SYSTEM FOR GRIPPING A LONG-LEVEL MEDICAL ELEMENT

Abstract

A system for gripping an elongated medical element, comprising: a controller; a first motor; a first drive gear; a first gripper gear and a second gripper gear; and a gripper; wherein the controller is configured to output a first signal to drive the first motor; wherein the first motor is coupled to the first drive gear to rotate the first drive gear; wherein a tooth of the first drive gear is configured to engage with a tooth of at least one of the first and second gripper gears, wherein, upon rotation of the first drive gear, the first and / or second gripper gear is configured to rotate based on the interaction of the teeth of the first drive gear and the first and / or second gripper gear;wherein, during a first relative rotation of the first gripper gear with respect to the second gripper gear, the lumen of the gripper is configured to contract; wherein, during a second relative rotation of the first gripper gear with respect to the second gripper gear, the lumen of the gripper is configured to expand; and wherein the first and second relative rotations are relative rotations in opposite directions.

Description

AREA OF INVENTION

[0001] The present invention relates generally to a system for gripping an elongated medical element, comprising a control unit, a first motor, a first drive gear, a first and a second gripping gear, and a gripper. BACKGROUND OF THE INVENTION

[0002] Manually operated Tuohy-Borst and hemostasis valves are available on the market. The primary purpose of these valves is to prevent backflow, typically backbleed. These valves hold the endovascular device securely in place to prevent the aforementioned backflow. These valves are manually operated endovascular device valves with internal O-rings. By manually rotating one part of the valve relative to another, the inner silicone O-ring around the inserted endovascular device is tightened or loosened, allowing the device to be held and released by the valve.

[0003] However, the expert knows that it is necessary to improve the gripping of such devices, as current solutions ensure that the user has to physically rotate a part of the valve body.

[0004] Therefore, there is a need for improved grippers for elongated medical parts. SUMMARY OF THE INVENTION

[0005] The invention is described in the independent claim. Preferred embodiments of the invention are specified in the dependent claims.

[0006] According to a first aspect, we describe a system for gripping an elongated medical element, wherein the system comprises: a controller; a first motor; a first drive gear; a first gripper gear and a second gripper gear; and a gripper; wherein the controller is configured to output a first signal to drive the first motor; wherein the first motor is coupled to the first drive gear to rotate the first drive gear; wherein a tooth of the first drive gear is configured to engage with a tooth of at least one of the first and second gripper gears, wherein, upon rotation of the first drive gear, the first and / or second gripper gear is configured to rotate based on the interaction of the teeth of the first drive gear and the first and / or second gripper gear;wherein, during a first relative rotation of the first gripper gear with respect to the second gripper gear, the lumen of the gripper is configured to contract; wherein, during a second relative rotation of the first gripper gear with respect to the second gripper gear, the lumen of the gripper is configured to expand; and wherein the first and second relative rotations are relative rotations in opposite directions.

[0007] The control unit can be a custom-designed (PCB) control unit suitable for carrying out the invention described herein. Alternatively, the control unit can be a commercially available control unit suitable for carrying out the invention described herein. The control unit is coupled to the first motor via any suitable wired and / or wireless device. The first signal output by the control unit can, in some examples, refer to a command for the first motor to execute. The control unit is activated, resulting in the gripping and release of the elongated medical element as described herein, when a signal is received from an external device. In some examples, this external device can be a second control unit. Additionally or alternatively, this signal can be based on the actuation of a button, lever, switch, or other element on the module described herein.

[0008] The first motor is configured to receive the first signal from the control unit. The first motor can be a stepper motor, but anyone skilled in the art will understand that any suitable type of motor can be used. The first motor is coupled to the first drive gear by any suitable means.

[0009] The first drive gear can be any suitable type of rotatable gear. It can be made of a plastic and / or metallic material, particularly aluminum or stainless steel. The first drive gear can have any number of teeth with any parameters, such as tooth profile, pitch circle diameter, tooth thickness, depth, etc.

[0010] The first and second gripping gears can be any suitable type of rotatable gear. They are preferably made of plastic, but can also be made of a metallic material, either additionally or alternatively. The first and second gripping gears can have any number of teeth with any parameters, such as tooth profile, pitch circle diameter, tooth thickness, depth, etc. The teeth of at least one of these gears are configured to mesh with the teeth of the first drive gear. In some examples, at least one of these parameters is different for each of the gripping gears. When the first drive gear rotates, at least one of the first and second gripping gears also rotates. In some examples, both gripping gears are rotated with the first drive gear via a coupling.The first drive gear can have more teeth, the same number of teeth, or fewer teeth than the first and / or second gripping gear. The diameter of the first drive gear can be larger, the same, or smaller than that of the first and / or second gripping gear.

[0011] The gripper, which can be coupled to the first and / or second gripper gear, is described in more detail below.

[0012] When the gripping gears rotate relative to each other in a first direction, the lumen of the gripped element contracts, and when they rotate relative to each other in a second direction, the lumen expands. This contraction and expansion can lead to the gripping and release of the elongated medical element. That is, if the second gripping gear is stationary and the first gripping gear rotates in a first direction, the lumen contracts, and if the first gripping gear rotates in a second direction opposite to the first, the lumen expands. The same can occur if the first gripping gear is stationary and the second gripping gear is rotatable, or if both gripping gears rotate but at different speeds.

[0013] In some examples, the first motor and the first drive wheel are connected via a belt drive. This allows the motor and drive wheel to be positioned at a certain distance from each other. Using a belt drive can also facilitate easy replacement of the motor and / or the drive wheel should one of them fail.

[0014] In some examples, the controller is configured to detect the rotational position of at least one of the first and second gripping gears. This allows the control unit to detect the gripping force exerted on the elongated medical element and / or to communicate the relative rotational positions of the gripping gears to the control unit. This, in turn, allows the control unit to send the first signal to the first motor to further contract or expand the lumen. This can enable more precise control of the gripper and the gripping of the elongated medical element.

[0015] In some examples, at least one of the first and second gripping gears is equipped with a position sensor that can be coupled to the control unit. This can be achieved using a non-contact magnetic sensor on a circuit board, which may be part of the cassette and / or one of the gripping gears mentioned herein, and a magnet is used to detect the position between the nut and the first and / or second gripping gear. The magnet is preferably located on one of the drive gears near the lumen of the gripper and towards the center of the gripper, but it is understood by those skilled in the art that it can be located at any suitable point on or inside the gripper.

[0016] In some examples, the first and / or second gripper gear also includes a bearing, configured to interact with at least one first part of the gripper. The bearing may be a plain bearing, ball bearing, fluid bearing, rolling bearing, or another suitable bearing type. The bearing may allow for smoother rotation of the respective gripper gear and / or smoother contraction / expansion of the gripper lumen. In some examples, the first and second gripper gears may have different types of bearings. The first part of the gripper may be any suitable part of the gripper, such as the nut or the gripper body. In some examples, the bearing does not interact with the gripper but assists the rotation of the respective gripper gear. The first and / or second gripper gear may contain any number of bearings.In some examples, a slip ring is used instead of a bearing.

[0017] In some examples, the control unit is programmable based on the elongated medical element to be gripped. The control unit can be connected to an interface through which a system user can input a parameter of the elongated medical element. Based on this parameter, the control unit can then calculate the diameter of the elongated medical element and determine the degree to which the lumen should be constricted to grip the elongated medical element in the gripper. The controller can additionally determine the current relative rotational positions of the gripping gears, in some examples via the positioning sensor, and then calculate by how much the first and / or second gripping gear should be rotated relative to the other gripping gear to grasp the elongated medical element within the gripper.This can enable the system to grip a range of different elongated medical elements with varying diameters or other parameters.

[0018] In some examples, a parameter of the elongated medical element to be grasped is entered into the system controller by a user. This parameter could be, for example, the diameter of the elongated medical element, the material of its outer surface, or another suitable parameter.

[0019] In some examples, the rotation of at least one of the first and second gripper gears is unlimited. This can allow unlimited rotation of the elongated medical element, thereby improving its maneuverability.

[0020] In some examples, the first and second gripping gears are rotatable in the same direction of rotation, with the first gripping gear rotating at a first rotational speed and the second gripping gear rotating at a second rotational speed that differs from the first. When the first rotational speed is greater than the second, the gripper lumen is configured to contract, and when the second rotational speed is greater than the first, the gripper lumen is configured to expand. This contraction and expansion can result in the gripping and release of the elongated medical element.

[0021] In some examples, the gripper comprises: a gripper body having a first thread; a nut having a second thread configured to interact with the first thread and at least one of the first and second gripping gears; and a gripping element arranged within the gripper body, the gripping element being configured to grasp the elongated medical element; wherein, when the nut is rotated in a first direction by at least one of the first and second gripping gears, the first and second threads are configured to interact with each other to increase a force exerted on the gripping element and to constrict the lumen of the gripper;wherein, when the nut is rotated in a second direction by at least one of the first and second gripping gears, the first and second threads are configured to work together to reduce the force exerted on the gripping element and to widen the lumen of the gripper; wherein the gripping element is configured to grasp the elongated medical element when the force exerted on the gripping element exceeds a predetermined limit.

[0022] The gripping body can have any suitable shape that allows the nut to be placed around the outside of the gripping body and the gripping element to be positioned inside the gripping body. In some examples, the gripping body is at least partially made of a flexible material that bends when the nut is turned in the first and / or second direction. In particular, the gripping body can be made of a plastic and / or a metal that allows the gripping body to bend as described above. In some examples, the metallic material may be non-flexible. The gripping element can be made of silicone and / or rubber and / or an elastic material. Alternatively, a metal and / or plastic material may be used, which must not be elastic. The first thread can have any suitable pitch and thread angle that allows the gripper to function as described here (e.g.,a screw-like thread).

[0023] The nut can be made of any suitable material, such as a plastic and / or a metal that allows the nut to bend under an external force. In some examples, the metallic material may be non-flexible. The second thread is configured to interact with the first thread and can therefore have corresponding properties. When the nut is turned in the first direction, pressure can be exerted on the gripping element via the interaction between the first and second threads. This pressure can then cause the gripping element to reduce its inner diameter, thereby grasping the elongated medical device.

[0024] As described here, the first and second directions are opposite directions of rotation for the nut. Specifically, the first and second directions can refer to rotation about a longitudinal axis of the elongated medical element and / or a longitudinal axis of the gripping body and / or a longitudinal axis along which the elongated medical element can be guided by the gripping body. For example, the first direction can refer to a clockwise rotation of the nut and the second direction to a counterclockwise rotation of the nut, or vice versa.

[0025] The gripping element is described in more detail below.

[0026] The force applied to the gripping element is preferably directed towards its center, but can additionally or alternatively be a force in any suitable direction that causes the elongated medical element to be gripped by the gripping element as soon as the force reaches a predetermined threshold. This predetermined threshold can depend on a parameter of the elongated medical element. The predetermined threshold can be high enough to allow the elongated medical element to be gripped and held during rotation and linear movement of the elongated medical element by the user. In other words, once gripped, the elongated medical element can be held in place when a specific force is applied to the liner / direction of rotation.The predetermined threshold can additionally or alternatively be set so that the elongated medical element is not compressed and / or an outer surface of the elongated medical element is not damaged. In some examples, the force on the gripping element can be exerted by compression of the gripping element by the gripping body and / or the nut insert (as described below) when the nut is rotated in the first direction.

[0027] In some examples, the gripping element is an O-ring, preferably made of silicone. Additionally or alternatively, the gripping element can be made of a metallic material. Alternatively or additionally, the gripping element can be made of rubber and / or an elastic material. A metal and / or plastic material, which need not be elastic, can also be used as an alternative. This allows the thread to be wrapped around the O-ring, as described in more detail below. The use of silicone can mean that the gripping element can contract when pressure / force is applied to it, resulting in a gripping element that holds the elongated medical component more securely. Additionally or alternatively, any other suitable material with elastic properties can be used.

[0028] In some examples, the gripping element is rotatable depending on the rotation of the nut. That is, if the elongated medical component is rotated while gripped by the gripping element, the gripping element rotates with the nut. The gripping element is preferably made of brass to ensure a secure grip on the elongated medical component. Alternatively, to reduce the risk of damage to the elongated medical component, the gripping element may not be rotatable based on the rotation of the nut.

[0029] In some examples, the gripping element is configured so that it does not rotate when the nut is turned. The gripping element is preferably made of brass to ensure a secure grip on the elongated medical device. This can lead to improved gripping of the elongated medical device, as the likelihood of the gripping element slipping is reduced. This, in turn, improves patient safety, as the aforementioned feature also prevents or reduces the likelihood of damage to the elongated medical device during gripping. If the elongated medical device is damaged, this, and the insertion of a damaged elongated medical device into a patient, can lead to patient injury.

[0030] In some examples, the control unit is configured to detect when the gripping element has stopped rotating. In such a case, the first signal issued by the control unit can instruct the first motor to stop or reverse the rotation of the first drive wheel, resulting in a reversal of the direction of rotation of the first and / or second gripping wheel. This can reduce the likelihood of damage to the elongated medical component and / or the likelihood of excessive stress on the gripper and / or gripping gears. This, in turn, can extend the system's service life.

[0031] In some examples, the system also includes a nut insert that is integrated into the gripping body. In particular, the nut insert can be located within the gripping body, which itself is at least partially surrounded by the nut. The nut insert can be made of any suitable material that enables the function of the nut insert described herein. In particular, a plastic and / or metal material can be used. Furthermore, it is preferred that the nut insert has a low coefficient of friction to allow rotation of the nut and / or the application of force to the gripping element. When the nut is rotated in the first direction, the nut insert can directly and / or indirectly apply the force to the gripping element that leads to the gripping of the elongated medical element.

[0032] In some examples, the gripping element is configured so that it is compressed by the nut and nut insert when the nut is rotated in a first direction by turning the first and / or second gripping gear. This can lead to improved force application to the gripping element, as the force can be distributed more evenly across the gripping element, resulting in a longer service life for the gripping element.

[0033] In some examples, the nut includes at least one projection configured to engage with at least one of the first and second engagement gears, and wherein, upon rotation of at least one of the first and second engagement gears, the nut is configured to rotate. The at least one projection may facilitate tightening and / or loosening of the nut and / or facilitate rotation of the nut in the first and / or second direction. The projection may have any suitable shape that allows the first and / or second engagement gear to rotate the nut.

[0034] In some examples, the gripper also includes at least one turn of thread that is contained within or wound around the gripping element; and wherein the at least one turn is configured to contact the elongated medical element when the force exceeds the predetermined threshold. The thread is preferably made of a sterile and / or biocompatible material. The thread may be a monolithic thread, similar to fishing line, or may consist of thinner threads, such as cotton or synthetic threads. This thread is then wound around the gripping element to create a turn configured to contact the elongated medical element when the force exceeds the predetermined threshold.This means that in some examples, the gripping body has an opening for the elongated medical element, and the thread is then wound around the gripping element in a direction that runs essentially parallel to a longitudinal axis of the elongated medical element. Using such a thread increases the coefficient of friction of the gripping element, thereby enabling a more secure grip on the elongated medical element during grasping. The thread can also reduce the risk of damaging the elongated medical element during gripping.

[0035] In some examples, the nut is rigidly connected to at least one of the first and second gripping gears. This can allow for a "one-to-one" rotation of the nut relative to the gripping gear(s). This, in turn, can enable a more precise and accurate rotation of the nut, and thus a more precise contraction and expansion of the lumen, and a more precise gripping and release of the elongated medical element.

[0036] In some examples, at least one of the first and second gripping gears includes a recess for receiving the nut, and the at least one of the first and second gripping gears is rotatable through a predetermined angle before any part of the nut contacts any part of the recess within the recess. This can allow the first and / or second gripping gear to rotate through a predetermined angle, such as 30°, 45°, or 60°, without affecting the nut and thus the diameter of the lumen. This can ensure that minor changes in the system do not affect the diameter of the lumen and thus the gripping of the elongated medical element.

[0037] In some examples, the system further includes a second motor and a second drive gear, wherein the controller is configured to output a second signal to drive the second motor; wherein the second motor is coupled to the second drive gear to rotate the second drive gear; wherein the tooth of the first drive gear is configured to engage with a tooth of the first gripping gear; wherein a tooth of the second drive gear is configured to engage with a tooth of the second gripping gear; wherein, upon rotation of the first drive gear, the first gripping gear is configured to rotate based on the interaction of the teeth of the first drive gear and the first gripping gear;and wherein, when the second drive gear rotates, the second gripping gear is configured to rotate based on the interaction of the teeth of the second drive gear and the second gripping gear.

[0038] The second motor and drive gear can be similar to or identical to the first motor and drive gear described above. In some examples, they may differ in terms of motor type or drive gear parameters. Furthermore, the parameters of the gripping gears may differ depending on the parameters of the drive gears.

[0039] In some examples, the first and second motors can be controlled independently by the first and second signals output by the control unit. This allows for more precise control of the lumen diameter and thus more accurate detection of the system's gripping of the elongated medical element. Specifically, independent control allows both gripping gears to rotate at different speeds, to rotate synchronously, to rotate in opposite directions, and to have one gripping gear remain stationary while the other rotates.

[0040] In some examples, the system is configured so that it can be placed in an endovascular robotic system. This allows the system to be part of an endovascular procedure.

[0041] In some examples, at least the control unit, the first motor, and the first drive wheel are located in a module of the endovascular robot system, and at least the first and second gripper wheels and the gripper itself are located in a disposable cassette. The cassette can be coupled to the module via a snap-fit ​​coupling, a rotary coupling, or another suitable coupling method. This allows for easy replacement of the gripper gears and the gripper. The cassette can be a disposable cassette or one with a limited lifespan compared to the module.

[0042] In some examples, the system also includes an elongated medical element. This elongated medical element is described in more detail below.

[0043] In some cases, an elongated medical device is suitable for an endovascular procedure. This elongated medical device could be, for example, a guidewire, a catheter, a stent, a PTA balloon catheter, a stent balloon, or another suitable elongated medical device.

[0044] All the advantages and features described in relation to one of the examples mentioned above can also be realized in any of the other examples described above.

[0045] The aspects and examples mentioned above can lead to at least one of the following advantages: - The system can be adaptable and allow the grasping of endovascular devices with different diameters and parameters; - The system can allow unlimited rotation of the gripped elongated medical element and gripping during the rotation of the elongated medical element; - The system can ensure the gripping of the elongated medical element through the relative rotational difference of the gripping gears; - Various gripping elements can be used, such as an O-ring and / or metal inserts, making a more adaptable system possible. - The gripper can be located in a disposable part of the system, while the motors and controls can be located in a fixed part of the system; and - The gripping gear(s) can be firmly connected to the gripper nut, but can also allow a certain rotation of the gripping gear(s) without turning the nut in order to avoid putting a load on the gripper.

[0046] Although some of the aspects described above were described in relation to the gripper, these aspects can also apply to a method for gripping an elongated medical element, preferably within an endovascular robotic system. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] These and other aspects of the invention will now be described in more detail, by way of example only, with reference to the accompanying figures, in which identical reference numerals refer to identical parts and in which: The Fig. 1 and Fig. Figure 2 shows perspective views of a system according to some of the embodiments described here; The Fig. Figures 3 to 5 show sectional views of a part of a system according to some embodiments described here; The Fig. Figures 6 to 9 show perspective views and cross-sections of a gripper according to some embodiments herein; and The Fig. Figures 10 to 13 show perspective views and cross-sections of a gripper according to some embodiments in this manual. DETAILED DESCRIPTION OF PREFERRED EXECUTION FORMS

[0048] The Fig. 1 and Fig. Figure 2 shows perspective views of a system according to some embodiments described herein.

[0049] Fig. Figure 1 shows a module 201 of an endovascular robot system, wherein the module 201 comprises a drive gear 204 and a cassette (see Fig. 2) comprising a first and a second gripper gear 303, 304 and a gripper comprising a gripper body 101, a nut 102 and a gripper element 104 with a lumen 110 which in this example extends through the center of the gripper, although in some examples the lumen may not extend through the center of the gripper. The gripper is described in the Fig. Sections 6 to 13 are described in more detail.

[0050] Fig. Figure 2 shows the module 201 of the endovascular system from the other side, and here it can be seen that the module 201 includes a controller 206, a first and a second motor 203, 205, a second drive wheel 202, a cassette 300 coupled to the module 201 and the lumen 110, which in this example extends through the middle of the cassette 300.

[0051] The control unit 201 is connected to the first and second motors 203 and 205 via any suitable wired and / or wireless device. The control unit 206 can output a first signal relating to a command to be executed by the first motor 203 and a second signal relating to a command to be executed by the second motor 205.

[0052] The first motor 205 is coupled to the first drive wheel 202 in any suitable way, in this example via a belt drive. The same applies to the second motor 203, which is coupled to the second drive wheel 202.

[0053] The drive gears 202 and 204 can be any suitable type of rotatable gear. They can have any number of teeth with any parameters such as tooth profile, pitch circle diameter, tooth thickness, depth, etc.

[0054] The first and second gripping gears 303, 304 can be any suitable type of rotatable gear. The first and second gripping gears 303, 304 can have any number of teeth with any parameters such as tooth profile, pitch circle diameter, tooth thickness, depth, etc. The teeth of at least one of these gears 303, 304 are configured to mesh with the teeth of the drive gears 202, 204. In some examples, at least one of these parameters is different for each of the gripping gears 303, 304. When one of the drive gears 202, 204 rotates, a corresponding gripping gear 303, 304 also rotates. That is, when the first drive gear 204 rotates, the first gripping gear 304 rotates, and when the second drive gear 202 rotates, the second gripping gear 303 rotates.The drive gears 202, 204 can have more teeth, the same number of teeth, or fewer teeth than their respective gripping gears 303, 304. The diameter of the drive gears 202, 204 can be larger, the same, or smaller than that of their respective gripping gears 303, 304.

[0055] The control unit 206 is configured to detect the rotational position of at least one of the first and second gripping gears 303, 304. This allows the control unit 206 to detect the gripping force exerted on the elongated medical element if it is currently being gripped by the gripper, and / or allows the control unit 206 to know the relative rotational positions of the gripping gears 303, 304. This, in turn, allows the control unit 206 to output the first and / or second signals to the first / second motor 203, 205 to further contract or expand the lumen 110.

[0056] The control unit 206 can be programmed based on the elongated medical element to be gripped. The control unit 206 can be connected to an interface that allows a system user to input a parameter of the elongated medical element. Based on this parameter, the control unit 206 can then calculate the diameter of the elongated medical element and determine the degree to which the lumen 110 should be contracted to grip the elongated medical element. The control unit 206 can also determine the current relative rotational positions of the gripping gears 303, 304, for example, via a positioning sensor, and then calculate by how much the first and / or second gripping gear 303, 304 should be rotated relative to the other gripping gear 303, 304 to grip the elongated medical element.

[0057] In some examples, the first and / or second gripper gear 303, 304 further includes a bearing, the bearing being configured to interact with at least one first part of the gripper. The bearing may be a plain bearing, a ball bearing, a fluid bearing, a rolling bearing, or another suitable type of bearing. The bearing may enable smoother rotation of the respective gripper gear 303, 304 and / or smoother contraction / expansion of the gripper lumen 110. In some examples, the first and second gripper gears 303, 304 may have different types of bearings. The first part of the gripper may be any suitable part of the gripper, such as the nut or the gripper body. In some examples, the bearing does not interact with the gripper but assists the rotation of the respective gripper gear 303, 304. In some examples, a slip ring is used instead of a bearing.

[0058] In some examples, the first and second motors 203, 205 can be controlled independently of each other by the first and second signals output by the control unit 206. This can enable more precise control of the diameter of the lumen 110 and thus more accurate detection of the gripping of the elongated medical element by the system. In particular, the independent control can allow both gripping gears 303, 304 to rotate at different speeds, both gripping gears 303, 304 to rotate synchronously, the directions of rotation of the gripping gears 303, 304 to be opposite to each other, and one gripping gear 303, 304 to be stationary while the other rotates.

[0059] The Fig. Figures 3 to 5 show sectional views of a part of a system according to some embodiments described here.

[0060] Here the gripping gears 303, 304 are shown together with a gripping body 101 and a nut 102, with the lumen 110 extending along the dashed line and this line indicating an axis about which the gripping gears 303, 304 rotate.

[0061] Fig. Figure 4 shows that the first gripping gear 304 can be rotated in both directions around the dashed line via the independent properties of the gripping gears 303 and 304, which are provided by the two motors 203 and 205 and the first and second signals output by the controller 206. In such a scenario, when the first gripping gear 304 is rotated in the first direction, a dimeter of the lumen 110 is contracted, resulting in the gripping of the elongated medical element within the gripper. When the first gripping gear 304 is rotated in the second direction, i.e., in the opposite direction, the lumen 110 is expanded, resulting in the release of the elongated medical element.

[0062] Fig. Figure 5 shows that both gripping gears 303, 304 can be rotated simultaneously but at different speeds, with the first gripping gear 304 rotating faster than the second gripping gear 303. Since, in such a scenario, the relative positioning of the gripping gears 303, 304 to each other is crucial for the contraction and expansion of the lumen, the rate of contraction and expansion of the lumen 110 depends on the difference in rotational speeds between the gripping gears 303, 304.

[0063] The possibility that the gripping gears 303, 304 can be rotated in opposite directions, thereby increasing the speed at which the diameter of the lumen contracts and expands, is not shown in these figures, although this is another possible result of the system described here.

[0064] The Fig. Figures 6 to 9 show perspective views and cross-sections of a gripper according to some embodiments in this manual.

[0065] Fig. Figure 6 shows the gripper with a gripper housing 101, a nut 102 and a nut insert 103.

[0066] The gripping body 101 can be designed such that the nut 102 can be arranged around the outside of the gripping body 101 and the gripping element (see Fig. 7) can be arranged within the gripping body 101. In some examples, the gripping body 101 consists at least partially of a flexible material that bends when the nut 102 is turned in the first and / or second direction. The first thread can have any suitable pitch and thread angle that enables the gripper to function as described here.

[0067] The second thread on the nut 102 is configured to interact with the first thread and therefore exhibits corresponding properties. When the nut 102 is turned in the first direction, pressure can be exerted on the gripping element via the interaction between the first and second threads. This pressure can then cause the gripping element to reduce its inner diameter, here referred to as lumen 110, thereby gripping the elongated medical element (which is described in more detail below).

[0068] The mother 102 includes in the example of Fig. 8. Four projections are shown, but the person skilled in the art understands that any number of projections can be used. Such projections enable the first and / or second gripping gear 303, 304 to grip the nut 102. The projections can facilitate tightening and / or loosening of the nut 102 and / or easier rotation of the nut 102 in the first and / or second direction based on the corresponding rotation of the first and / or second gripping gear 303, 304. The projection can have any suitable shape that allows the first and / or second gripping gear 303, 304 to rotate the nut 102. The nut 102 can be rigidly connected to the first and / or second gripping gear 303, 304. This can allow a one-to-one rotation of the nut 102 with respect to the gripping gear(s) 303, 304.This, in turn, can enable more precise and accurate rotation of the nut 102 and thus more precise contraction and expansion of the lumen 110 and gripping and releasing of the elongated medical element. Alternatively, at least one of the first and second gripping gears 303, 304 includes a recess for receiving the nut 102, and the nut 102 is rotatable within the recess by a predetermined angle before any part of the nut 102 contacts any part of the recess. This can allow the first and / or second gripping gear 303, 304 to rotate by a predetermined angle, such as 30°, 45°, or 60°, without affecting the nut 102 and thus the diameter of the lumen 110. This can ensure that minor changes in the system do not affect the diameter of the lumen 110 and thus the gripping of the elongated medical element.

[0069] In some examples, the gripper also includes a nut insert 103, which is arranged in the gripping body 101. In particular, the nut insert 103 can be arranged within the gripping body 101, which itself is at least partially surrounded by the nut 102. When the nut 102 is rotated in the first direction, the nut insert 103 can directly and / or indirectly exert the force on the gripping element that leads to the gripping of the elongated medical element.

[0070] Fig. Figure 7 shows a sectional view of a gripper according to some embodiments described here.

[0071] Here it can be seen that the gripping element 104 is located inside the gripping body 101 and is part of the entire gripper.

[0072] In this example, the gripping element 104 is a brass and / or silicone element that contacts the elongated medical element when the lumen 110 is sufficiently contracted to grip the elongated medical element. A person skilled in the art understands that any suitable material can be used to construct the gripping element 104. The gripping element 104 can have any suitable shape, as long as there is an opening that allows the elongated medical element to pass through it. The use of silicone can mean that the gripping element 104 can contract when pressure / force is applied to it, resulting in a gripping element 104 that holds the elongated medical element more securely.

[0073] The gripper also includes an (elastic) O-ring 105, preferably made of silicone. However, a person skilled in the art understands that the O-ring 105 can be any element of any shape, as long as it has an opening that allows the elongated medical element to pass through it and is made of any suitable material. The use of silicone can mean that the gripping element 104 and / or the O-ring 105 can contract when pressure / force is applied to it, resulting in the gripping element 104 and / or the O-ring 105 holding the elongated medical element more securely. In particular, the O-ring 105 can help to generate elasticity and adjust the gripping force applied to the elongated medical element.In another gripper configuration that may be compatible with the configurations and embodiments described here, this O-ring 105 may help to generate friction between the gripper body 101 and the nut insert 103, which may result in the nut insert 103 not moving during rotation of the gripper and in the elongated medical element not moving while the gripper is rotated.

[0074] The force described here, which is exerted on the gripping element 104, is preferably a force directed towards the center of the gripping element 104, but can additionally or alternatively be a force in any suitable direction which causes the elongated medical element to be gripped by the gripping element 104 as soon as the force reaches a predetermined threshold value.

[0075] Additionally or alternatively, the gripping element 104 is designed so that it does not rotate. This can lead to improved gripping of the elongated medical element, as the risk of the gripping element 104 slipping is reduced.

[0076] Additionally or alternatively, the gripping element 104 is compressed by the nut 102 and the nut insert 103 when the nut 102 is rotated in the first direction by the first and / or second gripping gear 303, 304. This can lead to improved force application to the gripping element 104, as the force can be distributed more evenly across the gripping element 104, resulting in a longer service life for the gripping element 104.

[0077] Additionally or alternatively, the gripping element 104 is configured to create a watertight seal around the outside of the elongated medical element when the force exceeds the predetermined threshold. This can prevent fluids from flowing through the gripper, thereby improving patient safety. Preferably, this can cause the gripper to act like a hemostatic valve, which is particularly advantageous in medical procedures.

[0078] Furthermore, in some examples, at least one thread winding around the gripping element 104 may be present. The thread is preferably made of a sterile and / or biocompatible material and may be particularly suitable for surgical and / or medical procedures. This thread is wound around the gripping element 104 such that a winding is formed which is designed to contact the elongated medical element when the force exceeds the predetermined threshold. The thread is wound around the gripping element 104 in a direction that is substantially parallel to a longitudinal axis of the elongated medical element and the lumen 110. The use of a thread increases the coefficient of friction of the gripping element 104 and thus enables a more secure grip on the elongated medical element during handling.The thread can also reduce the risk of damaging the elongated medical element during gripping.

[0079] Preferably, the thread has a multitude of turns, with the turns being evenly arranged around the gripping element 104. This can improve the coefficient of friction of the gripping element 104 and thus lead to a more secure grip on the elongated medical element during grasping. Those skilled in the art know that, alternatively, the turns can also be unevenly distributed over at least a portion of the circumference of the gripping element 104.

[0080] In some examples, the gripping element 104 includes a gripping layer between the gripping element 104 and the thread. This gripping layer can increase the coefficient of friction of the gripping element 104, resulting in a more secure grip on the elongated medical component. In some examples, the gripping layer consists of a synthetic material and / or cotton in the form of a woven fabric or mesh.

[0081] In some examples, the gripper also includes a limiting element configured to restrict the rotation of the nut 102. This limiting element is preferably coupled to the gripper body 101, but can alternatively be coupled to the nut insert 103. This can limit the rotation of the nut 102, for example, in the first direction. This can therefore limit the force exerted on the gripping element 104 and thus on the elongated medical element, preventing damage to both elements and extending their service life. It can also prevent the nut 102 from being overtightened, thus extending its service life. This limitation of rotation can be detected by the positioning sensor and transmitted to the control unit 206, which then sends a signal to the control unit 206 to stop its functions, at least one of the motors 203, 205.

[0082] The elongated medical component is suitable for an endovascular procedure. This elongated medical component is inserted through the aligned holes of the gripper body 101, the nut 102, the nut insert 103, and the gripping element 104. This alignment allows for smooth movement of the elongated medical component through the gripper when the component is not being grasped. The elongated medical component could be, for example, a guide wire, a catheter, a stent, a PTA balloon catheter, a stent balloon, or another suitable elongated medical component.

[0083] The Fig. 8 and Fig. Figure 9 shows another variant of the gripper. The elements have the same reference symbols as in the Fig. 6 and Fig. 7 have with regard to the embodiment of the Fig. 8 and Fig. 9 the same function. In the Fig. 8 and Fig. 9. The different body geometry can support the grasping of the elongated medical element and / or the stability of the elongated medical element while it is being grasped by the gripper.

[0084] The embodiment of the Fig. 8 and Fig. 9, which are in Fig. Figure 9 further illustrates the assembly, which also includes an (elastic) O-ring washer 106, preferably made of silicone. However, a person skilled in the art understands that the washer 106 can be any element of any shape, as long as it has an opening that allows the elongated medical element to pass through the washer 106 and the gripper, and is made of any suitable material. The use of silicone can mean that the gripping element 104 and / or the O-ring 105 and / or the washer 106 can contract when pressure / force is applied to it, resulting in a gripping element 104 and / or an O-ring 105 and / or a washer 106 that more securely holds the elongated medical element. This washer 106 can be used to reduce the rotational friction between the O-ring and the nut 102.This can lead to the elements of the gripper being held in their position by the first and / or second gripper gears 303, 304 during the rotation of the gripper.

[0085] The Fig. Figures 10 to 13 show perspective views and cross-sections of a gripper according to some embodiments in this document. The elements with the same reference numerals as in the Fig. 6 to 9 relate to the embodiment of the Fig. 10 to 13 have the same function.

[0086] In this embodiment, the opening of the gripping element 104 comprises at least two different diameters, the opening being configured such that it has the first diameter on a first side and a second side of the gripping element 104, the first and second sides being opposite sides, and the opening being configured such that it has the second diameter between the first and second sides within the gripping element 104. If the first diameter is smaller than the second diameter, this creates a chamber within the gripping element 104. In some examples, the first diameter is larger than the second diameter, creating an opening that closes and then opens along its length. This can lead to improved gripping of the elongated medical device.

[0087] Fig. 12 differs from the embodiment in Fig.10 through the extended mother insert. This can assist in gripping the elongated medical element and / or the stability of the elongated medical element while it is being gripped by the gripper.

[0088] A person skilled in the art will undoubtedly think of many other effective alternatives. It is understood that the invention is not limited to the described embodiments and includes modifications that are obvious to a person skilled in the art and fall within the scope of the appended claims.

Claims

[1] System for gripping an elongated medical element, the system comprising the following a controller; a first engine; a first drive wheel; a first gripper gear and a second gripper gear; and a grabber; the controller is configured to output an initial signal to drive the first motor; wherein the first motor is coupled to the first drive wheel in order to turn the first drive wheel; wherein a tooth of the first drive gear is configured to interact with a tooth of at least one of the first and second gripper gears; wherein, when the first drive gear rotates, the first and / or second gripping gear is configured to rotate based on the interaction of the teeth of the first drive gear and the first and / or second gripping gear; wherein, during a first relative rotation of the first gripper gear with respect to the second gripper gear, a lumen of the gripper is configured such that it contracts; wherein, during a second relative rotation of the first gripper gear with respect to the second gripper gear, the gripper cavity is configured to expand; and where the first and second relative rotations are relative rotations in opposite directions. [2] System according to claim 1, wherein the first motor and the first drive wheel are coupled to each other via a belt drive. [3] System according to claim 1 or 2, wherein the control is configured to detect a rotational position of at least one of the first and second gripping gears. [4] System according to claim 3, wherein at least one of the first and second gripping gears has a position sensor that can be coupled to the control unit. [5] System according to one of the preceding claims, wherein the first and / or second gripper gear further comprises a bearing, the bearing being configured to cooperate with at least one first part of the gripper. [6] System according to one of the preceding claims, wherein the control is programmable on the basis of the elongated medical element to be grasped. [7] System according to claim 6, wherein a parameter of the elongated medical element to be grasped is entered into the control by a user of the system. [8] System according to one of the preceding claims, wherein the rotation of at least one of the first and second gripper gears is unlimited. [9] System according to any of the preceding claims, in particular claim 8, wherein the first and the second gripper gear are rotatable in the same direction of rotation, wherein the first gripper gear is rotatable at a first rotational speed, wherein the second gripper gear is rotatable at a second rotational speed which differs from the first rotational speed, wherein, when the first rotational speed is greater than the second rotational speed, the lumen of the gripper is configured to contract, and wherein, when the second rotational speed is greater than the first rotational speed, the lumen of the gripper is configured to expand. [10] System according to any of the preceding claims, wherein the gripper comprises: a gripper body with a first thread; a nut with a second thread designed to engage with the first thread and at least one of the first and second engagement gears; and a gripping element arranged in the gripper body, wherein the gripping element is configured to grip the elongated medical element; wherein, when the nut is rotated in a first direction by at least one of the first and second gripping gears, the first and second threads are configured to work together to increase a force exerted on the gripping element and to draw the lumen of the gripper together; wherein, when the nut is turned in a second direction by at least one of the first and second gripping gears, the first and second threads are configured to work together to reduce the force exerted on the gripping element and to widen the lumen of the gripper; wherein the gripping element is configured to grasp the extended medical element when the force exerted on the gripping element exceeds a predetermined threshold. [11] System according to claim 10, wherein the gripping element is an O-ring and the O-ring is preferably made of silicone. [12] System according to claim 10 or 11, wherein the gripping element is made of a metallic material. [13] System according to one of claims 10 to 12, wherein the gripping element is rotatable due to a rotation of the nut. [14] System according to one of claims 10 to 12, wherein the gripping element is configured such that it does not rotate when the nut is rotated. [15] System according to claim 13 when it depends on claim 3 or 4, wherein the control is configured to detect that the gripping element is no longer rotating. [16] System according to one of claims 10 to 15, further comprising a nut insert arranged in the gripping body. [17] System according to claim 16, wherein the gripping element is configured such that it is compressed by the nut and the nut insert when the nut is rotated in a first direction by a rotation of the first and / or second gripping gear. [18] System according to any one of claims 10 to 17, wherein the nut has at least one projection configured to interact with at least one of the first and second gripping gears, and wherein the nut is configured to rotate when at least one of the first and second gripping gears is rotated. [19] System according to any one of claims 10 to 18, wherein the gripper further comprises at least one thread winding which is contained in or wound around the gripping element; and wherein at least one winding is configured to touch the extended medical element when the force exceeds the predetermined threshold. [20] System according to any one of claims 10 to 19, wherein the nut is rigidly connected to the first and / or the second gripping gear. [21] System according to one of claims 10 to 19, wherein at least one of the first and second gripping gears has a recess for receiving the nut and wherein the at least one of the first and second gripping gears is rotatable by a predetermined angle before a part of the nut touches a part of the recess inside the recess. [22] The system according to one of the preceding claims further comprises a second motor and a second drive wheel, wherein the control is configured to output a second signal to drive the second motor; wherein the second motor is coupled to the second drive wheel in order to turn the second drive wheel; wherein the tooth of the first drive gear is designed to interact with a tooth of the first gripper gear; wherein one tooth of the second drive wheel is configured to interact with a tooth of the second gripper wheel; wherein, when the first drive gear rotates, the first gripping gear is configured to rotate based on the interaction of the teeth of the first drive gear and the first gripping gear; and wherein, when the second drive gear rotates, the second gripping gear is configured to rotate based on the interaction of the teeth of the second drive gear and the second gripping gear. [23] System according to claim 22, wherein the first and the second motor can be controlled independently of each other by the first and the second signal output by the controller. [24] System according to any of the preceding claims, wherein the system is configured to be placed in an endovascular robot system. [25] System according to claim 24, wherein at least the control, the first motor and the first drive gear are located in a module of the endovascular robot system and wherein at least the first and the second gripper gear and the gripper are located in a disposable cassette. [26] System according to any of the preceding claims, further comprising the elongated medical element. [27] System according to claim 26, wherein the extended medical element is suitable for an endovascular procedure.

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