• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The module comprises: a base (31), - a first drive member (28a), - a second drive member (28b). The second drive member (28b) is also movably mounted relative to the first drive member (28a) with a degree of freedom other than a rotation about the second axis (29b) between a first and a second configuration. A motion transmission system (35) transmits the driving motion generated by the driving motor (34) to the second driving member (28b) to drive the second driving member (28b) in rotation about the second axis (29b) between the first and second configurations.
    公开号:FR3046543A1
    申请号:FR1650105
    申请日:2016-01-07
    公开日:2017-07-14
    发明作者:Fabien Destrebecq；Julien Maurel；Sebastien Deboeuf；Philippe Bencteux
    申请人:Robocath；
    IPC主号:
    专利说明:

    Robotisable module for driving an elongated flexible medical organ, medical robot and system comprising such a module.
    The present invention relates to robotisable driving modules of an elongated flexible medical device. Manual insertion of a catheter or guide into a patient is a relatively conventional surgical procedure. However, this act being monitored under X-rays, the surgeon in charge of this act is subjected to a significant irradiation if he performs such an operation on many patients.
    In order to reduce the risks for the surgeon, we try to robotize such insertion. This robotization is complex because the prehension of the catheter is difficult. It is indeed slippery, and must remain sterile. The reliability of these robotic systems despite these difficulties is a decisive criterion for their acceptance by the medical community. Recently, it has been proposed in US 7,927,310 a drive system managing both translation and rotation of the catheter. The catheter is held on a rotatable plate relative to a base for rotational drive. The wafer itself comprises a drive mechanism in translation. In addition, remote motors are used, permanently on the frame, and movement transfer systems to the catheter. Indeed, it is preferred not to have the engines on board, for reasons of power supply, congestion and sterility.
    Although this configuration is very satisfactory, it is still sought to facilitate the implementation by medical personnel. Critical criteria are rapid commissioning and decommissioning. Quick, easy and instinctive start-up prevents staff from misplacing the catheter in the robot and consequently from subsequent problems. Rapid decommissioning may be necessary to ensure manual intervention by medical staff when needed.
    More particularly, the invention relates to a robotizable drive module of an elongated flexible medical device. The module includes a base.
    The module comprises a first drive member defining a first axis, and comprising a first peripheral driving surface around this first axis, the first drive member being mounted to rotate with respect to the base around the first axis, and comprising a link member to a drive motor adapted to drive the first drive member in rotation about the first axis.
    The module comprises a second drive member defining a second axis parallel to the first axis, and comprising a second peripheral drive surface around this second axis, the second drive member being mounted to rotate relative to the base around of the second axis.
    The second drive member is also movably mounted relative to the first drive member in a degree of freedom other than a rotation about the second axis, between: a first configuration in which the first and second peripheral drive surfaces face with a first spacing, and a second configuration in which the first and second drive peripheral surfaces face each other with a second spacing greater than the first spacing.
    The module comprises a user operable actuation system adapted to move the second drive member at least from one of the first and second configurations to the other of the first and second configurations.
    The module includes a motion transmission system for transmitting the drive motion generated by the drive motor to the second drive member to drive the second drive member in rotation about the second axis at least in any configuration between the first and second configurations.
    Thanks to these provisions, it is very simple to either engage the catheter with the robotisable module, or disengage it, reducing the risk of making the robot inoperative due to these maneuvers commitment / disengagement.
    In preferred embodiments of the invention, one or more of the following arrangements may be used in addition: the motion transmission system is operating in the free configuration; the motion transmission system comprises: a first pinion coaxial with the first drive member and forming an input element of the motion transmission system; an intermediate gear, having an intermediate gear axis parallel to the first axis and offset from it, the intermediate gear being engaged with the first gear at least in any configuration between the first and second configurations,. a transmission between the intermediate gear and the second drive member, transmitting the rotational movement of the intermediate gear about the axis of intermediate gear in said rotational movement of the second drive member about the second axis. the module comprises an elastic system urging the second drive member from its second configuration to its first configuration,
    And the actuating system is operable to pass the second drive member of the first configuration and the second configuration by compressing said elastic system; - The elastic system solicits the actuating system integral with the second drive member; - The module comprises a locking system adapted to alternately lock the second drive member in its free configuration or release, the actuating system being adapted to control the locking system; the actuation system is electrically operable by the user; at least one driving member is also movably mounted relative to the base in a translation movement along its axis; said at least one drive member is mounted movably relative to the base in a translation movement along its axis on a translation travel,
    And the first drive member comprises a deformable skirt, rubbing on the base during the rotation of the first drive member relative to the base, and defining a periphery closed on the base on the entire travel path; the robotizable module further comprises a cover secured to the base and defining therewith a housing defining an interior space in which at least a portion of the first driving member is arranged, at least a portion of the second driving member; and at least a portion of the actuating system, and wherein an actuating portion of the actuating system, a portion of the first driving member and a portion of the second driving member protrude out of the housing.
    According to another aspect, the invention relates to a medical robot kit comprising an indwelling portion and a removable portion, the indwelling portion comprising a motor and a first coupling, the removable portion comprising such a robotizable module provided with a second coupling complementary to the first coupling, the first and second couplings comprise at least one cam surface adapted to rotate relative to each other the first and the second couplings with respect to a direction of assembly during a assembling the removable portion to the indwelling portion according to the assembly direction.
    In a preferred embodiment of the invention, the following arrangement may optionally be used: the first coupling comprises a plurality of concave-shaped projections, and the second coupling comprises a complementary plurality of complementary-shaped housings.
    According to another aspect, the invention relates to a medical system comprising a hollow flexible medical organ elongated along an axis of elongation, and such a medical robot or such a robotizable module, the elongate hollow flexible medical organ being taken between the first and second peripheral drive surfaces in the first configuration, the first drive member being rotatable relative to the base about the first axis to generate a translation of the elongated flexible medical member along its axis of elongation.
    In a preferred embodiment of the invention, provision may be made for the following arrangement: the first drive member is drivable in translation relative to the base along the first axis to generate a rotation of the flexible medical device lying around its axis of elongation. Other features and advantages of the invention will become apparent from the following description of one of its embodiments, given by way of non-limiting example, with reference to the accompanying drawings.
    In the drawings: FIG. 1a is a schematic side view of a robotic arteriography device. FIG. 1b is a view from above of part of FIG. 1a; FIGS. 2a-2c are diagrams illustrating the modes of movement of the members to be driven; FIG. 3 is a perspective view of an example of FIG. 3a is a perspective view of a detail of FIG. 3, FIG. having been removed, - Figure 4b is a view similar to Figure 4a in another configuration, - Figure 5 is a side view of the mechanism of Figure 4a, shown without the housing, - Figures 6a and 6b are two views from different perspectives exploded from the same coupling, (Figure 7 is an exploded perspective view of a second embodiment, - Figure 8 is a vertical sectional view of the module coupling to the motor - Figure 9a is a sectional view of a detail of the fig 8a in a first configuration, Figure 9b is a view corresponding to Figure 9a in a second configuration, - Figures 10a and 10b are exploded perspective views corresponding to Figures 6a, 6b for a second example of a coupling. FIGS. 11a and 11b are schematic views of the drive module according to one embodiment in two different configurations; FIGS. 12a, 12b and 13a, 13b are views corresponding to FIGS. 11a, 11b for other modes. of realization.
    In the different figures, the same references designate identical or similar elements.
    Figure la schematically shows an arteriography facility 1. The arteriography facility 1 is divided into two separate locations, an operating room 2 and a control room 3. The control room 3 can be distant, or close of the operating room 2, separated from the latter by a single wall 4, for example a screen, mobile and / or removable, opaque to X-rays. The equipment of the operating room 2 and the control room 3 are interconnected functionally, wired, wireless or network, ....
    The operating room 2 comprises an operating table 5 receiving a patient 6. The operating room 2 may also comprise a medical imager 7, in particular an X-ray imager, comprising a source 8 and a detector 9 arranged on the one hand. and other of the patient, possibly moving relative to the patient. The arteriography facility 1 comprises a robot 10 disposed in the operating room 2. The arteriography facility 1 comprises a control station 11 arranged in the control room 3. The control station 11 is adapted to control The arteriography apparatus 1 may also include, arranged in the control room 3, one or more remote controls 12 of the imager 7, communicating with the imager 7 to remotely control it. . The arteriography facility 1 may also include, disposed in the control room 3, a screen 13, communicating with the imager 7, to visualize in real time in the control room 3 the images acquired by the imager 7.
    The robot 10 can move an elongate flexible medical organ 15 to be inserted into the body of a patient. As an elongated flexible medical device 15, it may for example be an organ to be inserted into a patient's canal, and to move in this channel, in particular an artery or a vein of a patient, to through a gap leaving an access opening in the patient. The elongated flexible medical organ may in particular be a catheter. Alternatively, the elongated flexible medical organ may be a catheter guide. A guide is generally of smaller transverse diameter than that of the catheter, which is generally hollow on a portion close to the patient, or even on the whole of its length, so that the guide can move inside it, in particular inside the patient's body. The guide may also include a curved end, as will be described in more detail below.
    The robot 10 is controllable from the control station 11 to drive the flexible medical organ elongated relative to the patient in at least one degree of freedom, as will be described in detail later. The robot may comprise a communication box 17 used for interfacing with the control station 11. If necessary, the robot 10 may comprise a control box 18 locally, intended to control the robot from the operating room 2 if necessary.
    It will be noted moreover that all the commands and the returns available in the control room 3 may also be available in the operation room 2 for a local operation, such as for example an order 19 of the imager and a screen 20 making it possible to display the images acquired by the imager 7. The hollow elongated flexible medical organ may be connected to a connector 56 allowing the injection of a contrast product facilitating imaging within the patient. . The arteriography facility may comprise a contrast medium injector 57 connected to the connector 56, controllable by a control 58 arranged in the control room 3. A control 59 of the contrast agent injector may also be present locally. in the operations room 2.
    In what follows, the reference 15 will be used alternately to designate the guide 15 '', the catheter 15 ', or generally an elongated flexible medical device to be introduced into the body of a patient. For example, it may be an interventional catheter. Such an interventional catheter may be of smaller diameter than an outer catheter, so as to be guided inside thereof, coaxially inside the patient, and be hollow so as to be guided on the guide to the inside the patient.
    The connector 56 comprises a main branch 75 through which the catheter 15 'and the guide 15' 'pass juxtaposed. The distal end of the main septum 75 is connected to an outer catheter (not shown) extending inside the patient and within which the catheter 15 'and the guide 15' 'extend. The contrast product is injected into the interior of the outer catheter via a secondary branch 76 of the connector 56.
    Figure 2a shows the various degrees of freedom possible with the present system. The guide 15 '' is visualized with its front end 15 '' slightly curved with respect to the main longitudinal axis of the guide, and opening through the front end 15'a of the catheter 15 '. The catheter 15 'can be subjected to two distinct movements:
    A translation along its longitudinal axis,
    A rotation around its longitudinal axis.
    These movements can be generated one way or the other.
    Where appropriate, the catheter 15 'may be subjected to a combined movement of the two simple movements described above.
    Where appropriate, the catheter 15 'may be subjected to two combined movements of the two simple movements described above, in different combinations.
    The guide 15 '' can be subjected to two distinct movements:
    A translation along its longitudinal axis,
    A rotation around its longitudinal axis.
    These movements can be generated one way or the other.
    Where appropriate, the guide 15 '' can be subjected to a combined movement of the two simple movements described above.
    Where appropriate, the guide 15 '' may be subjected to two combined movements of the two simple movements described above, in different combinations.
    In some cases, the catheter itself is provided with a curved end, either to allow navigation on the same principle as a guide, or to facilitate positioning in an anatomical area having a particular curvature.
    In Figure 2b, there is shown an artery 21 of a patient comprising a main trunk 22 and two branches 23a, 23b opening on the main trunk. Figure 2b illustrates the movement of an elongated flexible medical organ (here a guide 15 '') in translation between a retracted position shown in dotted lines and an advanced position shown in solid lines. In Fig. 2c, in the same artery, there is shown a rotation of the elongate flexible medical organ 15 between a first position, shown in dotted lines, where the elongated flexible medical organ is ready to be translated in the direction of the branch 23a, and a second position, shown in solid lines, where the elongated flexible medical organ is ready to be translated in the direction of the branch 23b. The assembly of the robot and the catheter and / or the guide is called a "medical system".
    3 shows a perspective view of a drive module 14. In this embodiment, the drive module 14 is made single-use, and is intended to be assembled in a sterile manner on a power system. The drive module 14 comprises a housing 16 and a cover 24. The cover 24 is movable relative to the housing 16 between two configurations, respectively open and closed. The configuration shown is the open configuration. In this configuration, the catheter 15 'and the guide 15' 'are accessible. In the closed configuration, catheter 15 'and guide 15' 'are not accessible at module 14.
    In the example shown, the drive module 14 drives the catheter 15 'and the guide 15' '. However, this is illustrative, and the invention could be implemented in a system driving only the catheter 15 'or only the guide 15' '.
    In the present example, the drive module 14 includes a first portion 25a driving the guide 15 ', and a second portion 25b driving the catheter 15' '. The first portion is substantially as described in QT FR2015 / 051566. It will be recalled that this system makes it possible to control the translation and / or the rotation of the guide by a succession of repeated infinitesimal movements generated by a pair of actuating fingers. For various reasons (speed, safety, reliability), two pairs of fingers can be used, as for example in the present embodiment, for example in phase shift.
    The guide 15 '' extends in a channel 26 ''. The catheter 15 'extends in a channel 26'. The channels 26 'and 26' 'merge into a common channel 27 into which both the catheter 15' and the guide 15 '' extend. For example, a "rapid exchange" catheter is used, that is to say having an access opening to the guide in its side wall. The access opening in question is located downstream of the common channel 27. This allows the guide 15 '' to run in parallel with the catheter 15 'and outside thereof at least until the opening of the catheter. access, where the guide 15 '' enters the interior of the catheter to protrude from the distal end of the catheter into the patient's body as shown in FIG. 2a.
    It should be noted that, in the illustration, the connector 56 is carried by a mobile support 77, which is presented in a retracted configuration facilitating the installation of the catheter 15 'and the guide 15' 'in their channels 26', 26 '' respectively. Following this installation, the support 77 is moved, folded, so that the end 75a of the main branch is facing the common channel 27. This allows the proper insertion of the catheter 15 'and guide 15' 'to through the connector 56.
    The second portion 25b will be described in more detail below, particularly in relation to FIG. 3a.
    As can be seen in particular in Figure 3a, there is a first drive member 28a defining a first axis 29a, and comprising a first peripheral drive surface 30a about the first axis 29a.
    The first drive member 28a is rotatably mounted relative to the housing 16 about the first axis 29a (in this case, vertical).
    A second drive member 28b defines a second axis 29b, and includes a second drive peripheral surface 30b about the second axis 29b.
    The second drive member 28b is rotatably mounted relative to the housing 16 about the second axis 29b.
    The second axis 29b is parallel to the first axis 29a. It is also spaced therefrom, in drive configuration, which is the configuration shown in Fig. 3a, so that a portion of the first drive peripheral surface 30a and a portion of the second peripheral surface 30b are opposite each other spaced apart by a space of the order of the thickness of the catheter 15 '. Thus, the portion of the first drive peripheral surface 30a and the portion of the second drive peripheral surface 30b in question protrude into the channel 26 '.
    The housing 16 has a base 31 and a cover 32 assembled together, as shown in Figure 3a. The base 31 and the cover 32 assembled together together define an interior volume 41 in which the mechanism is arranged. Only a portion of the drive members 28a, 28b protrude out of the interior volume to allow the training of the catheter. Most of the mechanism is located in the interior, to reduce the risk of accidental access to the mechanism.
    The second drive member 28b is movably mounted relative to the first drive member 28a according to a degree of freedom other than a rotation about the second axis 29b, between: a first configuration, called a driving configuration (FIG. ) in which the first and second drive peripheral surfaces 30a, 30b face each other with a first spacing, and - a second configuration, said free configuration (Figure 4b) in which the first and second drive peripheral surfaces 30a, 30b face each other with a second spacing greater than the first spacing.
    During this movement, the second drive member 28b takes an infinity of intermediate configurations between the first and the second configuration. In addition, it is possible that the free configuration is not the ultimate configuration of the system, in the direction of movement from the drive configuration to the free configuration, and that a continuation of the movement of the second drive member 28b in this sense beyond this configuration is possible. Similarly, it is possible that the drive configuration is not the ultimate configuration of the system, in the direction of travel from the free configuration to the drive configuration, and that further movement of the second drive member 28b drive in this direction beyond this configuration is possible. The training configuration is defined by a given tightening of a catheter 15 'of given diameter.
    The description below shows an example of a mechanism allowing the passage from one to the other of these configurations.
    The first drive member 28a is attached to a shaft 33a, having the drive axis 29a as its axis, and driven by a motor 34. In this manner, the operation of the motor 34 generates the rotation of the first drive member. 28a drive around the axis 29a. The shaft 33a thus makes it possible to make a connection between the motor 34 and the first drive member 28a.
    The mechanism also includes a motion transmission system transmitting the drive motion generated by the drive motor 34 to the second drive member 28b. This involves driving the second drive member 28b in rotation about the second axis 29b in the right direction, that is to say in the direction opposite to the direction of rotation of the first drive member 28a, so as to that the two drive members 28a and 28b translate in translation the catheter 15 '.
    In the example shown, the motion transmission system 35 comprises a first pinion 36a coaxial with the first drive member 28a. The first gear 36a forms an input element of the motion transmission system 35.
    The motion transmission system 35 comprises an intermediate gear 37, having an axis 38 of intermediate gear parallel to the first axis 29a and offset relative thereto. The intermediate gear 37 is engaged with the first gear 36a in both the drive (FIG. 4a) and free (FIG. 4b) configurations.
    The motion transmission system 35 comprises a transmission 39 between the intermediate gear 37 and the second drive member 28b, transmitting the rotational movement of the intermediate gear 37 about the intermediate gear axis 38 in the rotational movement of the second gear driving member 28b around the second axis 29b.
    In the present example, the transmission 39 comprises a belt which is integral in rotation with the intermediate gear 37 about the axis 38 and the second drive member 28b about the axis 29b.
    Thus, the intermediate gear 37 is fixed on an intermediate shaft 40 whose axis is the axis 38. The intermediate shaft 40 is integral with the belt.
    The second drive member 28b is secured to a shaft 33b of axis the second axis 29b. The shaft 33b is secured to the belt. The shaft 33b is supported by a stirrup 42, which is rotatably mounted on both the shaft 40 and the second shaft 33b.
    Thus, the second drive member 28b can move from its driving configuration, shown in Figure 4a, to its free configuration, shown in Figure 4b, by rotation about the axis 38.
    Note that in the free configuration of Figure 4b, the motion transmission system 35 remains operative. In other words, the motor 34 rotates the second drive member 28b also in this configuration. This is not true only in the free configuration, but in any intermediate configuration between the training configuration and the free configuration, or even beyond. Since the motion transmission system 35 is still operative, this makes it possible to ensure that, when the second drive member 28b moves from its free configuration to its drive configuration, the catheter is driven without problems by the two drive members. training.
    Thanks to these arrangements, it is also possible to ensure that catheters of different diameters are driven using the same mechanism, and / or to apply different clamping forces on a given catheter (by bringing the two drive members 28a, 28b closer together). one of the other).
    Although the above example involves a particular motion transmission system, it is an illustrative, particularly compact example of other embodiments appearing to be feasible to achieve the same kinematics.
    The degree of freedom to move from the free drive configuration to the drive configuration is a rotation about an axis parallel to the axes of the drive members. However, this is an example of implementation, other implementations appearing possible.
    The mechanism comprises an actuation system 43 operable by a user. The actuating system 43 passes, when actuated, the second drive member 28b from its drive configuration to its free configuration.
    The actuating system 43 comprises a lever 44 connected to the yoke 42, for example in a fastening zone 50. The lever 44 comprises an actuating end 44a projecting out of the casing 16 by an elongated slot 45 (FIG. 3a) . The movement of the actuating end 44a of the lever 44 into the elongated slot 45 between a first and a second position allows the second drive member 28b to be placed from its drive configuration to its free configuration.
    If necessary, an elastic system 46, such as a spring, biases the lever 44 towards its first position. In particular, in doing so, it requests the second drive member 28b to its drive configuration.
    Thus, when the second drive member 28b has moved from its driving position to its free position by action of the user on the actuator 43, this compresses the elastic system 46.
    The elastic system 46 comprises for example a spring whose first end 46a is fixed to the actuator 43, and the second end 46b to the base 31.
    Moreover, the position of the second end 46b relative to the base can be adjusted by an adjustment mechanism 47. Such a mechanism makes it possible to modify the clamping force of the drive members 28a, 28b on a given catheter 15 ', and / or to adapt to different catheter diameters.
    The adjustment mechanism 47 comprises, for example, a nut 48 integral with the base 31, into which a screw 49 is screwed. The second end 46b of the spring bears against an abutment surface of the screw 49. The screwing of the screw 49 in the nut 48 makes it possible to modify the length of the space in which the spring can extend. The tightness of the housing is guaranteed by the seal 81 secured to the first drive member 28a, and rubbing on the base 31. This is a dynamic seal. The contact of the seal 81 on the base 31 surrounds an opening of the base 31 through which the housing 16 is coupled to the motorization stage 51.
    Figures 6a and 6b show an embodiment of a coupling between the drive stage 51 and the housing 16 (the seal 81 is not shown in this figure). In this example, the shaft 33a driven by the motor comprises a coupling member 68 'which has a plurality of pins 65 (in this case, 4 pins) identical. The pins 65 are distributed, for example equi-distributed, in a circle passing through the axis 29a. The drive member 28a is integral with a coupling member 69 'having a plurality of housings 66 distributed along the circle passing through the axis 29a. The housings 66 are identical and have a complementary shape to the pins 65. The housings 66 are arranged tangentially to each other so as to form a ring, so that, whatever the relative position of the pins 65 and the housing 66 around of the axis 29a, the pins 65 are always all at least partially in front of a respective housing 66.
    The pins 65 may have a convex end 67 to guide the coupling of the housing onto the shaft, with a slight rotation of the drive member 28a about the axis 29a by an offset at most equal to half tooth.
    Figure 11a shows an alternative embodiment of the actuation system described above in relation to Figures 4a and 4b. More precisely, FIG. 11a represents the module in drive configuration, while FIG. 11b represents it in free configuration. As can be seen in these figures: The drive member 28a is fixed in the housing during the passage between the drive configurations and free, The drive member 29a is mounted on a support 70 (such as for example the stirrup 50), which itself is rotatably mounted in the housing about an intermediate axis 38 when passing between the drive configurations and free.
    The description above is also valid for the variant embodiment of FIGS. 12a and 12b and that of FIGS. 13a and 13b.
    In Figure 11a, a latch 71 is used to transmit the movement of the actuator 43 to the drive member 29a. The latch 71 is pivotally mounted about an axis 72, for example parallel to the axis 38. The latch 71 comprises a first arm 73 in contact with the actuator 43, and a second arm 74 in contact with the support 70. The actuator 43 causes the rotation of the rocker 71, whose second arm 74 presses the support 70, which causes the rotation of the support 70 about its axis 38 (Figure 11b).
    This movement compresses a spring 46.
    According to a first variant, the cessation of actuation by the user of the actuator 43 automatically brings the system back to the drive configuration by expansion of the spring 46.
    In a variant, a locking system can be provided in the free configuration (FIG. 11b). One can for example implement a system of the type "push-pull" ("push-pull") as for the insertion of cards in card readers. In free configuration, actuation of the actuator 43 by the user unlocks the locking system, so that the system is brought back into the driving configuration by expansion of the spring 46.
    In the above examples, mechanical actuation of the actuator by contact by a user may be used. Such an embodiment makes it possible to guarantee the actuation by a user even in the event of an electrical failure.
    Alternatively, as shown schematically in FIG. 12a, an electrically controlled actuator may be used. In this case, for safety, FIG. 12b represents the system at rest (that is to say without application of electric current). When a current is applied, the actuator 43 drives the support 70 in rotation about the axis 38 relative to the rest position, thus tending the spring 46. In the event of a power failure, by for example to control the passage in free configuration, the spring 46 pulls the support 70 as shown in Figure 12b. Also, in case of accidental power failure, the catheter can be released from the mechanism.
    Any type of linear actuator can be used. Sealing at the control is provided via an electrical connector.
    As discussed above, either a continuously actuated release command may be used which, in the event of a stop of the command, automatically returns the system to the drive configuration. In a variant, provision may be made to lock the system in free configuration.
    It will be noted moreover that the actuator 43 can act directly on the support 70, rather than via a rocker.
    As shown in Figures 13a, 13b, alternatively, it is not necessarily necessary to use a spring 46. For example, the support 70 is directly connected to the actuator, so as to follow the movements of the actuator.
    Figure 7 illustrates below a second embodiment. The second embodiment differs from the first embodiment in a number of features. A first difference is that the disposable consumable portion 79 comprises the housing 16 (the cover 32 and the base 31) housing the drive members 28a and 28b, and the actuator 44.
    The base 31 comprises a first opening 80a from which the first shaft 33a and a second opening 80b from which the second shaft 33b protrudes. The second opening 80b is large, so as to allow a stroke of the second shaft 33b relative to the base 31 (corresponding to the passage of the second drive member 29b between two configurations).
    This embodiment requires a sterile connection between the first driver 28a and the base 31, so as to reduce the risk of contamination of the catheter by the mechanism and / or seizure of the mechanism by substances conveyed by the catheter.
    According to one embodiment, and as visible in FIG. 8, the driving member 28a is integral with a deformable skirt 81, rubbing on the base 31, and defining a closed periphery on the base 31.
    FIG. 8 illustrates in vertical section the drive unit motorization 28a by the motor 34. The drive module 14 comprises the housing 16, as well as a motorization stage 51.
    FIG. 8 thus represents a medical robot comprising an indwelling portion 82 and a removable portion, the indwelling portion 82 comprising a motor 34 and a first coupling 68, the removable consumable portion 79 being provided with a second complementary coupling 69 of the first coupling 68.
    It will be understood that, where appropriate, the medical robot shown assembled in FIG. 8 may be available in a kit, with the fixed part on the one hand and the removable part to be assembled on the other hand. The removable part, made consumable, may be available in large quantities. The shaft 33a is engaged with the first drive member 28a by a coupling which will be presented in detail later.
    In the present case, FIG. 8 also illustrates an embodiment in which the module rotates the catheter 15 'around its axis of elongation. This rotation drive is done by a translational movement of the drive member 28a along its axis 29a. In this case, the catheter 15 'being clamped between the drive members 28a, 28b, a displacement of one of the drive members relative to the other along this axis generates a bearing of the catheter 15', and therefore a rotation of it around its axis of elongation.
    In the present case, the rotation is a rotation limited to less than one revolution with respect to a starting position. It can be provided that the starting neutral position is an intermediate position, thus allowing a rotation of the catheter in one direction and in the other, in the direction of translation of the drive member 28a.
    In the example shown, the shaft 33a is made in two parts having complementary shapes for rotation of the two parts about the axis 29a. A first part is an inner core 78 integral with the drive member 28a, and a second part is an outer shell 53 cooperating with the motor 34. Furthermore, the inner core 78 is free to slide relative to the outer casing 53 along the axis 29a. An actuator 54 controls the displacement of the inner core 78 along the axis 29a. An elastic means 83 such as a return spring returns the first drive member 28a to a rest position along the axis 29a.
    The control of the actuator 54 makes it possible to move the driving member 28a along the axis 29a via the inner core 78, the shaft 33a remaining in any position in cooperation with the motor 34. actuation of the motor 34 rotates the drive member 28a as described above.
    The skirt 81 is sufficiently long and deformable to ensure sterility at the interface between the drive member 28a and the base 31 along the entire stroke of the drive member 28a along the axis 29a.
    As understood from the above description, in this embodiment where the consumable part comprises a reduced number of components, the motion transmission system 35 is made inside the housing 84 of the motor stage 51 .
    Two embodiments can be provided to integrate the pinion 36a. According to a first variant, the pinion 36a is integral in translation with the shaft 33a.
    In this case, the intermediate gear 37 is of sufficient thickness to always engrain with the pinion 36a, regardless of its position along the axis 29a. Alternatively, the shaft 33a is integral in rotation, but free in translation relative to the pinion 36a. For reasons of space, the first variant may be implemented in the embodiment of FIGS. 4a and 4b, and the second variant may be implemented in the embodiment of FIG. 8.
    Figures 9a and 9b show a detail of the realization of the achievement of the sealing of the robot. It will be recalled that this is a dynamic seal, the shaft 33a rotating to drive in translation the catheter. The shaft 33a, and in particular the core 78, is secured to a seal 60. A seal 60 that is sufficiently deformable is chosen so that, in the extreme high position, shown in FIG. 9a, it is rubbing against the casing 84 and in the extreme low position, shown in Figure 9b, it is deformed so as to press on the housing 84. This embodiment is made possible by the short rotational stroke of the catheter 15 '(range of rotation less than +/- 180 °). Indeed, in the case of a so-called "rapid exchange" catheter, it is desired to avoid large rotational strokes that could cause a winding of the guide outside the catheter.
    Figures 10a and 10b show in perspective a coupling of the housing 16 on the drive stage 51. For simplicity, the housing 16 is not shown in this figure.
    As can be seen in FIG. 7, the shaft 33a has a coupling member 68 provided with a centering cone 61 and one (or more) meshing tooth 62. The driving member 28a comprises a body coupling 69, complementary to the coupling member 68. In particular, the coupling member 69 comprises a cavity 63, complementary to the centering cone 61, and a plurality of driving teeth 64, for example distributed over the entire around the perimeter. During the assembly of the housing 16 to the motorization stage 51 in an assembly direction (substantially the direction of the axis 29a), the centering cone 61 cooperates with the cavity 63 to guide the coupling, until that the tooth 62 cooperates with one of the teeth 64 of the drive member 28a, with a slight camming of the drive member 28a about the axis 29a of an offset more equal to a half tooth.
    As shown in Figure 7, the actuating end 44a is not necessarily disposed at the edge of the housing 16, but may be for example upper surface. In this embodiment, the cover 32 has on the upper surface a window 85 through which projects the actuating end 44a of the actuator 44 which is connected to the second drive member 28b. The actuator 44 comprises for example a profiled cover partially surrounding the second drive member 28b, and connected thereto so that they both can move to the free configuration (the shaft 33b then moves in the opening 80b), while allowing the rotation of the second drive member 28b about its axis.
    Thus, according to another aspect independent of the first, it seems that an invention relates to a robotizable drive module of an elongated flexible medical device comprising: a base 31, a first drive member 28a defining a first axis 29a, and comprising a first peripheral driving surface 30a around this first axis 29a, the first drive member 28a being rotatably mounted relative to the base 31 about the first axis 29a, and comprising a connecting member 33a a drive motor 34 adapted to drive the first drive member 28a in rotation about the first axis 29a,
    In which the first drive member 28a is also movably mounted relative to the base 31 in translational movement along its axis 29a on a translation travel,
    In which the first drive member 28a has a deformable skirt 81, rubbing on the base 31 during the rotation of the first drive member relative to the base, and defining a closed periphery on the base 31 on the entire the translation race.
    权利要求:
    Claims (13)
    [1" id="c-fr-0001]
    A robotizable elongated flexible medical device driving module comprising: a base (31); a first drive member (28a) defining a first axis (29a), and including a first peripheral driving surface ( 30a) around this first axis (29a), the first drive member (28a) being rotatably mounted relative to the base (31) about the first axis (29a), and comprising a connecting member (33a) a drive motor (34) adapted to drive the first drive member (28a) in rotation about the first axis (29a), a second drive member (28b) defining a second axis (29b) parallel to the first axis (29a), and comprising a second peripheral driving surface (30b) around this second axis (29b), the second driving member (29b) being rotatably mounted relative to the base (31) around the second axis (29b), the second drive member (28b) being equal movably mounted relative to the first drive member (28a) by a degree of freedom other than a rotation about the second axis (29b), between: - a first configuration in which the first and second peripheral driving surfaces ( 30a, 30b) face one another with a first spacing, and - a second configuration in which the first and second drive peripheral surfaces (30a, 30b) face each other with a second spacing greater than the first spacing, actuation (43) operable by a user adapted to move the second drive member (28b) at least from one of the first and second configurations to the other of the first and second configurations, - a motion transmission system ( 35) for transmitting the drive motion generated by the drive motor (34) to the second drive member (28b) for driving the second drive member (28b) rotating about the second axis (29b) at least in any configuration between the first and second configurations.
    [2" id="c-fr-0002]
    Robotic module according to claim 1, wherein the motion transmission system (35) comprises: a first gear (36a) coaxial with the first drive member (28a) and forming an input element of the drive system; motion transmission (35), - an intermediate gear (37) having an intermediate gear shaft (38) parallel to and offset from the first axis (29a), the intermediate gear (37) being engaged with the first pinion (36a) at least in any configuration between the first and second configurations, - a transmission (39) between the intermediate gear (37) and the second drive member (29b), transmitting the rotational movement of the pinion intermediate (37) about the axis (38) of intermediate gear in said rotational movement of the second drive member (28b) about the second axis (29b).
    [3" id="c-fr-0003]
    3. Robotic module according to one of claims 1 to 2, comprising an elastic system (46) biasing the second drive member (28b) from its second configuration to its first configuration, and wherein the actuating system (43) ) is operable to pass the second drive member (28b) of the first configuration and the second configuration by compressing said elastic system (46).
    [4" id="c-fr-0004]
    4. Robotic module according to claim 3 wherein the elastic system (46) biases the actuating system (43) integral with the second drive member (28b).
    [5" id="c-fr-0005]
    5. Robotic module according to one of claims there 4, comprising a locking system adapted to alternately lock the second drive member (28b) in its free configuration or release it, the actuating system (43) being adapted to control the locking system.
    [6" id="c-fr-0006]
    Robotic module according to one of claims 1 to 5 wherein the actuating system (43) is electrically actuatable by the user.
    [7" id="c-fr-0007]
    Robotic module according to one of claims 1 to 6 wherein at least one drive member (28a) is also movably mounted relative to the base (31) in a translation movement along its axis (29a).
    [8" id="c-fr-0008]
    Robotic module according to claim 7 wherein said at least one drive member (28a) is movably mounted relative to the base (31) in translational movement along its axis (29a) on a translational stroke, and wherein the first drive member (28a) has a deformable skirt (81), rubbing on the base (31) upon rotation of the first drive member (28a) relative to the base (31), and defining a periphery closed on the base (31) on the entire travel path.
    [9" id="c-fr-0009]
    Robotic module according to one of the claims. 1 to 8 further comprising a cover (32) integral with the base (31) and defining therewith a housing (16) defining an interior space (41) in which at least a portion of the first drive member is disposed (28a), at least a portion of the second drive member (28b) and at least a portion of the operating system (43), and wherein an actuating portion (44a) of the operating system (43) a portion of the first drive member (28a) and a portion of the second drive member (28b) project out of the housing (16).
    [10" id="c-fr-0010]
    10. A medical robot kit comprising an indwelling portion (51) and a removable portion, the indwelling portion comprising a motor (34) and a first coupling (68, 68 '), the removable portion comprising a robotizable module according to the one of claims 1 to 9 having a second coupling (69, 69 ') complementary to the first coupling (68, 68'), wherein the first and second couplings (68, 68 ', 69, 69') comprise at least a cam surface adapted to rotate the first and second couplings (68, 68 ', 69, 69') with respect to each other relative to an assembly direction upon assembly of the portion removable to the indwelling portion (51) according to the assembly direction.
    [11" id="c-fr-0011]
    The kit medical robot according to claim 10 wherein the first coupling (68, 68 ') comprises a plurality of concavely shaped projections (65, 62), and the second coupling (69, 69') comprises a complementary plurality of housing (66, 64) of complementary shape.
    [12" id="c-fr-0012]
    12. A medical system comprising a hollow flexible medical organ elongated along an axis of elongation, and a medical robot according to claim 10 or 11 or a robotisable module according to claims 1 to 9, the elongate hollow flexible medical organ (15) being between the first and second drive peripheral surfaces (30a, 30b) in the first configuration, the first drive member (28a) being. rotatable relative to the base (31) about the first axis (29a) to generate a translation of the elongated flexible medical member (15) along its axis of elongation.
    [13" id="c-fr-0013]
    The medical system of claim 12, the first driver (28a) being translationally translatable relative to the base (31) along the first axis (29a) to generate a rotation of the elongated medical device (15a). ) around its axis of elongation.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP3399937A1|2018-11-14|Robotizable module for driving an elongated flexible medical member, medical robot and system including such a module
    EP3280374B1|2020-01-08|Exoskeleton including a mechanical ankle link having two pivot axes
    EP1189539B1|2003-09-10|Endoscopic surgical instrument
    FR2750320A1|1998-01-02|SUPPORT ARM SYSTEM, IN PARTICULAR FOR SUPPORTING MEDICAL INSTRUMENTS
    EP2822446B1|2016-12-07|Motorised and modular instrumentation device and endoscopy system comprising such a device
    WO2014135808A1|2014-09-12|Module for driving a robotic catheterisation system
    EP2227288A2|2010-09-15|Medical apparatus with a system of connection and disconnection for a separable medical instrument
    EP3397872A1|2018-11-07|Fixed caliper of disc brake with integrated electrical actuator
    EP0216710B1|1992-08-12|Multiple-head clamping device with a single remote control
    WO2014096731A1|2014-06-26|Module for driving a catheterization system
    FR2654801A2|1991-05-24|GAS TANK UNDER PRESSURE WITH CONTROL OF THE GAS CURRENT DELIVERED.
    EP0403355A1|1990-12-19|Gate valve
    EP0247956B1|1990-06-13|Power-assisted device for bringing together tightly and assembling two paired elements
    CA2931924A1|2015-07-09|Segmented structure, in particular for a satellite antenna reflector, provided with at least one rotational and translational deployment device
    EP0007861B1|1981-08-12|Adjusting device for a rear-view mirror, particularly for a vehicle
    EP1640555A1|2006-03-29|Antrieb mit automatischer Auskupplung für einen Gebäudevorhang
    EP1878946B1|2010-08-25|Mechanism for powering the rotation of a load according to two axes
    FR3037269A1|2016-12-16|MOVEMENT TRANSMISSION CHAIN BETWEEN ACTUATORS AND A DRIVE MEMBER BASE OF A MOBILE ELEMENT
    FR2720435A1|1995-12-01|Device for attaching end of electric jack to door
    WO2022003297A1|2022-01-06|Robot having an intramodular structure
    EP2551572B1|2019-02-20|Apparatus for actuating and blocking a functional unit and valve module incorporating the same.
    FR2563662A1|1985-10-31|Electrical connector which can be automatically unplugged
    FR2721144A1|1995-12-15|Remote-controlled underwater connector for transmission of electrical or optical signals or fluids, e.g. for oil industry
    FR2705637A1|1994-12-02|Power-assisted steering device particularly for a motor vehicle
    同族专利:
    公开号 | 公开日
    US20190038872A1|2019-02-07|
    CN109069212A|2018-12-21|
    KR20180103953A|2018-09-19|
    US11147950B2|2021-10-19|
    EP3399937A1|2018-11-14|
    CN109069212B|2022-02-25|
    JP2019503778A|2019-02-14|
    FR3046543B1|2018-02-02|
    WO2017118818A1|2017-07-13|
    US20200254218A1|2020-08-13|
    JP6895976B2|2021-06-30|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP1792638A2|2005-11-30|2007-06-06|Philippe Bencteux|Winder/unwinder for catheters and system of arteriography comprising such a winder/unwinder|
    EP2821094A1|2008-05-06|2015-01-07|Corindus Inc.|Catheter system|
    EP2777594A2|2013-03-15|2014-09-17|Hansen Medical, Inc.|Active drive mechanism for simultaneous rotation and translation|
    DE29808180U1|1998-05-06|1998-07-23|Stm Medtech Starnberg|Drive device for slip hose system|
    EP1389958B1|2001-05-06|2008-10-29|Stereotaxis, Inc.|System for advancing a catheter|
    EP1442720A1|2003-01-31|2004-08-04|Tre Esse Progettazione Biomedica S.r.l|Apparatus for the maneuvering of flexible catheters in the human cardiovascular system|
    US8755864B2|2004-05-28|2014-06-17|St. Jude Medical, Atrial Fibrillation Division, Inc.|Robotic surgical system and method for diagnostic data mapping|
    JP2008541797A|2005-05-03|2008-11-27|ハンセンメディカル，インク．|Robotic guide catheter system|
    US7959050B2|2005-07-26|2011-06-14|Ethicon Endo-Surgery, Inc|Electrically self-powered surgical instrument with manual release|
    WO2008014425A2|2006-07-26|2008-01-31|Hansen Medical, Inc.|Systems for performing minimally invasive surgical operations|
    EP2124711A4|2007-03-16|2011-03-30|Univ Nanyang Tech|Method and apparatus for anorectal examination|
    US8534528B2|2007-06-04|2013-09-17|Ethicon Endo-Surgery, Inc.|Surgical instrument having a multiple rate directional switching mechanism|
    US20090082722A1|2007-08-21|2009-03-26|Munger Gareth T|Remote navigation advancer devices and methods of use|
    US8720448B2|2008-11-07|2014-05-13|Hansen Medical, Inc.|Sterile interface apparatus|
    US9005217B2|2009-08-12|2015-04-14|Biosense Webster, Inc.|Robotic drive for catheter|
    US8460236B2|2010-06-24|2013-06-11|Hansen Medical, Inc.|Fiber optic instrument sensing system|
    CN101933837B|2010-07-08|2011-10-12|中国科学院自动化研究所|Minimally invasive vascular interventional surgical robot tube feeding device|
    US20120035596A1|2010-08-04|2012-02-09|Tegg Troy T|Disposable Drive Interface for Longitudinal Movement of an Elongate Medical Device|
    US9833293B2|2010-09-17|2017-12-05|Corindus, Inc.|Robotic catheter system|
    CN102028548B|2011-01-14|2012-03-07|哈尔滨工业大学|Clamp-type surgical instrument for abdominal cavity minimally invasive surgery robot|
    US20130035537A1|2011-08-05|2013-02-07|Wallace Daniel T|Robotic systems and methods for treating tissue|
    FR2979532B1|2011-09-07|2015-02-20|Robocath|MODULE AND METHOD FOR DRIVING LONG SOFT MEDICAL ORGANS AND ASSOCIATED ROBOTIC SYSTEM|
    EP2768418B1|2011-10-19|2017-07-19|Ethicon Endo-Surgery, Inc.|Clip applier adapted for use with a surgical robot|
    US9364230B2|2012-06-28|2016-06-14|Ethicon Endo-Surgery, Llc|Surgical stapling instruments with rotary joint assemblies|
    US9283045B2|2012-06-29|2016-03-15|Ethicon Endo-Surgery, Llc|Surgical instruments with fluid management system|
    EP2881072B1|2012-07-03|2019-04-24|KUKA Deutschland GmbH|Surgical instrumentation and drivetrain assembly for a surgical instrument, in particular a robot-controlled instrument and surgical instrument|
    CN103083784B|2013-02-25|2014-09-17|中国科学院自动化研究所|Catheter or guide wire operating device for vessel interventional operation|
    FR3002851B1|2013-03-07|2015-06-19|Robocath|ROBOTISE CATHETERISM SYSTEM TRAINING MODULE.|
    US9326822B2|2013-03-14|2016-05-03|Hansen Medical, Inc.|Active drives for robotic catheter manipulators|
    CN103239793A|2013-05-17|2013-08-14|徐州医学院|Vessel intervention robot guide wire driving box|
    US9993313B2|2013-10-24|2018-06-12|Auris Health, Inc.|Instrument device manipulator with roll mechanism|
    JP6153484B2|2014-02-24|2017-06-28|オリンパス株式会社|Wire drive device and manipulator|
    CN106163445B|2014-03-31|2019-11-29|直观外科手术操作公司|Surgical operating instrument with changeable transmission device|
    US9433340B2|2014-05-30|2016-09-06|Endoscopic Innovations LLC|System and method for rapid shuttling of tools through endoscopes|
    CN104644270B|2015-02-05|2016-09-07|北京航空航天大学|A kind of catheter steering device based on reverse leading screw|KR102184889B1|2018-04-19|2020-12-01|엘엔로보틱스|Roller module for medical robot, driving apparatus for medical robot and medical robot|
    USD885864S1|2018-10-19|2020-06-02|Coulter Ventures, Llc.|Locking pin|
    WO2021065311A1|2019-09-30|2021-04-08|テルモ株式会社|Actuator and robot catheter system|
    RU2757957C1|2020-12-30|2021-10-25|Александр Григорьевич ВИЛЛЕР|Robotic system and method for endovascular surgery|
    法律状态:
    2016-11-29| PLFP| Fee payment|Year of fee payment: 2 |
    2017-07-14| PLSC| Publication of the preliminary search report|Effective date: 20170714 |
    2017-11-28| PLFP| Fee payment|Year of fee payment: 3 |
    2018-11-29| PLFP| Fee payment|Year of fee payment: 4 |
    2019-11-28| PLFP| Fee payment|Year of fee payment: 5 |
    2020-11-23| PLFP| Fee payment|Year of fee payment: 6 |
    2021-11-26| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1650105|2016-01-07|
    FR1650105A|FR3046543B1|2016-01-07|2016-01-07|ROBOTISABLE MODULE FOR DRIVING AN ELONGATED SOFT MEDICAL DEVICE, MEDICAL ROBOT AND SYSTEM COMPRISING SUCH A MODULE|FR1650105A| FR3046543B1|2016-01-07|2016-01-07|ROBOTISABLE MODULE FOR DRIVING AN ELONGATED SOFT MEDICAL DEVICE, MEDICAL ROBOT AND SYSTEM COMPRISING SUCH A MODULE|
    KR1020187022633A| KR20180103953A|2016-01-07|2017-01-05|A robotic module for driving an elongated flexible medical member, and a medical robot and system including the module|
    CN201780013059.6A| CN109069212B|2016-01-07|2017-01-05|Robotizable module for driving an elongated flexible medical member, medical robot and system comprising such a module|
    PCT/FR2017/050028| WO2017118818A1|2016-01-07|2017-01-05|Robotizable module for driving an elongated flexible medical member, medical robot and system including such a module|
    JP2018535366A| JP6895976B2|2016-01-07|2017-01-05|Robotizable modules for driving elongated flexible medical components, medical robots and systems containing such modules|
    EP17701172.3A| EP3399937A1|2016-01-07|2017-01-05|Robotizable module for driving an elongated flexible medical member, medical robot and system including such a module|
    US16/068,564| US11147950B2|2016-01-07|2017-01-05|Robotizable module for driving an elongated flexible medical member, medical robot and system including such a module|
    US16/863,133| US20200254218A1|2016-01-07|2020-04-30|Robotizable module for driving an elongated flexible medical member, medical robot and system including such a module|
    [返回顶部]