GUIDE DEVICE FOR A MEDICAL NEEDLE

Description

Technical field of the invention

[0001] The invention relates to medical equipment and falls within the field of medical devices mounted at the end of a robotic arm for medical assistance. More particularly, the present invention concerns a medical needle guidance device intended to be attached to a tool holder on a robotic arm. Previous technique

[0002] Surgical procedures performed using the surgical technique known as "minimally invasive surgery" allow an operator, typically a surgeon, to reach a target anatomical area of ​​a patient by inserting long, thin instruments into a small incision, for example on the order of a centimeter, made in the patient's body.

[0003] In certain operations, these instruments may be one or more needles or rigid cylindrical instruments (e.g., antenna, electrode, cannula) intended to be inserted into a patient's body to a certain depth to reach the target anatomical area.

[0004] When needle insertion is performed entirely manually by the operator, the outcome of the procedure is highly dependent on their skill. Achieving high precision is difficult, and the risk of medical errors resulting from this lack of precision, which can cause injury to the patient, is significant.

[0005] The precision of the operation can be improved through the use of robotic arms remotely controlled by an operator. This type of robotic arm remains partially dependent on the operator's skill and may require continuous imaging of the patient, which subjects the patient to a certain dose of radiation.

[0006] To further improve the precision of the insertion procedure and to limit the radiation doses to which the patient and medical staff are subjected, it is possible to use an automatically controlled robotic arm.

[0007] The robotic arm has a needle guidance device at its end.

[0008] The operator inputs the coordinates of a target anatomical area of ​​a patient into the robotic arm, and the arm is then controlled to move a needle guide to that area. The needle is then inserted by an operator into the guide to reach the target area. For the needle to reach this area precisely, it is necessary to control the position of the needle's axis of translation within the guide. Therefore, it is essential to control all movement of the guide, and consequently of the robotic arm.

[0009] Controlling needle movement is especially important when the procedure requires the sequential insertion of needles into the target anatomical area. In this case, the needle guide must remain stationary during each needle insertion to maintain the position of the needle's axis of translation. Once inserted into the target anatomical area, the guide must then release the needle without displacing it. Indeed, any uncontrolled movement of the needle after insertion into the target anatomical area could injure the patient.

[0010] There is therefore a need, on the one hand, to guide the insertion of at least one needle along an axis of translation whose position is maintained until it reaches a target anatomical area, and on the other hand, to release the guiding device of said needle, when it is inserted into the target anatomical area, without risk of moving said needle.

[0011] Furthermore, there is also a need to know the length of the needle inserted into a patient's body.

[0012] Finally, there is a need to guide the insertion of at least two needles of different diameters with the same guiding device, during the same medical procedure or during separate medical procedures; each needle must be guided along the same axis of translation, the position of which is maintained until it reaches a target anatomical area and which can also be released from the guiding device when it is inserted into the target anatomical area without risk of being displaced. Presentation of the invention

[0013] The present invention aims to meet the aforementioned needs and, to this end, relates to a needle guiding device comprising a tool holder intended to be fixed to the end of a robotic arm for medical assistance. The tool holder supports a needle guide. The needle guide comprises a first jaw and a second jaw, each having a groove, said grooves extending along parallel longitudinal axes. The first and second jaws are supported by the tool holder in such a way as to allow rotational movement of the first and second jaws relative to each other between a position called the "guiding position," in which the grooves are adjacent and define a guide channel for a needle, and a position called the "disengagement position," in which the grooves are separated and define a lateral clearance zone for a needle.In addition, the guidance device includes an optical navigation system intended to be connected to a control unit of the robotic arm which determines, on the basis of information transmitted by said optical navigation system, the position of the first jaw and second jaw relative to each other.

[0014] When the guidance device occupies the guidance position, a needle can be guided in translation through the guidance conduit until it reaches a target anatomical area of ​​a patient.

[0015] The guide conduit is configured so as to allow only one degree of translational freedom to a needle.

[0016] When the jaws are in the disengagement position, the guiding device, by translating in the opposite direction to the disengagement zone, is free to laterally disengage a needle that has reached a target anatomical area. This lateral disengagement occurs, for example, at the end of a medical procedure if only one needle needs to be inserted into the target anatomical area, or during a medical procedure if an additional needle needs to be inserted into the target anatomical area.

[0017] It should be noted that in this text it is referred to, by way of misuse of language, that the guiding and clearance positions are occupied by the needle guide and by the jaws.

[0018] Thanks to the features of the present invention, a needle can be released from the needle guide without contact, so that it remains fixed in position in the target anatomical area.

[0019] This avoids any unwanted movement of the needle that could cause injury to a patient.

[0020] Thanks to these characteristics, the guidance device allows the successive insertion of a plurality of needles of the same diameter with the same guidance device, to reach a target anatomical area, during the same medical operation.

[0021] In particular embodiments, the invention also meets the following characteristics, implemented separately or in each of their technically operative combinations.

[0022] In particular embodiments of the invention, the first jaw or the second jaw comprises a handling handle under the pressure of which said first jaw or second jaw is driven in displacement relative to the other jaw.

[0023] In particular embodiments of the invention, the tool holder comprises a housing extending longitudinally between two end openings and within which the needle guide is engaged. The tool holder also includes a through axial opening extending from one of said end openings to the other along an axis parallel to the longitudinal axis of the housing, the through axial opening being opposite the lateral clearance zone when the jaws are in the clearance position.

[0024] Thus, once a needle has been guided to a target anatomical area, it can be released from the non-contact guidance device, so that it remains fixed in position within the target anatomical area.

[0025] In particular embodiments of the invention, the first jaw and second jaw are formed by a fixed jaw and a movable jaw.

[0026] In particular embodiments of the invention, the fixed jaw is engaged in the housing, said fixed jaw and said housing having, on their respective opposite surfaces, interlocking elements cooperating with each other to immobilize said fixed jaw in rotation relative to the tool holder.

[0027] The interlocking elements can cooperate directly with each other; this is the case, for example, if the interlocking elements are respectively formed by a groove and a tongue. Alternatively, the elements can cooperate indirectly with each other; this is the case, for example, if the interlocking elements are formed by grooves into which a key or a pin is inserted.

[0028] The interlocking elements advantageously play a role in preventing incorrect insertion of the needle guide into the housing.

[0029] In particular embodiments of the invention, the interlocking elements are respectively formed by reliefs of complementary shapes, of which: a relief extending longitudinally over a surface called the "external surface" of the fixed jaw, and a relief extending longitudinally over a surface called the "internal wall" of the housing.

[0030] These reliefs can be formed by a tongue and a groove.

[0031] Thanks to the interlocking elements, the immobilization of the fixed jaw is ensured in a simple and reliable manner.

[0032] In particular embodiments of the invention, the first and second jaws are removably fixed to each other. They are preferably removably engaged in the tool holder housing.

[0033] Such a provision aims in particular to increase the efficiency of sterilization of the guidance device, each part of said device being able to be sterilized individually.

[0034] In particular embodiments of the invention, the fixed jaw is formed as a single unit with the tool holder; the fixed jaw and the tool holder thus forming a single piece.

[0035] In particular embodiments of the invention, the tool holder comprises a through-hole extending radially through the housing. The first or second jaw includes a handle extending through the hole, and under the force of which the first or second jaw is driven into movement within the housing. The hole advantageously forms a guideway for the handle.

[0036] In particular embodiments of the invention, the light comprises a portion extending axially with respect to the housing, said portion opening onto a surface of the tool holder called the "upper face" flush with one of the end openings of said housing.

[0037] Therefore, one of the jaws (possibly both jaws, according to the particular embodiment of the invention) can be detached from the tool holder in order to sterilize each part of the guiding device individually and thus increase the efficiency of the sterilization of the guiding device.

[0038] Thanks to this feature, the parts of the guidance device can also be replaced individually.

[0039] In particular embodiments of the invention, the first and second jaws each have an axial shoulder. The axial shoulders have complementary profiles by which they cooperate with each other.

[0040] The first bit and second bit rest against each other by their axial shoulders, said shoulders being at least partially interlocked with each other.

[0041] This feature advantageously facilitates the rotational guidance of the second jaw within the housing.

[0042] Advantageously, the axial shoulders can act as an angular travel stop for the second jaw.

[0043] In particular embodiments of the invention, the first and second jaws are removably linked to each other by means of a rod extending longitudinally from one of the first and second jaws through an axial housing formed in the axial shoulder of the other jaw. The jaws are linked to each other by a mechanical connection allowing only one degree of rotational freedom.

[0044] Thanks to the rod, the axes of rotation of the jaws are coaxial.

[0045] This feature, in addition to helping increase the effectiveness of sterilizing the first and second bits, allows for quick attachment and detachment of said bits.

[0046] In particular embodiments of the invention, the optical navigation system is provided with optical reference elements mechanically linked to each of the first and second jaws and a reading module determining the position of each optical reference element, and the control unit is configured to determine, on the basis of information relating to the position of the optical elements transmitted by the optical navigation system, the position of said first and second jaws.

[0047] Thanks to these features, it is possible to automatically know the position of the jaws within the tool holder.

[0048] In particular embodiments of the invention, the guiding device includes a sensor housed in one of the grooves and configured to determine the length of the stroke of a needle through the guide conduit when the jaws are in the guiding position.

[0049] The sensor can advantageously be connected to the control unit which is configured to determine, on the basis of information relating to the stroke length of a needle inserted in the guide channel and on the basis of the position of a patient's target anatomical area relative to the position of the needle guide, the position of said needle relative to said patient's target anatomical area.

[0050] Also included in the scope of the present invention is a needle guiding device in combination with all or part of the features mentioned above or below, in which the needle guide includes a motion transmission element linked to the jaws and synchronizing the angular displacement of the jaws with respect to each other.

[0051] Thanks to this feature, the two jaws are animated by an angular movement symmetrical to each other.

[0052] In other words, when one jaw rotates, the transmission component causes the other jaw to rotate by the same angular displacement.

[0053] Thus a needle can be gripped by the grooves without changing the position of its longitudinal axis, which makes it possible, for example when changing a needle, to avoid any error in positioning the needle.

[0054] In addition, this feature allows the use of needles of different diameters.

[0055] In particular embodiments of the invention, the guiding device includes an elastic element arranged against at least one of the jaws so as to cause the first and second jaws to rotate towards their guiding position.

[0056] This arrangement is advantageous in that it prevents any movement of the needle guide in the release position, and therefore any accidental movement of the needle.

[0057] In addition, this feature allows the jaws to be systematically trained into the guiding position, thus relieving an operator of the need to perform this operation manually.

[0058] In particular embodiments of the invention, each jaw has at least one tooth at the level of the grooves, said at least one tooth being arranged so as to interpenetrate when the needle guide is in the guiding position.

[0059] More specifically, each bit has at least one tooth, with these teeth arranged opposite each other. The grooves are formed transversely in the respective teeth of the bits.

[0060] These characteristics allow the clamping forces applied to the needle by the jaws, in particular by the teeth, to be distributed along the needle, and thus help to ensure the stability of the needle when it is engaged in the guide channel.

[0061] In particular embodiments of the invention, the grooves have a V-shaped cross-section.

[0062] Thus, a needle is held within the guide channel, between the two jaws, in the same way regardless of its diameter, for a given tool holder position; the position of the longitudinal axis of said needle does not depend on its diameter. Therefore, it is possible to change the needle during an operation while maintaining the same axis of translation for the needle, regardless of its diameter.

[0063] In particular embodiments of the invention, the needle guiding device includes a mechanism for locking the needle guide in the guiding position. The locking mechanism is configured to prevent rotation of the first or second jaw when the latter pivots beyond a predetermined angular position.

[0064] This feature advantageously ensures that the needle is held by the jaws, and more particularly prevents any angular movement of the needle while allowing translation along its longitudinal axis.

[0065] Thus, any accidental transverse stress on the needle cannot cause a displacement of the needle that would be likely to disengage the needle from the guide channel and ultimately injure a patient.

[0066] In particular embodiments of the invention, the locking mechanism comprises: a pivot joint linking the handling handle to the first or second jaw, and allowing a degree of rotational freedom of said handle relative to said jaw between two extreme angular positions, a lip extending from the handling handle towards the tool holder and an elastic element stressing said handle in rotation towards one of its extreme angular positions so that the lip cooperates with a contact surface of the tool holder by buttressing when the first and second jaws are in the guiding position.

[0067] In other words, the elastic element exerts pressure on the handling handle in such a way as to generate the phenomenon of the lip bracing against the contact surface of the tool holder.

[0068] This feature allows the needle guide to be locked in the guiding position by simple mechanical means.

[0069] Another advantage lies in the speed with which the needle guide can be unlocked to allow its movement into the release position.

[0070] Indeed, it is only necessary to apply a force that opposes the stress on the elastic organ, on the handling handle, to reduce and / or eliminate the friction that causes the wedging phenomenon.

[0071] According to another aspect, the present invention also relates to a robotic arm having at one of its ends a needle guiding device as previously described.

[0072] The robotic arm includes a control unit designed to receive information regarding the position of the first or second jaw of an optical navigation system for the needle guide device. The control unit is configured to determine the position of the moving jaw and to command the robotic arm to move into a given position based on that jaw's determined position.

[0073] In particular embodiments of the invention, the control unit is configured such that: When it determines that the first and second jaws are in the guiding position, it prohibits any movement of the robotic arm, and when it determines that the first and second jaws are in the disengagement position, it authorizes the movement of the robotic arm.

[0074] It is therefore not possible to change the position of the guide device, and therefore the axis of translation of a needle inserted in the guide conduit.

[0075] This feature also allows the position of the guide conduit to be maintained during a medical operation in order to guarantee the accuracy of the needle insertion into a target anatomical area of ​​the patient.

[0076] In addition, this feature helps prevent any injury that would be caused by any accidental movement of the robotic arm carrying a needle guide into which a needle is inserted.

[0077] When the first and second jaws are in the disengagement position, the robotic arm is free to move laterally to the patient's target anatomical area, freeing the needle from the needle guide without it coming into contact with the guide. The needle thus remains stationary during disengagement. Brief description of the figures

[0078] The invention will be better understood upon reading the following description, given by way of non-limiting example, and made with reference to the following figures: [ Fig. 1 ] there figure 1 represents an exploded perspective view of a robotic arm, a needle guide device in a first embodiment, and a tool changer interfacing between the free end of the robotic arm and the guide device; Fig. 2 ] there figure 2 represents a top-down perspective view of the guidance device of the figure 1 , the guiding device comprising a tool holder, only a portion of which is shown, and a needle guide, which is illustrated in a needle guiding position; [ Fig. 3 ] there figure 3 represents a perspective view from below of the guidance device of the figure 2 ; Fig. 4 ] there figure 4 represents a top-down perspective view of the needle guide of the guiding device of the figure 2 ; Fig. 5 ] there figure 5 represents a top-perspective view of a movable jaw of the needle guide of the figure 2 ; Fig. 6 ] there figure 6 represents a perspective view from below of a fixed jaw of the needle guide of the figure 2 [ Fig. 7 ] there figure 7 represents a perspective view of a second embodiment of a needle guidance device [ Fig. 8 ] there figure 8 represents a cross-sectional view of the needle guide device of the figure 7 [ Fig. 9 ] there figure 9 represents a perspective view of a cross-section of the device of the figure 7 .

[0079] In these figures, identical numerical references from one figure to another designate identical or analogous elements. Furthermore, for clarity, the drawings are not to scale unless otherwise indicated. Description of the implementation methods

[0080] There figure 1 This illustrates a robotic arm 10 having at its free end a needle guidance device 20, according to a first embodiment, intended to assist an operator during a medical procedure in introducing a needle into a patient's body until its insertion into a target anatomical area. Preferably, the robotic arm 10 includes a tool changer at its free end providing the interface between said free end and the guidance device 20.

[0081] The guiding device 20 comprises a tool holder 21 for attachment to the robotic arm 10, and a needle guide 22 cooperating with said tool holder 21, as illustrated by the figures 2 And 3 .

[0082] The tool holder 21 has a housing 210 extending longitudinally between two end openings leading respectively to a face called the "upper face" 211 and to a face called the "lower face" 212 of the tool holder 21. The housing 210 is defined, between its two end openings, by an internal wall 213.

[0083] The internal wall 213 has a circular cross-section in the preferred embodiment shown on the figures 1 to 3 .

[0084] The needle guide 22 is engaged in the housing 210 and comprises, in the preferred embodiment of the invention, two jaws 30, 40 fixed to each other in a freely rotational manner, between a "guiding position" in which said jaws 30, 40 define a guiding conduit 23 of a needle and a "clearance position" in which they define a lateral clearance zone of a needle.

[0085] The bits are referred to below in general as "first bit" 30 and "second bit" 40.

[0086] As illustrated by the figures 1 to 3The tool holder 21 has a through axial opening 214 extending from one end opening of the housing 210 to the other along an axis parallel to the longitudinal axis of the housing 210. Advantageously, the first jaw 30 and second jaw 40 are arranged in the housing 210 so that, when they are in the clearance position, the lateral clearance area is opposite the through axial opening 214.

[0087] Thus, a needle inserted into the guide channel 23 when the first jaws 30 and second jaws 40 are in the guide position, for the purpose of its introduction into a target anatomical area of ​​a patient, can be withdrawn laterally from the guide device 20 when the first jaws 30 and second jaws 40 occupy the clearance position, through the lateral clearance zone and the axial through opening 214, by displacement of said guide device 20.

[0088] Preferably, in a first embodiment, when the needle guide 22 is engaged in the housing 210, the first jaw 30, called the "fixed jaw" 30, is immobilized relative to the tool holder 21, and the second jaw 40, called the "moving jaw" 40, is free to rotate relative to said fixed jaw 30 along an axis of rotation parallel to the longitudinal axis of the housing 210.

[0089] More specifically, as shown by the figures 4 to 6The fixed jaw 30 and the movable jaw 40 extend between two ends, respectively called "upper end" 31, 41 and "lower end" 32, 42, along longitudinal axes parallel to the longitudinal axis of the housing 210. The said fixed jaw 30 and movable jaw 40 are respectively defined, between their upper ends 31 and 41 and lower ends 32 and 42, by a peripheral surface of which a portion called hereafter "extrados surface" 33, 43 is connected to a portion called hereafter "intrados surface" 34, 44 to which it is opposed.

[0090] It should be noted that, in this text, the relative terms "upper" and "lower" are defined such that an element called "upper" is located above an element called "lower", said relative terms relating to the position in which the robotic arm 10 and the guiding device 20 are represented on the figures 1 to 3 .

[0091] The extrados surface 33, 43 of each of the fixed jaw 30 and movable jaw 40 has a circular cross-section and is arranged opposite the internal wall 213 of the housing 210 when the needle guide 22 is engaged in the tool holder 21.

[0092] As shown by figure 4 In the preferred embodiment of the invention, the extrados surfaces 33, 43 of the fixed jaw 30 and movable jaw 40 are inscribed within a cylinder of revolution with a circular cross-section. The extrados surfaces 33, 43 and the inner wall 213 of the housing 210 are concentric when said fixed jaw 30 and movable jaw 40 are engaged in the housing 210.

[0093] In order to be engaged in the housing 210, the fixed jaw 30 and the movable jaw 40 are dimensioned so that the radius of the cross section of their extrados surface 33, 43 is less than the radius of the cross section of the internal wall 213 of said housing 210.

[0094] The intrados surfaces 34, 44 of the fixed jaw 30 and movable jaw 40 are arranged opposite each other when the needle guide 22 is engaged in the tool holder 21 and are dimensioned so as to provide a space for angular movement between said fixed jaw 30 and movable jaw 40.

[0095] Each fixed jaw 30 and movable jaw 40 comprises, on its intrados surface 34, 44, a groove 35, 45 extending along a longitudinal axis from its lower end 32, 42 to its upper end 31, 41. The grooves 35, 45 respectively have a circular cross-section of identical dimensions. Alternatively, the grooves 35, 45 may have a polygonal cross-section.

[0096] The grooves 35, 45 are arranged so that when the fixed jaw 30 and the movable jaw 40 occupy the guiding position, said grooves 35, 45 are adjacent to each other along their entire length and form the guiding channel 23 of a needle and so that when the jaws occupy the clearance position, said grooves 35, 45 are separated from each other and define between them the lateral clearance zone of a needle.

[0097] Preferably, the grooves 35, 45 are respectively arranged on a portion of the intrados surface 34, 44 of each of the fixed jaw 30 and movable jaw 40 included in a plane diametrical to the extrados surface 33, 43.

[0098] In the preferred embodiment of the invention, the fixed jaw 30 and the housing 210 have, on their respective opposite surfaces, i.e. the extrados surface 33 of the fixed jaw 30 and the internal wall 213 of the housing 210, interlocking elements 50 cooperating with each other to immobilize said fixed jaw 30 in rotation relative to the tool holder 21.

[0099] Advantageously, the interlocking elements 50 can allow a degree of translational freedom between the tool holder 21 and the fixed jaw 30 so that the needle guide 22 can be engaged in the housing 210 of the tool holder 21 in a removable manner as described in more detail below.

[0100] Preferably, the interlocking elements 50 are formed by reliefs of complementary shapes extending respectively parallel to the longitudinal axis of the fixed jaw 30 and to the longitudinal axis of the housing 210. These reliefs respectively have, for example, the shape of a tongue and a groove, the tongue being, in the preferred embodiment, arranged on the extrados surface 33 of the fixed jaw 30 and the groove being arranged on the inner wall 213 of the housing 210, as shown in the figure 2 Alternatively, the tongue is arranged on the inner wall 213 of the housing 210 and the groove is arranged on the extrados surface 33 of the fixed jaw 30.

[0101] Thus, the immobilization of the fixed jaw 30 is ensured in a simple and reliable manner.

[0102] The interlocking elements 50 can alternatively be formed by grooves arranged longitudinally opposite each other, respectively on the extrados surface 33 of the fixed jaw 30 and on the inner wall 213 of the housing 210, as illustrated in the figure 3 , and in which a key or pin is intended to be inserted.

[0103] The interlocking elements 50 have the advantage of acting as a keying device when inserting the needle guide 22 into the housing 210.

[0104] As shown by the isolated views of the fixed jaw 30 and movable jaw 40 of the figures 5 and 6 , each of said fixed jaws 30 and movable jaws 40 has an axial shoulder 36, 46 on its intrados surface 34, 44, by which said jaws cooperate with each other.

[0105] The axial shoulders 36, 46 of each of the fixed jaw 30 and movable jaw 40 extend in opposite directions from a bearing surface 360, 460 contained in a plane substantially orthogonal to the longitudinal axis of said jaws, to a surface flush with one or the other of the upper end 31, 41 and lower end 32, 42 of said fixed jaw 30 and movable jaw 40.

[0106] More specifically, as represented by the figures 4 And 6 , the axial shoulder 36 of the fixed jaw 30 extends to a surface flush with its upper end 31 and the axial shoulder 46 of the movable jaw 40 extends to a surface flush with its lower end 42. In other words, the axial shoulder 36 of the fixed jaw 30 is superimposed on that of the movable jaw 40.

[0107] In the preferred embodiment of the invention, the bearing surface 360, 460 of the axial shoulder 36, 46 of each of the fixed jaw 30 and movable jaw 40 is arranged at an equidistance between the upper ends 31, 41 and lower ends 32, 42 of said jaws.

[0108] The axial shoulders 36, 46 rest against each other by their respective bearing surfaces 360, 460 and have complementary profiles so that the fixed jaw 30 and the movable jaw 40 are at least partially interlocked with each other.

[0109] The axial shoulders 36, 46 have a central portion by which the fixed jaw 30 and the movable jaw 40 rest continuously against each other as they move between their clearance and guiding positions, as illustrated by the figure 4 .

[0110] As shown by figures 5 and 6, the right section of the intrados surface 34, 44, at the level of the central portion of each axial shoulder 36, 46, presents a circular segment, said circular segment being concentric with the right section of the extrados surface 33, 43 and that of the internal wall 213.

[0111] The axial shoulders 36, 46 also respectively have a lateral portion extending the central portion to a cylindrical surface extending in line with the extrados surface 33, 43 of the fixed jaw 30 and movable jaw 40. In other words, the cylindrical surface is inscribed in the same cylinder of revolution as the extrados surfaces 33, 43 of the fixed jaw 30 and movable jaw 40.

[0112] The lateral portion therefore has a general shape of a sector of a cylinder.

[0113] As shown by figures 5 and 6, the right section of the intrados surface 34, 44 presents, at the level of the lateral portion of each axial shoulder 36, 46, a straight segment extending the circular segment to the extrados surface 33, 43.

[0114] The lateral portions of the axial shoulders 36, 46 are configured so as to constitute an angular travel stop for the movable jaw 40 when the movable jaw 40 is in the disengagement position.

[0115] More specifically, the lateral portions are dimensioned so that, when the movable jaw 40 is in the disengagement position, they rest against each other by their bearing surface 360, 460, the lateral portion of the axial shoulder 36 of the fixed jaw 30 coming into contact with the intrados surface 44 of the movable jaw 40 and the lateral portion of the axial shoulder 46 of the movable jaw 40 coming into contact with the intrados surface 34 of the fixed jaw 30.

[0116] Preferably, the lateral portions of the axial shoulders 36, 46 are dimensioned so as to allow an angular movement of the movable jaw 40 of forty-five degrees between the guiding and disengagement positions.

[0117] This feature maximizes the contact area between the fixed jaw 30 and the moving jaw 40, and therefore provides significant precision in the movement of the moving jaw 40 when it moves between the clearance and guiding positions.

[0118] The fixed jaw 30 and the movable jaw 40 are preferably linked together in a removable manner by means of a rod 60 extending longitudinally from the fixed jaw through a housing extending axially, called the "axial housing" 47, formed in the axial shoulder 46 of the movable jaw 40, said movable jaw 40 being free to pivot around the rod 60. In other words, the rod 60 extends in the axial housing 47 along a longitudinal axis coinciding with the axis of rotation of the movable jaw 40.

[0119] More specifically, as shown by the figures 5 and 6 , the axial housing 47 is formed through the central portion of the axial shoulder 46 of the movable jaw 40.

[0120] The rod 60 extends between two ends, one of which, called the "upper end", is rigidly linked to the fixed jaw 30 and the other, called the "lower end", is freely engaged in rotation in the axial housing 47.

[0121] Thanks to this feature, the fixed jaw 30 and the movable jaw 40 can be separated from each other. This arrangement is specifically designed to increase the effectiveness of sterilizing the needle guide 22.

[0122] The lower end of the rod 60 advantageously includes a translational locking element adapted to prevent any translation between the fixed jaw 30 and the movable jaw 40. This feature aims to prevent any unintentional separation of the fixed jaw 30 and the movable jaw 40.

[0123] Such a translational locking element can be formed by a pin 61 extending radially in said rod 60 as shown in the figure 6 The pin 61 is intended to be arranged against the movable jaw 40 so as to hold said movable jaw 40 against the fixed jaw 30.

[0124] More specifically, as shown by the figure 3, the movable jaw 40 advantageously has a chamber 471 through which the axial housing 47 opens onto its lower end 42, said chamber 471 is provided to receive the pin 61 when the fixed jaw 30 is fixed to the movable jaw 40.

[0125] There figure 5 Figure 470 illustrates two diametrically opposed axial grooves extending along the entire length of the axial housing 47. These axial grooves 470 are designed to receive the sliding pin 61 during the fastening or unfastening of the fixed jaw 30 and the movable jaw 40 from each other. Alternatively, depending on the length of the pin 61, the axial housing 47 of the movable jaw 40 may comprise only a single axial groove 470.

[0126] Preferably, the axial grooves 470 are arranged within the axial housing 47 so that the fixing or unfixing of the fixed jaws 30 and movable jaws 40 with each other is possible only when said jaws are positioned angularly relative to each other at an equidistance between the clearance position and the guiding position, that is to say at mid-stroke between the two extreme positions of the movable jaw 40.

[0127] Advantageously, the movable jaw 40 includes a handling handle 49 extending radially from its extrados surface 43. The handling handle 49 allows the movable jaw 40 to be moved within the housing 210 by an operator. This handling handle 49 is designed to move through a slot 24 formed in the tool holder 21 and extending radially from the housing 210 by a portion, hereinafter referred to as the "radial portion" 240.

[0128] The light 24 thus forms a guide path for the handling handle 49 and extends over a sufficient length to allow angular movement of the movable jaw 40 between the clearance and guide positions.

[0129] As illustrated on the figures 2 And 3 , the radial portion 240 is extended, preferably at one of its ends, by a portion, called "axial portion" 241, extending axially with respect to the housing 210, until it opens onto the upper face 211 of the tool holder 21.

[0130] Such a feature is advantageous because it allows, by pivoting the handling handle 49 in the radial portion 240 of the light 24 followed by a translation of said handle in the axial portion 241 along the longitudinal axis of the housing 210, to detach the needle guide 22 from the tool holder 21. Thus, the sterilization of the tool holder 21 and the needle guide 22 can be carried out optimally.

[0131] Conversely, to engage the needle guide 22 in the tool holder 21, an operator inserts the handling handle 49 through the axial portion 241 of the light 24, by a translation of the needle guide 22 along the longitudinal axis of the housing 210, until it reaches the radial portion 240.

[0132] Advantageously, the axial portion is arranged so that the separation of the needle guide 22 and the tool holder 21 is permitted only when the movable jaw 40 is in the guiding position.

[0133] It is therefore possible to guide a needle axially directly following the installation of the needle guide 22 within the housing 210.

[0134] This avoids any risk of the needle getting stuck outside the guide channel 23 between the fixed jaw 30 and the movable jaw 40, when the said movable jaw 40 is moved towards its guide position; such a jamming could cause uncertain and potentially dangerous needle guidance for a patient.

[0135] Advantageously, in order to facilitate the engagement of the needle guide 22 in the housing 210, the fixed jaw 30 and the movable jaw 40 may include a chamfer 38, 48 extending between their lower end 32, 42 and their respective extrados surface 33, 43.

[0136] In a variant of the first embodiment of the needle guide 20, not shown in the figures, the tool holder 21 and the fixed jaw form a single piece. In this embodiment of the invention, the movable jaw corresponds to the description given above, except that its axial shoulder extends from a bearing surface to a surface flush with the upper end of said movable jaw.

[0137] In this embodiment of the invention, the axial shoulder of the fixed jaw extends from a bearing surface to a surface flush with the lower end of said fixed jaw.

[0138] It is understood here that the axial shoulder of the moving jaw is superimposed on that of the fixed jaw, that is to say that of the tool holder 21.

[0139] Furthermore, the rod is rigidly fixed to the movable jaw and is freely rotationally engaged in the axial housing of the fixed jaw. This axial housing has two diametrically opposed axial grooves extending from the bearing surface of the axial shoulder to a counterbore opening onto the lower face of the tool holder 21. Similar to the preferred embodiment of the invention, the rod has at its lower end a translational locking element, such as a pin, which the grooves are designed to receive for sliding movement during the attachment or detachment of the movable jaw from the tool holder 21.

[0140] In this embodiment of the invention, the tool holder 21 includes a sensor arranged to determine the length of the stroke of a needle moving through the guide channel when the jaws are in the guide position.

[0141] Advantageously, the sensor is connected to the control unit which determines, based on information relating to the stroke length of a needle inserted in the guide channel and based on the position of a patient's target anatomical area relative to the position of the needle guide, the position of said needle relative to said patient's target anatomical area.

[0142] The sensor can be an optical sensor, known as such to those skilled in the art, arranged to detect the movement of the needle inserted through the guide conduit by capturing images. The sensor can also be a linear measuring sensor, also known as such to those skilled in the art.

[0143] Alternatively, the tool holder 21 can integrate a linear optical encoder type sensor adapted to determine the stroke of a graduated needle moving in the guide channel by reading the graduations of said needle.

[0144] Alternatively, the sensor can be a roller driven by the needle as it is inserted through the conduit, this roller being connected to a tachometer, such as a speedometer. Knowing the diameter of the roller, the control unit can determine the length of the needle inserted through the guide conduit based on the angular displacement during the needle's movement.

[0145] THE figures 7 to 9 represent a guiding device 20 of a needle according to a second embodiment.

[0146] The guiding device 20 according to this second embodiment is consistent with the guiding device 20 according to the first embodiment in that it also has a tool holder 21, a needle guide 22 comprising a first and a second jaw 30 and 40 movable relative to each other between a guiding position and a disengagement position.

[0147] Furthermore, in this second embodiment, the second jaw 40, referred to here as the "leading jaw" 40, also includes a handling handle 49. However, the tool holder 21 does not have a slot in which the handling handle 49 moves.

[0148] The first bit 30 is called in this form of embodiment “led bit” 30.

[0149] Unlike the first embodiment, in this second embodiment, the driven jaw 30 and the driving jaw 40 are fixed in a movably rotational manner to the tool holder 21 along distinct, i.e., non-coaxial, axes of rotation. The axes of rotation of the driven jaw 30 and the driving jaw 40 are preferably parallel to each other.

[0150] The tool holder 21 includes a yoke with two lugs, an "upper lug" and a "lower lug," between which the driven jaw 30 and the driving jaw 40 are arranged. Only the upper lug is visible on the figure 7 .

[0151] The upper and lower ears have a pair of orifices, the orifices of the two pairs opposite each receiving a fixing pin, each fixing pin being engaged in a through-hole of one of the driven jaws 30 and driving jaws 40.

[0152] Thus each driven jaw 30 and driving jaw 40 is free to pivot around the spindle with which it is associated.

[0153] As shown by figures 7 to 9 , the needle guide advantageously includes a motion transmission element 70 linked to the driven jaws 30 and driving jaws 40, synchronizing the angular displacement of said driven jaws 30 and driving jaws 40 with respect to each other.

[0154] Preferably, as illustrated on the figure 8 , the motion transmission unit 70 is formed by two portions of toothed wheels respectively arranged on each of the driven jaws 30 and driving jaws 40 and in meshing relationship with each other.

[0155] Alternatively, the motion transmission organ 70 can be formed by a cam mechanism (not shown in the figures) in which a male part extending from one of the jaws, for example the driving jaw 40, cooperates with a female part extending from the other jaw, for example the driven jaw 30.

[0156] Thanks to this feature, the driven bit 30 and the leading bit 40 are animated by an angular movement symmetrical to each other, that is to say they move according to the same angle.

[0157] Thus a needle can be clamped by the grooves 35, 45 without changing the position of its longitudinal axis, which makes it possible, for example when changing a needle, to avoid any error in positioning the needle.

[0158] Furthermore, this feature allows the use of needles of different diameters. Preferably, this feature allows for guiding needles with a diameter between 11G and 21G.

[0159] An elastic element 71 is arranged against at least one of the driven jaws 30 or driving jaws 40 so as to rotate said driven jaws 30 and driving jaws 40 towards their guiding position, as shown in the figure 9 .

[0160] More particularly, the elastic element 71 can be a torsion spring arranged between the driven jaw 30 and the driving jaw 40, opposite their groove 35, 45, and each of whose ends is in contact with one of said driven jaws 30 and driving jaw 40. Alternatively, the elastic element 71 can be a compression spring.

[0161] This arrangement is advantageous in that it prevents any movement of the needle guide 22 in the release position, and therefore any accidental movement of the needle.

[0162] In addition, this feature allows the driven jaw 30 and the driving jaw 40 to be systematically brought into the guiding position, and therefore relieves an operator from having to perform this operation manually.

[0163] Advantageously, the driven jaw 30 and the driving jaw 40 have, at the junction between their intrados surface 34, 44 and their extrados surface 33, 43, teeth 37, 57 arranged so as to interpenetrate when the needle guide 22 is in the guiding position.

[0164] Thus, as illustrated on the figures 7 to 9 , each tooth 37, 57 presents a segment of a groove 35, 45, said grooves 35, 45 extending transversely with respect to teeth 37, 57.

[0165] These characteristics allow the clamping forces applied to the needle by the driven jaws 30 and driving jaw 40, in particular by the teeth 37, 57, to be distributed along said needle, and thus help to ensure the stability of the needle when it is engaged in the guide channel 23.

[0166] Preferably, grooves 35, 45 have a V-shaped cross-section.

[0167] Thus, a needle is held within the guide channel 23, between the driven jaws 30 and driving jaws 40, in the same position regardless of its diameter, for a given tool holder position 21; in other words, the position of the longitudinal axis of said needle does not depend on its diameter. Therefore, it is possible to change the needle during an operation while maintaining the same axis of translation of the needle, regardless of its diameter.

[0168] On the figures 7 and 8, the guide device 20 is shown with a locking mechanism 80 of the needle guide 22 in the guide position.

[0169] The locking mechanism 80 is configured to prevent rotation of one of the jaws, preferably the leading jaw 40, when it pivots beyond a predetermined angular position. The predetermined angular position corresponds to the position of the jaws when they are in the guiding position.

[0170] The immobilization in rotation of the driving jaw 40 allows by extension to prohibit the pivoting of the driven jaw 30 thanks to the transmission element which secures the jaws to each other.

[0171] The locking mechanism 80 advantageously ensures that the needle is held by the driven jaw 30 and the driving jaw 40, and more particularly prevents any angular movement of the needle while allowing translation along its longitudinal axis.

[0172] Thus, any accidental transverse stress on the needle cannot cause a displacement of the needle that would be likely to disengage the needle from the guide channel and ultimately injure a patient.

[0173] The locking mechanism 80 includes a pivot link connecting the operating handle 49 to the driving jaw 40. The operating handle 49 is thus free to pivot relative to said driving jaw 40 between two extreme angular positions referred to hereafter as "locking position" and "unlocking position".

[0174] The handling handle 49 advantageously has a shoulder configured to cooperate with a shoulder of the driving jaw 40 so as to prevent the handling handle from rotating relative to the driving jaw 40 when it pivots towards its unlocking position, as seen in the cross-sectional views of the figures 8 And 9 These shoulders form a first angular stop.

[0175] The handling handle 49 and the driving jaw 40 can also be configured to cooperate with each other so as to prevent the rotation of said handling handle 49 relative to the driving jaw 40 when it pivots towards its locking position, thus forming a second angular stop visible on the figure 7 .

[0176] In the example of the locking mechanism shown on the figures 7 to 9 , a lip 81 extends from the handling handle 49 towards the tool holder 21.

[0177] When the handling handle 49 is in the locking position, the lip 81 is intended to rest against a surface of the tool holder 21. For this purpose, the tool holder 21 has a contact surface 215 intended to receive said lip 81 in support.

[0178] Preferably, the contact surface 215 has a substantially concave cross-section and extends, for example, from a cavity made in the tool holder 21 to a protrusion, as shown in the figures 7 to 9 .

[0179] The tool holder 21 is configured so that, when the driven jaw 30 and the driving jaw 40 are in the disengaged position, the lip 81 is engaged in the cavity. The cavity is therefore in line with the angular stroke of the lip 81.

[0180] As shown by figures 7 to 9 , the handling handle 49 may include an opening 490 through which the tool holder protrusion is inserted when the driven jaw 30 and the driving jaw 40 move towards their clearance position.

[0181] Advantageously, the locking mechanism 80 includes an elastic element 82 which rotates said handle towards its locking position so that the lip 81 cooperates with the contact surface 215 of the tool holder 21 by butting when the driven jaw 30 and the driving jaw 40 are in the guiding position.

[0182] The elastic element 82 is preferably formed by a torsion spring arranged between the driving jaw 40 and the handling handle.

[0183] This locking mechanism 80 is advantageously effective regardless of the diameter of the needle engaged in the guide channel.

[0184] In addition, this feature allows the needle guide to be locked in the guiding position by simple mechanical means.

[0185] Another advantage lies in the speed with which the needle guide can be unlocked to allow its movement into the release position.

[0186] Indeed, it is only necessary to apply a force that opposes the stress on the elastic organ, on the handling handle, to reduce and / or eliminate the friction that causes the wedging phenomenon.

[0187] The arrangements described below may advantageously suit both embodiments of the guidance device 20 according to the present invention.

[0188] The guidance device 20 may advantageously include an optical navigation system (not shown in the figures) intended to be connected to a control unit of the robotic arm 10 determining, on the basis of information transmitted by said optical navigation system, the position of the first jaw 30 and second jaw 40 relative to each other.

[0189] The control unit is configured to control the movements of the robotic arm 10, and therefore the movements of the needle guide 22, according to the position of the first jaw 30 and second jaw 40 relative to each other.

[0190] The optical navigation system includes optical reference elements, such as spheres with a reflective surface.

[0191] The spheres are supported by branches extending from the upper end 31, 41 of each of the first jaw 30 and second jaw 40.

[0192] The optical navigation system also includes a reading module that transmits information about the position in space of each optical reference element to the control unit.

[0193] More specifically, the first jaw 30 comprises an individual optical reference element, and the second jaw 40 comprises at least one pair of optical reference elements. The pair of optical reference elements is carried by a pair of arms extending from a common arm by which they are fixed to the movable jaw 40.

[0194] Based on the information received by the reading module, the control unit is able to determine the position of the pair of reference optical elements relative to the individual reference optical element and to deduce the position of the first jaw 30 and second jaw 40 relative to each other.

[0195] The control unit is configured so that if it determines that the first jaw 30 and second jaw 40 are in the guide position, it prohibits any movement of the robotic arm 10. It is therefore not possible to change the position of the guide conduit 23, and by extension to move the axis of translation of a needle inserted in said conduit, nor to laterally release the needle from the guide.

[0196] This feature allows the position of the guide device 20 and therefore of the guide conduit 23 to be maintained during a medical operation in order to guarantee the accuracy of the needle insertion into a target anatomical area of ​​the patient.

[0197] In addition, this feature helps to prevent any accident that could be caused by the movement of a needle inserted in a needle guide 22.

[0198] The control unit is further configured so that if it determines that the first jaw 30 and second jaw 40 are in the disengagement position, it allows the movement of the robotic arm 10. It is then possible to move said robotic arm 10 laterally to the target anatomical area of ​​the patient so as to disengage the needle from the needle guide 22 without it having contact with the guiding device 20. Thus, the needle remains immobile during its disengagement.

[0199] This feature helps prevent any accidents that could be caused by the movement of a needle inserted into a target anatomical area.

[0200] More generally, it should be noted that the implementation and embodiment methods of the invention considered above have been described by way of non-limiting examples and that other variations are therefore conceivable. The invention is defined by the attached claims.

Claims

1. Device (20) for guiding a needle comprising a tool holder (21) intended to be attached to the end of a robotic arm (10) for medical assistance, said tool holder (21) supporting a needle guide (22), said needle guide (22) comprising a first jaw (30) and a second jaw (40) respectively comprising a groove (35, 45), said grooves extending along parallel longitudinal axes, said first jaw (30) and second jaw (40) being supported by the tool holder so as to allow the rotational movement of said first jaw (30) and second jaw (40) relative to one another between a so-called "guide position", in which the grooves (35, 45) are adjacent and define a guide channel (23) of a needle, and a so-called "disengaged position" in which the grooves (35, 45) are spaced apart from one another and define a needle lateral disengagement zone, characterized in that the guide device (20) comprises an optical navigation system intended to be connected to a control unit of the robotic arm (10) determining, based on information transmitted by said optical navigation system, the position of the first jaw (30) and second jaw (40) relative to one another.

2. Device (20) for guiding a needle according to claim 1, wherein the optical navigation system comprises optical reference elements.

3. Device (20) for guiding a needle according to claim 2, wherein the optical reference elements are spheres with a reflective surface.

4. Device (20) for guiding a needle according to claim 3, wherein the spheres are supported by arms extending from an upper end (31, 41) of each of the first jaw (30) and second jaw (40).

5. Device (20) for guiding a needle according to any one of claims 2 to 4, wherein the first jaw (30) comprises an individual optical reference element and the second jaw (40) comprises at least one pair of optical reference elements.

6. Device (20) for guiding a needle according to claim 5, wherein the pair of optical reference elements is supported by a pair of arms extending from a common arm by which they are attached to the second jaw (40).

7. Device (20) for guiding a needle according to any one of claims 2 to 6, wherein the optical navigation system comprises a reading module for transmitting to the control unit information relating to the spatial position of each optical reference element.

8. Robotic arm (10) comprising, at one of its ends, a device (20) for guiding a needle according to any one of claims 1 to 7.

9. Robotic arm (10) according to claim 8, comprising a control unit connected to the device (20) for guiding a needle and determining, based on information transmitted by the optical navigation system of said device (20) for guiding a needle, the position of the first jaw (30) and second jaw (40) relative to one another.

10. Robotic arm (10) according to claim 9, wherein, when the device (20) for guiding a needle is according to claims 6 and 7, the control unit is able to determine, based on the information received by the reading module, the position of the pair of optical reference elements relative to the individual optical reference element and to deduce therefrom the position of the first jaw (30) and second jaw (40) relative to one another.

11. Robotic arm (10) according to claim 9, wherein the control unit is configured to control the movements of the robotic arm (10), and therefore the movements of the needle guide (22), according to the position of the first jaw (30) and second jaw (40) relative to one another.

12. Robotic arm (10) according to claim 11, wherein the control unit is configured to prohibit any movement of the robotic arm (10) when it determines that the first jaw (30) and second jaw (40) are in the guiding position.

13. Robotic arm (10) according to claim 11, wherein the control unit is configured to allow the movement of the robotic arm (10) when it determines that the first jaw (30) and second jaw (40) are in the disengaged position.