Patent Description:
In order to treat vascular disease at a narrowed or blocked portion due to thrombosis or the like, it is common to proceed with coronary angioplasty in a sequence of inserting a catheter through the femoral artery, dilating blood vessels by manual operation of a doctor, and installing an instrument capable of maintaining the dilated blood vessels. However, it is difficult to apply the above procedure to complex blood vessels, due to the structural characteristics of the catheter, and the success of the procedure significantly depends on the skill of the doctor.

Recently, researches on a vascular treatment magnetic robot that can be operated wirelessly are being actively conducted in order to overcome the disadvantages of the catheter, however, most of the magnetic robots having been developed so far are single module units, and mainly swim and move without touching intravascular walls or move using a frictional force generated by contacting the intravascular walls. Under the environment where diameters vary, pulsations occur, blood vessels move, or the like, there is a limit to smoothly operating the magnetic robot as well as maintaining positions and postures thereof.

In addition, the previously developed wireless magnetic robots for vascular treatment have not considered bloodstream. Since the wireless magnetic robot driven in blood vessels is mounted with a micro-sized magnet, a generated propulsive force is insufficient to beat the bloodstream. Accordingly, it is very difficult to deliver the robot to the lesion, and the risk of loss of the wireless magnetic robot is very high in the process of delivery and retrieval. In addition, even when reaching the lesion, it is difficult to perform the therapeutic function due to the bloodstream. In order for the wireless magnetic robot to safely perform the therapeutic function in the human body and to be retrieved, there is a need for a catheter capable of selectively separating and fastening the robot to deliver the robot to the lesion and assisting the therapeutic function of the wireless magnetic robot.

<CIT> discloses a magnetic robot system comprising: a catheter having a first magnet coupling part provided at the front end thereof; and a mobile robot having a second magnet coupling part provided at the rear end thereof, and having a driving magnet, wherein the mobile robot is coupled to the catheter by means of magnetic force between the first magnet coupling part and the second magnet coupling part, and the magnetic force coupling of the first magnet coupling part and the second magnet coupling part can be released by rotating magnetic torque generated by the driving magnet because of the application of external rotating magnetic force. <CIT> describes a catheter-based magnetically driven microrobot capable of wireless power transmission. <CIT> discloses a micro robot comprises a main body, inclined legs, a magnetic element or first magnetic force generating unit, and a second magnetic force generating unit. The magnetic element or first magnetic force generating unit is installed inside the main body. The second magnetic force generating unit bends the legs by alternately moving the main body to a micro vessel by attractive and repulsive forces.

The present invention relates to a catheter system capable of using a catheter module to deploy a magnetic robot to a lesion area and retrieve the magnetic robot.

The catheter system according to the present invention includes: a catheter module including a catheter and a first fastening magnet coupled to a tip of the catheter; a magnetic robot including a second fastening magnet magnetically coupled to the first fastening magnet, and coupled to and released from the catheter module); and.

In addition, the catheter system, wherein the second fastening magnet may be formed on an outer circumferential surface thereof with a coupling protrusion fastened to the coupling groove.

In addition, the magnetic robot may further include: a body having a front end provided with a drill tip, and a rear end to which the first fastening magnet is coupled; a cylindrical driving magnet coupled to the body between the drill tip and the first fastening magnet; and a plurality of legs provided along a circumference of the body in an area between the drill tip and the driving magnet, and an area between the driving magnet and the first fastening magnet, formed of a flexible material, and having one end coupled to an outer circumferential surface of the body.

In addition, a catheter system according to the present invention comprises: a catheter module including a catheter and a first fastening magnet coupled to a tip of the catheter; a magnetic robot including a second fastening magnet magnetically coupled to the first fastening magnet, and configured to be coupled to and decoupled from the catheter module, wherein the catheter module may further include a coupling balloon provided along an outer circumferential surface of the catheter, and the magnetic robot may further include a body coupled to the second fastening magnet along the outer circumferential surface thereof, and sequentially formed inward from a rear end thereof with an opening, a first fastening groove, and a second fastening groove, in which the first fastening magnet is located in the second fastening groove, and the coupling balloon may be located in the first fastening groove while the catheter module is coupled to the magnetic robot.

In addition, the first fastening groove may have a diameter than larger a diameter of the catheter, and the opening may have a diameter larger than the catheter and smaller than an expanding state of the coupling balloon.

In addition, the body may be provided at a front end thereof with a drill tip, and the magnetic robot may further include a plurality of legs provided along a circumference of the body in an area between the second fastening magnet and the drill tip and an area between the second fastening magnet and the rear end, formed of a flexible material, and having one end coupled to an outer circumferential surface of the body.

According to the present invention, the magnetic robot can be coupled to the catheter module and deployed to the lesion, the external rotating magnetic field can be applied to allow the magnetic robot to be separated from the catheter module and then perform the process, and the magnetic robot in completion of the process can be retrieved after recombined with the catheter module.

The catheter system according to the present invention includes: a catheter module including a catheter and a first fastening magnet coupled to a tip of the catheter; a magnetic robot including a second fastening magnet magnetically coupled to the first fastening magnet, and coupled to and released from the catheter module; and a cylindrical fastening member fixedly coupled to the first fastening magnet, formed in an inner surface thereof with a coupling groove, and formed of a non-magnetic material,
wherein the catheter is formed therein with an internal flow path, and the first fastening magnet is formed therein with a connection flow path that connects the inner flow path to an inner space of the fastening member, and a drug supplied through the internal flow path is supplied to an outside of the catheter through the connection flow path and inner space of the fastening member.

However, the technical idea of the present invention is not limited to the exemplary embodiments described herein and may be embodied in other forms. Further, the embodiments disclosed thoroughly and completely herein may be provided such that the idea of the present invention can be fully understood by those skilled in the art.

In the specification herein, when one component is mentioned as being on other components, it signifies that the one component may be placed directly on the other components or a third component may be interposed therebetween. Further, in drawings, thicknesses of films and regions may be exaggerated to effectively describe the technology of the present invention.

Further, the terms such as first, second, and third are used to describe various components in various embodiments of the present specification, however, the components should not be limited by the terms. The above terms are used merely to distinguish one component from another. Accordingly, a first component referred to in one embodiment may be referred to as a second component in another embodiment. Each embodiment described and illustrated herein may also include a complementary embodiment. In addition, the term "and/or" is used herein to include at least one of the components listed before and after the term.

In the specification, the singular expression includes a plural expression unless the context clearly means otherwise. In addition, it will be understood that the term such as "include" or "have" herein is intended to designate the presence of feature, number, step, component, or a combination thereof recited in the specification, and does not preclude the possibility of the presence or addition of one or more other features, numbers, steps, components, or combinations thereof. In addition, the term "connection" is used herein to include both indirectly connecting a plurality of components and directly connecting the components.

In addition, in the following description of the embodiments of the present invention, the detailed description of known functions and configurations incorporated herein will be omitted when it possibly makes the subject matter of the present invention unclear unnecessarily.

<FIG> is a view showing a catheter system according to the first embodiment of the present invention. <FIG> is a view showing a coupling state between a catheter module and the magnetic robot. <FIG> is a view showing a separated state between the catheter module and the magnetic robot.

Referring to <FIG>, the catheter system <NUM> may deliver a magnetic robot <NUM> to a desired position in various fluid environments such as tubular tissues of the body, industrial pipes, and test tubes, and may perform a process by driving the magnetic robot <NUM>. In the embodiments, treatment of a lesion within a body blood vessel using the catheter system <NUM> will be described as an example.

The catheter system <NUM> includes a catheter module <NUM>, a magnetic robot <NUM>, and a magnetic field generator (not shown).

The catheter module <NUM> deploys the magnetic robot <NUM> to the vicinity of the lesion. The catheter module <NUM> includes a catheter <NUM>, a first fastening magnet <NUM>, a fastening member <NUM>, a suction unit (not shown), a support balloon <NUM>, a stent deployment balloon <NUM>, and a stent <NUM>.

The catheter <NUM> has a tubular shape having a predetermined length, and is inserted into the body's blood vessels. The catheter <NUM> is formed of a deformable flexible material, and an internal flow path <NUM> is formed therein. According to the present invention, the drug is delivered into the blood vessel through the internal flow path <NUM>. In addition, foreign substances in blood vessels may be sucked through the internal flow path <NUM>.

The first fastening magnet <NUM> is fixedly coupled to a front end of the catheter <NUM>. The first fastening magnet <NUM> has a diameter corresponding to the catheter <NUM>, and has a cylindrical shape with a connection flow path <NUM> formed therein, in which the N pole and the S pole are disposed to face each other with the connection flow path <NUM> interposed therebetween.

According to the invention, the fastening member <NUM> is fixedly coupled to a front end of the first fastening magnet <NUM>. The fastening member <NUM> is formed of a non-magnetic material and provided in a cylindrical shape having a diameter corresponding to that of the first fastening magnet <NUM>. An inner flow path <NUM> is formed inside the fastening member <NUM>. The internal flow path <NUM> is connected to the internal flow path <NUM> of the catheter <NUM> through the connection flow path <NUM> of the first fastening magnet <NUM>. The internal flow path <NUM> may have a diameter gradually increased from one end of the fastening member <NUM> adjacent to the first fastening magnet <NUM> toward the other end. A coupling groove <NUM> is formed on an inner surface of the fastening member <NUM>. The coupling groove <NUM> may be formed in a spiral shape along a circumference of the inner surface of the fastening member <NUM>.

The suction unit (not shown) is provided at a rear end of the catheter <NUM>, and applies a negative pressure to the internal flow path <NUM> of the catheter <NUM>. Due to the applied negative pressure, thrombus fragments inside the blood vessel may be introduced into the catheter <NUM> through the internal flow path <NUM> of the coupling member <NUM> and the connection flow path <NUM> of the first coupling magnet <NUM>.

The support balloon <NUM> is coupled to the catheter <NUM> at a point spaced a predetermined distance backward from a tip of the catheter <NUM>. The support balloon <NUM> may expand and contract according to injection of a fluid from the outside. The support balloon <NUM> in the expanding state is supported on an inner wall of the blood vessel. When the support balloon <NUM> expands, the flow of blood in the blood vessel is blocked.

The stent deployment balloon <NUM> is coupled to the catheter <NUM> between the tip of the catheter <NUM> and the support balloon <NUM>. The stent <NUM> is provided along a circumference of the stent deployment balloon <NUM> in a contracting state. The stent deployment balloon <NUM> may expand according to injection of the fluid from the outside, and the stent <NUM> may expand by expansion of the stent deployment balloon <NUM>.

The magnetic robot <NUM> may be deployed to the vicinity of the lesion while being coupled to the catheter module <NUM>, and may move and remove the lesion under the control of the magnetic field generator while being separated from the catheter module <NUM>.

The magnetic robot <NUM> includes a body <NUM>, a driving magnet <NUM>, a second fastening magnet <NUM>, and a leg <NUM>.

The body <NUM> has a rod shape having a predetermined length and provided at a tip thereof with a drill tip <NUM>. The body <NUM> is formed of a non-magnetic material.

The driving magnet <NUM> is provided along a circumference of the body <NUM> between the drill tip <NUM> and a rear end of the body <NUM>. The driving magnet <NUM> has a cylindrical shape and the body <NUM> is inserted into an inner space thereof. The driving magnet <NUM> has the N pole and the S pole disposed to face each other with the body <NUM> interposed therebetween.

The second fastening magnet <NUM> is fixedly coupled to the rear end of the body <NUM>. The second fastening magnet <NUM> has a diameter corresponding to the driving magnet <NUM>. A coupling protrusion <NUM> is formed on an outer circumferential surface of the second fastening magnet <NUM>. The coupling protrusion <NUM> is coupled to a fastening groove <NUM> of the fastening member <NUM>.

A plurality of legs <NUM> are provided along the circumference of the body <NUM> in an area between the drill tip <NUM> and the driving magnet <NUM> and an area between the driving magnet <NUM> and the first fastening magnet <NUM>, respectively. The leg <NUM> has one end coupled to an outer circumferential surface of the body <NUM>. The leg <NUM> is formed of a flexible material having a plate shape. The leg <NUM> is disposed diagonally with respect to a rotation axis of the body <NUM>. The leg <NUM> generates a driving force while being rotated together with the body <NUM>.

The magnetic field generator generates an external rotating magnetic field outside the body. The external rotating magnetic field rotates the magnetic robot <NUM> to separate the magnetic robot <NUM> from the catheter module <NUM>, and generates a driving force for enabling the magnetic robot <NUM> to move within the blood vessel.

<FIG> are views sequentially showing operation processes of the catheter system according to the first embodiment of the present invention.

Referring to <FIG>, the catheter module <NUM> moves along the blood vessel <NUM> to the vicinity of a lesion <NUM> in a state in which the magnetic robot <NUM> is coupled to the catheter module <NUM>.

Referring to <FIG>, the support balloon <NUM> of the catheter module <NUM> expands and is supported on the inner wall of the blood vessel, and accordingly, the flow of blood is blocked. The external rotating magnetic field is applied to the driving magnet <NUM> to generate a rotational force in the magnetic robot <NUM>. While a fastening protrusion <NUM> of the second fastening magnet <NUM> is rotated along the coupling groove <NUM> of the fastening member <NUM> by the rotational force, the mechanical coupling between the second fastening magnet <NUM> and the fastening member <NUM> is released. Simultaneously, the magnetic coupling between the first fastening magnet <NUM> and the second fastening magnet <NUM> is released. The magnetic robot <NUM> released from the catheter module <NUM> moves with the driving force generated by the legs <NUM> while being rotated.

Referring to <FIG>, the magnetic robot <NUM> performs a drilling process on the lesion <NUM> by using the drill tip <NUM>. The thrombus fragments generated by the drilling process are sucked into the catheter <NUM> through the internal flow path <NUM> of the fastening member <NUM> and the connection flow path <NUM> of the first fastening magnet <NUM>, by the negative pressure applied to the inner flow path <NUM> of the catheter <NUM> from the suction unit.

Referring to <FIG>, when the removal of the lesion <NUM> is completed, the catheter module <NUM> moves to a point in which the magnetic robot <NUM> is located.

Referring to <FIG>, the magnetic robot <NUM> is recombined with the catheter module <NUM> under the control of the external rotating magnetic field. With regard to the external rotating magnetic field, a rotating magnetic field in the reverse direction of the rotating magnetic field applied when the coupling between the magnetic robot <NUM> and the catheter module <NUM> is released may be applied. The magnetic robot <NUM> is primarily coupled to the catheter module <NUM> by the coupling between the coupling protrusion <NUM> of the second coupling magnet <NUM> and the coupling groove <NUM> of the coupling member <NUM>, and secondarily coupled to the catheter module <NUM> by the magnetic coupling between the first fastening magnet <NUM> and the second fastening magnet <NUM>. At the point in which the lesion is removed, the stent deployment balloon <NUM> expands to deploy the stent <NUM>. When the stent <NUM> is deployed, the blood vessel <NUM> expands.

Referring to <FIG>, the stent deployment balloon <NUM> contracts and the catheter module <NUM> and the magnetic robot <NUM> are recovered outside the body.

<FIG> is a view showing a catheter system according to a second embodiment of the present invention. <FIG> is a view showing the catheter module of <FIG>. <FIG> is a sectional view showing the magnetic robot of <FIG>. <FIG> is a sectional view showing the coupling state between the catheter module and the magnetic robot of <FIG>. <FIG> is a view showing the separated state between the catheter module and the magnetic robot of <FIG>.

Referring to <FIG>, the catheter module <NUM> includes a catheter <NUM>, a first fastening magnet <NUM>, and a coupling balloon <NUM>. Although not shown in the drawing, the catheter module <NUM> may further include the support balloon <NUM>, the stent deployment balloon <NUM>, and the stent <NUM> that are described in the first embodiment.

The first fastening magnet <NUM> is coupled to a tip of the catheter <NUM>. The first fastening magnet <NUM> may have a cone shape in which the diameter is gradually decreased toward the tip. The first fastening magnet <NUM> has a structure in which the N pole and the S pole are arranged facing each other with a central axis thereof interposed therebetween. An internal flow path <NUM> may be formed in the first fastening magnet <NUM>. The inner flow path is connected to the inner flow path of the catheter <NUM>. Thrombus fragments may be sucked into the internal flow path of the catheter <NUM> through the internal flow path of the first fastening magnet <NUM>.

The coupling balloon <NUM> is coupled to the catheter <NUM> at a rear of the first fastening magnet <NUM>. The coupling balloon <NUM> is provided along the circumference of the catheter <NUM>. The coupling balloon <NUM> may expand and contract according to injection of a fluid from the outside.

The magnetic robot <NUM> includes a body <NUM>, a second fastening magnet <NUM>, and a leg <NUM>.

A drill tip <NUM> is provided at a tip of the body <NUM>. The body <NUM> is formed of a non-magnetic material. The body <NUM> is formed at a rear end thereof with an opening <NUM>, a first fastening groove <NUM>, and a second fastening groove <NUM>. The opening <NUM> is formed at the rear end of the body <NUM>, and the first fastening groove <NUM> and the second fastening groove <NUM> are formed inside the body <NUM>. The opening <NUM>, the first fastening groove <NUM>, and the second fastening groove <NUM> are sequentially and inward formed from the rear end of the body <NUM> and communicate with each other. The opening <NUM> has a diameter larger than the diameter of the catheter <NUM>. The first fastening groove <NUM> has a diameter than the diameter of the opening <NUM>. The first fastening groove <NUM> may have a diameter corresponding to the expanding state of the coupling balloon <NUM>. The second fastening groove <NUM> may have a shape corresponding to the first fastening magnet <NUM>.

The second fastening magnet <NUM> is provided along the circumference of the body <NUM>. The second fastening magnet <NUM> has a cylindrical shape and the body is inserted into an inner space thereof. The second fastening magnet <NUM> has the N pole and the S pole disposed to face each other with the body <NUM> interposed therebetween. The second fastening magnet <NUM> forms a magnetic force together with the first fastening magnet <NUM> while the catheter module <NUM> and the magnetic robot <NUM> are coupled to each other.

A plurality of legs <NUM> are provided along the circumference of the body <NUM> in an area between the drill tip <NUM> and the second fastening magnet <NUM> and a rear area of the second fastening magnet <NUM>, and have one end coupled to the body <NUM>. The leg <NUM> is formed of a flexible material having a plate shape. The leg <NUM> is disposed diagonally with respect to a rotation axis of the body <NUM>. The leg <NUM> generates a driving force while being rotated together with the body <NUM>.

Hereinafter, the coupling and releasing processes between the catheter module <NUM> and the magnetic robot <NUM> will be described.

The catheter <NUM> is inserted into the opening <NUM> of the body <NUM> while the coupling balloon <NUM> contracts. The first fastening magnet <NUM> is located in the second fastening groove <NUM> and forms a magnetic force together with the second fastening magnet <NUM>. The first fastening magnet <NUM> forms an attractive force with the second fastening magnet <NUM>. The coupling balloon <NUM> is located in the first fastening groove <NUM>, and expands in the first fastening groove <NUM> by the fluid injected from the outside. Due to the expansion of the coupling balloon <NUM>, the catheter <NUM> is restricted from being separated from the body <NUM>. The catheter module <NUM> to which the magnetic robot <NUM> is coupled through the above process deploys the magnetic robot <NUM> to the vicinity of the lesion.

When the magnetic robot <NUM> enters the vicinity of the lesion <NUM>, the magnetic robot <NUM> is separated from the catheter module <NUM>. First, the coupling balloon <NUM> contracts and a rotational force is generated in the magnetic robot <NUM> by the external rotating magnetic field. The magnetic coupling between the first fastening magnet <NUM> and the second fastening magnet <NUM> is released by the rotational force of the magnetic robot <NUM>. The magnetic robot <NUM> is separated from the catheter module <NUM> and rotated in the blood vessel to generate a driving force.

Although the present invention has been described in detail using exemplary embodiments, the scope of the present invention is not limited to the specific embodiments, and shall be interpreted by the appended claims. In addition, it will be apparent that a person having ordinary skill in the art may carry out various deformations and modifications for the embodiments described as above within the scope without departing from the present invention.

Claim 1:
A catheter system (<NUM>) comprising:
a catheter module (<NUM>) including a catheter (<NUM>) and a first fastening magnet (<NUM>) coupled to a tip of the catheter (<NUM>) ;
a magnetic robot (<NUM>) including a second fastening magnet (<NUM>) magnetically coupled to the first fastening magnet (<NUM>), and configured to be coupled to and decoupled from the catheter module (<NUM>); and
a cylindrical fastening member (<NUM>) fixedly coupled to the first fastening magnet (<NUM>), formed in an inner surface thereof with a coupling groove (<NUM>), and formed of a non-magnetic material,
wherein the catheter (<NUM>) is formed therein with an internal flow path (<NUM>), and the first fastening magnet (<NUM>) is formed therein with a connection flow path (<NUM>) that connects the inner flow path (<NUM>) to an inner space of the fastening member (<NUM>), and
a drug supplied through the internal flow path (<NUM>) is supplied to an outside of the catheter (<NUM>) through the connection flow path (<NUM>) and inner space of the fastening member (<NUM>) .