KR102164496B1 - A Catheter comprising at least two accordion-type tube structures capable of moving continuously back and forth - Google Patents

Abstract

According to an embodiment of the present invention, a catheter comprising a double corrugated tube structure capable of continuously moving forward and backward is at least two or more tubes having different diameters, and at least one of the at least two or more tubes is constant. A stopper capable of inhibiting movement in a direction, actuators connected to each of the at least two or more tubes, each of the at least two or more tubes has an accordion-shaped corrugation formed, the at least The front ends of two or more tubes are fixed to a single hollow holder.

Description

A catheter comprising at least two accordion-type tube structures capable of moving continuously back and forth}

The present invention relates to a catheter that doubles a corrugated tube structure capable of continuously moving forward and backward, and more specifically, to a catheter including a corrugated tube structure capable of moving forward and backward using hydraulic or pneumatic pressure. About.

In recent years, research on the technique of performing minimally invasive surgery has been increasing in order to improve the recovery effect of patients after disease treatment.

This, minimally invasive surgery is a typical method using a catheter (catheter).

A catheter is a thin tube extruded using a medical material, and is a medical device inserted into the human body, and has been applied in various diseases such as cardiovascular, urinary, gastrointestinal, and neurovascular.

In particular, due to its flexible and soft nature, the catheter can bend its structure and is less likely to cause damage to the body.

However, since it is flexible and soft, it is very difficult for the catheter to reach the correct lesion location within the blood vessels located in a complex entangled and bent state in the human body, and most of them rely on the experience and skill of the catheter operator for its accuracy.

In addition, in order to minimize contact of the catheter to the vessel wall in a vessel having a complex structure, it must be able to move very accurately and slowly within the vessel.

Conventionally, most of the catheter was inserted into the body from the outside of the body by the operator, and when X-rays were taken after insertion of the catheter into the body, a detection signal was generated from the metal marker at the tip of the catheter, and the current position of the catheter could be confirmed from the X-ray image.

In addition, in order to insert a catheter or check the position of the inserted catheter in the related art, a robot arm-type multi-joint structure using a small electric motor was used.

However, in the conventional manual catheter insertion method, all processes were performed depending on the judgment of the operator, and X-rays were required several times in order for the operator to determine the state of the inserted catheter.

Due to this, there was also a disadvantage that the operator and the patient were exposed to excessive radiation.

On the other hand, the robot arm-type multi-joint structure using a small electric motor has a disadvantage in that it cannot accurately predict the state of the catheter inserted outside the body and the position of the catheter part located in the body.

The present invention provides a catheter including a double corrugated tube structure capable of continuously moving forward and backward movement capable of precisely moving in a human body in order to improve the above-described problems.

In addition, the present invention provides a catheter including a double corrugated structure using air pressure or hydraulic pressure relatively harmless to the human body as a driving source for modifying the catheter structure in order to improve the other problems described above.

The present invention is to achieve the above object, at least two or more tubes having different diameters from each other, a stopper capable of inhibiting at least one of the at least two or more tubes from moving in a certain direction, the And actuators connected to each of at least two or more tubes, each of the at least two or more tubes has an accordion-shaped corrugation formed, and a front end portion of the at least two or more tubes is a single holder having a hollow shape. It provides a catheter that includes a double corrugated tube structure that is fixed in) and can continuously move forward and backward.

The at least two or more tubes include a first tube formed to have a constant diameter, a second tube disposed to be in contact with an outside of the first tube and having a larger diameter than the first tube, and the first and second tubes The accordion-shaped corrugation may be formed in the tube from the front end of the first and second tubes to a portion corresponding to a predetermined length of the total lengths of the first and second tubes.

The stopper may suppress the movement of the first tube backward.

The stopper includes at least two rollers, and the two rollers can rotate only in a certain direction.

The first tube may be longer than the second tube.

The actuators include first and second actuators respectively connected to the first and second tubes, and the first and second actuators may be actuators operated by hydraulic pressure or pneumatic pressure.

Further comprising a control unit capable of respectively controlling the first and second actuators, wherein the control unit controls the second actuator connected to the second tube prior to the first actuator to adjust the length of the second tube Can be adjusted before length.

The predetermined length may be at least one of a half, a third and a quarter of the total length of the tube.

The holder is composed of a plate having a constant thickness, the constant thickness may be any one of 1mm to 5mm.

In addition, the present invention is a method of changing the length of the catheter by using a catheter including a double corrugated tube structure capable of moving forward and backward, in order to achieve the above other object, the controller sends a signal to the second actuator The first step of expanding the second tube, after the first step, the control unit is configured to maintain the pressure applied by the second actuator to the second tube so that the second tube can be maintained in an expanded state. The second step of sending a signal to the actuator, after the second step, when the expansion of the second tube in the d group is completed, to allow the first tube expanded together along the second tube to maintain the expanded state. , A third step in which the controller sends a signal to the first actuator so that the first actuator applies a constant pressure to the first tube, and after the third step, in order to contract the second tube, the second actuator After the fourth and fourth steps in which the control unit sends a signal to the second actuator to remove the pressure applied to the second tube, the first actuator is applied to the first tube to contract the first tube. It provides a method of varying the length of the catheter comprising a fifth step of the control unit sending a signal to the first actuator to remove the applied pressure.

The third step may further include a 3-1 step in which the control unit applies a stopper to the first tube when the expansion of the first tube is completed.

After the second step, when the first tube also starts to expand due to the expansion of the second tube, in order to promote the overall expansion of the first and second tubes by maintaining the expansion rate and expansion rate of the first tube, 1 The controller may further include step 2-1 in which the controller sends a signal to the first actuator so that the actuator applies a constant pressure to the first tube.

The catheter including a double corrugated tube structure capable of continuously moving forward and backward according to the present invention can move accurately and precisely within the human body, so that it can reach the patient's lesion accurately and greatly increase the patient's treatment potential.

In addition, the catheter including a double corrugated tube structure capable of continuously moving forward and backward according to the present invention uses hydraulic or pneumatic pressure as a driving source for structural deformation, so it is more effective on the human body than the conventional method using magnetic material or electric force. Harmless

1 is a perspective view illustrating a catheter including a double corrugated tube structure capable of continuously moving forward and backward according to an embodiment of the present invention.
2 is a cross-sectional view showing the structure of a catheter according to an embodiment of the present invention.
3 is a perspective view showing a holder according to an embodiment of the present invention.
4 is a diagram illustrating a process of operating a catheter according to an embodiment of the present invention.
5 is a flow chart showing step-by-step a method of changing the length of a catheter using a catheter according to an embodiment of the present invention.

All the embodiments described below are illustratively shown to aid understanding of the present invention, and may be modified differently from the embodiments described herein and implemented in various embodiments. In addition, in describing the present invention, when it is determined that a detailed description of a related known function or known component may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted.

The accompanying drawings are not drawn to scale to aid understanding of the invention, but dimensions of some components may be shown exaggeratedly, and when reference numerals are given for each component, other drawings for the same components Even if it is indicated in, it is indicated with the same symbol as possible.

In addition, terms such as first, second, A, B, (a), and (b) may be used in describing the constituent elements of the embodiment of the present invention. These terms are only used to distinguish the component from other components, and the nature, order, or order of the component is not limited by the term. When a component is described as being'connected','coupled' or'connected' to another component, the component may be directly connected, coupled or connected to the other component, but that component and its other components It will be understood that another component may be'connected','coupled' or'connected' between elements.

Accordingly, the embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention, and do not represent all the technical ideas of the present invention, so there may be various modified embodiments of the present invention. .

In addition, terms or words used in the present specification and claims should not be limited to conventional or dictionary meanings, and that the inventor can appropriately define the concept of terms in order to describe his own invention in the best way. Based on the principle, it should be interpreted as a meaning and concept consistent with the technical idea of the present invention.

In addition, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, only these embodiments are intended to complete the disclosure of the present invention, and the general knowledge in the technical field to which the present invention pertains. It is provided to completely inform the scope of the invention to those who have it, and the invention is only defined by the scope of the claims.

In addition, the singular expression used in the present application includes a plural expression unless the context clearly indicates otherwise.

Hereinafter, a catheter 100 including a double corrugated tube structure capable of continuously moving forward and backward according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 4.

1 is a perspective view showing a catheter including a double corrugated tube structure capable of continuously moving forward and backward according to an embodiment of the present invention, and FIG. 2 is a cross-sectional view showing the structure of a catheter according to an embodiment of the present invention And Figure 3 is a perspective view showing a holder according to an embodiment of the present invention. In addition, Figure 4 is a view showing a process of operating the catheter according to an embodiment of the present invention.

Referring to FIG. 1, a catheter 100 including a double corrugated tube structure capable of continuously moving forward and backward according to an embodiment of the present invention includes at least two or more tubes 1010 and 1020 having different diameters. , A stopper (1030, 1031), and at least two or more actuators (1051, 1052).

In the present embodiment, for convenience of description, at least two or more tubes 1010 and 1020 will be described as an example including first and second tubes 1010 and 1020.

However, the number of tubes is not limited by the present description and the drawings, and the catheter 100 having a double tube structure according to the present invention may include a larger number of tubes.

The first tube 1010 according to the present embodiment is formed to have a constant diameter, and the first tube 1010 may be formed to have a diameter smaller than the diameter of a human capillary vessel.

The second tube 1020 according to the present embodiment is disposed outside the first tube 1010 so as to contact the outside of the first tube 1010, and has a larger diameter than the first tube 1010, but It is formed to have a smaller diameter than blood vessels.

Meanwhile, the first and second tubes 1010 and 1020 have an accordion shape from the respective front ends 1011 and 1021 to a portion corresponding to a certain length among the total lengths of the first and second tubes 1010 and 1020. -type) wrinkles are formed.

These accordion-type wrinkles are formed over a certain length region in each of the first and second tubes 1010 and 1020, as shown in FIGS. 1 and 2, and have a constant gap between the wrinkles. Regular wrinkles are formed.

Regions in which accordion-shaped wrinkles are formed in each of the first and second tubes 1010 and 1020 are front ends 1011 of each of the first and second tubes 1010 and 1020 as shown in FIGS. 1 to 4. It may be formed in a region corresponding to a quarter of the total length of the first and second tubes 1010 and 1020 from 1021.

However, in the present invention, the region in which the accordion-shaped wrinkles are formed is from the first and second front ends 1011 and 1021 of the first and second tubes 1010 and 1020 as shown in the description and drawings of the present invention. It is not limited to a quarter of the total length of the tubes 1010 and 1020, and the first and second tubes 1010 and 1020 from the front ends 1011 and 1021 of the first and second tubes 1010 and 1020 ) May be formed over a region corresponding to a third or a half of the total length, and the first and second from the front ends 1011 and 1021 of the first and second tubes 1010 and 1020 It may be formed in a fifth of the total length of the tubes 1010 and 1020.

That is, in the present invention, the area in which the accordion-shaped wrinkles are formed may be variously set, and this may be set according to the purpose of which part of the human body the catheter 100 is used.

On the other hand, the accordion-shaped corrugation is forward in the front portion of the first and second tubes 1010 and 1020 or in the direction D1 (refer to FIGS. Or it is preferably formed in the front part.

Because, since the first and second tubes 1010 and 1020 are inserted from the human skin and proceed to the lesion location along the blood vessels in the body, the catheter 100 moving in the blood vessels, that is, mainly capillaries, is This is because it is preferable that the front portions of the first and second tubes 1010 and 1020 are formed in a flexible structure at the same time easy to move forward in order not to damage the tube.

These accordion-shaped wrinkles allow the front ends 1011 and 1021 of the first and second tubes 1010 and 1020 to have elasticity and flexibility, and provide a function of linear motion in a certain direction.

Each of the first and second tubes 1010 and 1020 may repeatedly contract or increase in length due to such wrinkles, and may advance a precise distance in the capillary vessel.

Further, as shown in FIGS. 1 to 4, in the present embodiment, the first tube 1010 is formed longer than the second tube 1020.

Because, in this embodiment, the first tube 1010 is a tube including an inner luman 1012 or an inner tube 1012 into which a medical device is inserted, as shown in FIG. 2, and is used to guide the medical device. Because it is a tube, it is a tube that should be located closest to the operator.

However, the second tube 1020 according to the present embodiment includes a tube in which a guide lumen 1001 or a guide tube 1001 for guiding the first tube 1010 is formed, as shown in FIG. 2. As a guide tube, it is sufficient to form only a length enough to guide the linear motion of the first tube 1010.

Accordingly, in this embodiment, the first tube 1010 is formed longer than the second tube 1020.

However, the length relationship between the first and second tubes 1010 and 1020 is not limited by the above description and illustration of the drawings, and the length relationship between the first and second tubes 1010 and 1020 is the second tube The 1020 may be formed to be longer than the first tube 1010, and this may vary depending on how the roles and functions of the first and second tubes 1010 and 1020 are set.

That is, the roles and functions of the first and second tubes 1010 and 1020 may be set to have various functions and roles different from the present embodiment in other embodiments, and accordingly, the first and second tubes 1010 , 1020) may be set to be more diverse than in the present embodiment.

Meanwhile, the second tube 1020 may be made of a more flexible and soft material than the first tube 1010 in order not to damage the body in the process of guiding the first tube 1010.

Meanwhile, the front ends 1011 and 1021 of each of the first and second tubes 1010 and 1020 according to the present embodiment are fixed to one holder 1040 as shown in FIGS. 1 and 2. 3, the holder 1040 includes a first groove 1041 and a second groove 1042 to which the front ends 1011 and 1021 of the first and second tubes 1010 and 1020 can be coupled. Includes.

The front ends 1011 and 1021 of the first and second tubes 1010 and 1020 are coupled to the first groove 1041 and the second groove 1042, so that the catheter 100 is In the initial state before starting the movement, the front ends 1011 and 1021 of the first and second tubes 1010 and 1020 are positioned on the same plane P1 by the holder 1040.

First, in the present invention, the holder 1040 may be configured as a circular plate in which a hollow 1041 is formed, as shown in FIG. 3. However, the shape of the holder 1040 is not limited by FIG. 3 and the present description, and the front ends 1011 and 1021 of the first and second tubes 1010 and 1020 are positioned on the same plane P1. As long as it can be fixed, there is no problem with any shape.

However, in the following description, the holder 1040 according to the present embodiment is a plate in which a circular hollow 1041 is formed as a circular plate.

This is because, when the holder 1040 is configured in a circular shape, the catheter 100 can minimize damage to the inside of the human body in a complex tube structure within the human body such as blood vessels.

In addition, the circular hollow 1041 formed in the holder 1040 is configured to be connected to the approach section 1011a formed in the first tube 1010, as shown in FIGS. 2 to 4.

The approach section 1011a formed in the first tube 1010 is a portion that allows a medical device or medical device inserted into the body through the first tube 1010 to protrude from the first tube 1010 to contact the body. .

Accordingly, the circular hollow 1041 formed in the holder 1040 allows the medical instrument protruding through the approach section 1011a to be exposed into the body.

In addition, the holder 1040 is composed of a plate having a constant thickness, in this case, the constant thickness can be adjusted if necessary.

However, in the present embodiment, the thickness of the holder 1040 is preferably formed to be 1mm to 5mm.

Because, when the thickness of the holder 1040 is too thick, the holder 1040 coupled to the first and second tubes 1010 and 1020 becomes too heavy, and the first and second tubes 1010 and 1020 in the body ) Is inserted, the front ends (1011, 1021) of the first and second tubes (1010, 1020) to which the holder (1040) is coupled are skewed in either direction, causing damage to the body. Because there are many.

Meanwhile, the stoppers 1030 and 1031 according to the present embodiment serve to suppress at least one of the at least two or more tubes from moving in a certain direction.

When the stoppers 1030 and 1031 are described in more detail with reference to FIGS. 2 and 4, when the first tube 1010 proceeds in the direction D1, which is the arrow direction shown in FIGS. 2 and 4, the stopper ( 1030 and 1031 are configured to inhibit the first tube 1010 from traveling in the direction opposite to the D1 direction while not preventing the first tube 1010 from traveling in the D1 direction.

That is, when the direction D1 in FIGS. 2 and 4 is defined as the direction in which the first tube 1010 moves forward, the direction opposite to the direction D1 is defined as the direction in which the first tube 1010 moves backward, and the stopper 1030, 1031 is configured to suppress the backward movement of the first tube 1010.

On the other hand, in this embodiment, the stoppers 1030 and 1031 contact two opposite surfaces of the first tube 1010 as shown in FIGS. 2 and 4 to efficiently move the first tube 1010 in one direction. It consists of at least two stoppers 1030, 1031, which are guaranteed.

Further, the two stoppers 1030 and 1031 are composed of rollers 1030 and 1031 that rotate only in certain directions R1 and R2, as shown in FIGS. 2 and 4.

However, in the present embodiment, the fact that the stoppers 1030 and 1031 are composed of two rollers 1030 and 1031 is only illustrative of the shapes of various stoppers according to the present invention, and the stoppers 1030 and 1031 It is not necessarily limited to be composed of two rollers 1030 and 1031. Accordingly, the stoppers 1030 and 1031 may be configured to have various structures in addition to the rollers.

However, for convenience of explanation, the stoppers 1030 and 1031 according to the present invention will be described below by way of example consisting of two rollers 1030 and 1031.

The two rollers 1030 and 1031 are based on the first tube 1010 shown in FIG. 2, the first roller 1030 in contact with the upper surface of the first tube 1010 and the lower surface of the first tube 1010 It consists of two rollers of the second roller 1031 in contact with.

At this time, the first roller 1030 and the second roller 1031 are configured to assist only the movement of the first tube 1010 in the D1 direction and suppress the movement in the opposite direction to the D1 direction, respectively. Since they come into contact with the upper and lower surfaces, the rotation directions of the first roller 1030 and the second roller 1031 are configured to be opposite.

That is, as shown in FIGS. 2 and 4, the first roller 1030 is configured to rotate in a clockwise direction R1, and the second roller 1031 is configured to rotate in a counterclockwise direction R2.

Accordingly, the first and second rollers 1030 and 1031 only help the first tube 1010 to move in the D1 direction, and suppress the first tube 1010 from moving in the opposite direction to the D1 direction.

Meanwhile, the actuators 1051 and 1052 according to the present invention are actuators 1051 and 1052 connected to each of at least two or more tubes, and as shown in FIG. 2, the actuators 1051 according to the present embodiment. The, 1052 is configured to supply pressure to the first and second tubes 1010 and 1020 or to remove the pressure applied to the first and second tubes 1010 and 1020.

Accordingly, in this embodiment, the actuators 1051 and 1052 include first and second actuators 1051 and 1052 respectively connected to the first and second tubes 1010 and 1020, and the first and second actuators Each of 1051 and 1052 is composed of an actuator operated by hydraulic or pneumatic pressure.

The reason why the actuators 1051 and 1052 according to the present embodiment use hydraulic pressure or pneumatic pressure as a driving source is that when the actuator is operated using electromagnetic force as a driving source, the electromagnetic force may adversely affect the human body.

In addition, as shown in FIG. 2, the first and second actuators 1051 and 1052 apply pressure to the wrinkles formed on the front ends 1011 and 1021 of the first and second tubes 1010 and 1020, respectively. Alternatively, in order to remove the applied pressure, the first and second tubes 1010 and 1020 are fluidly connected with the first pipe 1013 and the second pipe 1023 formed inside each of the first and second tubes 1010 and 1020.

Meanwhile, the catheter 100 according to the present invention further includes a controller 1060 capable of controlling the first and second actuators 1051 and 1052, respectively.

The control unit 1060 according to the present invention controls the second actuator 1052 connected to the second tube 1020 prior to the first actuator 1051, and adjusts the length of the second tube 1020 to the first tube 1010. It is configured to adjust before its length.

This is because, as described above, the second tube 1020 serves as a guide lumen to adjust the expansion and contraction of the first tube 1010.

Hereinafter, the operation of the catheter 100 according to the present embodiment will be described in detail with reference to Tables 1 and 4 below.

[Table 1]

As shown in Table 1, the first step is a state in which both the first and second tubes 1010 and 1020 are contracted, and the catheter 100 including the first and second tubes 1010 and 1020 is It represents the initial state before being inserted into the body or just after being inserted into the human body, and before linear movement.

This first step is shown in (a) of FIG. 4, and the front ends 1011 and 1021 of the first and second tubes 1010 and 1021 are all located on the same plane P1 in the initial state.

Referring to Table 1, the second step is a step in which the first tube 1010 maintains a contracted state, but the second tube 1020 undergoes an expansion change.

In this step, a distance corresponding to half of the amount by which the length of the second tube 1020 increases due to the expansion of the front end portion 1021 of the second tube 1020 in which the corrugation is formed is the second tube 1020 The front end portion 1021 is moved.

That is, referring to (b) of FIG. 4, pressure is applied to the wrinkle formed in the second tube 1020 from the second actuator 1052 and the wrinkle expands, and the front end 1021 of the second tube 1020 and The front end portion 1011 of the first tube 1010 advances from the plane P1 in the initial state by a distance corresponding to a half of the increase in the length of the second tube 1020.

Referring to Table 1, the third step is a step in which the second tube 1020 is maintained in an expanded state, and the first tube 1010 is also expanded.

Referring to FIG. 4C, in the third step, the first tube 1010 expands as much as the second tube 1020 is expanded, so substantially includes the first and second tubes 1010 and 1020. Since the catheter 100 is also advanced by the amount of change in the length of the first tube 1010, that is, in this case, the first tube 1010 is also advanced by a half of the increase in the length of the second tube 1020. The catheter 100 is advanced.

At this time, in order to help the first tube 1010 to expand, the first actuator 1051 may apply a constant pressure to the first tube 1010.

Referring to Table 1, the fourth step is a step in which the first tube 1010 is maintained in an expanded state and the second tube 1020 is contracted and changed.

In order for the catheter 100 to continuously advance in the body, it is necessary to contract the wrinkles included in the second tube 1020 to the original initial state from the state in which the wrinkles are maximally expanded.

Accordingly, the second actuator 1052 removes the pressure applied to the second tube 1020, and as shown in (d) of FIG. 4, the wrinkles formed on the front end 1021 of the second tube 1020 are Contracts.

However, in this step, in order to maintain the expanded state of the first tube 1010, a constant pressure is continuously applied from the first actuator 1051 or the state in which the pressure is applied is maintained, so that the shear of the first tube 1010 The wrinkles formed in the portion 1011 remain in an expanded state.

Therefore, as shown in (d) of FIG. 4, when looking at the catheter 100 including both the first and second tubes 1010 and 1020 as a whole, do not move backward from the advanced position in the second and third steps. It can be seen that it maintains a stopped state.

Meanwhile, referring to Table 1, in the fifth step, when the second tube 1020 contracts back to its initial state and prepares for the second advance, the first tube 1010 also contracts and changes to make the second advance. This is the stage of preparing for.

Referring to (e) of FIG. 4, the first actuator 1051 removes the pressure applied to the first tube 1010, and the second tube 1020 is initially removed by the second actuator 1052. Will continue to maintain the state of contraction.

At this time, as the first tube 1010 is contracted, a length change of the first tube 1010 may occur, and a distance corresponding to a half of the amount of the change in the length of the first tube 1010, The first tube 1010 may move backward in a direction opposite to D1.

However, in this embodiment, since there are two rollers 1030 and 1031 that prevent the first tube 1010 from moving backward, the first tube 1010 does not substantially move backward, and as a result, the first tube 1010 The front end 1011 of the tube 1010 is located at the P2 position, as shown in FIG. 4E, and the catheter 100 including the first and second tubes 1010 and 1020 is finally P1 It moves as much as L1 from to P2.

Therefore, the catheter 100 according to the present invention can make the linear movement of the first tube 1010 very precisely by the second tube 1020 formed with corrugations having regular intervals, and the first and the first 2 Since the tubes 1010 and 1020 are both flexible, the fear of damaging the catheter inserted into the body is also minimized.

Hereinafter, a method of changing the length of the catheter using a catheter including a double corrugated tube structure capable of moving forward and backward according to an embodiment of the present invention will be described in detail with reference to FIG. 5.

In describing the method of changing the length of the catheter 100 according to the present embodiment, for convenience of explanation, a catheter including a double corrugated tube structure capable of moving forward and backward according to an embodiment of the present invention ( For the same configuration as 100), detailed descriptions and drawings may be omitted.

5 is a flow chart showing step-by-step a method of changing the length of a catheter using a catheter according to an embodiment of the present invention.

First, when the catheter 100 according to the present invention is inserted into the body in order to reach the location of the lesion causing the disease in the body, the control unit 1060 according to the present invention first sends a signal to the second actuator 1052 The second tube 1020 is expanded (S1001).

That is, the control unit 1060 applies hydraulic or pneumatic pressure to the second tube 1020 through the second actuator 1052 to expand the second tube 1020 in the direction D1 of the arrow shown in FIGS. 2 and 4.

Since the second tube 1020 is configured to expand more easily in the direction D1 by the accordion-shaped corrugation, the diameter of the second tube 1020 increases even when air pressure or water pressure is applied to the second tube 1020 Does not expand well with.

Rather, when hydraulic or pneumatic pressure is applied to the inside of the second tube 1020, the corrugation is stretched in the longitudinal direction of the second tube 1020 by the accordion-shaped corrugation, and the outer surface of the second tube 1020 is The total diameter, including the distance of, becomes smaller.

That is, in this embodiment, when the second tube 1020 expands while maintaining the initial state of the first tube 1010, a length change occurs in the longitudinal direction of the second tube 1020, and is shown in FIG. The front end portion 1021 of the second tube 1020 from the reference plane P1 in the initial state is advanced a predetermined distance in the direction D1.

In this case, the predetermined distance moving forward is a distance corresponding to 1/2 of a value obtained by subtracting the total length value of the second tube 1020 in the initial state from the total length value of the second tube 1020 in the expanded state.

On the other hand, when the second tube 1020 is sufficiently expanded to advance the above-described predetermined distance, the control unit 1060 signals the second actuator 1052 to maintain the expanded state of the second tube 1020. Is sent (S1002).

In addition, when the second actuator 1052 receives a signal from the control unit 1060 to maintain the pressure applied to the second tube 1020, the internal pressure does not drop while the inside of the second tube 1020 is increased from the initial state. To control the internal pressure of the second tube.

On the other hand, when the pressure inside the second tube 1020 is increased by the second actuator 1052 and the second tube 1020 expands in the direction D1 shown in FIG. 4, the second tube 1040 The first tube 1010 connected to the front end 1021 of the 1020 also starts to extend in the D1 direction (S1003).

That is, as shown in FIG. 4, since the front end 1011 of the first tube 1010 and the front end 1021 of the second tube 1020 are fixed by a single holder 1040, the second As the tube 1020 expands, when the front end 1021 of the second tube 1020 moves, the front end 1011 of the first tube 1010 by the holder 1040 is also the second tube 1020 ) Because it moves in the same direction as the front end portion 1021.

At this time, when the controller 1060 detects the expansion of the first tube 1010, the first actuator 1051 is applied to the first tube 1010 in order to maintain the expansion rate and the expansion rate of the first tube 1010. In order to apply a constant pressure, a signal may be sent to the first actuator 1051.

That is, from the moment when the second tube 1020 starts to expand to the moment when the expansion is completed, the first tube 1010 expands like the second tube 1020 by the holder 1040, and the first tube 1010 ), a change occurs in the total length.

In addition, as shown in FIG. 4, as shown in FIG. 4, the amount of change in length due to expansion of the second tube 1020 (from the total length value of the second tube 1020 in the expanded state) It advances by 1/2) of the value minus the total length of the tube 1020.

On the other hand, when the expansion of the second tube 1020 is completed, the control unit 1060 according to the present embodiment can maintain the expanded state of the first tube 1010 that expanded together along the second tube 1020. In order to do so, the first actuator 1051 controls to apply a constant pressure to the first tube 1010 (S1004).

That is, as shown in FIG. 4, the controller 1060 transmits a signal to the first actuator 1051 to control the first tube 1010 to inject hydraulic pressure or air pressure.

In addition, when the control unit 1060 detects that the expansion of the first tube 1010 is complete, the stoppers 1030 and 1031 are configured to prevent the first tube 1010 from moving in the opposite direction to the D1 direction. It can be applied to the tube 1010 (S1005).

That is, referring to FIG. 4, the two rollers 1030 and 1031 contact the upper and lower surfaces of the first tube 1010, respectively, and are configured to help only the movement of the first tube 1010 in the D1 direction. In this case, one roller 1030 should be configured to rotate in the opposite direction to the other roller 1031.

The control unit 1060 may apply a brake so that the two rollers 1030 and 1031 whose rotation directions are opposite to each other do not rotate.

In addition, the controller 1060 presses the first tube 1010 with a constant pressure by the two rollers 1030 and 1031 to more effectively move the first tube 1010 backward, that is, in a direction opposite to the D1 direction. You can restrain movement.

That is, the first tube 1010 may also expand according to the expansion of the second tube 1020 connected by the holder 1040 without a separate expansion power source (water pressure or pneumatic pressure).

However, if the first actuator 1051 does not maintain the hydraulic pressure or air pressure applied to the first tube 1010, the first tube 1010 is affected by the elasticity of the wrinkles formed in the front end portion 1011 of the first tube 1010. Accordingly, since the first tube 1010 in the initial state is about to be contracted, in order to prevent the contraction of the first tube 1010 that may occur due to the elasticity of the wrinkle, the stoppers 1030 and 1031 are connected to the first tube ( 1010).

After that, the control unit 1060 contracts the second tube 1020 in order to allow the second tube 1020 to make a second advance (S1006).

That is, the controller 1060 controls the second actuator 1052 to remove the pressure applied to the second tube 1020 in order to contract the already expanded second tube 1020. To this end, the control unit 1060 sends an input removal signal to the second actuator 1052 so that the second actuator 1052 removes the hydraulic pressure or the air pressure injected into the second tube 1020.

On the other hand, when the pressure in the second tube 1020 is removed, the control unit 1060 contracts the first tube so that the first tube 1010 can also advance in the second direction (S1007).

To this end, the control unit 1060 sends an input removal signal to the first actuator 1051 so that the first actuator 1051 removes the water pressure or air pressure applied to the inside of the first tube 1010 as shown in FIG. Control.

That is, as a result, referring to FIG. 4, the front ends of the first and second tubes 1010 and 1020 by the above-described control unit 1060 controlling the first and second actuators 1051 and 1052 1011 and 1021 advance a certain distance L1 from the initial position P1 in the direction D1 to move to the second position P2.

In addition, when the first and second tubes 1010 and 1020 move to the P2 position and maintain a contracted state, the controller 1060 advances the catheter 100 by repeating the above-described processes to the user or the operator. It is possible to ask whether to do it (S1008).

When the user or the operator of the catheter 100 according to the present invention wants to further advance the catheter 100, by inflating the second tube 1020 again, the above-described process is repeated to move the catheter 100 back from the P2 position. You can move forward.

That is, the catheter 100 including a double corrugated tube structure capable of continuously moving forward and backward according to the present invention, and the method of changing the length of the catheter 100, in which at least two tubes are sequentially expanded and contracted. Through the method, it allows the catheter to move in a straight line with precision and precision.

In addition, since the practitioner using the catheter 100 according to the present invention can know the pitch of the wrinkles formed in the first and second tubes 1020 in advance, the wrinkles included in the catheter 100 located in the body By grasping the number, it is possible to intuitively grasp the length of the catheter inserted into the body without separate sensing or calculation.

Although the embodiments of the present invention have been described in more detail with reference to the accompanying drawings, the present invention is not necessarily limited to these embodiments, and various modifications may be made without departing from the spirit of the present invention.

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these embodiments. Therefore, it should be understood that the embodiments described above are illustrative and non-limiting in all respects. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present invention.

100: catheter
1010: first tube
1020: second tube
1030, 1031: first and second rollers
1040: holder
1051, 1052: first and second actuators
1060: control unit

Claims (12)

At least two or more tubes having different diameters from each other;
A stopper capable of preventing at least one of the at least two or more tubes from moving in a certain direction; And
Including actuators connected to each of the at least two or more tubes,
Each of the at least two or more tubes has an accordion-shaped corrugation, and the front ends of the at least two or more tubes are fixed to a single holder with a hollow, and can be continuously moved forward and backward. A catheter with a double tube structure.
The method according to claim 1,
The at least two or more tubes,
A first tube formed with a constant diameter;
And a second tube disposed to be in contact with the outside of the first tube and having a larger diameter than the first tube,
The first and second tubes,
A corrugated tube structure capable of continuously moving forward and backward, in which the accordion-shaped corrugation is formed from the front end of the first and second tubes to a portion corresponding to a certain length of the total length of the first and second tubes A catheter containing a double.
The method according to claim 2,
The stopper is a catheter comprising a double corrugated tube structure capable of continuously moving forward and backward, capable of suppressing the movement of the first tube backward.
The method of claim 3,
The stopper includes at least two rollers, the two rollers rotating only in a certain direction, a catheter including a double corrugated tube structure capable of continuously moving forward and backward.
The method according to claim 2,
The first tube is a catheter having a double corrugated tube structure that is longer than the second tube and capable of continuously moving forward and backward.
The method according to claim 2,
The actuators,
Including first and second actuators respectively connected to the first and second tubes,
The first and second actuators are actuators operated by hydraulic pressure or pneumatic pressure, and a catheter having a double corrugated tube structure capable of continuously moving forward and backward.
The method of claim 6,
Further comprising a control unit capable of respectively controlling the first and second actuators,
The control unit controls the second actuator connected to the second tube before the first actuator to control the length of the second tube before the length of the first tube, and doubles the corrugated tube structure capable of continuously moving forward and backward. Catheter containing as.
The method according to claim 2,
The constant length is at least one of a half, a third and a quarter of the total length of the tube, a catheter including a double corrugated tube structure capable of continuously moving forward and backward.
The method according to claim 1,
The holder is composed of a plate having a constant thickness, the constant thickness is any one of 1mm to 5mm, a catheter comprising a double corrugated tube structure capable of continuously moving forward and backward.
In the method of changing the length of the catheter using a catheter including a double corrugated tube structure capable of moving forward and backward,
A first step of inflating the second tube by the control unit sending a signal to the second actuator;
After the first step, the control unit sends a signal to the second actuator to maintain the pressure applied by the second actuator to the second tube so that the second tube can be maintained in an expanded state;
After the second step, when the expansion of the second tube is completed, in order to maintain the expanded state of the first tube that has expanded along the second tube, the first actuator is constant in the first tube. A third step of the control unit sending a signal to the first actuator to apply pressure;
After the third step, a fourth step in which the controller sends a signal to the second actuator so that the second actuator removes the pressure applied to the second tube in order to contract the second tube; And
After the fourth step, in order to contract the first tube, the first actuator comprises a fifth step of sending a signal to the first actuator so that the first actuator removes the pressure applied to the first tube. How to change the length.
The method of claim 10,
The third step,
When the expansion of the first tube is completed, the control unit further comprises a 3-1 step of applying a stopper to the first tube, the method of changing the length of the catheter.
The method of claim 10,
After the second step, when the first tube also starts to expand due to the expansion of the second tube, in order to promote the overall expansion of the first and second tubes by maintaining the expansion rate and expansion rate of the first tube, 1 The method of changing the length of the catheter further comprising the step 2-1 of the control unit sending a signal to the first actuator so that the actuator applies a constant pressure to the first tube.

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