Method of guiding catheter and guiding device

Abstract

A method of guiding a catheter while preventing buckling of the catheter, according to the present invention, comprises: a providing step of providing a first catheter including a distal end disposed forward in a longitudinal direction and a proximal end disposed rearward in the longitudinal direction, a first fixing cassette to which the proximal end of the first catheter is coupled, and a first driving cassette disposed forward of the first fixing cassette; a first moving step in which the first driving cassette pinches the first catheter and then moves forward together with the first catheter; a first returning step in which the first driving cassette releases the first catheter from the pinch and moves rearward; and a first compensation step in which the first driving cassette moves forward by a compensation distance while pinching the first catheter such that a rear region of the first catheter is pulled.

Description

Catheter guiding method and guiding device

[0001] The present invention relates to a method and a guide device for preventing buckling of a catheter used for minimally invasive interventional procedures and for guiding the catheter.

[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] To facilitate the orientation control of the distal end of the guide wire and catheter, a system for stably controlling the movement of the guide wire and catheter is presented. For example, Patent Document 1 (US 2022-0313962 A1) discloses a system in which a plurality of catheters are used, which are telescopically received and extended according to the size of their diameter.

[0004] In this system, catheters and guide wires are pinched and moved by cassettes to guide them to the desired position in the body. However, as the pinching, moving, and releasing motions of the catheters are repeated, the catheters are pushed backward by the forward pressure between them. As a result, there is a problem of catheter buckling.

[0005] [Prior Art Literature]

[0006] [Patent Literature]

[0007] (Patent Document 1) US 2022-0313962 A1

[0008] The technical problem that the present invention aims to solve is to provide a catheter guiding method and a guiding device that prevent catheter buckling by applying tension to the posterior region of the catheter while moving the catheter.

[0009] A method for preventing buckling of a catheter and guiding a catheter according to an embodiment of the present invention comprises: a providing step of providing a first catheter including a distal end extending in a longitudinal direction and positioned forward in the longitudinal direction and a proximal end positioned backward, a first fixing cassette coupled to the proximal end of the first catheter, and a first driving cassette disposed in front of the first fixing cassette; a first moving step in which the first driving cassette pinches a first point of the first catheter and moves forward by a first distance together with the first catheter; a first return step in which the first driving cassette releases the pinch of the first catheter and moves backward; and a first compensation step in which the first driving cassette pinches a second point of the first catheter located backward from the first point and moves forward by a compensation distance smaller than the first distance so as to pull the rear region of the first catheter. It may include.

[0010] In one embodiment of the present invention, the posterior region may be the region between the second point of the first catheter and the proximal end of the first catheter.

[0011] In one embodiment of the present invention, the first driving cassette includes a collet, and pinching and pinch releasing of the first catheter can be performed by the collet.

[0012] In one embodiment of the present invention, the first drive cassette is driven by a drive module, and in the first movement step, the forward movement of the first drive cassette by the first distance can be performed manually by the user's operation of the drive module.

[0013] In one embodiment of the present invention, forward movement of the first driving cassette by the compensation distance in the first compensation step can be automatically performed by the driving module when pinching the first catheter.

[0014] In one embodiment of the present invention, in the first movement step, the first fixed cassette can move forward by the first distance simultaneously with the forward movement of the first driving cassette.

[0015] In one embodiment of the present invention, the method may further include: a second movement step in which, after the first compensation step, the first driving cassette moves forward by a second distance together with the first catheter while pinching the second point of the first catheter; a second return step in which the first driving cassette releases the pinch of the first catheter and moves backward; and a second compensation step in which the first driving cassette moves forward by a compensation distance while pinching a third point of the first catheter located further back than the second point.

[0016] In one embodiment of the present invention, the compensation distance in the first compensation step may have the same length as the compensation distance in the second compensation step.

[0017] In one embodiment of the present invention, in the providing step, a second fixing cassette is provided in front of the first driving cassette, the second catheter being extended in the longitudinal direction and having a diameter larger than the diameter of the first catheter, and the proximal end of the second catheter being coupled thereto, and in the first moving step, the first catheter may be inserted into the interior of the second catheter.

[0018] In one embodiment of the present invention, in the providing step, a second driving cassette may be provided in front of the second fixed cassette, and the method may further include: a second moving step in which the second driving cassette pinches a third point of the second catheter and moves forward by a second distance together with the second catheter; a second return step in which the second driving cassette releases the pinch of the second catheter and moves backward; and a second compensation step in which the second driving cassette pinches a fourth point of the second catheter located behind the third point so that the rear region of the second catheter is pulled and moves forward by a compensation distance smaller than the second distance.

[0019] A method for preventing buckling of a catheter and guiding a catheter according to an embodiment of the present invention comprises: a providing step of providing a first catheter extending in a longitudinal direction and including a distal end positioned forward in the longitudinal direction and a proximal end positioned backward; a second catheter having a diameter larger than the diameter of the first catheter; a first fixing cassette to which the proximal end of the first catheter is coupled; a second fixing cassette to which the proximal end of the second catheter is coupled; and a first driving cassette disposed between the front of the first fixing cassette and the rear of the second fixing cassette; a moving step in which the first driving cassette pinches the first catheter and moves forward together with the first catheter by a predetermined distance; and a return step in which the first driving cassette releases the pinch of the first catheter and moves backward. and a compensation step in which the returned first driving cassette pinches the first catheter and moves forward by a compensation distance to apply tension to the rear region of the first catheter located between the first driving cassette and the first fixed cassette; may be included.

[0020] In one embodiment of the present invention, the movement step, the return step, and the compensation step may be repeated until the first catheter is inserted into the interior of the second catheter by a predetermined length from the proximal end of the second catheter.

[0021] A guide device according to one embodiment of the present invention may include: a first catheter extending in the longitudinal direction and comprising a distal end positioned toward the front in the longitudinal direction and a proximal end positioned toward the rear; a first fixing cassette to which the proximal end of the first catheter is coupled; a second catheter extending in the longitudinal direction and having a diameter larger than the diameter of the first catheter; a second fixing cassette to which the proximal end of the second catheter is coupled and which is positioned in front of the first fixing cassette; a first driving cassette positioned between the front of the first fixing cassette and the rear of the second fixing cassette and comprising a collet that pinches the first catheter; and a driving module that drives the first driving cassette. The driving module can move the first driving cassette forward by a compensation distance to apply tension to the rear region of the first catheter located between the first driving cassette and the first fixed cassette when the collet pinches the first catheter.

[0022] The catheter guide method of the present invention can apply tension to the rear region of the catheter by including a step of pinching the catheter and moving it forward by a compensation distance during the process of moving the catheter.

[0023] The guide device of the present invention can apply tension to the rear region of the catheter by moving the catheter forward by a compensation distance when the collet of the cassette pinches the catheter.

[0024] Accordingly, the catheter guide method and guide device of the present invention have the effect of preventing the catheter from being pushed by forward pressure when it is moved forward and preventing the catheter from buckling.

[0025] FIG. 1 is a perspective view of a guide device according to one embodiment of the present invention.

[0026] FIGS. 2A and FIGS. 2B are cross-sectional views of a driving cassette and a catheter according to an embodiment of the present invention.

[0027] FIG. 3 is a cross-sectional view illustrating, exemplarily, a buckled catheter during the process of guiding the catheter.

[0028] FIG. 4 is a flowchart of a method for guiding a catheter according to one embodiment of the present invention.

[0029] FIGS. 5a to 5e are cross-sectional views illustrating steps of a method for guiding a catheter according to an embodiment of the present invention.

[0030] In this specification, terms such as first, second, etc. are used to describe various components, and said components are not to be limited by said terms, and said terms are used for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and the second component may also be named the first component.

[0031] Hereinafter, preferred embodiments of the present invention will be described as follows with reference to the attached drawings.

[0032] FIG. 1 is a perspective view of a guide device (10) according to one embodiment of the present invention.

[0033] In this embodiment, the length direction can be defined as the x direction, and the width direction can be defined as the y direction. The upper and lower surfaces of the components of the guide device (10) can be defined as surfaces defined by the x direction and the y direction. The upper and lower surfaces face each other in the z direction, which is perpendicular to the x direction and the y direction, respectively. In the length direction, the direction parallel to the x direction can be defined as forward, and the direction opposite to the x direction can be defined as rear. Meanwhile, the directions indicated by the x, y, and z directions are relative concepts and can be converted to other directions.

[0034] Referring to FIG. 1, the guide device (10) may be a device for guiding a catheter (1) and a guide wire (2). The guide device (10) may include a catheter (1), a driving cassette (200), a fixed cassette (300), and a driving system (100).

[0035] The catheter (1) included in the guide device (10) may be at least one. FIG. 1 illustrates an exemplary guide device (10) of one embodiment including first to third catheters (1a, 1b, 1c). The first to third catheters (1a, 1b, 1c) may be composed of flexible tubular members.

[0036] The first to third catheters (1a, 1b, 1c) may be catheters with different diameters. For example, among the first to third catheters (1a, 1b, 1c), the diameter of the first catheter (1a) may be the largest, and the diameter of the third catheter (1c) may be the smallest. The diameter of the second catheter (1b) may be smaller than the diameter of the first catheter (1a) and larger than the diameter of the third catheter (1c). The outer diameter or circumference of the third catheter (1c) may be smaller than the inner diameter or circumference of the second catheter (1b), and the outer diameter or circumference of the second catheter (1b) may be smaller than the outer diameter or circumference of the first catheter (1a). The first catheter (1a) may be referred to as a large catheter, the second catheter (1b) may be referred to as a medium catheter, and the third catheter (1c) may be referred to as a small catheter.

[0037] Each of the first to third catheters (1a, 1b, 1c) may include a proximal end and a distal end. The proximal end and the distal end may be opposite each other in the longitudinal direction (x-direction) of the first to third catheters (1a, 1b, 1c). In the present embodiment, the proximal ends of the first to third catheters (1a, 1b, 1c) are defined as ends located posteriorly in the longitudinal direction (x-direction), and the distal ends of the first to third catheters (1a, 1b, 1c) may be defined as ends located anteriorly in the longitudinal direction (x-direction).

[0038] The drive cassette (200) can drive a catheter (1) extended in the longitudinal direction (x direction) by pinching it. The drive cassette (200) can rotate the catheter (1) around an axis parallel to the longitudinal direction (x direction) while the catheter (1) is pinched. The catheter (1) can be rotated around an axis parallel to the longitudinal direction (x direction) by the drive of the drive cassette (200). The drive cassette (200) can move the catheter (1) forward or backward in a direction parallel to the longitudinal direction (x direction) while the catheter (1) is pinched. The catheter (1) can be moved forward or backward by being pinched by the drive cassette (200).

[0039] The fixing cassette (300) can be coupled to the proximal end of the catheter (1). For example, the proximal end of the catheter (1) can be coupled to the fixing cassette (300) by a threaded coupling means. However, the embodiments of the means for coupling the proximal end of the catheter (1) and the fixing cassette (300) are not limited thereto. The proximal end of the catheter (1) coupled to the fixing cassette (300) can be maintained in a fixed state on the fixing cassette (300).

[0040] Each of the driving cassette (200) and the fixed cassette (300) may be provided in multiple numbers. The number of driving cassettes (200) and fixed cassettes (300) included in the guide device (10) may vary depending on the number of catheters (1). FIG. 1 exemplarily illustrates an embodiment of a driving cassette (200) including first and second driving cassettes (210, 220) and a fixed cassette (300) including first to third fixed cassettes (310, 320, 330).

[0041] In the longitudinal direction (x direction), the first drive cassette (210) may be positioned in front of the second drive cassette (220). The first fixed cassette (310) may be positioned in front of the first drive cassette (210). The second fixed cassette (320) may be positioned between the rear of the first drive cassette (210) and the front of the second drive cassette (220). The third fixed cassette (330) may be positioned behind the second drive cassette (220). Along the front to the rear of the guide device (10) in the longitudinal direction (x direction), they may be arranged in the order of the first fixed cassette (310), the first drive cassette (210), the second fixed cassette (320), the second drive cassette (220), and the third fixed cassette (330).

[0042] The proximal end of the first catheter (1a) may be connected to the first fixing cassette (310), the proximal end of the second catheter (1b) may be connected to the second fixing cassette (320), and the proximal end of the third catheter (1c) may be connected to the third fixing cassette (330). The proximal ends of the first to third catheters (1a, 1b, 1c) may face the rear of the guide device (10), and the distal ends of the first to third catheters (1a, 1b, 1c) may face the front of the guide device (10).

[0043] The distal end of the first catheter (1a) may protrude toward the outside of the guide device (10). The second catheter (1b) may be inserted into the first drive cassette (210) and pinched or pinched out. The second catheter (1b) may be rotated, moved forward, or moved backward by the drive of the first drive cassette (210). The second catheter (1b) may be inserted into the interior of the first catheter (1a) by the drive of the first drive cassette (210).

[0044] The third catheter (1c) can be inserted into the second drive cassette (220) and pinched or pinched out. The third catheter (1c) can be rotated, moved forward, or moved backward by the drive of the second drive cassette (220). The third catheter (1c) can be inserted into the interior of the second catheter (1b) by the drive of the second drive cassette (220).

[0045] The guide device (10) may further include a guide wire drive cassette (400). The guide wire drive cassette (400) may be positioned at the rear of the fixed cassette (300). For example, the guide wire drive cassette (400) may be positioned at the rear of the third fixed cassette (330).

[0046] The guide wire drive cassette (400) may be a cassette that drives a guide wire (2) that can penetrate into the interior of a catheter (1) by pinching it. The guide wire drive cassette (400) may rotate the guide wire (2) around an axis parallel to the longitudinal direction (x direction) while the guide wire (2) is pinched. The guide wire drive cassette (400) may move the guide wire (2) forward or backward in a direction parallel to the longitudinal direction (x direction) while the guide wire (2) is pinched.

[0047] In this embodiment, the guide wire (2) is composed of a flexible wire-shaped member and may be a wire that penetrates the catheter (1). The outer diameter of the guide wire (2) may be smaller than the inner diameter of the catheter (1). For example, the outer diameter of the guide wire (2) may be smaller than the inner diameter of the third catheter (1c), which has the smallest inner diameter among the catheters (1a, 1b, 1c).

[0048] The drive system (100) may include at least one drive module (210D, 220D, 310D, 320D, 330D). The drive modules (210D, 220D, 310D, 320D, 330D) may be provided in plurality corresponding to the drive cassette (200) and the fixed cassette (300). Among the drive modules (210D, 220D, 310D, 320D, 330D), the drive module (210D, 220D) positioned corresponding to the drive cassette (200) may be referred to as the drive cassette drive module, and the drive module (310D, 320D, 330D) positioned corresponding to the fixed cassette (300) may be referred to as the fixed cassette drive module. The drive modules (210D, 220D, 310D, 320D, 330D) may include at least one drive cassette drive module (210D, 220D) positioned corresponding to the drive cassette (200) and at least one fixed cassette drive module (310D, 320D, 330D) positioned corresponding to the fixed cassette (300).

[0049] The drive cassette drive module (210D, 220D) may be placed below the drive cassette (200). The drive cassette drive module (210D, 220D) may be coupled to the drive cassette (200) to drive the drive cassette (200). The drive cassette drive module (210D, 220D) may be moved forward or backward along the longitudinal direction (x-direction), and the drive cassette (200) may also be moved together with the movement of the drive cassette drive module (210D, 220D). In one embodiment, the movement of the drive cassette drive module (210D, 220D) may be performed by a user (or operator) operating a separate control unit that controls the operation of the drive system (100), but is not limited thereto.

[0050] The fixed cassette drive module (310D, 320D, 330D) may be placed below the fixed cassette (300). The fixed cassette drive module (310D, 320D, 330D) may be coupled to the fixed cassette (300) to drive the fixed cassette (300). The fixed cassette drive module (310D, 320D, 330D) may be moved forward or backward along the longitudinal direction (x-direction), and the fixed cassette (300) may also be moved together with the movement of the fixed cassette drive module (310D, 320D, 330D). In one embodiment, the movement of the fixed cassette drive module (310D, 320D, 330D) may be performed by a user (or operator) operating a separate control unit that controls the operation of the drive system (100), but is not limited thereto.

[0051] The number of drive cassette drive modules (210D, 220D) may be provided to correspond to the number of drive cassettes (200) included in the guide device (10). The number of fixed cassette drive modules (310D, 320D, 330D) may be provided to correspond to the number of fixed cassettes (300) included in the guide device (10). FIG. 1 exemplarily illustrates an embodiment of a drive system (100) comprising first and second drive cassette drive modules (210D, 220D) and first to third fixed cassette drive modules (310D, 320D, 330D).

[0052] The first drive cassette (210) can be placed and coupled on the first drive cassette drive module (210D). The second drive cassette (220) can be placed and coupled on the second drive cassette drive module (220D).

[0053] The first drive cassette (210) can be moved forward or backward by the first drive cassette drive module (210D) moving forward or backward along the longitudinal direction (x direction). The second drive cassette (220) can be moved forward or backward by the second drive cassette drive module (220D) moving forward or backward along the longitudinal direction (x direction).

[0054] Since the first drive cassette (210) and the second drive cassette (220) are each coupled to separate drive modules, the driving and movement of the first drive cassette (210) and the second drive cassette (220) can be performed independently of each other. However, the embodiment is not limited thereto, and the driving and movement of the first drive cassette (210) and the second drive cassette (220) can be performed through synchronization between the first drive cassette driving module (210D) and the second drive cassette driving module (220D).

[0055] The first fixed cassette (310) can be placed and coupled on the first fixed cassette drive module (310D). The second fixed cassette (320) can be placed and coupled on the second fixed cassette drive module (320D). The third fixed cassette (330) can be placed and coupled on the third fixed cassette drive module (330D).

[0056] The first fixed cassette drive module (310D) can be fixed in position in the longitudinal direction (x direction), and the first fixed cassette (310) can also be coupled to the first fixed cassette drive module (310D) so that its position in the longitudinal direction (x direction) is fixed. The second fixed cassette (320) can be moved forward or backward by the second fixed cassette drive module (320D) moving forward or backward along the longitudinal direction (x direction). The third fixed cassette (330) can be moved forward or backward by the third fixed cassette drive module (330D) moving forward or backward along the longitudinal direction (x direction).

[0057] The first to third fixed cassettes (310, 320, 330) are each coupled to a separate driving module, so that the driving or movement of the first to third fixed cassettes (310, 320, 330) can be performed independently of each other. However, the embodiments are not limited thereto, and the driving or movement of the fixed cassette coupled to the driving module can be performed by the synchronization of at least two of the first to third fixed cassette driving modules (310D, 320D, 330D).

[0058] The drive system (100) may further include a guide wire drive cassette drive module (400D). The guide wire drive cassette (400) may be placed and coupled on the guide wire drive cassette drive module (400D).

[0059] The guide wire drive cassette drive module (400D) can drive the guide wire drive cassette (400). The guide wire drive cassette drive module (400D) can be moved forward or backward along the longitudinal direction (x direction), and the guide wire drive cassette (400) can also be moved together with the movement of the guide wire drive cassette drive module (400D). In one embodiment, the movement of the guide wire drive cassette drive module (400D) can be performed by a user (or operator) operating a separate control unit that controls the operation of the drive system (100), but is not limited thereto.

[0060] The guide device (10) may further include a housing (500). The housing (500) may extend in the longitudinal direction (x-direction) to provide a receiving space. The housing (500) may accommodate driving modules (210D, 220D, 310D, 320D, 330D) of the driving system (100).

[0061] Referring to FIG. 1, the first fixed cassette drive module (310D) can be received and fixed in the housing (500), and the first and second drive cassette drive modules (210D, 220D) and the second and third fixed cassette drive modules (320D, 330D) can be received in the housing (500) and moved forward or backward. In one embodiment, the guide device (10) may further include a guide wire drive cassette drive module (400D), and the guide wire drive cassette drive module (400D) can be received in the housing (500).

[0062] FIGS. 2A and 2B are cross-sectional views of a drive cassette (200) and a catheter (1) according to an embodiment of the present invention. FIG. 2A shows the drive cassette (200) with the catheter (1) released from the pinch, and FIG. 2B shows the drive cassette (200) with the catheter (1) pinched.

[0063] Referring to FIGS. 2a and 2b, the drive cassette (200) may include a collet (20) disposed inside the body of the drive cassette (200). A plurality of drive cassettes (200) may be provided within the guide device (10, see FIG. 1), and each of the plurality of drive cassettes (200) may include a collet (20). For example, in an embodiment of the guide device (10) shown in FIG. 1, the first and second drive cassettes (210, 220) may each include a collet (20).

[0064] Referring to FIG. 2a, a hole may be formed in the center of the collet (20) that extends in the longitudinal direction (x-direction) and through which the catheter (1) passes. When pinched out from the collet (20), the catheter (1) may be placed in the hole and spaced apart from the collet (20). In other words, the state in which the catheter (1) is pinched out from the collet (20) means that the catheter (1) is not fixed by the collet (20).

[0065] Referring to FIG. 2b, by driving the collet (20), the gap of the hole formed in the center of the collet (20) is reduced, and the catheter (1) positioned to penetrate the collet (20) within the hole can come into contact with the collet (20). In a pinched state by the collet (20), the catheter (1) can penetrate the collet (20) and come into contact with the collet (20). In other words, the state in which the catheter (1) is pinched by the collet (20) means the state in which the catheter (1) is fixed by the collet (20). In the pinched state by the collet (20), if the driving cassette (200) moves forward or backward, the catheter (1) can move together with the movement of the driving cassette (200).

[0066] With the catheter (1) pinched by the collet (20), the gap of the hole formed in the center of the collet (20) can be increased by driving the collet (20), and the catheter (1) can be released from the pinch by being separated from the collet (20). Depending on the driving of the collet (20), the catheter (1) can be pinched by the driving cassette (200) or released from the driving cassette (200).

[0067] Meanwhile, the method of pinch-releasing and pinching the catheter (1) by the collet (20) shown in FIG. 2a and FIG. 2b is exemplary, and the embodiment is not limited thereto as long as the collet (20) can pinch-releasing and pinching the catheter (1).

[0068] FIG. 3 is a cross-sectional view illustrating, exemplarily, a buckled catheter (1b') during the process of guiding the catheter (1b').

[0069] Referring to FIG. 3, the user (or operator) of the guide device can drive the drive cassette (200') and the fixed cassette (300') by controlling the drive modules (200D', 300D') to guide the catheter (1b') to a desired position within the patient's blood vessel, and as a result, the catheter (1b') can be moved forward by a predetermined distance.

[0070] By driving and moving forward of the driving module (200D'), the driving cassette (200') can pinch and move the catheter (1b') forward. After moving the catheter (1b') forward, the driving cassette (200') can release the pinch on the catheter (1b') and move backward together with the driving module (200D').

[0071] The proximal end of the catheter (1b') can be coupled to the fixed cassette (300'). By driving and moving forward the driving module (300D'), the fixed cassette (300') can be moved forward. As the fixed cassette (300') moves forward, the position of the proximal end of the catheter (1b') coupled to the fixed cassette (300') can also be moved forward.

[0072] During the process of guiding the catheter (1b'), the driving cassette (200) may repeatedly pinch, move, and release the catheter (1b'). As the catheter (1b') is pinched and moved forward, the anterior region of the catheter (1b') adjacent to the distal end may be inserted into another catheter (1a') of a different diameter, and in the process, pressure (anterior pressure) may be generated in the anterior region of the catheter (1b'). Due to this anterior pressure, the catheter (1b') may be pushed slightly backward. As the pinching, forward movement, and release process of the catheter (1b') is repeated, the slight backward pushing of the catheter (1b') may accumulate. As a result, the posterior region (1b-r') of the catheter (1b') adjacent to the proximal end fixed to the fixed cassette (300D') sags and buckling occurs.

[0073] A catheter guiding method and a guiding device according to one embodiment of the present invention compensate for the catheter being slightly pushed backward during the process of moving the catheter forward, and prevent buckling of the catheter. This will be explained in more detail below with reference to the attached drawings.

[0074] FIG. 4 is a flowchart of a method for guiding a catheter according to an embodiment of the present invention. FIG. 5a to 5e are side views illustrating steps of a method for guiding a catheter according to an embodiment of the present invention.

[0075] Meanwhile, FIGS. 5a to 5e briefly illustrate the configurations corresponding to the first and second catheters (1a, 1b), the first driving cassette (210), the first and second fixed cassettes (310, 320), the first driving cassette driving module (210D), and the first and second fixed cassette driving modules (310D, 320D) of the guide device (10) illustrated in FIG. 1 to 5e. Regarding the configurations of the guide device (10) illustrated in FIGS. 5a to 5e, the descriptions regarding the configurations illustrated in FIGS. 1, FIGS. 2a, and FIGS. 2b may be applied, and redundant descriptions regarding each configuration will be omitted below.

[0076] Referring to FIG. 4, a method for guiding a catheter according to one embodiment may include a providing step (S10) of providing a guide device comprising a catheter, a fixed cassette, and a driving cassette; a moving step (S20) in which the driving cassette pinches and moves the catheter forward; a return step (S30) in which the driving cassette releases the pinch of the catheter and moves it backward; and a compensation step (S40) in which the driving cassette pinches the catheter and moves it forward by a compensation distance to apply tension to the rear region of the catheter.

[0077] In a method for guiding a catheter, the user (or operator) of the guide device may set the forward movement distance of the catheter (target distance) to insert the catheter into a desired position within the patient's blood vessel. The aforementioned movement step (S20), return step (S30), and compensation step (S40) may be repeated (S50) until the catheter is moved forward by the target distance.

[0078] FIG. 5a is a side view corresponding to a providing step (S10, see FIG. 4) of a catheter guide method according to one embodiment. In the providing step (S10), a catheter, a fixed cassette to which the proximal end of the catheter is coupled, and a driving cassette positioned in front of the fixed cassette to pinch and move the catheter may be provided. FIG. 5a exemplarily illustrates a providing step (S10) in which a second catheter (1b), a second fixed cassette (320), and a first driving cassette (210) are provided.

[0079] Referring to FIG. 5a, the second catheter (1b) extends in the longitudinal direction (x direction) and may include a distal end and a proximal end. In this embodiment, the distal end of the second catheter (1b) may be located anteriorly in the longitudinal direction (x direction) and the proximal end of the second catheter (1b) may be located posteriorly in the longitudinal direction (x direction). A region of the second catheter (1b) adjacent to the proximal end may be referred to as the posterior region of the second catheter (1b).

[0080] The first drive cassette (210) may be positioned in front of the second fixed cassette (320). The proximal end of the second catheter (1b) may be coupled to the second fixed cassette (320). The second catheter (1b) may be inserted into the first drive cassette (210) and pass through the first drive cassette (210).

[0081] The first drive cassette (210) can pinch the first point (P1) of the second catheter (1b) by driving the first drive cassette drive module (210D). The first drive cassette (210) may include a collet (20) shown in FIG. 2a and FIG. 2b, and the pinching of the second catheter (1b) may be performed by the collet (20, see FIG. 2b) included in the first drive cassette (210).

[0082] FIG. 5b is a side view corresponding to a movement step (S20, see FIG. 4) of a catheter guide method according to one embodiment. In the movement step (S20), the driving cassette can move forward by pinching the catheter by a predetermined distance. In the movement step (S20), the fixed cassette to which the proximal end of the catheter is attached can also move forward simultaneously with the forward movement of the driving cassette.

[0083] Referring to FIG. 5b, in the movement step (S20), the first drive cassette drive module (210D) can move forward by a first distance (d1). By moving the first drive cassette drive module (210D), the first drive cassette (210) can move forward by a first distance (d1).

[0084] In the movement step (S20) according to one embodiment, the forward movement of the drive cassette may be performed manually by operating the drive module by the user (or operator). Here, the meaning of 'the forward movement of the drive cassette is performed manually by operating the drive module by the user (or operator)' may mean that the drive module is not driven by an automated system according to a pre-programmed command, but rather the user (or operator) moves the drive module and the drive cassette by operating a control unit that remotely controls the movement of the drive module, thereby adjusting the distance of movement as needed.

[0085] In one embodiment, forward movement of the first drive cassette (210) by a first distance (d1) may be performed manually by the user (or operator) operating the first drive cassette drive module (210D). For example, the user (or operator) may move the first drive cassette drive module (210D) and the first drive cassette (210) by a first distance (d1) by operating a control unit that remotely controls the movement of the first drive cassette drive module (210D). However, the embodiment is not limited thereto, and the forward movement of the first drive cassette drive module (210D) and the first drive cassette (210) in the movement step (S20) may be performed automatically by a pre-programmed command.

[0086] The second catheter (1b) can be moved forward by a first distance (d1) as the first drive cassette (210) moves, with the first point (P1) pinched by the first drive cassette (210).

[0087] The second fixed cassette (320), to which the proximal end of the second catheter (1b) is attached, can move forward in response to the forward movement of the first driving cassette (210). Accordingly, it is possible to prevent excessive tension from being applied to the second catheter (1b) or the second catheter (1b) from buckling. For example, the second fixed cassette driving module (320D) can move forward by a first distance (d1) simultaneously with the forward movement of the first driving cassette driving module (210D), and the second fixed cassette (320) can move forward by a first distance (d1) simultaneously with the forward movement of the first driving cassette (210) by the second fixed cassette driving module (320D).

[0088] FIG. 5c is a side view corresponding to the return step (S30, see FIG. 4) of a catheter guide method according to one embodiment. In the return step (S30), the drive cassette can release the pinch of the catheter and move backward. As the drive cassette moves backward after releasing the pinch of the catheter, the position of the catheter does not move, and only the drive cassette can move backward.

[0089] Referring to FIG. 5c, in the return step (S30), the first drive cassette (210) can release the pinch at the first point (P1) of the second catheter (1b) and move backward by driving and moving backward of the first drive cassette drive module (210D). The release of the pinch of the second catheter (1b) can be performed by a collet (20, see FIG. 2a) included in the first drive cassette (210). As the first drive cassette (210) moves backward after releasing the pinch of the second catheter (1b), the second catheter (1b) may remain stationary and not move backward despite the backward movement of the first drive cassette (210).

[0090] FIG. 5d is a side view corresponding to the compensation step (S40, see FIG. 4) of a catheter guide method according to one embodiment. In the compensation step (S40), the driving cassette can move forward by a compensation distance by pinching the catheter so that the rear region of the catheter is pulled.

[0091] Referring to FIG. 5d, in the return step (S30), the first drive cassette (210) moved backward can pinch the second point (P2) of the second catheter (1b) located further back than the first point (P1). In the compensation step (S40), the first drive cassette (210) can move forward by a compensation distance (cd) while pinching the second point (P2).

[0092] As the second catheter (1b) is pinched and moved forward by a compensation distance (cd), the posterior region (1b-r) of the second catheter (1b), to which the proximal end is coupled to the second fixing cassette (320), may be pulled and tension applied. Here, the posterior region (1b-r) refers to the area between the second point (P2) of the second catheter (1b) pinched by the first driving cassette (210) in the compensation step (S40) and the proximal end of the second catheter (1b) coupled to the second fixing cassette (320).

[0093] The compensation distance (cd) may be a distance of minute size. For example, the compensation distance (cd) may be about 1 mm. However, the size of the compensation distance (cd) is not limited to this and may be designed differently depending on the degree of tension applied to the posterior region of the catheter. The compensation distance (cd) may be smaller than the travel distance in the travel step (S20) (e.g., the first distance (d1)).

[0094] In the compensation step (S40), forward movement of a compensation distance (cd) can be automatically performed when pinching the catheter after the return step (S30). For example, the compensation step (S40) may be performed automatically without separate operation of the control unit by the user (or operator) during the process of guiding the catheter according to a command pre-programmed in the control unit controlling the guide device. However, the embodiment is not limited thereto, and may be performed by the user (or operator) inputting a command to perform the compensation step into the control unit during the process of guiding the catheter.

[0095] The method for guiding a catheter according to the present invention includes a moving step (S20) for moving the catheter forward, and a compensation step (S40) for applying tension by pulling the rear region of the catheter, thereby compensating for the catheter being pushed backward by forward pressure, and as a result, preventing the rear region of the catheter from being buckled while being treated.

[0096] A guide device according to one embodiment of the present invention may include a drive cassette and a drive module (drive cassette drive module) that perform a compensation step (S40). The guide device (10, see FIG. 1) may include a drive module (drive cassette drive module) that moves the drive cassette forward by a compensation distance to apply tension to the region (posterior region) between the pinched point of the catheter and the proximal end of the catheter when a collet (20, see FIG. 2b) included in the drive cassette pinches the catheter during the compensation step.

[0097] The guide device of the present invention includes a collet, a driving cassette, and a driving module that move the catheter forward by pinching the catheter to apply tension to the rear region of the catheter after moving the catheter forward, thereby compensating for the catheter being pushed backward by forward pressure and, as a result, preventing the rear region of the catheter from buckling while being treated.

[0098] In a method for guiding a guide according to one embodiment, the above-described movement step (S20), return step (S30), and compensation step (S40) may be repeated so that the catheter is moved forward by a distance intended by the user (or operator). FIG. 5e exemplarily illustrates the movement step (S20) after the compensation step (S40) illustrated in FIG. 5d has been performed. In this embodiment, the movement step (S20) illustrated in FIG. 5b may be referred to as the first movement step, and the movement step (S20) illustrated in FIG. 5e may be referred to as the second movement step.

[0099] Referring to FIG. 5e, in the second movement step, the first drive cassette drive module (210D) can move forward by a second distance (d2). By moving the first drive cassette drive module (210D), the first drive cassette (210) can move forward by a second distance (d2). The first distance (d1) in the first movement step and the second distance (d2) in the second movement step may be the same or different.

[0100] The second catheter (1b) can be moved forward by a second distance (d2) as the first drive cassette (210) moves, with the second point (P2) pinched by the first drive cassette (210).

[0101] The second fixed cassette drive module (320D) can move forward by a second distance (d2) simultaneously with the forward movement of the first drive cassette drive module (210D), and the second fixed cassette (320) can move forward by a second distance (d2) simultaneously with the forward movement of the first drive cassette (210) by the second fixed cassette drive module (320D).

[0102] As the second catheter (1b) moves forward, the anterior region adjacent to the distal end of the second catheter (1b) can be inserted into the interior of the first catheter (1a), which has a larger diameter than the second catheter (1b). The above-described moving step (S20), return step (S30), and compensation step (S40) can be repeated until the second catheter (1b) is inserted into the interior of the first catheter (1a) by a predetermined length from the proximal end of the first catheter (1a).

[0103] A method for guiding a catheter according to one embodiment of the present invention includes a compensation step of applying tension to the posterior region of the catheter between repeated movement steps when the catheter is pinched and moves forward, thereby compensating for the catheter being pushed backward by forward pressure and, as a result, preventing the posterior region of the catheter from being buckled while being treated.

[0104] With reference to FIGS. 5a to 5e, a method for guiding the catheter of the present invention centered on the second catheter (1b) has been described, but the description thereof can be equally applied to a method for guiding the third catheter (1c).

[0105] In the providing step (S10) according to one embodiment, as illustrated in FIG. 1, a third catheter (1c) having a diameter smaller than the diameter of the second catheter (1b), a second driving cassette (220), and a third fixing cassette (330) may be provided. The second driving cassette (220) may be positioned behind the second fixing cassette (320), and the third fixing cassette (330) may be positioned behind the second driving cassette (220). The third catheter (1c) may be inserted into the second driving cassette (220), and the proximal end of the third catheter (1c) may be coupled to the third fixing cassette (330).

[0106] In the movement step (S20), the second drive cassette (220) can pinch the third catheter (1c) and move forward by a predetermined distance. The third fixed cassette (330), to which the proximal end of the third catheter (1c) is attached, can move forward simultaneously with the forward movement of the second drive cassette (220). Then, in the return step (S30), the second drive cassette (220) can release the pinch of the third catheter (1c) and move backward.

[0107] The second drive cassette (220) moved backward can pinch a point located further back than the point where the third catheter (1c) is pinched in the movement step (S20). In the compensation step (S40), the second drive cassette (220) can pinch the third catheter (1c) and move forward by a compensation distance.

[0108] The compensation distance in the compensation step of the process of guiding the second catheter (1b) and the compensation distance in the compensation step of the process of guiding the third catheter (1c) can be set independently of each other. However, this is not limited thereto, and the compensation distance in the compensation step (S40) may be constant. By the compensation step (S40), tension is applied to the posterior region of the third catheter (1c), thereby preventing buckling from occurring in the third catheter (1c).

[0109] 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.

[0110] [Explanation of the symbol]

[0111] 1, 1a, 1b, 1c: Catheter

[0112] 2: Guide wire

[0113] 10: Guide device

[0114] 20: Colette

[0115] 200, 210, 220: Drive Cassette

[0116] 300, 310, 320, 330: Fixed Cassette

[0117] 210D, 220D: Drive cassette drive module (drive module)

[0118] 310D, 320D, 330D: Fixed cassette drive module

[0119] 400: Guide wire drive cassette

[0120] 400D: Guide wire driven cassette drive module

[0121] 500: Housing

Claims

As a method of guiding the catheter while preventing catheter buckling, A providing step of providing a first catheter (1b, 1c) extending in a longitudinal direction and comprising a distal end positioned anteriorly in the longitudinal direction and a proximal end positioned posteriorly, a first fixing cassette (320, 330) to which the proximal end of the first catheter (1b, 1c) is coupled, and a first driving cassette (210, 220) disposed in front of the first fixing cassette (320, 330); A first movement step in which the first drive cassette (210, 220) pinches a first point of the first catheter (1b, 1c) and then moves forward by a first distance together with the first catheter (1b, 1c); A first return step in which the first drive cassette (210, 220) releases the pinch of the first catheter (1b, 1c) and moves backward; and A first compensation step in which the first driving cassette (210, 220) moves forward by a compensation distance smaller than the first distance while pinching a second point of the first catheter (1b, 1c) located rearward from the first point so that the rear region of the first catheter (1b, 1c) is pulled; A method for guiding a catheter, including In Article 1, A method for guiding a catheter, wherein the posterior region is the region between the second point of the first catheter (1b, 1c) and the proximal end of the first catheter (1b, 1c). In Article 1, A method for guiding a catheter, wherein the first drive cassette (210, 220) includes a collet (20), and pinching and pinch releasing of the first catheter (1b, 1c) are performed by the collet (20). In Article 1, A method for guiding a catheter, wherein the first drive cassette (210, 220) is driven by a drive module (210D, 220D), and the forward movement of the first drive cassette (210, 220) by the first distance in the first movement step is manually performed by the user's operation of the drive module (210D, 220D). In Article 4, A method for guiding a catheter, wherein forward movement of the first drive cassette (210, 220) by the compensation distance in the first compensation step is automatically performed by the drive module (210D, 220D) when pinching the first catheter (1b, 1c). In Article 1, A method for guiding a catheter, wherein in the first movement step, the first fixed cassette (320, 330) moves forward by the first distance simultaneously with the forward movement of the first driving cassette (210, 220). In Article 1, After the first compensation step, a second movement step in which the first drive cassette (210, 220) moves forward by a second distance together with the first catheter (1b, 1c) while pinching the second point of the first catheter (1b, 1c); A second return step in which the first drive cassette (210, 220) releases the pinch of the first catheter (1b, 1c) and moves backward; and A second compensation step in which the first drive cassette (210, 220) moves forward by a compensation distance while pinching a third point of the first catheter (1b, 1c) located rearward from the second point; A method for guiding a catheter, including further In Article 7, A method for guiding a catheter, wherein the compensation distance in the first compensation step is the same length as the compensation distance in the second compensation step. In Article 1, In the above providing step, a second catheter (1b) extending in the longitudinal direction and having a diameter larger than the diameter of the first catheter (1c), and a second fixing cassette (320) coupled with the proximal end of the second catheter (1b) are provided in front of the first driving cassette (220), and A method for guiding a catheter, wherein in the first moving step, the first catheter (1c) is inserted into the interior of the second catheter (1b). In Article 9, In the above providing step, a second driving cassette (210) is provided in front of the second fixed cassette (320), and the method is, A second movement step in which the second drive cassette (210) pinches a third point of the second catheter (1b) and then moves forward by a second distance together with the second catheter (1b); A second return step in which the second drive cassette (210) releases the pinch of the second catheter (1b) and moves backward; and A second compensation step in which the second driving cassette (210) moves forward by a compensation distance smaller than the second distance while pinching a fourth point of the second catheter (1b) located rearward from the third point so that the rear region of the second catheter (1b) is pulled; A method for guiding a catheter, including further As a method of guiding the catheter while preventing catheter buckling, A providing step of providing a first catheter (1b, 1c) extending in a longitudinal direction and comprising a distal end positioned anteriorly in the longitudinal direction and a proximal end positioned posteriorly in the longitudinal direction, a second catheter (1a, 1b) having a diameter larger than the diameter of the first catheter (1b, 1c), a first fixing cassette (320, 330) to which the proximal end of the first catheter (1b, 1c) is coupled, a second fixing cassette (310, 320) to which the proximal end of the second catheter (1a, 1b) is coupled, and a first driving cassette (210, 220) disposed between the anterior of the first fixing cassette (320, 330) and the posterior of the second fixing cassette (310, 320); A movement step in which the first drive cassette (210, 220) pinches the first catheter (1b, 1c) and then moves forward by a predetermined distance together with the first catheter (1b, 1c); A return step in which the first drive cassette (210, 220) releases the pinch of the first catheter (1b, 1c) and moves backward; and A compensation step in which the returned first driving cassette (210, 220) pinches the first catheter (1b, 1c) and moves forward by a compensation distance to apply tension to the posterior region of the first catheter (1b, 1c) located between the first driving cassette (210, 220) and the first fixed cassette (320, 330); A method for guiding a catheter, including In Article 11, A method for guiding a catheter, wherein the movement step, the return step, and the compensation step are repeated until the first catheter (1b, 1c) is inserted into the interior of the second catheter (1a, 1b) by a predetermined length from the proximal end of the second catheter (1a, 1b). A first catheter (1b, 1c) extending in the longitudinal direction and comprising a distal end positioned anteriorly in the longitudinal direction and a proximal end positioned posteriorly; A first fixation cassette (320, 330) to which the proximal end of the first catheter (1b, 1c) is coupled; A second catheter (1a, 1b) extending in the longitudinal direction and having a diameter larger than the diameter of the first catheter (1b, 1c); A second fixing cassette (310, 320) to which the proximal end of the second catheter (1a, 1b) is coupled and which is positioned in front of the first fixing cassette (320, 330); A first driving cassette (210, 220) comprising a collet (20) positioned between the front of the first fixed cassette (320, 330) and the rear of the second fixed cassette (310, 320) and pinching the first catheter (1b, 1c); and It includes a drive module (210D, 220D) that drives the first drive cassette (210, 220), and The above driving module (210D, 220D) is a guide device that moves the first driving cassette (210, 220) forward by a compensation distance to apply tension to the rear region of the first catheter (1b, 1c) located between the first driving cassette (210, 220) and the first fixed cassette (320, 330) when the collet (20) pinches the first catheter (1b, 1c).

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