Robotic catheter module for elongate flexible medical device translation and rotation

Abstract

The invention relates to a robotic catheter module for translation and rotation of an elongate flexible medical device, the module comprising: a stent (S); at least one pair of movable pads (1g and 1d, 2g and 2d) arranged face-to-face, adapted to effect longitudinal translation of the elongate flexible medical device and rotation of the elongate flexible medical device about the longitudinal direction; and means for driving the pad, comprising three driving members (4) for driving the pad in three different directions (y, z, x), each driving member comprising an actuator (41, 51, 31) connected to the pad in a sliding manner by at least one rolling bearing, said three driving members (4, 5, 3) driving the pad being independent of one another, the actuation of the actuator (41, 51, 31) of one of the drive members (4, 5, 3) does not displace the actuators of the other two drive members.

Description

Technical Field

[0001] The present invention relates to the technical field of a robotic catheter module for translating and rotating a slender flexible medical device. The slender flexible medical device may in particular be a catheter, a catheter introducer or a guiding catheter. Background Art

[0002] Patent application WO2016 / 198800, a prior art document, describes the transfer of motion for the pad as follows: For each of the three axes (x, y, and z), a plate connects the pad to the linear actuator. Each plate has an opening in its center to allow movement of the other plates, enabling the pad to achieve fully independent motion in each of the three axes.

[0003] However, the connection between the plates in this solution creates surface friction as one plate slides over the other two. This friction reduces the system's precision and responsiveness, and in the long run, shortens its service life. Summary of the Invention

[0004] It is an object of the present invention to provide a robotic catheter module for translation and rotation of an elongated flexible medical device in order to at least partially alleviate the above-mentioned disadvantages.

[0005] More specifically, the present invention is directed to a robotic catheter module for translating and rotating elongated, flexible medical devices, which improves system accuracy, responsiveness, and service life. This robotic catheter module for translating and rotating elongated, flexible medical devices reduces existing friction while maintaining the independence and drive efficiency of the spacer along the x, y, and z axes.

[0006] To this end, in the robotic catheter module for translation and rotation of slender flexible medical devices, the sliding connection has been replaced with a rolling bearing connection at a specific position of the robotic catheter module for translation and rotation of slender flexible medical devices to reduce friction of the mechanism during operation.

[0007] To this end, the present invention proposes a robotic catheter module for translating and rotating a slender flexible medical device, the module comprising: a bracket having a longitudinal direction, a lateral direction orthogonal to the longitudinal direction, and a vertical direction orthogonal to both the longitudinal direction and the lateral direction; at least one pair of movable pads arranged face to face, which are suitable for: clamping the slender flexible medical device between the pads and translating the pads together in the longitudinal direction to achieve longitudinal translation of the slender flexible medical device; clamping the slender flexible medical device between the pads and translating the pads together in the vertical direction, and translating the pads in opposite directions to achieve rotation of the slender flexible medical device around the longitudinal direction; a device for driving the pads, the device comprising: a plurality of movable pads disposed face to face, the ... The device includes: a first drive member for driving the pad in a longitudinal direction (y), which includes a first actuator connected to the pad by at least one rolling bearing sliding connection; a second drive member for driving the pad in a vertical direction (z), which includes a second actuator connected to the pad by at least one rolling bearing sliding connection; a third drive member for driving the pad relatively in at least a transverse direction (x), which includes a third actuator connected to at least one pad by at least one rolling bearing sliding connection; the three pad drive members are independent of each other, so that activation of the actuator of one drive member will not cause displacement of the actuators of the other two drive members.

[0008] To this end, the present invention also proposes a robotic catheter module for translating and / or rotating a slender flexible medical device, the module comprising: a bracket having a longitudinal direction, a lateral direction orthogonal to the longitudinal direction, and a vertical direction orthogonal to both the longitudinal direction and the lateral direction; at least one pair of movable pads arranged face to face, the movable pads being suitable for: achieving longitudinal translation of the slender flexible medical device through a first translation cycle: clamping the slender flexible medical device between the pads, translating the pads together in one direction along the longitudinal direction, releasing the slender flexible medical device, and translating the pads together in the opposite direction along the longitudinal direction; achieving rotation of the slender flexible medical device around the longitudinal direction through a second rotation cycle: clamping the slender flexible medical device between the pads, translating the pads together in the vertical direction but in opposite directions, releasing the slender flexible medical device, and translating the pads together in the opposite direction along the longitudinal direction. A flexible medical device that causes a pad to translate in opposite directions along a vertical direction; a device for movably driving the pad, the device comprising: a first drive member for driving the pad in a longitudinal direction, the first drive member comprising a first actuator connected to the pad by at least one rolling bearing sliding connection; a second drive member for driving the pad in a vertical direction, the second drive member comprising a second actuator connected to the pad by at least one rolling bearing sliding connection; a third drive member for driving the pad at least laterally relative to each other, the third drive member comprising a third actuator connected to at least one pad by at least one rolling bearing sliding connection; the three pad drive members are independent of each other so that activation of the actuator of one drive member does not cause displacement of the actuators of the other two drive members.

[0009] The present invention also implements another improvement that can be used in conjunction with or in place of the aforementioned improvements. This improvement involves providing a sliding ball joint to accommodate axial and radial misalignment between the two shafts. When the sliding ball joint is used in conjunction with one or more rolling bearing connections, the resulting system is optimal because it is both efficient and flexible, while also being highly tolerant of manufacturing variations and positioning of the various components that comprise the robotic catheter module mechanism for translation and rotation of elongated, flexible medical devices.

[0010] To this end, the present invention further proposes a robotic catheter module for translation and / or rotation of slender flexible medical devices, characterized in that the module includes a sliding ball joint with adjustable radial and axial misalignment, which is mounted on an axis and can slide radially around the axis.

[0011] According to a preferred embodiment, the present invention includes one or more of the following features, which can be used alone or in part or in whole in combination with one or more of the above-mentioned objects of the present invention.

[0012] Preferably, one of the first drive member, the second drive member and the third drive member includes a sliding coupling, which is connected to the actuator of the drive member via a first axis and to at least one pad via a second axis, and the sliding coupling allows the second axis to move translationally relative to the first axis along a plane perpendicular to the first axis.

[0013] Therefore, the independence of the displacement of the support frame along the three axes of x, y and z is maintained through a simple and effective mechanism, and the mechanism occupies less space.

[0014] The different possible combinations are as follows:

[0015] - only the first drive member comprises such a sliding coupling,

[0016] - only the second drive member comprises such a sliding coupling,

[0017] - only the third drive member comprises such a sliding coupling,

[0018] - only the first drive member and the second drive member each comprise such a sliding coupling,

[0019] - only the second drive member and the third drive member each comprise such a sliding coupling,

[0020] - only the third drive member and the first drive member each comprise such a sliding coupling,

[0021] The first drive member, the second drive member and the third drive member each comprise such a sliding coupling.

[0022] Preferably, the sliding coupling using rolling bearings includes a plurality of balls, which are respectively accommodated in a plurality of housings supported by a same bracket and are capable of rolling on the same plane of the same component.

[0023] The use of balls in the housing therefore represents a good compromise between, on the one hand, good flexibility of the connection achieved by the sliding coupling and, on the other hand, good stability and robustness of the sliding coupling.

[0024] Preferably, the coupling comprises at least three balls.

[0025] Therefore, the stability of the sliding coupling is optimized.

[0026] Preferably, a sliding coupling is mounted on the output shaft of the third drive member.

[0027] In this way, a good compromise is achieved between connection flexibility and slip coupling stability when displacing along the x-axis, which is particularly sensitive to deviations and misalignments, to clamp an elongated flexible medical device between pads supported by the pad holder.

[0028] Preferably, the second actuator is a linear actuator and the second drive member comprises conversion means for converting the translational movement of the second actuator into a translational movement of the pad along a vertical axis via an intermediate adapter.

[0029] In this way, a good compromise is achieved between the simplicity of the actuators used and the reduction in size of the entire mechanism due to the parallel orientation of the second and third actuators.

[0030] Preferably, the intermediate adapter is L-shaped, and the rotation axis of the intermediate adapter is located at the intersection of the two arms of the L-shape, the first arm of the L-shape is connected to a pad, and the second drive member is connected to the second arm of the L-shape, and the first arm of the L-shape is preferably shorter than the second arm of the L-shape, or the first arm of the L-shape is preferably at least 2 times or at least 3 times shorter than the second arm of the L-shape.

[0031] The adapter thus maintains a simple and robust shape while achieving complex kinematics. This is possible in particular because the displacement amplitude of the pad holder along the vertical axis z is very limited.

[0032] Preferably, the intermediate adapter includes a sliding pivot connection at each end thereof.

[0033] The adapter thus maintains a simple and robust shape while achieving complex kinematics. This is possible in particular because the displacement amplitude of the pad holder along the vertical axis z is very limited.

[0034] Preferably, at least one of the first drive member, the second drive member and the third drive member comprises a sliding ball joint for adjusting radial and axial misalignment, mounted on the output shaft and capable of radially sliding around the shaft.

[0035] Therefore, when a sliding ball joint is used in combination with one or more rolling bearing connections, the resulting system is optimal because it is both efficient and flexible while having a fairly high tolerance for manufacturing deviations and positioning of the various components that make up the robotic catheter module mechanism for translation and rotation of slender flexible medical devices.

[0036] The different possible combinations are as follows:

[0037] - only the first drive member comprises such a sliding ball joint,

[0038] - only the second drive member comprises such a sliding ball joint,

[0039] - only the third drive member comprises such a sliding ball joint,

[0040] - only the first drive member and the second drive member each comprise such a sliding ball joint,

[0041] - only the second drive member and the third drive member each comprise such a sliding ball joint,

[0042] - only the third drive member and the first drive member each comprise such a sliding ball joint,

[0043] The first drive member, the second drive member and the third drive member each comprise such a sliding ball joint.

[0044] Preferably, the first drive member comprises a single first actuator, the second drive member comprises a single second actuator, and the third drive member comprises a single third actuator.

[0045] Therefore, the overall volume of the mechanism is greatly reduced.

[0046] Other features and advantages will become apparent on reading the following description of a preferred embodiment of the invention, given by way of example and with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] [ Figure 1 ] Figure 1 Schematically illustrates a perspective view of an example of a robotic platform integrating internal mechanisms of a robotic catheter module for translation and rotation of an elongated flexible medical device according to one embodiment of the present invention.

[0048] [ Figure 2 ] Figure 2Schematically illustrates a front view of an example of a robotic platform integrated with internal mechanisms of a robotic catheter module for translation and rotation of an elongated flexible medical device according to an embodiment of the present invention.

[0049] [ Figure 3 ] Figure 3 Schematically illustrates a top view of an example of a robotic platform integrated with internal mechanisms of a robotic catheter module for translation and rotation of an elongated flexible medical device according to an embodiment of the present invention.

[0050] [ Figure 4 ] Figure 4 Schematically illustrates a perspective view of a linear actuator along the x-axis of an example of a robotic platform integrated with internal mechanisms of a robotic catheter module for translation and rotation of an elongated flexible medical device according to an embodiment of the present invention.

[0051] [ Figure 5 ] Figure 5 Schematically illustrates a perspective view of a sliding ball joint in an example of a robotic platform integrated with an internal mechanism of a robotic catheter module for translation and rotation of an elongated flexible medical device according to an embodiment of the present invention.

[0052] [ Figure 6 ] Figure 6 Schematically illustrates a front view of a sliding ball joint in an example of a robotic platform integrated with an internal mechanism of a robotic catheter module for translation and rotation of a slender flexible medical device according to an embodiment of the present invention.

[0053] [ Figure 7 ] Figure 7 Schematically illustrates a cross-sectional view of a sliding ball joint in an example of a robotic platform integrated with an internal mechanism of a robotic catheter module for translation and rotation of a slender flexible medical device according to an embodiment of the present invention.

[0054] [ Figure 8 ] Figure 8 A first relative position between two axes in a robotic platform is schematically shown.

[0055] [ Figure 9 ] Figure 9 A first configuration of the sliding ball joint corresponding to a first relative position between two axes in the robotic platform is schematically shown.

[0056] [ Figure 10 ] Figure 10 Schematic diagram showing the second relative position between two axes in the robot platform. [ Figure 11 ] Figure 11A second configuration of the sliding ball joint corresponding to a second relative position between the two axes in the robotic platform is schematically shown.

[0057] [ Figure 12 ] Figure 12 Schematic showing the third relative position between two axes in the robotic platform. [ Figure 13 ] Figure 13 A third configuration of the sliding ball joint corresponding to a third relative position between the two axes in the robotic platform is schematically shown.

[0058] [ Figure 14 ] Figure 14 A fourth configuration of the sliding ball joint corresponding to a combination of the second and third relative positions between the two axes in the robotic platform is schematically shown. DETAILED DESCRIPTION

[0059] Throughout the text below, “elongated flexible medical device” and “medical device” will be used interchangeably.

[0060] Figure 1 Schematically illustrates a perspective view of an example of a robotic platform integrating internal mechanisms of a robotic catheter module for translation and rotation of an elongated flexible medical device according to one embodiment of the present invention.

[0061] Figure 2 Schematically illustrates a front view of an example of a robotic platform integrated with internal mechanisms of a robotic catheter module for translation and rotation of an elongated flexible medical device according to an embodiment of the present invention.

[0062] Figure 3 Schematically illustrates a top view of an example of a robotic platform integrated with internal mechanisms of a robotic catheter module for translation and rotation of an elongated flexible medical device according to an embodiment of the present invention.

[0063] Figure 4 Schematically illustrates a perspective view of a linear actuator along the x-axis of an example of a robotic platform integrated with internal mechanisms of a robotic catheter module for translation and rotation of an elongated flexible medical device according to an embodiment of the present invention.

[0064] Now combine Figures 1 to 4 The operation of a robotic platform integrated with an internal mechanism of a robotic catheter module for translation and rotation of a slender and flexible medical device is described. The robotic platform is supported by a support S.

[0065] The robot platform includes a first pair of pads 1 and a second pair of pads 2. The first pair of pads 1 includes pads 1g and 1d arranged face to face, and the second pair of pads 2 includes pads 2g and 2d arranged face to face. Pads 1g and 2g are arranged on one side of the robot platform ( Figures 1 to 4 ), while the pads 1d and 2d are set on the other side of the robot platform ( Figures 1 to 4 on the right side of the ).

[0066] Pad holders 1g, 1d, 2g, and 2d each hold a pad, which they use to actuate a medical device. The attachment of pads to pad holders 1g, 1d, 2g, and 2d is described in WO2015189529 (incorporated herein by reference). Each pair of pad holders replicates the motion of a doctor's thumb and index finger when manipulating a medical device.

[0067] exist Figures 1 to 4 In FIG, the robotic platform is shown to include two pairs of supports. However, the number of pairs of supports may be different. Thus, the robotic platform may include one pair of supports, or more than two pairs of supports. More pairs of supports may be used to simultaneously operate multiple medical devices. Figures 1 to 4 The illustrated platform example is suitable for manipulating a single medical device by imparting continuous translational motion and continuous rotational motion to the device.

[0068] like Figures 1 to 4 As shown, the supports 1g and 2g are movable along the x-axis, the y-axis, and the z-axis, whereas the supports 1d and 2d are movable only along the y-axis and the z-axis.

[0069] Movement of the pad holders along the x-axis can clamp or release a medical device. When pad holders 1g and 1d, each covered with a corresponding pad, approach each other by translating along the x-axis, they clamp the medical device between them. When pad holders 1g and 1d, each covered with a corresponding pad, move away from each other by translating along the x-axis, they release their grip on the medical device. When pad holders 2g and 2d, each covered with a corresponding pad, approach each other by translating along the x-axis, they clamp the medical device between them. When pad holders 2g and 2d, each covered with a corresponding pad, move away from each other by translating along the x-axis, they release their grip on the medical device.

[0070] Movement of the pad holders along the y-axis can translate the medical device along its main axis of extension. When pad holders 1g and 1d, each covered with a corresponding pad, move forward by translating along the y-axis while holding the medical device, they translate the medical device forward. When pad holders 1g and 1d, each covered with a corresponding pad, move backward by translating along the y-axis in the opposite direction while holding the medical device, they translate the medical device backward. When pad holders 1g and 1d, each covered with a corresponding pad, move backward by translating along the y-axis without holding the medical device, they reposition themselves to enable forward translation of the medical device again. When pad holders 1g and 1d, each covered with a corresponding pad, move forward by translating along the y-axis without holding the medical device, they reposition themselves to enable backward translation of the medical device again. When pad holders 2g and 2d, each covered with a corresponding pad, move forward by translating along the y-axis while holding the medical device, they translate the medical device forward. When the pads 2g and 2d, each covered with a corresponding pad, move backward by reverse translation along the y-axis while holding a medical device, they enable the medical device to translate backward. When the pads 2g and 2d, each covered with a corresponding pad, move backward by reverse translation along the y-axis without holding a medical device, they reposition themselves to enable the medical device to translate forward again. When the pads 2g and 2d, each covered with a corresponding pad, move forward by reverse translation along the y-axis without holding a medical device, they reposition themselves to enable the medical device to translate backward again. The first pair of pads 1g and 1d and the second pair of pads 2g and 2d operate alternately, that is, when the first pair of pads 1g and 1d holds a medical device, the second pair of pads 2g and 2d releases the medical device, and vice versa, thereby enabling the medical device to move forward or backward more smoothly.

[0071] Movement of the pad along the z-axis allows the medical device to rotate about its primary axis of extension, or the y-axis when mounted on the robotic platform. When pads 1g and 1d, each covered with a corresponding pad, move vertically in opposite phases—that is, when pad 1g rises, pad 1d descends, and vice versa—the medical device rotates in one or the opposite direction. When pads 2g and 2d, each covered with a corresponding pad, move vertically in opposite phases—that is, when pad 2g rises, pad 2d descends, and vice versa—the medical device rotates in one or the opposite direction.

[0072] In order to simplify the robot platform and reduce its volume, the clamping motion of the pads 1d and 2d along the x-axis is cancelled. In fact, only one of the two pads needs to move toward the other, which is sufficient to clamp the medical device between the two pads of a pair of pads.

[0073] The various movements of the support frame along the x, y and / or z axis can be performed individually or in combination of two, in particular, the support frame can be moved along the y and z axes simultaneously.

[0074] First, the movement of the two pairs of supports along the x-axis will now be described separately (for greater clarity).

[0075] The movement of the supports 1g and 2g along the x-axis is ensured by two first drive units 3, which are associated with one of the supports 1g and 2g. Each first drive unit 3 comprises a linear motor 31 connected via an input shaft 31a to a sliding coupling 32, which is connected to the support 1g or 2g via a transmission module 33.

[0076] The sliding coupling 32 is a connecting device that not only transmits translation along the x-axis but also enables translation of the support frame 1g or 2g along the y- and z-axes relative to the linear motor 31. The sliding coupling 32 includes a first plate 321 connected to the linear motor 31, a second plate 322 connected to the support frame 1g or 2g and positioned opposite the first plate 321, three balls 323 positioned between the first and second plates 321, and stoppers 324 that securely secure the first and second plates 321, 322 around the balls 323. Furthermore, the stoppers 324 allow translation of the first plate 321 relative to the second plate 322 along the y- and z-axes. These balls enable movement between the first and second plates 321, 322, through rolling rather than sliding motion, significantly reducing friction.

[0077] The function of the transmission module 33 is to transmit the translational motion along the x-axis to the pad frame connected thereto. Therefore, the transmission module 33 includes at least one output shaft 331 (at Figures 1 to 4 In the illustrated embodiment, two output shafts 331 are mounted on the sliding coupling 32 at their first ends and on the support frame 1g or 2g at their second ends. Each output shaft 331 slides within a rolling bearing slider 332 (i.e., a ball slider or a needle roller slider), thereby reducing friction. The sliders 332 are mounted on the support frame S1, which transmits translational motion along the y- and z-axes to the support frames 1g and 2g via the output shafts 331.

[0078] The transmission module 33 also includes a bidirectional stopper 333 for limiting the movement of the support frame 1g or 2g in two directions along the x-axis. Advantageously, the bidirectional stopper 333 includes at least one plug 334 made of an elastomer (preferably two plugs 334, one plug 334 in each direction to form a stopper) to mitigate impact, thereby protecting the mechanism and reducing noise when the bidirectional stopper 333 abuts. Figures 1 to 4 In the example shown, two plugs 334 are provided on both sides of the slider 332 of each output shaft 331 .

[0079] The bracket S2 remains stationary along the x-axis and does not move along the x-axis.

[0080] Next, the movement of the two pairs of supports along the y-axis will be described separately (for greater clarity).

[0081] The movement of supports 1g, 1d, 2g, and 2d along the y-axis is ensured by two second drive units 4, which are associated with one of the pairs of supports 1 and 2. Each second drive unit 4 comprises a linear motor 41, which is connected, on the one hand, to a first carriage 42, which is movable along a guide rail 421 oriented along the y-axis, and, on the other hand, to a second carriage 43, which is movable along a guide rail 431 oriented along the y-axis. The first carriage 42 is connected to the support S1 via a z-axis slider 422. Slider 422 enables the first carriage 42 to translate support S1 along the y-axis while simultaneously allowing it to translate along the z-axis. The second carriage 43 is connected to the support S2 via a z-axis slider 432. Slider 432 enables the second carriage 43 to translate support S2 along the y-axis while simultaneously allowing it to translate along the z-axis.

[0082] Advantageously, the movement of the first carriage 42 along the guide rail 421 is achieved by rolling rather than sliding, thereby reducing friction. Therefore, the first carriage 42 is mounted on the guide rail 421 via a rolling bearing slider.

[0083] Advantageously, the movement of the second carriage 43 along the guide rail 431 is achieved by rolling rather than sliding, thereby reducing friction. Therefore, the second carriage 43 is mounted on the guide rail 431 via a rolling bearing slider.

[0084] Each drive unit 4 includes a bidirectional stopper 44 for limiting the travel of the linear motor 41 in both directions along the y-axis. Advantageously, the bidirectional stopper 44 includes at least one stopper made of an elastomer (preferably two stoppers, one in each direction to form a stopper) to mitigate impact, thereby protecting the mechanism and reducing noise when the linear motor 41 abuts against the bidirectional stopper 44. Figures 1 to 4 In the illustrated exemplary embodiment, the two-way stopper 44 is formed as two different parts, but the two-way stopper 44 may also be formed as a single piece.

[0085] Next, the movement of the two pairs of supports along the z-axis will be described separately (for the sake of greater clarity).

[0086] The movement of supports 1g, 1d, 2g, and 2d along the z-axis is ensured by two third drive units 5, which are associated with one of the pairs of supports 1 and 2. Each third drive unit 5 comprises a linear motor 51, which is connected via an input shaft 51 to a third carriage 52, which is translatable along a guide rail 521 oriented along the x-axis. The third carriage 52 is connected to a first L-shaped lever 531 and a second L-shaped lever 532. The L-shape of the first lever 531 includes a first arm 541 and a second arm 551, with the first arm 541 being shorter than the second arm 551. The L-shape of the second lever 532 includes a first arm 542 and a second arm 552, with the first arm 542 being shorter than the second arm 552. The first lever 531 is secured at its first end to the third carriage 52 via a first sliding pivot 5311 having both a y-axis rotational axis and a y-axis translational axis, and at its second end to the support S1 via a second sliding pivot 5312 having both a y-axis rotational axis and a y-axis translational axis. The second lever 532 is secured at its first end to the third carriage 52 via a third sliding pivot 5321 having both a y-axis rotational axis and a y-axis translational axis, and at its second end to the support S2 via a fourth sliding pivot 5322 having both a y-axis rotational axis and a y-axis translational axis. The translational freedom provided by the first, second, third, and fourth sliding pivots 5311, 5312, 5321, and 5322 enables the first and second levers 531, 532 to follow the translational motion of the support frames 1g, 1d, 2g, and 2d along the y-axis, as transmitted by the two second drive units 4.

[0087] Two stoppers 522 are located on the guide rail 521 to form a stopper to limit the translational movement of the third carriage 52 in two directions along the x-axis. Advantageously, the stoppers 522 are made of an elastomer to reduce shock, thereby protecting the mechanism and reducing noise when the third drive unit 5 abuts.

[0088] Advantageously, the movement of the third carriage 52 along the guide rail 521 is achieved by rolling rather than sliding, thereby reducing friction. Therefore, the third carriage 52 is mounted on the guide rail 521 via a rolling bearing slider.

[0089] The translational motion of the linear motor 51 along the x-axis is converted into translational motion of the pads 1g, 1d, 2g, and 2d along the z-axis through the rotation of the first lever 531 and the second lever 532 about the y-axis. More specifically, the rotation of the first lever 531 about the y-axis converts the translational motion of the linear motor 51 along the x-axis into translational motion of the pads 1g and 2g along the z-axis, while the rotation of the second lever 532 about the y-axis converts the translational motion of the linear motor 51 along the x-axis into translational motion of the pads 1d and 2d along the z-axis.

[0090] Rotation of the first lever 531 about the y-axis is achieved via a first y-axis pivot 5313 located at the L-shaped corner of the first lever 531. Activation of the linear motor 51 causes the third slide 52 to translate along the guide rail 521 along the x-axis. The translation of the third slide 52 along the x-axis pushes the first end of the first lever 531 via the first sliding pivot 5311, causing the first lever 531 to rotate about the y-axis. The rotation of the first lever 531 about the y-axis causes the second end of the first lever 531 to translate along the z-axis. The translation of the second end of the first lever 531 along the z-axis causes the bracket S1 to translate via the second sliding pivot 5312.

[0091] Rotation of the second lever 532 about the y-axis is achieved via a second y-axis pivot 5323 located at the L-shaped corner of the second lever 532. Activation of the linear motor 51 causes the third carriage 52 to translate along the guide rail 521 along the x-axis. This translation of the third carriage 52 along the x-axis pushes the first end of the second lever 532 via the third sliding pivot 5321, causing the second lever 532 to rotate about the y-axis. The rotation of the second lever 532 about the y-axis causes the second end of the second lever 532 to translate along the z-axis. This translation of the second end of the second lever 532 along the z-axis causes the bracket S2 to translate via the fourth sliding pivot 5322.

[0092] The translational movement of the support pairs 1 and 2 along the z-axis can be achieved by the same pair of support frames 1g, 1d, 2g, and 2d moving in opposite directions with the same amplitude, thereby generating rotational movement of the operated medical device (this principle is described in document WO2016 / 198800, which is also incorporated herein by reference). Therefore, each support pair 1 and 2 can use a single linear motor 51, thereby simplifying the structure of the robot and reducing its mass and volume. The first lever 531 and the second lever 532 are arranged in opposite directions, so that the translation of the slide 52 along the y-axis causes the second ends of the first lever 531 and the second lever 532 to translate in opposite directions with the same amplitude.

[0093] Figure 5 Schematically illustrates a perspective view of a sliding ball joint in an example of a robotic platform integrated with an internal mechanism of a robotic catheter module for translation and rotation of an elongated flexible medical device according to an embodiment of the present invention.

[0094] Figure 6 Schematically illustrates a front view of a sliding ball joint in an example of a robotic platform integrated with an internal mechanism of a robotic catheter module for translation and rotation of a slender flexible medical device according to an embodiment of the present invention.

[0095] Figure 7 Schematically illustrates a cross-sectional view of a sliding ball joint in an example of a robotic platform integrated with an internal mechanism of a robotic catheter module for translation and rotation of a slender flexible medical device according to an embodiment of the present invention.

[0096] Figures 5 to 7 A detailed view of the sliding ball joint 6 mounted on the output shaft 51a of the linear motor 51 for adjusting axial and radial misalignment is shown. The sliding ball joint 6 mounted on the output shaft 41a of the linear motor 41 is similar to the sliding ball joint 6 mounted on the output shaft 51a of the linear motor 51.

[0097] The sliding ball joint 6 includes a ball joint 61 mounted on the output shaft 51a of the linear motor 51. The ball joint 61 is mounted on the output shaft 51a so as to freely rotate around the output shaft 51a. Figures 5 to 7 In the illustrated embodiment, a ball joint 61 is mounted on a bearing 62 mounted on the output shaft 51a, with the ball joint 61 being mounted to rotate freely about the bearing 62. To secure the ball joint 61, the bearing 62 includes a shoulder to form a first stop at a first end of the ball joint 61, and a nut 63 that is screwed onto the output shaft 51a at a second end of the ball joint 61 to form a second stop opposite the first stop. A ring 64 is mounted on the ball joint 61 and is adapted to slide about the ball joint 61, ensuring three degrees of rotational freedom for the sliding ball joint 61, thereby compensating for axial misalignment relative to the output shaft 51a during assembly.

[0098] To accommodate radial misalignment, the ball joint 61 is mounted on the bearing 62 with radial clearance JR, for example, between 0.2 mm and 1 mm. It is also mounted between the stoppers with axial clearance JA, for example, also between 0.2 mm and 1 mm. The radial clearance JR allows for compensation of radial misalignment, while the axial clearance JA allows for radial sliding of the ball joint 61 to accommodate radial misalignment. The value of the radial clearance JR is adapted to be adjusted based on the maximum acceptable radial misalignment. The value of the axial clearance JA is adapted to be adjusted based on the maximum acceptable axial misalignment.

[0099] Figure 8 A first relative position between two axes in a robotic platform is schematically shown.

[0100] The two shafts 101 and 102 are completely aligned, ie their axes extend completely on the same straight line.

[0101] Figure 9 Schematically shows the Figure 8 The first relative position between the two axes of the robot platform shown corresponds to a first configuration of the sliding ball joint.

[0102] The sliding ball joint comprises a male ball joint 61 located in a female ring 64 , and the ball joint 61 is able to rotate freely in the ring 64 .

[0103] Figure 10 A second relative position between two axes in the robotic platform is schematically shown.

[0104] The two shafts 101 and 102 are not completely collinear, ie there is a radial offset DR between their axes.

[0105] Figure 11 Schematically shows the Figure 10 The second relative position between the two axes of the robot platform shown corresponds to a second configuration of the sliding ball joint.

[0106] The sliding ball joint comprising the ball joint 61 located in the ring 64 is used, and the ball joint 61 is able to rotate freely in the ring 64. The radial offset DR' between the ball joint 61 and the second shaft 102 can solve the problem of Figure 10 The radial misalignment DR problem is shown.

[0107] Figure 12 A third relative position between two axes in the robotic platform is schematically shown.

[0108] The two shafts 101 and 102 are not perfectly aligned, ie there is an axial offset DA between their axes.

[0109] Figure 13 Schematically shows the Figure 12 The third relative position between the two axes in the robot platform is shown corresponding to a third configuration of the sliding ball joint.

[0110] The sliding ball joint comprising a ball joint 61 located in a ring 64 is used, and the ball joint 61 is able to rotate freely in the ring 64. The axial offset DA' between the ball joint 61 and the ring 64 can solve the problem of Figure 12 The axial misalignment DA problem is shown.

[0111] Figure 14 A fourth configuration of the sliding ball joint corresponding to a combination of the second and third relative positions between the two axes in the robotic platform is schematically shown.

[0112] The use of a sliding ball joint comprising a ball joint 61 located within a ring 64, which is able to rotate freely within the ring 64, can simultaneously solve the following problems:

[0113] - The radial misalignment DR problem is solved by the radial offset DR' between the ball joint 61 and the second shaft 102,

[0114] The axial misalignment DA is solved by the axial offset DA′ between the ball joint 61 and the ring 64 .

[0115] Of course, the invention is not limited to the examples and embodiments described and shown, and numerous modifications may be made by a person skilled in the art.

Claims

1. A robotic catheter module for translating and rotating an elongated flexible medical device, comprising: - a support (S) having a longitudinal direction (y), a transverse direction (x) orthogonal to the longitudinal direction (y), and a vertical direction (z) orthogonal to both the longitudinal direction (y) and the transverse direction (x); - At least one pair of removable pads (1g and 1d, 2g and 2d) arranged face to face, adapted to: Achieving longitudinal translation of the elongated flexible medical device by clamping the elongated flexible medical device between the pads and translating the pads together in the longitudinal direction; Rotation of the elongated flexible medical device about the longitudinal direction by clamping the elongated flexible medical device between the pads and translating the pads together in a vertical direction, with the pads translating in opposite directions; - A device for driving a pad, comprising: a first drive member (4) for driving the pad in the longitudinal direction (y), said first drive member comprising a first actuator (41) connected to the pad via at least one rolling bearing sliding connection; a second drive member (5) for driving the pad in a vertical direction (z), said second drive member comprising a second actuator (51) connected to the pad via at least one rolling bearing sliding connection; a third drive member (3) for driving the pads relative to each other at least in the transverse direction (x), said third drive member comprising a third actuator (31) connected to at least one pad via at least one rolling bearing sliding connection; The three pad drive members (4, 5, 3) are independent of each other, so activation of the actuator (41, 51, 31) of one of the drive members (4, 5, 3) does not cause displacement of the actuators of the other two drive members.

2. The robotic catheter module according to claim 1, wherein: One of the first drive member (4), the second drive member (5) and the third drive member (3) comprises a sliding coupling (32), which is connected to the actuator (41, 51, 31) of the drive member (4, 5, 3) via a first shaft (51a, 31a) and is connected to at least one pad via a second shaft (331), and the sliding coupling (32) allows the second shaft (331) to move in translation relative to the first shaft (51a, 31a) along a plane perpendicular to the first shaft (51a, 31a).

3. The robotic catheter module according to claim 2, wherein: The sliding coupling (32) using rolling bearings includes a plurality of balls (323) which are respectively accommodated in a plurality of housings supported by a common bracket and are capable of rolling on the same plane of the same component.

4. The robotic catheter module according to claim 3, wherein: The sliding coupling (32) includes at least three balls (323).

5. The robot module according to any one of claims 2 to 4, characterized in that: The sliding coupling (32) is mounted on the second shaft (331) of the third drive member (3).

6. The robotic catheter according to any one of the preceding claims, characterized in that The second actuator (51) is a linear actuator and the second drive member (5) comprises a conversion device which converts the translational movement of the second actuator (51) into a translational movement of the pad along the vertical axis (z) via an intermediate adapter (531, 532).

7. The robotic catheter module according to claim 6, wherein: The intermediate adapter (531, 532) is L-shaped, and the rotation axis (5313, 5323) of the intermediate adapter (531, 532) is located at the intersection of the two arms of the L-shape, the first arm (541, 542) of the L-shape is connected to the pad, and the second drive member (5) is connected to the second arm (551, 552) of the L-shape, and the first arm (541, 542) of the L-shape is preferably shorter than the second arm (551, 552) of the L-shape, or the first arm (541, 542) of the L-shape is preferably at least 2 times or at least 3 times shorter than the second arm (551, 552) of the L-shape.

8. The robotic catheter module according to claim 6 or 7, characterized in that: The intermediate adapters (531, 532) include sliding pivot connections at both ends.

9. The robotic catheter module according to any one of the preceding claims, characterized in that At least one of the first drive member (4), the second drive member (5) and the third drive member (3) comprises a sliding ball joint (6) for adjusting radial misalignment (DR) and axial misalignment (DA) and is mounted on the output shaft so as to slide radially around the shaft.

10. The robotic catheter module according to any one of the preceding claims, characterized in that: The first drive member (4) includes a first actuator (41), the second drive member (5) includes a second actuator (51), and the third drive member (3) includes a third actuator (31).

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