Vascular intervention robot and vascular intervention system

Patent metadata

Field	Value
Publication number	US-2018168751-A1
Application number	US-201615843221-A
Country	US
Kind code	A1
Filing date	Jun 2, 2016
Priority date	Jun 16, 2015
Publication date	Jun 21, 2018
Grant date	—

Abstract

A vascular intervention robot includes a catheter rotation unit for rotating a catheter on an axis parallel to a longitudinal direction of the catheter, a guide wire rotation and supply unit that is provided at one side of the catheter rotation unit and that is provided for transferring a guide wire in a longitudinal direction of the guide wire and for rotating the guide wire on an axis parallel to the longitudinal direction of the guide wire in a state in which the guide wire is inserted in the catheter, a transfer unit for transferring the catheter rotation unit and the guide wire rotation and supply unit in the longitudinal direction of the catheter, and an expanding and contracting unit that is provided at another side of the catheter rotation unit and that is expandable and contractible along the longitudinal direction of the catheter while supporting the catheter when the transfer unit transfers the catheter rotation unit and the guide wire rotation and supply unit in the longitudinal direction of the catheter.

First claim

1 . A vascular intervention robot comprising:
a catheter rotation unit for rotating a catheter on an axis parallel to a longitudinal direction of the catheter; a guide wire rotation and supply unit that is provided at one side of the catheter rotation unit and that is provided for transferring a guide wire in a longitudinal direction of the guide wire and for rotating the guide wire on an axis parallel to the longitudinal direction of the guide wire in a state in which the guide wire is inserted in the catheter; a transfer unit for transferring the catheter rotation unit and the guide wire rotation and supply unit in the longitudinal direction of the catheter; and an expanding and contracting unit that is provided at another side of the catheter rotation unit and that is expandable and contractible along the longitudinal direction of the catheter while supporting the catheter when the transfer unit transfers the catheter rotation unit and the guide wire rotation and supply unit in the longitudinal direction of the catheter.

2 . The vascular intervention robot of claim 1 , wherein a Y-connector is coupled to the catheter rotation unit,
wherein the Y-connector comprises: a body having a pipe shape, wherein the catheter is fixed at one end of the body; and the guide wire is inserted into the body from another end of the body and is inserted into the catheter at the one end of the body; and a branch portion having a pipe shape and coupled to the body between the one end and the another end of the body so as to be connected to an inside of the body, wherein a fluid is injected into the branch portion.

3 . The vascular intervention robot of claim 2 , wherein the catheter rotation unit comprises: a pad being in contact with top and bottom portions of the Y-connector to fix the Y-connector.

4 . The vascular intervention robot of claim 1 , wherein the guide wire rotation and supply unit comprises:
a guide wire supply unit comprising: two rollers facing each other; and a roller driving unit driving at least one of the two rollers, wherein the guide wire is inserted between the two rollers and is transferred in the longitudinal direction of the guide wire when the two rollers are driven by the roller driving unit.

5 . The vascular intervention robot of claim 4 , wherein the guide wire rotation and supply unit further comprises:
a guide wire rotation unit comprising: a guide wire rotor supporting the rollers and the roller driving unit; and a guide wire driver rotating the guide wire rotor on the axis parallel to the longitudinal direction of the guide wire.

6 . The vascular intervention robot of claim 1 , further comprising:
a support part comprising: a base part having a flat plate shape; a first partition provided at one end of the base part; a second partition provided at another end of the base part; and a support bar extending from the first partition to the second partition.

7 . The vascular intervention robot of claim 6 , wherein the catheter rotation unit and the guide wire rotation and supply unit are disposed on the transfer unit,
wherein the transfer unit moves in the longitudinal direction of the catheter on the base part by rack and pinion, wherein a first insertion hole in which the support bar is inserted is provided in the transfer unit, and wherein the transfer unit moves along the support bar when the transfer unit moves on the base part.

8 . The vascular intervention robot of claim 1 , wherein the expanding and contracting unit comprises:
a plurality of tubular structures continuously provided from the another side of the catheter rotation unit to support the catheter, wherein an Nth tubular structure from the another side of the catheter rotation unit slides inside and outside an N−1th tubular structure or N+1th tubular structure from the another side of the catheter rotation unit, such that the expanding and contracting unit is expandable and contractible in the longitudinal direction of the catheter.

9 . The vascular intervention robot of claim 6 , wherein the expanding and contracting unit comprises:
a plurality of tubular structures continuously provided from the another side of the catheter rotation unit to support the catheter; and a plurality of supporters supporting the plurality of tubular structures, respectively, wherein an end of the tubular structure farthest from the another end of the catheter rotation unit is fixed at the second partition, wherein a second insertion hole in which the support bar is inserted is provided in at least one of the plurality of supporters, and wherein the supporter having the second insertion hole moves along the support bar when the transfer unit moves on the base part.

10 . The vascular intervention robot of claim 8 , wherein each of the tubular structures comprises:
a support structure supporting the catheter; and a cover which is coupled to an upper side of the support structure and is detachable.

11 . A vascular intervention robot comprising:
a catheter rotation unit for rotating a catheter extending in a longitudinal direction on an axis parallel to the longitudinal direction; a guide wire rotation and supply unit for rotating a guide wire inserted in the catheter on the same axis as the catheter; a catheter guide unit supporting the catheter and folding when the catheter is transferred in the longitudinal direction, wherein the catheter guide unit comprises: a catheter cover covering an upper portion of the catheter; and a catheter support part supporting a lower portion of the catheter; and a mount part on which the catheter guide unit is mounted, wherein the catheter cover and the catheter support part of the catheter guide unit are detachable from the mount part.

12 . The vascular intervention robot of claim 11 , wherein the catheter cover comprises: a fixing wing provided at one end of the catheter cover and coupled to the catheter support part.

13 . The vascular intervention robot of claim 11 , wherein the catheter support part comprises: a fixing plate fixing the catheter support part to the mount part, and the fixing plate comprises: a fitting part extending in a direction different from the longitudinal direction of the catheter.

14 . The vascular intervention robot of claim 13 , wherein the mount part comprises: a receiving groove receiving the fitting part, and the receiving groove extends in a direction different from the longitudinal direction of the catheter.

15 . The vascular intervention robot of claim 14 , wherein the mount part comprises: a fixing pin preventing the fitting part from escaping in a state in which the fitting part of the catheter support part is inserted and fixed in the receiving groove of the mount part.

16 . The vascular intervention robot of claim 11 , wherein the catheter rotation unit, the guide wire rotation and supply unit and the catheter guide unit, which are in contact with at least one of the catheter and the guide wire, are detachable.

17 . The vascular intervention robot of claim 16 , wherein the guide wire rotation and supply unit comprises: a guide roller part transferring the guide wire; and a roller driving unit providing driving force to the guide roller part, and
wherein the guide roller part and the roller driving unit are detachable from the vascular intervention robot.

18 . A vascular intervention system comprising:
the vascular intervention robot of claim 1 ; and a frame fixing the vascular intervention robot in such a way that the vascular intervention robot is movable relatively w

Assignees

• Iucf Hyu Erica Campus

Inventors

• Yi Byungju
• Cha Hyojeong
• Jung Kwanyoung
• Won Jongyoon

Classifications

• A61B34/30 Primary

  Surgical robots · CPC title

• A61M25/0113

  Mechanical advancing means, e.g. catheter dispensers · CPC title

• A61M25/09041

  Mechanisms for insertion of guide wires · CPC title

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title

• A61M25/0116

  self-propelled, e.g. autonomous robots (A61M25/0122 takes precedence) · CPC title