Drive module for an elongated flexible medical device of a catheter robot

Abstract

The invention relates to a drive module for an elongated flexible medical device of a catheter robot, comprising: at least two drive devices (2) each carrying two pad holders (3), each drive device (2) is self-supporting and comprises three drive units (4, 5, 6) independent of each other, and at least two drive units (5, 6) have an anti-rotation structure preventing rotational movement of the pad holder (3), comprising: a drive cross member (55, 65) driven by the drive motor (51, 61); a pad holder (3) cross member (32, 33) rigidly connected to the pad holder (3) and driven by the drive cross member (55, 65); two connecting rods (53, 63) each connected by one of its ends to two pivot points (54, 64) of the drive cross member (55, 65) disposed apart from each other, and by the other of its ends to two pivot points (54, 64) of the pad holder (3) cross member (32, 33) disposed apart from each other; the drive cross member (55, 65), the pad holder (3) cross member (32, 33) and the two connecting rods (53, 63) together form a parallelogram (P1, P2) which can be deformed at its four vertices which are the four pivot points (54, 64).

Description

Technical Field

[0001] This invention relates to the technical field of drive modules for slender, flexible medical devices used in catheter robots. Background Technology

[0002] According to existing technology, such as as described in patent application FR 1555377, a drive module for a slender, flexible medical device for catheter robots is known to be precise.

[0003] This drive module for a slender, flexible medical device for catheter robots includes a motion transmission system comprising a base for a drive component of movable elements. Three actuators drive the base of the drive component in three mutually different translational directions via three corresponding interfaces to the base. The three interfaces are substantially planar, orthogonal to each other, and one nested within the other.

[0004] Although relatively small in size and weight, this drive module for a slender, flexible medical device used in catheter robots is still too large for some applications. Summary of the Invention

[0005] The purpose of this invention is to provide a drive module for a slender, flexible medical device for catheter robots that at least partially overcomes the aforementioned disadvantages.

[0006] More specifically, the present invention aims to provide a drive module for an elongated flexible medical device for a catheterization robot, which is suitably miniaturized and highly precise in the movement of a liner holder that supports the liner, the liner gripping and moving the elongated flexible medical device inserted into the catheterization robot.

[0007] To achieve a drive module for a slender, flexible medical device for catheter robots that strikes a good balance between miniaturization and precision, the present invention proposes the following drive module:

[0008] It will have a general architecture including at least two drive units, one drive unit per pad retainer.

[0009] Each drive unit includes three drive units, one drive unit for each translational direction of each pad holder.

[0010] Furthermore, several specific structural features will be combined within this general architecture, namely:

[0011] ○The self-supporting nature of each drive unit

[0012] ○ Independence between drive units of the same drive device

[0013] ○ A specific structure for preventing parasitic rotation of at least two drive units per drive unit, which integrates the kinematics of a deformable parallelogram.

[0014] To this end, the present invention proposes a drive module for an elongated flexible medical device for a catheter robot, comprising: at least two drive units, each carrying two pad holders, the two pad holders being positioned relative to each other and respectively predetermined to receive two pads, the two pads gripping the elongated flexible medical device when approaching each other for subsequent translational and / or rotational actuation of the elongated flexible medical device; each drive unit is self-supporting and includes three independent drive units, the three drive units respectively translating the pad holders in three orthogonal spatial directions; each of the three drive units includes its own drive motor, and at least two drive units have anti-rotation structures to prevent rotational movement of the pad holders; the self-supporting drive unit is a drive unit in which its own structure secures the pad holders. The anti-rotation structure includes: a drive lateral member driven by the drive motor; a pad holder lateral member rigidly connected to the pad holder and driven by the drive lateral member; and two connecting rods respectively connected to two spaced-apart pivot points of the drive lateral member through one of their ends and the other of their ends, the drive lateral member, the pad holder lateral member, and the two connecting rods together forming a parallelogram that is deformable at its four vertices, which are the four pivot points.

[0015] According to some embodiments of the present invention, the proposed drive module, in addition to miniaturization, also reduces the number of moving components in order to reduce inertia and improve the responsiveness of the duct robot.

[0016] According to some embodiments of the invention, the drive mechanism for the self-supporting pad holder itself supports the pad holder and ensures that the pad holder remains in place. The pad holder maintains its position when the drive mechanism is off. The pad holder remains stationary; it does not wobble. Therefore, the drive mechanism does not require any additional support elements to specifically support the pad holder.

[0017] According to some embodiments of the invention, the independent kinematic units are not mounted on top of each other; in fact, each kinematic unit supports only its own weight. Each drive mechanism for the pad holder includes three kinematic units, one for each of the three axes along which the pad holder can perform translational movements. The pad holder will be able to perform pure translational movements along each of the three spatial axes. Each kinematic unit has the function of moving the pad holder along one of these three axes.

[0018] According to some embodiments of the invention, to prevent rotational movement of the pad holder, at least two kinematic units form at least two parallelograms (and preferably no more than two parallelograms), which constrain the position of the pad holder and force the pad holder to remain parallel to the pad holder positioned relative to it. A third parallelogram need not be formed at the third kinematic unit because, since all rotation of the pad holder has been prevented by the first two parallelograms, the general structure of the drive mechanism can be simplified by placing only a single connecting rod for this third kinematic unit, thus avoiding the formation of this third parallelogram.

[0019] According to some embodiments of the invention, each kinematic unit includes a motor that rotates a crank. One (without a parallelogram) or two (with a parallelogram) connecting rods are fixed to the crank via a double-pivot connector. The one or more rods are also fixed to a bushing retainer via a double-pivot connector. Two of the three kinematic units each form a parallelogram with two connecting rods, and the third kinematic unit includes only one connecting rod. The use of the connecting rod and crank system allows for a simplified structure. The simplicity of the connecting rod and crank system specifically arises from the fact that applied forces can be easily absorbed through the connection with the frame, thereby avoiding the application of forces to the motor shaft itself. The connecting rod and crank system simplifies the mechanical structure; however, it requires motor management, which is somewhat complex in terms of software. However, this complexity of the motor management software does not affect the weight or size of the drive unit, which can therefore be further miniaturized.

[0020] In one possible variation of an embodiment of the invention, one or more kinematic units may not include a connecting rod and crank system, but are formed by a platform connected to a linear actuator, such as a worm gear motor, and connected to the connecting rod. This variation is possible, however, it remains mechanically more complex and does not allow for the advanced miniaturization seen in the main embodiments, for example, those based on the use of a connecting rod and crank system.

[0021] To address the problem of simplifying the structure of catheterization robots without simultaneously resolving accuracy issues by managing the parasitic rotation of the pad holders, another object of the invention, in a slightly degraded embodiment, relates to a drive module for an elongated flexible medical device for a catheterization robot, comprising: at least two drive units, each carrying two pad holders, the two pad holders being positioned relative to each other and each predetermined to receive two pads, the two pads gripping the elongated flexible medical device upon approaching each other for subsequent translational and / or rotational actuation of the elongated flexible medical device; each drive unit being self-supporting and comprising three independent drive units, the three drive units respectively translating the pad holders in three orthogonal spatial directions, and each of the three drive units including its drive motor; the self-supporting drive unit is a drive unit in which the structure itself ensures the pad... The pad retainer is held in place without the need for additional support elements. The drive unit, independent of other drive units, is one that supports only its own weight without supporting the weight of another drive unit. At least two drive units have a structure comprising: a drive lateral member driven by the drive motor and having a longitudinal axis; a pad retainer lateral member rigidly connected to the pad retainer and driven by the drive lateral member; a crank driven by the drive motor to rotate about its axis, the crank's axis of rotation being parallel to and remaining parallel to the longitudinal axis of the drive lateral member; and an inter-axle clearance, meaning the gap between the crank's axis of rotation and the longitudinal axis of the drive lateral member, the inter-axle clearance being constant and remaining constant such that rotation of the crank causes rotation of the longitudinal axis of the drive lateral member.

[0022] According to a preferred embodiment, the present invention includes one or more of the following features, which may be used alone or in combination for one or another of the foregoing objectives of the present invention, thereby applying some of them or a combination of all of them.

[0023] Preferably, the two connecting rods are parallel to each other.

[0024] The shape of the connecting rod that allows for the creation of deformable parallelogram kinematics is therefore the simplest. However, other shapes for connecting rods are conceivable, such as curved connecting rods or segmented connecting rods with several segments, even though these other shapes for connecting rods are less practical.

[0025] Preferably, for at least one drive unit having an anti-rotation structure: the anti-rotation structure of the drive unit further includes a crank driven by the drive motor to rotate about the axis of the crank, the drive lateral member having a longitudinal axis extending between its two pivot points, the axis of rotation of the crank being parallel to and remaining parallel to the longitudinal axis of the drive lateral member, the inter-axle clearance being the gap between the axis of rotation of the crank and the longitudinal axis of the drive lateral member, the inter-axle clearance being constant and remaining constant, such that rotation of the crank causes rotation of the longitudinal axis of the drive lateral member.

[0026] The mechanical structure of the drive unit is thus further simplified, which further improves the miniaturization of the drive module; however, the trade-off is a slight increase in the complexity of software management for this drive module. But overall, the benefits of miniaturization far outweigh the disadvantages of software management complexity.

[0027] Preferably, for at least two drive units having an anti-rotation structure, for each of the two drive units: the anti-rotation structure of the drive unit further includes a crank driven by the drive motor to rotate about the axis of the crank, the drive lateral member having a longitudinal axis extending between its two pivot points, the axis of rotation of the crank being parallel to and remaining parallel to the longitudinal axis of the drive lateral member, the inter-axle clearance being the gap between the axis of rotation of the crank and the longitudinal axis of the drive lateral member, the inter-axle clearance being constant and remaining constant, such that rotation of the crank causes rotation of the longitudinal axis of the drive lateral member.

[0028] The mechanical structure of the drive unit is thus further simplified, which further improves the miniaturization of the drive module. However, the trade-off is a slight increase in the complexity of software management for this drive module. But overall, the benefits of miniaturization far outweigh the disadvantages of software management complexity.

[0029] Preferably, each drive unit has only two drive units with anti-rotation structures.

[0030] Therefore, since each structure can prevent two parasitic rotations by using only two anti-rotation structures, thus preventing three parasitic rotations, and by having only two anti-rotation structures instead of three, the overall structure of the drive unit remains simpler.

[0031] Preferably, for a third drive unit without an anti-rotation structure, the drive unit comprises: a drive lateral member driven by the drive motor; a pad holder lateral member rigidly connected to the pad holder and driven by the drive lateral member; and a single connecting rod, which is connected to the pivot point of the drive lateral member through one of its ends and to the pivot point of the pad holder lateral member through its other end.

[0032] Therefore, since the three parasitic rotations are prevented by the two anti-rotation structures of two of the three drive units in each drive device, the structure of the third drive unit of the drive device can be simplified by not integrating any anti-rotation structure, thereby further improving the miniaturization of the drive module.

[0033] Preferably, for the third drive unit without an anti-rotation structure: the structure of the drive unit further includes a crank, which is driven by the drive motor to rotate about the axis of the crank; the drive lateral member has a longitudinal axis; the rotation axis of the crank is parallel to and remains parallel to the longitudinal axis of the drive lateral member; the shaft clearance means the gap between the rotation axis of the crank and the longitudinal axis of the drive lateral member; the shaft clearance is constant and remains constant, such that rotation of the crank causes rotation of the longitudinal axis of the drive lateral member.

[0034] The structure of the third drive unit of this drive device can therefore be further simplified, thereby further improving the miniaturization of the drive module.

[0035] Preferably, for one drive unit, for several drive units, or for all drive units, the one or more drive motors are rotary motors that drive the rotation of a crank rigidly connected to the drive transverse member.

[0036] This makes the structure of the drive unit even more compact.

[0037] Alternatively, for one drive unit, several drive units, or all drive units, the one or more drive motors are rotary motors that drive the rotation of the worm gear to translate the drive transverse member.

[0038] However, this alternative is not as compact as the aforementioned alternative.

[0039] Preferably, for each drive unit: for each of the three drive units of the drive unit: the drive unit drives the pad holder: along a primary translational component in a primary direction, which is different for each of the three drive units, and along a parasitic translational component in another direction, which is different for each of the three drive units, each of the three drive units of the drive unit incorporates compensation for the parasitic translational component of one of the other drive units in its primary translational component along its primary direction.

[0040] The actions of the three drive units of the drive device are thus balanced with each other, such that the pad holder generally receives the translation command required for the desired movement in each of the three spatial directions, due to all commands received from the three drive units in that direction.

[0041] Preferably, the pivot point is a hinge that can pivot with two degrees of freedom.

[0042] Other features and advantages of the invention will become apparent after reading the following description of preferred embodiments of the invention, given by way of example and with reference to the accompanying drawings. Attached Figure Description

[0043] [ Figure 1 ] Figure 1 An example of a drive module for an elongated flexible medical device according to an embodiment of the present invention is schematically shown in a perspective view. The drive module includes two identical drive devices for pad holders positioned relative to each other.

[0044] [ Figure 2 ] Figure 2 In Figure 1 The perspective view from opposite angles schematically illustrates an identical example of a drive module for an elongated flexible medical device according to an embodiment of the invention, the drive module comprising two identical drive devices for pad holders positioned relative to each other.

[0045] [ Figure 3 ] Figure 3 Schematic representation based on Figure 1 and 2 An example of a drive unit for a drive module is shown, illustrating the motors of various kinematic units of this drive unit.

[0046] [ Figure 4 ] Figure 4 Schematic representation based on Figure 1 and 2 An example of a drive unit for a drive module is shown, but the motors of the various kinematic units of this drive unit are not shown.

[0047] [ Figure 5 ] Figure 5 An example of a drive unit for a drive module is schematically shown, illustrating... Figure 3 One possible variant of this drive device is the motor of various kinematic units, wherein the kinematic units comprise a platform that is moved by a linear actuator rather than by a connecting rod and crank system.

[0048] [ Figure 6 ] Figure 6 This is a schematic representation of the highlighted information based on... Figure 3 An example of a first deformable parallelogram of the anti-rotation structure of the first kinematic unit of the drive device.

[0049] [ Figure 7 ] Figure 7 This is a schematic representation of the highlighted information based on... Figure 1 and 2 An example of the second deformable parallelogram of the anti-rotation structure of the second kinematic unit of the drive device. Detailed Implementation

[0050] In the following description of the accompanying figures, the slender, flexible medical device may be, for example, a guiding tube or catheter of the type of balloon or vascular stent, or a catheter guide wire.

[0051] Figure 1 The perspective view schematically illustrates an example of a drive module for an elongated flexible medical device according to an embodiment of the present invention, the drive module comprising two identical drive devices for a pad holder positioned relative to each other.

[0052] Figure 2 In Figure 1 The perspective view from opposite angles schematically illustrates an identical example of a drive module for an elongated flexible medical device according to an embodiment of the invention, the drive module comprising two identical drive devices for pad holders positioned relative to each other.

[0053] A drive module 1 for an elongated flexible medical device includes at least one pair of drive units 2 for cushion holders that are identical to each other and positioned relative to each other. Each pair of drive units 2 separates the space of the elongated flexible medical device operated by the drive module 1 from each other by a predetermined receiving. The drive module 1 can perform translation and / or rotation of the elongated flexible medical device. The drive module 1 is controlled by a control unit 7, which will be described below in conjunction with [the relevant documentation / details]. Figure 3 and 4 The operation of the described drive module 1 is described in more detail for the control unit.

[0054] Each drive unit 2 includes a pad holder 3 as a component forming a manipulating finger of the drive module 1. The pad holder 3 of each drive unit 2 is designed to manipulate an elongated flexible medical device by cooperating with the pad holder 3 of the other drive unit 2 in the pair. Manipulating the elongated flexible medical device via the pair of pad holders 3 to impart translational, rotational, or combined translational and rotational movement to the flexible medical device is described in patent application WO2015189531A2 (see specifically). Figure 7 The patent application described in (a-7e and 8a-8e) is incorporated herein by reference.

[0055] To ensure the sterility of the medical device operated by the pad holder 3, a single-use sterile pad (not shown) is installed on each pad holder 3 and forms an interface between the pad holder 3 and the slender, flexible medical device. This pad is replaced with a new sterile pad each time the drive module 1 is used. The pad is installed on the operating portion 31 of the pad holder 3 that protrudes from the drive module 1.

[0056] To manipulate the slender, flexible medical device, the pad holder 3 of each drive unit 2 can be translated along each of the three orthogonal spatial axes x, y, and z. To ensure proper manipulation of the slender, flexible medical device, the pad holder 3 should not undergo any rotational movement; therefore, the actuating portions 31 of the pad holder 3 remain parallel to each other: this is to properly grip the slender, flexible medical device without excessively compressing it.

[0057] Each drive unit 2 includes three kinematic units 4, 5, and 6, each of which is specifically designed to move the pad holder 3 along one of three orthogonal spatial axes x, y, and z. Each drive unit 2 thus includes a first kinematic unit 4 that moves the pad holder 3 along the x-axis, a second kinematic unit 5 that moves the pad holder 3 along the y-axis, and a third kinematic unit 6 that moves the pad holder 3 along the z-axis. Furthermore, the assembly of the three kinematic units 4, 5, and 6 forms a self-supporting system that holds the pad holder 3 in a fixed position. This self-supporting system makes it possible to eliminate additional means for holding the pad holder 3, which simplifies the drive module 1 and also reduces its size and weight.

[0058] Figure 3 Schematic representation based on Figure 1 and 2 An example of a drive unit for a drive module is shown, illustrating the motors of various kinematic units of this drive unit.

[0059] Figure 4 Schematic representation based on Figure 1 and 2An example of a drive unit for a drive module is shown, but the motors of the various kinematic units of this drive unit are not shown.

[0060] The first kinematic unit 4 includes a first motor 41 that rotates a first crank 42 about a rotation axis α oriented along the z-axis. A connecting rod 43 is fixed to the crank 42 via a double-pivot connector 44, the attachment between the connecting rod 43 and the crank 42 at the double-pivot connector 44 being offset from the rotation axis α of the crank 42 and the first motor 41. The connecting rod 43 is fixed at its other end to a pad holder 3 via the double-pivot connector 44, the same double-pivot connector that establishes the connection between the connecting rod 43 and the crank 42. The double-pivot connector 44 is a connector that allows rotation about the z-axis and rotation about an axis perpendicular to the z-axis. The rotation of the first motor 41 thus causes displacement of the pad holder 3, primarily a translation along the x-axis.

[0061] The second kinematic unit 5 includes a second motor 51 that rotates a second crank 52 about a rotation axis β oriented along the x-axis. Two connecting rods 53 are attached to the crank 52, each of the connecting rods 53 being attached via a double-pivot connector 54 at which the attachment between each of the connecting rods 53 and the crank 52 is offset from the rotation axis β of the crank 52 and the second motor 51. Each connecting rod 53 is attached at its other end to a pad retainer 3 via a double-pivot connector 54, the double-pivot connector being the same as those establishing the connection with the crank 52. The connecting rods 53 are parallel and located on both sides of the pad retainer 3 to surround the pad retainer. The connecting rods 53, the axis 56 or transverse member 55 of the crank 52, and the pad retainer 3 together form a parallelogram, which will... Figure 6 As described in more detail, the two connecting rods 53 form two opposite sides, and the crank 52 and the bushing retainer 3 form another two opposite sides. The transverse member 55 of the crank 52 is the physical manifestation of this portion 55 of the crank 52 located between the two double-pivot connectors 54.

[0062] The dual-pivot connector 54 is a connector that allows rotation about the x-axis and rotation about an axis perpendicular to the x-axis. The rotation of the second motor 51 thus causes displacement of the pad holder 3, which is mainly a translation along the y-axis.

[0063] The third kinematic unit 6 includes a third motor 61 that rotates a third crank 62 about a rotation axis θ oriented along the y-axis. Two connecting rods 63 are attached to the crank 62, each of the connecting rods 63 being attached via a double-pivot connector 64 at which the attachment between each of the connecting rods 63 and the crank 62 is offset from the rotation axis θ of the crank 62 and the second motor 61. Each connecting rod 63 is attached at its other end to a pad retainer 3 via a double-pivot connector 64, the double-pivot connector being the same as those establishing the connection to the crank 62. The connecting rods 63 are parallel and located on both sides of the pad retainer 3 to surround the pad retainer. The connecting rods 63, the crank 62, and the pad retainer 3 together form a parallelogram, which will... Figure 7 The parallelogram is described in more detail below, with the two connecting rods 63 forming two opposite sides and the crank 62 and the pad holder 3 forming another two opposite sides. The double-pivot connector 64 is a connector that allows rotation about the y-axis and rotation about an axis perpendicular to the y-axis. The rotation of the second motor 61 thus causes displacement of the pad holder 3, which is primarily a translation along the z-axis.

[0064] In one embodiment, the first motor 41, the second motor 51, and the third motor 61 are rotary motors, which makes it possible to simplify the drive unit 2. According to another possible variant, cranks 42, 52, and 62 can be rotated by linear motors, for which the connection with each of cranks 42, 52, and 62 is to... Figure 3 and 4 The connecting rod in the same way is offset from the crank's axis of rotation.

[0065] The connecting rod and crank structure of kinematic units 4, 5, and 6 also makes it possible to simplify force absorption without pressurizing the motor. A simple solution is to have a pivot connector for each connecting rod, which connects the connecting rod to the frame, the pivot connector being located at the end of the crank opposite the end of the connecting rod that connects to the motor.

[0066] exist Figures 1 to 4 In the embodiment shown, the actuation of the kinematic unit is not merely a translational movement of the pad holder 3 along a single axis; the movement of the pad holder 3 actually includes a translational movement comprising a primary component along one axis and a secondary component along another axis. The secondary component, significantly smaller than the primary component, is the parasitic component to be compensated. For example, the actuation of the second kinematic unit 5 by the rotation of the motor 51 causes a translational movement of the pad holder 3, which has a primary component along the y-axis and a secondary component along the z-axis.

[0067] To compensate for this minor component, the drive module 1 includes a control unit 7 that controls the operation of kinematic units 4, 5, and 6. The control unit 7 activates kinematic units 4, 5, and 6 such that the movement of the liner retainer 3 corresponds to a user command. For example, if the user commands a pure rotational movement of the catheter, which implies a pure translational movement along the z-axis of the liner retainer 3, the control unit 7 simultaneously controls the activation of all three kinematic units 4, 5, and 6. The third kinematic unit 6 is activated to impart translational movement to the liner retainer, the translational movement having a major component along the z-axis and a minor component along the x-axis. To compensate for the minor x-axis component, the first kinematic unit 4 is activated to keep the liner retainer 3 fixed along the x-axis; however, the activation of the first kinematic unit 4 generates a minor y-axis component. To compensate for the minor y-axis component, the second kinematic unit 5 is also activated to keep the liner retainer 3 fixed along the y-axis; however, the activation of the second kinematic unit 5 generates a minor z-axis component, which the control unit 7 considers in its commands to the kinematic units 4, 5, and 6. The three kinematic units 4, 5 and 6 are activated simultaneously to generate all the primary components required by the user and compensate for all the parasitic secondary components that the user does not need.

[0068] exist Figures 1 to 4 In the embodiment shown, the mechanical structure of the drive module 1 is simplified; however, this complicates the algorithms used to manage the activation of kinematic units 4, 5, and 6, which depend on the movement requested by the user and implemented by the control unit 7.

[0069] Figure 5 An example of a drive unit for a drive module is schematically shown, illustrating... Figure 3 One possible variant of this drive device is the motor of various kinematic units, wherein the kinematic units comprise a platform that is moved by a linear actuator rather than by a connecting rod and crank system.

[0070] according to Figure 5 As shown in the possible variations, one or more kinematic units 4, 5, and 6 may not be formed by a connecting rod and crank system. The drive unit 2 has a third kinematic unit 6 that functions to move the pad holder 3 along the z-axis and includes a platform 62' driven by a linear actuator 61' for translation along the z-axis. Rotation of the platform 62' about any of the three axes is prevented, as is translation along the x and y axes. Similar to... Figures 1 to 4 In this embodiment, crank 62 and platform 62' are connected to two connecting rods 63 via a dual-pivot connector 64. The connecting rods 63 are also connected to the bushing retainer 3 via the dual-pivot connector 64. The dual-pivot connector 64 is a connector that allows rotation about the y-axis and rotation about an axis perpendicular to the y-axis.

[0071] exist Figure 5In this configuration, the first parallelogram is formed by two connecting rods 63, a platform 62', and a pad retainer 3; more precisely, it is formed by the two connecting rods 63, the drive lateral member 65 of the platform 62', and the lateral member 33 of the pad retainer 3. This first parallelogram prevents the pad retainer 3 from rotating about the x-axis and z-axis. The lateral member 65 of the crank 62 is the physical representation of this portion 65 of the crank 62 located between the two double-pivot connectors 64. (Similar to...) Figures 1 to 4 In the embodiment shown, the second parallelogram is formed by connecting rod 53, crank 52 and pad holder 3, or more precisely by two connecting rods 53, a drive lateral member 55 of crank 52 and a lateral member 32 of pad holder 3.

[0072] Actuator 61' is Figure 5 The variant shown is a worm gear motor 69, but other types of linear actuators can also be used.

[0073] Figure 5 The variants shown do not offer the same Figures 1 to 4 The variant shares the same mechanical simplicity, particularly regarding the positioning of the connector to platform 62' to absorb forces without pressurizing actuator 61'.

[0074] Figure 6 This is a schematic representation of the highlighted information based on... Figure 3 An example of a first deformable parallelogram of the anti-rotation structure of the first kinematic unit of the drive device.

[0075] The connecting rod 53, the axis 56 or transverse member 55 of the crank 52, and the transverse member 32 of the pad retainer 3 together form a first parallelogram P1. The two connecting rods 53 form two opposite sides, and the axis 56 or transverse member 55 of the crank 52 and the transverse member 32 of the pad retainer 3 form another two opposite sides. The four sides of the first parallelogram P1 can move relative to each other by pivoting about the double connectors 54, while always keeping the two rods 53 parallel to each other and the axis 56 or transverse member 55 of the crank 52 and the transverse member 32 of the pad retainer 3 parallel to each other. The first parallelogram P1 can therefore deform its four sides by pivoting about its four vertices, which are the four double connectors 54, but still remain a parallelogram.

[0076] The first parallelogram P1 is selected in conjunction with the rotation axis β, but it may have already been selected in conjunction with the rotation axis θ or rotation axis α.

[0077] Figure 7 This is a schematic representation of the highlighted information based on... Figure 1 and 2 An example of the second deformable parallelogram of the anti-rotation structure of the second kinematic unit of the drive device.

[0078] The connecting rod 63, the axis 66 or transverse member 65 of the crank 52, and the transverse member 33 of the pad retainer 3 together form a second parallelogram P2. The two connecting rods 63 form two opposite sides, and the axis 66 or transverse member 65 of the crank 62 and the transverse member 33 of the pad retainer 3 form another two opposite sides. The four sides of the second parallelogram P2 can move relative to each other by pivoting about the double connectors 64, while always keeping the two connecting rods 63 parallel to each other and the axis 66 or transverse member 65 of the crank 62 and the transverse member 33 of the pad retainer 3 parallel to each other. The second parallelogram P2 can therefore be deformed by pivoting its four sides about the four vertices of the four double connectors 64, but still remain a parallelogram.

[0079] The second parallelogram P2 is chosen in conjunction with the rotation axis θ, but it may have already been chosen in conjunction with the rotation axis β or rotation axis α.

[0080] Having respectively in Figure 6 and 7 The double parallelogram structure of the drive device 2, with parallelograms P1 and P2 described in more detail, is a structurally simple solution that makes it possible to prevent all rotational movement of the pad holder 3 while allowing all translational movement of the pad holder 3. In fact, each parallelogram P1 or P2 prevents rotation about two rotational axes of the pad holder 3, and by adding the two parallelograms, prevents rotation about three rotational axes.

[0081] The first parallelogram P1 formed by the connecting rod 53, crank 52, and transverse member 32 of the pad retainer 3 prevents the pad retainer 3 from rotating along the y-axis and z-axis. The transverse member 32 of the pad retainer 3 is merely a physical manifestation of the portion of the pad retainer 3 that connects the two double-pivot connectors 54. In practice, the pad retainer 3 remains parallel to the crank 52, and because the crank 52 can only rotate about the β-axis (and therefore the x-axis), it prevents the pad retainer 3 from rotating about the y-axis and z-axis.

[0082] The second parallelogram P2, formed by the connecting rod 63, crank 63, and the transverse member 33 of the pad retainer 3, prevents the pad retainer 3 from rotating along the x and z axes. The transverse member 33 of the pad retainer 3 is merely a physical manifestation of the portion of the pad retainer 3 that connects the two double-pivot connectors 64. In practice, the pad retainer 3 remains parallel to the crank 62, and because the crank 62 can only rotate about the θ axis (and therefore the y axis), it prevents the pad retainer 3 from rotating about the x and z axes. Figure 7The second parallelogram P2 is shown in front of the connecting rod 53 of the second kinematic unit, but it is actually behind the connecting rod 53 because the four vertices of the second parallelogram P2 are actually four double connectors 64.

[0083] The structure does not include a third parallelogram because the use of a single connecting rod 43 at the rotation axis α makes it possible to simplify the structure: rotations around the three rotation axes x, y and z are prevented by two parallelograms P1 and P2.

[0084] Of course, the present invention is not limited to the examples and embodiments described and represented, but is capable of having many variations that are known to those skilled in the art.

Claims

1. A drive module for an elongated, flexible medical device for a catheter robot, comprising: At least two drive units (2) each carry two pad holders (3), the two pad holders being positioned relative to each other and each intended to receive two pads, the two pads gripping the elongated flexible medical device when they approach each other so as to subsequently translate and / or rotate the elongated flexible medical device. Each drive unit (2) is self-supporting and includes three independent drive units (4, 5, 6), which translate the pad holder (3) in three orthogonal spatial directions (x, y, z), and each drive unit includes its own drive motor (41, 51, 61). At least two drive units (5, 6) have anti-rotation structures to prevent rotational movement of the pad holder (3). A self-supporting drive is a drive device in which its own structure ensures that the pad holder is held in place without the need for additional support elements. A drive unit that is independent of other drive units is a drive unit that only supports its own weight and does not need to support the weight of another drive unit. ○ The anti-rotation structure includes: ■ Drive the transverse components (55, 65), which are driven by the drive motors (51, 61). ■ The lateral members (32, 33) of the pad holder are rigidly connected to the pad holder (3) and driven by the drive lateral members (55, 65). ■ The two connecting rods (53, 63) are respectively: ● Two pivot points (54, 64) spaced apart from each other are connected to the drive transverse members (55, 65) via one of their ends. ● Two pivot points (54, 64) spaced apart from each other are connected to the transverse members (32, 33) of the liner retainer at their ends. ■ The drive transverse members (55, 65), the pad holder transverse members (32, 33) and the two connecting rods (53, 63) together form a parallelogram (P1, P2), which is deformable at its four vertices, which are the four pivot points (54, 64).

2. The driving module according to claim 1, characterized in that, The two connecting rods (53, 63) are parallel to each other.

3. The driving module according to claim 1, characterized in that, For at least one drive unit (5, 6) with an anti-rotation structure: The anti-rotation structure of the drive units (5, 6) further includes cranks (52, 62), which are driven by the drive motors (51, 61) to rotate about the axis of the cranks. The driving transverse members (55, 65) have a longitudinal axis extending between their two pivot points (54, 64). The rotation axis of the cranks (52, 62) is parallel to and remains parallel to the longitudinal axis of the drive transverse members (55, 65). The shaft clearance means the gap between the rotation axis of the crank (52, 62) and the longitudinal axis of the drive lateral member (55, 65), the shaft clearance being constant and remaining constant, such that the rotation of the crank (52, 62) causes the rotation of the longitudinal axis of the drive lateral member (55, 65).

4. The driving module according to claim 3, characterized in that, For at least two drive units (5, 6) with anti-rotation structures, for each of the two drive units (5, 6): The anti-rotation structure of the drive units (5, 6) further includes cranks (52, 62), which are driven by the drive motors (51, 61) to rotate about the axis of the cranks. The driving transverse members (55, 65) have a longitudinal axis extending between their two pivot points (54, 64). The rotation axis of the cranks (52, 62) is parallel to and remains parallel to the longitudinal axis of the drive transverse members (55, 65). The shaft clearance means the gap between the rotation axis of the crank (52, 62) and the longitudinal axis of the drive lateral member (55, 65), the shaft clearance being constant and remaining constant, such that the rotation of the crank (52, 62) causes the rotation of the longitudinal axis of the drive lateral member (55, 65).

5. The driving module according to claim 4, characterized in that, Only two drive units (5, 6) of each drive device (2) have a rotating structure.

6. The driving module according to claim 5, characterized in that, For the third drive unit (4) which does not have an anti-rotation structure, the structure of the third drive unit (4) includes: The lateral component is driven by the drive motor (41). A lateral member of the pad holder, which is rigidly connected to the pad holder (3) and driven by the lateral member of the drive, Individual connecting rods (43), which are respectively: ○ A pivot point (44) is connected to the drive transverse member through one of its ends. ○ It is connected to the pivot point (44) of the transverse member of the liner retainer through its other end.

7. The driving module according to claim 6, characterized in that, For the third drive unit (4) that does not have an anti-rotation structure: The structure of the third drive unit (4) also includes a crank (42), which is driven by the drive motor (41) to rotate about the axis of the crank. The driving transverse component has a longitudinal axis. The rotation axis of the crank (42) is parallel to and remains parallel to the longitudinal axis of the drive transverse member. The shaft clearance means the gap between the rotation axis of the crank (42) and the longitudinal axis of the drive lateral member, the shaft clearance being constant and remaining constant such that rotation of the crank (42) causes rotation of the longitudinal axis of the drive lateral member.

8. The driving module according to any one of claims 1 to 7, characterized in that, For one drive unit (4, 5, 6), or for several drive units (4, 5, 6), or for all of the drive units (4, 5, 6), one or more drive motors (41, 51, 61) are rotary motors that drive the rotation of cranks (42, 52, 62) rigidly connected to the drive transverse members (55, 65).

9. The driving module according to any one of claims 1 to 7, characterized in that, For one drive unit (4, 5, 6), or for several drive units (4, 5, 6), or for all of the drive units (4, 5, 6), one or more drive motors (41, 51, 61) are rotary motors that drive the rotation of the worm (69) to translate the drive transverse member (55, 65).

10. The driving module according to any one of claims 1 to 7, characterized in that, For each drive unit (2): For each of the three drive units (4, 5, 6) of the drive device (2): The drive units (4, 5, 6) drive the pad holder (3): ■ Along the main translation component in the main direction, which is different for each of the three drive units (4, 5, 6), ■And along the parasitic translation component in another direction, which is different for each of the three drive units (4, 5, 6), Each of the three drive units (4, 5, 6) of the drive device (2) incorporates compensation for the parasitic translation component of one of the other drive units (4, 5, 6) in its main translation component along its main direction.

11. The driving module according to any one of claims 1 to 7, characterized in that, The pivot points (54, 64) are hinges that can pivot with two degrees of freedom.

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