US 12,453,567 B2
Stone removing apparatus and stone size measuring method
Byung Sik Chun, Daejeon (KR)
Assigned to ROEN SURGICAL, INC., Daejeon (KR)
Filed by ROEN SURGICAL, INC., Daejeon (KR)
Filed on Aug. 9, 2021, as Appl. No. 17/397,897.
Application 17/397,897 is a continuation of application No. PCT/KR2020/095133, filed on Oct. 30, 2020.
Claims priority of application No. 10-2019-0155961 (KR), filed on Nov. 28, 2019.
Prior Publication US 2023/0039326 A1, Feb. 9, 2023
Prior Publication US 2025/0000533 A9, Jan. 2, 2025
Int. Cl. A61B 17/221 (2006.01)
CPC A61B 17/221 (2013.01) [A61B 2017/2215 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A stone removing apparatus comprising:
an insertion tube having an inner space;
a guide tube inserted into the inner space of the insertion tube and movable along the insertion tube;
a wire inserted into an inner space of the guide tube and movable along the guide tube;
a basket disposed at a front of the wire and configured to grasp a stone;
an image capture disposed at a front end of the guide tube and configured to take an image of the stone grasped by the basket;
a controller electrically connected to the image capture and configured to analyze the image taken by the imaging capture; and
wherein an end portion of the insertion tube is capable of being bent so that the insertion tube is movable toward the stone to be removed,
wherein an end portion of the guide tube is capable of being bent so that the guide tube is movable toward the stone to be removed, and
wherein the controller is further configured to determine a first distance between the image capture and the basket, set a point of an outer circumference of the stone, the point being farthest from a center based on the image, and determine a second distance between the point and an outer contour point which is positioned on an outer counter of the image and farthest from the point, and determine an actual size of the stone using the first distance and the second distance.