KR101745997B1 - Micro-catheter system with active steering and insertion functions - Google Patents
Micro-catheter system with active steering and insertion functions Download PDFInfo
- Publication number
- KR101745997B1 KR101745997B1 KR1020160031526A KR20160031526A KR101745997B1 KR 101745997 B1 KR101745997 B1 KR 101745997B1 KR 1020160031526 A KR1020160031526 A KR 1020160031526A KR 20160031526 A KR20160031526 A KR 20160031526A KR 101745997 B1 KR101745997 B1 KR 101745997B1
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- KR
- South Korea
- Prior art keywords
- core tube
- module
- guide wire
- handler
- cover spring
- Prior art date
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-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0158—Tip steering devices with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M2025/09058—Basic structures of guide wires
- A61M2025/09083—Basic structures of guide wires having a coil around a core
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- Biophysics (AREA)
- Heart & Thoracic Surgery (AREA)
- Hematology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Media Introduction/Drainage Providing Device (AREA)
Abstract
The present invention relates to a micro catheter system which is easy to steer and insert into a blood vessel while minimizing damage to a blood vessel wall during a procedure and can easily enter the target site. The micro catheter system includes a hollow core A tube 110; A coil-shaped cover spring 120 fixed to the tip of the core tube to surround the core tube; A guide wire (130) having a magnetic body (130) at its tip and insertable along the core tube; And a magnetic field generator 140 for generating a magnetic field for steering operation of the magnetic body 130.
Description
The present invention relates to a micro catheter system that can be easily stowed and inserted in a blood vessel while minimizing damage to a vessel wall during a procedure and easily enter the target site.
Generally, a catheter is a medical device that is used to deliver drugs to a local area by vascular disease and certain lesions using a flexible tube of a hollow shaft. In order to reach the catheter, the catheter must be inserted along the wire after reaching the desired site using a thin flexible wire called a guide wire.
The guidewire insertion is performed by the practitioner while observing the X-ray screen while administering the contrast agent in the blood vessel in real time. In this process, it is difficult to steer the tip portion of the guide wire and it takes a lot of time. If the direction of the tip portion is not directed toward the center of the blood vessel, there is a problem that the inner wall of the blood vessel may be damaged and punctured during the procedure. In addition, these procedures require a very high level of proficiency by the practitioner, and the success rate of the procedure is determined according to the ability of the practitioner.
To solve this problem, various types of active steering / insertion microcatheter technologies have been developed. However, the addition of a mechanism for active steering and insertion has the limitation that it can be used in large blood vessels or atrial / ventricular chambers because of the increased diameter of microcatheter, but it is difficult to use in microvascular systems. In order to compensate for this, an apparatus for steering and inserting a catheter using a magnetic field has been developed. However, it has a disadvantage in that a magnetic field generator is always provided outside, and only the tip of a relatively thin guide wire can be steered.
In the related art, a system capable of remotely inserting a catheter to reduce the radiation dose of a practitioner is disclosed in Korean Patent No. 10-1133268. According to the disclosed catheter remote control system, a slave unit provided so that the catheter can rotate and move linearly can be remotely controlled using the master unit. However, since there is no mention of the driving mechanism of the catheter and the guidewire end, there is a limit to the possibility of implementation.
Korean Registered Patent No. 10-1133268 (Publication Date: Apr. 04, 2012)
An object of the present invention is to provide a microcatheter system which can easily perform steering and insertion in a blood vessel while minimizing damage of a blood vessel wall in a procedure and easily enter the target site.
To achieve these and other advantages and in accordance with the purpose of the present invention, as embodied and broadly described herein, there is provided a microcatheter system comprising: a hollow core tube having a curved shape at a predetermined interval from a distal end; A coil-shaped cover spring fixed to the tip of the core tube to surround the core tube; A guide wire having a magnetic body at its tip end and insertable along the core tube; And a magnetic field generating portion for generating a magnetic field for steering drive of the magnetic body.
Preferably, a first module for a relative displacement movement and an axial rotation operation between the core tube and the cover spring, and a second module for an axial rotation operation of the guide wire in the core tube Unit.
More preferably, the drive unit further includes a guide member for guiding the longitudinal sliding of the first module and the second module.
More preferably, the apparatus further includes a driving unit for independently driving the first module and the second module back and forth along the guide member.
More preferably, the first module includes: a first movable member that is guided by the guide member and is driven forward and backward by the driving unit; A first handler for holding and fixing the core tube and the cover spring by being seated in the first movable member; A first drive motor provided to the first handler to provide a rotational operation force in the axial direction of the cover spring; And a second drive motor provided on the first handler to provide a pulling force to the core tube, and still more preferably, the first handler is configured such that an end of the cover spring is fixed, A first bevel gear for driving; And a movable bracket to which the end of the core tube is fixed and which is driven forward and backward by the second driving motor.
Preferably, the second module includes: a second movable member that is guided by the guide member and is driven forward and backward by the drive unit; A second handler which is seated on the second movable member and holds and fixes the guide wire; And a third driving motor provided on the second handler for providing an axial rotational driving force to the guide wire. More preferably, the second handler includes a guide wire fixed to an end of the guide wire, And a second bevel gear rotatably driven by a motor.
A microcatheter system according to the present invention comprises: a hollow core tube having a curved tip at its tip; A coil-shaped cover spring fixed to the tip of the core tube to surround the core tube; Wherein the core tube is made of a guide wire which can be inserted along the core tube so that the magnetic body is provided at the tip end so as to be steered by the external magnetic field. The macro movement by the mechanical movement by the relative displacement movement between the core tube and the cover spring, It is possible to actively steer / insert the catheter with respect to a minute blood vessel by the micro-motion by the steering drive of the guide wire, thereby providing effective angioplasty.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a microcatheter system according to the present invention;
2 (a) and 2 (b) are views illustrating an example of the operation of the guide wire of the microcatheter system according to the present invention,
3 (a) and 3 (b) illustrate an operation example of a microcatheter system according to the present invention,
4 (a), (b) and 5 are perspective views showing a preferred embodiment of the driving unit in the microcatheter system according to the present invention,
FIG. 6 is a conceptual diagram showing an image-based remote control operation example using the microcatheter system of the present invention. FIG.
The specific structure or functional description presented in the embodiment of the present invention is merely illustrative for the purpose of illustrating an embodiment according to the concept of the present invention, and embodiments according to the concept of the present invention can be implemented in various forms. And should not be construed as limited to the embodiments described herein, but should be understood to include all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
It is to be understood, however, that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. It will be further understood that the terms " comprises ", or "having ", and the like in the specification are intended to specify the presence of stated features, integers, But do not preclude the presence or addition of steps, operations, elements, parts, or combinations thereof.
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
1, the microcatheter system of the present invention comprises a
The
The curved portion B of the core tube may be formed by plastic working a distal portion of a straight line to have a certain curvature r. At this time, the distal end of the curved portion B is elastically deformed within an elastic limit.
The
The tip end of the
The
In the present invention, the
The thickness d of the
In the present invention, the
The
The
2 (a) and 2 (b) illustrate an example of the operation of the guide wire of the microcatheter system according to the present invention. In this embodiment, the cover spring is omitted and the
The magnetic
The core tube 110 'and the
The microcatheter system according to the present invention configured as described above is constructed so that the
3 (a) and 3 (b) are views showing an operation example of the microcatheter system according to the present invention.
3 (a), in a state where an external magnetic field is not applied, an operation force F1 (F2) in opposite directions is applied to the
In this way, the catheter can be steered / inserted inside the large blood vessel by the mechanical operation of the
3 (b), when the
The front end of the
As described above, in the micro catheter system of the present invention, the
The driving unit may be configured as an interface module and a driving unit of a catheter that is easy to attach and detach, and in particular, the interface module is preferably configured as a separate module so that the macro movement and the micro movement of the catheter can be independently controlled.
4A and 4B are views showing a preferred embodiment of the drive unit in the microcatheter system according to the present invention, wherein (a) is a perspective view of the drive unit, (b) Fig.
4 (a) and 4 (b), the driving
The
The
The
The
The
In the
5 shows the
5, the
The
The
The
The
The
FIG. 6 is a conceptual diagram illustrating an image-based remote control procedure using the microcatheter system of the present invention.
Referring to FIG. 6, the patient in the surgery is lying in an environment equipped with an X-ray fluoroscopy, and during the operation, the medical staff obtains the images before and after the injection of the contrast agent, Difference) is removed to acquire blood vessel information. The obtained blood vessel information can be superimposed on the perspective diagnostic image to secure the position of the microcatheter in real time. The medical staff can manipulate the driving unit by controlling the steering / insertion of the catheter only with image information in the outer space where the radiation shielding is performed. On the other hand, even when only one visual diagnostic apparatus is used, the catheter can be controlled only by the plane information. In the case of using the two visual diagnostic apparatuses simultaneously, the position of the blood vessel and the position of the catheter can be determined in space, The position of the blood vessel and the catheter viewed from an arbitrary direction can be provided by using a computer.
The microcatheter system of the present invention extracts the path of the blood vessel from the image of the X-ray fluoroscopic diagnosis apparatus used in actual blood vessel intervention as shown in FIG. 5 for steering / insertion, and based on this path, And based on this, it is possible to provide an image based remote control by controlling the driving part of the active steering micro catheter.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventions. It will be apparent to those of ordinary skill in the art.
100: catheter 110: core tube
120: cover spring 130: magnetic substance
140: guide wire 200: drive unit
211: first guide member 212: second guide member
220: first module 230: second module
Claims (8)
A coil-shaped cover spring fixed to the tip of the core tube to surround the core tube;
A guide wire having a magnetic body at its tip end and insertable along the core tube;
A magnetic field generating unit for generating a magnetic field for steering drive of the magnetic body;
A first module for a relative displacement movement and an axial rotation operation between the core tube and the cover spring and a second module for an axial rotation operation of the guide wire in the core tube, Microcatheter system.
A first movable member that is guided by the guide member and is driven forward and backward by the driving unit;
A first handler for holding and fixing the core tube and the cover spring by being seated in the first movable member;
A first drive motor provided to the first handler to provide a rotational operation force in the axial direction of the cover spring;
And a second drive motor provided on the first handler for providing a pulling force to the core tube.
A first bevel gear whose end portion of the cover spring is fixed and rotationally driven by the first driving motor;
And a movable bracket to which an end of the core tube is fixed and which is driven forward and backward by the second driving motor.
A second movable member that is guided by the guide member and is driven forward and backward by the driving unit;
A second handler which is seated on the second movable member and holds and fixes the guide wire;
And a third drive motor provided to the second handler to provide an axial rotational operation force to the guide wire.
And a second bevel gear to which an end of the guide wire is fixed and rotationally driven by the third drive motor.
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KR1020160031526A KR101745997B1 (en) | 2016-03-16 | 2016-03-16 | Micro-catheter system with active steering and insertion functions |
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KR1020160031526A KR101745997B1 (en) | 2016-03-16 | 2016-03-16 | Micro-catheter system with active steering and insertion functions |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102052446B1 (en) * | 2018-06-01 | 2019-12-05 | 전남대학교산학협력단 | An actuating module for a concentric tube robot |
KR20220156139A (en) * | 2021-05-17 | 2022-11-25 | 재단법인대구경북과학기술원 | guidewire microrobot and its manufacturing method |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010035951A (en) * | 2008-08-08 | 2010-02-18 | Create Medic Co Ltd | Catheter |
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2016
- 2016-03-16 KR KR1020160031526A patent/KR101745997B1/en active IP Right Grant
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010035951A (en) * | 2008-08-08 | 2010-02-18 | Create Medic Co Ltd | Catheter |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102052446B1 (en) * | 2018-06-01 | 2019-12-05 | 전남대학교산학협력단 | An actuating module for a concentric tube robot |
KR20220156139A (en) * | 2021-05-17 | 2022-11-25 | 재단법인대구경북과학기술원 | guidewire microrobot and its manufacturing method |
KR102638467B1 (en) * | 2021-05-17 | 2024-02-21 | 재단법인대구경북과학기술원 | guidewire microrobot and its manufacturing method |
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