommodating the bobbin structure; a band assembly for providing a path through which the procedure tool is helically wound; a frame assembly linked to the up-or-down motion while supporting the rotation of the bobbin structure; and a driving mechanism for providing rotational force to each of the cassette assembly and the bobbin structure to enable rotational and translational motion of the procedure tool.

Description

Driving module for a procedural tool for a vascular interventional device and a vascular interventional device including the same

[0001] The present invention relates to a driving module for a surgical tool for a vascular interventional procedure device and a vascular interventional procedure device including the same. More specifically, the invention relates to a driving module for a surgical tool for a vascular interventional procedure device and a vascular interventional procedure device including the same, which can smoothly and stably drive a surgical tool inserted into the body during a vascular interventional procedure.

[0002] Vascular interventional procedures are minimally invasive procedures aimed at treating vascular diseases or cancer. They primarily involve inserting a thin catheter with a diameter of less than a few millimeters percutaneously through a blood vessel to the site of the lesion under X-ray fluoroscopy, reaching the target organ for treatment. Representative vascular interventional treatments currently performed worldwide, including in Korea, include trans-arterial chemoembolization (TACE) for liver cancer, percutaneous angioplasty, and artificial blood vessel stent implantation for aortic disease.

[0003] Most blood vessels are branched or curved. Therefore, to prevent damage to the vessels, vascular interventional procedures utilize a stacking of implants with various diameters, known as a coaxial system of catheters and guidewires.

[0004] Generally, guidewires are loaded into the vascular interventional device while wound on a bobbin. During the vascular intervention, the guidewire is unwound from the bobbin and inserted into the body, and is retrieved while wound back onto the bobbin.

[0005] At this time, when the bobbin is rotated to pull the guide wire out, a force directed outward from the bobbin is generated on the guide wire.

[0006] Conventionally, there was a problem where the guide wire detached from the bobbin due to the force generated on the guide wire directed outward from the bobbin in this manner.

[0007] As such, if the guidewire disengages from the bobbin, it is difficult to advance the guidewire to the target blood vessel, which leads to delays or interruptions in the vascular interventional procedure.

[0008] The technical problem that the present invention aims to solve is to provide a surgical tool driving module for a vascular interventional procedure device and a vascular interventional procedure device including the same, which can smoothly and stably drive a surgical tool inserted into the body during a vascular interventional procedure.

[0009] Another technical problem that the present invention aims to solve is to provide a surgical tool driving module for a vascular interventional procedure device and a vascular interventional procedure device including the same, which can prevent internal infection caused by contamination of the surgical tool.

[0010] The technical problems that the present invention aims to solve are not limited to those described above.

[0011] To solve the above-mentioned technical problem, the present invention provides a driving module for a surgical tool for a vascular interventional procedure device.

[0012] According to one embodiment, the driving module for a surgical tool for a vascular interventional device may include: a cassette assembly providing an internal mounting space; a bobbin structure coupled to the cassette assembly and having an outer winding surface on which a surgical tool inserted into the body upon withdrawal is wound, and which induces spiral winding or unwinding of the surgical tool while rotating up and down in the mounting space; a band assembly arranged to wrap the bobbin structure in a circumferential direction and providing a path for the surgical tool to be wound spirally between the bobbin structure and the band assembly; a frame assembly casing the bobbin structure and the band assembly to allow rotation of the bobbin structure, and which supports the rotation of the bobbin structure while constraining rotation when the bobbin structure rotates up and down, and is linked to the lifting of the bobbin structure; and a driving mechanism that provides rotational force to each of the cassette assembly and the bobbin structure to enable rotational and translational movement of the surgical tool.

[0013] According to one embodiment, the cassette assembly comprises: a lower case having a protrusion that protrudes upward from the bottom surface and has screw threads on its outer surface; and an upper cover coupled to the lower case to form the mounting space, wherein the bobbin structure comprises: a first ring portion having a winding surface on its outer surface; a second ring portion located at the center of the inner diameter of the first ring portion and having screw threads on the inner diameter surface into which the protrusion is inserted; and a plurality of first links provided between the first ring portion and the second ring portion and connected to the driving mechanism, wherein the bobbin structure may be rotatable and movable in the mounting space by means of screw coupling between the protrusion and the second ring portion.

[0014] According to one embodiment, the band assembly comprises: a plurality of rotating rollers arranged in the circumferential direction of the bobbin structure, wherein the upper and lower ends of the rotating shaft are fixed to the frame assembly; and a compression band provided with a flexible material and mounted in a conveyor-like manner on the plurality of rotating rollers so as to face the winding surface of the bobbin structure, wherein one side corresponding to the entry / exit path of the surgical tool for the bobbin structure is open, and a trench for receiving the surgical tool is formed longitudinally on the surface, wherein an alignment groove is formed in the longitudinal direction of the trench on the bottom surface of the trench, and the alignment groove is continuously formed in the width direction of the trench, and the surgical tool can be wound spirally while being received sequentially in the alignment groove when wound on the winding surface.

[0015] According to one embodiment, the surgical tool access guide is further included, wherein the surgical tool access guide is coupled to the cassette assembly and connected to the bobbin structure through an open side of the compression band, guides the surgical tool toward the winding surface of the bobbin structure, and guides the surgical tool unwound from the bobbin structure toward the outside of the cassette assembly, while allowing the lifting of the frame assembly to be restricted from rotation.

[0016] According to one embodiment, the surgical tool entry guide comprises: a guide body having a passage for moving the surgical tool inside; a connection port provided at the front end of the guide body and connected to a guide tube into which the withdrawn surgical tool is inserted; a first wing portion provided at the rear end of the guide body and extending upward in a vertical direction; and a second wing portion provided at the rear end of the guide body and extending downward in a vertical direction from the first wing portion. The frame assembly may include: an upper frame having a first groove provided on one side for receiving the first wing portion inserted in a horizontal direction; a lower frame facing the upper frame in an up-and-down direction and having a second groove provided on one side for receiving the second wing portion inserted in a horizontal direction; and a plurality of supports that space the upper frame and the lower frame apart to enable upper and lower casing for the bobbin structure and band assembly, and integrally connect the upper frame and the lower frame.

[0017] According to one embodiment, the driving mechanism comprises: a first rotor disposed on the bobbin structure and rotating the bobbin structure; a driving gear that is gear-coupled with the first rotor and transmits rotational force provided from a power transmission module to the first rotor; and a second rotor coupled to the cassette assembly and, while being rotated by rotational force provided from the power transmission module, roll-rotates the cassette assembly, and the surgical tool can rotate about the longitudinal axis by means of the cassette assembly that roll-rotates by the second rotor.

[0018] According to one embodiment, the first rotating body may include: a rotating body having a gear structure that is provided in the form of a disc, with its upper surface exposed to the outside through the upper cover, and which is gear-coupled with the driving gear in the circumferential direction at the rim; a center shaft that protrudes downward from the lower center of the rotating body and penetrates the second ring portion, with its lower longitudinal side inserted into the inner diameter side of the protrusion, and which defines the height of the mounting space in which the bobbin structure can be raised and lowered; and a plurality of second links that protrude downward from the lower edge of the rotating body and are provided in a number corresponding to the plurality of first links, and which are clamp-coupled in the vertical direction to each of the plurality of first links so that the bobbin structure rotates when the first rotating body rotates.

[0019] Meanwhile, the present invention provides a vascular interventional procedure device.

[0020] According to one embodiment, the vascular interventional device comprises: a main body portion extending in one direction; a plurality of procedural tool guide modules mounted along the longitudinal direction of the main body portion and guiding a procedural tool to be inserted into the body into the human body; and a procedural tool driving module mounted on the main body portion and positioned at the rear of the procedural tool guide module, which withdraws the procedural tool toward the procedural tool guide module or retrieves the procedural tool from the procedural tool guide module, wherein the procedural tool driving module comprises: a cassette assembly providing an internal mounting space; a bobbin structure coupled to the cassette assembly and having an outer winding surface on which the procedural tool to be inserted into the body is wound upon withdrawal, and which induces spiral winding or unwinding of the procedural tool while rotating and moving up and down in the mounting space; and a band assembly arranged in a circumferential manner wrapping the bobbin structure and providing a path for the procedural tool to be wound spirally between the bobbin structure and the band assembly. It may include a frame assembly that cassages the bobbin structure and the band assembly to allow rotation of the bobbin structure, and supports the rotation of the bobbin structure while constraining rotation during the rotational lifting of the bobbin structure, and is linked to the lifting of the bobbin structure; and a driving mechanism that provides rotational force to each of the cassette assembly and the bobbin structure to enable rotational and translational movement of the surgical tool.

[0021] According to an embodiment of the present invention, the apparatus may include: a cassette assembly providing an internal mounting space; a bobbin structure coupled to the cassette assembly and having an outer winding surface on which a surgical tool inserted into the body upon withdrawal is wound, and which induces spiral winding or unwinding of the surgical tool while rotating up and down in the mounting space; a band assembly arranged to wrap the bobbin structure in a circumferential direction and providing a path for the surgical tool to be wound spirally between the bobbin structure and the band assembly; a frame assembly casing the bobbin structure and the band assembly to allow rotation of the bobbin structure, and which supports the rotation of the bobbin structure while constraining rotation when the bobbin structure rotates up and down, and is linked to the lifting of the bobbin structure; and a driving mechanism that provides rotational force to each of the cassette assembly and the bobbin structure to enable rotational and translational movement of the surgical tool.

[0022] Accordingly, a surgical tool driving module for a vascular interventional procedure device and a vascular interventional procedure device including the same can be provided, which can smoothly and stably operate a surgical tool inserted into the body during a vascular interventional procedure.

[0023] That is, according to an embodiment of the present invention, by compressing and supporting a surgical tool through a band assembly arranged in the circumferential direction of a bobbin structure around which the surgical tool is wound, it is possible to prevent the surgical tool from detaching from the bobbin structure due to the force generated on the surgical tool when the surgical tool is unwound.

[0024] In addition, according to an embodiment of the present invention, a surgical tool driving module for a vascular interventional procedure device and a vascular interventional procedure device including the same may be provided, which can prevent internal infection caused by contamination of the surgical tool.

[0025] FIG. 1 is a drawing for explaining a vascular interventional procedure system in which a vascular interventional procedure device according to one embodiment of the present invention is used.

[0026] FIGS. 2 to 4 are drawings for explaining a vascular interventional procedure device according to an embodiment of the present invention.

[0027] FIGS. 5 to 9 are drawings for explaining a driving module for a surgical tool for a vascular interventional procedure device according to an embodiment of the present invention.

[0028] FIGS. 10 and FIGS. 11 are drawings for explaining a cassette assembly of a surgical tool driving module for a vascular interventional device according to one embodiment of the present invention.

[0029] FIGS. 12 to 18 are drawings for explaining a bobbin structure and a band assembly of a surgical tool driving module for a vascular interventional device according to one embodiment of the present invention.

[0030] FIGS. 19 to 21 are drawings for explaining the driving mechanism of a driving module for a surgical tool for a vascular interventional procedure device according to one embodiment of the present invention.

[0031] FIGS. 22 and 23 are drawings for explaining a surgical tool entry / exit guide of a surgical tool driving module for a vascular interventional procedure device according to an embodiment of the present invention.

[0032] FIGS. 24 to 29 are drawings illustrating the process of first mounting a surgical tool on a surgical tool driving module for a vascular interventional procedure device according to one embodiment of the present invention.

[0033] FIG. 30 is a drawing for explaining the release drive of a surgical tool of a surgical tool driving module for a vascular interventional procedure device according to one embodiment of the present invention.

[0034] FIG. 31 is a drawing for explaining the winding operation of a surgical tool in a surgical tool driving module for a vascular interventional procedure device according to one embodiment of the present invention.

[0035] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. However, the technical concept of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided to ensure that the disclosed content is thorough and complete and to ensure that the concept of the present invention is sufficiently conveyed to those skilled in the art.

[0036] In this specification, when a component is described as being on another component, it means that it may be formed directly on the other component or that a third component may be interposed between them. Additionally, in the drawings, shapes and sizes are exaggerated for the effective description of the technical content.

[0037] Additionally, although terms such as first, second, third, etc., have been used to describe various components in the various embodiments of this specification, these components should not be limited by such terms. These terms are used merely to distinguish one component from another. Accordingly, what is referred to as the first component in one embodiment may be referred to as the second component in another embodiment. Each embodiment described and illustrated herein also includes its complementary embodiment. Furthermore, in this specification, "and / or" is used to mean including at least one of the components listed before and after it.

[0038] In the specification, singular expressions include plural expressions unless the context clearly indicates otherwise. Furthermore, terms such as "include" or "have" are intended to specify the existence of the features, numbers, steps, components, or combinations thereof described in the specification, and should not be understood as excluding the existence or addition of one or more other features, numbers, steps, components, or combinations thereof. Additionally, in this specification, "connection" is used to include both indirectly connecting multiple components and directly connecting them.

[0039] Additionally, terms such as “…part,” “…unit,” and “module” described in the specification refer to a unit that processes at least one function or operation, and this may be implemented in hardware, software, or a combination of hardware and software.

[0040] Furthermore, in describing the present invention below, if it is determined that a detailed description of related known functions or configurations could unnecessarily obscure the essence of the invention, such detailed description will be omitted.

[0041] FIG. 1 is a drawing for explaining a vascular interventional procedure system using a vascular interventional procedure device according to an embodiment of the present invention; FIG. 2 to 4 are drawings for explaining a vascular interventional procedure device according to an embodiment of the present invention; FIG. 5 to 9 are drawings for explaining a surgical tool driving module for a vascular interventional procedure device according to an embodiment of the present invention; FIG. 10 and 11 are drawings for explaining a cassette assembly of a surgical tool driving module for a vascular interventional procedure device according to an embodiment of the present invention; FIG. 12 to 18 are drawings for explaining a bobbin structure and a band assembly of a surgical tool driving module for a vascular interventional procedure device according to an embodiment of the present invention; FIG. 19 to 21 are drawings for explaining a driving mechanism of a surgical tool driving module for a vascular interventional procedure device according to an embodiment of the present invention; and FIG. 22 and 23 are FIG. 23 of a surgical tool driving module for a vascular interventional procedure device according to an embodiment of the present invention These are drawings to explain the surgical tool entry guide.

[0042] As illustrated in FIG. 1, a vascular interventional device (1000) according to one embodiment of the present invention can be applied to a vascular interventional system consisting of a remote procedure system based on a master-slave device.

[0043] In the above-described vascular interventional procedure system, the operator remotely controls the procedure through a master device (M), and the slave device (S) performs the procedure on the patient in accordance with the operator's remote control. Accordingly, the environment in which the operator is exposed to radiation can be minimized.

[0044] A vascular interventional procedure device (1000) according to one embodiment of the present invention may be included in a slave device (S) and may be remotely controlled by a master device (M). At this time, the slave device (S) may further include a bed (10) and a frame (20).

[0045] The above bed (10) can provide a treatment surface on which the patient can lie down so that the patient can receive treatment while lying down. A frame (20) can be movably installed on such a bed (10).

[0046] A vascular interventional procedure device (1000) according to one embodiment of the present invention may be mounted on a frame (20) installed on a bed (10). At this time, the vascular interventional procedure device (1000) according to one embodiment of the present invention may be mounted so as to be able to rotate or translate with respect to the frame (20).

[0047] A vascular interventional device (1000) according to one embodiment of the present invention can rotate the surgical tool in a roll direction or translate it forward or backward in order to insert the surgical tool into the body and move it to a target blood vessel.

[0048] In addition, the vascular interventional device (1000) according to one embodiment of the present invention may rotate the procedure tool while simultaneously performing a translational movement.

[0049] The operator can remotely control the vascular interventional device (1000) through the master device (M) and insert a surgical tool operated by the vascular interventional device (1000) into the target blood vessel.

[0050] Here, the surgical tool may be any one of a catheter inserted into the body, a guidewire inserted into the inner side of the catheter, a micro-catheter inserted into the inner side of the catheter, and a micro-guidewire inserted into the inner side of the micro-catheter.

[0051] Meanwhile, the master device (M) may include a display unit that outputs a user interface (UI) related to a surgical tool and a surgical procedure, and an operation unit (30) that generates a remote control signal to operate the surgical tool according to the operator's operation.

[0052] The above master device (M) provides a remote control signal generated by the operator's operation of the above control unit (30) to a vascular interventional procedure device (1000) according to one embodiment of the present invention, which constitutes a slave device (S), thereby enabling the remote operation of a procedure tool driven by the same.

[0053] In this way, by remotely controlling the vascular interventional device (1000), the operator's radiation exposure can be minimized.

[0054] Referring to FIGS. 2 to 4, a surgical tool driving module (100) according to one embodiment of the present invention can be mounted on such a vascular interventional device (1000).

[0055] Here, the vascular interventional device (1000) may be equipped with a main body (200), a procedure tool guide module (300), and a power transmission module (400).

[0056] The main body (200) can be extended in one direction. Through this, the main body (200) can align the surgical tool guide module (300), the surgical tool driving module (100), and the power transmission module (400) in the longitudinal direction.

[0057] This main body (200) may include a rail frame (not shown) and a slide block (212).

[0058] The above slide block (212) can be slidably coupled to a rail frame (not shown) in the longitudinal direction of a rail frame (not shown) that extends in one direction.

[0059] When the slide block (212) slides forward along the rail frame (not shown), the surgical tool guide module (300) connected to the slide block (212) can be moved forward, and accordingly, the surgical tool mounted on the surgical tool guide module (300) can move forward while performing a translational movement toward the target blood vessel.

[0060] Additionally, when the slide block (212) slides backward along the rail frame (not shown), the surgical tool guide module (300) connected to the slide block (212) can be moved backward, and accordingly, the surgical tool mounted on the surgical tool guide module (300) can be withdrawn out of the body while performing a translational movement backward.

[0061] Meanwhile, although not shown, the interior of the slide block (212) may be equipped with a driving device for sliding the slide block (212) against a rail frame (not shown), a driving device for translating a surgical tool guide module (300) connected to the slide block (212) forward or backward, and a driving device for rolling a surgical tool mounted on the surgical tool guide module (300).

[0062] The above surgical tool guide module (300) can guide a surgical tool to be inserted into the body into the human body. At this time, the surgical tool can be mounted on the surgical tool guide module (300) in an up-and-down direction.

[0063] In addition, the surgical tool mounted on the surgical tool guide module (300) can be easily separated from the surgical tool guide module (300) as it is lifted upward.

[0064] The surgical tool mounted on the above surgical tool guide module (300) may be two surgical tools connected in the longitudinal direction through a hemostatic valve.

[0065] For example, the anterior surgical tool may be a conduit, and the posterior surgical tool (W) may be a guide wire.

[0066] The above power transmission module (400) can transmit power to the surgical tool driving module (100) according to one embodiment of the present invention.

[0067] Accordingly, the surgical tool (W) stored in the surgical tool driving module (100) can be drawn out toward the surgical tool guide module (300) while performing translational movement, or the surgical tool (W) that was drawn out can be retrieved, and can perform roll rotational movement with the longitudinal direction as an axis.

[0068] At this time, the surgical tool driving module (100) according to one embodiment of the present invention can be loaded into the main body (200) by the power transmission module (400).

[0069] Specifically, the above-mentioned surgical tool driving module (100) can be mounted in the vertical direction on a power transmission module (400) fixed to one side in the longitudinal direction of the main body (200).

[0070] Next, the surgical tool guide module (300) is moved backward toward the surgical tool drive module (100) mounted on the power transmission module (400), and the surgical tool guide module (300) is in close contact with the tip of the surgical tool drive module (100), thereby completing the loading of the surgical tool drive module (100) onto the main body (200).

[0071] Referring to FIGS. 5 to 11, a surgical tool driving module (100) according to one embodiment of the present invention, which is mounted on a power transmission module (400) and loaded into a main body (200) in a manner that is in close contact with a surgical tool guide module (300), may include a cassette assembly (110), a bobbin structure (120), a band assembly (130), a frame assembly (140), and a driving mechanism (150).

[0072] The above cassette assembly (110) forms the exterior of a surgical tool driving module (100) according to one embodiment of the present invention. The above cassette assembly (110) may be provided in the shape of a flat disc.

[0073] According to one embodiment of the present invention, the cassette assembly (110) may provide a mounting space inside. That is, the bobbin structure (120), band assembly (130), frame assembly (140), and driving mechanism (150) may be mounted inside the cassette assembly (110).

[0074] The above cassette assembly (110) can protect the bobbin structure (120), band assembly (130), frame assembly (140), and driving mechanism (150), which are mounted in the mounting space provided inside, from the external environment.

[0075] According to one embodiment of the present invention, such a cassette assembly (110) may include a lower case (111) and an upper cover (112).

[0076] The lower case (111) may be composed of a circular bottom surface and a cylindrical wall surface provided in an upward direction from the edge of the circular bottom surface.

[0077] At this time, according to one embodiment of the present invention, the lower case (111) may have a protrusion (111a).

[0078] The protrusion (111a) may be provided at the center of the bottom surface. The protrusion (111a) may protrude upward from the center of the bottom surface. At this time, the height to which the protrusion (111a) protrudes upward may correspond to the height of the cylindrical wall surface.

[0079] These protrusions (111a) may be provided in a hollow cylindrical shape. At this time, the lower end of the center axis (151b in FIG. 21) of the first rotating body (151) described later may be inserted into the inner diameter side of the protrusions (111a).

[0080] Accordingly, the first rotating body (151) can be supported by the protrusion (111a). That is, the first rotating body (151) can be positioned in the internal mounting space of the cassette assembly (110) by inserting the lower end of the center shaft (151b in FIG. 21) into the inner diameter side of the protrusion (111a).

[0081] As described above, the lower end of the center axis (151b in FIG. 21) of the first rotating body (151) described later can be inserted into the inner diameter side of the protrusion (111a).

[0082] At this time, according to one embodiment of the present invention, the outer diameter side of the protrusion (111a) can be covered by the second ring portion (122 in FIG. 12) of the bobbin structure (120). That is, the protrusion (111a) can be inserted into the inner diameter side of the second ring portion (122 in FIG. 12) of the bobbin structure (120).

[0083] In this way, according to one embodiment of the present invention, a protrusion (111a) is inserted into the inner diameter side of the second ring portion (122 in FIG. 12) of the bobbin structure (120), and the lower side of the center axis (151b in FIG. 21) of the first rotating body (151) can be inserted into the inner diameter side of the protrusion (111a).

[0084] At this time, since the first rotating body (151) is positioned on the upper side of the bobbin structure (120), the center axis (151b in FIG. 21) of the first rotating body (151) can be inserted into the lower side of the inner diameter side of the protrusion (111a) by penetrating the second ring portion (122 in FIG. 12) of the bobbin structure (120).

[0085] Meanwhile, a screw thread (111b) may be provided in the height direction on the outer surface of such a protrusion (111a). According to one embodiment of the present invention, a screw thread (122a in FIG. 12) may also be provided on the inner diameter surface of a second ring portion (122 in FIG. 12) of a bobbin structure (120) that covers the outer diameter of the protrusion (111a).

[0086] Accordingly, the protrusion (111a) and the second ring portion (122 in FIG. 12) of the bobbin structure (120) can be screw-coupled. Through this, the bobbin structure (120) can be rotated up and down around the protrusion (111a) as an axis.

[0087] According to one embodiment of the present invention, the bobbin structure (120) induces spiral winding or unwinding of the surgical tool (W) through rotational lifting with the protrusion (111a) as an axis, which will be described in more detail below.

[0088] The upper cover (112) can be connected to the lower case (111) in an up-and-down direction. Through this, the upper cover (112) can form an internal mounting space together with the lower case (111).

[0089] This upper cover (112) may be composed of a circular bottom surface and a cylindrical wall surface provided in a downward direction from the edge of the circular bottom surface.

[0090] According to one embodiment of the present invention, the circular bottom surface may be provided in a ring shape. That is, an opening (112a) may be provided at the center of the circular bottom surface. Through the opening (112a), the first rotating body (151) may be exposed upward.

[0091] The above cylindrical wall surface is connected in the height direction to the cylindrical wall surface of the lower case (111), thereby defining the height of the mounting space. This cylindrical wall surface may have a height corresponding to the cylindrical wall surface of the lower case (111), but is not necessarily limited thereto.

[0092] The above bobbin structure (120) may have a winding surface on the outside on which a surgical tool (W) inserted into the body upon withdrawal is wound. This bobbin structure (120) may be mounted in the internal mounting space of the cassette assembly (110).

[0093] At this time, the bobbin structure (120) can be combined with the cassette assembly (110), thereby inducing spiral winding or unwinding of the surgical tool (W) while rotating up and down in the mounting space.

[0094] Referring to FIGS. 12 and 13, such a bobbin structure (120) may include a first ring portion (121), a second ring portion (122), and a first link (123).

[0095] The first ring portion (121) can define the diameter of the bobbin structure (120). The first ring portion (121) can be provided in a ring shape.

[0096] At this time, the first ring portion (121) may have a height. That is, the first ring portion (121) may be provided in a cylindrical shape. Accordingly, the outer surface of the first ring portion (121) may be provided as a winding surface on which the surgical tool (W) is wound.

[0097] In this way, the outer surface of the first ring portion (121), which is provided as a winding surface for the surgical tool (W), may have a 'C'-shaped cross-section to prevent the surgical tool (W) from deviating in the vertical direction. That is, the surgical tool (W) wound on the outer surface of the first ring portion (121) can be received inside the 'C'-shaped cross-section.

[0098] The second ring portion (122) may be provided in the shape of a ring with a diameter smaller than that of the first ring portion (121). This second ring portion (122) may be located at the center of the inner diameter of the first ring portion (121).

[0099] The second ring portion (122) may be provided in a cylindrical shape, similar to the first ring portion (121). At this time, the second ring portion (122) may have a height corresponding to that of the first ring portion (121). A protrusion (111a) of the lower case (111) may be inserted into the inner diameter side of the second ring portion (122).

[0100] According to one embodiment of the present invention, a screw thread (122a) may be provided on the inner diameter surface of the second ring portion (122).

[0101] Accordingly, the second ring portion (122) can be screw-coupled with the protrusion (111a) of the lower case (111), which has screw threads (111b) provided on its outer surface. Through this, the bobbin structure (120) can be rotated up and down in the mounting space with the protrusion (111a) as an axis.

[0102] For example, the bobbin structure (120) can be lowered while rotating clockwise. Accordingly, the surgical tool (W) can be wound on the winding surface provided on the outer surface of the bobbin structure (120), more specifically the first ring portion (121).

[0103] At this time, when the bobbin structure (120) rotates once, the surgical tool (W) can be wrapped in a single layer in the circumferential direction around the outer surface of the first ring part (121).

[0104] According to one embodiment of the present invention, the bobbin structure (120) can be lowered by a predetermined distance while rotating once clockwise. Accordingly, when the bobbin structure (120) rotates further, the surgical tool (W) can be wound in a single layer in the circumferential direction on the upper side of the single-layer wound portion.

[0105] Accordingly, when the bobbin structure (120) descends while rotating N (natural number) times clockwise, the surgical tool (W) can be wound spirally upward in the height direction and in a single layer on the outer surface of the first ring part (121).

[0106] On the other hand, the bobbin structure (120) can be raised while rotating counterclockwise. Accordingly, the surgical tool (W) can be unwound spirally downward in the height direction from the winding surface provided on the outer circumference of the first ring portion (121).

[0107] At this time, according to the modified embodiment, when the bobbin structure (120) descends while rotating clockwise, the surgical tool (W) can be unwound spirally from the winding surface provided on the outer circumference of the first ring portion (121).

[0108] Additionally, according to a modified embodiment, when the bobbin structure (120) is rotated counterclockwise and rises, the surgical tool (W) can be wound spirally on the winding surface provided on the outer circumference of the first ring portion (121).

[0109] That is, the winding and unwinding drives of the surgical tool (W) according to the rotational direction of the bobbin structure (120) can be applied selectively.

[0110] The first link (123) may be provided in the form of a bar extending in one direction. The first link (123) may be provided between the first ring portion (121) and the second ring portion (122). At this time, a plurality of the first links (123) may be provided between the first ring portion (121) and the second ring portion (122).

[0111] A plurality of first links (123) may be arranged radially in the circumferential direction of the second ring portion (122). The first ring portion (121) and the second ring portion (122) may be integrally connected by a plurality of first links (123).

[0112] According to one embodiment of the present invention, the plurality of first links (123) may be connected to a driving mechanism (150). The plurality of first links (123) may be clamped to each of the plurality of second links (151c in FIG. 21) provided on the first rotating body (151) forming the driving mechanism (150).

[0113] Accordingly, the rotational force of the first rotating body (151) is transmitted to the bobbin structure (120), which will be explained in more detail below.

[0114] Meanwhile, according to one embodiment of the present invention, the bobbin structure (120) may further include a fixed end (124).

[0115] The fixed end (124) may be provided on the inner diameter surface of the first ring portion (121). The fixed end (124) may protrude radially inward from the inner diameter surface of the first ring portion (121). That is, the fixed end (124) may protrude toward the second ring portion (122).

[0116] At this time, the fixed end (124) may be provided on one side of each of the plurality of first links (123). That is, the fixed end (124) may be provided in a plurality in a circumferential direction on the inner diameter surface of the first ring portion (121).

[0117] Here, when the surgical tool driving module (100) according to one embodiment of the present invention is loaded onto the main body (200), the surgical tool (W) can be prepared in a state where it is completely wound around the outer surface of the first ring portion (121) of the bobbin structure (120).

[0118] According to one embodiment of the present invention, in order to prepare the surgical tool (W) in an initial state, a fastening hole (124a) to which a fixing pin (125) is coupled to press and fix the longitudinal end of the surgical tool (W) entering the first ring portion (121) may be provided on one side of the upper surface of the fixing end (124).

[0119] That is, the longitudinal tip of the surgical tool (W) entering the outer surface of the first ring portion (121) can enter the fixed end (124) provided on the inner surface of the first ring portion (121) through a hole (not shown) formed in the first ring portion (121) and be positioned on the fastening hole (124a).

[0120] In this way, when the longitudinal tip of the surgical tool (W) is positioned on the fastening hole (124a) of the fixed end (124) provided on the inner circumference of the first ring portion (121), the longitudinal tip of the surgical tool (W) can be fixed by pressure by the fastening pin (125) by fastening the fixing pin (125) in the vertical direction to the fastening hole (124a).

[0121] Accordingly, when the bobbin structure (120) is rotated, a surgical tool (W) with a fixed longitudinal tip can be wound onto a winding surface provided on the outer circumference of the first ring portion (121).

[0122] Here, the fixing pin (125) can be fastened to the fastening hole (124a) through the first rotating body (151). More specifically, the head portion of the fixing pin (125) may be exposed to the upper side of the first rotating body (151) to enable rotational operation by the operator, and the body portion of the fixing pin (125) may be positioned to penetrate the first rotating body (151). At this time, screw threads for fastening with the fastening hole (124a) may be formed in the longitudinal direction on the body portion of the fixing pin (125).

[0123] Referring to FIGS. 14 to 16, the band assembly (130) may be arranged to wrap around the bobbin structure (120) in a circumferential direction. The band assembly (130) may provide a path for a surgical tool (W) to be wound spirally between the band assembly and the bobbin structure (120).

[0124] According to one embodiment of the present invention, such a band assembly (130) may include a rotating roller (131) and a compression band (132).

[0125] The upper and lower ends of the rotation axis of the above-mentioned rotating roller (131) can be fixed to the frame assembly (140). This rotating roller (131) determines the position of the compression band (132) and can support the compression band (132).

[0126] According to one embodiment of the present invention, the rotating roller (131) may be arranged in a plurality of positions along the circumferential direction of the bobbin structure (120) so that the compression band (132) can be arranged to wrap around the bobbin structure (120) in a circumferential direction.

[0127] At this time, the rotating rollers (131) positioned on both sides of the path through which the surgical tool (W) enters the bobbin structure (120) may be positioned at a relatively narrower interval than the interval formed by the remaining rotating rollers (131). This is to minimize the portion of the bobbin structure (120) that is not wrapped by the compression band (132).

[0128] The above compression band (132) may be provided with a flexible material. For example, the above compression band (132) may be provided with a silicone material. According to one embodiment of the present invention, such compression band (132) may be conveyor-type mounted on a plurality of rotating rollers (131) arranged in the circumferential direction of the bobbin structure (120) so as to face the winding surface provided on the outer surface of the first ring portion (121) of the bobbin structure (120), more specifically, the bobbin structure (120).

[0129] When the bobbin structure (120) is rotated, the compression band (132), which is mounted on a plurality of rotating rollers (131) in a conveyor-like manner, can be conveyor-rotated by rolling contact with the plurality of rotating rollers (131) fixed to the frame assembly (140) due to the frictional force generated by contact with the bobbin structure (120).

[0130] At this time, one side of the compression band (132) corresponding to the entry / exit path of the surgical tool (W) for the bobbin structure (120) may be open. That is, the compression band (132) may not be installed between the rotating rollers (131) positioned on both sides of the entry / exit path of the surgical tool (W).

[0131] Referring to FIG. 17, when the bobbin structure (120) is rotated in a first direction, a surgical tool (W) is wound on the winding surface provided on the outer circumference of the first ring portion (121) of the bobbin structure (120), and a force directed toward the center of the bobbin structure (120) may be generated on the surgical tool.

[0132] On the other hand, referring to FIG. 18, when the bobbin structure (120) is rotated in a second direction opposite to the first direction, the surgical tool (W) is unwound from the winding surface provided on the outer circumference of the first ring portion (121) of the bobbin structure (120), and a force directed outward toward the bobbin structure (120) may be generated on the surgical tool.

[0133] In this way, when the surgical tool (W) is unwound from the winding surface provided on the outer circumference of the first ring portion (121) of the bobbin structure (120), the surgical tool (W) may be detached from the winding surface by the force directed outward from the bobbin structure (120) generated on the surgical tool. That is, the surgical tool (W) may be in a lifted state relative to the winding surface.

[0134] In this way, if the surgical tool (W) moves away from the coiled surface, a delay in the movement of the surgical tool (W) may occur.

[0135] That is, if the surgical tool (W) moves away from the coiled surface, a delay may occur between the forward and backward movement of the surgical tool (W), and in this case, it may be difficult for the operator to insert the surgical tool (W) into the target blood vessel.

[0136] Accordingly, according to one embodiment of the present invention, a trench (132a) may be formed in the longitudinal direction on the surface of a compression band (132) facing the bobbin structure (120) to accommodate a surgical tool (W) that is wound on a winding surface provided on the outer circumference of the first ring portion (121) of the bobbin structure (120).

[0137] At this time, an alignment groove (132b) may be formed on the bottom surface of the trench (132a) in the longitudinal direction of the trench (132a). The alignment groove (132b) may be continuously formed in the width direction of the trench (132a).

[0138] Accordingly, the above-mentioned surgical tool (W) can be wound spirally while being sequentially received in the alignment groove (132b) when wound on the winding surface provided on the outer surface of the first ring portion (121) of the bobbin structure (120), and the layered wound shape can be maintained.

[0139] Accordingly, when the surgical tool (W) is unwound from the winding surface provided on the outer circumference of the first ring portion (121) of the bobbin structure (120), the phenomenon of the surgical tool (W) detaching from the winding surface due to the force directed outward from the bobbin structure (120) generated on the surgical tool (W) can be prevented.

[0140] Through this, the delay that occurs between the forward and backward movement of the surgical tool (W) during a vascular interventional procedure is prevented or minimized, thereby enabling more precise driving control of the surgical tool (W).

[0141] Meanwhile, according to one embodiment of the present invention, the band assembly (130) may further include a support roller (133).

[0142] The upper and lower ends of the rotation axis of the support roller (133) can be fixed to the frame assembly (140). Multiple such support rollers (1330) can be arranged circumferentially on the bobbin structure (120).

[0143] At this time, a plurality of support rollers (133) may be placed between a plurality of rotating rollers (131) arranged in the circumferential direction of the bobbin structure (120). For example, two support rollers (133) may be placed between rotating rollers (131) that are adjacent to each other in the circumferential direction.

[0144] However, this is merely an example, and the number of support rollers (133) positioned between adjacent rotating rollers (131) in the circumferential direction in the present invention is not specifically limited to two. These support rollers (133) may have a smaller diameter than the rotating rollers (133).

[0145] When the bobbin structure (120) is rotated, the compression band (132), which is mounted on a plurality of rotating rollers (131) in a conveyor-like manner, can be conveyor-rotated by rolling contact with the plurality of rotating rollers (131) and the plurality of support rollers (133) fixed to the frame assembly (140) due to the frictional force generated by contact with the bobbin structure (120).

[0146] At this time, when the surgical tool (W) is unwound from the winding surface provided on the outer circumference of the first ring portion (121) of the bobbin structure (120), and the compression band (132) is deformed outwardly by the force directed outward from the bobbin structure (120) generated by the surgical tool (W), the support roller (133) can suppress the deformation of the compression band (132) that is in rolling contact.

[0147] The above frame assembly (140) can cascade the bobbin structure (120) and the band assembly (130) arranged to wrap around the bobbin structure (120) in a circumferential direction in an up-and-down direction.

[0148] At this time, according to one embodiment of the present invention, the frame assembly (140) can casing the bobbin structure (120) and the band assembly (130) so as to allow rotation of the bobbin structure (120).

[0149] Additionally, the frame assembly (140) can cascade the bobbin structure (120) and the band assembly (130) so that the rotation of the band assembly (130) is constrained.

[0150] This frame assembly (140) can be linked to the lifting of the bobbin structure (120) while supporting the rotation of the bobbin structure (120) in a state where rotation is constrained during the lifting of the bobbin structure (120).

[0151] To this end, according to one embodiment of the present invention, the frame assembly (140) may include an upper frame (141), a lower frame (142), and a support (143).

[0152] The upper frame (141) may be provided in the form of a ring that can be seated on the band assembly (130). Accordingly, the bobbin structure (120) may be exposed upward through the upper frame (141). Additionally, the upper frame (141) may be positioned to face the lower frame (142) in the vertical direction.

[0153] According to one embodiment of the present invention, a first groove (141a) may be provided on one side of the upper frame (141).

[0154] The first groove (141a) above can accommodate the first wing portion (163 in FIG. 23) of the surgical tool entry guide (160 in FIG. 23) described later.

[0155] The lower frame (142) may be provided in a ring shape capable of supporting the band assembly (130). The lower frame (142) may be provided in a shape corresponding to the upper frame (141). At this time, the lower frame (142) may be positioned to face the upper frame (141) in the vertical direction.

[0156] According to one embodiment of the present invention, a second groove (142a) may be provided on one side of the lower frame (142).

[0157] When the bobbin structure (120) and the band assembly (130) are cased by the frame assembly (140), the second groove (142a) can be aligned vertically with the first groove (141a) provided on one side of the upper frame (141).

[0158] The second wing portion (164 in FIG. 23) of the surgical tool entry guide (160 in FIG. 23) can be accommodated in the second groove (142a) above.

[0159] In this way, the first wing portion (163 in FIG. 23) of the surgical tool entry guide (160 in FIG. 23) coupled to the cassette assembly (110) is received in the first groove (141a), and at the same time, the second wing portion (164 in FIG. 23) of the surgical tool entry guide (160 in FIG. 23) is received in the second groove (142a), so that the rotation of the frame assembly (140) can be constrained when the bobbin structure (120) rotates and moves up and down.

[0160] On the other hand, the frame assembly (140) can be raised and lowered using the first wing portion (163 in FIG. 23) and the second wing portion (164 in FIG. 23) of the surgical tool entry guide (160), which are aligned in the vertical direction, as rails through the first groove (141a) and the second groove (142a) which are aligned in the vertical direction.

[0161] The above support (143) can separate the upper frame (141) and the lower frame (142) so that upper and lower casings for the bobbin structure (120) and the band assembly (130) are possible.

[0162] To this end, the support members (143) may be provided in a plurality in a circumferential direction between the upper frame (141) and the lower frame (142). These plurality of support members (143) can connect the upper frame (141) and the lower frame (142) as a single unit.

[0163] The above driving mechanism (150) can provide rotational force to the bobbin structure (120) to enable translational movement of the surgical tool (W).

[0164] Accordingly, the bobbin structure (120) rotates, and through this, the surgical tool (W) can advance while unwound from the bobbin structure (120) or retract while wound onto the bobbin structure (120).

[0165] In addition, the above driving mechanism (150) can provide rotational force to the cassette assembly (110) to enable rotational movement of the surgical tool (W).

[0166] Accordingly, the cassette assembly (110) is rotated, and through this, the surgical tool (W) can also be rotated clockwise or counterclockwise.

[0167] Referring to FIGS. 19 to 21, this driving mechanism (150) may include a first rotating body (151), a driving gear (152), and a second rotating body (153).

[0168] The first rotating body (151) may be placed on the bobbin structure (120). At this time, the first rotating body (151) may rotate the bobbin structure (120).

[0169] To this end, the first rotating body (151) may include a rotating body (151a), a center axis (151b), and a second link (151c).

[0170] The above-mentioned rotating body (151a) may be provided in the shape of a disc. The upper surface of the above-mentioned rotating body (151a) may be exposed to the outside through an opening (112a) provided in the upper cover (112) of the cassette assembly (110).

[0171] At this time, a through hole (not shown) into which a fixing pin (125) is inserted may be provided on one side of the rotating body (151a).

[0172] According to one embodiment of the present invention, a gear structure may be provided on the edge of the rotating body (151a) to be gear-coupled with the driving gear (152) in the circumferential direction.

[0173] The above-mentioned rotating body (151a) can be gear-coupled with the driving gear (152) through the gear structure. Accordingly, the rotating body (151a) can rotate in conjunction with the rotation of the driving gear (152).

[0174] The center shaft (151b) may protrude downward from the lower center of the rotating body (151a). This center shaft (151b) penetrates the second ring portion (122) of the bobbin structure (120), and its lower longitudinal portion may be inserted into the inner diameter side of the protrusion (111a) of the lower case (111).

[0175] That is, the protrusion (111a) of the lower case (111) and the second ring portion (122) of the bobbin structure (120) can be positioned in sequence on the outer side of the center axis (151b).

[0176] According to one embodiment of the present invention, this center axis (151b) can define the height of the mounting space in which the bobbin structure (120) can be raised and lowered.

[0177] That is, the bobbin structure (120) can be raised and lowered around the center axis (151b), and continuous upward movement is blocked by the rotating body (151a) provided at the upper end of the longitudinal direction of the center axis (151b), and continuous downward movement is blocked by the lower case (111) located at the lower end of the longitudinal direction of the center axis (151b).

[0178] The second link (151c) may be provided on the rotating body (151a). The second link (151c) may protrude downward from the lower edge of the rotating body (151a).

[0179] According to one embodiment of the present invention, such second links (151c) may be provided to correspond to a plurality of first links (123).

[0180] A plurality of second links (151c) can be clamped in the vertical direction to each of a plurality of first links (123) so that the bobbin structure (120) rotates when the first rotor (151a) rotates, that is, so that the rotational force of the first rotor (151a) is transmitted to the bobbin structure (120).

[0181] Accordingly, when the first rotating body (151a) rotates, a plurality of second links (151c) rotate, and rotational force can be transmitted to a plurality of first links (123) that are clamped together with the plurality of second links (151c).

[0182] Through this, the first ring portion (121) and the second ring portion (122) provided at both ends in the longitudinal direction of the plurality of first links (123) can also be rotated.

[0183] In this way, when the rotational force of the first rotating body (151a) is transmitted to the bobbin structure (120) through the second link (151c), the first ring portion (121) can be rotated, and through this, the surgical tool (W) wound on the winding surface provided on the outer circumference of the first ring portion (121) can be driven to unwind or wound onto the winding surface.

[0184] At the same time, when the rotational force of the first rotating body (151a) is transmitted to the bobbin structure (120) through the second link (151c), the second ring part (122) can be rotated, and thereby the bobbin structure (120) can be raised or lowered with the protrusion (111a) of the lower case (111) as an axis.

[0185] Accordingly, the surgical tool (W) can be wound spirally or unwound spirally on the winding surface provided on the outer surface of the first ring portion (121).

[0186] At this time, when the surgical tool (W) is unwound from the winding surface provided on the outer surface of the first ring portion (121), even if a force directed outward toward the bobbin structure (120) is generated on the surgical tool, the detachment of the surgical tool (W) can be prevented by the band assembly (130) which is arranged in a manner that wraps around the bobbin structure (120).

[0187] Meanwhile, according to one embodiment of the present invention, the first rotating body (151) may further include a rotating lever (151d).

[0188] The above-mentioned rotating lever (151d) can be coupled to one side of the upper surface of the rotating body (151a). The above-mentioned rotating lever (151d) can be exposed to the outside through the opening (112a) of the upper cover (112).

[0189] Before the surgical tool driving module (100) according to one embodiment of the present invention is loaded into the main body (200), that is, before the driving mechanism (150) is connected to the power transmission module (400), the surgical tool (W) can be prepared in a state wound on a bobbin structure (120).

[0190] Accordingly, the operator can manually wind the surgical tool (W) onto the bobbin structure (120) by turning the rotating lever (151d).

[0191] The above drive gear (152) can be geared with the first rotating body (151). More specifically, the drive gear (152) can be engaged with a gear structure provided circumferentially on the edge of the rotating body (151a).

[0192] This drive gear (152) may be provided as a bevel gear. The drive gear (152) may be placed in a mounting space provided inside the cassette assembly (110). At this time, the rotation axis of the drive gear (152) may be extended to the outside of the cassette assembly (110) and connected to a power transmission module (400).

[0193] Accordingly, when rotational force is transmitted from the power transmission module (400) to the rotation axis of the drive gear (152), the drive gear (152) rotates, and as the drive gear (152) rotates, the first rotating body (151) connected to it can rotate around the center axis (151b).

[0194] By rotating the first rotating body (151), the bobbin structure (120) can be rotated up and down. And through the rotation of the bobbin structure (120), the surgical tool (W) can be wound or unwound from the bobbin structure (120) and move forward or backward.

[0195] The second rotating body (153) can be coupled to the cassette assembly (110). Additionally, the second rotating body (153) can be connected to the power transmission module (400).

[0196] Accordingly, when the second rotating body (153) is rotated by the rotational force transmitted from the power transmission module (400), the cassette assembly (110) can be rolled. Accordingly, the surgical tool (W) can rotate about its longitudinal axis by means of the cassette assembly (110) which is rolled by the second rotating body (153).

[0197] In this way, the above surgical tool (W) can reach a target blood vessel while simultaneously performing translational and rotational movements through a surgical tool driving module (100) according to one embodiment of the present invention.

[0198] Meanwhile, a surgical tool driving module (100) according to one embodiment of the present invention may further include a surgical tool entry / exit guide (160).

[0199] The above surgical tool access guide (160) can be combined with the cassette assembly (110). The above surgical tool access guide (160) can face the bobbin structure (120) through an open side of the band assembly (130).

[0200] This surgical tool entry guide (160) can guide the surgical tool (W) toward the winding surface provided on the outer circumference of the first ring portion (121) of the bobbin structure (120). Additionally, the surgical tool entry guide (160) can guide the surgical tool (W) unwound from the winding surface provided on the outer circumference of the first ring portion (121) of the bobbin structure (120) toward the outside of the cassette assembly (110).

[0201] At this time, the above surgical tool entry guide (160) can restrict rotation while allowing the lifting of the frame assembly (140). Accordingly, in the mounting space, only the bobbin structure (120) can lift and rotate simultaneously.

[0202] As illustrated in FIGS. 22 and 23, according to one embodiment of the present invention, such a surgical tool entry guide (160) may include a guide body (161), a connection port (162), a first wing portion (163), and a second wing portion (164).

[0203] The guide body (161) may be provided in a cylindrical shape extending in one direction. The guide body (161) may be positioned on the outside of the cassette assembly (110), more specifically, in a shape that protrudes in the direction in which the surgical tool (W) is withdrawn. A passage (161a in FIG. 25) through which the surgical tool (W) moves in the longitudinal direction may be provided inside the guide body (161).

[0204] The above connection port (162) may be provided at the tip of the guide body (161). A guide tube (T) may be connected to this connection port (162). The above surgical tool (W) may be inserted into the guide tube (T) connected to the connection port (162).

[0205] Here, if the surgical tool (W) is loaded directly into another surgical tool, for example, a hemostatic valve connected to a catheter, without using a guide tube (T), the surgical tool (W) may get caught on the silicone part of the hemostatic valve or on a stepped part, making it difficult to load the surgical tool (W) smoothly.

[0206] Additionally, the tip of the surgical tool (W) may be bent because it was wound around the bobbin structure (120) and then unwound, and as a result, it may enter a branched section rather than a predetermined path within the hemostatic valve.

[0207] Accordingly, according to one embodiment of the present invention, by providing a connection port (162) to which a guide tube (T) is connected at the tip of a guide body (161), the surgical tool (W) can be smoothly loaded into the hemostatic valve without being exposed to the outside.

[0208] The first wing portion (163) may be provided at the rear end of the guide body (161). The first wing portion (163) may be provided in a plate shape and may extend vertically upward from the rear end of the guide body (161).

[0209] This first wing portion (163) can be inserted horizontally into a first groove (141a) provided on one side of the upper frame (141).

[0210] The second wing portion (164) may be provided at the rear end of the guide body (161). The second wing portion (164) may be provided in a plate shape and may extend downward in the vertical direction of the first wing portion (163).

[0211] This second wing portion (164) can be inserted horizontally into a second groove (142a) provided on one side of the lower frame (142).

[0212] Accordingly, the frame assembly (140) can be raised and lowered around the axis of the first wing portion (163) and the second wing portion (164) that extend in one direction. Conversely, the frame assembly (140) can be restricted from rotating around the center axis (151b) by the first wing portion (163) and the second wing portion (164) that are inserted horizontally into the first groove (141a) and the second groove (142a).

[0213] Meanwhile, the surgical tool driving module (100) according to one embodiment of the present invention may further include a detachment prevention plate (170).

[0214] The above anti-detachment plate (170) may be attached to the rear end of the surgical tool entry / exit guide (160). This anti-detachment plate (170) may be provided on one side of the frame assembly (140) corresponding to the entry / exit path of the surgical tool (W) to the bobbin structure (120). The anti-detachment plate (170) may prevent the surgical tool (W) from detaching to one side of the band assembly (130) which is open for the entry / exit of the surgical tool (W).

[0215] Hereinafter, the process of first mounting a surgical tool to a surgical tool driving module for a vascular interventional device according to one embodiment of the present invention will be explained with reference to FIGS. 24 to 29.

[0216] FIGS. 24 to 29 are drawings illustrating the process of first mounting a surgical tool on a surgical tool driving module for a vascular interventional procedure device according to one embodiment of the present invention.

[0217] First, referring to FIGS. 24 and 25, a surgical tool (W) can be pushed into the cassette assembly (110) through the surgical tool entry guide (160).

[0218] In this way, the tip of the surgical tool (W) entering into the cassette assembly (110) can enter the inner diameter side of the first ring portion (121) through a hole (not shown) provided in the first ring portion (121) and be positioned on the fastening hole (124a) of the fixed end (124) provided on the inner diameter side of the first ring portion (121).

[0219] Accordingly, with reference to FIGS. 26 and 27, the operator can fasten the fixing pin (125) to the fastening hole (124a), and through this, the tip of the surgical tool (W) can be pressed and fixed inside the fastening hole (124a) by the fixing pin (125).

[0220] In this way, the tip of the surgical tool (W) is fixed by pressure by the fixing pin (125), so that the surgical tool (W) can be wound onto the bobbin structure (120).

[0221] Next, referring to FIG. 28, the operator can rotate the rotation lever (151d) clockwise. Accordingly, the first rotating body (151) can be rotated clockwise, and the bobbin structure (120) connected to the first rotating body (151) can be rotated clockwise.

[0222] At this time, the second ring portion (122) of the bobbin structure (120) is screw-coupled to the protrusion (111a) of the lower case (111).

[0223] Accordingly, the bobbin structure (120) can be lowered while rotating clockwise. As the bobbin structure (120) is lowered while rotating clockwise, a surgical tool (W) can be wound in a spiral or screw shape on the winding surface provided on the outer surface of the first ring portion (121) of the bobbin structure (120), more specifically, the bobbin structure (120).

[0224] According to one embodiment of the present invention, a surgical tool (W) that is wound in a spiral or screw shape on a winding surface provided on the outer circumference of a first ring portion (121) of a bobbin structure (120) can be compressed and supported by a band assembly (130) provided in a shape that wraps around the bobbin structure (120).

[0225] Next, referring to FIG. 29, when all but the longitudinal rear end of the surgical tool (W) is wound on the winding surface provided on the outer circumference of the first ring portion (121) of the bobbin structure (120), the guide tube (T) can be connected to a connection port (162) provided at the tip of the surgical tool entry / exit guide (160) so that the longitudinal rear end of the surgical tool (W) is inserted into the inside of the guide tube (T).

[0226] In this way, by connecting a guide tube (T) to the connection port (162) and inserting a surgical tool (W) into the inside of the guide tube (T), the loading preparation for the main body (200) of the surgical tool driving module (100) according to one embodiment of the present invention can be completed.

[0227] Hereinafter, the unwinding and winding driving of a surgical tool in a surgical tool driving module for a vascular interventional device according to one embodiment of the present invention will be described with reference to FIG. 30 and FIG. 31.

[0228] FIG. 30 is a drawing for explaining the unwinding operation of a surgical tool driving module for a vascular interventional procedure device according to one embodiment of the present invention, and FIG. 31 is a drawing for explaining the winding operation of a surgical tool driving module for a vascular interventional procedure device according to one embodiment of the present invention.

[0229] First, referring to FIG. 30, a first rotational force can be transmitted from the power transmission module (400 in FIG. 4) to the drive gear (152). Accordingly, the drive gear (152) can be rotated counterclockwise.

[0230] As the above drive gear (152) rotates counterclockwise, the first rotating body (151) connected to the gear can rotate counterclockwise.

[0231] As the first rotating body (151) rotates counterclockwise, rotational force is transmitted to the first link (123) of the bobbin structure (120) which is clamped to the second link (151c) of the first rotating body (151), and accordingly, the bobbin structure (120) can also rotate counterclockwise.

[0232] At this time, the second ring portion (122) of the bobbin structure (120) is screw-coupled to the protrusion (111a) of the lower case (111). Accordingly, the bobbin structure (120) can be raised while rotating counterclockwise.

[0233] In this way, as the bobbin structure (120) is raised while rotating counterclockwise, the surgical tool (W), which is wound in a spiral or screw shape on the winding surface provided on the outer circumference of the first ring portion (121) of the bobbin structure (120), more specifically, is driven to unwind in a spiral or screw shape and can advance toward the surgical tool guide module (300 in FIG. 4).

[0234] At this time, when a surgical tool (W) that is wound in a spiral or screw shape on the winding surface provided on the outer surface of the first ring portion (121) of the bobbin structure (120) is unwound in a spiral or screw shape, the detachment of the surgical tool (W) caused by the force directed outward from the bobbin structure (120) can be prevented by a band assembly (130) that is arranged to wrap around the bobbin structure (120) and compresses the surgical tool (W).

[0235] Additionally, referring to FIG. 31, a second rotational force can be transmitted from the power transmission module (400 in FIG. 4) to the drive gear (152). Accordingly, the drive gear (152) can be rotated clockwise.

[0236] As the above drive gear (152) rotates clockwise, the first rotating body (151) connected to the gear can rotate clockwise.

[0237] As the first rotating body (151) rotates clockwise, rotational force is transmitted to the first link (123) of the bobbin structure (120) which is clamped to the second link (151c) of the first rotating body (151), and accordingly, the bobbin structure (120) can also rotate clockwise.

[0238] At this time, the second ring portion (122) of the bobbin structure (120) is screw-coupled to the protrusion (111a) of the lower case (111). Accordingly, the bobbin structure (120) can be lowered while rotating clockwise.

[0239] In this way, as the bobbin structure (120) descends while rotating clockwise, the surgical tool (W) can be driven to be wound in a spiral or screw shape on the winding surface provided on the outer circumference of the first ring portion (121) of the bobbin structure (120), more specifically, and can move backward from the surgical tool guide module (300 in FIG. 4).

[0240] Meanwhile, the above surgical tool (W) can be rotated by a surgical tool driving module (100) according to one embodiment of the present invention.

[0241] To this end, first, the second rotating body (153) coupled to the cassette assembly (110) can be rotated by the rotational force transmitted from the power transmission module (400 in FIG. 4).

[0242] As the second rotating body (153) rotates, the cassette assembly (110) coupled thereto can be rolled.

[0243] In this way, as the cassette assembly (110) is rolled by the second rotating body (153), the bobbin structure (120), band assembly (130), and frame assembly (140) mounted in the internal mounting space of the cassette assembly (110) can also be rolled.

[0244] Accordingly, a surgical tool (W) that moves forward while being unwound from the bobbin structure (120) or moves backward while being wound onto the bobbin structure (120) can be rotated around the longitudinal axis.

[0245] In this way, the surgical tool driving module (100) according to one embodiment of the present invention can translate the surgical tool (W) and rotate it at the same time, thereby enabling the surgical tool (W) to smoothly reach the target blood vessel.

[0246] Although the present invention has been described in detail using preferred embodiments, the scope of the invention is not limited to specific embodiments and should be interpreted by the appended claims. Furthermore, those skilled in the art will understand that many modifications and variations are possible without departing from the scope of the invention.

Claims

1. A cassette assembly providing internal mounting space; A bobbin structure coupled to the above-mentioned cassette assembly, having an outer winding surface on which a surgical tool inserted into the body upon withdrawal is wound, and which induces spiral winding or unwinding of the surgical tool while rotating and moving up and down in the mounting space; A band assembly arranged to wrap around the bobbin structure in a circumferential direction, and providing a path for the surgical tool to be wound spirally between the bobbin structure and the band assembly; A frame assembly that casings the bobbin structure and the band assembly to allow rotation of the bobbin structure, and supports the rotation of the bobbin structure while constrained during rotational lifting of the bobbin structure, and is linked to the lifting of the bobbin structure; and A driving module for a surgical tool for a vascular interventional device, comprising: a driving mechanism that provides rotational force to each of the cassette assembly and bobbin structure to enable rotational and translational movement of the surgical tool.

2. In Paragraph 1, The above cassette assembly is, A lower case having a protrusion that protrudes upward from the bottom surface and has screw threads provided on its outer surface; and It includes an upper cover coupled to the lower case to form the mounting space, and The above bobbin structure is, A first ring portion having the above-mentioned winding surface provided on the outer surface; A second ring portion located at the center of the inner diameter of the first ring portion, having screw threads provided on the inner diameter surface into which the protrusion is inserted; and It includes a plurality of first links provided between the first ring portion and the second ring portion and connected to the driving mechanism, The above bobbin structure is a driving module for a surgical tool for a vascular interventional device, which is rotatable and movable in the mounting space by means of a screw connection between the protrusion and the second ring portion.

3. In Paragraph 1, The above band assembly is, The upper and lower ends of the rotation axis are fixed to the frame assembly, and a plurality of rotation rollers are arranged in the circumferential direction of the bobbin structure; and A compression band comprising a plurality of rotating rollers that are provided with a flexible material and are conveyor-type mounted to face the winding surface of the bobbin structure, wherein one side corresponding to the entry / exit path of the surgical tool for the bobbin structure is open, and a trench for receiving the surgical tool is formed longitudinally on the surface, An alignment groove is formed on the bottom surface of the trench along the length of the trench, and The above alignment groove is continuously formed in the width direction of the trench, and A surgical tool driving module for a vascular interventional device, wherein the surgical tool is wound spirally while being sequentially received in the alignment grooves when wound on the winding surface.

4. In Paragraph 3, In addition to including a guide for accessing surgical instruments, A surgical tool driving module for a vascular interventional device, wherein the surgical tool entry guide is coupled to the cassette assembly and connected to the bobbin structure through an open side of the compression band, guides the surgical tool toward the winding surface of the bobbin structure, guides the surgical tool unwound from the bobbin structure toward the outside of the cassette assembly, and restricts rotation while allowing the lifting of the frame assembly.

5. In Paragraph 4, The above surgical tool entry guide is, A guide body having a passage inside through which the above-mentioned surgical tool moves; A connection port provided at the tip of the guide body, to which a guide tube is connected, into which the withdrawable surgical tool is inserted; A first wing portion provided at the rear end of the guide body and extending upward in a vertical direction; and It includes a second wing portion provided at the rear end of the guide body and extending downward in the vertical direction of the first wing portion, The above frame assembly is, An upper frame having a first groove on one side for accommodating the first wing portion inserted in a horizontal direction; A lower frame having a second groove on one side that accommodates the second wing portion inserted in a horizontal direction, and is opposed to the upper frame in the vertical direction; and A driving module for a surgical tool for a vascular interventional device, comprising a plurality of supports that integrally connect the upper frame and the lower frame, thereby separating the upper frame and the lower frame to enable upper and lower casing for the bobbin structure and band assembly.

6. In Paragraph 2, The above driving mechanism is, A first rotating body disposed on the bobbin structure and rotating the bobbin structure; A drive gear coupled to the first rotor and transmitting rotational force provided from a power transmission module to the first rotor; and It includes a second rotating body coupled to the above cassette assembly and rotating by the rotational force provided from the power transmission module to roll the cassette assembly. The above-mentioned procedural tool is a driving module for a procedural tool for a vascular interventional device, which rotates about the longitudinal axis by means of the cassette assembly that is rolled by the second rotating body.

7. In Paragraph 6, The above first rotating body is, A rotating body provided in the shape of a disc, having an upper surface exposed to the outside through the upper cover, and having a gear structure that is gear-coupled with the driving gear in the circumferential direction at the rim; A center shaft that protrudes downward from the lower center of the above-mentioned rotating body and penetrates the second ring portion, wherein the lower longitudinal portion is inserted into the inner diameter side of the protrusion and defines the height of the mounting space in which the bobbin structure can be raised and lowered; and A driving module for a surgical tool for a vascular interventional device, comprising a plurality of second links that protrude downward from the lower edge of the above-mentioned rotating body and are provided in a number corresponding to the plurality of first links, and are clamped to each of the plurality of first links in an up-and-down direction so as to rotate the bobbin structure when the first rotating body rotates.

8. A main body part extending in one direction; A plurality of surgical tool guide modules are mounted in the longitudinal direction of the above-mentioned main body and guide a surgical tool inserted into the body into the human body; and A surgical tool driving module mounted on the main body and positioned at the rear of the surgical tool guide module, which withdraws the surgical tool toward the surgical tool guide module or retrieves the surgical tool from the surgical tool guide module; comprising: The above-mentioned surgical tool driving module is, A cassette assembly providing internal mounting space; A bobbin structure coupled to the above-mentioned cassette assembly, having an outer winding surface on which a surgical tool inserted into the body upon withdrawal is wound, and which induces spiral winding or unwinding of the surgical tool while rotating and moving up and down in the mounting space; A band assembly arranged to wrap around the bobbin structure in a circumferential direction, and providing a path for the surgical tool to be wound spirally between the bobbin structure and the band assembly; A frame assembly that casings the bobbin structure and the band assembly to allow rotation of the bobbin structure, and supports the rotation of the bobbin structure while constrained during rotational lifting of the bobbin structure, and is linked to the lifting of the bobbin structure; and A vascular interventional device comprising a driving mechanism that provides rotational force to each of the cassette assembly and bobbin structure to enable rotational and translational movement of the above-mentioned procedure tool.

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