KR20230099249A - Navigation device for adjusting catheter and navigation system comprsing the same - Google Patents

Abstract

The present invention relates to a navigation device for controlling a catheter inserted into the body during cardiovascular interventional procedures, which can be easily operated by an assistant beside an operator. The navigation device comprises: a driving unit controlling movement of a catheter; a length adjustment unit whose front end is connected to the catheter and whose rear end is connected to the driving unit; and a fixture inserted into a sheath and formed in the shape of a circular tube so that the catheter penetrates. In addition, the present invention provides a navigation system which comprises: the catheter inserted into the body to generate procedure information during cardiovascular interventional procedures; the navigation device generating driving information controlling the movement of the catheter; a server receiving procedure information from the catheter and receiving the driving information from the navigation device to generate control information and output information; and a display receiving the output information from the server to output the output information.

Description

Navigation device for adjusting a catheter and a navigation system including the same {Navigation device for adjusting catheter and navigation system comprsing the same}

The present invention relates to a navigation device for adjusting a catheter and a navigation system including the same, and relates to a navigation device for controlling a catheter that can be easily manipulated by an assistant at the side of an operator during a cardiovascular interventional procedure and can immediately grasp and respond to a situation. And it relates to a navigation system including the same.

In general, with advances in heart disease treatment technology and an increase in life expectancy, cardiac arrhythmias have become very common. However, most arrhythmias do not respond well to drug treatment or have severe side effects, so most have resorted to non-drug treatment methods.

Arrhythmia procedures that rely on X-ray fluoroscopy have a low treatment success rate for complex arrhythmias, and a large amount of X-ray exposure seriously threatens the health of patients, operators, and workers.

According to some reports, 80% of workers who have worked in an environment using X-ray fluoroscopy for more than 10 years suffer from musculoskeletal disorders (cervical spine, lumbar disc, knee, ankle degenerative arthritis, etc.) due to long-term wearing of heavy protective clothing, and various malignancies The incidence of diseases (blood cancer, thyroid cancer, brain tumor, etc.) is also reported to be significantly high.

Recently, a 3D navigation system has been introduced and through remarkable technological advances, it has been possible to successfully treat complex arrhythmias that could not be treated before or had a low success rate. However, highly skilled operators and assistants are required for complex procedures , nurses, imaging equipment operators, 3D guidance device operators, and cardiac pacing stimulator operators.

Team proficiency and harmonious collaboration can help conquer difficult diseases, but it takes a lot of training and experience to reach a certain level of proficiency. Most operators are doctors who have a high understanding of the patient and the procedure and can immediately grasp and respond to the situation, but assistants are often not as skilled as the operator, and incorrect situation identification or late response may result in poor treatment results.

Accordingly, there is a need to develop a technology for a device that can be easily manipulated so that an assistant can assist the operator during cardiovascular interventional procedures.

As a prior art, Korean Patent Registration No. 10-1117407 "Ultrasound transducer for cardiac diagnosis" is available.

In order to solve the above problems, the present invention relates to a navigation device for adjusting a catheter and a navigation system including the navigation device, which can be easily operated by an assistant next to the operator during a cardiovascular interventional procedure, and can immediately grasp and respond to the situation. It is intended to provide a navigation device for adjusting a catheter and a navigation system including the same.

In order to solve the above problems, a navigation device according to an embodiment of the present invention is a navigation device for controlling a catheter inserted into the body during a cardiovascular interventional procedure, comprising: a driving unit for controlling movement of the catheter; It may include a length adjusting part having a front end connected to the catheter and a rear end connected to the driving part, and a fixing part formed in a circular tube shape so that the catheter passes therethrough.

In addition, the drive unit may include a control unit formed on an upper surface to control the movement of the catheter and a connection unit formed on a rear surface to be connected to other equipment and serving as a hub.

In addition, the control unit, a knob control unit for manipulating the movement of the catheter; It may include a length control unit for manipulating the movement of the length adjustment unit.

In addition, the fixing portion includes a fixing protrusion formed along an outer circumferential surface on a rear surface, and the fixing protrusion is mounted on the rear surface of the sheath and is fixed without entering the body.

In addition, the fixing part includes a plurality of protrusions formed on an inner circumferential surface, and the protrusions are formed of a flexible material, and are in close contact with the catheter to deliver a precise operation to the catheter.

In addition, the fixing part may include an inclined part formed in a shape where the portion into which the catheter is introduced narrows inward so that the catheter can be easily inserted, and a passage part extending from the inclined part and passing through the fixing part. there is.

In addition, the protrusion may include a first protrusion formed along an inner circumferential surface of the inclined portion and a second protrusion formed along an inner circumferential surface of the passage portion and continuously formed along a longitudinal direction.

In addition, a navigation system including a navigation device according to an embodiment of the present invention includes a catheter inserted into the body during cardiovascular interventional procedures to generate procedure information; a navigation device generating drive information for controlling movement of the catheter; It may include a server that receives treatment information from the catheter and receives drive information from the navigation device to generate control information and output information, and a display that receives and outputs output information from the server.

In addition, the treatment information may include location information, mapping information, and image information of the catheter generated by the catheter.

In addition, the navigation device includes a driving unit including a control unit for generating input information to control the movement of the catheter and a connection unit for generating additional information by being connected to other equipment; Receives control information from the control unit, is drawn in or drawn out from the drive unit, and is inserted into a length adjusting unit and a sheath that can adjust the length, and is formed in a circular tube shape so that the catheter passes through, and a sensor is provided inside It may include a fixing unit that detects the length of the catheter inserted into the body and generates insertion information.

In addition, the server determines the length of the catheter inserted into the body through the driving information to generate expected insertion information, and generates error information that is a difference between the expected insertion information and the insertion information. .

In addition, the server generates stop information to prevent damage to blood vessels in the body when the error information is a positive number, and generates inspection information to check the drive unit when the error information is a negative number, thereby controlling the control unit. It is characterized in that it is transmitted to the display through.

A navigation device for controlling a catheter and a navigation system including the same according to an embodiment of the present invention as described above enable an assistant to easily manipulate the catheter at the side of an operator during a cardiovascular interventional procedure.

In addition, it is possible to prevent vascular complications that may occur in the procedure as much as possible so that the assistant immediately grasps and responds to the situation.

1 is a schematic view showing a cardiovascular interventional procedure using a navigation device and a navigation system including the same according to an embodiment of the present invention;
Figure 2 is a perspective view showing a navigation device according to an embodiment of the present invention.
Figure 3 is a front view of Figure 2;
Figure 4 (a), (b) is an exemplary view showing a state in which the length is adjusted by operating the length adjusting unit of the navigation device according to an embodiment of the present invention.
Figure 5 is a perspective view showing a state in which the fixing part of Figure 4 is inserted into the sheath.
6 is a front view showing a state in which a catheter is inserted into a fixing part of a navigation device according to an embodiment of the present invention.
Figure 7 is a cross-sectional view of Figure 6;
8 is a flowchart of a navigation system including a navigation device according to an embodiment of the present invention;

Hereinafter, the description of the present invention with reference to the drawings is not limited to specific embodiments, and various transformations may be applied and various embodiments may be applied. In addition, the content described below should be understood to include all conversions, equivalents, or substitutes included in the spirit and scope of the present invention.

In the following description, terms such as first and second are terms used to describe various components, and are not limited in meaning per se, and are used only for the purpose of distinguishing one component from another.

Like reference numbers used throughout this specification indicate like elements.

Singular expressions used in the present invention include plural expressions unless the context clearly dictates otherwise. In addition, terms such as "include", "include" or "have" described below are intended to designate that features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist. should be construed, and understood not to preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, it should not be interpreted in an ideal or excessively formal meaning. don't

In addition, in the description with reference to the accompanying drawings, the same reference numerals are given to the same components regardless of reference numerals, and overlapping descriptions thereof will be omitted. In describing the present invention, if it is determined that a detailed description of related known technologies may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted.

Hereinafter, an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 8 attached.

1 is a schematic diagram showing a cardiovascular interventional procedure using a navigation device and a navigation system including the same according to an embodiment of the present invention. Figure 2 is a perspective view showing a navigation device according to an embodiment of the present invention, Figure 3 is a front view of Figure 2, Figure 4 (a), (b) is a length adjustment of the navigation device according to an embodiment of the present invention It is an exemplary view showing a state in which the length is adjusted by operating the part, and FIG. 5 is a perspective view showing a state in which the fixing part of FIG. 4 is inserted into the sheath, and FIG. 6 is a fixing part of a navigation device according to an embodiment of the present invention. It is a front view showing a state in which the catheter is inserted, and FIG. 7 is a cross-sectional view of FIG. 6 .

Cardiovascular intervention is a procedure that expands narrowed or blocked coronary arteries and opens blood vessels using arteries of arms or legs to facilitate blood flow.

Referring to FIG. 1, a navigation device according to an embodiment of the present invention is a device for adjusting and guiding a catheter inserted into the body so that the catheter can be used as a device for conducting ultrasound within the body, and observes the inside of the heart to detect bleeding and dissection. Vascular complications that can occur in percutaneous procedures can be prevented as much as possible.

Hereinafter, the structure of a navigation device according to an embodiment of the present invention will be described in detail.

Prior to this description, the catheter 1 installed in the navigation device 2 will be first described.

The catheter 1 is an imaging device that makes it possible to observe the internal structure of the heart in detail from various angles and distances through ultrasound guidance. More specifically, the catheter 1 of the present invention is a medical device that enters the heart and guides a treatment instrument to be inserted to remove myocardial tissue, such as an electrode, to a target point. You can have them look inside the heart.

In addition, the catheter 1 of the present invention may include all catheters used in medical procedures. For example, the catheter 1 may be provided with a ring-shaped electrode at the distal end and a position sensor accommodated inside. In addition, the catheter 1 is provided with a position pad composed of a plurality of coils to form a magnetic field, and the built-in position sensor measures the strength of the magnetic field and calculates the distance to map the position of the catheter 1. can

2 and 3, the navigation device 2 according to an embodiment of the present invention is a device for adjusting and guiding the catheter 1 inserted into the body during cardiovascular intervention, and includes a driving unit 20, a length adjusting unit ( 21) and a fixing part 22.

At this time, each component of the navigation device 2 may be maintained in a sterile state. For example, each component of the navigation device 2 may be coated with a biofilm in a sterilized state, or may be self-sterilized using active oxygen. In addition, it is preferable to maintain the sterilization state by a commonly used method.

The driving unit 20 controls the movement of the catheter 1, and not only transmits power to the catheter 1, but also converts the power in an appropriate direction.

The driving unit 20 may include a manipulation unit 200 and a connection unit 201 .

The control unit 200 is formed on the upper surface of the drive unit 20 to control the movement of the catheter 1, and may include a knob control unit 2001, a length control unit 2002, and a button unit 2003.

First, the knob manipulation unit 2001 is a part that manipulates the movement of the catheter 1, and may be formed identically to the knob manipulation unit 2001 used in general cardiovascular interventional procedures, but is not limited thereto. More specifically, the knob control unit 2001 can control the movement of the distal end of the catheter 1 so that the operator can generate treatment information at a desired position. Allow clockwise rotation. At this time, the knob control unit 2001 can be operated through rotation based on the indicator line for each movement like the conventional catheter 1, as well as triangular buttons formed at the top and bottom of each knob control unit 2001. You can make it move through .

The length control unit 2002 is a part for manipulating the movement of the length control unit 21 to be described in detail below, and allows the length control unit 21 to be pulled in or out from the drive unit 20 through the length control unit 2002. can At this time, the length control unit 2002 includes a button for setting the amount of movement as well as a button to be drawn in or out, so that the speed of the movement of the length control unit 21 can be adjusted. Thus, in manipulating the length adjusting unit 21, the operator can perform more precise manipulation through the length controlling unit 2002.

One or more buttons 2003 are provided to conveniently operate the navigation device 2, and may include buttons for an emergency function, a mounting function, a setting function, and the like, but are not limited thereto, and are not limited thereto. A button to which a function is assigned may be provided. For example, the button unit 2003 is provided with a button that performs a mounting function, and when the corresponding button is pressed, the length adjusting unit 21 and the driving unit 20 can be connected or separated. In addition, the button unit 2003 is provided with a button that performs an emergency function, and when an emergency occurs during cardiac interventional surgery, it is possible to prepare for an emergency by pressing the corresponding button.

As described above, the button unit 2003 can provide various functions necessary for the operator to perform cardiac interventional procedures, thereby helping the operator perform the operation more conveniently and accurately.

The connection unit 201 is formed on the rear side of the drive unit 20 and may serve as a hub to enable connection with other equipment. At this time, the connection unit 201 may be connected to a power supply unit, auxiliary equipment, and the like, and may be connected to various equipment capable of assisting the navigation device 2 to be helpful during a procedure.

Referring to FIG. 4, the length adjustment unit 21 has a front end connected to the catheter 1 and a rear end connected to the drive unit 20, and can be drawn in or out from the drive unit 20 to adjust the length. Through (21), the length of the catheter (1) can be adjusted.

At this time, the length adjusting unit 21 may be drawn in or withdrawn from the driving unit 20 through a cylinder or a motor provided inside the driving unit 20, but is not limited thereto, and any means capable of being drawn in or withdrawn may be applied. there is.

Referring to FIG. 5, the fixing part 22 is inserted into the sheath S and formed in a circular tube shape so that the catheter 1 passes through it, and comes into contact with the catheter 1 penetrating the inside to drive the driving part 20 The catheter 1 can be used to deliver precise motion.

Here, the sheath (S) has the shape of a long hollow pipe, and means an outer sheath used when inserting the catheter (1) through the skin, which substantially serves as a guide when the catheter (1) is inserted into the body. can

In addition, the fixing part 22 may include a fixing protrusion 220 formed along an outer circumferential surface on the rear surface.

Accordingly, when the fixing part 22 is inserted into the sheath (S), the fixing protrusion 220 can be fixed without entering the body by being mounted on the rear surface of the sheath (S).

Also, referring to FIG. 6 , the fixing part 22 may include a plurality of protrusions 223 so as to come into close contact with the catheter 1 .

The protrusion 223 is formed on the inner circumferential surface of the fixing part 22, and is formed of a flexible material, so that the tip can be bent by an external force applied from the catheter 1, and when the external force caused by the catheter 1 disappears, It can be restored to the state before contact with the catheter 1 by the restoring force.

At this time, it is most preferable that the protrusion 223 is formed in a sharp end so that it adheres more closely to the catheter 1, but is not limited thereto.

Accordingly, the fixing part 22 can increase the fixing force with the catheter 1 through the protrusion 223, and allows the catheter 1 to perform precise operation through the driving part 20.

In addition, the fixing part 22 may be formed to include an inclined part 221 and a passage part 222 through which the inside is formed.

Referring to FIG. 7, the inclined portion 221 is a hole formed so that the catheter 1 can be easily inserted, and the rear portion of the fixing portion 22, which is a portion into which the catheter 1 is inserted, is formed in a shape that narrows inward. can

The passage part 222 is a hole formed to continue from the inclined part 221, and may be the remaining part except for the rear part of the fixing part 22. At this time, the passage portion 222 may be formed to have a length with a constant diameter, and is most preferably formed slightly larger than the thickness of the catheter (1).

In addition, the fixing part 22 may be formed by dividing the protrusion 223 into a first protrusion 2230 and a second protrusion 2231 as the inside of the fixing part 22 is composed of the inclined part 221 and the passage part 222. there is.

The first protrusion 2230 is a protrusion formed along the inner circumferential surface of the inclined portion 221 , and the second protrusion 2231 is a protrusion formed along the inner circumferential surface of the passage portion 222 . At this time, the second protrusion 2231 is formed along the inner circumferential surface of the passage portion 222, but is most preferably formed continuously along the longitudinal direction.

Accordingly, when the catheter 1 is inserted into the fixing part 22, it enters the inclined part 221 and comes into contact with the first protrusion 2230, and then enters the passage part 222 and enters the second protrusion 2231. ) and migrates into the body.

A navigation system including a navigation device for controlling such a catheter will be described in detail below.

8 is a flowchart of a navigation system including a navigation device according to an embodiment of the present invention.

A navigation system including a navigation device according to an embodiment of the present invention is basically a system for controlling a catheter 1 using a navigation device 2 .

Referring to FIG. 8 , a navigation system including a navigation device according to an embodiment of the present invention may include a catheter 1 , a navigation device 2 , a server 3 , and a display 4 .

Since detailed descriptions of the catheter 1 and the navigation device 2 have been described in the above device, detailed descriptions will be omitted.

The catheter 1 may be inserted into the body to generate treatment information. Here, the treatment information may include one or more of location information, mapping information, and image information of the catheter generated by the catheter 1 inserted into the body, but is not limited thereto, and is not limited thereto. information may be included.

The navigation device 2 may generate driving information for controlling the movement of the catheter 1, and may include a driving unit 20, a length adjusting unit 21 and a fixing unit 22.

Here, the driving information is the navigation device 2, such as input information generated through the length adjustment unit 21, additional information generated through the connection unit 201, and insertion information generated through the fixing unit 22, which will be described below. It can include all information generated through

The drive unit 20 controls the movement of the catheter 1 or the control unit 200 that generates input information to control the length of the length adjustment unit 21 and the connection unit 201 that generates additional information by being connected to other equipment. can include

The length adjustment unit 21 receives control information and is drawn in or out from the drive unit 20 so that the length can be adjusted.

The fixing part 22 is inserted into the sheath S, and is formed in a circular tube shape so that the catheter 1 passes through, and a detection sensor 221 is provided therein to detect the length of the catheter 1 inserted into the body Insertion information can be created by doing so. Here, the insertion information may mean a distance from the detection sensor 221 to the end of the catheter 1 inserted into the body. At this time, the detection sensor 221 can detect the length of the catheter 1 inserted into the body by applying a position sensor located at the end of the catheter 1, an inductive sensor recognizing an electrode, an optical sensor, a contact sensor, etc. , but not limited thereto, any sensor capable of detecting the length may be applicable. Accordingly, the detection sensor 221 may recognize the end of the catheter 1 and generate insertion information by recognizing the distance from the detection sensor 221 to the end of the catheter 1 in real time.

The server 3 may receive operation information from the catheter 1 and drive information from the navigation device 2 . In addition, the server 3 may generate control information and output information based on the treatment information and driving information as described above.

Here, the control information is information capable of controlling the movement of the length adjusting unit 21 of the navigation device 2 and the direction control of the catheter 1 according to the driving information.

For example, referring to FIGS. 3 and 4, when the operator manipulates the knob control unit 2001, input information about the front and rear, right and left, and clockwise/counterclockwise rotation of the catheter 1 is generated, and the length control unit 2002 is operated. When the input information about the length adjustment of the length adjustment unit 21 can be generated. Accordingly, the server 3 may generate control information for the catheter 1 and the length adjustment unit 21, respectively, from the drive information including the input information, and the navigation device 2 receives the control information to operate. can do.

In addition, the server 3 may generate output information through driving information including insertion information, so that the operator can determine the length of the catheter 1 inserted into the body.

At this time, the server 3 may determine whether or not the catheter 1 is stably inserted into the body using the insertion information.

More specifically, the server 3 may generate estimated insertion information by determining the length of the catheter 1 inserted into the body. Thereafter, the server 3 may generate error information by comparing the expected insertion information with the insertion information generated by the fixing unit 22 . Here, the error information may be a value obtained by subtracting the insertion information from the expected insertion information.

In this case, when the error information is a positive number, the server 3 may generate interruption information to prevent damage to blood vessels in the body. This can be determined that the catheter 1, which should have been inserted into the body according to the control information, is not inserted as long as the expected length, and that there is resistance in the entry path into which the catheter 1 should enter. Accordingly, the server 3 generates stop information to stop the catheter 1 from entering the body any longer, and to prevent damage to internal blood vessels or structures located in the body.

Conversely, when the error information is a negative number, the server 3 may generate inspection information so that the drive unit 20 can be inspected. This may determine that an error has occurred in the control information due to a problem with the drive unit 20 in a state where the catheter 1, which should have been inserted into the body according to the control information, is inserted more than the expected length. Accordingly, the server 3 generates inspection information so that an operator can inspect the drive unit 20 .

At this time, the server 3 may not generate interruption information or inspection information when the error information is less than a certain range. For example, the server 3 may set ±0.2 as an error range in consideration of an error in detecting the length of the catheter 1. Accordingly, the server 3 may determine that the catheter 1 is operating normally without generating the above information when the error information is within the error range.

In this way, as the server 3 generates the error information, the operator can quickly determine that resistance is generated in the entry path when the catheter 1 enters the body, thereby preventing internal blood vessel damage, as well as preventing damage to the catheter 1. It has the advantage of being able to check whether or not it is normally entering the body.

In addition, the server 3 may generate output information capable of providing the operator with input information included in the operation information and driving information received from the catheter 1 .

The display 4 outputs the output information received from the server 3 so that the operator can provide operation information of the catheter 1 and driving information of the navigation device 2.

Here, the display 4 may be installed inside the operating room, but is not limited thereto, and is installed outside the operating room so that the user who needs the corresponding information can check it. In addition, the display 4 may include all output devices installed inside and outside the operating room and used to guide information to the operator, but is not limited thereto.

More specifically, the display 4 provides the operator with internal image information displayed by the catheter 1 located in the body, location information about the point where the catheter 1 is located, length information of the catheter 1 inserted in the body, and the like. can do.

Accordingly, the operator checks the above information in real time through the display 4 and proceeds with the procedure so that a safer and more accurate procedure can be performed.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concept of the present invention defined in the following claims are also included in the scope of the present invention. that fall within the scope of the right.

1: catheter
2: Navigation device
20: driving unit
200: control panel
2001: Knob control unit
2002: Length Control Unit
2003: Button part
201: connection part
21: length adjustment unit
22: fixing part
220: fixed protrusion
221: detection sensor
221: inclined portion
222 passage part
223: projection
2230: first protrusion
2231: second protrusion
3: server
4: display
S: Sis

Claims (12)

In the navigation device for controlling a catheter inserted into the body during cardiovascular intervention,
a driving unit controlling movement of the catheter;
A length adjustment unit having a front end connected to the catheter and a rear end connected to the driving unit; and
A navigation device that is inserted into a sheath and includes a fixing part formed in a circular tube shape so that the catheter passes therethrough.
According to claim 1,
the driving unit,
A manipulation unit formed on the upper surface to control the movement of the catheter; and
A navigation device including a connection part formed on the rear side to be connected to other equipment and acting as a hub.
According to claim 2,
The control unit,
a knob control unit for manipulating movement of the catheter;
A navigation device including a length control unit for manipulating the movement of the length control unit.
According to claim 1,
The fixing part,
Includes a fixing protrusion formed along the outer circumferential surface on the back side,
The navigation device, characterized in that the fixing protrusion is mounted on the rear surface of the sheath and fixed without entering the body.
According to claim 1,
The fixing part,
It includes a plurality of protrusions formed on the inner circumferential surface,
The protrusion,
A navigation device characterized in that it is formed of a flexible material, so that it is in close contact with the catheter to transmit a precise motion to the catheter.
According to claim 5,
The fixing part,
An inclined portion formed in a shape where the portion into which the catheter is introduced narrows inward so that the catheter can be easily inserted; and
A navigation device including a passage portion extending from the inclined portion and passing through the fixing portion.
According to claim 8,
The protrusion,
A first protrusion formed along the inner circumferential surface of the inclined portion, and
A navigation device including a second protrusion formed along an inner circumferential surface of the passage and continuously formed along a longitudinal direction.
A catheter that is inserted into the body during cardiovascular interventional procedures to generate procedure information;
a navigation device generating drive information for controlling movement of the catheter;
A server that receives treatment information from the catheter and receives driving information from the navigation device to generate control information and output information; and
A navigation system comprising a display for receiving and outputting output information from the server.
According to claim 8,
The treatment information,
A navigation system including location information, mapping information, and image information of the catheter generated by the catheter.
According to claim 8,
The navigation device,
a drive unit including a control unit for generating input information to control movement of the catheter and a connection unit for generating additional information in connection with other devices;
A length adjustment unit capable of receiving control information from the control unit and retracting or withdrawing from the driving unit to adjust the length; and
It is inserted into a sheath, formed in a circular tube shape so that the catheter passes through, and a detection sensor is provided therein to sense the length of the catheter inserted into the body and generate insertion information Navigation system including a fixing part .
According to claim 10,
The server,
The navigation system according to claim 1, wherein the length of the catheter inserted into the body is determined through the drive information to generate expected insertion information, and error information that is a difference between the expected insertion information and the insertion information is generated.
According to claim 11,
The server,
If the error information is a positive number, stop information is generated to prevent damage to blood vessels in the body;
When the error information is a negative number, inspection information is generated and transmitted to the display through the control unit so that the drive unit can be inspected.

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