Guide wire-driving cassette
The robotic system with a guide wire drive cassette addresses navigation challenges in complex luminal geometries by using a pinch module and magnetic detection for precise control and easy removal, enhancing guide wire and catheter guidance.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- XCATH INC
- Filing Date
- 2025-12-04
- Publication Date
- 2026-06-11
AI Technical Summary
Existing guide wire and catheter introduction systems face difficulties in navigating serpentine lumens and branch lumens with large angle intersections, and there is a challenge in managing the size of modules accommodating multiple cassettes.
A robotic system with a guide wire drive cassette that includes a pinch module, magnet carrier structure, and sensor to control the guide wire and catheter movements, allowing for easy removal by detecting magnetic fields and minimizing voltage generation for precise alignment and release.
Enables stable and precise guidance of guide wires and catheters through complex luminal geometries, reducing module size by optimizing cassette design for multiple catheters and facilitating easy removal.
Smart Images
Figure IB2025062407_11062026_PF_FP_ABST
Abstract
Description
Guide wire drive cassette
[0001] The present invention relates to a cassette for guiding a guide wire used for minimally invasive interventional procedures.
[0002] A guide wire is used to guide a secondary sheath (e.g., a catheter) along the guide wire to a desired location within the body, such as a mammalian body like the human body. In one application, the guide wire is introduced into the body lumen, i.e., a blood vessel, through an incision in the patient's skin and lumen wall, and the introduction or distal end of the guide wire is guided from there to a desired location in the lumen, or in the lumen into which the guide wire is introduced, or in a lumen branching from there. Additionally, the catheter is guided along the guide wire; that is, the guide wire is guided into the body lumen or body cavity so that the distal end of the catheter is positioned at a desired location within the body. Then, the catheter or a series of catheters is passed through the guide wire to place the distal end of the catheter at a desired location within the body.
[0003] One problem with guide wire and catheter introduction systems is that it is difficult to guide the distal end of the guide wire and catheter to follow a serpentine lumen geometry, or to guide the distal end of the guide wire and catheter to a branch lumen where it is to be positioned, or to a lumen or branch lumen that intersects the lumen the guide wire first reaches. In some cases, the branch lumen where the position is the target destination of the distal end of the guide wire and catheter intersects the lumen where the distal end exists at a large angle, for example, greater than 45 degrees, and in some cases greater than 90 degrees.
[0004] A robotic system is presented to stably control the movement of a guide wire and a catheter in order to facilitate orientation control of the distal ends of the guide wire and the catheter. Additionally, a cassette for use with the robotic system is presented. By means of the cassette, the guide wire and the catheter are guided to a desired position on the body by performing one or more of forward movement, backward movement, and rotational movement.
[0005] The guide wire and catheter system can utilize multiple catheters with corresponding small inner diameters, wherein each catheter other than the largest diameter catheter can be telescopically received and extended within the next largest diameter catheter. In this system, the position and other characteristics of each catheter and guide wire are controlled by different drive cassettes. Consequently, there was a problem in that the size of the module became unnecessarily large in order to accommodate multiple cassettes within it.
[0006] [Prior Art Literature]
[0007] [Patent Literature]
[0008] (Patent Document 1) US 2017-0274181 A1
[0009] The technical problem that the present invention aims to solve is to provide a structure that allows the guide wire to be easily removed from the guide wire drive cassette.
[0010] A guide wire driving cassette (100) according to one embodiment of the present invention comprises: a pinch module (30) for pinching a guide wire (1), the pinch module (30) including a protrusion (32); a cover (10) covering the pinch module (30); a magnet carrier structure (50) including a magnet (51) capable of generating a magnetic field; a groove (40) capable of receiving the magnet carrier structure (50); and a sensor (60) capable of detecting the magnetic field of the magnet (51). The pinch module (30) can rotate along the longitudinal direction (X) of the guide wire (1) as an axis, and depending on the degree of rotation of the pinch module (30), the protrusion (32) may or may not come into contact with the magnet carrier structure (50), and when the protrusion (32) comes into contact with the magnet carrier structure (50), the magnet carrier structure (50) moves away from the groove (40) and approaches the sensor (60), and the sensor (60) can determine the degree of rotation of the pinch module (30) from the distance from the magnet carrier structure (50).
[0011] A guide wire drive cassette (100) according to one embodiment of the present invention can generate a voltage by the sensor (60) detecting the magnetic field of the magnet (51), and the magnitude of the voltage generated can vary depending on the magnitude of the detected magnetic field.
[0012] A guide wire drive cassette (100) according to one embodiment of the present invention may have a cover slit (11) formed in the cover (10) and a pinch slit (31) formed in the pinch module (30).
[0013] According to one embodiment of the present invention, the guide wire drive cassette (100) may or may not overlap the pinch slit (31) with the cover slit (11) along the longitudinal direction (X) depending on the degree of rotation of the pinch module (30), and when the pinch slit (31) and the cover slit (11) overlap along the longitudinal direction (X), the distance between the magnet carrier structure (50) and the sensor (60) may be minimized.
[0014] In a guide wire drive cassette (100) according to one embodiment of the present invention, when the distance between the magnet carrier structure (50) and the sensor (60) is minimized, the magnitude of the voltage generated by the sensor (60) can be minimized.
[0015] In a guide wire drive cassette (100) according to one embodiment of the present invention, when the distance between the magnet carrier structure (50) and the sensor (60) is minimized, the magnitude of the voltage generated by the sensor (60) can be maximized.
[0016] In a guide wire drive cassette (100) according to one embodiment of the present invention, the sensor (60) may be a Hall Effect sensor.
[0017] A guide wire drive cassette (100) according to one embodiment of the present invention further comprises a pinion (70) and a rack (80), and the rack (80) can be moved forward or backward along the longitudinal direction (X) by the rotation of the pinion (70).
[0018] A guide wire drive cassette (100) according to one embodiment of the present invention is such that when the rack (80) moves backward along the longitudinal direction (X), the guide wire (1) is pinched by the pinch module (30) by the movement of the rack (80), and when the (80) moves forward along the longitudinal direction (X), the pinching of the guide wire (1) by the pinch module (30) by the movement of the rack (80) can be released.
[0019] In a guide wire drive cassette (100) according to one embodiment of the present invention, when the guide wire (1) is released from being pinched by the pinch module (30), the distance between the magnet carrier structure (50) and the sensor (60) can be minimized.
[0020] A pinch module included in a guide wire drive cassette can rotate while pinching the guide wire. At this time, in order to remove the guide wire from the guide wire drive cassette, the pinch module needs to be positioned at the origin (the position before the pinch module rotates). The guide wire drive cassette of the present invention can align the pinch module to the origin position by a sensor determining the degree of rotation of the pinch module from the distance from the magnet carrier structure, and accordingly, the guide wire can be easily removed from the guide wire drive cassette.
[0021] FIG. 1 is a perspective view of a guide wire drive cassette, showing the state before a guide wire is inserted into the guide wire drive cassette.
[0022] FIG. 2 is a perspective view of a guide wire drive cassette, showing the state after inserting a guide wire into the guide wire drive cassette.
[0023] Figure 3 is a cross-sectional view of a guide wire drive cassette showing the pinch module in a rotated state.
[0024] Figure 4 is a cross-sectional view of a guide wire drive cassette showing the pinch module in a non-rotated state.
[0025] Figure 5 is a perspective view of a guide wire drive cassette.
[0026] FIG. 6 is an enlarged perspective view of a guide wire drive cassette, showing an enlarged view of the area corresponding to region 'A' in FIG. 5.
[0027] Figure 7 shows a screen where voltages generated from the sensor are recorded.
[0028] FIG. 8a is a plan view of a guide wire drive cassette with the cover removed, showing the guide wire in a pinch-released state.
[0029] FIG. 8b is a cross-sectional view of a guide wire drive cassette showing the guide wire in a pinch-released state.
[0030] FIG. 9a is a plan view of a guide wire drive cassette with the cover removed, showing the guide wire in a pinched state.
[0031] FIG. 9b is a cross-sectional view of a guide wire drive cassette showing the guide wire in a pinched state.
[0032] FIG. 10a is a plan view of a guide wire drive cassette with the cover removed, showing the state in which the guide wire is rotated.
[0033] FIG. 10b is a cross-sectional view of a guide wire drive cassette showing the state in which the guide wire is rotated.
[0034] Hereinafter, preferred embodiments of the present invention will be described as follows with reference to the attached drawings.
[0035] FIG. 1 is a perspective view of a guide wire drive cassette (100) showing the state before inserting a guide wire (1) into the guide wire drive cassette (100). FIG. 2 is a perspective view of a guide wire drive cassette (100) showing the state after inserting a guide wire (1) into the guide wire drive cassette (100).
[0036] Referring to FIGS. 1 and 2, a guide wire drive cassette (100) for guiding a guide wire (1) is shown. The guide wire (1) can be inserted into or removed from the guide wire drive cassette (100). The guide wire drive cassette (100) includes a cover (10) and a button (20).
[0037] The cover (10) covers the pinch module (30, see FIG. 8a), the magnet carrier structure (50, see FIG. 3), the sensor (60, see FIG. 3), the pinion (70, see FIG. 8a), the rack (80, see FIG. 8a), the first bevel gear (90a, see FIG. 8a), and the second bevel gear (90b, see FIG. 8a). The cover (10) has a cover slit (11) formed therein to accommodate a guide wire (1) within the cover (10).
[0038] The button (20) may be in the OPEN position or the CLOSED position. The button (20) being in the OPEN position means that the guide wire (1) can be removed from the guide wire drive cassette (100), and the button (20) being in the CLOSED position means that the guide wire (1) cannot be removed from the guide wire drive cassette (100).
[0039] FIG. 3 is a cross-sectional view of a guide wire drive cassette (100), showing the pinch module (30) pinching the guide wire (1) and rotating it. FIG. 4 is a cross-sectional view of a guide wire drive cassette (100), showing the pinch module (30) pinching the guide wire (1) and not rotating it. FIG. 5 is an enlarged view of the guide wire drive cassette. FIG. 6 is an enlarged perspective view of the guide wire drive cassette, showing an enlarged view of the area corresponding to region 'A' in FIG. 5.
[0040] Referring to FIGS. 3 to 6, the guide wire drive cassette (100) includes a cover slit (11), a pinch slit (31), a protrusion (32), a plurality of collets (33), a groove (40), a magnet carrier structure (50), a magnet (51), and a sensor (60).
[0041] The cover slit (11) is formed in the cover (10), and the cover slit (11) maintains a fixed position without rotating.
[0042] A pinch slit (31) is formed in the pinch module (30) and is aligned with the cover slit (11) while the guide wire (1) is loaded and unloaded into the pinch module (30) (see FIG. 4). As the pinch module (30) rotates from the position in FIG. 4 to the position in FIG. 3 with the X direction, which is the longitudinal direction of the guide wire (1), as the axis, the pinch slit (31) also rotates and becomes unaligned with the cover slit (31). The state in which the pinch slit (31) is rotated is shown in FIG. 3, and the state in which the pinch slit (31) is not rotated is shown in FIG. 4.
[0043] The protrusion (32) protrudes from the pinch module (30) in the form of an extension tab, and as the pinch module (30) rotates, the protrusion (32) rotates in an arc around the center of rotation of the pinch module (30). Depending on the degree of rotation of the pinch module (30), the protrusion (32) may or may not come into contact with the magnet carrier structure (50). At this time, as shown in FIG. 4, when the protrusion (32) comes into contact with the magnet carrier structure (50), the protrusion (32) can push the end of the magnet carrier structure (50) located far above the pinch module (30) downward with respect to the Z direction, and the degree of pushing may vary depending on the degree to which the pinch module (30) of FIG. 3 rotates clockwise toward the position of the pinch module (40) of FIG. 4.
[0044] The magnet carrier structure (50) is positioned below the protrusion (32) with respect to the Z direction, and the magnet carrier structure (50) includes a magnet (51) capable of generating a magnetic field. The groove (40) can accommodate the magnet carrier structure (50). The sensor (60) is positioned below the magnet carrier structure (50) with respect to the Z direction and can detect the magnetic field of the magnet (51). The sensor (60) may be a Hall Effect sensor, but the type of sensor is not limited to a Hall Effect sensor.
[0045] As shown in FIG. 3, when the pinch module (30) is fixed to the guide wire (1) and rotated, the protrusion (32) is also moved along the arched path, so the protrusion (32) does not come into contact with the magnet carrier structure (50). Since the protrusion (32) does not come into contact with the magnet carrier structure (50), the protrusion (32) cannot push the magnet carrier structure (50) downward with respect to the Z direction, and thus, the magnet carrier structure (50) can be received in the groove (40).
[0046] As shown in FIG. 4, when the pinch module (30) is fixed to the guide wire (1) and is not rotated, the protrusion (32) also does not move along an arched path from the magnet carrier structure (50), so the protrusion (32) comes into contact with the magnet carrier structure (50). Since the protrusion (32) comes into contact with the magnet carrier structure (50), the protrusion (32) can push the magnet carrier structure (50) downward with respect to the Z direction, and thus, the magnet carrier structure (50) can come out of the groove (40).
[0047] At this time, depending on the degree of rotation of the pinch module (30), the distance between the magnet carrier structure (50) and the sensor (60) may vary. Also, depending on the degree of rotation of the pinch module (30), the pinch slit (31) may or may not overlap with the cover slit (11) along the X direction.
[0048] As shown in FIG. 3, when the pinch module (30) is fixed to the guide wire (1) and rotated, the magnet carrier structure (50) is received in the groove (40), so the magnet carrier structure (50) is far from the sensor (60). Also, the pinch slit (31) does not overlap with the cover slit (11) along the X direction. In this way, when the pinch slit (31) and the cover slit (11) do not overlap along the X direction, the distance between the magnet carrier structure (50) and the sensor (60) can be maximized.
[0049] As illustrated in FIG. 4, when the pinch module (30) is not rotated in the guide wire (1) loaded and unloaded position, the protrusion (32) pushes the magnet carrier structure (50) toward the sensor (60) and out of the groove (40), so that the magnet carrier structure (50) is close to the sensor (60). Also, here the pinch slit (31) overlaps (aligns) with the cover slit (11) along the X direction. In this way, when the pinch slit (31) and the cover slit (11) overlap along the X direction, the distance between the magnet carrier structure (50) and the sensor (60) can be minimized.
[0050] Meanwhile, when the magnet carrier structure (50) is far from the sensor (60), the magnitude of the magnetic field of the magnet (51) detected by the sensor (60) is small, and when the magnet carrier structure (50) is close to the sensor (60), the magnitude of the magnetic field of the magnet (51) detected by the sensor (60) is large.
[0051] The sensor (60) can generate a voltage by detecting the magnetic field of the magnet (51), and the magnitude of the voltage generated by the sensor (60) may vary depending on the magnitude of the detected magnetic field. At this time, depending on the polarity of the magnet (51) and the sensor (60), the magnitude of the detected magnetic field and the magnitude of the voltage generated by the sensor (60) may be proportional or inversely proportional.
[0052] Therefore, when the distance between the magnet carrier structure (50) and the sensor (60) becomes minimum and the magnitude of the magnetic field detected by the sensor (60) becomes maximum, the magnitude of the voltage generated by the sensor (60) may become minimum or maximum.
[0053] At this time, it can be determined whether the distance between the magnet carrier structure (50) and the sensor (60) has been minimized from the magnitude of the voltage generated by the sensor (60), and from this, it can be determined whether the pinch slit (31) and the cover slit (11) overlap along the X direction.
[0054] And, as shown in FIG. 4, if it is determined that the pinch slit (31) and the cover slit (11) overlap along the X direction, the guide wire (1) can be removed from the guide wire drive cassette (100).
[0055] FIG. 7 shows a screen in which voltages generated by the sensor (60) are recorded. When the magnitude of the magnetic field detected by the sensor (60) is at its maximum, the magnitude of the voltage generated by the sensor (60) is set to be at its minimum. Therefore, when the minimum value of 1914 among the voltages shown in FIG. 7 is displayed, it means that the pinch slit (31) and the cover slit (11) are superimposed along the X direction, and the guide wire (1) can be removed from the guide wire drive cassette (100).
[0056] FIG. 8a is a top view of a guide wire drive cassette (100) with the cover removed, showing the guide wire (1) in a pinch-released state. FIG. 8b is a cross-sectional view of a guide wire drive cassette (100), showing the guide wire (1) in a pinch-released state.
[0057] FIG. 9a is a top view of a guide wire drive cassette (100) with the cover removed, showing the guide wire (1) in a pinched state. FIG. 9b is a cross-sectional view of a guide wire drive cassette (1), showing the guide wire (1) in a pinched state.
[0058] FIG. 10a is a plan view of a guide wire drive cassette (100) with the cover removed, showing the state in which the guide wire (1) is rotated. FIG. 10b is a cross-sectional view of a guide wire drive cassette (100), showing the state in which the guide wire (1) is rotated.
[0059] Referring to FIGS. 8a through 10b, the guide wire drive cassette (100) includes a pinch module (30), a pinion (70), a rack (80), a first bevel gear (90a), and a second bevel gear (90b).
[0060] The rack (80) can be engaged with the pinion (70). The rack (80) can be extended along the X direction. The pinion (70) can be rotated around a pinion shaft, and the pinion shaft can be rotated by a separate configuration not shown. The pinion (70) can be rotated in conjunction with the rotation of the pinion shaft. The rack (80) can be moved forward (F) or backward (B) along the X direction by the rotation of the pinion (70).
[0061] At this time, when the rack (80) is moved backward (B) along the X direction, the guide wire (1) can be pinched by the pinch module (30). And, when the rack (80) is moved forward (F) along the X direction, the guide wire (1) being pinched by the pinch module (30) can be released. Specifically, the pinch module (30) includes a first part (34) coupled to the rack (80), a second part (35) spaced apart from the first part (34), and a plurality of collets (33) placed between the first part (34) and the second part (34).
[0062] At this time, when the first part (34) moves backward (B) due to the rearward movement (B) of the rack (80), the gap between the first part (34) and the second part (35) may be reduced. Accordingly, the gap between the multiple collets (33) surrounding the guide wire (1) is reduced, so that the guide wire (1) may be pinched. FIGS. 9a and 9b show the guide wire (1) in a pinched state.
[0063] And, when the first part (34) moves forward (F) due to the forward movement (F) of the rack (80), the gap between the first part (34) and the second part (35) can be increased. Accordingly, the gap between the multiple collets (33) surrounding the guide wire (1) is increased, and the guide wire (1) can be released from being pinched. FIGS. 8a and 8b show the guide wire (1) in a state where it is released from being pinched by the pinch module (30). In this way, when the guide wire (1) is released from being pinched by the pinch module (30), the distance between the magnet carrier structure (50) and the sensor (60) can be minimized.
[0064] Meanwhile, the first bevel gear (90a) and the second bevel gear (90b) mesh with each other. The rotation shaft of the first bevel gear (90a) and the rotation shaft of the second bevel gear (90b) can be arranged at an angle of 90 degrees to each other, for example.
[0065] The first bevel gear (90a) is rotated around the shaft of the first bevel gear (90a), and the shaft of the first bevel gear (90a) is rotated by a separate configuration not shown. As the first bevel gear (90a) rotates, the second bevel gear (90b) rotates, and as the second bevel gear (90b) rotates, the pinch module (30) rotates.
[0066] The second part (35) is mechanically coupled to the second bevel gear (90b), or the second part (35) is formed as an integral structure with the second bevel gear (90b). Due to this structure, the second part (35) rotates together with the rotation of the second bevel gear (90b). The pinch module (30) rotates together with the rotation of the second part (35).
[0067] The rotational movement of the guide wire (1) is performed on the premise that the guide wire (1) is pinched by the pinch module (30). That is, while the guide wire (1) is pinched by the pinch module (30), the guide wire (1) rotates according to the rotation of the pinch module (30). FIGS. 10a and 10b show the state in which the guide wire (1) is rotated.
[0068] Meanwhile, although the present specification has been described based on a guide wire driving cassette (100) for guiding a guide wire (1), the present invention is not limited thereto and the same content may be applied to a catheter driving cassette for guiding a catheter.
[0069] The present invention is not limited by the embodiments described above and the attached drawings, and various substitutions, modifications, and changes may be made by those skilled in the art within the scope of the technical concept of the present invention as described in the claims, and such are also to be considered to be within the scope of the present invention.
[0070] [Explanation of the symbol]
[0071] 1 : Guide wire
[0072] 10 : Cover
[0073] 11: Cover slit
[0074] 20 : Button
[0075] 30: Pinch Module
[0076] 31: Pinch slit
[0077] 32 : Protrusion
[0078] 33 : Collette
[0079] 34: Part 1
[0080] 35: Part 2
[0081] 40 : Home
[0082] 50 : Magnet carrier structure
[0083] 51 : Magnet
[0084] 60 : Sensor
[0085] 70 : Pinion
[0086] 80 : Rack
[0087] 90a: 1st bevel gear
[0088] 90b: Second bevel gear
[0089] 100: Guide wire drive cassette
Claims
1. As a guide wire drive cassette (100) for guiding a guide wire (1), The above guide wire drive cassette (100) is, A pinch module (30) for pinching the guide wire (1), comprising a protrusion (32); A cover (10) covering the above pinch module (30); A magnet carrier structure (50) comprising a magnet (51) capable of generating a magnetic field; A groove (40) capable of accommodating the magnet carrier structure (50); and A sensor (60) capable of detecting the magnetic field of the magnet (51); comprising, The pinch module (30) can rotate along the longitudinal direction (X) of the guide wire (1) as an axis, and Depending on the degree of rotation of the pinch module (30), the protrusion (32) may or may not come into contact with the magnet carrier structure (50), and When the protrusion (32) contacts the magnet carrier structure (50), the magnet carrier structure (50) moves out of the groove (40) and approaches the sensor (60), and The above sensor (60) is a guide wire drive cassette (100) capable of determining the degree of rotation of the pinch module (30) from the distance from the magnet carrier structure (50).
2. In Paragraph 1, The above sensor (60) can detect the magnetic field of the magnet (51) included in the magnet carrier structure (50) and generate a voltage, and the magnitude of the voltage generated varies depending on the magnitude of the detected magnetic field, in a guide wire driving cassette (100).
3. In Paragraph 2, A cover slit (11) is formed in the above cover (10), and A guide wire drive cassette (100) having a pinch slit (31) formed in the pinch module (30) above.
4. In Paragraph 3, Depending on the degree of rotation of the pinch module (30), the pinch slit (31) may or may not overlap with the cover slit (11) along the longitudinal direction (X), and A guide wire drive cassette (100) in which the distance between the magnet carrier structure (50) and the sensor (60) is minimized when the pinch slit (31) and the cover slit (11) overlap along the longitudinal direction (X).
5. In Paragraph 4, A guide wire drive cassette (100) in which the magnitude of the voltage generated by the sensor (60) is minimized when the distance between the magnet carrier structure (50) and the sensor (60) is minimized.
6. In Paragraph 4, A guide wire drive cassette (100) in which the magnitude of the voltage generated by the sensor (60) becomes maximum when the distance between the magnet carrier structure (50) and the sensor (60) becomes minimum.
7. In Paragraph 5 or 6, The above sensor (60) is a guide wire drive cassette (100) which is a Hall Effect sensor.
8. In Paragraph 5 or 6, The above guide wire drive cassette (100) further includes a pinion (70) and a rack (80), and A guide wire drive cassette (100) in which the rack (80) is moved forward or backward along the longitudinal direction (X) by the rotation of the pinion (70).
9. In Paragraph 8, When the rack (80) is moved backward along the longitudinal direction (X), the guide wire (1) is pinched by the pinch module (30) by the movement of the rack (80), and A guide wire drive cassette (100) in which, when the rack (80) moves forward along the longitudinal direction (X), the guide wire (1) is released from being pinched by the pinch module (30) by the movement of the rack (80).
10. In Paragraph 9, A guide wire drive cassette (100) in which the distance between the magnet carrier structure (50) and the sensor (60) is minimized when the guide wire (1) is released from being pinched by the pinch module (30).