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혈관치료용 카테터 회전 및 풀백 구동 시스템 개발

Development of Rotation and Pull-back Drive System of Catheter for Vascular Treatment

Journal of the Korean Society for Precision Engineering 2024;41(7):561-567.
Published online: July 1, 2024

1 동국대학교 대학원 바이오헬스의료기기규제과학과

2 ㈜바이오유닛 기업부설연구소

3 동국대학교 의생명공학과

4 동국대학교 의료융합기술실용화연구원

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• Received: March 7, 2024   • Revised: May 28, 2024   • Accepted: May 29, 2024

Copyright © The Korean Society for Precision Engineering

This is an Open-Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License (http://creativecommons.org/licenses/by-nc/3.0) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.

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  • Varicose vein treatments range from conventional surgical ligation and sclerotherapy to venous closure using biological adhesives. However, considering ease of procedure, recovery time, and cosmetic outcomes like minimal scarring, minimally invasive techniques employing lasers or radiofrequency are preferred. The efficacy of these methods heavily relies on clinician expertise and ultrasound imaging, with manual catheter retraction during cauterization presenting challenges, such as overlapping or untreated areas, especially in long vessels exceeding 1 meter, leading to increased procedure time and operator fatigue. To address these issues, we propose an automated catheter procedure for varicose veins. This system features a handpiece for energy generation control (laser, radiofrequency) operated near the clinician for convenience. We designed a pullback system that enables constant speed rotation and forward/backward movements of the catheter without moving the handpiece. Through handpiece operation, the catheter rotates at a set speed, and a roller-driven pullback action occurs as it winds on a reel, expanding the diameter of the reel for retraction while remaining stationary. Conversely, reducing the diameter of the reel facilitates forward movement. The length adjustment of the catheter based on winding turns on the reel makes it adaptable for various vascular procedures, enhancing the procedural accuracy and operator convenience.

R

Radius

l

Length of a Link

C

Distance Center to Axis of an External Gear

ω

Angular Velocity

P.C.D

Pitch Circle Diameter

A.D

Addendum Circle Diameter

D.D

Dedendum Circle Diameter

m

Module of Gear

Z

Number of Teeth
하지정맥류는 다리 정맥 판막의 기능 이상으로 발생하는 질환으로, 심장으로 가야 하는 혈액이 다리 방향으로 역류하여 발생한다[1]. 그 결과 다리가 붓고 정맥 혈관이 확장되거나 늘어나면서 구불구불해지고 부풀어 오르는 증상이 유발된다. 이러한 하지정맥류의 치료 방법은 피부 절개를 통해 해당 정맥을 결찰하는 기존 외과적 수술 방법부터 혈관 내 경화제를 주사하는 주사 경화 치료법, 생체용 접착제를 활용하여 정맥을 막아 폐쇄시키는 방법, 레이저나 고주파를 이용한 최소침습술 등 다양하게 존재한다[4]. 이 중, 시술의 용이성, 회복 기간의 단축, 그리고 수술 흉터 최소화 등을 고려하였을 때 레이저나 고주파를 이용한 최소침습술이 가장 우선되는 치료 방법으로 여겨지고 있으며, 최소침습술의 발달로 하지정맥류 치료에 대해서도 혈관 내 고주파 및 레이저 열 폐쇄술 기법 및 관련 의료기기의 발달이 중점적으로 이루어지고 있다[5].
Fig. 1은 최소침습적 치료 방법 중 고주파 열 치료술(Radio-frequency Ablation, RFA)의 과정을 설명하는 모식도이다. 우선 카테터를 정맥에 삽입한 후 열을 가해 정맥을 수축시킨다. 이후 일정한 길이로 표시된 다음 구간으로 카테터를 이동시켜 열을 가하는 과정을 반복한다. 마지막으로 카테터를 제거하고 혈관을 폐쇄시키는 것으로 시술이 마무리된다. 최소침습적 열 폐쇄술인 레이저 치료(Endovenous Laser Ablation)와 고주파 열 치료는 현재 가장 많이 사용되고 있는 치료 방법이지만, 아직 시술 과정에서 보완이 필요한 문제가 남아있다[6,7]. 첫 번째로, 현재 하지정맥류 고주파 열 치료술에 사용 중인 카테터는 정맥의 직경이 작은 경우 진입이 어려우며, 정맥이 지나치게 굴곡진 경우 정맥 내에서 전진이 어려울 수 있다[8].
Fig. 1

Radiofrequency ablation (RFA) treatment for varicose veins [2] (Adapted from Ref. 2 on the basis of OA)

KSPE_2024_v41n7_561_f001.jpg
두 번째로, 최소침습적 열 치료술은 초음파 영상을 기반으로 카테터의 위치를 조절하면서 시행되므로, 정맥 내 열이 조사되는 부위가 중첩되거나 열이 충분히 도달하지 않아 소작되지 않는 영역이 생길 수 있다[9]. Fig. 2에서 보이는 바와 같이 중첩부 혹은 고주파 미접촉부가 발생할 수 있기 때문에, 열 치료술의 효과와 질은 의료진의 경험 및 숙련도에 크게 의존하게 된다[10]. 이러한 상황은 병원 간 치료 결과의 차이를 초래할 수 있으며, 특정 병원의 성공률이 높다는 인식이 형성되어 환자들이 특정 병원으로 집중되는 현상을 유발할 수 있다. 세 번째로, 고주파 열 치료술은 시술자가 수동으로 카테터를 조작하여 혈관을 폐쇄하는 과정이므로, 폐쇄해야 할 혈관의 길이가 1 m 이상으로 긴 경우 시술 시간이 길어지고 시술자의 피로도가 증가할 수 있다. 이는 시술의 정확성에 영향을 미칠 수 있는 중요한 요소이기에, 긴 혈관을 대상으로 하는 고주파 열 치료술 시에는 시술 정확도를 보장하기 위해서 개선이 필요한 부분이 존재한다[11]. 이러한 문제에 대한 해결 방안으로, 본 연구는 하지정맥류 카테터 시술 과정을 자동화하는 새로운 방식을 제안한다. 제안하는 카테터 회전 및 풀백 구동 시스템을 통해 앞서 언급된 문제들을 효과적으로 해결할 수 있을 것으로 기대한다. 카테터를 회전시키는 방식을 채택함으로써, 더 작은 직경의 카테터 사용이 가능해져, 구조가 복잡하거나 좁은 혈관에서의 시술이 용이해질 것이다. Fig. 3은 기존 비회전 방식의 카테터와 회전 방식의 카테터를 비교한 그림이다. 비회전 방식의 카테터는 혈관 벽 전체에 열을 균일하게 조사하기 위해 다수의 전극으로 구성되어 있지만, 회전 방식의 경우 카테터를 회전시킴으로써 바이폴라 전극의 수를 줄이고 카테터의 직경을 최소화할 수 있다. 또한 본 연구에서 제안하는 시스템의 풀백 모듈은 핸드피스의 위치 변화 없이 시술자와 가까운 곳에서 카테터의 회전, 에너지 발생, 풀백 동작을 안정적이고 정교하게 조작될 수 있도록 한다. 자동화된 풀백 동작을 통해 열 조사가 중첩되거나 고주파 미접촉부 발생 문제를 해결하여 균일한 열 치료술이 가능하며, 임상의의 의도에 따라 더욱 세밀한 시술이 가능해질 것으로 판단된다.
Fig. 2

Radiofrequency irradiation overlap and non-contact parts [3] (Adapted from Ref. 3 on the basis of OA)

KSPE_2024_v41n7_561_f002.jpg
Fig. 3

Cross section of the non-rotational and rotational catheters

KSPE_2024_v41n7_561_f003.jpg
이와 비슷하게 심혈관 초음파(Intravascular Ultrasound, IVUS) 영상 진단 기술이 존재한다. 초음파 프로브가 달린 카테터를 혈관에 삽입하여 회전과 풀백 동작을 통해 생성된 영상을 통해 관상동맥의 상태를 확인하는 기술이다[12,13]. 이미지 생성이 필요한 영역이 15 cm 이내의 수준이기 때문에 긴 풀백 거리가 요구되지 않으며, 카테터의 회전은 단일 속도로 이루어진다[14,15]. 반면 본 연구에서 제안하는 시스템은 1 m 이상의 긴 풀백 거리에 적용 가능하며, 풀백 속도와 회전 속도를 상황에 따라 조절할 수 있다는 차이점을 갖는다. 이는 카테터의 회전과 풀백 속도를 서로 조절함으로써, 혈관 내 모든 영역에 에너지가 균일하게 조사되어 균일한 열 치료술을 가능하게 한다. 이러한 기능은 시술자의 경험과 숙련도에 따라 발생할 수 있는 치료 결과의 차이를 줄이고, 시술 정확도를 보장하는 데 기여할 것으로 생각된다. 나아가 본 연구에서 제안하는 카테터 회전 및 풀백 구동 시스템은 다양한 혈관 시술에 적용될 수 있으며, 이를 통해 관련 시술의 단점들을 보완할 수 있을 것으로 기대한다.
카테터 회전 및 풀백 구동 시스템에서 요구되는 사항을 분석하고, 이를 구현하기 위한 메커니즘을 개발했다.
2.1 회전 동작 설계 요구사항 및 적용 메커니즘
복잡한 구조의 혈관이나 좁은 혈관에서의 시술 용이성을 제고하기 위하여, 카테터의 직경을 최소화하는 회전 방식의 카테터를 고려해볼 수 있다. 이를 구현하기 위해, 카테터의 회전은 핸드피스에 위치한 모터에 의해 제어되는 방식으로 설계될 수 있다. 굴곡진 정맥을 따라 정확하게 카테터를 위치시키고, 카테터의 끝까지 회전 모터의 동력을 전달할 수 있도록 카테터 양 끝에서의 회전 추종성과 축의 굽힘 유연성이 동시에 확보되어야 한다. 이와 같은 요구 사항을 충족하기 위해, 플렉시블 샤프트와 같은 구조가 적용될 수 있다. 플렉시블 샤프트는 가요성을 지닌 축으로, 축 방향의 변화가 가능하며, 휘어진 구조에서도 축을 따라 회전 동력을 효과적으로 전달하는 특징을 가진다. 이러한 구조적 특징을 지닐 수 있도록, 카테터의 회전축은 다중 와이어 감김 방식으로 제작되어야 한다. Fig. 4 는 본 연구에서 제안하는 카테터 회전 및 풀백 구동 시스템에 적용된 카테터의 구조이다. 다중의 와이어를 동시에 감는 방식으로 제작되어 굽힘 강성을 낮추고, 반대 방향의 나선 구조가 겹치도록 와이어를 여러 겹으로 감는 방식으로 제작되어 높은 비틀림 강성을 확보할 수 있다. 카테터의 회전은 핸드피스 내 회전 모터를 통해 제어되며, 이 과정에서 케이블의 꼬임이 발생할 수 있다. 따라서 카테터 내부에 위치한 전선들의 꼬임 현상을 방지하기 위한 해결책이 필요하며, 전선의 꼬임 없이 전원 또는 신호라인 공급에 사용되는 회전형 커넥터인 슬립링을 적용할 수 있다. 또한 시술자가 필요에 따라 카테터의 회전 속도를 조절할 수 있도록, 다양한 속도 설정이 가능한 회전 모터와 이를 제어하는 제어 보드가 필요하다.
Fig. 4

Catheters rotation shaft manufactured in multiple wire winding structure

KSPE_2024_v41n7_561_f004.jpg
2.2 풀백 동작 설계 요구사항 및 적용 메커니즘
풀백 동작이 이루어질 때, 핸드피스는 시술자와 인접한 위치에서 유지되며 정확히 제어되어야 한다. 또한 풀백 동작은 카테터의 끝까지 회전 모터의 동력이 전달될 수 있도록 회전에 영향을 주지 않는 방식으로 수행될 수 있어야 한다. 단순히 카테터가 구동 롤러 사이에 위치하고, 구동 롤러와 밀착된 상태로 마찰을 이용하여 전 후진하는 경우, 카테터 회전축이 외부 보호튜브와 구동 롤러 사이에 압착되어 가해지는 압력으로 인해 회전 모터의 동력이 카테터의 말단부까지 전달되지 않을 수 있다. 이러한 요구사항을 충족시키는 풀백 동작 메커니즘으로 Fig. 5와 같이 카테터가 릴에 감겨 있는 상태로부터 릴의 직경을 확장시키는 방식으로 구현하였다. 내부 기어가 모터에 의해 회전하면서 내부 기어와 맞물린 외부 기어가 회전하고, 이 외부 기어에 고정된 연결부의 각도 변화를 통해 직경이 확장되는 구조이다. 이 구조는 카테터 릴의 전체 둘레 길이가 증가함에 따라 카테터가 풀백되며, 풀백 된 길이만큼 카테터 릴에 수납될 수 있게 한다. 카테터에 대한 압력은 릴과 접촉된 영역 전체에 균등하게 분배되어, 카테터 회전 모듈의 회전력이 말단부까지 효과적으로 전달될 수 있으며, 핸드피스의 위치 변화 없이 풀백 동작을 정교하게 수행되어야 하는 요구조건을 만족할 수 있다.
Fig. 5

Mechanism of the catheter reel extension

KSPE_2024_v41n7_561_f005.jpg
Fig. 6는 제안된 메커니즘을 다물체 동역학 (Multibody Dynamics) 해석 소프트웨어인 RecurDyn (FunctionBay, Korea) 을 사용하여 모델링하고 분석한 결과를 나타낸다. 내부 기어가 회전함에 따라 카테터 릴의 직경이 확장되고, 핸드피스의 위치가 변경되지 않으면서 늘어난 둘레 길이만큼 카테터가 풀백되어 릴에 수납되는 결과를 확인할 수 있다. 해석에 사용한 물성 값 및 접촉 조건은 Table 1과 같다.
Fig. 6

Analysis of catheter reel multibody dynamics in diameter expansion

KSPE_2024_v41n7_561_f006.jpg
Table 1

Catheter properties and contact conditions used in the multibody dynamics analysis

Table 1
Catheter properties
Young’s modulus 100,000 [MPa]
Density 1.85e-006 [kg/mm^3]
Damping ratio 8.e-002
Contact conditions
Stiffness coefficient 20
Damping coefficient 2.e-004
Dynamics friction coefficient 0.9
설계 요구사항을 만족하는 카테터 회전 및 풀백 구동 시스템을 구현하기 위해, 카테터의 전후진 구동을 담당하는 풀백 모듈과 카테터 회전 및 에너지 발생을 제어하는 핸드피스로 시스템을 구성하였다. 각 모듈의 기능 구현 가능성을 확인하기 위해 SolidWorks (Dassault Systems SolidWorks Corp., 2022)를 활용하여 설계를 진행하였으며, 이후 설계된 시스템의 실제 기능 검증을 위해 3D 프린터(J35, Stratasys, USA)로 프로토타입을 제작했다. 이 과정을 통해 모듈간의 상호작용 및 동작의 정확성을 평가하고 시스템의 통합적 기능의 가능성을 확인하고자 하였다.
3.1 핸드피스 구성 및 설계
핸드피스는 카테터의 회전, 에너지 발생, 풀백 동작이 안정적이고 정밀하게 제어될 수 있도록 설계되어야 하며, 회전 과정에서 핸드피스 내부 전선의 꼬임이 발생하지 않아야 한다. 이러한 설계 요구사항을 만족하기 위해 개발된 핸드피스 모델의 단면은 Fig. 7에 보여지는 바와 같다. 회전속도를 다양하게 조절할 수 있는 버튼 조작부를 통해, 사용자가 회전 속도와 동작을 직관적으로 조절할 수 있게 하였다. 카테터와 회전 모터는 카테터 회전축 커넥터를 통해 연결되며, 카테터 내부의 전선은 회전에 따른 꼬임 없이 전력을 공급받을 수 있도록 슬립링에 연결되어 있다. 또한 열선부의 길이를 조절할 수 있는 구동부가 설계되어 있으며, 랙기어를 통해 열선부 길이의 조절이 가능하다.
Fig. 7

Cross section of hand piece design

KSPE_2024_v41n7_561_f007.jpg
이 설계를 바탕으로, Fig. 8에서 보여지듯이, 3D 프린터를 사용하여 프로토타입을 제작하고 기능을 실제로 확인해 볼 수 있었다. 적합한 스펙의 모터와 슬립링을 장착하여 시험 구동을 수행했으며, 이를 통해 핸드피스 조작을 통해 카테터의 회전을 다양한 속도로 성공적으로 구현할 수 있음을 확인했다.
Fig. 8

Hand piece 3D printer output

KSPE_2024_v41n7_561_f008.jpg
3.2 풀백 모듈 구성 및 설계
카테터 릴의 직경 확장 메커니즘의 실제 구현 가능성을 확인하기 위해 설계한 모델은 Fig. 9에서 보이는 바와 같다. 기어 회전을 통해 카테터 릴의 직경이 확장되고, 이에 따라 늘어난 둘레의 길이만큼 카테터가 풀백되어 수납된다. 이 과정에서 카테터 릴 둘레 길이와 설계 파라미터 간의 관계식을 도출했다.
Fig. 9

Design model of catheter reel in diameter expansion

KSPE_2024_v41n7_561_f009.jpg
Fig. 10은 내부 기어 회전에 의한 직경 확장 구조에서의 설계 파라미터를 보여준다. 늘어난 카테터 릴의 둘레 길이 L은 식(1)로 정의되며, 내부 기어가 시간에 따라 일정한 각속도로 회전하는
(1)
L=2πRt-R0
(2)
Rt=C2+l2-2Clcosε0+ωt
(3)
dRdt=Clωsinε0+ωtC2+l2-Clcosε0+ωt
Fig. 10

Catheter reel design parameters in diameter expansion

KSPE_2024_v41n7_561_f010.jpg
상황에서 카테터 릴 반지름은 식(2)로 표현된다. 수식(3)은 시간에 따른 카테터 릴의 반지름의 변화를 나타내며, L이 선형적으로 증가하기 위해서 각속도 ω는 시간 t에 따른 함수의 형태로 제어되어야 한다. Figs. 116의 다물체 동역학 모델의 내부 기어 회전에 따른 반지름 변화를 나타내는 그래프이며, 적용된 설계 파라미터 값은 Table 2와 같다. 초기 반지름 55 mm에서 최대 69.67 mm까지 확장 가능하며, 이는 약 26%의 변화율을 보인다. 식(1)에 따라 이 확장을 통해 최대 92.17 mm 풀백된 카테터 수납이 가능하며, 이는 카테터를 릴에 한 번 감았을 때의 수납 가능한 길이이다. 따라서 카테터를 릴에 감는 횟수에 따라 수납 길이를 그 배수로 증가시킬 수 있다 또한 L의 선형성을 위하여 각속도 ω는 시간 t에 따른 함수의 형태로 제어되어야 하지만 Fig. 11에서 보여지는 바와 같이 비선형성이 허용 가능한 범위 내에 존재할 수 있기에, 일정 범위 내에서 설계 파라미터 값을 조정할 수 있음을 의미한다.
Fig. 11

Graph of radius increase as an internal gear rotation

KSPE_2024_v41n7_561_f011.jpg
Table 2

Catheter reel design parameter values

Table 2
Internal gear External gear
P.C.D [mm] 72 24
A.D [mm] 74 26
D.D [mm] 69.5 21.5
Module 1 1
Z 72 24
L [mm] 35.45
Fig. 12는 풀백 모듈과 핸드피스로 구성된 카테터 회전 및 풀백 구동 시스템의 설계 모델을 나타내며, 핸드피스의 위치 변화 없이 카테터 릴의 직경이 확장되어 풀백된 카테터가 수납되는 모습을 확인할 수 있다. 카테터 릴의 직경 확장 기전 구현 가능성을 확인하기 위하여 설계된 모델을 바탕으로 3D 프린터를 사용하여 프로토타입을 제작하였고, 그 결과는 Fig. 13에서 보이는 바와 같다. Fig. 14는 풀백 동작 및 속도 조절이 가능한 풀백 모듈의 제어부 프로토타입이며, 파란 원통 형상 부위에 카테터 릴 직경 확장 메커니즘을 적용하여 풀백 모듈을 완성시킬 수 있다. 풀백 속도는 5, 10, 15 mm/s 로 조절할 수 있으며 풀백 가능 거리는 최대 1 m이다.
Fig. 12

Pulled back catheters as catheter reel diameter is extended

KSPE_2024_v41n7_561_f012.jpg
Fig. 13

Diameter-expanding catheter reel 3D printer output

KSPE_2024_v41n7_561_f013.jpg
Fig. 14

Control unit of the pull-back module that controls the pull-back operation and speed

KSPE_2024_v41n7_561_f014.jpg
최종적으로, Fig. 15는 제작된 프로토타입, 풀백 모듈과 핸드피스, 그리고 고주파 출력을 조절하는 제너레이터를 포함한 전체 시스템의 모습을 보여준다. 제너레이터는 핸드피스와 연결되어 고주파 출력을 제어할 수 있으며, 핸드피스 상에서는 카테터의 회전 동작 제어가 가능하다. 이를 위한 제어보드가 존재하고, 카테터 회전축 속도는 40, 60, 80 RPM으로 설정할 수 있다. 회전 방식의 카테터는 풀백 모듈의 카테터 릴에 감긴 상태에서 카테터 릴의 직경 확장에 따라 풀백 동작이 정교하게 수행될 수 있다.
Fig. 15

System configuration including prototype of a pull-back module, the hand piece, and a generator that controls radiofrequency output

KSPE_2024_v41n7_561_f015.jpg
본 연구에서는 하지정맥류 치료 시 고주파 열 치료술의 과정에서 존재하는 여러 문제점을 해결할 수 있는 카테터 회전 및 풀백 구동 시스템을 개발하고 제안한다. 기존의 비회전 방식 카테터는 혈관 벽 전체에 열을 균일하게 조사하기 위해 다수의 전극을 포함하고 있으나, 큰 직경으로 인해 구불구불한 정맥을 따라 삽입하는 데 어려움이 있었다. 이에 비해 회전 방식의 카테터는 바이폴라 전극의 수를 줄임으로써 카테터의 직경을 최소화할 수 있어, 삽입 난이도를 현저히 감소시킬 수 있다.
또한 기존의 치료 방식에서 시술자는 수동으로 카테터를 후진시켜야 했으며, 이로 인해 균일한 열 치료술이 시행되기 어렵고, 특히 혈관의 길이가 긴 경우에는 시술 시간이 증가하고 시술자의 피로도가 높아져 시술 정확도가 저하될 수 있는 문제가 있었다. 본 연구에서 제안하는 시스템은 카테터의 후진을 자동화함으로써 열 치료술을 보다 균일하게 시행할 수 있으며, 핸드 피스의 위치 조정 없이도 시술을 진행할 수 있어 시술자의 피로도를 크게 줄일 수 있다.
기존 시술 방식에서 시술 결과가 대체로 임상의의 경험에 의존하였던 한계를, 본 연구에서 개발한 새로운 시스템을 통해 극복할 수 있을 것으로 기대된다. 이는 환자에게는 의료 서비스의 질적 향상을 체감할 수 있는 기회를 제공하며, 시술자에게도 시술 부담을 감소시켜 줄 것으로 예상된다. 이러한 카테터 회전 및 풀백 구동 시스템은 하지정맥류 치료에 국한되지 않고 다양한 혈관 시술에 적용될 수 있는 가능성을 지니고 있어, 다양한 혈관 치료 분야에 기여할 수 있을 것으로 기대한다.
본 연구는 2022년도 식품의약품안전처 연구개발비(No. 22183MFDS367)로 수행되었으며 이에 감사드립니다. 본 연구는 2021년도 중소벤처기업부의 기술개발사업 지원에 의한 연구임(No. S3173937).
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Jaeho Sul
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M.S. candidate in the Department of Regulatory Science for Medical Device, Graduate School, Dongguk University. His research interest is Computer Modeling and Simulation.
Myoung Jae Seo
KSPE_2024_v41n7_561_bf002.jpg
M.S. candidate in the Department of Regulatory Science for Medical Device, Graduate School, Dongguk University. His research interest is Computer Modeling and Simulation.
Jong Hyeok Jeon
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Senior Researcher in the Biounit Co., Ltd. Ph.D. candidate in the Department of Regulatory Science for Medical Device, Graduate School, Dongguk University. His research interest is Medical Device.
Sung Min Kim
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Professor in the Department of Biomedical Engineering, Dongguk University. His research interest is Medical Device Development and Medical Device Regulatory Science.
Hong Seok Lim
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Research Professor in Research Institute for Commercialization of Biomedical Convergence Technology, Dongguk University. His research interest is Development of Surgical Instruments and Surgical Robots.

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Development of Rotation and Pull-back Drive System of Catheter for Vascular Treatment
J. Korean Soc. Precis. Eng.. 2024;41(7):561-567.   Published online July 1, 2024
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Development of Rotation and Pull-back Drive System of Catheter for Vascular Treatment
J. Korean Soc. Precis. Eng.. 2024;41(7):561-567.   Published online July 1, 2024
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Development of Rotation and Pull-back Drive System of Catheter for Vascular Treatment
Image Image Image Image Image Image Image Image Image Image Image Image Image Image Image
Fig. 1 Radiofrequency ablation (RFA) treatment for varicose veins [2] (Adapted from Ref. 2 on the basis of OA)
Fig. 2 Radiofrequency irradiation overlap and non-contact parts [3] (Adapted from Ref. 3 on the basis of OA)
Fig. 3 Cross section of the non-rotational and rotational catheters
Fig. 4 Catheters rotation shaft manufactured in multiple wire winding structure
Fig. 5 Mechanism of the catheter reel extension
Fig. 6 Analysis of catheter reel multibody dynamics in diameter expansion
Fig. 7 Cross section of hand piece design
Fig. 8 Hand piece 3D printer output
Fig. 9 Design model of catheter reel in diameter expansion
Fig. 10 Catheter reel design parameters in diameter expansion
Fig. 11 Graph of radius increase as an internal gear rotation
Fig. 12 Pulled back catheters as catheter reel diameter is extended
Fig. 13 Diameter-expanding catheter reel 3D printer output
Fig. 14 Control unit of the pull-back module that controls the pull-back operation and speed
Fig. 15 System configuration including prototype of a pull-back module, the hand piece, and a generator that controls radiofrequency output
Development of Rotation and Pull-back Drive System of Catheter for Vascular Treatment
Catheter properties
Young’s modulus 100,000 [MPa]
Density 1.85e-006 [kg/mm^3]
Damping ratio 8.e-002
Contact conditions
Stiffness coefficient 20
Damping coefficient 2.e-004
Dynamics friction coefficient 0.9
Internal gear External gear
P.C.D [mm] 72 24
A.D [mm] 74 26
D.D [mm] 69.5 21.5
Module 1 1
Z 72 24
L [mm] 35.45
Table 1 Catheter properties and contact conditions used in the multibody dynamics analysis
Table 2 Catheter reel design parameter values