Needle guiding device and robotic arm containing it

Abstract

The present invention provides a needle guide device (20) and a robotic arm including the needle guide device, the needle guide device including a tool holder (21) intended to be fixed to the end of a medical assistive robotic arm (10), the tool holder (21) supporting a needle guide (22); the needle guide (22) including two jaws (30, 40) each having a groove (35, 45) extending along a parallel longitudinal axis, the jaws (30, 40) being supported by the tool holder, thereby allowing the jaws (30, 40) to have rotational mobility relative to each other between: a position referred to as a “guide position”, wherein the grooves (35, 45) are adjacent and define a guide tube (23) for guiding the needle, and a position referred to as a “disengagement position”, wherein the grooves (35, 45) move away from each other and define a lateral disengagement area for the needle.

Description

[0001] This application is a divisional application of Chinese invention patent application number 201910993267.8 (title of invention: "Needle guiding device and robotic arm including the same", application date: October 18, 2019; priority document FR1903636, priority date: April 4, 2019). Technical Field

[0002] This invention relates to medical devices, and more specifically to the field of medical devices mounted at the end of a medical assistive robotic arm. More particularly, this invention relates to a medical needle guide device for attachment to a tool holder on a robotic arm. Background Technology

[0003] Surgical treatments using techniques known as “minimally invasive surgery” allow the operator (usually a surgeon) to reach the patient’s target anatomical area by inserting long, thin instruments into short incisions, such as within a centimeter of the patient’s body.

[0004] In some procedures, those instruments may be one or more needles or rigid cylindrical instruments (e.g., antennas, electrodes, cannulas) intended to be inserted into the patient to a certain depth to reach a target anatomical area.

[0005] If the needle is inserted entirely manually by the operator, the outcome of the treatment depends heavily on their skill. High precision is difficult to achieve, and the risk of medical errors due to this lack of accuracy is high, potentially harming the patient.

[0006] The use of a robotic arm remotely controlled by an operator can improve the accuracy of the operation. However, this type of robotic arm still depends in part on the operator's skill and may require continuous imaging of the patient, which exposes the patient to a certain dose of radiation.

[0007] To further improve the accuracy of insertion gestures and limit the radiation dose experienced by patients and medical staff, an automated robotic arm can be used.

[0008] The robotic arm has a device at its end for guiding the needle.

[0009] The operator communicates the coordinates of the target anatomical region of the patient to the robotic arm and controls the arm to move the needle guide device in front of the target anatomical region. The operator then inserts the needle into the guide device to reach the target anatomical region. For the needle to reach the region accurately, the position of the needle's translational axis must be controlled within the guide device. Therefore, all movements of the guide device must be controlled, and thus the movements of the arm must be controlled.

[0010] When treatment requires sequential insertion of needles into target anatomical regions, controlled movement becomes even more critical. In such cases, the needle guide must be fixed during each needle insertion, thus maintaining and releasing the position of the needle's translational axis once the needle has been inserted into the target anatomical region without moving the needle. In fact, any uncontrolled movement of the needle once inserted into the target anatomical region can easily injure the patient.

[0011] Therefore, on the one hand, it is necessary to guide at least one needle to be inserted along the translation axis in which the position is maintained until the needle reaches the target anatomical area, and on the other hand, the needle guide device is released when the needle is inserted into the target anatomical area and there is no risk of moving the needle.

[0012] In addition, it is necessary to know the length of the needle inserted into the patient's body.

[0013] Finally, the insertion of at least two needles of different diameters must be guided by the same guiding device during the same medical treatment or during separate medical treatments; each needle must be guided along the same translation axis, its position held until it reaches the target anatomical area, and it must also be able to disengage from the guiding device without risk of being moved when inserted into the target anatomical area. Invention Overview

[0014] The object of this invention is to address the aforementioned needs, and to this end, this invention relates to a needle guiding device comprising a tool holder intended for attachment to the end of a medical assistive robotic arm. The tool holder supports a needle guide. The needle guide includes a first jaw and a second jaw, each having a groove extending along parallel longitudinal axes. The first jaw and the second jaw are supported by the tool holder, thereby allowing the first jaw and the second jaw to have rotatable mobility relative to each other between: a position referred to as a "guided position," wherein the grooves are adjacent and define a guide tube for guiding the needle, and a position referred to as a "disengagement position," wherein the grooves move away from each other and define a lateral disengagement area for the needle.

[0015] When the guiding device is in the guiding position, the needle can be guided to move through the guiding tube until it reaches the patient's target anatomical area.

[0016] The guide tube is configured so that the needle is only allowed one degree of freedom of movement during translation.

[0017] When the jaws are in the disengaged position, the guide device can laterally disengage the needle that has reached the target anatomical region by translating it in a direction away from the disengagement area. For example, if only one needle needs to be introduced into the target anatomical region, this lateral disengagement occurs, for example, at the end of the medical procedure, or if another needle must be introduced into the target anatomical region, this lateral disengagement occurs during the medical procedure.

[0018] It should be noted that, due to the misuse of language, this article points out that the guiding and disengaging positions are occupied by the needle guide and jaws.

[0019] Due to the features of this invention, the needle can detach from the needle guide without contacting it, thus keeping the needle fixed in the target anatomical region.

[0020] This prevents unwanted movement of the needle that could harm the patient.

[0021] Because of these features, the guiding device enables the continuous insertion of multiple needles of the same diameter during the same medical procedure to reach the target anatomical area.

[0022] In certain embodiments, the invention also has the following features, which are characterized individually or in each of technically feasible combinations thereof.

[0023] In a particular embodiment of the invention, the first or second jaw includes a control handle that is operated by pulling, the pulling being related to driving the first or second jaw to move relative to the other jaw.

[0024] In a particular embodiment of the invention, the tool holder includes a housing extending longitudinally between two end openings, wherein the needle guide is engaged. The tool holder includes an axial through-hole extending from one end opening along an axis parallel to the longitudinal axis of the housing to the other end opening. When the first jaws and the second jaws are in the disengaged position, the axial through-hole faces a lateral disengagement area.

[0025] Therefore, once the needle is guided until it reaches the target anatomical area, it can detach from the guiding device without contact, thus maintaining its fixed position in the target anatomical area.

[0026] In a particular embodiment of the invention, the first and second jaws are formed by a fixed jaw and a movable jaw, respectively.

[0027] In a particular embodiment of the invention, a fixed jaw engages in a housing, the fixed jaw and the housing having nesting elements on their respective facing surfaces, the nesting elements engaging with each other to secure the fixed jaw to prevent rotation relative to the tool holder.

[0028] Nested elements can directly mate with each other; for example, if the nested elements are formed by a tenon and a groove, respectively. Alternatively, these elements can mate indirectly with each other; for example, if the nested elements are formed by a tenon into which a wedge or pin is inserted.

[0029] During the insertion of the needle guide into the housing, the nested element advantageously has a poka yoke function.

[0030] In a particular embodiment of the invention, the nested elements are formed by respective complementary shape reliefs, including:

[0031] - The undulations extending longitudinally on the surface of the fixed jaws, referred to as the "outer surface," and

[0032] - The undulations extending longitudinally on the surface of the shell, known as the "inner wall".

[0033] These undulations can be formed by tenons and mortises.

[0034] Due to the nested elements, the clamp jaws are secured in a simple and reliable manner.

[0035] In a particular embodiment of the invention, the first and second jaws are detachably secured to each other. They are preferably detachably engaged within the housing of the tool holder.

[0036] This feature is specifically designed to enhance the disinfection effectiveness of the guiding device, each component of which can be disinfected individually.

[0037] In a particular embodiment of the invention, the fixed jaws and the tool holder are integrally formed; thus, the fixed jaws and the tool holder form an integral component.

[0038] In a particular embodiment of the invention, the tool holder includes a through opening extending radially relative to the housing, and first and second jaws include handles for manipulating them, the manipulating handles extending through the through openings and, when pulled through them, driving the first or second jaws to move within the housing, the through openings forming a path for guiding the manipulating handles.

[0039] In a particular embodiment of the invention, the opening includes a portion extending axially relative to the housing, the portion opening onto a surface of the tool holder referred to as the “upper surface” and flush with one of the end openings of the housing.

[0040] Therefore, one of the jaws (where two jaws are used, depending on the specific embodiment of the invention) can be detached from the tool holder, thereby allowing each component of the guide device to be sterilized individually, thus enhancing the sterilization effectiveness of the guide device.

[0041] Because of this feature, the components of the guiding device can also be replaced individually.

[0042] In a particular embodiment of the invention, the first and second jaws include respective axial shoulders having complementary profiles that engage with each other.

[0043] The first and second jaws are close together by their axial shoulders, which at least partially intersect each other.

[0044] This feature is advantageous in guiding the rotation of the second jaw within the housing.

[0045] The axial shoulder can advantageously form an abutment for angular movement of the second jaw.

[0046] In a particular embodiment of the invention, the first jaw and the second jaw are detachably connected by a rod extending longitudinally from one of the first jaws and the second jaw, passing through an axial housing formed at the axial shoulder of the other jaw. The jaws are mechanically connected to each other, allowing only one degree of rotational freedom.

[0047] Because the rotation axes of the lever and jaws are coaxial.

[0048] In addition to enhancing the disinfection efficacy of the first and second jaws, this feature enables the jaws to be quickly secured and disassembled.

[0049] In a particular embodiment of the invention, the guiding device includes an optical navigation system comprising reference optical elements mechanically connected to a first jaw and a second jaw, and a readout module for determining the position of each reference optical element. The navigation system is intended to be connected to a control unit configured to determine the positions of the first jaw and the second jaw based on information relating to the positions of the optical elements transmitted by the optical navigation system.

[0050] Because of these features, the position of the jaws within the tool holder can be determined automatically.

[0051] In a particular embodiment of the invention, the guiding device includes a sensor encapsulated in a recess and configured to determine the length of travel of the needle through the guiding tube when the first jaw and the second jaw are in the guiding position.

[0052] The sensor can be advantageously connected to a control unit configured to determine the position of the needle relative to the patient's target anatomical region based on information relating to the stroke length of the needle inserted into the guide tube and the position of the patient's target anatomical region relative to the position of the needle guide.

[0053] Furthermore, within the scope of this invention is a needle guiding device in combination with some or all of the features mentioned above or below, wherein the needle guide includes a moving transmission member connected to the jaws and synchronizing the angular movement of the jaws relative to each other.

[0054] Due to this feature, the two jaws move symmetrically at an angle to each other.

[0055] In other words, during the rotation of one jaw, the transmission component moves at the same angle to drive the rotation of the other jaw.

[0056] Therefore, the needle can be held by the groove without changing the position of its longitudinal axis, which makes it possible, for example, to prevent the positioning needle from being misaligned when changing the needle.

[0057] Furthermore, this feature allows the use of needles of different diameters.

[0058] In a particular embodiment of the invention, the guiding device includes an elastic member disposed close to at least one jaw, thereby propelling the first and second jaws to rotate toward their guiding position.

[0059] The advantage of this feature is that it makes it possible to prevent any movement of the needle guide in the disengaged position and thus prevent any accidental movement of the needle.

[0060] Furthermore, this feature enables the jaws to be driven systematically in the guide position, thus eliminating the need for the operator to perform the operation manually.

[0061] In a particular embodiment of the invention, each jaw includes at least one tooth at the level of the groove, said at least one tooth being adapted to interlock with each other when the needle guide is in the guide position.

[0062] Each jaw more specifically includes at least one tooth, which is arranged face to face. Grooves are formed laterally in the respective teeth of the jaws.

[0063] This feature enables the distribution of clamping force applied to the needle via the jaws, particularly via the teeth, along the needle, and thus contributes to ensuring needle stability when the needle is engaged in the guide tube.

[0064] In a particular embodiment of the invention, the groove has a V-shaped cross-section.

[0065] Therefore, for a given tool holder position, the needle is held in exactly the same manner in the guide tube between the two jaws, regardless of its diameter, and the position of the needle's longitudinal axis is independent of its diameter. Thus, the needle can be changed during operation and the same axis of movement can be maintained during needle translation, regardless of its diameter.

[0066] In a particular embodiment of the invention, the needle guiding device includes a mechanism for locking the needle guide in a guiding position. The locking mechanism is configured to secure either the first or second jaw to prevent rotation when the second jaw pivots beyond a predetermined angular position.

[0067] This feature advantageously enables the needle to be held by the jaws and more specifically prevents relative movement of all angles of the needle, while allowing translational movement along its longitudinal axis.

[0068] Therefore, any accidental lateral pulling of the needle should not result in needle movement that could easily dislodge the needle from the guide tube and ultimately damage the patient.

[0069] In a specific embodiment of the present invention, the locking mechanism includes:

[0070] - A pivot connection that connects the control handle to either the first jaw or the second jaw, and allows the handle to rotate one degree of freedom relative to the jaws between two extreme angular positions.

[0071] - The lip, which extends from the control handle toward the tool holder, and

[0072] - An elastic member that pulls the handle to rotate toward an extreme angle position, such that when the first jaw and the second jaw are in the guide position, the lip is supported against the contact surface of the tool holder.

[0073] In other words, the elastic component pulls the control handle, thereby creating a phenomenon that causes the lip to be supported against the contact surface of the tool holder.

[0074] This feature allows the needle guide to be fixed in the guiding position using simple mechanical means.

[0075] Another advantage is the quick unlocking of the needle guide to allow it to move to the disengaged position.

[0076] In fact, it is only necessary to apply a force opposite to that applied by the elastic member to the control handle to reduce and / or eliminate the friction that causes the support phenomenon.

[0077] According to another aspect, the present invention also relates to a robotic arm, one end of which includes the needle guiding device as described above.

[0078] The robotic arm includes a control unit intended to receive position-related information about the first jaw or the second jaw from the optical navigation system of the needle guiding device. The control unit is configured to determine the position of the jaw and command the robotic arm to be positioned at a given location based on the determined position of the jaw.

[0079] In a particular embodiment of the invention, the control unit is configured such that:

[0080] - When it is determined that the first jaw and the second jaw are in the guide position, it prevents all movement of the robotic arm, and

[0081] - When it is determined that the first and second jaws are in the disengaged position, it allows the robotic arm to move.

[0082] Therefore, it is impossible to change the position of the guiding device and thus change the position of the translational axis of the needle inserted into the guiding tube.

[0083] In addition, this feature also allows the guide tube to remain in position during medical procedures, thereby ensuring the accuracy of needle insertion into the patient's target anatomical region.

[0084] Furthermore, this feature makes it possible to prevent injuries caused by accidental movement of a robotic arm carrying a needle insertion guide.

[0085] When the first and second jaws are in the disengaged position, the robotic arm is allowed to move laterally relative to the patient's target anatomical region, allowing the needle to disengage from the needle guide without any contact with the guide device. The needle remains stationary during disengagement.

[0086] Specifically, this application also provides the following implementation schemes:

[0087] Implementation Scheme 1. A needle guide device (20) comprising a tool holder (21) intended to be attached to the end of a medical assistive robotic arm (10), the tool holder (21) supporting a needle guide (22),

[0088] The guiding device (20) is characterized in that the needle guide (22) includes a first jaw (30) and a second jaw (40) each having a groove (35, 45) extending along a parallel longitudinal axis, the first jaw (30) and the second jaw (40) being supported by a tool holder, thereby allowing the first jaw (30) and the second jaw (40) to have mobility relative to each other between: a position referred to as the “guide position”, in which the grooves (35, 45) are adjacent and define a guide tube (23) for guiding the needle, and a position referred to as the “disengagement position”, in which the grooves (35, 45) move away from each other and define a lateral disengagement area for the needle.

[0089] Implementation Scheme 2. The needle guiding device (20) according to Implementation Scheme 1, wherein the first jaw (30) or the second jaw (40) includes a handle (49) that is operated by pulling, the pulling being about driving the first jaw (30) or the second jaw (40) to move relative to the other jaw (30; 40).

[0090] Implementation Scheme 3. The needle guide device (20) according to any one of Implementation Scheme 1 or 2, wherein the tool holder (21) includes a housing (210) extending longitudinally between two end openings, wherein the needle guide (22) is engaged, the tool holder (21) including an axial through hole (214) extending from the one end opening along an axis parallel to the longitudinal axis of the housing (210) to the other end opening, the axial through hole (214) facing a lateral disengagement area when the first jaw (30) and the second jaw (40) are in the disengaged position.

[0091] Implementation Scheme 4. The needle guiding device (20) according to any one of Implementation Schemes 1 to 3, wherein the first jaw (30) and the second jaw (40) are formed by a fixed jaw (30) and a movable jaw (40), respectively.

[0092] Implementation Scheme 5. The needle guide device (20) according to Implementation Scheme 3 or 4, wherein a fixing jaw (30) is engaged in the housing (210), the fixing jaw (30) and the housing (210) having nesting elements (50) on their respective facing surfaces, the nesting elements (50) cooperating with each other to fix the fixing jaw (30) to prevent rotation relative to the tool holder (21).

[0093] Implementation Scheme 6. The needle guide device (20) according to Implementation Scheme 5, wherein the nesting element (50) is formed by respective complementary shape undulations, the undulations including:

[0094] - The undulations extending longitudinally on the surface of the fixed jaws (30), referred to as the "outer surface", and

[0095] - The undulations extending longitudinally on the surface of the housing (210) called the "inner wall".

[0096] Implementation Scheme 7. The needle guide device (20) according to any one of Implementation Schemes 1 to 6, wherein the first jaw (30) and the second jaw (40) are detachably fixed to each other and detachably engaged in the housing (210) of the tool holder (21).

[0097] Implementation Scheme 8. The needle guide device (20) according to Implementation Scheme 4, wherein the fixed jaw (30) is integrally formed with the tool holder (21).

[0098] Implementation Scheme 9. The needle guide device (20) according to Implementation Scheme 2 or 3, wherein the tool holder (21) includes a through opening (24) extending radially relative to the housing (210), the control handle (49) extending through the through opening (24), the through opening (24) forming a path for guiding the control handle (49).

[0099] Implementation Scheme 10. The needle guide device (20) according to Implementation Scheme 9, wherein the opening (24) includes a portion extending axially relative to the housing (210), the portion opening onto a surface of the tool holder (21) referred to as the “upper surface” and flush with an end opening of the housing (210).

[0100] Implementation Scheme 11. The needle guide device (20) according to any one of Implementation Schemes 1 to 10, wherein the first jaw (30) and the second jaw (40) include respective axial shoulders (36, 46) having complementary profiles, the axial shoulders (36, 46) engaging with each other through the profiles.

[0101] Implementation Scheme 12. The needle guide device (20) according to Implementation Scheme 11, wherein the first jaw (30) and the second jaw (40) are detachably connected by a rod (60) extending longitudinally from one of the first jaw (30) and the second jaw (40) through an axial housing (47) formed by an axial shoulder (46) of the other jaw (30; 40).

[0102] Implementation Scheme 13. The needle guide device (20) according to Implementation Scheme 7 includes a sensor encapsulated in the groove (35, 45) and configured to determine the travel length of the needle through the guide tube (23) when the first jaw (30) and the second jaw (40) are in the guide position.

[0103] Implementation Scheme 14. The needle guide device (20) according to Implementation Scheme 1 or 2, wherein the needle guide (22) includes a moving transmission member (70) connected to the first jaw (30) and the second jaw (40) and synchronizing the angular movement of the first jaw (30) and the second jaw (40) relative to each other.

[0104] Implementation Scheme 15. The needle guide device (20) according to Implementation Scheme 14 includes an elastic member (71) arranged close to at least one of the jaws (30, 40) to advance the first jaw (30) and the second jaw (40) toward their guide positions.

[0105] Implementation Scheme 16. The needle guide device (20) according to any one of Implementation Schemes 1, 2, 14 or 15, wherein each of the first jaws (30) and each of the second jaws (40) includes at least one tooth (37, 57) at the horizontal plane of the groove (35, 45), the at least one tooth (37, 57) being adapted to interlock with each other when the needle guide (22) is in the guide position.

[0106] Implementation Scheme 17. The needle guide device (20) according to Implementation Scheme 16, wherein the groove (35, 45) has a V-shaped cross-section.

[0107] Implementation Scheme 18. The needle guide device (20) according to any one of Implementation Schemes 1, 2 or 14-17 includes a mechanism (80) for locking the needle guide (22) in the guide position, the locking mechanism (80) being configured to fix the first jaw (30) or the second jaw (40) to prevent rotation when the second jaw (40) pivots beyond a predetermined angular position.

[0108] Implementation Scheme 19. The needle guide device (20) according to Implementation Schemes 2 to 18, wherein the locking mechanism (80) comprises:

[0109] - A pivot connection that connects the control handle (49) to either the first jaw (30) or the second jaw (40), and allows the handle to rotate one degree of freedom relative to the jaws between two extreme angular positions.

[0110] - A lip (81) extending from the control handle (49) toward the tool holder (21),

[0111] - and an elastic member (82) that pulls the handle to rotate toward an extreme angle position such that when the first jaw (30) and the second jaw (40) are in the guide position, the lip (81) is supported against the contact surface (215) of the tool holder (21).

[0112] Implementation Scheme 20. A needle guiding device (20) according to any one of Implementation Schemes 1 to 19, comprising an optical navigation system including a reference optical element mechanically represented as each of a first jaw (30) and a second jaw (40), and a reading module for determining the position of each reference optical element, the navigation system being intended to be connected to a control unit configured to determine the positions of the first jaw (30) and the second jaw (40) based on information relating to the positions of the optical elements transmitted by the optical navigation system.

[0113] Implementation Scheme 21. A robotic arm (10) comprising a needle guide device (20) of any one of Implementation Schemes 1 to 20 at one end, the robotic arm (10) being characterized in that it includes a control unit intended to receive information relating to the position of the first jaw (30) or the second jaw (40) from an optical navigation system of the needle guide device (20), the control unit being configured to determine the position of the jaws (30; 40) and command the robotic arm (10) to be positioned at a given position according to the determined position of the jaws (30; 40).

[0114] Implementation Scheme 22. The robotic arm (10) according to Implementation Scheme 21, wherein the control unit is configured such that:

[0115] - When it is determined that the first jaw (30) and the second jaw (40) are in the guide position, it prevents all movement of the robotic arm (10), and

[0116] - When it is determined that the first jaw (30) and the second jaw (40) are in the disengaged position, it allows the movement of the robotic arm (10). Attached Figure Description

[0117] The invention will be better understood by reading the following description given by way of non-limiting example and by referring to the following figures:

[0118] Figure 1 An exploded perspective view showing a robotic arm, a needle guiding device according to a first embodiment, and a tool changer providing an interface between the free end of the robotic arm and the guiding device;

[0119] Figure 2 express Figure 1 A top perspective view of a guiding device, which includes only a portion of a tool holder and a needle guide shown in position for guiding the needle;

[0120] Figure 3 express Figure 2 A bottom-view perspective view of the guide device;

[0121] Figure 4 express Figure 2 Top perspective view of the needle guide component of the guiding device;

[0122] Figure 5 express Figure 2 Top perspective view of the moving jaws of the needle guide;

[0123] Figure 6 express Figure 2 A bottom perspective view of the fixing jaws of the needle guide;

[0124] Figure 7A perspective view showing a second embodiment of the needle guide device;

[0125] Figure 8 express Figure 7 A cross-sectional view of the needle guide device;

[0126] Figure 9 express Figure 7 A perspective view of the cross-section of the device.

[0127] In these figures, the same reference numerals denote the same or similar elements from one figure to another. Furthermore, for clarity, unless otherwise stated, the figures are not drawn to scale. Invention Details

[0128] Figure 1 A robotic arm 10 is shown, which includes a needle guide 20 according to a first embodiment at its free end. The needle guide 20 is intended to assist an operator in introducing a needle into a patient during a medical procedure until it is inserted into a target anatomical region. The robotic arm 10 preferably includes a tool changer at its free end, which provides a contact surface between the free end and the guide 20.

[0129] like Figure 2 and Figure 3 As shown, the guiding device 20 includes a tool holder 21 intended to be fixed to the robotic arm 10 and a needle guide 22 that cooperates with the tool holder 21.

[0130] The tool holder 21 includes a housing 210 extending longitudinally between two end openings, the end openings being respectively located on a surface 211 referred to as the "upper surface" and a surface 212 referred to as the "lower surface" of the tool holder 21. The housing 210 is defined between the two end openings by an inner wall 213.

[0131] exist Figures 1 to 3 In the preferred embodiment shown, the inner wall 213 has a circular cross-section.

[0132] The needle guide 22 is engaged in the housing 210 and, in a preferred embodiment of the invention, includes two jaws 30, 40 that are fixed to each other in a manner that allows them to rotate freely between “guided positions”, wherein the jaws 30, 40 define a guide tube 23 for guiding the needle and a “disengagement” position, wherein they define a lateral disengagement area for the needle.

[0133] The jaws are referred to below as “first jaws” 30 and “second jaws” 40.

[0134] like Figures 1 to 3As shown, the tool holder 21 includes an axial through-hole 214, one of which opens at one end of the housing 210 and the other extends along an axis parallel to the longitudinal axis of the housing 210 toward the end of the housing 210. Jaws 30 and second jaws 40 are advantageously disposed in the housing 210 such that when they are in the disengaged position, the lateral disengagement area faces the axial through-hole 214.

[0135] Therefore, when the first jaw 30 and the second jaw 40 are in the guide position, the needle is inserted into the guide tube 23, thereby introducing it into the patient's target anatomical region. Thus, when the first jaw 30 and the second jaw 40 are in the disengagement position via the lateral disengagement area and the axial through hole 214, the needle can be laterally withdrawn from the guide device 20 by taking advantage of the movement of the guide device 20.

[0136] In the first embodiment, when the needle guide 22 is engaged in the housing 210, the first jaw 30 (referred to as the "fixed jaw" 30) is preferably fixed relative to the tool holder 21, and the second jaw 40, referred to as the "movable jaw" 40, is preferably free to rotate relative to the fixed jaw 30 about a rotation axis parallel to the longitudinal axis of the housing 210.

[0137] like Figures 4 to 6 As shown, the fixed jaws 30 and the movable jaws 40 extend more specifically along a longitudinal axis parallel to the longitudinal axis of the housing 210 between two ends referred to as “upper ends” 31, 41 and “lower ends” 32, 42, respectively. The fixed jaws 30 and the movable jaws 40 are defined by an outer surface between their upper ends 31 and 41 and their lower ends 32 and 42, respectively, a portion of which is referred to hereinafter as “outer arc surfaces” 33, 43, which connects to a portion of the opposite surface referred to hereinafter as “inner arc surfaces” 34, 44.

[0138] It should be noted that, in this document, the relative terms "upper" and "lower" are defined such that the so-called "upper" element is located above the so-called "lower" element, and these relative terms are used in relation to the robotic arm 10 and the guiding device 20. Figures 1 to 3 The position indicated in the middle is related.

[0139] The outer arc surfaces 33 and 43 of the fixed jaw 30 and the movable jaw 40 each have a circular cross-section and face the inner wall 213 of the housing 210 when the needle guide 22 is connected in the tool holder.

[0140] like Figure 4 As shown, in a preferred embodiment of the present invention, the outer arc surfaces 33, 43 of the fixed jaw 30 and the movable jaw 40 are inscribed within a column having a circular cross-section. When the fixed jaw 30 and the movable jaw 40 are engaged in the housing 210, the outer arc surfaces 33, 43 and the inner wall 213 of the housing 210 are concentric.

[0141] In order to engage in the housing 210, the dimensions of the fixed jaw 30 and the movable jaw 40 are adjusted so that the radius of the cross-section of the outer arc surface 33, 43 of the housing 210 is smaller than the radius of the cross-section of the inner wall.

[0142] When the needle guide 22 is engaged in the tool holder 21, the inner arc surfaces 34, 44 of the fixed jaw 30 and the movable jaw 40 are arranged facing each other and their dimensions are adjusted to form a space for angular relative movement between the fixed jaw 30 and the movable jaw 40.

[0143] Each fixed jaw 30 and movable jaw 40 includes a groove 35, 45 on its inner arcuate surface 34, 44, extending along a longitudinal axis from its lower end 32, 42 to its upper end 31, 41. The grooves 35, 45 have a circular cross-section of the same size. Alternatively, the grooves 35, 45 may have a polygonal cross-section.

[0144] The grooves 35 and 45 are adjacent along their entire length and form a needle guide tube 23 when the fixed jaws 30 and the movable jaws 40 are in the guide position, so that when the jaws are in the disengagement position, the grooves 35 and 45 move apart and define a lateral disengagement zone for the needle between them.

[0145] The grooves 35 and 45 are preferably arranged on a portion of the inner arc surfaces 34 and 44 of the fixed jaw 30 and the movable jaw 40, respectively, which are contained in a plane containing the diameter of the outer arc surfaces 33 and 43.

[0146] In a preferred embodiment of the invention, the fixed jaws 30 and the housing 210 are fixed on their respective facing surfaces, that is, the outer arc surface 33 of the fixed jaws 30 and the inner wall 213 of the housing 210, and the nesting elements 50 cooperate with each other to fix the fixed jaws 30 to prevent it from rotating relative to the tool holder 21.

[0147] The nesting element 50 can advantageously allow one degree of freedom of translational movement between the tool holder 21 and the fixed jaw 30, such that the guide 22 can be detachably engaged in the housing 210 of the tool holder 21, as described in more detail below.

[0148] The nested element 50 is preferably formed of undulations with complementary shapes, which extend parallel to the longitudinal axes of the retaining jaws 30 and the housing 210, respectively. For example, these undulations are in the form of tenons and mortises, as shown in Figure 2. In a preferred embodiment, the tenon is located on the outer arc surface 33 of the retaining jaws 30, and the mortise is located in the inner wall 213 of the housing 210. Alternatively, the tenon is located on the inner wall 213 of the housing 210, and the mortise is located on the outer arc surface 33 of the retaining jaws 30.

[0149] Therefore, the clamping jaws 30 are fixed in a simple and reliable manner.

[0150] like Figure 3 As shown, the nesting element 50 may alternatively take the form of longitudinally facing tenons, which are respectively on the outer arc surface 33 of the fixing jaw 30 and the inner wall 213 of the housing 210, whereby they are intended to engage a wedge or pin.

[0151] The nested element 50 has the advantage of having a poka yoke function during the insertion of the needle guide 22 into the housing 210.

[0152] like Figure 5 and Figure 6 As shown in the view of the fixed jaw 30 and the movable jaw 40, the fixed jaw 30 and the movable jaw 40 each have axial shoulders 36 and 46 on their inner arc surfaces 34 and 44, and the jaws engage with each other through the shoulders.

[0153] The axial shoulders 36, 46 of the fixed jaw 30 and the movable jaw 40 extend away from each other from the support surfaces 360, 460 until the surfaces are flush with one or the other of the upper ends 31, 41 and the lower ends 32, 42 of the fixed jaw 30 and the movable jaw 40, and the support surfaces 360, 460 lie in a plane substantially perpendicular to the longitudinal axis of the jaws.

[0154] More precisely, such as Figure 4 and 6 As shown, the axial shoulder 36 of the fixed jaw 30 extends to a surface flush with its upper end 31, and the axial shoulder 46 of the movable jaw 40 extends to a surface flush with its lower end 42. In other words, the axial shoulder 36 of the fixed jaw 30 overlaps the axial shoulder 36 of the movable jaw 40.

[0155] In a preferred embodiment of the present invention, the support surfaces 360, 460 of the axial shoulders 36, 46 of the fixed jaw 30 and the movable jaw 40 are each equidistantly arranged between the upper ends 31, 41 and the lower ends 32, 42 of the jaws.

[0156] The axial shoulders 36, 46 are close to each other via their respective support surfaces 360, 460 and have complementary profiles, such that the fixed jaws 30 and the movable jaws 40 at least partially intersect each other.

[0157] like Figure 4 As shown, the axial shoulders 36, 46 include a central portion through which the fixed jaws 30 and the movable jaws 40 are continuously positioned, one against the other, as the fixed jaws 30 and the movable jaws 40 move between their disengaged and guided positions.

[0158] like Figure 5 and 6 As shown, the cross-section of the inner arc surface 34,44 at the horizontal level of the center portion of each axial shoulder 36,46 includes a circular segment, which is concentric with the cross-section of the outer arc surface 33,43 and the cross-section of the inner wall 213.

[0159] The axial shoulders 36, 46 also include respective lateral portions that extend the central portion to a cylindrical surface aligned with the outer arcuate surfaces 33, 43 of the fixed jaw 30 and the movable jaw 40. In other words, the cylindrical surface is inscribed within the same cylinder as the outer arcuate surfaces 33, 43 of the fixed jaw 30 and the movable jaw 40.

[0160] Therefore, the horizontal portion has a general cylindrical fan shape.

[0161] like Figure 5 and Figure 6 As shown, the cross-section of the inner arc surfaces 34, 44 at the level of the lateral portion of each axial shoulder 36, 46 includes a straight segment extending from a circular segment to the outer arc surfaces 33, 43.

[0162] The lateral portions of the axial shoulders 36, 46 are configured to form a bridge for angular movement of the movable jaw 40 when the movable jaw 40 is in the disengaged position.

[0163] More specifically, the dimensions of the lateral portions are adjusted such that when the movable jaws 40 are in the disengaged position, they are placed and supported against each other by their support surfaces 360, 460, the lateral portion of the axial shoulder 36 of the fixed jaw 30 contacts the inner arc surface 44 of the movable jaw 40, and the lateral portion of the axial shoulder 46 of the movable jaw 40 contacts the inner arc surface 34 of the fixed jaw 30.

[0164] Preferably, the dimensions of the lateral portions of the axial shoulders 36, 46 are adjusted to allow the movable jaws 40 to move at a 45-degree angle between the guide position and the disengagement position.

[0165] This feature maximizes the contact area between the fixed jaw 30 and the movable jaw 40, and therefore the movement of the movable jaw 40 is highly accurate as the movable jaw 40 moves between the disengaged position and the guide position.

[0166] The fixed jaw 30 and the movable jaw 40 are preferably detachably connected to each other by a rod 60 extending longitudinally from the fixed jaw through a housing called a "coaxial housing" 47, extending axially and forming in an axial shoulder 46 of the movable jaw 40, which pivots freely about the rod 60. In other words, the rod 60 extends in the axial housing 47 along a longitudinal axis that coincides with the axis of rotation of the movable jaw 40.

[0167] like Figure 5and 6 As shown, the axial housing 47 is formed more specifically through the central portion of the axial shoulder 46 of the movable jaw 40.

[0168] The rod 60 extends between two ends, one of which is referred to as the “upper end” and is rigidly connected to the fixed jaw 30, and the other is referred to as the “lower end” and is engaged in the axial housing 47 in a rotatable manner.

[0169] Due to this feature, the fixed jaws 30 and the movable jaws 40 can be separated from each other. This arrangement is specifically designed to enhance the sterilization efficacy of the needle guide 22.

[0170] The lower end of the lever 60 advantageously includes an element that prevents translational movement, adapted to prevent translational movement between the fixed jaw 30 and the movable jaw 40. This feature is intended to prevent the fixed jaw 30 and the movable jaw 40 from untimely loosening.

[0171] like Figure 6 As shown, this element that prevents translational movement can be formed on a pin 61 extending radially in the rod 60. The pin 61 is intended to be arranged close to the movable jaw 40, thereby fixing the movable jaw 40 close to the fixed jaw 30.

[0172] More precisely, such as Figure 3 As shown, the movable jaw 40 advantageously includes a chamber 471, which opens at its lower end 42 via an axial housing 47, and the chamber 471 is adapted to receive a pin 61 when the fixed jaw 30 is fixed to the movable jaw 40.

[0173] Figure 5 Two radially opposing axial grooves 470 extending along the entire length of the axial housing 47 are shown. These axial grooves 470 are intended to receive the sliding pin 61 when the fixed jaw 30 and the movable jaw 40 are secured or disengaged from each other. Optionally, depending on the length of the pin 61, the axial housing 47 of the movable jaw 40 may include only one axial groove 470.

[0174] The axial groove 470 is preferably arranged in the axial housing 47 such that the fixed jaw 30 and the movable jaw 40 can only be fixed or released when they are equidistant from each other at an angle between the disengaged position and the guided position, that is, during the middle stroke between the two extreme positions of the movable jaw 40.

[0175] The movable jaw 40 advantageously includes a handle 49 for manipulating it, which extends radially from its outer arcuate surface 43. Manipulating the handle 49 allows the movable jaw 40 to be driven to move within the housing 210 when pulled by an operator. The handle 49 is intended to move through an opening 24 formed in the tool holder 21 and extends radially relative to the housing 210 via a portion referred to below as the “radial portion” 240.

[0176] Therefore, the opening 24 forms a path for guiding the control handle 49 and extends beyond a sufficient length to allow the movable jaw 40 to make angular movements between the disengaged position and the guided position.

[0177] like Figure 2 and 3 As shown, the radial portion 240 preferably extends at one end through a portion referred to as the “axial portion” 241, which extends axially relative to the housing 210 until it is exposed on the upper surface 211 of the tool holder 21.

[0178] This feature is advantageous because it allows the needle guide 22 to be released from the tool holder 21 by pivoting the control handle 49 in the radial portion 240 of the opening 24, and then translating the handle along the longitudinal axis of the housing 210 in the axial portion 241. Therefore, the tool holder 21 and the needle guide 22 can be sterilized in an optimal manner.

[0179] Conversely, in order to engage the needle guide 22 in the tool holder 21, the operator guides the control handle 49 through the axial portion 241 of the opening 24 until it reaches the radial portion 240 by translating the needle guide 22 along the longitudinal axis of the housing 210.

[0180] The axial portion advantageously allows the pin guide 22 to be released from the tool holder 21 only if the movable jaw 40 is in the guide position.

[0181] Therefore, the needle can be guided axially directly after the needle guide 22 is installed in the housing 210.

[0182] This prevents all risks of the needle being squeezed out of the guide tube 23 between the fixed jaw 30 and the movable jaw 40 during actuation of the movable jaw 40 toward its guiding position. Such congestion could lead to unpredictable needle guidance, which could be harmful to the patient.

[0183] For convenience, the needle guide 22 is engaged in the housing 210, and the fixed jaws 30 and the movable jaws 40 may advantageously be included in 38, 48 extending between their respective lower ends 32, 42 and their respective outer arc surfaces 33, 34.

[0184] In a variation of the first embodiment of the needle guide device 20 (not shown in the figure), the tool holder 21 and the fixed jaws form an integral component. In this embodiment of the invention, the movable jaws correspond to the above description, except that their axial shoulder extends from the support surface to a surface flush with the upper end of the movable jaws.

[0185] In this embodiment of the invention, the axial shoulder of the fixed jaw extends from the support surface to a surface flush with the lower end of the fixed jaw.

[0186] It is clear here that the axial shoulder of the movable jaw overlaps the axial shoulder of the fixed jaw, that is, the axial shoulder of the tool holder 21.

[0187] Furthermore, the rod is rigidly fixed to the movable jaw and rotatably engaged in the axial housing of the fixed jaw. The axial housing comprises two diametrically opposed axial grooves extending from a support surface of the axial shoulder to a cavity opening on the lower surface of the tool holder 21. In a similar manner to a preferred embodiment of the invention, the rod has a translational movement blocking element (e.g., a pin) at its lower end, intended to slide within a groove when the movable jaw is fixed to or released from the tool holder 21.

[0188] In this embodiment of the invention, the tool holder 21 includes a sensor adapted to determine the length of travel of the needle through the guide tube when the jaws are in the guide position.

[0189] The sensor is advantageously connected to a control unit, which determines the position of the needle relative to the patient's target anatomical region based on information relating to the travel length of the needle inserted into the guide tube and the position of the patient's target anatomical region relative to the position of the needle guide.

[0190] The sensor can be an optical sensor known to those skilled in the art, suitable for detecting movement of a needle introduced through a guide tube by capturing images. The sensor can also be formed from a linear measurement sensor known to those skilled in the art.

[0191] Alternatively, tool holder 21 may include a linear optical encoder type sensor adapted to determine the stroke of a graduated needle moving in the guide tube by reading the scale on the needle.

[0192] Another alternative is for the sensor to take the form of a needle-driven wheel when inserted through the tube, the wheel being associated with a rotation counter such as a tachometer. Knowing the diameter of the wheel, the control unit can determine the length of the needle inserted through the guide tube based on the angular displacement that occurs during the needle's movement.

[0193] Figures 7 to 9This refers to the needle guide device 20 according to the second embodiment.

[0194] The guide device 20 according to the second embodiment is similar to the guide device 20 according to the first embodiment in that it further includes a tool holder 21 and a needle guide 22, the needle guide 22 including a first jaw 30 and a second jaw 40 that move relative to each other between a guide position and a release position.

[0195] Furthermore, in this second embodiment, the second jaw 40, referred to herein as the "drive jaw" 40, also includes a control handle 49. However, the tool holder 21 does not include an opening therein for the control handle 49 to move.

[0196] In this embodiment, the first jaw 30 is referred to as the "driven jaw" 30.

[0197] In contrast to the first embodiment, in the second embodiment, the driven jaw 30 and the driving jaw 40 are fixed to the tool holder 21, so that they can rotate about different directions, that is, different axes of rotation. The axes of rotation of the driven jaw 30 and the driving jaw 40 are preferably parallel to each other.

[0198] The tool holder 21 includes a yoke comprising an "upper protrusion" and a "lower protrusion," with a driven jaw 30 and a driven jaw 40 arranged between the upper and lower protrusions. Figure 7 Only the upper protrusion can be seen in the middle.

[0199] The upper and lower protrusions include a pair of orifices, the two pairs of facing orifices receiving fixed shafts, each fixed shaft engaging in a through housing of the driven jaw 30 or the driving jaw 40.

[0200] Therefore, each driven jaw 30 and driving jaw 40 can pivot freely about the axis associated with it.

[0201] like Figures 7 to 9 As shown, the needle guide advantageously includes a movement transmission member 70 connected to the driven jaw 30 and the drive jaw 40, synchronizing the angular movement of the driven jaw 30 and the drive jaw 40 relative to each other.

[0202] like Figure 8 As shown, the moving transmission component 70 is preferably formed by two meshing gear portions respectively arranged on the driven jaw 30 and the driving jaw 40.

[0203] Alternatively, the moving transmission member 70 may be formed by a cam mechanism (not shown), wherein a male part extending from one jaw, such as the driving jaw 40, engages with a female part extending from another jaw, such as the driven jaw 30.

[0204] Due to this feature, the driven jaw 30 and the driving jaw 40 are driven to move symmetrically at an angle, that is, they move through the same angle.

[0205] Therefore, the needle can be held by the grooves 35, 45 without changing the position of its longitudinal axis, which makes it possible to avoid any needle positioning error, for example, during needle changes.

[0206] Furthermore, this feature allows the use of needles of different diameters. This feature is preferably capable of guiding needles with diameters between 11G and 21G.

[0207] like Figure 9 As shown, the elastic member 71 is arranged close to the driven jaw 30 and / or the driving jaw 40, thereby pulling the driven jaw 30 and the driving jaw 40 to rotate toward their guide position.

[0208] The elastic member 71 may more specifically be a torsion spring arranged between the driven jaw 30 and the driving jaw 40, opposite to its recesses 35, 45, and each end thereof being supported against the driven jaw 30 or the driving jaw 40. Alternatively, the elastic member 71 may be a compression spring.

[0209] The advantage of this feature is that it makes it possible to prevent the needle guide 22 from moving in the disengaged position and thus prevent accidental movement of the needle.

[0210] Furthermore, this feature enables the driven jaws 30 and the drive jaws 40 to be systematically driven to the guide position, thus eliminating the need for the operator to perform the operation manually.

[0211] The driven jaws 30 and the driving jaws 40 advantageously include teeth 37, 57 at the junction between their inner arc surfaces 34, 44 and their outer arc surfaces 33, 43, which are adapted to interlock when the needle guide 22 is in the guided position.

[0212] like Figures 7 to 9 As shown, each tooth 37,57 therefore includes a groove 35,45 that extends laterally relative to the tooth 37,57.

[0213] These features enable the distribution of clamping forces along the needle via the driven jaws 30 and the driving jaws 40, particularly via the teeth 37, 57, and thus contribute to ensuring the stability of the needle when it engages in the guide tube 23.

[0214] The grooves 35 and 45 preferably have a V-shaped cross-section.

[0215] Therefore, for a given position of the tool holder 21, regardless of its diameter, the needle is held in the exact same position within the guide tube 23 between the driven jaw 30 and the driven jaw 40; in other words, the position of the needle's longitudinal axis does not depend on its diameter. Thus, needles can be changed during operation and the same axis of movement can be maintained during needle translation, regardless of its diameter.

[0216] Figure 7 and 8 The guide device 20 is represented by a mechanism 80 for locking the needle guide 22 into the guide position.

[0217] The locking mechanism 80 is configured to lock one of the jaws, preferably the drive jaw 40, if the jaws pivot beyond a predetermined angular position to prevent rotation. The predetermined angular position corresponds to the position of the jaws when they are in the guide position.

[0218] Therefore, by coupling the jaws together through the transmission components, the fixed drive jaw 40 is prevented from rotating, thus preventing the pivoting of the driven jaw 30.

[0219] The locking mechanism 80 advantageously allows the needle to be held by the driven jaws 30 and the driving jaws 40, and more specifically prevents relative angular movement of the needle, while allowing translational movement along its longitudinal axis.

[0220] Therefore, any accidental lateral movement of the needle should not cause the needle to move, as this could easily cause the needle to detach from the guide tube and ultimately injure the patient.

[0221] The locking mechanism 80 includes a pivotal connection connecting the control handle 49 to the drive jaws 40. Therefore, the control handle 49 can pivot freely relative to the drive jaws 40 between two extreme angular positions, hereinafter referred to as the "blocking position" and the "unlocking position".

[0222] The control handle 49 advantageously includes a shoulder configured to engage with a shoulder of the drive jaws 40, thereby preventing rotation of the control handle relative to the drive jaws 40 when the control handle is pivoted toward its unlocked position, as in Figure 8 and 9 As can be seen in the sectional view, these shoulders form the first angle abutment.

[0223] Similarly, the control handle 49 and the drive jaw 40 can be aligned to cooperate with each other, thereby preventing the control handle 49 from rotating relative to the drive jaw 40 when it pivots toward its blocking position, thus forming a second angled bridge platform, such as... Figure 7 As shown.

[0224] exist Figures 7 to 9 In the example of the locking mechanism shown, the lip 81 extends from the control handle 49 toward the tool holder 21.

[0225] When the control handle 49 is in the blocking position, it is intended to allow the lip 81 to rest against the surface of the tool holder 21 for support. To this end, the tool holder 21 includes a contact surface 215 that is intended to receive the lip 81 when supported thereon.

[0226] The contact surface 215 preferably has a substantially concave cross-section and extends, for example, from a cavity in the tool holder 21 to a protrusion, such as... Figures 7 to 9 As shown.

[0227] The tool holder 21 is configured such that when the driven jaw 30 and the drive jaw 40 are in the disengaged position, the lip 81 engages in the cavity. Therefore, the cavity corresponds to the angular travel of the lip 81.

[0228] like Figures 7 to 9 As shown, the control handle 49 may include an opening 490 through which the protrusion of the tool holder is introduced when the driven jaw 30 and the drive jaw 40 move toward their disengaged position.

[0229] The locking mechanism 80 advantageously includes an elastic member 82 that propels the handle toward its blocking position, such that when the driven jaws 30 and the drive jaws 40 are in the guided position, the lip 81 is supported against the contact surface 215 of the tool holder 21.

[0230] The elastic member 82 is preferably formed of a torsion spring arranged between the drive jaw 40 and the control handle.

[0231] Regardless of the diameter of the straight needle engaged in the guide tube, the locking mechanism 80 is advantageously effective.

[0232] Furthermore, this feature allows the needle guide to be secured in the guide position using simple mechanical methods.

[0233] Another advantage is the quick unlocking of the needle guide to allow it to move to the disengaged position.

[0234] In fact, in order to reduce and / or overcome friction, which is the source of the support phenomenon, it is only necessary to apply a force to the handle that is opposite to the drive of the elastic member.

[0235] The above features can be advantageously adapted to two embodiments of the guide device 20 according to the invention.

[0236] The guiding device 20 may advantageously include an optical navigation system (not shown) intended to be connected to the control unit of the robotic arm 10 to determine the position of the first jaw 30 and the second jaw 40 relative to each other based on information sent by the optical navigation system.

[0237] The control unit is configured to control the movement of the robotic arm 10 and thus the movement of the needle guide 22 based on the position of the first jaw 30 and the second jaw 40 relative to each other.

[0238] Optical navigation systems include reference optical elements, such as spheres whose surfaces reflect light.

[0239] The sphere is carried by branches extending from the upper ends 31, 41 of each of the first jaw 30 and the second jaw 40.

[0240] The optical navigation system also includes a readout module that sends information about the spatial position of each reference optical element to the control unit.

[0241] The first jaw 30 more specifically includes a single reference optical element, and the second jaw 40 more specifically includes at least a pair of reference optical elements. The pair of reference optical elements are carried by a pair of branches extending from a common branch, through which they are secured to the movable jaw 40.

[0242] Based on the information received by the reading module, the control unit is able to determine the position of the pair of reference optical elements relative to the individual reference optical element, and infer the position of the first jaw 30 and the second jaw 40 relative to each other.

[0243] The control unit is configured to prevent movement of the robotic arm 10 if it determines that the first jaw 30 and the second jaw 40 are in the guide position. Therefore, it is impossible to change the position of the guide tube, and thus impossible to move the axis of translational movement of the needle inserted into the guide tube or to release the needle laterally from the guide.

[0244] This feature enables the guide device 20 to remain in position during medical procedures, and thus the guide tube 23 to remain in position, thereby ensuring the accuracy of needle insertion into the patient's target anatomical region.

[0245] Furthermore, this feature helps to avoid accidents that are easily caused by the movement of the needle in the insertion needle guide 22.

[0246] The control unit is also configured to allow movement of the robotic arm 10 if it determines that the first jaw 30 and the second jaw 40 are in the disengaged position. The robotic arm 10 can then be moved laterally over the target anatomical region of the patient, thereby disengaging the needle from the needle guide 22 without contact with the guide device 20. Thus, the needle remains stationary during disengagement.

[0247] This feature makes it possible to prevent accidents that can easily be caused by the movement of a needle inserted into the target anatomical region.

[0248] More generally, it should be noted that embodiments and applications of the invention considered above have been described by way of non-limiting examples, and other variations are conceivable.

Claims

1. A needle guiding device (20) comprising a tool holder (21) intended to be fixed to the end of a medical auxiliary machine arm (10), said tool holder (21) supporting a needle guide (22), wherein said needle guide (22) comprises a first jaw (30) and a second jaw (40) each having a groove (35, 45) extending along a parallel longitudinal axis, said first jaw (30) and said second jaw (40) being supported by the tool holder so as to allow a mobility of said first jaw (30) and said second jaw (40) relative to each other between a position called "guiding position" in which the grooves (35, 45) are adjacent and define a guiding tube (23) for guiding a needle, and a position called "disengaging position" in which said grooves (35, 45) are moved away from each other and define a needle lateral disengaging zone; said needle guiding device (20) being characterized in that it further comprises an optical navigation system intended to be connected to a control unit of said machine arm (10), said control unit being configured to determine the position of said first jaw (30) and said second jaw (40) relative to each other based on information transmitted by said optical navigation system; wherein said optical navigation system comprises reference optical elements and a reading module, said reading module transmitting to the control unit information relating to the spatial position of each reference optical element; wherein the first jaw (30) comprises a single reference optical element and the second jaw (40) comprises at least a pair of reference optical elements, and this pair of reference optical elements is carried by a pair of branches extending from a common branch by which they are fixed to the second jaw (40).

2. The needle guiding device (20) according to claim 1, wherein said reference optical elements are spheres whose surface reflects light.

3. The needle guiding device (20) according to claim 2, wherein said spheres are carried by branches extending from the upper end (31, 41) of each of the first jaw (30) and the second jaw (40).

4. A machine arm (10) comprising at one end a needle guiding device (20) according to any one of claims 1 to 3, comprising a control unit intended to be connected to the needle guiding device (20) and determining the position of the first jaw (30) and the second jaw (40) relative to each other based on information transmitted by the optical navigation system of said needle guiding device (20); wherein, when said needle guiding device (20) is a needle guiding device according to any one of claims 1 to 3, based on the information received by the reading module, said control unit is able to determine the position of the pair of reference optical elements relative to the single reference optical element and deduce therefrom the position of the first jaw (30) and the second jaw (40) relative to each other.

5. The machine arm (10) according to claim 4, wherein said control unit is configured to control the movement of the machine arm (10) and therefore of the needle guide (22) as a function of the position of the first jaw (30) and the second jaw (40) relative to each other.

6. The machine arm (10) according to claim 5, wherein the control unit is configured to prevent movement of the machine arm (10) when the first jaw (30) and the second jaw (40) are in the guiding position.

7. The machine arm (10) according to claim 5, wherein the control unit is configured to allow movement of the machine arm (10) when the first jaw (30) and the second jaw (40) are in the disengaged position.

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