Robot for vascular intervention

A robot for vascular intervention, the robot comprising:

• a guide wire;
• a micro-catheter;
• a micro-guide wire;
• a catheter;
• a catheter driving unit for rotating and translating the catheter extending in a longitudinal direction while having the longitudinal direction as an axis;
• a guide wire driving unit provided at a side of the catheter driving unit, the guide wire driving unit being configured to draw the guide wire into the catheter by translating the guide wire, and the guide wire driving unit being configured to rotate the guide wire coaxially with the catheter;
• a micro-catheter driving unit provided at a rear of the catheter driving unit, the micro-catheter driving unit being configured to translate the micro-catheter in a path coaxial with the catheter that is different from draw-in and draw-out paths of the guide wire when the guide wire is drawn out from an inside of the catheter;
• and
• a micro-guide wire driving unit provided at a rear of the micro-catheter driving unit, and the micro-guide wire driving unit being configured to draw the micro-guide wire into the micro-catheter by translating the micro-guide wire, and the micro-guide wire driving unit being configured to rotate the micro-guide wire coaxially with the micro-catheter,
• wherein the micro-catheter driving unit comprises:
• a front end mounting part connected to the catheter driving unit and on which a longitudinal front end of the micro-catheter is mounted;
• and
• a rear end mounting part spaced rearward of the front end mounting part, connected to the micro-guide wire driving unit, and on which a longitudinal rear end of the micro-catheter is mounted,
• wherein the catheter driving unit comprises a catheter translational driving body and the rear end mounting part comprises a micro-catheter translational driving body,
• wherein the catheter is configured to translate as the catheter driving unit is moved by the catheter translational driving body, and the micro-catheter is configured to translate as the rear end mounting part is moved by the micro-catheter translational driving body,
• wherein, when the catheter and the micro-catheter are configured to be inserted toward a target blood vessel, the catheter translational driving body is configure to move the catheter driving unit at a speed equal to or faster than a speed at which the micro-catheter translational driving body moves the rear end mounting part,
• wherein, when the catheter and the micro-catheter are configured to be drawn out from the target blood vessel, the catheter translational driving body is configured to move the catheter driving unit at a speed equal to or slower than a speed at which the micro-catheter translational driving body is configure to move the rear end mounting part, and
• wherein each of the guide wire driving unit, the micro-catheter driving unit, and the micro-guide wire driving unit comprises:
• a translational module including a plurality of conveying rollers arranged along one direction, a guide roller disposed on a first conveying roller of the plurality of conveying rollers, the guide roller being configured to rotate relative to the first conveying roller, and a roller driving body configured to rotate the plurality of conveying rollers;
• and
• a rotational module connected to the translational module to rotate the translational module while having the longitudinal direction as the axis;
• wherein the rotational module comprises:
• a rotational driving body;
• a gear coupled to a rotational shaft of the rotational driving body;
• and
• a rotational electrode plate which is rotated in engagement with the gear and includes a plurality of plated rings having a diameter gradually increasing based on an opened central axis, in which wires of the roller driving body are individually connected to each of the plurality of plated rings.