Catheter robot and human-machine interface for controlling module for driving elongate flexible medical instrument

Abstract

The invention relates to a catheter robot (1) comprising:-a drive module (2) for an elongate flexible medical instrument, said drive module translating simultaneously or alternately along and around a main elongate axis of said elongate flexible medical instrument,-a human-machine interface (4) for controlling said drive module, the catheter robot is characterized in that the human-machine interface (4) is configured to, in a first mode of operation:-control the translational actuation of the elongate flexible medical instrument in terms of speed,-control the rotational actuation of the elongate flexible medical instrument in terms of position.

Description

Technical Field

[0001] The present invention relates to a catheter robot and a human-machine interface for controlling a module for driving an elongated flexible medical instrument. Background Art

[0002] The introduction of an elongated flexible medical device into a patient's blood vessel, artery or vein is usually monitored under X-rays. In order to avoid exposing the surgeon or another medical practitioner performing this introduction to excessive X-rays, it is known to use a catheter robot equipped with a module for driving the elongated flexible medical instrument, allowing the medical practitioner to remotely manipulate the elongated flexible medical instrument and thus perform a remote diagnosis or remote intervention. The drive module transmits translational and / or rotational movements that can be combined together to the elongated flexible medical instrument introduced into the blood vessel.

[0003] The translational movement allows the elongated flexible medical instrument to move back and forth within the blood vessel it is introduced in. The rotational movement facilitates these movements of the elongated flexible medical instrument even in areas of highly stenosed or blood vessels with significant tortuosity and when passing through branches between blood vessels.

[0004] The translational and rotational movement of the elongated flexible medical instrument is typically controlled by a movement control mechanism operated by a medical practitioner during an intervention on a patient.

[0005] According to the first prior art, the control mechanism is configured to control the translational movement and the rotational movement of the elongated flexible medical instrument in terms of position. When the movement of the elongated flexible medical instrument is controlled in terms of position, the displacement of the control mechanism causes the elongated flexible medical instrument to be displaced with an amplitude proportional to the amplitude of the displacement of the control mechanism. The disadvantage of this first prior art is that the translational movement, although accurate, may become too slow at certain times, especially at the beginning of the introduction of the catheter into the patient, when the catheter must reach a specific area of ​​the patient's blood system where it will be used.

[0006] According to the second prior art, the control mechanism is configured to control the translational movement and the rotational movement of the elongated flexible medical instrument in terms of speed. When the movement of the elongated flexible medical instrument is controlled in terms of speed, the displacement of the control mechanism causes the displacement of the elongated flexible medical instrument at a speed proportional to the displacement amplitude of the control mechanism. The disadvantage of this second prior art is that the rotational movement, although fast, may lack precision at certain times, especially when the catheter passes through a branch when it reaches a specific area of ​​the patient's blood system where the catheter is to be used.

[0007] There is a need for a mode of driving an elongated flexible medical instrument that is both precise and fast enough, at least in most use cases, while providing the practitioner with good ergonomics for guiding the elongated flexible medical instrument.

[0008] Tests conducted by a group of practicing physicians considered the most common use cases for elongated flexible medical instruments and surprisingly found that the configuration considered to provide the best overall compromise between drive efficiency on the one hand and guidance ergonomics on the other hand was one in which:

[0009] The translation drive of a slender and flexible medical instrument is controlled in terms of speed.

[0010] The rotational drive of the elongated flexible medical instrument is controlled in position.

[0011] On the one hand, the position control of the rotation of the elongated flexible medical instrument allows the elongated flexible medical instrument to rotate about its axis at a rotation angle proportional to the rotation amplitude of the control mechanism, which allows the practitioner to intuitively rotate the elongated flexible medical instrument at a precise rotation angle.

[0012] On the other hand, speed control of the translation of the elongated flexible medical instrument allows the elongated flexible medical instrument to move inside a corresponding blood vessel at a speed proportional to the displacement amplitude of the control mechanism, which allows the elongated flexible medical instrument to be moved over long distances using a compact control mechanism.

[0013] Furthermore, thanks to the speed control, it is possible to adapt the translation speed of the elongated flexible medical instrument according to the area of ​​the blood vessel through which it is passed. For example, in order to pass through a curved area of ​​a blood vessel, the translation speed of the elongated flexible medical instrument can be reduced in order to avoid damaging the wall of the blood vessel due to collisions between the elongated flexible medical instrument and this wall. Thus, thanks to the combination of speed control of the translation of the elongated flexible medical instrument and position control of the rotation of the elongated flexible medical instrument, the present invention allows to obtain a catheter robot that presents a better compromise between the good precision achieved and great ease of use for the practitioner, resulting in an efficient and ergonomically designed catheter robot. Summary of the invention

[0014] An object of the present invention is to provide a catheter robot and a human-machine interface for controlling a module for driving an elongated flexible medical instrument, which at least partially overcome the disadvantages of the aforementioned prior art.

[0015] According to the present invention, a catheter robot comprises:

[0016] - a drive module for an elongated flexible medical instrument, said drive module being capable of simultaneous or alternating translation along and rotation about a main axis of elongation of said elongated flexible medical instrument,

[0017] - a human-machine interface for controlling the drive module,

[0018] The catheter robot is characterized in that the human-machine interface is constructed in such a way that in a first operating mode:

[0019] - controlling the translational drive of said elongated flexible medical instrument in terms of speed,

[0020] - Controlling the rotational drive of said elongated flexible medical instrument in terms of position.

[0021] As explained above, thanks to the combination of speed control of the translation of the slender flexible medical instrument and position control of the rotation of the slender flexible medical instrument, the obtained catheter robot presents a better compromise between the good precision achieved and the great ease of use for the practicing physician, resulting in an efficient and ergonomically designed catheter robot.

[0022] According to a preferred embodiment, the present invention includes one or more of the following features. In order to achieve the aforementioned purpose of the present invention, the features can be used alone or in combination with each other in part or in combination with each other.

[0023] Preferably, the elongated flexible medical instrument is a catheter guide, and / or the elongated flexible medical instrument is a guide catheter or a microcatheter.

[0024] Preferably, the human-machine interface comprises a mobile control mechanism which is intended to be manipulated by a user's hand and is constructed in such a way that in a first operating mode:

[0025] - a translational displacement of the movement control mechanism with a translational amplitude causes a translational displacement of the elongated flexible medical instrument with a speed proportional to the translational amplitude,

[0026] - A rotational displacement of the movement control mechanism with a rotational amplitude causes a rotational displacement of the elongated flexible medical instrument with a rotational angle proportional to the rotational amplitude.

[0027] Thus, precise kinematics of simultaneous translational and rotational displacements can be achieved with a simple and robust structure of the drive mechanism.

[0028] Preferably, the human-machine interface is configured to control the rotational drive of the elongated flexible medical instrument in terms of position, wherein there is a proportional coefficient between the rotational displacement of the control mechanism on the one hand and the rotational displacement of the elongated flexible medical instrument on the other hand, and the proportional coefficient can be modified by the selection of the user of the catheter robot.

[0029] Preferably, the human-machine interface for control comprises:

[0030] - a control mechanism for driving the elongated flexible medical instrument in translation and rotation,

[0031] - a safety element allowing blocking or unblocking of the actuation of the elongated flexible medical instrument by a control mechanism for actuation.

[0032] The control mechanism is sensitive in nature. Thanks to the safety element, an unintentional triggering of the control mechanism of the drive of the elongated flexible medical instrument can be avoided more easily. Preferably, the safety element prevents at least an unintentional triggering of the translation drive of the elongated flexible medical instrument. Such a translation is controlled in terms of speed and in the event of an unintentional triggering there is a greater risk to the patient's health (compared to position control).

[0033] Preferably, the safety element comprises a safety surface capable of detecting contact or pressure of a user's hand in order to unblock the control mechanism for actuation, the safety surface preferably being a touch surface, or a capacitive touch surface, or a capacitive touch surface covered with a coating comprising titanium, or a capacitive touch surface covered with a titanium paint.

[0034] The security element thus presents both simplicity of use and high operating efficiency.

[0035] Preferably, the human-machine interface for control comprises tactile feedback only for translation of the elongated flexible medical instrument, preferably in the form of vibrations, or preferably in the form of vibrations whose frequency is proportional to the translation speed of the elongated flexible medical instrument.

[0036] Thus, the user of the catheter robot receives feedback about the translational actuation he has commanded, which allows him to verify that this actuation actually occurs as he wishes. When the vibration has a frequency proportional to the translational speed of the elongated flexible medical instrument, it is possible to detect the passage of the elongated flexible medical instrument in a tortuous or narrow area, which allows the user to know when it is appropriate to modify or adapt the command of the translational actuation of the elongated flexible medical instrument and / or the commanded rotation of the elongated flexible medical instrument.

[0037] Preferably, the human-machine interface is designed in such a way that in the second operating mode:

[0038] - it controls the translational drive of said elongated flexible medical instrument in terms of speed,

[0039] - It controls the rotational drive of said elongated flexible medical instrument in terms of speed.

[0040] Preferably, the human-machine interface for controlling comprises a wand:

[0041] - the rod is translatable by the hand of a user in order to drive the elongated flexible medical instrument in a translational manner,

[0042] - the rod is rotatable by the hand of a user in order to drive the elongated flexible medical instrument in a rotational manner,

[0043] - And the stick preferably comprises a touch surface.

[0044] The rod preferably has an elongated shape similar to the elongated flexible medical instrument. This makes the control of the drive of the elongated flexible medical instrument more ergonomic.

[0045] Preferably, the rod consists of two parts that slide into each other:

[0046] - a first component which moves in translation and rotation and is intended to be manipulated by the hand of the user,

[0047] A second part coupled in rotation to the first part and decoupled in translation from the first part so as to be held fixed in translation.

[0048] The two parts of the rod slide into each other, and the second part of the rod is translationally separated from the first part, which can reduce the overall size of the human-machine interface while ensuring effective control of the translational and rotational drive of the slender flexible medical instrument.

[0049] Preferably, the human-machine interface further comprises a rotation ring disposed around the rod, the rotation angle of the rotation ring around the rod representing a selected rotation speed of the elongated flexible medical instrument when controlling the rotational drive of the elongated flexible medical instrument in terms of speed.

[0050] Preferably, the human-machine interface further comprises: a return elastic element of a rotating ring arranged around the rod in the static position, and the return elastic element preferably comprises a return spring.

[0051] The rest position corresponds to the position of the rotating ring before its rotation. In other words, in the rest position, the rotation speed of the elongated flexible medical instrument is zero. Furthermore, thanks to the return elastic element, the rotation drive of the elongated flexible medical instrument can be stopped when the user stops actuating the rotating ring. Furthermore, the return elastic element also allows to reduce the overall size of the human-machine interface, since it reduces the size and stroke of the rotating ring.

[0052] Preferably, the human-machine interface comprises a crank rotatable by a user's hand to rotationally drive the elongate flexible medical instrument.

[0053] Preferably, the human-machine interface further comprises: in the static position, a return elastic element which is only used for translational drive of the mobile control mechanism or the rod, and the return elastic element preferably comprises a return spring.

[0054] The rest position corresponds to the position of the mobile control mechanism or the rod before its translation. In other words, in the rest position, the translation speed of the elongated flexible medical instrument is zero. Furthermore, thanks to the return elastic element, the translation drive of the elongated flexible medical instrument can be stopped when the user stops actuating the mobile control mechanism. Furthermore, the return elastic element also allows to reduce the overall size of the human-machine interface, since it reduces the size and stroke of the mobile control mechanism.

[0055] Thus, the angle of rotation of the control mechanism or rod before it returns to the rest position is maintained.

[0056] Preferably, the catheter robot further comprises another drive module for another elongated flexible medical instrument, the other drive module translates along the main elongated axis of the other elongated flexible medical instrument and rotates around the main elongated axis of the other elongated flexible medical instrument, the human-machine interface further controls the other drive module and is configured to:

[0057] - controlling the translational drive of said further elongated flexible medical instrument in terms of speed,

[0058] - Controlling the rotational drive of said further elongated flexible medical instrument with respect to position.

[0059] Thus, a catheter robot can be equipped with two different medical instruments whose translation drive is controlled in terms of speed and whose rotation drive is controlled in terms of position. Thus, additional functionality can be added to the catheter robot. Furthermore, the same human-machine interface allows controlling the drive of both medical instruments, which reduces the overall size of the catheter robot.

[0060] Preferably, the catheter robot includes at least one additional drive module in translation for an additional elongated flexible medical instrument, which surrounds the elongated flexible medical instrument over a portion of its length, and the human-machine interface also controls the additional drive module, and the human-machine interface is configured to control the translation drive of the additional elongated flexible medical instrument in terms of speed.

[0061] The additional drive module is also controlled by the same human-machine interface as the first drive module, and the overall size of the catheter robot is reduced. In addition, thanks to the additional drive module and the additional elongated flexible medical instrument, additional functionality can be added to the catheter robot.

[0062] Preferably, the extra elongate flexible medical instrument is a catheter, preferably a stent or a balloon catheter.

[0063] Preferably, the human-machine interface further comprises a knob rotatable by a user's hand to control the extra elongated flexible medical instrument in terms of speed and to drive the extra elongated flexible medical instrument in translation.

[0064] The knob has the advantage of being simple to use and having a particularly small size. Thus, for simple controls, such as translation of an extra slender flexible medical instrument, an improvement in the compromise between ease of use and overall size of the human-machine interface of the catheter robot is achieved.

[0065] Preferably, the human-machine interface further comprises an additional elastic return element for the knob in the rest position, said additional elastic return element preferably comprising one or more additional return springs.

[0066] The rest position corresponds to the position of the knob before it is rotated. In other words, in the rest position, the translational speed of the extra elongated flexible medical instrument is zero. Furthermore, thanks to the additional elastic return element, the translational drive of the extra elongated flexible medical instrument can be stopped when the user stops actuating the knob. Furthermore, the additional elastic return element also allows to reduce the overall size of the human-machine interface, since it reduces the size and stroke of the knob.

[0067] Preferably, the human-machine interface is configured as follows:

[0068] - Control the translational drive of an elongated flexible medical instrument only in terms of speed,

[0069] - The rotational drive of the elongated flexible medical instrument is controlled only in terms of position.

[0070] Preferably, the human-machine interface is configured in the third operating mode:

[0071] - controlling the translational drive of the elongated flexible medical instrument in terms of position step by step, i.e. by moving a predetermined step with each pulse received by the human-machine interface,

[0072] - Controlling the rotational drive of the elongated flexible medical instrument in terms of position step by step, ie by moving a predetermined step with each pulse received by the human-machine interface.

[0073] According to another aspect, the present invention relates to a human-machine interface for controlling a drive module of an elongated flexible medical instrument in a catheter robot to translate along a main elongation axis of the elongated flexible medical instrument and rotate around the main elongation axis of the elongated flexible medical instrument, wherein the human-machine interface is characterized in that, in a first operating mode:

[0074] - Control the translational drive of a slender flexible medical instrument in terms of speed,

[0075] -Controlling the rotational drive of an elongated flexible medical instrument in terms of position.

[0076] Preferably, the human-machine interface comprises a mobile control mechanism intended to be manipulated by a user's hand and configured such that in a first operating mode:

[0077] - a translational movement of the movement control mechanism with a translational amplitude causes a translational movement of the elongated flexible medical instrument with a speed proportional to the translational amplitude,

[0078] - A rotational movement of the movement control mechanism with a rotational amplitude causes a rotational movement of the elongated flexible medical instrument with a rotational angle proportional to the rotational amplitude.

[0079] Further features and advantages of the invention will emerge from the following description of preferred embodiments of the invention given by way of example with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] [ Figure 1 ] Figure 1 An example of a catheter robot according to an embodiment of the present invention is schematically shown.

[0081] [ Figure 2 ] Figure 2 A schematic longitudinal cross-sectional view showing an example of an elongated flexible medical instrument.

[0082] [ Figure 3 ] Figure 3 According to an embodiment of the present invention Figure 1 A schematic perspective view of an example of a human-machine interface of a catheter robot.

[0083] [ Figure 4 ] Figure 4 yes Figure 3 Schematic perspective view of an example of a portion of a movement control mechanism or a drive control mechanism of a human-machine interface.

[0084] [ Figure 5 ] Figure 5 yes Figure 3 Schematic perspective view of an example of a movement control mechanism or a drive control mechanism of a human-machine interface.

[0085] [ Figure 6 ] Figure 6 According to another embodiment of the present invention Figure 1 Schematic side view of an example of a human-machine interface of a catheter robot.

[0086] [ Figure 7 ] Figure 7 According to another embodiment of the present invention Figure 1 Schematic side view of an example of a human-machine interface of a catheter robot.

[0087] [ Figure 8 ] Figure 8 An example of a catheter robot according to another embodiment of the present invention is schematically shown.

[0088] [ Fig. 9 ] Fig. 9 According to an embodiment of the present invention Figure 8 A schematic perspective view of an example of a human-machine interface of a catheter robot. DETAILED DESCRIPTION

[0089] In the various drawings, the same reference numbers refer to the same or similar elements.

[0090] Figure 1 A catheter robot 1 according to a first embodiment of the present invention is schematically shown. The catheter robot 1 comprises a catheter for an elongated flexible medical instrument 3 (in Figure 2 ) and a human-machine interface 4 for controlling the driving module 2.

[0091] For example, the elongated flexible medical instrument 3 may be a device to be introduced into and moved within a patient's duct, in particular an artery or a vein of the patient. Figure 2 As shown in FIG. 1 , the elongate flexible medical instrument 3 extends along an axis A, which is referred to as the main axis of elongation.

[0092] Preferably, the elongated flexible medical instrument 3 comprises a catheter guide and / or a guide catheter and / or a microcatheter. The elongated flexible medical instrument 3 may additionally or alternatively comprise a catheter of the balloon or stent type, for example. Figure 2 In a non-limiting example, the elongated flexible medical instrument 3 comprises a guide catheter 3-1, a microcatheter 3-2 and a catheter guide 3-3 coaxial with the axis A. When the elongated flexible medical instrument 3 is introduced into a patient, the guide catheter 3-1 and the microcatheter 3-2 are hollow at least in a portion near the patient. The catheter guide 3-3 may be a solid metal wire. The diameter of the guide catheter 3-1 is greater than the diameter of the microcatheter 3-2, and the diameter of the catheter guide 3-3 is smaller than the diameter of the microcatheter 3-2. Therefore, the catheter guide 3-3 is at least partially inserted into the microcatheter 3-2, and the microcatheter is at least partially inserted into the guide catheter 3-1.

[0093] Advantageously, the drive module 2 is configured to be connectable to an elongated flexible medical instrument 3. The drive module 2 is configured to move the elongated flexible medical instrument 3 in translation along a main axis of elongation A and / or in rotation about the main axis of elongation A as will be described in detail.

[0094] In some cases, the catheter robot 1 may also include an additional drive module 2 ′ for an additional elongated flexible medical instrument.

[0095] Advantageously, the additional elongated flexible medical instrument surrounds the elongated flexible medical instrument 3 at least over a part of the length of the elongated flexible medical instrument 3. Thereby, the additional elongated flexible medical instrument is for example a catheter, preferably a stent or a balloon catheter.

[0096] The additional drive module 2' is configured to be connectable to an additional elongated flexible medical instrument.The additional drive module 2' is configured to move the additional elongated flexible medical instrument in a translational manner.

[0097] As will be described in detail, the human-machine interface 4 is also configured to control additional drive modules 2 ′.

[0098] Now refer to Figures 3 to 5 Describe the human-machine interface4.

[0099] The human-machine interface 4 comprises a control mechanism 5 for the elongated flexible medical instrument 3. The control mechanism 5 is connected to a housing 6 of the human-machine interface 4, for example.

[0100] Preferably, the control mechanism 5 is a mobile control mechanism intended to be manipulated by a user of the catheter robot 1. For example, the control mechanism 5 may be manipulated by the user's hand. "Manipulation" here means that the user voluntarily applies a force to the control mechanism 5.

[0101] As will be described in detail, manipulation of the control mechanism 5 drives the elongated flexible medical instrument 3 to translate along the main axis of extension A and / or to rotate around this axis A. Specifically, by means of the control mechanism 5, the elongated flexible medical instrument 3 can be commanded to translate along its main axis of extension A in one direction or the other (forward or backward). Similarly, by means of the control mechanism 5, the elongated flexible medical instrument 3 can be commanded to rotate around its main axis of extension A in one direction or the other (clockwise or counterclockwise). Therefore, the control mechanism 5 is in particular a control mechanism for driving the elongated flexible medical instrument 3 in a translational and rotational manner. As will be described in detail, the control mechanism 5 allows the translation and / or rotation of the elongated flexible medical instrument 3 to be commanded according to two types of commands: a position command or a speed command. These types of commands are described below.

[0102] Advantageously, the control mechanism 5 has an elongated shape similar to the elongated flexible medical instrument 3. This makes the control of the drive of the elongated flexible medical instrument 3 more ergonomic.

[0103] exist Figures 3 to 5 In the embodiment of the present invention, the movement control mechanism 5 comprises a rod 7 extending along a longitudinal axis B. The rod 7 has, for example, a generally cylindrical shape.

[0104] In some cases, the rod 7 is formed from a single part. In other cases, the rod 7 is formed from several different parts connected together, as will be described later. Figure 4 Describe in detail.

[0105] The rod 7 is partially introduced inside the housing 6 of the human-machine interface 4. Advantageously, a first end portion 7-1 of the rod 7 is inserted into the housing 6, and a second end portion 7-2 opposite to the first end portion of the rod 7 is outside the housing 6. Thus, the user of the catheter robot 1 can manipulate the rod 7 by means of the second end portion 7-2 of the rod 7.

[0106] Manipulation of the rod 7 may include moving the rod 7 or a portion thereof in translation (forward or backward) in one direction or the other along its longitudinal axis B. Manipulation of the rod 7 may also include moving the rod 7 or a portion thereof in rotation (clockwise or counterclockwise) around this longitudinal axis B. As will be explained below, the rod 7 is configured such that translational movement of the rod 7 (or a portion thereof) along the axis B or rotational movement around the axis B commands translational movement of the elongated flexible medical instrument 3 along its main axis of elongation A or rotational movement around the main axis of elongation A, respectively.

[0107] exist Figure 4 In the non-limiting embodiment shown in , the rod 7 comprises a first part 8 and a second part 9. The first part 8 and the second part 9 form two distinct parts.

[0108] The first part 8 and the second part 9 each comprise a side wall, preferably substantially cylindrical.

[0109] The first part 8 of the rod 7 is hollow at least at one end portion so as to form a cavity 10 extending substantially parallel to the axis B and delimited by the side walls of the first part 8 .

[0110] At least one hole 11, for example a circular hole, passes through the side wall of the first part 8 between the outside of the rod 7 and the cavity 10. Advantageously, two holes 11 arranged perpendicularly to the axis B pass through the side wall of the first part 8.

[0111] The second part 9 is preferably hollow so as to form a cavity 12 extending substantially parallel to the axis B and delimited by the side walls of the second part 9 .

[0112] Preferably, the cross section of the second component 9 is smaller than the cross section of the cavity 10 of the first component 8. Thus, the second component 9 can be at least partially introduced into the cavity 10. Advantageously, when the second component 9 is introduced into the first component 8, there is a gap between the side walls of the first component 8 and the side walls of the second component 9.

[0113] like Figure 4 As shown in , the second part 9 comprises at least one slot 13 passing through the side wall of the second part 9 between the outside of the rod 7 and the cavity 12. Advantageously, two slots 13 arranged perpendicularly to the axis B pass through the side wall of the second part 9.

[0114] Each hole 11 and each slot 13 comprises a first dimension extending substantially parallel to the longitudinal axis B of the rod 7, referred to herein as the "length". Each hole 11 and each slot 13 also comprises a second dimension extending around the longitudinal axis B in a plane substantially perpendicular to the axis B, referred to herein as the "width". Advantageously, the width of each slot 13 is substantially equal to the width of each hole 11, while the length of each slot 13 is greater than the length of each hole 11.

[0115] like Figure 4 As shown in FIG. 1 , a pin 14 connects together the first part 8 and the second part 9 of the rod 7. The pin 14 passes through each hole 11 and each slot 13. Advantageously, the pin 14 is tightly or adjustably mounted in each hole 11.

[0116] In this configuration of the rod 7, the second end portion 7-2 of the rod 7 outside the housing 6 may include the end portion of the first component 8, and the remaining portion of the first component 8 and the second component 9 form the first end portion 7-1. Therefore, the first component 8 is partially located outside the housing 6, allowing the user of the catheter robot 1 to manipulate the rod 7 by applying force to the first component 8.

[0117] The first part 8 can be manipulated so as to move in translation along the axis B in one direction or the other (advancing or retreating).

[0118] As mentioned previously, the length of each slot 13 is greater than the length of each hole 11. Therefore, the first part 8 can slide over the second part 9 during its translation along the axis B, without the second part 9 of the rod 7 moving together with the first part 8. Therefore, the second part 9 is separated from the first part 8 in translation.

[0119] Since the pin 14 is tightly or adjustably mounted in each hole 11, the translation of the first part 8 over the second part 9 causes the pin 14 to move along each slot 13. When the pin 14 contacts one of the ends of the slot 13, the translation of the first part 8 along the axis B is blocked in a given direction. In this case, the first part 8 can translate along the axis B in the opposite direction until the pin 14 contacts the other end of the slot 13.

[0120] Thanks to the sliding of the first part 8 over the second part 9 , the control mechanism 5 can be made more compact than a control mechanism in which the entire rod 7 moves in translation along the axis B.

[0121] The first component 8 may additionally or alternatively be manipulated to rotate about the axis B in one direction or the other (clockwise or counterclockwise).

[0122] As previously mentioned, the width of each slot 13 is preferably substantially equal to the width of each hole 11. In addition, a pin 14 is tightly or adjustably mounted in each hole 11. Therefore, any rotation of the first component 8 about the axis B causes the pin 14 to rotate with the second component 9. Therefore, the second component 9 is rotationally coupled to the first component 8.

[0123] like Figure 5 As can be seen in the figure, the control mechanism 5 may further comprise a support 15 intended to be mounted inside the housing 6 of the human-machine interface 4. The rod 7 extends partially inside the support 15. For example, the support 15 may be positioned around the rod 7 so that the end portion 7-2 outside the housing 6 is also outside the support 15.

[0124] The support 15 may comprise a first base 16 and a second base 17, which are arranged substantially perpendicular to the axis B, in particular facing each other. Advantageously, the first base 16 and the second base 17 each comprise a respective through hole (not visible) through which the rod 7 passes. Advantageously, the through holes of the support 15 are shaped so that the rod 7 can slide through them.

[0125] The through hole of each substrate 16, 17 is preferably substantially aligned with the hole of the other substrate 17, 16. Each hole passes through the respective substrate 16, 17, preferably substantially parallel to the axis B. The hole in the substrate 16, 17 guides the translation of the rod 7 or one of its parts along the axis B.

[0126] One or more rods 18 connect the bases 16, 17 to each other. In this case, three rods 18 are provided, but this is not limiting. Preferably, each rod 18 extends substantially parallel to the axis B.

[0127] The potentiometer 19 may be provided in the control mechanism 5. The potentiometer 19 may be connected to the support 15. Figure 5 In the example of , the potentiometer 19 extends substantially parallel to the axis B and is connected to each of the bases 16, 17 of the support 15. The potentiometer 19 is preferably of the linear type.

[0128] like Figure 5 As shown in , the potentiometer 19 is connected to the rod 7. For this purpose, a pivot 20 can be arranged around the rod 7.

[0129] The pivot 20 is directly or indirectly connected to the potentiometer 19 so that it can slide along the potentiometer. Figure 5 In the example of FIG. 1 , the transmission shaft 21 connects the pivot 20 and the potentiometer 19 in a sliding manner.

[0130] The pivot 20 is connected to the rod 7, for example by means of a pin 14. Advantageously, the pivot 20 is connected to the rod 7 so that it moves in translation along the axis B together with the rod 7. Thus, when the rod 7 translates along the axis B, the pivot 20 follows the same movement, which changes the resistance of the potentiometer 19. Thus, the resistance of the potentiometer varies according to the position of the rod 7 along the axis B. In other words, the amplitude and direction of the translation along the axis B of the rod 7 (or a part thereof) are detected by the potentiometer 19 and converted into a variation of its resistance. According to the variation of the resistance of the potentiometer 19, the amplitude of the translation or the speed of the translation of the elongated flexible medical instrument 3 along its axis A varies.

[0131] It should be noted that when the rod 7 comprises two parts (only one of which is configured to translate along the axis B, for example Figure 4 When the rod is moved along the axis B, the pivot 20 is connected to the part of the rod that is movable along the axis B. This allows the resistance of the potentiometer 19 to vary as soon as the rod is moved along the axis B, even if the rod is only partially moved along the axis.

[0132] The pivot 20 is advantageously decoupled from the rod 7 in rotation about the axis B. Preferably, the pivot 20 does not move in rotation about the axis B.

[0133] The control mechanism 5 may further include a quadrature encoder 22. The quadrature encoder 22 is connected to the stick 7. For example, the quadrature encoder 22 is connected to the end of the stick opposite to the end portion 7-2 outside the housing 6 of the human-machine interface 4.

[0134] The quadrature encoder 22 is configured to measure the magnitude and direction of rotation of the rod 7 about the axis B. The quadrature encoder 22 may be configured to convert the measured rotation magnitude of the rod 7 into a rotation magnitude or rotation speed of the elongate flexible medical instrument 3 about its main axis of elongation 1 .

[0135] In some cases, in a rest position, the control mechanism 5, in particular at least one resilient return element 23 of the rod 7, may be provided. In this context, the rest position of the rod 7 refers to the position of the rod 7 before any translational movement of the rod 7 or one of its parts along the axis B. In other words, in its rest position, the rod 7 is in its position before any force is applied causing a translational movement of the rod 7 or one of its parts along the longitudinal axis B.

[0136] exist Figure 5 In the embodiment, each return elastic element 23 is a return spring arranged around one of the rods 18 of the support 15, but this is not restrictive.

[0137] As indicated, the translational movement of the rod 7 (or a part thereof) along the axis B or the rotation thereof about the axis B respectively causes the translational movement of the elongated flexible medical instrument 3 along its main extension axis A or the rotation thereof about the main extension axis A. Thanks to the return elastic element 23, once the user of the catheter robot stops manipulating the rod 7, the rod 7 gradually moves to its rest position along the axis B. As will be described in detail, this may cause the movement speed of the elongated flexible medical instrument 3 to gradually decrease to zero speed, or the elongated flexible medical instrument 3 to retract inside the pipe in which it moves.

[0138] The human-machine interface 4 may contain safety elements allowing the actuation of the elongated flexible medical instrument 3 to be blocked or unblocked by a control mechanism 5 (in this case a rod 7).

[0139] The security element includes a security surface 24. In some cases, the security surface 24 is a touch surface. In other cases, the security surface 24 is a capacitive touch surface. In other cases, the security surface 24 is a capacitive touch surface covered with titanium paint.

[0140] The safety surface 24 is capable of detecting contact or pressure by a user's hand or another part of the user's body. When such contact or pressure is detected, the control mechanism 5 is unblocked from driving the elongated flexible medical instrument 3. Thus, a translation of the rod 7 or a part thereof along the axis B or a rotation thereof about the axis B causes a translational movement of the elongated flexible medical instrument 3 along the axis A or a rotational movement about the axis A, respectively. Conversely, when such contact or pressure is not detected, the control mechanism 5 is blocked from driving the elongated flexible medical instrument 3. This prevents an involuntary translational and / or rotational movement of the rod 7 from triggering a translational and / or rotational movement of the elongated flexible medical instrument 3, respectively.

[0141] In some cases, if the safety surface 24 does not detect contact or pressure from the user's hand (or another part of his body), only translational actuation of the elongated flexible medical instrument 3 is blocked. In fact, unintentional triggering of translation of the elongated flexible medical instrument 3 in the patient's canal presents a greater risk to the patient's health than unintentional triggering of rotation of the elongated flexible medical instrument 3, especially when the translation is controlled in terms of speed.

[0142] exist Figure 3 In the non-limiting example of FIG. 2 , the safety surface 24 includes a first region 24 - 1 , a second region 24 - 2 , and a third region 24 - 3 .

[0143] The first area 24-1 is located on the edge of the housing 6. The second area 24-2 is located on the surface of the housing 6 that is substantially perpendicular to the first area 24-1. Preferably, the second area 24-2 is substantially horizontal in the common operating position of the human-machine interface 4. The third area 24-3 is included in the end portion 7-2 of the stick 7 outside the housing 6. In this example, when contact or pressure of the user's hand is detected on the third area 24-3 included in the stick 7 and on at least one of the first area 24-1 and the second area 24-2, the control mechanism 5 is unblocked from driving the elongated flexible medical instrument 3. Conversely, when contact or pressure of the user's hand is detected on only one of the areas 24-1 to 24-3 or on any of these areas 24-1 to 24-3, the driving of the elongated flexible medical instrument 3 is blocked.

[0144] According to a possible embodiment, the safety surface 24 is located on the bar 7, for example by covering the bar 7 with a touch surface.

[0145] The control human-machine interface may also include tactile feedback that informs the user of the catheter robot 1 of the presence of movement of the elongated flexible medical instrument 3 inside the patient's duct. In some cases, the tactile feedback is activated only for translation of the elongated flexible medical instrument 3. Thus, the user of the catheter robot receives feedback about the translation actuation they have commanded, allowing them to verify that this actuation is indeed occurring as they expected.

[0146] The tactile feedback is preferably in the form of a vibration. More preferably, the tactile feedback is in the form of a vibration of the control mechanism 5 .

[0147] According to a non-limiting example, the frequency of the vibration is proportional to the translation speed of the elongated flexible medical instrument 3. Therefore, the user of the human-machine interface 4 can detect the elongated flexible medical instrument 3 passing through a tortuous or narrow area of ​​the pipeline, where the translation of the elongated flexible medical instrument 3 is hindered, and thus reduce its translation speed. This allows the user to know when it is appropriate to modify or adapt the command of the translation drive of the elongated flexible medical instrument 3 and / or the command rotation of the elongated flexible medical instrument 3.

[0148] According to another non-limiting example, when the translation speed of the elongated flexible medical instrument 3 is less than or equal to a threshold value, the frequency of the vibration is proportional to this speed. Once the translation speed of the elongated flexible medical instrument 3 exceeds this threshold value, the frequency of the vibration remains constant regardless of the translation speed of the elongated flexible medical instrument 3. For example, the threshold value of the translation speed of the elongated flexible medical instrument 3 may be equal to 10 mm / s. Advantageously, when the translation speed of the elongated flexible medical instrument 3 is greater than the threshold value, the frequency of the vibration is such that the user perceives continuous vibration (i.e., the user never stops feeling the vibration). Thus, a warning is issued to the user of the catheter robot 1 that the translation speed of the elongated flexible medical instrument 3 may pose a significant risk to the patient's health.

[0149] like Figure 3 As can be seen in FIG. 2 , the human-machine interface 4 may further comprise a knob 25 rotatable by the user's hand. As will be described in detail, the rotation of the knob 25 allows commanding the movement of the additional drive module 2 ′ so as to drive the additional elongated flexible medical instrument in a translational manner.

[0150] Since the additional driving module 2 ′ is controlled by the same human-machine interface 4 as the driving module 2 , the overall size of the catheter robot 1 is reduced.

[0151] Preferably, the control human-machine interface also comprises an additional return elastic element (not shown) for the knob 25 in the rest position. This additional return elastic element may comprise one or more additional return springs (not shown). In the case of the knob 25, the rest position corresponds to the position of the knob before it is rotated. As explained later, thanks to the additional return elastic element, when the user stops actuating the knob 25, the translational drive of the additional elongated flexible medical instrument can be stopped.

[0152] The human-machine interface 4 may further include a display module 26. The display module 26 is, for example, a screen. The screen may be, for example, a touch screen, but this is not limiting.

[0153] In response to commands to the drive module 2 and possibly the additional drive module 2 ′ using the control mechanism 5 or the knob 25 , respectively, the screen displays information about the operation of these modules 2 , 2 ′.

[0154] The screen 26 may also display one or more virtual buttons allowing selection of various functionalities of the catheter robot 1 (eg, operating modes of the human-machine interface 4 ).

[0155] The screen 26 also allows visualization of the position of the elongated flexible medical instrument 3 and possible additional elongated flexible medical instruments relative to the different organs of the patient. This allows the user to decide and command various movements of the elongated flexible medical instruments during an intervention on the patient. For this purpose, an imaging system (not shown) may be connected to the catheter robot 1 so that the images obtained by the imaging system are visible on the screen 26.

[0156] Figure 6 Another embodiment of the human-machine interface 4 is shown. Figure 3 The human-machine interface 4 of FIG. 5 differs in that the control mechanism 5 comprises a crank 27 instead of a rod 7 .

[0157] The crank 27 comprises a first portion 27 - 1 which is substantially straight along the longitudinal axis C. This first portion 27 - 1 is similar or identical to the rod 7 and will not be described in detail hereinafter.

[0158] The crank 27 further includes a second portion 27-2 located outside the housing 6 of the human-machine interface 4. The second portion 27-2 includes, for example, a first component 28 and a second component 29 fixed to each other. The first component 28 is directly connected to the first portion 27-1 of the crank 27 and extends substantially perpendicular to the longitudinal axis C. The second component 29 extends from one end of the first component 28 substantially parallel to the longitudinal axis C. Therefore, the user of the catheter robot 1 can manipulate the crank 27 through the second component 29, for example with their hands.

[0159] Manipulation of the crank 27 may include moving the crank 27 or a portion thereof in translation (forward or backward) in one direction or the other along the longitudinal axis C. Manipulation of the crank 27 may also include moving the crank 27 or a portion thereof in rotation (clockwise or counterclockwise) around this longitudinal axis C. Similar to the rod 7, the crank 27 is configured such that translational movement of the crank 27 (or a portion thereof) along the axis C or rotational movement around the axis C causes translational movement of the elongated flexible medical instrument 3 along its main axis of extension A or rotational movement around the main axis of extension A, respectively.

[0160] Previous references Figure 3 The remaining elements of the human-machine interface description may also be included in Figure 6 For the sake of brevity, these elements will not be described in detail below.

[0161] Figure 6 The embodiment shown in allows commanding a continuous rotational movement of the elongated flexible medical instrument 3 while maintaining position control of the rotational movement of the elongated flexible medical instrument 3 .

[0162] Figure 7 Another embodiment of the human-machine interface 4 is shown. Figure 3 The difference of the human-machine interface 4 is that the rotating ring 30 is positioned around the rod 7. Specifically, the rotating ring 30 is positioned around the end portion 7-2 of the rod 7 outside the housing 6.

[0163] The ring 30 can be manipulated by the user of the catheter robot 1 so that it rotates around the axis B of the rod 7. For example, the user can use their hands to manipulate the ring 30. Preferably, the ring 30 can rotate around the axis B of the rod without rotating the rod 7 together. As will be explained below, the rotation of the ring 30 drives the elongated flexible medical instrument 3 in a rotational manner according to one of the previously indicated command types (in terms of position or in terms of speed) having a different property from the property generated by the rotation of the rod 7 around the axis B. Preferably, the ring 30 controls the rotation of the elongated flexible medical instrument 3 in terms of speed.

[0164] In the static position, a return elastic element (not shown) of the rotating ring 30 may be provided in the human-machine interface 4. The static position of the rotating ring 30 refers to the position of the ring 30 before any rotation of the ring 30 by the user of the catheter robot 1. The return elastic element of the rotating ring 30 preferably includes a return spring.

[0165] Previous references Figure 3 The remaining elements of the human-machine interface description may also be included in Figure 7 For the sake of brevity, these elements will not be described in detail below.

[0166] Figure 7 The embodiment shown in allows a user to control the translation of the slender flexible medical instrument 3 in terms of speed and the rotation of the slender flexible medical instrument 3 in terms of position according to a first operating mode using only the rod 7, and to control the translation and rotation of the slender flexible medical instrument 3 in terms of speed according to a second operating mode using the rod 7 for translation and the ring 30 for rotation.

[0167] We will now describe Figure 1 Operation of the catheter robot 1 of the embodiment.

[0168] For the sake of simplicity, in the following, when reference is made to the movement of the control mechanism 5, the operation includes the entire control mechanism 5 or a portion thereof (it is worth noting that when the control mechanism 5 is Figure 4 When the rod 7 is moved, the first component 8) moves.

[0169] In addition, hereinafter, when reference is made to the "translational movement" or "translation" of the elongated flexible medical instrument 3, the operation refers to the translational movement of the elongated flexible medical instrument 3 along its main axis of extension. Similarly, when reference is made to the "rotational movement" or "rotation" of the elongated flexible medical instrument 3, the operation refers to the rotational movement of the elongated flexible medical instrument 3 around its main axis of extension.

[0170] As previously described, the drive module 2 is connected to the elongated flexible medical instrument 3 and allows the elongated flexible medical instrument to move in translation along the axis A and / or in rotation around the axis A inside the patient's duct.

[0171] Advantageously, when the control mechanism 5 of the human-machine interface 4 moves, the drive module 2 moves in a translational and / or rotational manner, causing a corresponding movement of the elongated flexible medical instrument 3 within the patient's duct. Therefore, the human-machine interface 4 is configured to control the translational and / or rotational drive of the elongated flexible medical instrument 3. As previously described, the control mechanism 5 can be moved in a translational and / or rotational manner by the hand of the user of the catheter robot 1.

[0172] When the control mechanism 5 is a rod 7 or a crank 27, along the rod 7 (or when it has Figure 4 When the configuration is such that the first part 8 is in the configuration, the translation of the axis B of the first part 8 or the translation of the axis C of the crank 27 causes the translation of the drive module 2, so that the elongated flexible medical instrument 3 is driven in a translational manner along the axis A. Similarly, around the rod 7 (or when it has Figure 4 When configured, the rotation of the axis B of the first component 8) or the rotation around the axis C of the crank 27 causes the drive module 2 to rotate, so that the slender flexible medical instrument 3 is driven in a rotational manner around the axis A.

[0173] Advantageously, the direction of translation or rotation of the elongated flexible medical instrument 3 inside the patient's canal depends on the direction of movement of the control mechanism 5. For example, when the rod 7 (or when it has Figure 4 When the first part 8) or the crank 27 is moved in a translational manner in the direction of insertion into the housing 6 of the human-machine interface, the elongated flexible medical instrument 3 can be advanced in the patient's canal. Figure 4 When the first part 8) or the crank 27 is moved in a translational manner in the direction of being withdrawn from the housing 6 of the human-machine interface 4, the slender flexible medical instrument 3 can be retracted in the patient's duct. When the rod 7 or the crank 27 rotates in the clockwise direction, the slender flexible medical instrument 3 can rotate around the axis A in the clockwise direction, and when the rod 7 or the crank 27 rotates in the counterclockwise direction, the slender flexible medical instrument 3 can rotate around the axis A in the counterclockwise direction.

[0174] The potentiometer 19 can be used to detect the amplitude and direction of the translation of the control mechanism 5. As previously described, the resistance of the potentiometer 19 varies according to the amplitude and direction of the translation of the control mechanism 5. This generates a signal for controlling the translation of the drive module 2 and thus the translation of the elongated flexible medical instrument 3 inside the patient's duct. Regarding the rotation of the control mechanism 5, it can be detected by the orthogonal encoder 22. The orthogonal encoder 22 detects the amplitude and direction of the rotation of the control mechanism 5 and generates a control signal for the rotation of the drive module 2 and thus the rotation of the elongated flexible medical instrument 3 inside the patient's duct.

[0175] It should be noted that when the human-machine interface 4 is equipped with a safety surface 24, the elongated flexible medical instrument 3 is driven in a translational and / or rotational manner only when the safety surface 24 detects contact or pressure from the user's hand or another part of his body, as described above. If such contact or pressure is not detected, even if the control mechanism 5 is moved, the translational and / or rotational movement of the elongated flexible medical instrument 3 by the control mechanism 5 is prevented.

[0176] In a possible embodiment, if the safety surface 24 does not detect contact or pressure from the user's hand, only translation of the slender flexible medical instrument 3 is prevented, then once the control mechanism 5 is rotated about its axis B or axis C, the slender flexible medical instrument is driven in a rotational manner even if the safety surface 24 does not detect such contact or pressure.

[0177] As also described above, the translation and rotation of the elongated flexible medical instrument 3 can be controlled in terms of position or speed by manipulation of the control mechanism 5. In the case of position control, the amplitude of the movement (in translation or rotation) of the elongated flexible medical instrument 3 inside the patient's duct is proportional to the amplitude of the movement (in translation or rotation) of the control mechanism 5. In the case of speed control, the speed of the movement (in translation or rotation) of the elongated flexible medical instrument 3 inside the patient's duct is proportional to the amplitude of the movement (in translation or rotation) of the control mechanism 5.

[0178] According to the first operating mode, the translational drive of the elongated flexible medical instrument 3 along its axis A is controlled in terms of speed, and the rotational drive of the elongated flexible medical instrument 3 around its axis A is controlled in terms of position. Therefore, the translational movement of the control mechanism 5 with a given translational amplitude causes the translational movement of the elongated flexible medical instrument 3 at a speed proportional to the translational amplitude of the control mechanism 5, while the rotational movement of the control mechanism 5 with a given rotational amplitude causes the rotational movement of the elongated flexible medical instrument 3 at a rotational angle proportional to the rotational amplitude of the control mechanism 5.

[0179] Typically, when the rotation of the elongated flexible medical instrument 3 is controlled in terms of position, there is a difference between the rotation angle at the end of the elongated flexible medical instrument 3 connected to the drive module 2 (referred to as the proximal end) and the rotation angle at the end of the elongated flexible medical instrument 3 intended to penetrate the patient (referred to as the distal end). This is due to the fact that the distal end of the elongated flexible medical instrument 3 starts to rotate only when the proximal end of the elongated flexible medical instrument 3 has rotated a certain angle around the axis A.

[0180] In order to compensate for this difference between the rotation angles at the proximal and distal ends of the elongated flexible medical instrument 3, the rotational drive of the elongated flexible medical instrument 3 may be positionally controlled with a proportionality factor between the rotational movement of the control mechanism 5 on the one hand and the rotational movement of the elongated flexible medical instrument 3 on the other hand. Thus, when the user of the catheter robot 1 wants to command a fast rotational movement, they may select a high proportionality factor, whereby a rotation of the control mechanism 5 causes a large rotational movement of the proximal end of the elongated flexible medical instrument 3 about the axis A. Conversely, if the user of the catheter robot 1 wants to command a precise rotational movement, they may select a low proportionality factor, whereby a rotation of the control mechanism 5 causes a small rotational movement of the proximal end of the elongated flexible medical instrument 3.

[0181] Advantageously, this proportionality factor can be modified by a selection made by a user of the catheter robot 1. This selection is made, for example, by a virtual button displayed on the display module 26 or by a physical control mechanism (e.g., a button) provided on the human-machine interface 4. The proportionality ratio can vary, for example, between 3 / 1 and 1 / 25. A ratio of 3 / 1 means that a 3° rotation of the rod 7 produces a 1° rotation of the proximal end of the elongated flexible medical instrument 3 manipulated by the drive module 2. A ratio of 3 / 1 can be particularly used when precise movements are required, for example, when passing through a bifurcation with a guide. A ratio of 1 / 25 means that a 1° rotation of the rod 7 produces a 25° rotation of the proximal end of the elongated flexible medical instrument 3 manipulated by the drive module 2. A ratio of 1 / 25 can be particularly used for "drilling" movements (i.e., continuous rotational movements such as a screwing motion) or "twisting" movements (i.e., a series of large rotational movements in opposite directions). The proportional ratio may vary between 3 / 1 and 1 / 20, or between 3 / 1 and 1 / 15, or between 1 / 1 and 1 / 25, or between 1 / 1 and 1 / 20, or between 1 / 1 and 1 / 15.

[0182] In this first operating mode, thanks to the position control of the rotation of the elongated flexible medical instrument 3, the user of the catheter robot 1 can intuitively rotate the elongated flexible medical instrument 3 around the axis A by a precise rotation angle. Furthermore, thanks to the speed control of the translation of the elongated flexible medical instrument 3, the user can move the elongated flexible medical instrument 3 over long distances using the compact control mechanism 5. In addition, the user can intuitively adjust the translation speed of the elongated flexible medical instrument 3 during its journey inside the patient's duct. This allows, for example, to reduce the translation speed of the elongated flexible medical instrument 3 passing through a curved area of ​​the duct. Conversely, when the elongated flexible medical instrument 3 passes through a straight area of ​​the duct, the user can increase the translation speed of the elongated flexible medical instrument 3 to reach the treatment area of ​​the duct more quickly.

[0183] In the second operating mode, the human-machine interface 4 may be configured to control the translational drive along the axis A and the rotation about the axis A of the elongated flexible medical instrument 3 in terms of speed.

[0184] In this second operating mode, a rotational movement of the control mechanism 5 with a given rotational amplitude causes a rotational movement of the elongated flexible medical instrument 3 with a rotational speed proportional to the rotational amplitude of the control mechanism 5 .

[0185] The speed control of the translation and rotation of the elongated flexible medical instrument 3 allows providing a continuous combined movement of translation and rotation of the elongated flexible medical instrument 3 .

[0186] In a third operating mode, the human-machine interface 4 may be configured to control the translational drive along the axis A and the rotation about the axis A of the elongated flexible medical instrument 3 in terms of position.

[0187] In this third operating mode, a translational movement of the control mechanism 5 with a given translational amplitude causes a translational movement of the elongated flexible medical instrument 3 with a translational amplitude proportional to the rotational amplitude of the control mechanism 5 .

[0188] This third operating mode allows obtaining precise translation and rotation amplitudes of the elongated flexible medical instrument 3. This is particularly advantageous when the elongated flexible medical instrument has reached a specific area of ​​the duct of the patient in which it is used, or when passing through a branch when the elongated flexible medical instrument reaches a specific area of ​​the blood system of the patient in which it is to be used. This third operating mode can be used, for example, for rapid forward and backward movement of the elongated flexible medical instrument 3.

[0189] It should be noted that the human-machine interface 4 can be configured so that the user of the catheter robot 1 can select between the first to third operating modes of the human-machine interface 4 described above. For example, a virtual button for selecting an operating mode can be displayed on the display module 26. This allows the selection of the operating mode that best suits the patient or the moment of intervention.

[0190] In some cases, the human-machine interface 4 may be configured to control the translational drive of the elongated flexible medical instrument 3 only in terms of speed, and to control the rotational drive of the elongated flexible medical instrument only in terms of position.

[0191] In each of the operating modes of the human-machine interface 4 presented above, the translation and the rotation of the elongated flexible medical instrument 3 can be controlled simultaneously or alternately.

[0192] When the translation of the elongated flexible medical instrument 3 is controlled in terms of position, this control may be done stepwise. In this case, the translation of the elongated flexible medical instrument 3 comprises moving the elongated flexible medical instrument 3 along the axis A by a predetermined step with each pulse received by the human-machine interface 4. Thus, the elongated flexible medical instrument 3 may be advanced or retreated, for example, in a patient's duct on a millimeter scale.

[0193] Similarly, when the rotation of the elongated flexible medical instrument 3 is controlled in terms of position, this control may be done stepwise. In this case, the rotation of the elongated flexible medical instrument 3 comprises moving the elongated flexible medical instrument 3 around the axis A by a predetermined step with each pulse received by the human-machine interface 4. Thus, the elongated flexible medical instrument 3 may be rotated, for example, in a patient's duct on a millimeter scale.

[0194] As described above, when the return elastic element 23 of the control mechanism 5 is provided, once the user of the catheter robot stops manipulating the control mechanism 5, the control mechanism gradually moves to its rest position along its axis B or C. Therefore, thanks to the return elastic element 23, when the translation of the elongated flexible medical instrument 3 is controlled in terms of position, when the user stops manipulating the control mechanism 5, the elongated flexible medical instrument 3 is retracted in the patient's duct. When the translation of the elongated flexible medical instrument 3 is controlled in terms of speed, when the user stops manipulating the control mechanism 5, the return elastic element 23 causes a gradual reduction in the translation speed of the elongated flexible medical instrument 3, wherein if the control mechanism 5 returns to its rest position, the translation speed of the elongated flexible medical instrument 3 becomes zero.

[0195] In addition, as in Figure 7 In the example of , the human-machine interface 4 may include a rotating ring 30. When the rotating ring 30 rotates around the axis B or C, a rotation command is generated for the elongated flexible medical instrument 3. Advantageously, the rotation command generated for the elongated flexible medical instrument 3 according to the rotation of the ring 30 has a different nature from the rotation command generated by the control mechanism 5. For example, if the rotation of the control mechanism 5 controls the rotation of the elongated flexible medical instrument 3 in terms of position, the rotation of the ring 30 controls the rotation of the elongated flexible medical instrument 3 in terms of speed.

[0196] While the ring 30 controls the rotation of the elongated flexible medical instrument 3 in terms of speed, in the rest position, a return elastic element (not shown) of the rotating ring 30 allows stopping the rotation of the elongated flexible medical instrument 3 when the user stops manipulating the ring 30 .

[0197] In the case of the first operating mode described above, the presence of the rotating ring 30 has the advantage of allowing the elongated flexible medical instrument 3 to perform continuous and combined movements in terms of translation along its main axis of extension and rotation around its main axis of extension, respectively. Specifically, the continuous translational movement of the elongated flexible medical instrument 3 is caused by the speed control of the translation generated by the control mechanism 5, while the continuous rotational movement of the elongated flexible medical instrument 3 is caused by the speed control of the rotation generated by the rotating ring 30.

[0198] As also indicated, the catheter robot 1 may include an additional drive module 2', which is connected to the additional elongated flexible medical instrument and allows it to move in a translational manner. Specifically, when the knob 25 is turned, a translational movement command for the additional drive module 2' is generated. Thus, the module 2' moves in a translational manner, wherein the additional elongated flexible medical instrument moves together with the additional module 2'.

[0199] The translational movement command generated by the rotation of the knob 25 is for example a speed command. In this case, thanks to the additional return elastic element of the knob 25 in the rest position, the translational speed of the additional elongated flexible medical instrument is gradually reduced when the knob is no longer manipulated by the user.

[0200] We will now describe Figure 8 A catheter robot 1 according to a second embodiment of the present invention is shown in FIG.

[0201] The catheter robot 1 according to the second embodiment includes a drive module 2 for an elongated flexible medical instrument 3. The catheter robot 1 according to the second embodiment may also include an additional drive module 2' for an additional elongated flexible medical instrument. The characteristics and operations of the drive module 2, the additional drive module 2', the elongated flexible medical instrument 3 and the additional elongated flexible medical instrument described with reference to the first embodiment of the catheter robot 1 are applicable to this second embodiment and will not be described in detail below.

[0202] Figure 8 The catheter robot in the embodiment further comprises a second driving module 32 for a second elongated flexible medical instrument (not shown). The second driving module 32 and the second elongated flexible medical instrument may be the same or similar to the driving module 2 and the elongated flexible medical instrument 3, respectively. Therefore, they will not be described in detail below.

[0203] The second drive module 32 is configured to be connectable to the second elongated flexible medical instrument. The drive module 32 is particularly configured to move the second elongated flexible medical instrument in a translational manner along its main elongated axis and / or in a rotational manner around its main elongated axis.

[0204] also, Figure 8The catheter robot 1 in the embodiment may include a second additional drive module 32' for a second additional elongated flexible medical instrument (not shown). The second additional drive module 32' and the second additional elongated flexible medical instrument may be the same or similar to the additional drive module 2' and the additional elongated flexible medical instrument, respectively. Therefore, they will not be described in detail below.

[0205] Advantageously, the second additional driving module 32' is configured to be connectable to a second additional elongated flexible medical instrument.The additional driving module 32' is configured to move the second additional elongated flexible medical instrument in a translational manner.

[0206] It should be noted that the second elongated flexible medical instrument and the second additional elongated flexible medical instrument may be introduced into a different duct of the patient than the duct into which the elongated flexible medical instrument 3 and the additional elongated flexible medical instrument are introduced. Preferably, the second elongated flexible medical instrument and the second additional elongated flexible medical instrument may be introduced into the same duct of the patient as the duct into which the elongated flexible medical instrument 3 and the additional elongated flexible medical instrument are introduced.

[0207] Figure 8 The catheter robot 1 also includes a human-machine interface 34 .

[0208] References Figures 3 to 7 The features described for the human-machine interface 4 apply to the human-machine interface 34 and will not be described in detail.

[0209] In addition, if Fig. 9 As is clearly shown in FIG. 3 , the human-machine interface 34 may comprise a second control mechanism 5 ′. The control mechanism 5 ′ is preferably the same as or similar to the control mechanism 5 described above. Therefore, all characteristics of the control mechanism 5 indicated above apply to the second control mechanism 5 ′.

[0210] As will be described in detail, manipulation of the control mechanism 5' drives the second elongated flexible medical instrument to translate along its main axis of elongation and / or to rotate around this main axis of elongation. Specifically, by means of the control mechanism 5', the second elongated flexible medical instrument can be commanded to translate (advance or retreat) in one direction or the other along its main axis of elongation. Similarly, by means of the control mechanism 5', the second elongated flexible medical instrument can be commanded to rotate in one direction or the other (clockwise or counterclockwise) around its main axis of elongation. Therefore, the control mechanism 5' is in particular a control mechanism for driving the second elongated flexible medical instrument in a translational and rotational manner. The control mechanism 5' may in particular allow the translation and / or rotation of the second elongated flexible medical instrument to be commanded according to a position command or a speed command.

[0211] like Fig. 9As can be seen in FIG. 3 , the human-machine interface 34 may further include a second knob 25' that can be rotated by the user's hand. The knob 25' is preferably the same or similar to the knob 25 described above. Therefore, all the characteristics of the knob 25 indicated above apply to the knob 25'.

[0212] As will be described in detail, rotation of the knob 25 ′ allows commanding movement of the second additional drive means 32 ′ so as to drive the second additional elongated flexible medical instrument in a translational manner.

[0213] The operation of the catheter robot 1 according to the second embodiment is similar to that of the catheter robot 1 according to the first embodiment. Specifically, all details of the operation of the catheter robot according to the first embodiment described above are applicable to the catheter robot 1 according to the second embodiment.

[0214] Furthermore, as indicated above, the catheter robot 1 according to the second embodiment comprises a second control mechanism 5'. The operation of the control mechanism 5' is similar to the operation of the control mechanism 5 described previously. Advantageously, the operation of the second control mechanism 5' differs from the operation of the control mechanism 5 only in that the commands generated by the second control mechanism 5' drive the movement (in translation and / or rotation) of the second drive module 32 and the second elongated flexible medical instrument. Therefore, the rest of the characteristics of the operation of the control mechanism 5 indicated previously apply to the control mechanism 5'.

[0215] It should be noted that each of the control mechanisms 5, 5' of the man-machine interface 34 can be operated according to one of the first to third operating modes previously described. Advantageously, the operating mode of the control mechanism 5 at a given time can be the same as or different from the operating mode of the control mechanism 5'. This allows the way of controlling the movement of the elongated flexible medical instrument 3 and the second elongated flexible medical instrument to be adapted to the particularities of the respective conduits in which these elongated flexible medical instruments are introduced.

[0216] As also indicated above, the catheter robot 1 according to the second embodiment comprises a second knob 25'. The operation of the knob 25' is similar to the operation of the knob 25 described previously. Advantageously, the operation of the knob 25' differs from the operation of the knob 25 only in that the commands generated by the second knob 25' drive the translational movement of the second additional drive module 32' and the second additional elongated flexible medical instrument. Therefore, the rest of the characteristics of the operation of the knob 25 indicated previously apply to the knob 25'.

[0217] Of course, the invention is not limited to the examples and embodiments described and shown, but is capable of many variations that will be apparent to a person skilled in the art. For example, the human-machine interface 4 comprises a touch surface configured to detect and measure the movement of a user's finger or stylus along the touch surface, and thus control the translation and rotation of the elongated flexible medical instrument 3. To command the translational movement of the elongated flexible medical instrument 3, the user moves their finger or stylus along the touch surface in a first direction, the direction of movement of the finger or stylus commands the translational direction of the elongated flexible medical instrument 3, and the length of the path traveled by the finger or stylus in the first direction commands the translational speed of the elongated flexible medical instrument 3. To command the rotational movement of the elongated flexible medical instrument 3, the user moves their finger or stylus along the touch surface in a second direction perpendicular to the first direction, the direction of movement of the finger or stylus commands the rotational direction of the elongated flexible medical instrument 3, and the length of the path traveled by the finger or stylus in the second direction commands the angular position of the elongated flexible medical instrument 3, wherein the ratio is x mm=y° (i.e., a movement of x mm along the second direction causes a y° rotation of the elongated flexible medical instrument 3). The user can command a combined translational and rotational movement of the elongate flexible medical instrument 3 by moving their finger or stylus along the touch surface in a third direction comprising a component in the first direction and a component in the second direction.

Claims

1. A catheter robot (1), comprising: - a drive module (2) for an elongated flexible medical instrument (3), said drive module being capable of simultaneous or alternating translation along a main axis of elongation (A) of said elongated flexible medical instrument (3) and rotation about said main axis of elongation (A) of said elongated flexible medical instrument (3), - a human-machine interface (4, 34) for controlling the drive module (2), The catheter robot is characterized in that the human-machine interface (4, 34) is configured in a first operating mode: - controlling the translational drive of the elongated flexible medical instrument (3) in terms of speed, - Controlling the rotational drive of the elongated flexible medical instrument (3) in terms of position.

2. The catheter robot (1) according to claim 1, characterized in that: The human-machine interface (4, 34) comprises: - Movement control mechanism (5): ○ Designed to be manipulated by the user’s hands, o and is configured such that in said first operating mode: ■ the translational movement of the movement control mechanism (5) with a translational amplitude causes the translational movement of the elongated flexible medical instrument (3) with a speed proportional to the translational amplitude, ■ The rotational movement of the movement control mechanism (5) with a rotational amplitude causes the rotational movement of the elongated flexible medical instrument (3) with a rotational angle proportional to the rotational amplitude.

3. The catheter robot (1) according to claim 2, characterized in that: - The human-machine interface (4, 34) is configured as follows: o controlling the rotational drive of the elongated flexible medical instrument (3) in terms of position, wherein there is a proportionality factor between the rotational movement of the control mechanism (5) and the rotational movement of the elongated flexible medical instrument (3), ■ The scaling factor can be adjusted by a selection made by the user of the catheter robot.

4. The catheter robot (1) according to any one of the preceding claims, characterized in that: - A human-machine interface (4, 34) for control comprising: o a control mechanism (5) for driving the elongated flexible medical instrument (3) in translation and rotation, o A safety element which allows blocking or unblocking the actuation of the elongated flexible medical instrument (3) by a control mechanism (5) for actuation.

5. The catheter robot (1) according to claim 4, characterized in that: - the safety element comprises a safety surface (24) capable of detecting contact or pressure by the user's hand to unblock the control mechanism (5) for actuation, o The safety surface (24) is preferably a touch surface, or a capacitive touch surface, or a capacitive touch surface covered with a coating comprising titanium, or a capacitive touch surface covered with a titanium coating.

6. The catheter robot (1) according to any one of the preceding claims, characterized in that: - A human-machine interface (4, 34) for control comprising: o tactile feedback only for translation of the elongated flexible medical instrument (3), ■ preferably in the form of vibrations, ■ Or preferably in the form of vibrations whose frequency is proportional to the translation speed of said elongated flexible medical instrument.

7. The catheter robot (1) according to any one of the preceding claims, characterized in that The human-machine interface (4, 34) is configured such that in a second operating mode: - controlling the translational drive of the elongated flexible medical instrument (3) in terms of speed, - Controlling the rotational drive of the elongated flexible medical instrument (3) in terms of speed.

8. The catheter robot (1) according to any one of the preceding claims, characterized in that: - A human-machine interface (4, 34) for control comprising: ○ Rod (7): ■ the rod can be translated by the user's hand in order to drive the elongated flexible medical instrument (3) in a translational manner, ■ the rod can be rotated by the user's hand in order to drive the elongated flexible medical instrument (3) in a rotational manner, ■ And the stick preferably comprises a touch surface (24-3).

9. The catheter robot (1) according to claim 8, characterized in that: - The rod (7) consists of two parts that slide into each other: o a first part (8) which moves in translation and rotation and is intended to be manipulated by the user's hand, o a second part (9) which is rotationally coupled to said first part (8) and translationally decoupled from said first part (8) to remain translationally fixed.

10. The catheter robot (1) according to any one of claims 8 or 9 in combination with claim 7, characterized in that: - The human-machine interface (4, 34) further comprises: o A rotating ring (30) arranged around the rod (7), the rotation angle of the rotating ring (30) around the rod (7) representing the selected rotation speed of the elongated flexible medical instrument (3) during the speed control of the rotation drive of the elongated flexible medical instrument (3).

11. The catheter robot (1) according to claim 9, characterized in that: - The human-machine interface (4, 34) further comprises: o A resilient return element of the rotating ring (30) arranged around the rod (7) in the rest position, the resilient return element preferably comprising a return spring.

12. The catheter robot (1) according to any one of claims 1 to 7, characterized in that: - A human-machine interface (4, 34) for control comprising: ○ Crank (27): The crank can be rotated by a user's hand to drive the elongated flexible medical instrument (3) in a rotational manner.

13. The catheter robot (1) according to any one of claims 2 to 12, characterized in that: - The human-machine interface (4, 34) for control also includes: o In the static position, the return elastic element (23), which is only used for the translation drive of the movement control mechanism (5) or the rod (7), the return elastic element (23) preferably includes a return spring.

14. The catheter robot (1) according to any one of the preceding claims, characterized in that The catheter robot also includes: - another drive module (32) for another elongated flexible medical instrument, the other drive module translating along the main axis of elongation of the other elongated flexible medical instrument and rotating about the main axis of elongation of the other elongated flexible medical instrument, - the human-machine interface (34), which also controls the further drive module (32) and is configured to, in the first operating mode: o controlling the translational drive of said further elongated flexible medical instrument in terms of speed, o Controlling the rotational drive of said further elongate flexible medical instrument in terms of position.

15. The catheter robot (1) according to any one of the preceding claims, characterized in that The catheter robot at least comprises: - an additional drive module (2') for an additional elongated flexible medical instrument in a translational manner, said additional elongated flexible medical instrument surrounding said elongated flexible medical instrument over a portion of its length, in: - the man-machine interface (4, 34) also controls the additional drive module (2'), And among them: - the human-machine interface (4, 34) is configured to control the translational drive of the additional elongated flexible medical instrument in terms of speed.

16. The catheter robot (1) according to any one of claims 14 to 15, characterized in that: - The human-machine interface (4, 34) for control also includes: o A knob (25) which can be rotated by a user's hand to control the extra elongated flexible medical instrument in terms of speed and to drive the extra elongated flexible medical instrument in translation.

17. The catheter robot (1) according to claim 16, characterized in that: - The human-machine interface (4, 34) for control also includes: o An additional resilient return element for the knob (25) in the rest position, the additional resilient return element preferably comprising one or more additional return springs.

18. The catheter robot (1) according to any one of the preceding claims, characterized in that The human-machine interface (4, 34) is constructed as follows: - controlling the translational drive of the elongated flexible medical instrument (3) only in terms of speed, - The rotational drive of the elongated flexible medical instrument (3) is controlled only in terms of position.

19. The catheter robot (1) according to any one of claims 1 to 17, characterized in that: - the human-machine interface (4, 34) is configured in a third operating mode: o stepwise control of the translational drive of the elongated flexible medical instrument (3) in terms of position, i.e. by moving a predetermined step with each pulse received by the human-machine interface (4, 34), o Controlling the rotational drive of the elongated flexible medical instrument (3) in terms of position step by step, ie by moving a predetermined step with each pulse received by the human-machine interface (4, 34).

20. A human-machine interface (4, 34) for controlling a drive module (2) of an elongated flexible medical instrument (3) in a catheter robot (1) to translate along a main elongation axis (A) of the elongated flexible medical instrument (3) and to rotate around the main elongation axis (A) of the elongated flexible medical instrument (3), wherein the human-machine interface is configured such that in a first operating mode: - controlling the translational drive of the elongated flexible medical instrument (3) in terms of speed, - Controlling the rotational drive of the elongated flexible medical instrument (3) in terms of position.

21. The human-machine interface (4, 34) according to claim 20, characterized in that The human-machine interface comprises: - Movement control mechanism (5): ○ Designed to be manipulated by the user’s hands, o and is configured such that in said first operating mode: ■ the translational movement of the movement control mechanism (5) with a translational amplitude causes the translational movement of the elongated flexible medical instrument (3) with a speed proportional to the translational amplitude, ■ The rotational movement of the movement control mechanism (5) with a rotational amplitude causes the rotational movement of the elongated flexible medical instrument (3) with a rotational angle proportional to the rotational amplitude.

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