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

Abstract

The invention relates to a catheter robot (1) comprising: - a drive module (2) for simultaneously or alternately driving an elongate flexible medical instrument in translation along a main axis of extension of the elongate flexible medical instrument and in rotation about the main axis of extension of the elongate flexible medical instrument, - a human-machine interface (4) for controlling the drive module, characterised in that the human-machine interface (4) is designed so as, in a first operating mode: - to control the speed of the elongate flexible medical instrument when it is driven in translation along the main axis of extension, - to control the position of the elongate flexible medical instrument when it is driven in rotation about the main axis of extension.

Description

[0001] DESCRIPTION

[0002] TITLE: ROBOT CATHETER AND HUMAN MACHINE INTERFACE

[0003] CONTROL OF AN INSTRUMENT DRIVE MODULE

[0004] MEDICAL SOFT EXTENDED

[0005] FIELD OF THE INVENTION

[0006] The invention relates to a catheter robot and a human-machine interface for controlling a drive module of an elongated flexible medical instrument.

[0007] TECHNOLOGICAL BACKGROUND OF THE INVENTION

[0008] The introduction of an elongated flexible medical device into a blood vessel, artery or vein, of a patient is generally monitored under X-rays. In order to prevent the surgeon or another practitioner in charge of this introduction from being subjected to too many X-rays, it is known to use a catheter robot equipped with a drive module for the elongated flexible medical instrument, allowing the practitioner to remotely manipulate the elongated flexible medical instrument, thus performing a remote diagnosis or a remote intervention. The drive module transmits to the elongated flexible medical instrument introduced into the blood vessel a translational movement and / or a rotational movement which can possibly be combined together.

[0009] The translational movement allows the elongated flexible medical instrument to move forward and backward within the blood vessel into which it is inserted. The rotational movement facilitates these movements of the elongated flexible medical instrument even in areas of the blood vessel that are highly stenosed or have significant tortuosity, as well as when passing through branches between blood vessels.

[0010] The translational and rotational movements of the elongated flexible medical instrument are usually controlled by a mobile control member which is actuated by the practitioner during the intervention on the patient.

[0011] According to a first prior art, the control member is configured to control, in position, the translational and rotational movements of the elongated flexible medical instrument. When the movements of the elongated flexible medical instrument are controlled in position, a movement of the control member causes a movement of the elongated flexible medical instrument with an amplitude which is proportional to the amplitude of movement of the control member. A disadvantage of this first prior art is that the translational movement, although precise, can become too slow at certain times, in particular at the beginning of the introduction of the catheter into the patient, when the catheter must reach the particular area of ​​the patient's blood system in which it will be used. According to a second prior art, the control member is configured to control, in speed, the translational and rotational movements of the elongated flexible medical instrument.When the movements of the elongated flexible medical instrument are controlled by speed, the movement of the control member causes the elongated flexible medical instrument to move at a speed proportional to the amplitude of movement of the control member. A disadvantage of this second prior art is that the rotational movement, although rapid, may lack precision at certain times, in particular when passing branches when the catheter is in the process of reaching the particular area of ​​the patient's blood system in which it will be used.

[0012] The aim is to obtain a method of driving the elongated flexible medical instrument which can be both sufficiently precise and sufficiently fast, at least in most usage situations, while offering the practitioner good ergonomics for driving this elongated flexible medical instrument.

[0013] The performance of a set of tests, with a panel of practitioners, taking into account most of the usual situations of use of the elongated flexible medical instrument, revealed, surprisingly, that the configuration considered as achieving the best overall compromise between on the one hand drive efficiency and on the other hand piloting ergonomics, is a configuration in which: the translation drive of the elongated flexible medical instrument is controlled in speed, while the rotation drive of the elongated flexible medical instrument is controlled in position.

[0014] On the one hand, the position control of the rotation of the elongated flexible medical instrument allows it to be rotated around its axis with a rotation angle proportional to the rotation amplitude of the control member, which allows the practitioner to turn the elongated flexible medical instrument by a precise rotation angle in an intuitive manner.

[0015] On the other hand, the speed control of the translation of the elongated flexible medical instrument allows it to be moved inside the corresponding blood vessel at a speed proportional to the amplitude of movement of the control member, which allows the movement of the elongated flexible medical instrument over a long distance from a compact control member.

[0016] Furthermore, thanks to the speed control it is possible to adapt the translation speed of the elongated flexible medical instrument according to the area of ​​the blood vessel that it crosses. For example, to cross curved areas of the vessel, the translation speed of the elongated flexible medical instrument can be reduced to avoid damaging the wall of the blood vessel by a collision between the elongated flexible medical instrument and this wall. Consequently, the present invention makes it possible, thanks to the combination of the speed control of the translation of the elongated flexible medical instrument and the position control of the rotation of the elongated flexible medical instrument, to obtain a catheter robot having a better compromise between good precision achieved and great simplicity of use by the practitioner, resulting in a catheter robot that is both efficient and ergonomic.

[0017] OBJECTS OF THE INVENTION

[0018] The aim of the present invention is to provide a catheter robot and a human-machine interface for controlling a drive module of an elongated flexible medical instrument which at least partially overcomes the drawbacks of the aforementioned prior arts.

[0019] According to the invention, a catheter robot is provided comprising: a module for driving an elongated flexible medical instrument, in translation along a main axis of elongation of said elongated flexible medical instrument and in rotation around the main axis of elongation of said elongated flexible medical instrument, simultaneously or alternatively, a human-machine interface for controlling said drive module, characterized in that said human-machine interface is structured so as to, in a first operating mode: control, in speed, the translational drive of said elongated flexible medical instrument, control, in position, the rotational drive of said elongated flexible medical instrument.

[0020] As explained previously, thanks to the combination of speed control of the translation of the elongated flexible medical instrument and position control of the rotation of the elongated flexible medical instrument, the resulting catheter robot presents a better compromise between good precision achieved and great ease of use by the practitioner, resulting in a catheter robot that is both efficient and ergonomic.

[0021] According to preferred embodiments, the invention comprises one or more of the following features which can be used separately or in partial combination with each other or in total combination with each other, with the above-mentioned object of the invention.

[0022] Preferably, said elongated flexible medical instrument is a catheter guide, and / or said elongated flexible medical instrument is a guide catheter or a micro-catheter.

[0023] Preferably, said human-machine interface comprises a mobile control member which is intended to be manipulated by the hand of a user, and which is structured in such a way that, in the first operating mode: a translational movement of said mobile control member with a translational amplitude causes a translational movement of said elongated flexible medical instrument with a speed proportional to said translational amplitude, a rotational movement of said mobile control member with a rotational amplitude causes a rotational movement of said elongated flexible medical instrument with a rotational angle proportional to said rotational amplitude.

[0024] Thus, a fairly elaborate kinematics of simultaneous translational and rotational movement can be achieved by a simple and robust structure of the drive member.

[0025] Preferably, said human-machine interface is structured so as to control, in position, the rotational drive of said elongated flexible medical instrument, with a coefficient of proportionality between on the one hand the rotational movement of said control member and on the other hand the rotational movement of said elongated flexible medical instrument, said coefficient of proportionality being modifiable by a selection of the user of the catheter robot.

[0026] Preferably, said human-machine control interface comprises: a drive control member, in translation and in rotation, of said elongated flexible medical instrument, a safety element, making it possible to block or unlock the drive of said elongated flexible medical instrument by said drive control member.

[0027] The control member is inherently sensitive. Thanks to the safety element, unintentional triggering of the drive of the elongated flexible medical instrument by the control member can be more easily avoided. Preferably, the safety element at least prevents unintentional triggering of the translational drive of the elongated flexible medical instrument. Since this translation is controlled by speed, there is a greater risk (than for a positional control) for the health of the patient in the event of unintentional triggering.

[0028] Preferably, said security element comprises a security surface capable of detecting contact or pressure from a user's hand so as to unlock said drive control member, said security surface preferably being a touch-sensitive surface, or a capacitive touch-sensitive surface, or a capacitive touch-sensitive surface covered with a coating including titanium, or a capacitive touch-sensitive surface covered with a titanium paint.

[0029] The safety element therefore offers both ease of use and high operating efficiency.

[0030] Preferably, said human-machine control interface includes haptic feedback for only the translation of the elongated flexible medical instrument, preferably in the form of vibrations, or preferably in the form of vibrations whose frequency is proportional to the translation speed of the elongated flexible medical instrument. The user of the catheter robot thus receives feedback on the translational drive that he has commanded, which allows him to verify that this drive is indeed taking place in the manner that he intended.When the vibrations have a frequency proportional to the translational speed of the elongated flexible medical instrument, it is possible to detect the passage of the elongated flexible medical instrument in tortuous or stenotic areas, which allows the user to know when it is appropriate to modify or adapt the control of the translational drive of the elongated flexible medical instrument and / or to control the rotation of the elongated flexible medical instrument.

[0031] Preferably, the human-machine interface is structured so as to, in a second operating mode: control, in speed, the translational drive of said elongated flexible medical instrument, control, in speed, the rotational drive of said elongated flexible medical instrument.

[0032] Preferably, said human-machine control interface includes a rod: which is movable in translation by the hand of a user so as to drive said elongated flexible medical instrument in translation, which is movable in rotation by the hand of a user so as to drive said elongated flexible medical instrument in rotation, and which preferably comprises a touch surface.

[0033] The shaft preferably has an elongated shape like the elongated flexible medical instrument. This makes the drive control of the elongated flexible medical instrument more ergonomic.

[0034] Preferably, said rod comprises two parts sliding one inside the other: a first part which is movable in translation and in rotation and which is intended to be manipulated by the hand of a user, a second part which is coupled in rotation with said first part, and which is decoupled in translation from said first part so as to remain fixed in translation.

[0035] The two parts of the rod sliding into each other, and the second part of the rod being decoupled in translation from the first part, the size of the human-machine interface can be reduced while guaranteeing effective control of the translational and rotational drive of the elongated flexible medical instrument.

[0036] Preferably, said human-machine interface also comprises a rotating ring arranged around said rod, the angle of rotation of said rotating ring around said rod being representative of the rotation speed selected for said elongated flexible medical instrument, during a speed control of the rotational drive of said elongated flexible medical instrument.

[0037] Preferably, said human-machine interface also comprises an elastic return element, in the rest position, of said rotating ring arranged around said rod, the elastic return element preferably comprising a return spring.

[0038] The rest position corresponds to the position of the rotating ring before its rotational movement. In other words, in the rest position, the rotational movement speed of the elongated flexible medical instrument is zero. Also, thanks to the elastic return element, it is possible to stop the rotational drive of the elongated flexible medical instrument when the user stops actuating the rotating ring. In addition, the elastic return element also makes it possible to reduce the overall size of the human-machine interface because it makes it possible to reduce the size and stroke of the rotating ring.

[0039] Preferably, said human-machine control interface includes a crank which is rotatable by the hand of a user so as to drive said elongated flexible medical instrument in rotation.

[0040] Preferably, said human-machine control interface also includes an elastic return element, in the rest position, for driving in translation only, said movable control member or said rod, said elastic return element preferably comprising a return spring.

[0041] The rest position corresponds to the position of the movable control member or the rod before their translational movement. In other words, in the rest position, the speed of translational movement of the elongated flexible medical instrument is zero. Also, thanks to the elastic return element, it is possible to stop the translational drive of the elongated flexible medical instrument when the user stops actuating the movable control member. In addition, the elastic return element also makes it possible to reduce the overall size of the human-machine interface because it makes it possible to reduce the size and travel of the movable control member.

[0042] The angle of rotation of the control member or rod before returning them to the rest position is thus maintained.

[0043] Preferably, the catheter robot also comprises another module for driving another elongate flexible medical instrument, in translation along a main axis of elongation of said other elongate flexible medical instrument and in rotation around the main axis of elongation of said other elongate flexible medical instrument, said human-machine interface also controlling said other drive module and being structured so as to, in the first operating mode: control, in speed, the translational drive of said other elongate flexible medical instrument, control, in position, the rotational drive of said other elongate flexible medical instrument.

[0044] The catheter robot can therefore be equipped with two separate medical instruments, the translational drive of which is speed-controlled and the rotational drive of which is position-controlled. Additional functionalities can therefore be added to the catheter robot. Furthermore, the same human-machine interface can control the drive of both medical instruments, which reduces the overall size of the catheter robot.

[0045] Preferably, the catheter robot comprises at least one additional module for driving, in translation, an additional elongated flexible medical instrument, said additional elongated flexible medical instrument surrounding, over part of its length, said elongated flexible medical instrument, said human-machine interface also controlling said additional drive module, said human-machine interface being structured to control, in speed, the translational drive of said additional elongated flexible medical instrument.

[0046] Since the additional drive module is also controlled by the same human-machine interface as the first drive module, the overall footprint of the catheter robot is reduced. In addition, thanks to the additional drive module and the additional elongated flexible medical instrument, it is possible to add additional functionalities to the catheter robot.

[0047] Preferably, said additional elongated flexible medical instrument is a catheter, preferably a stent or balloon catheter.

[0048] Preferably, said human-machine control interface also includes a wheel which is rotatable by the hand of a user so as to control the speed and drive the translation of said additional elongated flexible medical instrument.

[0049] The thumbwheel has the advantage of being simple to use and having a particularly small footprint. This provides, for a simple control, such as the translation of the additional elongated flexible medical instrument, an improvement in the compromise between simplicity of use and the overall footprint of the human-machine interface of the catheter robot. Preferably, said human-machine control interface also includes an additional elastic element for returning the thumbwheel to the rest position, which preferably comprises one or more additional return springs.

[0050] The rest position corresponds to the position of the wheel before moving it in rotation. In other words, in the rest position, the translational movement speed of the additional elongated flexible medical instrument is zero. Also, thanks to the additional elastic return element, it is possible to stop the translational drive of the additional elongated flexible medical instrument when the user stops actuating the wheel. In addition, the additional elastic return element also makes it possible to reduce the overall size of the human-machine interface, because it makes it possible to reduce the size and travel of the wheel.

[0051] Preferably, said human-machine interface is structured so as to: only control, in speed, the translational drive of said elongated flexible medical instrument, only control, in position, the rotational drive of said elongated flexible medical instrument.

[0052] Preferably, said human-machine interface is structured, in a third operating mode, so as to control, in position, the translational drive of said elongated flexible medical instrument, step by step, that is to say by displacement of a predetermined step at each pulse received by the human-machine interface, control, in position, the rotational drive of said elongated flexible medical instrument, step by step, that is to say by displacement of a predetermined step at each pulse received by the human-machine interface.

[0053] According to another aspect, the invention relates to a human-machine interface for controlling a drive module of an elongate flexible medical instrument, in translation along a main axis of elongation of said elongate flexible medical instrument and in rotation around the main axis of elongation of said elongate flexible medical instrument, in a catheter robot, characterized in that it is structured so as to, in a first operating mode: control, in speed, the translational drive of said elongate flexible medical instrument, control, in position, the rotational drive of said elongate flexible medical instrument.Preferably, the human-machine interface comprises a mobile control member which is intended to be manipulated by the hand of a user, and which is structured in such a way that, in the first operating mode: a translational movement of said mobile control member with a translational amplitude causes a translational movement of said elongated flexible medical instrument with a speed proportional to said translational amplitude, a rotational movement of said mobile control member with a rotational amplitude causes a rotational movement of said elongated flexible medical instrument with a rotational angle proportional to said rotational amplitude.

[0054] Other characteristics and advantages of the invention will appear on reading the following description of a preferred embodiment of the invention, given by way of example and with reference to the appended drawings.

[0055] BRIEF DESCRIPTION OF THE DRAWINGS

[0056] [Fig. 1] Figure 1 schematically represents an example of a catheter robot according to an embodiment of the invention.

[0057] [Fig. 2] Figure 2 represents a schematic longitudinal sectional view of an example of an elongated flexible medical instrument.

[0058] [Fig. 3] Figure 3 is a schematic perspective view of an example of a human-machine interface of the catheter robot of Figure 1 according to one embodiment of the invention.

[0059] [Fig. 4] Figure 4 is a schematic perspective view of an example of a portion of a movable control member, or drive control member, of the human-machine interface of Figure 3.

[0060] [Fig. 5] Figure 5 is a schematic perspective view of an example of a mobile control member or drive control member of the human-machine interface of Figure 3.

[0061] [Fig. 6] Figure 6 represents a schematic side view of an example of a human-machine interface of the catheter robot of Figure 1 according to another embodiment of the invention.

[0062] [Fig. 7] Figure 7 represents a schematic side view of an example of a human-machine interface of the catheter robot of Figure 1 according to another embodiment of the invention.

[0063] [Fig. 8] Figure 8 schematically represents an example of a catheter robot according to another embodiment of the invention. [Fig. 9] Figure 9 is a schematic perspective view of an example of a human-machine interface of the catheter robot of Figure 8 according to an embodiment of the invention. DETAILED DESCRIPTION OF THE EMBODIMENTS OF THE INVENTION

[0064] In the various figures, the same references designate identical or similar elements.

[0065] Figure 1 schematically represents a catheter robot 1 according to a first embodiment of the invention. The catheter robot 1 comprises a drive module 2 for an elongated flexible medical instrument 3 (illustrated in Figure 2) and a human-machine interface 4 for controlling the drive module 2.

[0066] The elongated flexible medical instrument 3 may, for example, be an organ to be introduced into a canal of a patient, and to be moved in this canal, in particular an artery or a vein of the patient. As illustrated in FIG. 2, the elongated flexible medical instrument 3 extends along an axis A, called the main axis of elongation.

[0067] Preferably, the elongated flexible medical instrument 3 comprises a catheter guide, and / or a guide catheter, and / or a micro-catheter. The elongated flexible medical instrument 3 may, also or alternatively, comprise a catheter, for example of the balloon or stent type. In the non-limiting example of Figure 2, the elongated flexible medical instrument 3 comprises a guide catheter 3-1, a micro-catheter 3-2 and a coaxial catheter guide 3-3 of axis A. The guide catheter 3-1 and the micro-catheter 3-2 are hollow at least over a portion close to the patient when the elongated flexible medical instrument 3 is introduced into the patient. The catheter guide 3-3 may be a solid metal wire. The diameter of the 3-1 guide catheter is larger than the diameter of the 3-2 microcatheter, and the diameter of the 3-3 catheter guide is smaller than the diameter of the 3-3 microcatheter.The catheter guide 3-3 is thus inserted, at least partially, into the microcatheter 3-2 which is in turn inserted, at least partially, into the guide catheter 3-1.

[0068] Advantageously, the drive module 2 is structured so as to be able to be connected to the elongated flexible medical instrument 3. As will be detailed, the drive module 2 is configured to move the elongated flexible medical instrument 3 in translation along the main axis of elongation A, and / or in rotation around the main axis of elongation A.

[0069] In some cases, the catheter robot 1 may further comprise an additional drive module 2' for an additional elongated flexible medical instrument.

[0070] Advantageously, the additional elongated flexible medical instrument surrounds the elongated flexible medical instrument 3, at least over a portion of the length of the elongated flexible medical instrument 3. Also, the additional elongated flexible medical instrument is for example a catheter, preferably a stent or balloon catheter.

[0071] The additional drive module 2' is structured so as to be connectable to the additional elongated flexible medical instrument. The additional drive module 2' is configured to move the additional elongated flexible medical instrument in translation.

[0072] As will be detailed, the human-machine interface 4 is also configured to control the additional drive module 2'.

[0073] Now the human-machine interface 4 will be described with reference to figures 3 to 5.

[0074] The human-machine interface 4 comprises a control member 5 for the elongated flexible medical instrument 3. The control member 5 is for example connected to a housing 6 of the human-machine interface 4.

[0075] Preferably, the control member 5 is a mobile control member intended to be manipulated by a user of the catheter robot 1. For example, the control member 5 can be manipulated by a hand of the user. By “manipulate” is meant here that a force is exerted by the user voluntarily on the control member 5.

[0076] As will be detailed, the manipulation of the control member 5 drives the elongated flexible medical instrument 3 in translation along the main axis of elongation A and / or in rotation around this axis A. In particular, from the control member 5, the translation of the elongated flexible medical instrument 3 along its main axis of elongation A can be controlled in one direction or the other (advance or withdrawal). Similarly, from the control member 5, the rotation of the elongated flexible medical instrument 3 around its main axis of elongation A can be controlled in one direction or the other (clockwise or counterclockwise). Also, the control member 5 is in particular a control member for driving, in translation and in rotation, the elongated flexible medical instrument 3.As will be detailed, the control member 5 can be used to control the translation and / or rotation of the elongated flexible medical instrument 3 using two types of commands: a position command or a speed command. These types of commands are described below.

[0077] Advantageously, the control member 5 has an elongated shape like the elongated flexible medical instrument 3. This makes the control of the drive of the elongated flexible medical instrument 3 more ergonomic.

[0078] In Figures 3 to 5, the movable control member 5 comprises a rod 7 extending along a longitudinal axis B. The rod 7 has, for example, a generally cylindrical shape. In some cases, the rod 7 is formed from a single piece. In other cases, the rod 7 is formed by several separate pieces connected together, as will be detailed later with reference to Figure 4.

[0079] The rod 7 is partially introduced inside the housing 6 of the human-machine interface 4. Advantageously, a first end portion 7-1 of the rod 7 is inserted into the housing 6, a second end portion 7-2 opposite the first end portion of the rod 7 being external to the housing 6. The user of the catheter robot 1 can thus manipulate the rod 7 by its second end portion 7-2.

[0080] The manipulation of the rod 7 may comprise the displacement of the rod 7 or a part thereof in translation along its longitudinal axis B in one direction or the other (advance or withdrawal). The manipulation of the rod 7 may also comprise the displacement of the rod 7 or a part thereof in rotation about this longitudinal axis B in one direction or the other (clockwise or counterclockwise). As will be explained subsequently, the rod 7 is structured in such a way that the displacement of the rod 7 (or a part thereof) in translation along the axis B or in rotation about the axis B controls a displacement of the elongated flexible medical instrument 3 in, respectively, translation along its main axis of elongation A or rotation about the main axis of elongation A.

[0081] In the non-limiting example embodiment illustrated by figure 4, the rod 7 comprises a first part 8 and a second part 9. The first part 8 and the second part 9 form two separate parts.

[0082] The first part 8 and the second part 9 each comprise a side wall, preferably substantially cylindrical.

[0083] The first part 8 of the rod 7 is hollow at least at one end portion, so as to form a cavity 10 extending substantially parallel to the axis B and delimited by the side wall of the first part 8.

[0084] At least one hole 11, for example circular, passes through the side wall of the first part 8 between the outside of the rod 7 and the cavity 10. Advantageously, two holes 11 arranged opposite each other perpendicular to the axis B pass through the side wall of the first part 8.

[0085] The second part 9 is preferably hollow, so as to form a cavity 12 extending substantially parallel to the axis B and delimited by the side wall of the second part 9.

[0086] Preferably, a cross-section of the second part 9 is smaller than the cross-section of the cavity 10 of the first part 8. The second part 9 can therefore be introduced, at least partially, into the cavity 10. Advantageously, a clearance exists between the side wall of the first part 8 and the side wall of the second part 9 when the second part 9 is introduced into the first part 8.

[0087] As can be seen from Figure 4, the second part 9 comprises at least one slot 13 passing through the side wall of the second part 9 between the outside of the rod 7 and the cavity 12. Advantageously, two slots 13 arranged opposite each other perpendicular to the axis B pass through the side wall of the second part 9.

[0088] Each hole 11 and each slot 13 comprises a first dimension, here called "length", which extends substantially parallel to the longitudinal axis B of the rod 7. Each hole 11 and each slot 13 also comprises a second dimension, here called "width", which extends around the longitudinal axis B in a plane substantially perpendicular to the axis B. Advantageously, the width of each slot 13 is substantially equal to the width of each hole 11, while the length of each slot 13 is greater than the length of each hole 11.

[0089] As can be seen from Figure 4, a pin 14 connects the first part 8 and the second part 9 of the rod 7 together. The pin 14 passes through each hole 11 and each slot 13. Advantageously, the pin 14 is mounted tightly or adjusted in each hole 11.

[0090] In this configuration of the rod 7, the second end portion 7-2 of the rod 7 outside the housing 6 may comprise an end portion of the first part 8, the remainder of the first part 8 and the second part 9 forming the first end portion 7-1. Also, the first part 8 is partially outside the housing 6, which allows the user of the catheter robot 1 to manipulate the rod 7 from a force exerted on the first part 8.

[0091] The first part 8 can be manipulated so as to move it in translation along the axis B, in one direction or the other (advance or withdrawal).

[0092] As indicated previously, the length of each slot 13 is greater than the length of each hole 11. The first part 8 can therefore slide on the second part 9 during its translational movement along the axis B without the second part 9 of the rod 7 moving integrally with the first part 8. Consequently, the second part 9 is decoupled in translation from the first part 8.

[0093] The pin 14 being mounted tightly or adjusted in each hole 11, the translation of the first part 8 on the second part 9 causes a fixed displacement of the pin 14 along each slot 13. The translation of the first part 8 along the axis B is prevented in a given direction when the pin 14 comes into abutment against one of the ends of the slot 13. In such a case, the first part 8 can be moved in translation along the axis B in the opposite direction until the pin 14 comes into abutment against the other end of the slot. Thanks to the sliding of the first part 8 on the second part 9, the control member 5 can be compacted relative to a control member in which the entire rod 7 moves in translation along the axis B.

[0094] The first part 8 can also or alternatively be manipulated so as to move it in rotation around the axis B, in one direction or the other (clockwise or counterclockwise).

[0095] As explained previously, the width of each slot 13 is preferably substantially equal to the width of each hole 11. Furthermore, the pin 14 is mounted tightly or adjusted in each hole 11. Thus, any rotation of the first part 8 around the axis B causes a rotation of the pin 14 and the second part 9. The second part 9 is therefore coupled in rotation with the first part 8.

[0096] As visible in Figure 5, the control member 5 may further comprise a support 15 intended to be installed inside the housing 6 of the human-machine interface 4. The rod 7 extends partially inside the support 15. For example, the support 15 may be positioned around the rod 7 so that the end portion 7-2 outside the housing 6 is also arranged outside the support 15.

[0097] The support 15 may comprise a first base 16 and a second base 17 arranged substantially perpendicular to the axis B, in particular facing each other. Advantageously, the first base 16 and the second base 17 each comprise a respective through hole (not visible) through which the rod 7 passes. Advantageously, the through holes of the support 15 have a shape such that the rod 7 can slide therein.

[0098] The through hole of each base 16, 17 is preferably substantially opposite the hole of the other base 17, 16. Each hole passes through the respective base 16, 17 preferably substantially parallel to the axis B. The holes of the bases 16, 17 make it possible to guide the translation of the rod 7, or of one of the parts thereof, along the axis B.

[0099] One or more bars 18 connect the bases 16, 17 together. In this case, three bars 18 are provided, without this being limiting. Preferably, each bar 18 extends substantially parallel to the axis B.

[0100] A potentiometer 19 may be provided in the control member 5. The potentiometer 19 may be connected to the support 15. In the example of FIG. 5, the potentiometer 19 extends substantially parallel to the axis B and is connected to each of the bases 16, 17 of the support 15. The potentiometer 19 is preferably of the linear type.

[0101] As can be seen from Figure 5, the potentiometer 19 is connected to the rod 7. For this purpose, a pivot 20 can be arranged around the rod 7. The pivot 20 is connected, directly or indirectly, to the potentiometer 19 so that it can slide along the potentiometer. In the example of Figure 5, a transmission shaft 21 connects the pivot 20 and the potentiometer 19 in a sliding manner.

[0102] The pivot 20 is for example connected to the rod 7 by the pin 14. Advantageously, the pivot 20 is connected to the rod 7 so as to be moved in translation along the axis B integrally with the rod 7. Also, when the rod 1 is translated along the axis B, the pivot 20 follows the same movement, which varies the resistance of the potentiometer 19. The resistance of the potentiometer therefore varies according to the position of the rod 7 along the axis B. In other words, the amplitude and the direction of the translation along the axis B of the rod 7 (or a part thereof) are detected by the potentiometer 19 and translated into a variation of its resistance. Depending on the variation in resistance of the potentiometer 19, the translation amplitude or the translation speed of the elongated flexible medical instrument 3 along its axis A vary.

[0103] It is noted that when the rod 7 comprises two parts, only one of which is configured to be moved in translation along the axis B, like the first part 8 of FIG. 4, the pivot 20 is connected to the part of the rod that can be moved in translation along the axis B. This makes it possible to vary the resistance of the potentiometer 19 as soon as the rod is moved, even if only partially, along the axis B.

[0104] The pivot 20 is advantageously decoupled in rotation around the axis B of the rod 7. More preferably, the pivot 20 is immobile in rotation around the axis B.

[0105] The control member 5 may further comprise a quadrature encoder 22. The quadrature encoder 22 is connected to the rod 7. For example, the quadrature encoder 22 is connected to the end of the rod opposite the end portion 7-2 outside the housing 6 of the human-machine interface 4.

[0106] The quadrature encoder 22 is configured to measure an amplitude and a direction of rotation of the rod 7 about the axis B. The quadrature encoder 22 can be configured to convert the measured amplitude of rotation of the rod 7 into an amplitude of rotation or a speed of rotation of the elongated flexible medical instrument 3 about its main axis of elongation 1.

[0107] In certain cases, at least one elastic return element 23, in the rest position, of the control member 5, in particular of the rod 7, may be provided. In the present text, the rest position of the rod 7 means the position of the rod 7 prior to any translational movement of the latter, or of one of its parts, along the axis B. In other words, in its rest position, the rod 7 is in the position in which it is before the application of any force causing the translational movement along the longitudinal axis B of the rod 7 or of a part thereof. In Figure 5, each elastic return element 23 is a return spring arranged around one of the bars 18 of the support 15, without this being limiting.

[0108] As indicated, the displacement of the rod 7 (or a part thereof) in translation along the axis B or in rotation about the axis B causes a displacement of the elongated flexible medical instrument 3 in translation along its main axis of elongation A or in rotation about the main axis of elongation A respectively. Thanks to the elastic return element 23, as soon as the user of the catheter robot stops manipulating the rod 7, the rod 7 gradually moves along the axis B to its rest position. As will be detailed, this can cause a progressive reduction in the speed of movement of the elongated flexible medical instrument 3 to a zero speed, or a recoil of the elongated flexible medical instrument 3 inside the channel in which it moves.

[0109] The human-machine interface 4 may comprise a safety element, making it possible to block or unlock the driving of the elongated flexible medical instrument 3 by the control member 5, in this case the rod 7.

[0110] The security element comprises a security surface 24. In some cases, the security surface 24 is a touch-sensitive surface. In other cases, the security surface 24 is a capacitive touch-sensitive surface. In other cases, the security surface 24 is a capacitive touch-sensitive surface coated with titanium paint.

[0111] The safety surface 24 is capable of detecting contact or pressure from the hand or another part of the user's body. When such contact or pressure is detected, the driving of the elongate flexible medical instrument 3 by the control member 5 is unlocked. Thus, the translation of the rod 7 or a part thereof along the axis B or its rotation around the axis B causes the displacement of the elongate flexible medical instrument 3 in, respectively, translation along the axis A or rotation around the axis A. On the contrary, when such contact or pressure is not detected, the driving of the elongate flexible medical instrument 3 by the control member 5 is blocked. This prevents an involuntary displacement of the rod 7, in translation and / or in rotation, from triggering the movement of the elongate flexible medical instrument 3 in, respectively, translation and / or rotation.

[0112] In some cases, if no contact or pressure from the user's hand (or another part of his body) is detected by the safety surface 24, only the translational drive of the elongated flexible medical instrument 3 is blocked. Indeed, an untimely triggering of the translation of the elongated flexible medical instrument 3 in the patient's channel presents a greater risk to the patient's health than an untimely triggering of the rotation of the elongated flexible medical instrument 3, in particular when the translation is controlled in speed. In the non-limiting example of FIG. 3, the safety surface 24 comprises a first zone 24-1, a second zone 24-2 and a third zone 24-3.

[0113] The first zone 24-1 is arranged on an edge of the housing 6. The second zone 24-2 is arranged on a surface of the housing 6 which is substantially perpendicular to the first zone 24-1. Preferably, the second zone 24-2 is substantially horizontal in the usual position of use of the human-machine interface 4. The third zone 24-3 is included in the end portion 7-2 of the rod 7 outside the housing 6. In this example, the driving of the elongated flexible medical instrument 3 by the control member 5 is unlocked when the pressure or contact of the user's hand is detected on the third zone 24-3 included in the rod 7 and on at least one of the first zone 24-1 and the second zone 24-2. On the contrary, the driving of the elongated flexible medical instrument 3 is blocked when the pressure or contact of the user's hand is detected only on one of the zones 24-1 to 24-3, or on none of these zones 24-1 to 24-3.

[0114] According to a possible embodiment, the safety surface 24 is arranged on the rod 7, for example by covering the rod 7 with a tactile surface.

[0115] The human-machine control interface may also include haptic feedback informing the user of the catheter robot 1 of the existence of a movement of the elongated flexible medical instrument 3 inside the patient's canal. In certain cases, the haptic feedback is activated for only the translation of the elongated flexible medical instrument 3. The user of the catheter robot thus receives feedback on the translational drive that he has ordered, which allows him to verify that this drive is indeed taking place in the manner that he intended.

[0116] The haptic feedback is preferably in the form of vibrations. More preferably, the haptic feedback is in the form of vibrations of the control member 5.

[0117] According to a non-limiting example, the frequency of the vibrations is proportional to the translational speed of the elongated flexible medical instrument 3. The user of the human-machine interface 4 can thus detect the passage of the elongated flexible medical instrument 3 in tortuous or stenosed areas of the canal, in which the translational movement of the elongated flexible medical instrument 3 is hindered, thus reducing its translational speed. This allows the user to know when it is appropriate to modify or adapt the control of the translational drive of the elongated flexible medical instrument 3 and / or to control the rotation of the elongated flexible medical instrument 3.

[0118] According to another non-limiting example, the frequency of the vibrations is proportional to the translational speed of the elongated flexible medical instrument 3 when this speed is less than or equal to a threshold value. Once the translational speed of the elongated flexible medical instrument 3 exceeds this threshold value, the frequency of the vibrations is invariable regardless of the translational speed of the elongated flexible medical instrument 3. For example, the threshold value of the translational speed of the elongated flexible medical instrument 3 may be equal to 10 mm / s. Advantageously, when the translational speed of the elongated flexible medical instrument 3 is greater than the threshold value, the frequency of the vibrations is such that the user perceives a continuous vibration (that is to say, at no time does the user cease to feel the vibration).The user of the catheter robot 1 is thus alerted to a translation speed of the elongated flexible medical instrument 3 which may present a major risk to the patient's health.

[0119] As visible in Figure 3, the human-machine interface 4 may further comprise a wheel 25 which can be moved in rotation by the user's hand. As will be detailed, the rotation of the wheel 25 makes it possible to control the movement of the additional drive module 2' so as to drive the additional elongated flexible medical instrument in translation.

[0120] The additional drive module 2' being controlled by the same human-machine interface 4 as the drive module 2, the overall size of the catheter robot 1 is reduced.

[0121] Preferably, said human-machine control interface also includes an additional elastic return element (not shown) for returning the wheel 25 to the rest position. This additional elastic element may comprise one or more additional return springs (not shown). In the case of the wheel 25, the rest position corresponds to the position of the wheel before moving it in rotation. As explained later, thanks to the additional elastic return element, it is possible to stop the translational drive of the additional elongated flexible medical instrument when the user stops actuating the wheel 25.

[0122] The human-machine interface 4 may also comprise a display module 26. The display module 26 is, for example, a screen. The screen may, for example, be a touch screen without this being limiting.

[0123] The screen reports information on the operation of the drive module 2, and possibly of the additional drive module 2', in response to the control of these modules 2, 2' using the control member 5 or the thumbwheel 25 respectively.

[0124] The screen 26 can also display one or more virtual buttons for selecting various functionalities of the catheter robot 1, such as an operating mode of the human-machine interface 4. The screen 26 also makes it possible to view the position of the elongated flexible medical instrument 3, and possibly of the additional elongated flexible medical instrument, in relation to the various organs of the patient. This allows the user to decide and control the various movements of the elongated flexible medical instrument during the intervention on the patient. For this purpose, an imaging system (not shown) can be connected to the catheter robot 1 so that the image obtained by the imaging system is visible on the screen 26.

[0125] Figure 6 shows another embodiment of the human-machine interface 4 which differs from the human-machine interface 4 of Figure 3 in that the control member 5 comprises a crank 27 instead of the rod 7.

[0126] The crank 27 comprises a first portion 27-1 which is substantially straight with a longitudinal axis C. This first portion 27-1 is similar or identical to the rod 7 and will not be described in detail in the following.

[0127] The crank 27 further comprises a second portion 27-2 arranged outside the housing 6 of the human-machine interface 4. The second portion 27-2 comprises, for example, a first part 28 and a second part 29 secured to each other. The first part 28 is directly connected to the first portion 27-1 of the crank 27 and extends substantially perpendicular to the longitudinal axis C. The second part 29 extends substantially parallel to the longitudinal axis C from one end of the first part 28. The user of the catheter robot 1 can thus manipulate, for example with his hand, the crank 27 via the second part 29.

[0128] Manipulating the crank 27 may comprise moving the crank 27 or a portion thereof in translation along the longitudinal axis C in one direction or the other (advance or withdrawal). Manipulating the crank 27 may also comprise moving the crank 27 or a portion thereof in rotation about this longitudinal axis C in one direction or the other (clockwise or counterclockwise). Like the rod 7, the crank 27 is structured such that moving the crank 27 (or a portion thereof) in translation along the axis C or in rotation about the axis C causes the elongated flexible medical instrument 3 to move, respectively, in translation along its main axis of elongation A or in rotation about the main axis of elongation A.

[0129] The remaining elements described previously with reference to the human-machine interface of Figure 3 can also be included in the human-machine interface 4 of Figure 6. For the sake of brevity, these elements are not described in detail again in the following.

[0130] The embodiment illustrated in Figure 6 makes it possible to control a continuous rotational movement of the elongated flexible medical instrument 3 while maintaining a control in position of the rotational movement of the elongated flexible medical instrument 3. Figure 7 shows another embodiment of the human-machine interface 4 which differs from the human-machine interface 4 of Figure 3 in that a rotating ring 30 is arranged around the rod 7. In particular, the rotating ring 30 is arranged around the end portion 7-2 of the rod 7 outside the housing 6.

[0131] The ring 30 can be manipulated by the user of the catheter robot 1 so as to move it in rotation around the axis B of the rod 7. For example, the user can use his hand to manipulate the ring 30. Preferably, the ring 30 can be rotated around the axis B of the rod without causing rotation integral with the rod 7. As will be explained below, the rotation of the ring 30 drives the elongated flexible medical instrument 3 in rotation from one of the types of control indicated previously (in position or in speed) of a different nature from that resulting from the rotation of the rod 7 around the axis B. Preferably, the ring 30 controls the speed of the rotation of the elongated flexible medical instrument 3.

[0132] An elastic return element (not shown), in the rest position, of the rotating ring 30 may be provided in the human-machine interface 4. The rest position of the rotating ring 30 means the position of the ring 30 before any rotation of the ring 30 by the user of the catheter robot 1. The elastic return element of the rotating ring 30 preferably comprises a return spring.

[0133] The remaining elements described previously with reference to the human-machine interface of Figure 3 can also be included in the human-machine interface 4 of Figure 7. For the sake of brevity, these elements are not described in detail again in the following.

[0134] The embodiment illustrated in Figure 7 allows the user to control the speed of the translation of the elongated flexible medical instrument 3 and the position of the rotation of the elongated flexible medical instrument 3 according to a first operating mode using only the rod 7, and to control the speed of the translation and rotation of the elongated flexible medical instrument 3 according to a second operating mode using the rod 7 for the translation and the ring 30 for the rotation.

[0135] Now the operation of the catheter robot 1 will be described according to the embodiment of figure 1.

[0136] For the sake of brevity, in the following, when reference is made to the movement of the control member 5, the movement of the entire control member 5 or a part thereof (in particular, the first part 8 when the control member 5 is the rod 7 of FIG. 4) is included.

[0137] Furthermore, in the following, when reference is made to the “translational displacement” or “translation” of the elongated flexible medical instrument 3, this refers to the translational displacement of this elongated flexible medical instrument 3 along its main axis of elongation. Similarly, when reference is made in the following to the “rotational displacement” or “rotation” of the elongated flexible medical instrument 3, this refers to the rotational displacement of the elongated flexible medical instrument 3 around its main axis of elongation.

[0138] As previously indicated, the drive module 2 is connected to the elongated flexible medical instrument 3 and allows it to be moved in translation along the axis A and / or in rotation around the axis A inside a channel of the patient.

[0139] Advantageously, when the control member 5 of the human-machine interface 4 is moved, the drive module 2 moves in translation and / or rotation, which causes a solid movement of the elongated flexible medical instrument 3 inside the patient's channel. Thus, the human-machine interface 4 is structured so as to control the translational and / or rotational drive of the elongated flexible medical instrument 3. As indicated previously, the control member 5 can be moved in translation and / or rotation by the hand of the user of the catheter robot 1.

[0140] When the control member 5 is the rod 7 or the crank 27, a translation along the axis B of the rod 7 (or of its first part 8 when it has the configuration of FIG. 4) or of the axis C of the crank 27 causes a translation of the drive module 2 so that the elongate flexible medical instrument 3 is driven in translation along the axis A. Similarly, a rotation about the axis B of the rod 7 (or of its first part 8 when it has the configuration of FIG. 4) or of the axis C of the crank 27 causes a rotation of the drive module 2 so that the elongate flexible medical instrument 3 is driven in rotation about the axis A.

[0141] Advantageously, the direction of translation or rotation of the elongated flexible medical instrument 3 inside the patient's channel depends on the direction of movement of the control member 5. For example, when the rod 7 (or its first part 8 when it has the configuration of FIG. 4) or the crank 27 is moved in translation in the direction of insertion into the housing 6 of the human-machine interface, the elongated flexible medical instrument 3 can advance into the patient's channel. Conversely, when the rod 7 (or its first part 8 when it has the configuration of FIG. 4) or the crank 27 is moved in translation in the direction of extraction from the housing 6 of the human-machine interface 4, the elongated flexible medical instrument 3 can move back into the patient's channel.In the case of a rotation of the rod 7 or the crank 27 in the clockwise direction, the elongated flexible medical instrument 3 can move in rotation about the axis A in the clockwise direction, while in the case of a rotation of the rod 7 or the crank 27 in the counterclockwise direction, the elongated flexible medical instrument 3 can move in rotation about the axis A in the counterclockwise direction. The potentiometer 19 can be used to detect the amplitude and the direction of the translation of the control member 5. As indicated previously, the resistance of the potentiometer 19 varies according to the amplitude and the direction of the translation of the control member 5. This generates the signal for controlling the translation of the drive module 2, and therefore, the translation of the elongated flexible medical instrument 3 inside the patient's channel. Regarding the rotation of the control member 5, this can be detected by the quadrature encoder 22.The quadrature encoder 22 detects the amplitude and direction of rotation of the control member 5 and generates the control signal for the rotation of the drive module 2, and therefore, of the elongated flexible medical instrument 3 inside the patient's channel.

[0142] It is noted that when the human-machine interface 4 is provided with the safety surface 24, the elongated flexible medical instrument 3 is only driven in translation and / or rotation when the safety surface 24 detects the contact or pressure of the user's hand, or another part of his body, as indicated previously. If such contact or pressure is not detected, the translational and / or rotational movement of the elongated flexible medical instrument 3 by the control member 5 is blocked even if the control member 5 is moved.

[0143] If, in a possible embodiment, the non-detection of the contact or the support of the user's hand by the safety surface 24 only blocks the translation of the elongated flexible medical instrument 3, the latter is driven in rotation as soon as the control member 5 is turned around its axis B or its axis C, even if such contact or support is not detected by the safety surface 24.

[0144] As also indicated previously, the translation and rotation of the elongated flexible medical instrument 3 can be controlled in position or in speed from the manipulation of the control member 5. In the case of a position control, the amplitude of displacement (in translation or in rotation) of the elongated flexible medical instrument 3 inside the patient's channel is proportional to the amplitude of displacement (in translation or in rotation) of the control member 5. In the case of a speed control, the speed of displacement (in translation or in rotation) of the elongated flexible medical instrument 3 inside the patient's channel is proportional to the amplitude of displacement (in translation or in rotation) of the control member 5.

[0145] According to a first mode of operation, the translational drive of the elongated flexible medical instrument 3 along its axis A is controlled in speed, and the rotational drive of the elongated flexible medical instrument 3 around its axis A is controlled in position. Thus, the translational movement of the control member 5 with a given translation amplitude causes a translational movement of the elongated flexible medical instrument 3 with a speed proportional to the translation amplitude of the control member 5, while a rotational movement of the control member 5 with a given rotation amplitude causes a rotational movement of the elongated flexible medical instrument 3 with a rotation angle proportional to the rotation amplitude of the control member 5.

[0146] Generally, when the rotation of the elongated flexible medical instrument 3 is commanded into position, a difference exists between the angle of rotation at the end of the elongated flexible medical instrument 3 connected to the drive module 2, called the proximal end, and the opposite end of the elongated flexible medical instrument 3 intended to penetrate the patient, called the distal end. This is due to the fact that the distal end of the elongated flexible medical instrument 3 only begins to rotate when the proximal end of the elongated flexible medical instrument 3 has rotated a certain angle around the axis A.

[0147] In order to compensate for this difference between the rotation angle at the proximal end and the distal end of the elongated flexible medical instrument 3, the rotational drive of the elongated flexible medical instrument 3 can be controlled in position with a proportionality coefficient between, on the one hand, the rotational movement of the control member 5 and, on the other hand, the rotational movement of the elongated flexible medical instrument 3. Thus, when the user of the catheter robot 1 wants to control rapid rotational movements, he can choose a high proportionality coefficient by which the rotation of the control member 5 causes a large rotational movement of the proximal end of the elongated flexible medical instrument 3 around the axis A.Conversely, if the user of the catheter robot 1 wants to control precise rotational movements, he can choose a small proportionality coefficient whereby the rotation of the control member 5 causes a small rotational movement of the proximal end of the elongated flexible medical instrument 3.

[0148] Advantageously, this proportionality coefficient can be modified by a selection made by the user of the catheter robot 1. This selection is made, for example, from a virtual button displayed on the display module 26 or from a physical control member, such as a button, provided on the human-machine interface 4. The proportionality ratio can, for example, vary between 3 / 1 and 1 / 25. A ratio of 3 / 1 means that a 3° rotation of the rod 7 causes a 1° rotation of the proximal end of the elongated flexible medical instrument 3 manipulated by the drive module 2. A ratio of 3 / 1 can be used in particular when precise movements are necessary, for example passing a bifurcation with a guide. A ratio of 1 / 25 means that a 1° rotation of the rod 7 results in a 25° rotation of the proximal end of the elongated flexible medical instrument 3 manipulated by the drive module 2.A ratio of 1 / 25 can be used in particular for a "drilling" movement (i.e. a continuous rotational movement such as a screwing movement) or "wiggling" (i.e. a succession of large amplitude rotational movements in opposite directions). The proportionality ratio can vary between 3 / 1 and 1 / 20, or between 3 / 1 and 1 / 15, or between 1 / 1 and 1 / 25, or between 1 / 1 and 1 / 20, or between 1 / 1 and 1 / 15.

[0149] In this first operating mode, by means of the position control of the rotation of the elongated flexible medical instrument 3, the user of the catheter robot 1 can intuitively turn the elongated flexible medical instrument 3 by a precise rotation angle around the axis A. Furthermore, by means of the speed control of the translation of the elongated flexible medical instrument, the user can move the elongated flexible medical instrument 3 over a long distance from a compact control member 5. In addition, the user can intuitively adapt the translation speed of the elongated flexible medical instrument 3 during its travel inside the patient's canal. This makes it possible, for example, to reduce the translation speed of the elongated flexible medical instrument 3 to pass through curved areas of the canal.Conversely, when the elongated flexible medical instrument 3 passes through straight areas of the canal, the user can increase the translation speed of the elongated flexible medical instrument 3 to reach the area of ​​the canal to be treated more quickly.

[0150] In a second operating mode, the human-machine interface 4 can be structured so as to control the speed of the drive of the elongated flexible medical instrument 3 in translation along the axis A and in rotation around the axis A.

[0151] In this second mode of operation, the rotational movement of the control member 5 with a given rotation amplitude therefore causes a rotational movement of the elongated flexible medical instrument 3 with a rotation speed proportional to the rotation amplitude of the control member 5.

[0152] Speed ​​control of the translation and rotation of the elongated flexible medical instrument 3 provides a continuous combined translation and rotation movement of the elongated flexible medical instrument 3.

[0153] In a third operating mode, the human-machine interface 4 can be structured so as to control the position of the drive of the elongated flexible medical instrument 3 in translation along the axis A and in rotation around the axis A.

[0154] In this third operating mode, the translational movement of the control member 5 with a given translational amplitude therefore causes a translational movement of the elongated flexible medical instrument 3 with a translational amplitude proportional to the rotational amplitude of the control member 5.

[0155] This third mode of operation makes it possible to obtain precise translation and rotation amplitudes of the elongated flexible medical instrument 3. This is particularly advantageous when the elongated flexible medical instrument has arrived at the particular area of ​​the patient's canal in which it is used, or when passing through branches when the elongated flexible medical instrument is in the process of reaching the particular area of ​​the patient's blood system in which it will be used. This third mode of operation can, for example, be used to make rapid advancement and withdrawal movements of the elongated flexible medical instrument 3.

[0156] It is noted that the human-machine interface 4 can be configured so that the user of the catheter robot 1 can choose between the first to third operating modes of the human-machine interface 4 described above. For example, a virtual button for selecting the operating mode can be displayed on the display module 26. This makes it possible to choose the operating mode most suited to the patient or to the time of the intervention.

[0157] In certain cases, the human-machine interface 4 can be configured to control only the speed of the translational drive of the elongated flexible medical instrument 3 and to control only the position of the rotational drive of the elongated flexible medical instrument.

[0158] In each of the operating modes of the human-machine interface 4 presented above, the translation and rotation of the elongated flexible medical instrument 3 can be controlled simultaneously or alternately.

[0159] When the translation of the elongated flexible medical instrument 3 is controlled in position, this control can be done step by step. In such cases, the translation of the elongated flexible medical instrument 3 comprises a movement of the elongated flexible medical instrument 3 along the axis A by a predetermined step at each pulse received by the human-machine interface 4. Thus, the elongated flexible medical instrument 3 can for example carry out a millimetric advance or withdrawal in the patient's canal.

[0160] Similarly, when the rotation of the elongated flexible medical instrument 3 is controlled in position, this control can be done step by step. In such cases, the rotation of the elongated flexible medical instrument 3 comprises a movement of the elongated flexible medical instrument 3 around the axis A by a predetermined step at each pulse received by the human-machine interface 4. Thus, the elongated flexible medical instrument 3 can for example perform a millimetric rotation in the patient's channel.

[0161] As explained previously, when the elastic return element 23 of the control member 5 is provided, the control member 5 moves progressively along its axis B or C to its rest position as soon as the user of the catheter robot stops manipulating it. Also, thanks to the elastic return element 23, when the translation of the elongated flexible medical instrument 3 is controlled in position, the elongated flexible medical instrument 3 moves back into the patient's channel when the user stops manipulating the control member 5. When the translation of the elongated flexible medical instrument 3 is controlled in speed, the elastic return element 23 causes a progressive reduction in the translation speed of the elongated flexible medical instrument 3 when the user stops manipulating the control member 5, the translation speed of the elongated flexible medical instrument 3 becoming zero if the control member 5 returns to its rest position.

[0162] Furthermore, as in the example of Figure 7, the human-machine interface 4 may comprise the rotating ring 30. When the rotating ring 30 rotates around the axis B or C, a rotation command is generated for the elongated flexible medical instrument 3. Advantageously, the rotation command generated for the elongated flexible medical instrument 3 from the rotation of the ring 30 is of a different nature to that of the rotation command generated by the control member 5. For example, if the rotation of the control member 5 controls the position of the rotation of the elongated flexible medical instrument 3, the rotation of the ring 30 controls the speed of the rotation of the elongated flexible medical instrument 3.

[0163] When the ring 30 controls the speed of rotation of the elongated flexible medical instrument 3, the elastic return element (not shown), in the rest position, of the rotating ring 30 makes it possible to stop the rotation of the elongated flexible medical instrument 3 when the user stops manipulating the ring 30.

[0164] In the case of the first operating mode described above, the presence of the rotating ring 30 has the advantage of allowing the elongated flexible medical instrument 3 to perform a continuous and combined translational and rotational movement respectively along and around its main axis of elongation. In particular, the continuous translational movement of the elongated flexible medical instrument 3 is caused by the speed control of the translation generated by the control member 5, while the continuous rotational movement of the elongated flexible medical instrument 3 is caused by the speed control of the rotation generated by the rotating ring 30.

[0165] As also indicated, the catheter robot 1 may comprise the additional drive module 2' which is connected to the additional elongated flexible medical instrument and allows it to be moved in translation. In particular, when the thumbwheel 25 is turned, a translational movement command for the additional drive module 2' is generated. The module 2' thus moves in translation, the additional elongated flexible medical instrument moving in solidarity with the additional module 2'.

[0166] The translational movement command generated by the rotation of the wheel 25 is, for example, a speed command. In this case, thanks to the additional elastic element for returning the wheel 25 to the rest position, when the wheel is no longer manipulated by the user, the speed of the translation of the additional elongated flexible medical instrument is gradually reduced.

[0167] Now the catheter robot 1 will be described according to a second embodiment of the invention illustrated in Figure 8.

[0168] The catheter robot 1 according to the second embodiment comprises the drive module 2 of the elongated flexible medical instrument 3. The catheter robot 1 according to the second embodiment may also comprise the additional drive module 2' of the additional elongated flexible medical instrument. The characteristics and operation of the drive module 2, the additional drive module 2', the elongated flexible medical instrument 3 and the additional elongated flexible medical instrument described with reference to the first embodiment of the catheter robot 1 are applicable to this second embodiment and are not described in detail in the following.

[0169] The catheter robot of FIG. 8 further comprises a second drive module 32 for a second elongated flexible medical instrument (not shown). The second drive module 32 and the second elongated flexible medical instrument may be identical or similar to, respectively, the drive module 2 and the elongated flexible medical instrument 3. Consequently, they will not be described in detail subsequently.

[0170] The second drive module 32 is structured so as to be able to be connected to the second elongated flexible medical instrument. The drive module 32 is in particular configured to move the second elongated flexible medical instrument in translation along its main axis of elongation, and / or in rotation around its main axis of elongation.

[0171] Furthermore, the catheter robot 1 of FIG. 8 may comprise a second additional drive module 32' of a second additional elongated flexible medical instrument (not shown). The second additional drive module 32' and the second additional elongated flexible medical instrument may be identical or similar to, respectively, the additional drive module 2' and the additional elongated flexible medical instrument. Therefore, they will not be described in detail subsequently.

[0172] Advantageously, the second additional drive module 32' is structured so as to be able to be connected to the second additional elongated flexible medical instrument. The additional drive module 32' is configured to move the second additional elongated flexible medical instrument in translation.

[0173] It is noted that the second elongated flexible medical instrument and the second additional elongated flexible medical instrument may be introduced into a channel of the patient different from the channel into which the elongated flexible medical instrument 3 and the additional elongated flexible medical instrument are introduced. Preferably, the second elongated flexible medical instrument and the second additional elongated flexible medical instrument may be introduced into the same channel of the patient as the channel into which the elongated flexible medical instrument 3 and the additional elongated flexible medical instrument are introduced.

[0174] The catheter robot 1 of figure 8 also comprises a human-machine interface 34.

[0175] The characteristics of the human-machine interfaces 4 described above with reference to figures 3 to 7 are applicable to the human-machine interface 34 and will not be described in detail again.

[0176] Furthermore, as is clear from Figure 9, the human-machine interface 34 may comprise a second control member 5'. The control member 5' is preferably identical or similar to the control member 5 described above. Also, all the characteristics of the control member 5 indicated above are applicable to the second control member 5'.

[0177] As will be detailed, the manipulation of the control member 5' drives the second elongated flexible medical instrument in translation along its main axis of elongation and / or in rotation around this main axis of elongation. In particular, from the control member 5', the translation of the second elongated flexible medical instrument along its main axis of elongation can be controlled in one direction or the other (advance or withdrawal). Similarly, from the control member 5', the rotation of the second elongated flexible medical instrument around its main axis of elongation can be controlled in one direction or the other (clockwise or counterclockwise). Also, the control member 5' is in particular a control member for driving, in translation and in rotation, the second elongated flexible medical instrument.The control member 5' can in particular make it possible to control the translation and / or rotation of the second elongated flexible medical instrument from a position control or a speed control.

[0178] As seen in Figure 9, the human-machine interface 34 may further comprise a second wheel 25' which can be rotated by the user's hand. The wheel 25' is preferably identical or similar to the wheel 25 described above. Also, all the characteristics of the wheel 25 indicated above are applicable to the wheel 25'.

[0179] As will be detailed, the rotation of the wheel 25' makes it possible to control the movement of the second additional drive module 32' so as to drive the second additional elongated flexible medical instrument in translation.

[0180] The operation of the catheter robot 1 according to the second embodiment is similar to the operation of the catheter robot 1 according to the first embodiment. In particular, all the details of the operation of the catheter robot according to the first embodiment described above are applicable to the catheter robot 1 according to the second embodiment.

[0181] Furthermore, as indicated above, the catheter robot 1 according to the second embodiment comprises the second control member 5'. The operation of the control member 5' is similar to the operation of the control member 5 described previously. Advantageously, the operation of the second control member 5' differs from that of the control member 5 only in that the commands generated by the second control member 5' cause the movement (in translation and / or in rotation) of the second drive module 32 and the second elongated flexible medical instrument. The remaining characteristics of the operation of the control member 5 indicated previously are therefore applicable to the control member 5'.

[0182] It is noted that each of the control members 5, 5' of the human-machine interface 34 can operate according to one of the first to third operating modes described above. Advantageously, the operating mode of the control member 5 at a given moment can be equal to or different from the operating mode of the control member 5'. This makes it possible to adapt the manner of controlling the movement of the elongated flexible medical instrument 3 and of the second elongated flexible medical instrument to the particularities of the respective channels into which they are introduced.

[0183] As also indicated above, the catheter robot 1 according to the second embodiment comprises the second wheel 25'. The operation of the wheel 25' is similar to the operation of the wheel 25 described previously. Advantageously, the operation of the wheel 25' differs from that of the wheel 25 only in that the commands generated by the second wheel 25' cause the translational movement of the second additional drive module 32' and the second additional elongated flexible medical instrument. The remaining characteristics of the operation of the wheel 25 indicated previously are therefore applicable to the wheel 25'.

[0184] Of course, the present invention is not limited to the examples and embodiments described and shown, but it is susceptible to numerous variants accessible to those skilled in the art. For example, the human-machine interface 4 comprises a touch-sensitive surface configured to detect and measure the movement of a user's finger or a stylus along said touch-sensitive surface and thus control the translation and rotation of the elongated flexible medical instrument 3. To control a translational movement of the elongated flexible medical instrument 3, the user moves his finger or the stylus along the touch-sensitive surface in a first direction, the direction of movement of the finger or the stylus controlling the direction of translation of the elongated flexible medical instrument 3, while the length of the path taken by the finger or the stylus in the first direction controls the translational speed of the elongated flexible medical instrument 3.To control a rotational movement of the elongated flexible medical instrument 3, the user moves his finger or the stylus along the touch surface in a second direction perpendicular to the first direction, the direction of movement of the finger or the stylus controlling the direction of rotation of the elongated flexible medical instrument 3, while the length of the path taken by the finger or the stylus in the second direction controlling the angular position of the elongated flexible medical instrument 3 with a ratio x mm=y° (i.e. x mm of movement along the second direction causes a rotation of y. 0of the elongated flexible medical instrument 3). The user can control a combined translational and rotational movement of the elongated flexible medical instrument 3 by moving his finger or the stylus along the touch surface in a third direction which comprises a component along the first direction and a component along the second direction.

Claims

CLAIMS 1. Catheter robot (1) comprising: a drive module (2) of an elongated flexible medical instrument (3), in translation along a main axis of elongation (A) of said elongated flexible medical instrument (3) and in rotation around the main axis of elongation (A) of said elongated flexible medical instrument (3), simultaneously or alternatively, a human-machine interface (4, 34) for controlling said drive module (2), characterized in that said human-machine interface (4, 34) is structured so as to, in a first operating mode: control, in speed, the translational drive of said elongated flexible medical instrument (3), control, in position, the rotational drive of said elongated flexible medical instrument (3).

2. Catheter robot (1) according to claim 1, characterized in that said human-machine interface (4, 34) comprises: a mobile control member (5): o which is intended to be manipulated by the hand of a user, o and which is structured so that, in the first operating mode: ■ a translational movement of said mobile control member (5) with a translational amplitude causes a translational movement of said elongated flexible medical instrument (3) with a speed proportional to said translational amplitude, ■ a rotational movement of said movable control member (5) with a rotation amplitude causes a rotational movement of said elongated flexible medical instrument (3) with a rotation angle proportional to said rotation amplitude.

3. Catheter robot (1) according to claim 2, characterized in that: said human-machine interface (4, 34) is structured so as to: o control, in position, the rotational drive of said elongated flexible medical instrument (3), with a coefficient of proportionality between on the one hand the rotational movement of said control member (5) and on the other hand the rotational movement of said elongated flexible medical instrument (3), ■ said proportionality coefficient being modifiable by a selection of the user of the catheter robot. Catheter robot (1) according to any one of the preceding claims, characterized in that: said human-machine control interface (4, 34) comprises: o a control member (5) for driving, in translation and in rotation, said elongated flexible medical instrument (3), o a safety element, making it possible to block or unlock the driving of said elongated flexible medical instrument (3) by said drive control member (5).Catheter robot (1) according to claim 4, characterized in that: said safety element comprises a safety surface (24) capable of detecting the contact or pressure of a user's hand so as to unlock said drive control member (5), o said safety surface (24) preferably being a touch surface, or a capacitive touch surface, or a capacitive touch surface covered with a coating including titanium, or a capacitive touch surface covered with titanium paint. Catheter robot (1) according to any one of the preceding claims, characterized in that: said human-machine control interface (4, 34) includes: o haptic feedback for only the translation of the elongated flexible medical instrument (3),. ■ preferably in the form of vibrations, ■ or preferably in the form of vibrations whose frequency is proportional to the translational speed of the elongated flexible medical instrument. Catheter robot (1) according to any one of the preceding claims, characterized in that the human-machine interface (4, 34) is structured so as to, in a second operating mode: control, in speed, the translational drive of said elongate flexible medical instrument (3), control, in speed, the rotational drive of said elongate flexible medical instrument (3). Catheter robot (1) according to any one of the preceding claims, characterized in that: said human-machine control interface (4, 34) includes: o a rod (7): ■ which can be moved in translation by the hand of a user so as to drive said elongated flexible medical instrument (3) in translation, ■ which is movable in rotation by the hand of a user so as to drive said elongated flexible medical instrument (3) in rotation, ■ and which preferably comprises a touch surface (24-3). Catheter robot (1) according to claim 8, characterized in that: said rod (7) comprises two parts sliding one inside the other: o a first part (8) which is movable in translation and in rotation and which is intended to be manipulated by the hand of a user, o a second part (9) which is coupled in rotation with said first part (8), and which is decoupled in translation from said first part (8) so as to remain fixed in translation.Catheter robot (1) according to any one of claims 8 or 9 in combination with claim 7, characterized in that: said human-machine interface (4, 34) also comprises: o a rotating ring (30) arranged around said rod (7), the angle of rotation of said rotating ring (30) around said rod (7) being representative of the rotation speed selected for said elongated flexible medical instrument (3), during a speed control of the rotational drive of said elongated flexible medical instrument (3).

11. Catheter robot (1) according to claim 9, characterized in that: said human-machine interface (4, 34) also comprises: o an elastic return element, in the rest position, of said rotary ring (30) arranged around said rod (7), the elastic return element preferably comprising a return spring.

12. Catheter robot (1) according to any one of claims 1 to 7, characterized in that: said human-machine control interface (4, 34) includes: o a crank (27): which can be moved in rotation by the hand of a user so as to drive said elongated flexible medical instrument (3) in rotation.

13. Catheter robot (1) according to any one of claims 2 to 12, characterized in that: said human-machine control interface (4, 34) also includes: o an elastic return element (23), in the rest position, for driving in translation only, said movable control member (5) or said rod (7), said elastic return element (23) preferably comprising a return spring.

14. Catheter robot (1) according to any one of the preceding claims, characterized in that it also comprises: another drive module (32) of another elongate flexible medical instrument, in translation along a main axis of elongation of said other elongate flexible medical instrument and in rotation around the main axis of elongation of said other elongate flexible medical instrument, said man-machine interface (34) also controlling said other drive module (32) and being structured so as to, in the first operating mode: o control, in speed, the translational drive of said other elongate flexible medical instrument, o control, in position, the rotational drive of said other elongate flexible medical instrument.

15. Catheter robot (1) according to any one of the preceding claims, characterized in that it comprises at least: an additional drive module (2'), in translation, of an additional elongated flexible medical instrument, said additional elongated flexible medical instrument surrounding over a part of its length said elongated flexible medical instrument (3), in that: said man-machine interface (4, 34) also controls said additional drive module (2'), and in that: said man-machine interface (4, 34) is structured to control, in speed, the translational drive of said additional elongated flexible medical instrument. Catheter robot (1) according to any one of claims 14 to 15, characterized in that: said man-machine interface (4, 34) for control also includes: o a wheel (25) which is movable in rotation by the hand of a user so as to control in speed and to drive in translation said additional elongated flexible medical instrument.Catheter robot (1) according to claim 16, characterized in that: said human-machine control interface (4, 34) also includes: o an additional elastic element for returning the wheel (25) to the rest position, which preferably comprises one or more additional return springs. Catheter robot (1) according to one of the preceding claims, characterized in that said human-machine interface (4, 34) is structured so as to: only control, in speed, the translational drive of said elongate flexible medical instrument (3), only control, in position, the rotational drive of said elongate flexible medical instrument (3). Catheter robot (1) according to any one of claims 1 to 17, characterized in that said human-machine interface (4, 34) is structured, in a third operating mode, so as to:. o controlling, in position, the translational drive of said elongated flexible medical instrument (3), step by step, that is to say by displacement of a predetermined step at each impulse received by the man-machine interface (4, 34), o controlling, in position, the rotational drive of said elongated flexible medical instrument (3), step by step, that is to say by displacement of a predetermined step at each impulse received by the man-machine interface (4, 34).Human-machine control interface (4, 34) of a drive module (2) of an elongate flexible medical instrument (3), in translation along a main axis of elongation (A) of said elongate flexible medical instrument (3) and in rotation around the main axis of elongation (A) of said elongate flexible medical instrument (3), in a catheter robot (1), characterized in that it is structured so as to, in a first operating mode: control, in speed, the translational drive of said elongate flexible medical instrument (3), control, in position, the rotational drive of said elongate flexible medical instrument (3). Human-machine interface (4, 34) according to claim 20, characterized in that it comprises: a movable control member (5): o which is intended to be manipulated by the hand of a user, o and which is structured so that, in the first operating mode:. ■ a translational movement of said mobile control member (5) with a translational amplitude causes a translational movement of said elongated flexible medical instrument (3) with a speed proportional to said translational amplitude, ■ a rotational movement of said movable control member (5) with a rotation amplitude causes a rotational movement of said elongated flexible medical instrument (3) with a rotation angle proportional to said rotation amplitude.

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