Catheter delivery device
A catheter delivery device having an improved mechanism for inserting a catheter into a blood vessel of a patient. The catheter delivery device includes at least: a body including a delivery path of a catheter; a pair of feeders having grippers located on the delivery path of the body and are configured to grip and release the catheter; and a rotator configured to rotate the catheter gripped by the feeders. The feeders move from a grip position where the grippers grip the catheter to a forward position where the grippers advance in a state of gripping the catheter, from the forward position to a grip release position where the grippers release the catheter, from the grip release position to a backward position where the grippers retract in a state of releasing a grip on the catheter, and from the backward position to the grip position.
1. A catheter delivery device comprising:
a body plate comprising an upper surface, on which a delivery path of a catheter is configured;
a pair of feeders comprising:
grippers located on the upper surface of the body plate, and configured to grip and release the catheter; and
a pair of threaded shafts located on the upper surface of the body plate and configured to control the pair of feeders along the delivery path,
wherein the pair of feeders are configured to move
from a grip position where the grippers grip the catheter to a forward position where the grippers advance in a state of gripping the catheter,
from the forward position to a grip release position where the grippers release the catheter,
from the grip release position to a backward position where the grippers retract in a state of releasing a grip on the catheter, and
from the backward position to the grip position; and
a rotator configured to rotate the catheter gripped by the feeders,
wherein the rotator comprises a drive motor attached to a bottom surface of the body plate and configured to rotate the body plate.
2. The catheter delivery device of claim 1 , wherein the grippers of the pair of feeders are arranged with an interval therebetween along the delivery path of the catheter.
3. The catheter delivery device of claim 1 , wherein the feeders include:
the grippers paired with each other and disposed on opposite sides of the catheter to face each other;
a pair of gripper links pivotally coupled to the pair of grippers;
a pair of first links pivotally coupled to the pair of gripper links;
a pair of second links pivotally coupled to the pair of first links;
a first movable block to which the pair of gripper links and the pair of first links are pivotally coupled;
a second movable block to which the pair of second links are pivotally coupled;
the pair of threaded shafts threaded into the first movable block and the second movable block to perform screw motion, and configured to deliver the first movable block and the second movable block along the delivery path; and
a pair of threaded shaft drive motors configured to rotate the pair of threaded shafts in clockwise direction or counterclockwise direction.
4. The catheter delivery device of claim 3 , wherein the pair of threaded shafts are configured to rectilinearly reciprocate the first movable block and the second movable block along the delivery path.
5. The catheter delivery device of claim 3 , wherein the grippers include:
a pair of bands arranged along the delivery path to face each other with the catheter therebetween, and configured to partly surround the catheter, the pair of bands having a support part that the gripper links of the pair of feeders are brought into contact with or separated from; and
a corrugated portion provided on a region of the bands other than the support part and configured to expand or contract along a direction in which the catheter moves.
6. The catheter delivery device of claim 3 , wherein the grippers include:
a catheter insertion part configured to form an insertion groove into which the catheter is inserted, wherein the gripper links of the pair of feeders are brought into contact with or separated from the catheter insertion part;
a pair of cover plates on opposite sides of the catheter insertion part, wherein the pair of cover plates extend perpendicular to the delivery path of the catheter and are disposed to face each other to cover the body plate; and
a corrugated portion provided on the catheter insertion part and the pair of cover plates other than regions on which the gripper links are supported, wherein the corrugated portion expands or contracts along a direction in which the catheter moves.
7. The catheter delivery device of claim 3 , wherein the threaded shafts include a threaded shaft portion on which an external male thread for transmitting a rotational force is formed along a lengthwise direction and a sliding rod portion for linear motion.
8. The catheter delivery device of claim 3 , wherein a pair of threaded shaft supports configured to rotatably support the threaded shafts of the pair of feeders are formed on one side of the upper surface of the body plate, and
wherein a pair of branches having a circular arc shape and protruding upward from the body plate to face each other are formed on an opposite side of the upper surface of the body plate.
9. The catheter delivery device of claim 8 , wherein the pair of branches are located adjacent to the rotator, and end portions of the pair of branches are connected by a connecting plate, and
wherein a catheter mounting hole in which the catheter is movably mounted is formed through the connecting plate.
10. The catheter delivery device of claim 3 , wherein a block receiving portion in which the first movable block is partly received is concavely formed in a central region of the second movable block.
11. The catheter delivery device of claim 1 , wherein the feeders include:
the grippers paired with each other and disposed on opposite sides of the catheter to face each other;
a pair of first gripper links pivotally coupled to the pair of grippers;
a pair of second gripper links pivotally coupled to the pair of grippers while forming an angle with the pair of first gripper links;
a pair of connecting links pivotally coupled to the pair of first gripper links and the pair of second gripper links to form a triangular shape together with the pair of first gripper links and the pair of second gripper links;
a pair of auxiliary links pivotally coupled to the pair of connecting links and the pair of second gripper links;
a first drive rod pivotally coupled to the pair of first gripper links and the pair of connecting links;
a second drive rod pivotally coupled to the pair of auxiliary links;
a first linear driver connected to the first drive rod, and configured to move the first drive rod; and
a second linear driver connected to the second drive rod, and configured to move the second drive rod.
12. The catheter delivery device of claim 11 , wherein the first linear driver and the second linear driver are configured to rectilinearly reciprocate the first drive rod and the second drive rod, respectively.
13. The catheter delivery device of claim 11 , wherein the grippers include:
a pair of bands arranged along the delivery path to face each other with the catheter therebetween, and configured to partly surround the catheter, the pair of bands having a support part that the gripper links of the pair of feeders are brought into contact with or separated from; and
a corrugated portion provided on a region of the bands other than the support part and configured to expand or contract along a direction in which the catheter moves.
14. The catheter delivery device of claim 11 , wherein the grippers include:
a catheter insertion part configured to form an insertion groove into which the catheter is inserted, wherein the gripper links of the pair of feeders are brought into contact with or separated from the catheter insertion part;
a pair of cover plates on opposite sides of the catheter insertion part, wherein the pair of cover plates extend perpendicular to the delivery path of the catheter and are disposed to face each other to cover the body plate; and
a corrugated portion provided on the catheter insertion part and the pair of cover plates other than regions on which the gripper links are supported, wherein the corrugated portion expands or contracts along a direction in which the catheter moves.
15. The catheter delivery device of claim 1 , wherein the rotator further comprises:
a housing that is rotatable relative to the body plate;
an inner gear having a plurality of gear teeth disposed on a particular portion of an inner circumferential surface of the housing, the plurality of gear teeth being arranged along the inner circumferential surface of the housing; and
a pinion configured to be engaged with the gear teeth of the inner gear, and configured to be rotated, and
wherein the drive motor is a pinion drive motor configured to rotate the pinion.
16. The catheter delivery device of claim 15 , further comprising:
a plurality of rollers configured to support the body plate from the inner circumferential surface of the housing, and configured to move in rolling contact with the inner circumferential surface of the housing.
17. The catheter delivery device of claim 15 , further comprising:
a fixing part configured to fix the housing to a structure.
18. The catheter delivery device of claim 15 , wherein the housing has a cylindrical shape and includes an upper housing and a lower housing vertically divided from each other, and
wherein one end portion of the upper housing and one end portion of the lower housing are hinged to each other to open or cover a region of the body plate, and an opposite end portion of the upper housing and an opposite end portion of the lower housing are locked by a locking device.
19. The catheter delivery device of claim 1 , wherein the grippers have a pad shape configured to closely contact with an outer circumferential surface of the catheter.