Invasive device

Abstract

The present disclosure relates to an invasive device which searches for a blood vessel by using ultrasound and which drives, into an accurately located blood vessel, a needle to be inserted. The invasive device according to one embodiment of the present invention comprises: an ultrasound probe module operated by a first driving unit and operated to move in the vertical direction; an invasive module which is operated by a second driving unit, and which performs an invasive operation such that a needle is inserted into an invasive region in a state in which the ultrasound probe module is in contact with the skin of a patient; and a skin pulling module for performing a pulling operation of pulling the skin in the direction opposite to the invasive region such that the skin of the patient does not move when the needle is inserted into the skin, wherein the pulling operation of the skin pulling module can be interlocked with control for lowering the ultrasound probe module by the first driving unit.

Description

Invasive device

[0001] The present disclosure relates to an invasive device. Specifically, it relates to an invasive device that locates a blood vessel using an ultrasound probe and drives a needle to be inserted at the precise location of the located blood vessel.

[0002] Generally, invasive procedures are performed for blood sampling, catheter sheath insertion, drug injection, etc.

[0003] Figure 1 is a diagram illustrating a method of intravenous injection (IV) using a catheter sheath (CS) and a guide needle (GN) as an example of biological invasiveness.

[0004] First, an invasive device (IA) in the form of an overlapping guide needle (GN) and catheter sheath (CS) is inserted into the skin and then into the vein (V). (See FIG. 1 (a)) Once the invasive device (IA) is inserted into the vein (V), the guide needle (GN) is withdrawn backward while the catheter sheath (CS) is pushed further into the vein (V). (See FIG. 1 (b))

[0005] Figure 2 is a diagram showing a method using a blood collection needle and a blood container as another example of biological invasiveness.

[0006] In performing blood collection, a blood collection needle (IV) is inserted into the human body, and when the blood collection needle (IV) reaches a blood vessel, a blood container (VA), which is a vacuum tube, is attached behind the blood collection needle (IV) (see FIG. 2 (a)), and blood collection can proceed due to the pressure difference between the blood pressure and the pressure inside the vacuum tube. After blood collection is finished, the blood container (VA) can be moved backward to be removed (see FIG. 2 (b)).

[0007] Meanwhile, since the biological invasiveness of the examples mentioned above requires accurately inserting a needle into the blood vessel of the subject, it is important to locate the subject's blood vessel; however, if the subject's blood vessel is not clearly visible, there was a problem in that it was difficult to locate the blood vessel, making the invasiveness difficult.

[0008] To address these issues, an invasive device is being developed that uses an ultrasound probe to locate blood vessels accurately during biological invasion and automatically controls the movement of a needle to ensure precise insertion into the located vessel.

[0009] Although the aforementioned invasive device is being actively researched and developed with the expectation that it will enable precise invasiveness at specific blood vessel locations regardless of user skill level, there is a problem in that the accuracy of the invasive procedure may be compromised because the blood vessel's position can shift due to friction between the needle and the skin upon insertion; however, no research has been conducted on this issue. This problem does not occur in manual blood collection, as the user performs the procedure while holding the subject's skin with one hand and the needle with the other, ensuring that the blood is collected while the blood vessel remains fixed.

[0010] Therefore, there is a need to develop an invasive device that can locate blood vessels and perform blood collection regardless of the user's skill level, while preventing the displacement of blood vessels during needle insertion.

[0011] Prior art International Publication No. WO2021 / 140116 discloses an embodiment comprising a cannula insertion system, an ultrasonic transducer, and a pressure applicator.

[0012] According to an embodiment disclosed in the aforementioned prior art, the pressure applicator operates to apply pressure to the insertion site after withdrawing the cannula from the insertion site, and specifically includes a bandage support for supporting the bandage and is configured to apply pressure to the skin at the insertion site through the bandage to stop bleeding of the patient caused by the insertion of the cannula.

[0013] However, the pressure applicator described in the prior art is configured to stop bleeding by applying pressure to the skin at the insertion site after the cannula insertion is complete. Consequently, it cannot stabilize the blood vessel before invasive procedures, and since it operates to apply pressure only vertically to the patient's arm, it has limitations in that it only compresses the point where pressure is applied and cannot prevent the surrounding skin and blood vessels from being displaced. Furthermore, as the system operates with the pressure applicator and the ultrasonic transducer each driven by a separate actuator, the control of each device is also complex.

[0014] An invasive device according to one embodiment of the present disclosure aims to prevent the skin from slipping due to friction between the needle and the skin and the resulting displacement of the target blood vessel when the needle is inserted into the skin, thereby enabling the needle to accurately penetrate the target blood vessel.

[0015] In addition, the invasive device according to one embodiment of the present disclosure aims to minimize the control complexity of the driving unit.

[0016] In addition, the invasive device according to one embodiment of the present disclosure is intended to enable the hygienic performance of biological invasiveness.

[0017] However, the problems to be solved in this disclosure are not limited to those mentioned above, and other unmentioned problems may be clearly understood based on the description below.

[0018] One embodiment of the present disclosure may include: an ultrasonic probe module operated by a first driving unit and operated to move in an up-and-down direction; an invasive module operated by a second driving unit and performing an invasive operation such that a needle is inserted into an invasive area while the ultrasonic probe module is in contact with the patient's skin; and a skin pulling module that performs a pulling operation to pull the skin in the opposite direction of the invasive area so as not to move the patient's skin when the needle is inserted into the skin.

[0019] Alternatively, the pulling action of the skin pulling module may be linked to the control of the first driving unit lowering the ultrasonic probe module.

[0020] Alternatively, the ultrasonic irradiation area of ​​the probe module may be positioned between the contact area, which is the area where the skin pulling module contacts the skin, and the invasive area.

[0021] Alternatively, the skin pulling module may descend in conjunction with the descending motion of the ultrasonic probe module.

[0022] Alternatively, when the ultrasonic probe module and the skin pulling module descend, at least one side of the skin pulling module may come into contact with the skin before the ultrasonic probe module.

[0023] Alternatively, before the first driving unit drives the ultrasonic probe module, the lowest part of the skin pulling module may be positioned closer to the skin relative to the lowest part of the ultrasonic probe module.

[0024] Alternatively, the skin pulling module may include: a contact portion that contacts the skin when performing the pulling motion; an elastic portion disposed above the contact portion and applying a restoring force to the contact portion in a direction pressing the patient's arm; and a moving portion connected to the contact portion and moving the contact portion to pull the patient's arm in the opposite direction of the invasive area.

[0025] Alternatively, the skin pulling module may further include a base portion disposed below the elastic portion; and a first rail portion connected to the base portion and extended and formed to be inclined upward toward the opposite direction of the invasive area.

[0026] Alternatively, the moving part may be slidably coupled to the first rail part and moved along the extension direction of the first rail part.

[0027] Alternatively, the skin pulling module may include a stopper disposed at one end of the first rail portion; and a restoring portion, one end of which is connected to the contact portion and the other end of which is connected to the stopper, which is tensioned by elasticity during the performance of the pulling operation and, after the end of the pulling operation, restores the moving portion to its position prior to the performance of the pulling operation by a restoring force.

[0028] Alternatively, the skin pulling module may further include a pressing part that presses and compresses the upper end of the elastic part when the ultrasonic probe module descends.

[0029] Alternatively, the skin pulling module may further include a second rail portion connected to the pressing portion and formed by extending in the vertical direction.

[0030] Alternatively, the base portion may be slidably coupled to the second rail portion.

[0031] An invasive device according to one embodiment of the present disclosure has the effect of enabling the needle to accurately penetrate the target blood vessel by preventing the skin from shifting due to friction between the needle and the skin and the resulting displacement of the target blood vessel when the needle is inserted, by having a skin pulling module press the skin and pull the skin in the opposite direction of the invasive area where the needle is inserted before the needle is inserted into the skin.

[0032] In addition, the invasive device according to one embodiment of the present disclosure has the effect of minimizing the complexity of controlling the driving unit by performing the pulling operation of the skin pulling module in conjunction with the control of the first driving unit that lowers the ultrasonic probe module, rather than being independently controlled by a separate driving unit.

[0033] In addition, the invasive device according to one embodiment of the present disclosure has the effect of enabling hygienic biological invasiveness by preventing the skin pulling module from being contaminated by blood, as the invasive area where the needle is inserted and the contact area where the skin pulling module contacts the skin are spatially completely separated.

[0034] The effects of the present disclosure are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description in the claims.

[0035] Figure 1 is a diagram showing a method of intravenous injection using a catheter sheath and a guide needle as an example of biological invasiveness.

[0036] Figure 2 is a diagram showing a method using a blood collection needle and a blood container as another example of biological invasiveness.

[0037] FIG. 3 is a drawing showing an invasive device according to one embodiment of the present disclosure.

[0038] FIG. 4 is a drawing showing, respectively, the state before the lowering operation of the ultrasonic probe module and the skin pulling module by the first driving unit is performed, and the state immediately after the contact part of the skin pulling module comes into contact with the patient's skin during the lowering operation, in an invasive device according to one embodiment of the present disclosure.

[0039] FIG. 5 is a diagram showing a state in which, in an invasive device according to one embodiment of the present disclosure, an ultrasonic probe module contacts the patient's skin while a skin pulling module pulls the patient's skin backward.

[0040] FIG. 6 is a drawing for explaining the invasive area, the ultrasonic irradiation area, and the contact area in an invasive device according to one embodiment of the present disclosure.

[0041] Embodiments of the present disclosure are described below with reference to the attached drawings so that those skilled in the art (hereinafter, those skilled in the art) can easily implement them. The embodiments presented in the present disclosure are provided to enable those skilled in the art to use or implement the contents of the present disclosure. Accordingly, various modifications to the embodiments of the present disclosure will be apparent to those skilled in the art. That is, the present disclosure may be embodied in various different forms and is not limited to the embodiments below.

[0042] Throughout the specification of the present disclosure, identical or similar reference numerals refer to identical or similar components. Additionally, to clearly explain the present disclosure, reference numerals in the drawings that are unrelated to the description of the present disclosure may be omitted.

[0043] The term “or” as used in this disclosure is intended to mean an implicit “or” rather than an exclusive “or.” That is, unless otherwise specified in this disclosure or its meaning is not clear from the context, “X uses A or B” should be understood to mean one of the natural implicit substitutions. For example, unless otherwise specified in this disclosure or its meaning is not clear from the context, “X uses A or B” may be interpreted as X using A, X using B, or X using both A and B.

[0044] The term “at least one of A or B” as used in the present disclosure should be interpreted as referring to A, B, and combinations of A and B.

[0045] The term “and / or” as used in this disclosure should be understood to refer to and include all possible combinations of one or more of the enumerated related concepts.

[0046] The terms “comprising” and / or “comprising” as used in this disclosure should be understood to mean the presence of certain features and / or components. However, the terms “comprising” and / or “comprising” should be understood not to exclude the presence or addition of one or more other features, other components and / or combinations thereof.

[0047] Where not otherwise specified in the present disclosure or where it is not clear from the context that the singular form indicates, the singular should generally be interpreted as including “one or more.”

[0048] The term “the N (N is a natural number)” used in this disclosure may be understood as an expression used to distinguish the components of this disclosure from one another according to certain criteria, such as functional perspectives, structural perspectives, or convenience of explanation. For example, components performing different functional roles in this disclosure may be distinguished as a first component or a second component. However, components that are substantially identical within the technical scope of this disclosure but must be distinguished for the convenience of explanation may also be distinguished as a first component or a second component.

[0049] Meanwhile, the terms "module" or "unit" used in this disclosure may be understood as referring to an independent functional unit that processes resources, such as a computer-related entity, firmware, software or a part thereof, hardware or a part thereof, or a combination of software and hardware. In this case, "module" or "unit" may be a unit composed of a single element, or a unit expressed as a combination or set of multiple elements. For example, in a narrow sense, "module" or "unit" may refer to a hardware element of a device or a set thereof, an application program that performs a specific function of software, a procedure implemented through software execution, or a set of instructions for program execution. Furthermore, in a broad sense, "module" or "unit" may refer to the device itself or the program itself executed on the device. However, since the above-described concepts are merely examples, the concepts of "module" or "unit" may be defined in various ways within a scope understandable to those skilled in the art based on the content of this disclosure.

[0050] The term “connection” as used in the present disclosure should be interpreted to include not only cases where the components are “directly connected,” but also cases where other components are “present” in between, and cases where they are “electrically connected” with other components in between.

[0051] The explanation of the foregoing terms is intended to aid in understanding the present disclosure. Accordingly, it should be noted that unless a foregoing term is explicitly stated as a matter limiting the content of the present disclosure, it is not to be used in the sense of limiting the technical concept of the content of the present disclosure.

[0052] FIG. 3 is a drawing showing an invasive device according to one embodiment of the present disclosure.

[0053] An invasive device (10) according to one embodiment of the present disclosure may include an ultrasonic probe module (100), an invasive module (200), and a skin tightening module (300).

[0054] The ultrasound probe module (100) can irradiate an ultrasound beam toward a target location. Here, the target location may refer to a point on a target blood vessel that the end of the inserted needle (230) must finally reach when the needle (230) is inserted into the body.

[0055] The ultrasound probe module (100) can serve to ultrasoundly image a part of the structure of the target blood vessel into which the needle (230) is to be finally inserted before inserting the needle (230) into the body.

[0056] An invasive device (10) according to one embodiment of the present disclosure may further include a first driving unit (400) that operates an ultrasonic probe module (100). The ultrasonic probe module (100) may be operated to move in an up-and-down direction by the first driving unit (400). The ultrasonic probe module (100) may approach the arm of a patient to be invasive while moving downward and may finally come into contact with the skin of the arm. The ultrasonic probe module (100) may move upward, release contact with the skin, and move away from the patient's arm.

[0057] The first drive unit (400) may include a drive motor as an actuator for operating the ultrasonic probe module (100). However, this is merely an example, and various actuators capable of performing the operation of moving the ultrasonic probe module (100) may be applied as the first drive unit (400). For example, the actuator of the first drive unit (400) may be composed of a pneumatic or hydraulic cylinder, or may be composed of an actuator of another type not mentioned.

[0058] The first driving unit (400) can generate power to operate the ultrasonic probe module (100) by means of a control command from the control unit (600).

[0059] The control unit (600) is configured to control the overall operation of the invasive device (10) and may include all types of devices capable of processing data, such as a processor. Here, 'processor' may refer to a data processing device embedded in hardware that has a physically structured circuit to perform functions expressed, for example, by code or instructions included in a program. Examples of such data processing devices embedded in hardware may include a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a graphics processing unit (GPU), a neural processing unit (Neural Processing Unit), etc., but the scope of the present invention is not limited thereto.

[0060] The control unit (600) can control the movement of the ultrasonic probe module (100) by transmitting a control command to the first driving unit (400). The control unit (600) can control the movement of the invasive module (200) by transmitting a control command to the second driving unit (500).

[0061] The invasive module (200) can perform an invasive operation such that a needle (230) is inserted into an invasive area while the ultrasound probe module (100) is in contact with the patient's skin. Here, the invasive area may refer to an area of ​​skin having a predetermined area surrounding an invasive point into which the needle (230) is invasive to reach a target location of a target blood vessel.

[0062] An invasive device (10) according to one embodiment of the present disclosure may further include a second driving unit (500) that operates an invasive module (200). An invasive operation of the invasive module (200) may be performed by the second driving unit (500).

[0063] The second drive unit (500) may include a drive motor as an actuator for operating the invasive module (200). However, this is merely an example, and various actuators capable of performing the invasive operation may be applied as the second drive unit (500). For example, the actuator of the second drive unit (500) may be composed of a pneumatic or hydraulic cylinder, or may be composed of an actuator of another type not mentioned.

[0064] The invasive module (200) may include a first needle mounting part (210) and a second needle mounting part (220). By means of the second driving part (500), the first needle mounting part (210) and the second needle mounting part (220) can advance the needle (230) toward the invasive area or retract it away from the invasive area.

[0065] For convenience, in an embodiment of the present invention, as shown in FIG. 3, the location where the invasive module (200) is provided is defined as the front, and the location where the skin pulling module (300) is provided is defined as the rear. Additionally, the direction in which the contact part (310), which will be described later, is placed and the direction in which the patient's arm is placed can be defined as the downward direction, and the direction in which the elastic part (320), which will be described later, is placed can be defined as the upward direction.

[0066] As an example, the first needle mounting part (210) and the second needle mounting part (220) can rotate by the second driving part (500) to arrange the needle (230) in a direction that aims precisely at the target position. As an example, the second needle mounting part (220) can be moved forward or backward along the needle movement guide rail (not shown) provided in the first needle mounting part (210) together with the needle (230).

[0067] The skin pulling module (300) can perform a pulling motion to pull the skin in the opposite direction of the invasive area so that the patient's skin does not move when the needle (230) is inserted into the skin.

[0068] At this time, in the invasive device (10) according to one disclosure of the present invention, the skin pulling module (300) is characterized in that it is not independently connected to the first driving unit (400) or the second driving unit (500). That is, there is no actuator in the invasive device (10) of the present invention that drives only the skin pulling module (300).

[0069] The skin pulling module (300) is fixedly connected to the ultrasonic probe module (100), so that when the ultrasonic probe module (100) moves downward or upward by the first driving unit (400), the skin pulling module (300) also moves in the same direction in conjunction.

[0070] Meanwhile, the pulling operation of the skin pulling module (300) described above can be linked to the control of the first driving unit (400) lowering the ultrasonic probe module (100). Through this configuration, control complexity can be minimized and the probability of malfunction can be reduced compared to a device in which the ultrasonic probe module (100) and the skin pulling module (300) are each controlled by separate driving units.

[0071] The skin pulling module (300) may include a contact portion (310), an elastic portion (320), and a moving portion (330).

[0072] The contact portion (310) is positioned at the lowest part among all components of the skin pulling module (300) and is configured to come into contact with the skin when the skin pulling module (300) performs a pulling operation.

[0073] Specifically, before the first driving unit (400) drives the ultrasonic probe module (100), the lower surface of the contact portion (310), which is the lowest part of the skin pulling module (300), may be positioned closer to the skin relative to the lowest part of the ultrasonic probe module (100). That is, at the beginning of the operation of the invasive device (10), the skin pulling module (300) is positioned lower than the ultrasonic probe module (100) overall. (State of FIG. 3)

[0074] Accordingly, as the ultrasonic probe module (100) moves downward by the first driving unit (400), the skin pulling module (300) also moves downward in conjunction, so the contact part (310) is the first to come into contact with the patient's skin among the entire components of the invasive device (10).

[0075] After the contact portion (310) comes into contact with the skin, the skin pulling module (300) no longer descends and performs a pulling motion to pull the skin toward the opposite side of the invading area while in contact with the skin.

[0076] The elastic part (320) is configured to apply a restoring force to the contact part (310) in the direction of pressing the patient's arm.

[0077] Specifically, the elastic member (320) may be positioned on the upper part of the contact member (310). The elastic member (320) may be positioned in a form that extends in the vertical direction and may be stretched or compressed in the vertical direction. The elastic member (320) may be composed of a compression spring that stores energy by contracting when a compressive force is applied from the outside, while applying a restoring force in the direction of tension.

[0078] In an embodiment of the present invention, when the ultrasonic probe module (100) continues to descend after the contact portion (310) contacts the skin, a compressive force is applied to the upper part of the elastic portion (320), and the elastic portion (320) can apply a force (restoring force) in the direction of pressing the contact portion (310). Referring to FIG. 3, the direction of pressing the contact portion (310) is downward. In other words, the direction of pressing the contact portion (310) is the direction of pressing the patient's arm.

[0079] The moving part (330) is connected to the contact part (310) and is configured to move the contact part (310) so that it pulls the patient's arm in the opposite direction of the invading area.

[0080] Specifically, the moving part (330) may be fixedly coupled to a portion of the upper side of the contact part (310). The moving part (330) may be coupled to the first rail part (350), which will be described later, so as to be slidably movable.

[0081] In an embodiment of the present invention, when the ultrasonic probe module (100) continues to descend after the contact portion (310) contacts the skin, the moving portion (330) moves to be pushed upward and backward along the first rail portion (350). At the same time, since the elastic portion (320) presses the contact portion (310) downward, the contact portion (310) presses the patient's skin and simultaneously pulls the patient's skin backward.

[0082] The skin pulling module (300) may further include a base portion (340) and a first rail portion (350).

[0083] The base portion (340) may be positioned below the elastic portion (320). Specifically, the lower end of the elastic portion (320) may be attached to the upper surface of the base portion (340). The base portion (340) may be positioned in front of the contact portion (310). Specifically, a first rail portion (350) may be positioned along the rear slope of the base portion (340), and the contact portion (310) may be attached to the first rail portion (350). The slope angle of the rear slope of the base portion (340) may be formed at approximately 45 degrees relative to the ground.

[0084] The first rail section (350) can be connected to the base section (340) as described above. The first rail section (350) can be positioned along the rear slope of the base section (340). The first rail section (350) can be formed by extending upwardly toward the opposite direction of the invasion area. In other words, the first rail section (350) can be positioned to extend along the rear slope of the base section (340) which slopes upward toward the rear.

[0085] A moving part (330) is coupled to the first rail part (350) so as to be able to slide. Accordingly, the moving part (330) can slide along the direction in which the first rail part (350) extends. For example, the first rail part (350) and the moving part (330) can be implemented as a Linear Motion Guide (LM Guide).

[0086] The skin pulling module (300) may further include a stopper (360).

[0087] The stopper (360) may be positioned at one end of the first rail section (350). Specifically, the stopper (360) may be positioned at the front end of the first rail section (350). The stopper (360) may be positioned in a manner that prevents the forward movement of the moving part (330). By doing so, the position of the moving part (330) can be restricted so that it does not deviate to the outside of the front end of the first rail section (350).

[0088] The skin tightening module (300) may further include a restoration part (370).

[0089] The restoring part (370) is configured to convert a pulling force into a restoring force using elastic force. For example, the restoring part (370) may be composed of a tension spring. One end of the restoring part (370) is connected to the contact part (310) and can move together with the moving part (330) to tension the restoring part (370). The other end of the restoring part (370) may be connected to and fixed to the base part (340) or the stopper (360).

[0090] Through this configuration, the moving part (330) and the contact part (310) can pull the skin backward by the elasticity of the restoring part (370) while performing the pulling motion, and after the pulling motion ends, the moving part (330) and the contact part (310) can be restored to the position prior to the performance of the pulling motion (initial position) by the restoring force of the restoring part (370). At this time, the moving part (330) can be prevented from moving out of the initial position by the stopper (360).

[0091] The skin pulling module (300) may further include a pressing part (380) that presses and compresses the upper part of the elastic part (320) when the ultrasonic probe module (100) descends. At this time, the upper part of the pressing part (380) may be coupled to the upper part of the elastic part (320).

[0092] The skin pulling module (300) may further include a second rail portion (390) that is connected to the pressing portion (380) and formed by extending in the vertical direction.

[0093] One side (a portion of the front area) of the pressing portion (380) can be fixedly coupled to the ultrasonic probe module (100). The other side (a portion of the rear area) of the pressing portion (380) can be connected to the second rail portion (390). The base portion (340) can be slidably coupled to the second rail portion (390).

[0094] During the initial downward movement of the ultrasonic probe module (100), the entire configuration of the skin pulling module (300) can descend together in conjunction. Then, when the contact portion (310) comes into contact with the skin, the entire configuration of the skin pulling module (300) can no longer descend together. In this state, the contact portion (310) is pushed backward along the first rail portion (350) by the pulling movement, pulling the skin, while the base portion (340) can rise relatively along the second rail portion (390). Here, relative rise means sliding upward along the upper side of the second rail portion (390). In reality, the second rail portion (390) descends, and the position of the base portion (340) is maintained. Meanwhile, at this time, the upper part of the pressing portion (380) can apply a compressive force to the upper part of the elastic portion (320), and accordingly, the elastic portion (320) is compressed.

[0095] Below, with reference to FIGS. 4 and FIGS. 5, the mechanism of the pulling action performed by the interaction of the components included in the skin pulling module (300) is described step by step.

[0096] FIG. 4 is a drawing showing, respectively, the state before the lowering operation of the ultrasonic probe module and the skin pulling module by the first driving unit is performed, and the state immediately after the contact part of the skin pulling module comes into contact with the patient's skin during the lowering operation, in an invasive device according to one embodiment of the present disclosure.

[0097] FIG. 4(a) is an initial state in which the bottom surface of the skin-pulling module (300) is positioned closer to the patient's arm (20) than the bottom surface of the ultrasound probe module (100) before the lowering operation of the ultrasound probe module (100).

[0098] At this time, when the ultrasound probe module (100) starts a descending motion under the control of the first driving unit (400), the ultrasound probe module (100) and the skin pulling module (300) descend toward the patient's arm (20) along the direction of the illustrated arrow.

[0099] FIG. 4(b) shows the ultrasonic probe module (100) and the skin pulling module (300) descending, with the contact portion (310) in contact with the skin of the patient's arm (20).

[0100] Even at this time, the ultrasound probe module (100) continues to descend toward the patient's arm (20), and the contact portion (310) can no longer descend and slides along the first rail portion (350) together with the moving portion (330) to pull the skin. At this time, the movement of the moving portion (330) sliding along the first rail portion (350) and the movement of the base portion (340) sliding along the second rail portion (390) are performed together, and at the same time, the elastic portion (320) can maintain the state in which the contact portion (310) presses against the skin by applying a restoring force downward.

[0101] FIG. 5 is a diagram showing a state in which, in an invasive device according to one embodiment of the present disclosure, an ultrasonic probe module contacts the patient's skin while a skin pulling module pulls the patient's skin backward.

[0102] Referring to FIG. 5, the ultrasound probe module (100) is in contact with the skin of the patient's arm (20). At this time, as the moving part (330) slides along the first rail part (350), the restoring part (370) is in a tensioned state. However, the restoring part (370) is merely configured to restore the moving part (330) to its initial position, and the restoring force applied forward by the restoring part (370) is negligible compared to the pulling force applied backward by the elastic part (320) and the ultrasound probe module (100).

[0103] FIG. 6 is a drawing for explaining the invasive area, the ultrasonic irradiation area, and the contact area in an invasive device according to one embodiment of the present disclosure.

[0104] Referring to FIG. 6, an invasive area (area1) into which a needle (230) is inserted and a contact area (area2) in which the skin-pulling module (300) contacts the skin can be positioned between the irradiation area (area3) of the ultrasound probe module (100).

[0105] In other words, the invasive area (area1) and the contact area (area2) can be spatially separated by the irradiation area (area3). Through this configuration, the skin-pulling module (300) can be prevented from being contaminated by blood during the invasive operation, thereby enabling the bio-invasive operation to be performed hygienically. Additionally, there is the advantage that the contact area (area2) does not need to be disinfected every time the invasive operation is performed.

[0106] Meanwhile, as force is applied to the contact portion (310) in the direction (d1) pressing the patient's skin surface, the contact portion (310) is pushed in the diagonal direction (d2) toward the rearward upward due to the repulsive force, and a final force is applied to the patient's arm in the diagonal direction (d3) toward the rearward downward rather than vertically downward.

[0107] With this configuration, instead of simply pressing and fixing the patient's skin, the patient's skin can be pulled taut and fixed in the opposite direction (in the rear of the embodiment) of the invasive area (located in the front of the embodiment) before the invasive action is performed.

[0108] That is, as the needle is inserted at a certain angle (e.g., 45 degrees) relative to the skin to be invaded, a phenomenon of the skin being pushed may occur. In the present invention, the skin pulling module (300) pulls the skin in the direction in which the needle pushes the skin, thereby fixing the skin so that it does not move. Therefore, the phenomenon of blood vessel displacement that may occur as the needle is invaded can be effectively prevented. In particular, since the skin elasticity of the elderly is weakened, if the skin is not pulled and fixed, the position of the blood vessel may change significantly due to friction with the needle; thus, the blood vessel fixation effect of the invasion device of the present invention can be even more effective.

[0109] As described above, the invasive device according to one embodiment of the present disclosure has the effect of enabling the needle to accurately penetrate the target blood vessel by preventing the skin from shifting due to friction between the needle and the skin and the resulting displacement of the target blood vessel when the needle is inserted, by having a skin pulling module press the skin and pull the skin in the opposite direction of the invasive area where the needle is inserted before the needle is inserted into the skin.

[0110] In addition, the invasive device according to one embodiment of the present disclosure has the effect of minimizing the complexity of controlling the driving unit by performing the pulling operation of the skin pulling module in conjunction with the control of the first driving unit that lowers the ultrasonic probe module, rather than being independently controlled by a separate driving unit.

[0111] In addition, the invasive device according to one embodiment of the present disclosure has the effect of enabling hygienic biological invasiveness by preventing the skin pulling module from being contaminated by blood, as the invasive area where the needle is inserted and the contact area where the skin pulling module contacts the skin are spatially completely separated.

[0112] The effects of the present disclosure are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description in the claims.

Claims

1. An ultrasonic probe module operated by a first driving unit and operated to move in an up-and-down direction; An invasive module that operates by a second driving unit and performs an invasive operation such that a needle is inserted into an invasive area while the ultrasonic probe module is in contact with the patient's skin; and A skin pulling module that performs a pulling motion to pull the skin in the opposite direction of the invasive area so as not to move the patient's skin when the needle is inserted into the skin; The pulling operation of the skin pulling module is characterized in that the first driving unit is linked to the control of lowering the ultrasonic probe module. Invasive device.

2. In Paragraph 1, Characterized by the fact that the ultrasonic irradiation area of ​​the probe module is positioned between the contact area, which is the area where the skin pulling module contacts the skin, and the invasive area. Invasive device.

3. In Paragraph 1, The above skin tightening module is, Characterized by the fact that the above-mentioned ultrasonic probe module descends in conjunction with the descending motion. Invasive device.

4. In Paragraph 3, Characterized that when the ultrasonic probe module and the skin pulling module descend, at least one side of the skin pulling module contacts the skin before the ultrasonic probe module. Invasive device.

5. In Paragraph 1, Characterized that, prior to the first driving unit driving the ultrasonic probe module, the lowest part of the skin pulling module is positioned closer to the skin relative to the lowest part of the ultrasonic probe module. Invasive device.

6. In Paragraph 1, The above skin tightening module is, A contact portion that contacts the skin when performing the above pulling motion; An elastic member positioned above the contact portion and applying a restoring force to the contact portion in a direction pressing the patient's arm; A moving part connected to the contact part and moving the contact part to pull the patient's arm in the opposite direction of the invasive area; comprising Invasive device.

7. In Paragraph 6, The above skin tightening module is, A base portion disposed at the lower part of the above elastic portion; and It further includes a first rail portion connected to the base portion and extended and formed to be inclined upward toward the opposite direction of the invasion area. The above moving part is, Characterized by being slidably coupled to the first rail portion and moving along the extension direction of the first rail portion. Invasive device.

8. In Paragraph 7, The above skin tightening module is, A stopper disposed at one end of the first rail portion; A restoring part comprising: one end connected to the contact part and the other end connected to the stopper, which is tensioned by elasticity during the performance of the pulling operation and, after the termination of the pulling operation, restores the moving part to its position prior to the performance of the pulling operation by a restoring force. Invasive device.

9. In Paragraph 7, The above skin tightening module is, A pressing part that presses and compresses the upper end of the elastic part when the ultrasonic probe module descends; further comprising Invasive device.

10. In Paragraph 9, The above skin tightening module is, It further includes a second rail portion connected to the above-mentioned pressing portion and formed by extending in the vertical direction; The above base part is, Characterized by being slidably coupled to the second rail portion, Invasive device.

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