WO2010074502A2

WO2010074502A2 - Catheter location indicator

Info

Publication number: WO2010074502A2
Application number: PCT/KR2009/007711
Authority: WO
Inventors: 윤재호; 곽효승
Original assignee: 주식회사 사이버메드
Priority date: 2008-12-24
Filing date: 2009-12-23
Publication date: 2010-07-01
Also published as: KR101063804B1; KR20100074377A; WO2010074502A3

Abstract

The present disclosure relates to a catheter location indicator that informs a surgical navigation device of the location of a catheter and particularly to a catheter location indicator comprising: an elongated load that forms a body; a first grip that is located at one end side of the elongated load, furnished with a location identifier that interfaces with a location recognition means and mounted so as to move at least lengthwise along the elongated load; and a second grip that is located at the other end side of the elongated load and mounted so as to enable a catheter to move so as to reduce bending of the catheter upon extension from the first grip.

Description

Catheter position indicator

The present disclosure relates generally to catheter position indicators, and more particularly to catheter position indicators that enable the surgical navigation device to know the location of the catheter.

This section provides background information related to the present disclosure which is not necessarily prior art.

1 is a view showing an example of the catheter and the means required to operate the catheter described in US Patent No. 6,783,536, catheter or catheter tube (1), catheter side coupling adapter (2), suction hose side The coupling adapter 3, the suction hose 4, the catheter guide 5, the catheter guide handle 6, and the

magnetic sensors

7, 8 for position recognition are shown. The distal end 10 of the catheter or catheter tube 1 is provided with a plurality of holes for suction. For example, in the case of suction-removal of impurities from the brain, the catheter guide 5 is first inserted into a flexible catheter or catheter tube 1 using the catheter guide handle 6. The distal end 10 of the catheter or catheter tube 1 is positioned at the target point. At this time, since the magnetic sensor (7,8) is mounted on the catheter guide handle (6), the catheter or catheter tube (1) using a surgical navigation device capable of recognizing the position of the magnetic sensor (7,8) ) Is located at the target point. Next, after catheter guide 5 is removed and the catheter side coupling adapter 2 and the suction hose side coupling adapter 4 are combined, suction is performed.

FIG. 2 is a view illustrating an example of a catheter and a catheter position indicator described in US Pat. No. 7,328,057, which is a catheter guide handle having a catheter 102, a catheter guide 104, and a cylindrical portion 112. A catheter position indicator 130 is shown having a coupling portion 131 coupled to the cylinder portion 112. Here, the position recognition by the surgical navigation device is made by the infrared emitter or infrared reflector 132 provided in the catheter position indicator 130.

FIG. 3 is a view showing an example of an operating room described in US Pat. No. 6,235,038, which includes a surgical navigation system 200, a patient 210, an optical sensor 220 (eg, an infrared sensor). Surgical tool 230 (electromagnetic sensor) having a magnetic field generator, an infrared reflector 221 interlocked with the infrared sensor 220 and a surgical tool provided with a coil 231 interlocked with the magnetic field generator of the operating table 230 (eg : Catheter guide) The position recognizer 240 and a reference frame 250 as a reference for position recognition are shown. The surgical navigation device 200 can recognize the surgical tool using the surgical tool position recognizer 240, and the position of the surgical tool on image data (obtained from CT or MRI) of the patient obtained before the surgery. Will be displayed.

4 is a view showing an example of the catheter guide means described in US Pat. No. 6,197,003, which includes a catheter 300 and a ring 311 into which a finger is inserted, which is inserted into the catheter 300 and is a target. The guiding tube 320 is provided with a catheter guide 310 for guiding a point, and a ring 321 for guiding the movement of the catheter 300 into which the catheter guide 310 is inserted and into which a finger is inserted. Doing. The guiding tube 320 may be particularly useful when the catheter guide 310 is made of wire to cause bending.

FIG. 5 shows an example of a catheter assembly as described in US Pat. No. 6,893,421, wherein the catheter end point 126 is interlocked with the slider 142 to allow the catheter end point 126 to pass through the scale 152. A catheter assembly is shown which allows the distance of travel to be known.

FIG. 6 is a view illustrating an example of surgery using a robot described in US Pat. No. 7,453,227. The doctor 400 operates the patient 430 by operating the surgical tool 420 through the robot 410. . As one of the surgical tools 420, the catheter and the catheter guide may also be operated using a surgical robot.

This is described later in the section titled 'Details of the Invention.'

This section provides a general summary of the disclosure and is not a comprehensive disclosure of its full scope or all, provided that this is a summary of the disclosure. of its features).

According to one aspect of the present disclosure (According to one aspect of the present disclosure), a catheter position indicator for informing a surgical navigation apparatus of a position of a catheter, comprising: an elongated rod forming a body; A first grip positioned at one end of the elongated rod, the first grip having a position identifier cooperating with the position recognizing means, the first grip being capable of being mounted such that at least the catheter is movable along the long axis direction of the elongated rod; And a second grip positioned at the other end side of the long rod, the second grip of which the catheter can be movably mounted to reduce the bending of the catheter extending from the first grip. do.

According to another aspect of the present disclosure, a catheter position indicator for informing a surgical navigation apparatus of a catheter position, comprising: an elongated rod forming a body; And at least one grip slidably positioned on the long rod, wherein at least the catheter can be mounted to be movable along the long axis direction of the long rod, wherein one of the at least grips is a position recognizing means. A catheter position indicator is provided that has a position identifier that cooperates with. Here, the one or more grips may be plural and at least two of the plurality of grips may have a location identifier. Through this configuration, it is possible to more surely recognize the catheter by the surgical navigation device.

This is described later in the section titled 'Details of the Invention.'

1 is a view showing an example of the catheter and the means required to operate the catheter described in US Patent No. 6,783,536,

2 is a view showing an example of a catheter and catheter position indicator described in US Patent No. 7,328,057,

3 is a view showing an example of the operating room described in US Patent No. 6,235,038,

4 is a view showing an example of the catheter guide means described in US Patent No. 6,197,003,

5 is a view showing an example of a catheter assembly described in US Pat. No. 6,893,421;

6 is a view showing an example of surgery using a robot described in US Patent No. 7,453,227;

7 is a photo showing an example of a catheter position indicator according to the present disclosure,

8 is a photograph taken from various angles of the first grip;

9 is a photograph taken of the second grip from various angles,

10 is a photograph taken at different angles of the middle grip.

The present disclosure will now be described in detail with reference to the accompanying drawing (s).

7 is a photograph showing an example of a catheter position indicator according to the present disclosure, wherein the catheter position indicator is located on one side of an elongated rod 11 and an elongated rod 11 that form a body and is positioned The catheter and the catheter guide move along the long axis of the long rod 11 with the

projections

12, 13 and 14 and the handle 15 to which the position identifier (e.g., infrared reflector) in conjunction with the means is fixed. A first grip 16 that can be mounted to be capable of being mounted; And it is located in the other end side of the long rod 11, and has the 2nd grip 20 to which a catheter can be movably mounted so that the bending of the catheter extended from the 1st grip 16 may be carried out. Preferably, the catheter position indicator further comprises an intermediate grip 30 positioned on the long rod 11 between the first grip 16 and the second grip 20, on which the catheter can be mounted to be movable. do. More preferably, the intermediate grip 30 is slidable on the long rod 11, thus making it possible to change the support point for the catheter.

By providing the long rod 11, the first grip 16 and the second grip 20, the bending of the catheter guide can be reduced even when a catheter guide in which bending occurs such as a flexible catheter and a wire is used. It becomes possible. This is particularly important when using a surgical navigation system, because if the bending occurs in the catheter guide, the surgical navigation system can not reflect this may cause an error. For example, a catheter guide of 15 cm and a long rod 12 of 25 cm can be used.

Recognition by position recognition means (e.g., infrared sensor, electromagnetic sensor, etc.) enables the catheterization operation to be performed on the image provided by the surgical navigation apparatus, and when working in conjunction with a robot, Apart from the robot, the catheter's position can be recognized. The second grip 20 is provided with a fixing portion 21 which can be fixed to other means such as a robot. If infrared reflectors are used, at least three infrared reflectors are used for position and attitude recognition in three-dimensional space.

FIG. 8 is a photograph taken of the first grip at various angles and is shown with reference to the projection 13 (upper left) and the handle 15 (upper right). The first grip 16 has a through hole 18 (see the lower right), through which the catheter and the catheter guide can be mounted and moved. It is preferably provided with a fixing screw 19 capable of fixing the catheter and the catheter guide. In addition, when a catheter guide having a ring (see FIG. 4) is used, the receiving groove in which the ring is rotated and fitted to the side of the through hole 18 where the fixing screw 19 is positioned instead of the fixing screw 19 ( 19 ') may be formed. When the gap between the through hole 18 and the catheter is increased, and the catheter guide function of the catheter position indicator is weakened, an adjustment member 17 (spacer) for adjusting the gap between the catheter and the through hole is inserted into the through hole. By this, more stable guidance can be performed. It is also possible to form a screw in the handle 15 so that the first grip 16 is fixed after moving on the long rod 11. Further, the long rod 11 may be provided with a scale to move quantitatively when the catheter and the catheter guide are moved by the first grip 16. According to the present disclosure, since the movement of the catheter and the catheter guide is basically understood in the surgical navigation device, the scale is not essential.

FIG. 9 is a photograph of the second grip from various angles, the second grip 20 having a fixing portion 21 which can be fixed to another means such as a robot, and the like. The through hole 22 for a movement is provided. By positioning the second grip 20 on one end side of the long rod 11, it prevents the bending of the flexible catheter and the wire catheter guide, which is particularly useful for reducing their position error in the surgical navigation system. do.

FIG. 10 is a photograph of the intermediate grip from various angles, with a through hole 31 and a fixing screw 32 so as to be movable-locked with respect to the long rod 11.

Hereinafter, various embodiments of the present disclosure will be described.

(1) A catheter position indicator capable of position recognition and guiding to the target point of the catheter and catheter guide.

(2) The catheter position indicator which can suppress the bending of a catheter and a catheter guide in the environment where a surgical navigation apparatus is used.

(3) Catheter position indicator for easy fixing of the catheter guide.

(4) Catheter position indicators that allow the catheter guide to be accurately and / or quantitatively moved from the catheter, while being able to mount and detach them.

(5) A catheter position indicator having versatility by providing an adjusting member (spacer).

(6) A catheter position indicator that can guide and indicate the location of a flexible catheter or catheter tube and a bendable wire.

(7) A catheter position indicator that can be used by a robot and recognizable by a surgical navigation device separately from the robot, thereby enabling to discriminate an error from a target point.

Claims

In the catheter position indicator that informs the surgical navigation device of the position of the catheter,

An elongated rod forming a body;

A first grip positioned at one end of the elongated rod, the first grip having a position identifier cooperating with the position recognizing means, the first grip being capable of being mounted such that at least the catheter is movable along the long axis direction of the elongated rod; And,

And a second grip located at the other end side of the long rod, the second grip being movably mounted to the catheter to reduce the deflection of the catheter extending from the first grip.
The method according to claim 1,

And an intermediate grip positioned on the long rod between the first grip and the second grip, the intermediate grip being movably mounted to the catheter.
The method according to claim 1,

At least one of the first grip and the second grip is a catheter position indicator, characterized in that it has a through hole so that the movement of the flexible catheter is made by the catheter guide in the form of a wire.
The method according to claim 3,

The catheter position indicator, characterized in that it is located in the through-hole, adjusting member for adjusting the distance between the catheter and the through-hole.
The method according to claim 3,

A catheter position indicator, wherein the middle grip is slidable on the long rod.
In the catheter position indicator that informs the surgical navigation device of the position of the catheter,

An elongated rod forming a body; And,

At least one grip slidably positioned on the long rod, the at least one catheter being mounted to be movable along the long axis of the long rod,

One of the at least one grip has a catheter position indicator, characterized in that it has a position identifier which cooperates with the position recognition means.
The method according to claim 6,

And at least two grips, wherein at least two of the plurality of grips have a position identifier.
The method according to claim 6,

One of the at least one grip has a catheter position indicator, characterized in that it has a fixture for securing the catheter position indicator.
The method according to claim 8,

The catheter position indicator, characterized in that the fixed portion is mounted to the robot.
The method according to claim 2,

At least one of the first grip and the second grip is a catheter position indicator, characterized in that the through hole is provided so that the movement of the flexible catheter is made by the catheter guide in the form of a wire.
The method according to claim 7,

One of the at least one grip has a catheter position indicator, characterized in that it has a fixture for securing the catheter position indicator.