KR-20260064670-A - THE MODULE FOR GUIDING AT LEAST ONE OF GUIDEWIRE AND CATHETER

KR20260064670AKR 20260064670 AKR20260064670 AKR 20260064670AKR-20260064670-A

Abstract

An integrated cassette according to one embodiment of the present invention comprises a first surgical tool fixing cassette (300) to which a proximal end of a first surgical tool is coupled, a second surgical tool driving cassette (100, 200) that pinches the second surgical tool to drive the second surgical tool, and a frame (400); the first surgical tool fixing cassette (300) is disposed on the second surgical tool driving cassette (100, 200), and the second surgical tool driving cassette (100, 200) is disposed on the frame (400); the diameter of the second surgical tool is smaller than the diameter of the first surgical tool; the second surgical tool penetrates the interior of the first surgical tool; and the frame of the proximal end of the first surgical tool, in the forward and backward movement of the second surgical tool along the longitudinal direction of the frame (400). (400) The position on the surface can be maintained.

Inventors

폰세카 워드 에두아르도 라몬 알레한드로
장 형준
정 민호
조 주현
나 근표
최 종건

Assignees

엑스케이스 인코포레이티드

Dates

Publication Date: 20260507
Application Date: 20260410

Claims (12)

It includes a first surgical tool fixing cassette (300) to which the proximal end of the first surgical tool is coupled, a second surgical tool driving cassette (100, 200) for driving the second surgical tool by pinching the second surgical tool, and a frame (400). The first surgical tool fixing cassette (300) is placed on the second surgical tool driving cassette (100, 200), and The second surgical tool drive cassette (100, 200) is placed on the frame (400), and The second surgical tool drive cassette (100, 200) can be detachably connected to the second surgical tool and includes a pinch module (800) that can be selectively moved toward or away from the first surgical tool fixing cassette. The diameter of the second surgical tool is smaller than the diameter of the first surgical tool, and the second surgical tool penetrates the interior of the first surgical tool, and An integrated cassette in which the position of the proximal end of the first surgical tool on the frame (400) is maintained before and after the forward movement of the second surgical tool along the longitudinal direction of the frame (400).
In Article 1, The above second surgical tool drive cassette (100, 200) includes a pinch rack (10), a pinch pinion (20), and a pinch module (800) connected to the pinch rack (10). The pinch rack (10) is an integrated cassette that is moved toward or away from the first surgical tool fixing cassette by the rotation of the pinch pinion (20).
In Article 2, When the pinch rack (10) is moved away from the first surgical tool fixing cassette, the second surgical tool is pinched by the pinch module (800) by the movement of the pinch rack (10), and An integrated cassette in which, when the pinch rack (10) is moved toward the first surgical tool fixing cassette, the second surgical tool being pinched by the pinch module (800) is released by the movement of the pinch rack (10).
In Paragraph 3, The above first surgical tool fixing cassette (300) includes a fixing rack (30), and The above second surgical tool drive cassette (100, 200) includes a fixed pinion (40), and An integrated cassette in which the fixed rack (30) is moved toward or away from the first surgical tool fixed cassette by the rotation of the fixed pinion (40).
In Article 4, With the second surgical tool pinched by the pinch module (800), As the second surgical tool drive cassette (100, 200) moves forward along the length direction, the second surgical tool moves forward along the length direction, and As the second surgical tool drive cassette (100, 200) moves forward along the length direction, the fixing rack (30) is moved away from the first surgical tool fixing cassette, and As the above-mentioned fixed rack (30) moves backward along the length direction, the first surgical tool fixing cassette (300) moves backward along the length direction, and An integrated cassette in which the length and speed at which the first surgical tool fixing cassette (300) is moved backward along the longitudinal direction are the same as the length and speed at which the second surgical tool driving cassette (100, 200) is moved away from the first surgical tool fixing cassette.
In Article 4, With the second surgical tool released from being pinched by the pinch module (800), As the second surgical tool drive cassette (100, 200) moves backward along the length direction, the fixed rack (30) moves forward along the length direction, and As the above-mentioned fixed rack (30) moves forward along the length direction, the first surgical tool fixing cassette (300) moves forward along the length direction, and An integrated cassette in which the length and speed at which the first surgical tool fixing cassette (300) is moved forward along the length direction are the same as the length and speed at which the second surgical tool driving cassette (100, 200) is moved backward along the length direction.
In Paragraph 3, The above second surgical tool drive cassette (100, 200) includes a moving rack (50) and a moving pinion (60), and An integrated cassette in which the moving rack (50) is moved toward the first surgical tool fixing cassette and moved away from the first surgical tool fixing cassette by the rotation of the moving pinion (60).
In Article 7, With the second surgical tool pinched by the pinch module (800), An integrated cassette in which the pinch module (800) is moved forward toward the first surgical tool fixing cassette and the second surgical tool is moved forward along the longitudinal direction by moving the pinch rack (10) and the moving rack (50) toward the first surgical tool fixing cassette.
In Article 7, With the second surgical tool released from being pinched by the pinch module (800), An integrated cassette in which the pinch module (800) is moved backward along the longitudinal direction by moving the pinch rack (10) and the moving rack (50) away from the first surgical tool fixing cassette.
In any one of paragraphs 1 through 9, The first surgical tool and the second surgical tool are catheters, and The above catheter is an integrated cassette having a flexible tubular shape.
In any one of paragraphs 1 through 9, The first surgical tool is a catheter, and the second surgical tool is a guide wire, and An integrated cassette in which the catheter is a flexible tube shape and the guide wire is a flexible wire shape.
As a module for guiding at least one of a guide wire and a catheter, The above module includes a first integrated cassette and a second integrated cassette according to any one of claims 1 to 9, and The first surgical tool of the first integrated cassette and the second surgical tool of the first integrated cassette are both catheters, and The first surgical tool of the second integrated cassette is a catheter, and the second surgical tool of the second integrated cassette is a guide wire, and A module in which the catheter is in the shape of a flexible tube and the guide wire is in the shape of a flexible wire.

Description

Module for guiding at least one of a guide wire and a catheter The present invention relates to a module for guiding at least one of a guide wire and a catheter used for minimally invasive interventional procedures. A guide wire is used to guide a secondary sheath (e.g., a catheter) along the guide wire to a desired location in the body, such as a mammalian body, e.g., 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 the lumen wall, and the introduction or distal end of the guide wire is guided from there to a desired location in the lumen, the lumen into which the guide wire is introduced, or a lumen branching from there. Additionally, the catheter is guided along the guide wire. One problem with guide wire and catheter introduction systems is that it is difficult to guide the distal end of the guide wire and catheter to the lumen where it is positioned, by ensuring that the distal end of the guide wire and catheter follows a serrated lumen geometry or by guiding it to a lumen or branch lumen that intersects the lumen. In some cases, the branch lumen where the distal end of the guide wire and catheter is positioned intersects the lumen at a large angle, for example, at an angle greater than 45 degrees, and in some cases at an angle greater than 90 degrees. A robotic system is presented to stably control the movement of a guide wire and a catheter in order to facilitate the orientation control of the distal ends of the guide wire and the catheter. Additionally, a cassette for use with the robotic system is presented. By means of the cassette, the guide wire and the catheter are guided to a desired position on the body by performing one or more of forward movement, backward movement, and rotational movement. The guide wire and catheter system can utilize multiple catheters with corresponding small inner diameters, wherein each catheter other than the largest diameter catheter can be telescopically received and extended within the next largest diameter catheter. In this system, the position and other characteristics of each catheter and guide wire are controlled by different drive cassettes. Consequently, there was a problem in that the size of the module became unnecessarily large in order to accommodate multiple cassettes within it. FIG. 1 is a plan view of a module for guiding at least one of a guide wire and a catheter according to the prior art. FIG. 2 is a plan view of an integrated cassette according to a first embodiment of the present invention, wherein the first surgical tool and the second surgical tool are catheters. FIG. 3 is a perspective view showing the forward movement of a catheter driving cassette in an integrated cassette according to a first embodiment of the present invention, wherein the first surgical tool and the second surgical tool are catheters. FIG. 4 is a perspective view showing the forward movement of a catheter driving cassette in an integrated cassette according to a first embodiment of the present invention, wherein the first surgical tool and the second surgical tool are catheters. FIG. 5 is a plan view of an integrated cassette according to a first embodiment of the present invention, wherein the first surgical tool is a catheter and the second surgical tool is a guide wire. FIG. 6 is a partially enlarged plan view of an integrated cassette according to a first embodiment of the present invention, wherein the first surgical tool is a catheter and the second surgical tool is a guide wire. FIG. 7 is a plan view of an integrated cassette according to a second embodiment of the present invention, wherein the first surgical tool and the second surgical tool are catheters. FIG. 8 is a plan view showing the forward movement of a pinch module in an integrated cassette according to a second embodiment of the present invention, wherein the first surgical tool and the second surgical tool are catheters. FIG. 9 is a plan view showing the rearward movement of a pinch module in an integrated cassette according to a second embodiment of the present invention, wherein the first surgical tool and the second surgical tool are catheters. Hereinafter, preferred embodiments of the present invention will be described as follows with reference to the attached drawings. FIG. 1 is a plan view of a module for guiding at least one of a guide wire and a catheter according to the prior art. Referring to FIG. 1, a module (1000) for guiding at least one of a guide wire (1) and a catheter (2, 3, 4) may include a housing (900) extending longitudinally from the front (901) to the rear (902), a frame (400) extending longitudinally from the front (401) to the rear (402), a guide wire driving cassette (100) for driving the guide wire (1) by pinching the guide wire (1), at least one catheter driving cassette (200) for driving the catheter (2, 3, 4) by pinching the catheter (2, 3, 4), and at least one cathet