Robotic catheter module for translation and rotation of an elongate flexible medical instrument

Abstract

The invention relates to a robotic catheter module for translation and rotation of an elongate flexible medical instrument, comprising: a support (S); at least one pair of movable keys (1g and 1d, 2g and 2d) arranged face to face and adapted to be able to effect a longitudinal translation of the elongate flexible medical instrument and to effect a rotation of the elongate flexible medical instrument about the longitudinal direction; and a device for driving the keys, comprising three drive members (4) for driving the keys in three different directions (y, z, x), each comprising an actuator (41, 51, 31) which is connected to the keys via at least one rolling slide connection, these three drive members (4, 5, 3) for the keys being independent of one another, such that the activation of an actuator (41, 51, 31) of one of the drive members (4, 5, 3) does not move the actuators of the other two drive members.

Description

[0001] DESCRIPTION

[0002] TITLE: ROBOTIC CATHETER MODULE FOR TRANSLATION AND ROTATION OF AN ELONGATED FLEXIBLE MEDICAL INSTRUMENT

[0003] FIELD OF THE INVENTION

[0004] The invention relates to the technical field of robotic catheter modules for the translation and rotation of an elongated flexible medical instrument. The elongated flexible medical instrument may in particular be a catheter, a catheter guide, a guide catheter.

[0005] TECHNOLOGICAL BACKGROUND OF THE INVENTION

[0006] According to a prior art, described in patent application WO 2016 / 198800, a transmission of the movement of the key holder is described which is carried out in the following manner: for each of the 3 axes x, y and z, a plate makes the connection between the key holder and a linear actuator. Each plate includes a recess in its center to allow the movements of the other plates, and thus allow a completely independent movement on each of the 3 axes x, y and z, for the key holder.

[0007] However, this technical solution presents a connection between the plates which causes plane-on-plane friction by sliding one plate on the other two. This friction reduces the precision of the system and its responsiveness, and tends to reduce its lifespan in the long term.

[0008] OBJECTS OF THE INVENTION

[0009] The aim of the present invention is to provide a robotic catheter module for the translation and rotation of an elongated flexible medical instrument at least partially overcoming the aforementioned drawbacks.

[0010] More particularly, the invention aims to provide a robotic catheter module for the translation and rotation of an elongated flexible medical instrument which presents improvements concerning the precision of the system, its responsiveness, as well as its lifetime. In the robotic catheter module for the translation and rotation of an elongated flexible medical instrument, the existing friction has been reduced, while maintaining the independence and the efficiency of actuation of the movements of the key holder(s) along the 3 axes x, y and z.

[0011] To achieve this, in the robotic catheter module for translation and rotation of an elongated flexible medical instrument, sliding connections have been replaced by rolling connections at particular locations in the mechanism of the robotic catheter module for translation and rotation of an elongated flexible medical instrument, in order to reduce friction in the mechanism during operation.

[0012] To this end, the present invention provides a robotic catheter module for translating and rotating an elongated flexible medical instrument, comprising: a support having a longitudinal direction, a transverse direction which is orthogonal to the longitudinal direction, and a vertical direction which is orthogonal to the longitudinal direction and to the transverse direction; at least one pair of face-to-face movable keys, adapted to be able to: perform a longitudinal translation of the elongated flexible medical instrument, by gripping the elongated flexible medical instrument between the keys and translating the keys together along the longitudinal direction; perform a rotation of the elongated flexible medical instrument about the longitudinal direction, by gripping the elongated flexible medical instrument between the keys and translating the keys together along the vertical direction, said keys translating in opposite directions;a key drive device comprising: a first key drive member in the longitudinal direction (y) comprising a first actuator which is connected to the keys via at least one rolling slide connection; a second key drive member in the vertical direction (z) comprising a second actuator which is connected to the keys via at least one rolling slide connection; a third key drive member at least relatively to each other in the transverse direction (x) comprising a third actuator which is connected to at least one key via at least one rolling slide connection; these three key drive members being independent of each other, so that the activation of an actuator of one of the drive members does not move the actuators of the other two drive members.;

[0013] To this end, the present invention also provides a robotic catheter module for translating and / or rotating an elongate flexible medical instrument, comprising: a support having a longitudinal direction, a transverse direction which is orthogonal to the longitudinal direction, and a vertical direction which is orthogonal to the longitudinal direction and to the transverse direction; at least one pair of movable keys facing each other, adapted to be able to: perform a translation along the longitudinal direction of the elongate flexible medical instrument, by a first translation cycle: by enclosing the elongate flexible medical instrument between the keys, by translating the keys together longitudinally in one direction, by releasing the elongate flexible medical instrument, by translating the keys together in the opposite direction along the longitudinal direction, perform a rotation of the elongate flexible medical instrument around the longitudinal direction,by a second rotation cycle: by enclosing the elongated flexible medical instrument between the keys, by translating the keys together in the vertical direction but in opposite directions, by releasing the elongated flexible medical instrument, by translating the keys in the opposite direction in the vertical direction,a device for driving the movable keys comprising: a first member for driving the keys in the longitudinal direction comprising a first actuator which is connected to the keys via at least one rolling slide connection; a second member for driving the keys in the vertical direction comprising a second actuator which is connected to the keys via at least one rolling slide connection; a third member for driving the keys at least relatively to each other in the transverse direction comprising a third actuator which is connected to at least one key via at least one rolling slide connection; these three key driving members being independent of each other, so that the activation of an actuator of one of the driving members does not move the actuators of the other two driving members.,

[0014] Another improvement has also been made, which can be used either cumulatively or alternatively to the previous improvement. This other improvement consists of placing a sliding ball joint to allow both axial misalignment and radial misalignment between two shafts. When the sliding ball joint is combined with the rolling connection or rolling connections, the resulting system is optimal, as it is efficient and smooth, while remaining quite tolerant with respect to manufacturing and positioning deviations of the various parts forming the mechanism of the robotic catheter module for the translation and rotation of an elongated flexible medical instrument.

[0015] To this end, the present invention also proposes a robotic catheter module for the translation and / or rotation of an elongated flexible medical instrument, characterized in that said module comprises a sliding ball joint with radial misalignment compensation and axial misalignment compensation mounted around a shaft so as to slide radially around said shaft.

[0016] 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 one or other of the aforementioned objects of the invention.

[0017] Preferably, one of the first drive member, the second drive member and the third drive member comprises a sliding coupling which is connected to the actuator of said drive member by a first shaft and which is connected to at least one key by a second shaft, the sliding coupling allowing a translational movement of the second shaft relative to the first shaft along a plane perpendicular to the first shaft.

[0018] Thus, the independence of the movements along the 3 axes x, y and z, of the key holder(s) is maintained by means of a simple and effective mechanism which has a reduced footprint.

[0019] The different possible combinations are:

[0020] Only the first drive member includes such a sliding coupling,

[0021] Only the second drive member includes such a sliding coupling,

[0022] Only the third drive member comprises such a sliding coupling, Only the first drive member and the second drive member each comprise such a sliding coupling,

[0023] Only the second drive member and the third drive member each comprise such a sliding coupling,

[0024] Only the third drive member and the first drive member each comprise such a sliding coupling,

[0025] The first drive member and the second drive member and the third drive member each comprise such a sliding coupling.

[0026] Preferably, the sliding bearing coupling comprises several balls, said balls being respectively housed in several housings carried by the same support, and being able to roll on the same plane of the same part.

[0027] Thus, the use of balls in housings presents a good compromise between, on the one hand, the fluidity of the connection achieved by the sliding coupling and, on the other hand, the stability and robustness of this sliding coupling.

[0028] Preferably, the coupling comprises at least three balls.

[0029] This ensures optimum stability of the sliding coupling.

[0030] Preferably, the sliding coupling is installed on the output shaft of the third drive member.

[0031] Thus, the good compromise between fluidity of the connection and stability of the sliding coupling is obtained for the movement along the x axis of clamping of the flexible medical instrument elongated between the keys carried by the key holders, transverse x axis which is particularly sensitive to offsets and misalignments.

[0032] Preferably, the second actuator is a linear actuator and the second drive member comprises a transformation device which transforms a translational movement of the second actuator into a translational movement of the keys along the vertical axis by means of an intermediate connecting piece.

[0033] Thus, a good compromise is achieved between, on the one hand, simplicity of the actuator used and, on the other hand, reduced size of the entire mechanism thanks to the parallel orientation of the second and third actuators.

[0034] Preferably, the intermediate connecting piece is L-shaped and the axis of rotation of said intermediate connecting piece is located at the intersection of the two branches of the L, a first branch of the L being connected to a key, the second drive member being connected to a second branch of the L, the first branch of the L being preferably shorter than the second branch of the L or the first branch of the L being preferably at least 2 times or at least 3 times shorter than the second branch of the L.

[0035] Thus, the connecting part maintains a simple and robust shape, while performing sophisticated kinematics. This is particularly possible because the amplitude of movement of the key holders along the vertical z axis remains very limited.

[0036] Preferably, the intermediate connecting piece comprises a sliding pivot connection at each of its two ends.

[0037] Thus, the connecting part maintains a simple and robust shape, while performing sophisticated kinematics. This is particularly possible because the amplitude of movement of the key holders along the vertical z axis remains very limited.

[0038] Preferably, at least one of the first drive member, the second drive member and the third drive member comprises a sliding ball joint with radial misalignment compensation and axial misalignment compensation mounted around a shaft so as to slide radially around said shaft.

[0039] Thus, when the sliding ball joint is combined with the rolling link or links, the resulting system is optimal, as it is efficient and smooth while remaining fairly tolerant of the manufacturing and positioning tolerances of the various parts forming the mechanism of the robotic catheter module for the translation and rotation of an elongated flexible medical instrument.

[0040] The different possible combinations are:

[0041] Only the first drive member includes such a sliding ball joint,

[0042] Only the second drive member includes such a sliding ball joint,

[0043] Only the third drive member includes such a sliding ball joint,

[0044] Only the first drive member and the second drive member each comprise such a sliding ball joint, Only the second drive member and the third drive member each comprise such a sliding ball joint,

[0045] Only the third drive member and the first drive member each comprise such a sliding ball joint,

[0046] The first drive member and the second drive member and the third drive member each comprise such a sliding ball joint.

[0047] Preferably, the first drive member comprises a single first actuator, the second drive member comprises a single second actuator, the third drive member comprises a single third actuator.

[0048] Thus, the overall size of the mechanism is very small.

[0049] 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.

[0050] BRIEF DESCRIPTION OF THE DRAWINGS

[0051] [Fig. 1] Figure 1 schematically represents a perspective view of an example of a robotic platform integrating the internal mechanism of a robotic catheter module for the translation and rotation of an elongated flexible medical instrument, according to an embodiment of the invention.

[0052] [Fig. 2] Figure 2 schematically represents a front view of the same example of a robotic platform integrating the internal mechanism of a robotic catheter module for the translation and rotation of an elongated flexible medical instrument, according to one embodiment of the invention.

[0053] [Fig. 3] Figure 3 schematically represents a top view of the same example of a robotic platform integrating the internal mechanism of a robotic catheter module for the translation and rotation of an elongated flexible medical instrument, according to one embodiment of the invention.

[0054] [Fig. 4] Figure 4 schematically represents a perspective view of a linear actuator along the x axis of the same example of a robotic platform integrating the internal mechanism of a robotic catheter module for the translation and rotation of an elongated flexible medical instrument, according to an embodiment of the invention.

[0055] [Fig. 5] Figure 5 schematically represents a perspective view of a sliding ball joint of the same example of a robotic platform integrating the internal mechanism of a robotic catheter module for the translation and rotation of an elongated flexible medical instrument, according to an embodiment of the invention.

[0056] [Fig. 6] Figure 6 schematically represents a front view of a sliding ball joint of the same example of a robotic platform integrating the internal mechanism of a robotic catheter module for the translation and rotation of an elongated flexible medical instrument, according to an embodiment of the invention.

[0057] [Fig. 7] Figure 7 schematically represents a sectional view of a sliding ball joint of the same example of a robotic platform integrating the internal mechanism of a robotic catheter module for the translation and rotation of an elongated flexible medical instrument, according to one embodiment of the invention.

[0058] [Fig. 8] Figure 8 schematically represents a first relative position between two shafts in a robotic platform.

[0059] [Fig. 9] Figure 9 schematically represents a first configuration of a sliding ball joint corresponding to the first relative position between two shafts in a robotic platform.

[0060] [Fig. 10] Figure 10 schematically represents a second relative position between two shafts in a robotic platform.

[0061] [Fig. 11] Figure 11 schematically represents a second configuration of a sliding ball joint corresponding to the second relative position between two shafts in a robotic platform.

[0062] [Fig. 12] Figure 12 schematically represents a third relative position between two shafts in a robotic platform.

[0063] [Fig. 13] Figure 13 schematically represents a third configuration of a sliding ball joint corresponding to the third relative position between two shafts in a robotic platform.

[0064] [Fig. 14] Figure 14 schematically represents a fourth configuration of a sliding ball joint corresponding to a combination of the second and third relative positions between two shafts in a robotic platform.

[0065] DETAILED DESCRIPTION OF THE EMBODIMENTS OF THE INVENTION

[0066] Throughout the rest of the text, it will be referred to interchangeably as “elongated flexible medical instrument” or “medical instrument”.

[0067] Figure 1 schematically represents a perspective view of an example of a robotic platform integrating the internal mechanism of a robotic catheter module for the translation and rotation of an elongated flexible medical instrument, according to an embodiment of the invention.

[0068] Figure 2 schematically represents a front view of the same example of a robotic platform integrating the internal mechanism of a robotic catheter module for the translation and rotation of an elongated flexible medical instrument, according to one embodiment of the invention.

[0069] Figure 3 schematically represents a top view of the same example of a robotic platform integrating the internal mechanism of a robotic catheter module for the translation and rotation of an elongated flexible medical instrument, according to one embodiment of the invention.

[0070] Figure 4 schematically represents a perspective view of a linear actuator along the x axis of the same example of a robotic platform integrating the internal mechanism of a robotic catheter module for the translation and rotation of an elongated flexible medical instrument, according to one embodiment of the invention.

[0071] The operation of the robotic platform integrating the internal mechanism of a robotic catheter module for the translation and rotation of an elongated flexible medical instrument will now be explained in connection with Figures 1 to 4. The robotic platform is carried by a support S.

[0072] The robotic platform comprises a first pair 1 of key holders, and a second pair 2 of key holders. The first pair 1 comprises key holders 1g and Id which are located opposite each other, and the second pair 2 comprises key holders 2g and 2d which are located opposite each other. Key holders 1g and 2g are located on one side of the robotic platform (left in Figures 1 to 4) while key holders Id and 2d are located on the other side of the robotic platform (right in Figures 1 to 4).

[0073] The key holders 1g, 1d, 2g, 2d are each intended to receive a key via which said key holders drive the medical instrument. The attachment of a key to a key holder 1g, 1d, 2g, 2d is described in document WO2015189529 (incorporated by reference into the present patent application). Each pair of key holders reproduces the movement of the thumb and index finger of a practitioner manipulating the medical instrument.

[0074] In Figures 1 to 4, the robotic platform shown comprises two pairs of key holders. However, the number of pairs of key holders may vary. Thus, the robotic platform may comprise a single pair of key holders, or a number greater than two pairs of key holders. A greater number of pairs of key holders may be used to manipulate several medical instruments simultaneously, the example platform shown in Figures 1 to 4 being adapted to manipulate a single medical instrument by giving it a continuous translational movement and a continuous rotational movement.

[0075] As can be seen in Figures 1 to 4, the key holders 1g and 2g are movable along the x-axis, the y-axis and the z-axis, while the key holders Id and 2d are movable only along the y-axis and the z-axis.

[0076] The movement of the key holders along the x axis allows the medical instrument to be clamped or released. When the key holders 1g and Id, respectively covered with their corresponding keys, move towards each other, by translation along the x axis, they clamp the medical instrument between them. When the key holders 1g and Id, respectively covered with their corresponding keys, move away from each other, by translation along the x axis, they release the medical instrument from their grip. When the key holders 2g and 2d, respectively covered with their corresponding keys, move towards each other, by translation along the x axis, they clamp the medical instrument between them. When the key holders 2g and 2d, respectively covered with their corresponding keys, move away from each other, by translation along the x axis, they release the medical instrument from their grip.

[0077] The movement of the key holders along the y axis makes it possible to give a translational movement to the medical instrument along its main axis of elongation. When the key holders 1g and Id, respectively covered with their corresponding keys, advance simultaneously, by translation along the y axis, while clamping the medical instrument between them, they cause the medical instrument to advance in translation. When the key holders 1g and Id, respectively covered with their corresponding keys, move back simultaneously, by inverse translation along the y axis, while clamping the medical instrument between them, they cause the medical instrument to move back in translation. When the key holders 1g and Id, respectively covered with their corresponding keys, move back simultaneously, by inverse translation along the y axis, without clamping the medical instrument between them, they reposition themselves so that they can then again advance the medical instrument in translation.When the key holders 1g and 1d, respectively covered with their corresponding keys, advance simultaneously, by reverse translation along the y axis, without clamping the medical instrument between them, they reposition themselves so as to then be able to move the medical instrument back in translation again. When the key holders 2g and 2d, respectively covered with their corresponding keys, advance simultaneously, by translation along the y axis, while clamping the medical instrument between them, they move the medical instrument back in translation. When the key holders 2g and 2d, respectively covered with their corresponding keys, move back simultaneously, by reverse translation along the y axis, while clamping the medical instrument between them, they move the medical instrument back in translation.When the key holders 2g and 2d, respectively covered with their corresponding keys, move back simultaneously, by reverse translation along the y axis, without clamping the medical instrument between them, they reposition themselves so as to then be able to move the medical instrument back in translation again. When the key holders 2g and 2d, respectively covered with their corresponding keys, move forward simultaneously, by reverse translation along the y axis, without clamping the medical instrument between them, they reposition themselves so as to then be able to move the medical instrument back in translation again.The first pair of key holders 1g and Id on the one hand and the second pair of key holders 2g and 2d on the other hand operate alternately, that is to say that while the first pair of key holders 1g and Id grips the medical instrument, the second pair of key holders 2g and 2d releases the medical instrument, and vice versa, so as to advance or retract the medical instrument more smoothly.

[0078] The movement of the key holders along the z axis makes it possible to give a rotational movement to the medical instrument around its main axis of elongation, that is to say the y axis when the medical instrument is installed in the robotic platform. When the key holders 1g and Id, respectively covered with their corresponding keys, move vertically in phase opposition, that is to say while the key holder 1g rises, the key holder Id descends, and vice versa, the medical instrument rotates around itself in one direction of rotation or in the opposite direction of rotation. When the key holders 2g and 2d, respectively covered with their corresponding keys, move vertically in phase opposition, that is to say while the key holder 2g rises, the key holder 2d descends, and vice versa, the medical instrument rotates around itself in one direction of rotation or in the opposite direction of rotation.

[0079] The movement of the Id and 2d key holders along the x axis for clamping is eliminated in order to simplify the robotic platform and limit its footprint. Indeed, it is sufficient for only one of the two key holders to advance towards the other to clamp the medical instrument between the two key holders of a pair.

[0080] The different movements of the key holders along the x, y and / or z axis can either be carried out separately or combined in pairs, more particularly between the movements along the y axis and along the z axis simultaneously.

[0081] Firstly, the movement along the x axis alone (for clarity) of the two pairs of key holders will now be explained. The movement along the x axis of the key holders 1g and 2g is provided by two first drive blocks 3, a first drive block 3 being associated with each of the key holders 1g and 2g. Each of the first drive blocks 3 comprises a linear motor 31 which is connected to a sliding coupling 32 via an input shaft 31a, the sliding coupling being connected to the key holder 1g or 2g via a transmission module 33.

[0082] The sliding coupling 32 is a connection for transmitting a translation along the x axis, but for allowing translational movements of the 1g or 2g key holder relative to the linear motor 31 along the y and z axes. The sliding coupling 32 comprises a first plate 321 connected to the linear motor 31, a second plate 322 connected to the 1g or 2g key holder and which is located opposite the first plate 321, three balls 323 located between the first plate 321 and the second plate 322, and a stop 324 which keeps the first plate 321 and the second plate 322 clamped around the balls 323. In addition, the stop 324 allows a displacement of the first plate 321 relative to the second plate 322 according to translational movements along the y and z axes. The balls allow the movement between the first plate 321 and the second plate 322 to be by rolling and not by sliding, thus greatly limiting friction.

[0083] The transmission module 33 has the function of transmitting the translational movement along the x axis to the key holder to which said transmission module 33 is connected. The transmission module 33 thus comprises at least one output shaft 331 (here two output shafts 331 in the exemplary embodiment illustrated in FIGS. 1 to 4) of which a first end is fixed to the sliding coupling 32 and a second end is fixed to the key holder 1g or 2g. Each output shaft 331 slides in a slide 332 with a bearing (i.e. ball or needle), thus limiting friction. The slides 332 are fixed on a support SI, the support S1 making it possible to transmit the translational movements along the y and z axes to the key holders 1g and 2g via the output shafts 331.

[0084] The transmission module 33 also comprises a double stop 333 which limits the movements of the key holder 1g or 2g along the x axis in both directions. Advantageously, the double stop 333 comprises at least one buffer 334 made of elastomeric material (preferably two buffers 334, one buffer 334 to form a stop in each direction) so as to attenuate the shock to preserve the mechanism and reduce the noise when the double stop 333 reaches the stop. The buffer 334 blocks the translation in one direction by coming into abutment against the slide 332. In the example illustrated in FIGS. 1 to 4, the two buffers 334 are arranged on either side of the slide 332 for each output shaft 331.

[0085] The support S2 remains stationary along the x axis, without displacement along the x axis. In a second step, the movement along the y axis alone (for clarity) of the two pairs of key holders will now be explained.

[0086] The movement along the y axis of the key holders 1g, 1d, 2g and 2d is ensured by two second drive blocks 4, a second drive block 4 being associated with each of the pairs of key holders 1 and 2. Each of the second drive blocks 4 comprises a linear motor 41 which is connected on the one hand to a first carriage 42 movable in translation along a rail 421 directed along the y axis, and on the other hand to a second carriage 43 movable in translation along a rail 431 directed along the y axis. The first carriage 42 is connected to the support SI via a slide 422 of axis z. The slide 422 allows the first carriage 42 to drive the support SI in translation along the y axis while allowing the z axis translation movements of said support SL. The second carriage 43 is connected to the support S2 via a z axis slide 432.The slide 432 allows the second carriage 43 to drive the support S2 in translation along the y axis while allowing the translational movements of the z axis of said support S2.

[0087] Advantageously, the movement of the first carriage 42 along the rail 421 is achieved by rolling and not by sliding, thus limiting friction. The first carriage 42 is thus mounted on the rail 421 with a rolling slide.

[0088] Advantageously, the movement of the second carriage 43 along the rail 431 is achieved by rolling and not by sliding, thus limiting friction. The second carriage 43 is thus mounted on the rail 431 with a rolling slide.

[0089] Each drive block 4 comprises a double stop 44 which limits the travel of the linear motors 41 along the y axis in both directions. Advantageously, the double stop 44 comprises at least one buffer made of elastomeric material (preferably two buffers, one buffer to form a stop in each direction) so as to attenuate the shock to preserve the mechanism and reduce the noise when the linear motor 41 comes into abutment against the double stop 44. In the exemplary embodiment illustrated in Figures 1 to 4, the double stops 44 are made in two separate parts, but the double stops 44 can be made so as to form a single piece.

[0090] Thirdly, the movement along the z axis alone (for clarity) of the two pairs of key holders will now be explained.

[0091] The movement along the z axis of the key holders 1g, 1d, 2g and 2d is ensured by two third drive blocks 5, a third drive block 5 being associated with each of the pairs of key holders 1 and 2. Each of the third drive blocks 5 comprises a linear motor 51 which is connected via an input shaft 51a to a third carriage 52 movable in translation along a rail 521 directed along the x axis. The third carriage 52 is connected to a first L-shaped lever 531 and to a second L-shaped lever 532. The L of the first lever 531 comprises a first leg 541 and a second leg 551, the first leg 541 being shorter than the second leg 551. The L of the second lever 532 comprises a first leg 542 and a second leg 552, the first leg 542 being shorter than the second leg 552.The first lever 531 is fixed at its first end to the third carriage 52 via a first sliding pivot 5311 with rotation axis y and translation axis y, and is fixed at its second end to the support S1 by a second sliding pivot 5312 with rotation axis y and translation axis y. The second lever 532 is fixed at its first end to the third carriage 52 via a third sliding pivot 5321 with rotation axis y and translation axis y, and is fixed at its second end to a support S2 by a fourth sliding pivot 5322 with rotation axis y and translation axis y. The translational freedom provided by the first sliding pivot 5311, the second sliding pivot 5312, the third sliding pivot 5321, and the fourth sliding pivot 5322 allow the first lever 531 and the second lever 532 to follow the translational movements along the y axis of the key holders 1g, 1d, 2g and 2d transmitted by the two second drive blocks 4.

[0092] Two buffers 522 are located on the rail 521 so as to form stops and limit the translational movements of the third carriage 52 along the x axis in both directions. Advantageously, the buffers 522 are made of elastomeric material so as to attenuate the shock to preserve the mechanism and reduce the noise when the third drive blocks 5 reach the stop.

[0093] Advantageously, the movement of the third carriage 52 along the rail 521 is achieved by rolling and not by sliding, thus limiting friction. The third carriage 52 is thus mounted on the rail 521 with a rolling slide.

[0094] The conversion of the translational movement along the x axis of the linear motors 51 into a translational movement along the z axis for the key holders 1g, 1d, 2g and 2d is ensured by the y-axis rotation of the first lever 531 and the second lever 532. More precisely, the y-axis rotation of the first lever 531 makes it possible to convert the x-axis translational movement of the linear motors 51 into a z-axis translational movement for the key holders 1g and 2g, while the y-axis rotation of the second lever 532 makes it possible to convert the x-axis translational movement of the linear motors 51 into a z-axis translational movement for the key holders 1d and 2d.

[0095] The y-axis rotation of the first lever 531 is achieved by means of a first y-axis pivot 5313 located on the angle of the L of the first lever 531. The activation of the linear motor 51 causes the x-axis translation of the third carriage 52 along the rail 521. The x-axis translation of the third carriage 52 causes the y-axis rotation of the first lever 531 by pushing the first end of said first lever 531 via the first sliding pivot 5311. The y-axis rotation of the first lever 531 causes a z-axis translation movement of the second end of said first lever 531. The z-axis translation of the second end of the first lever 531 causes a translation of the support SI via the second sliding pivot 5312.

[0096] The y-axis rotation of the second lever 532 is achieved by a second y-axis pivot 5323 located on the angle of the L of the second lever 532. The activation of the linear motor 51 causes the x-axis translation of the third carriage 52 along the rail 521. The x-axis translation of the third carriage 52 causes the y-axis rotation of the second lever 532 by pushing the first end of said second lever 532 via the third sliding pivot 5321. The y-axis rotation of the second lever 532 causes a z-axis translation movement of the second end of said second lever 532. The z-axis translation of the second end of the second lever 532 causes a translation of the support S2 via the fourth sliding pivot 5322.

[0097] The z-axis translational movement of the pairs of key holders 1 and 2 makes it possible to give a rotational movement to the medical instrument being handled by means of a movement of the same amplitude in the opposite direction of the key holders 1g, 1d, 2g and 2d of the same pair (this principle is described in document WO2016 / 198800, also incorporated by reference). Thus, a single linear motor 51 can be used for each pair of key holders 1, 2, thus simplifying the structure of the robot and limiting its mass and size. The first lever 531 and the second lever 532 are arranged in opposite directions so that the translation of the carriage along the y axis causes a translation in the opposite direction and of the same amplitude of the second ends of the first lever 531 and the second lever 532.

[0098] Figure 5 schematically represents a perspective view of a sliding ball joint of the same example of a robotic platform integrating the internal mechanism of a robotic catheter module for the translation and rotation of an elongated flexible medical instrument, according to one embodiment of the invention.

[0099] Figure 6 schematically represents a front view of a sliding ball joint of the same example of a robotic platform integrating the internal mechanism of a robotic catheter module for the translation and rotation of an elongated flexible medical instrument, according to one embodiment of the invention.

[0100] Figure 7 schematically represents a sectional view of a sliding ball joint of the same example of a robotic platform integrating the internal mechanism of a robotic catheter module for the translation and rotation of an elongated flexible medical instrument, according to an embodiment of the invention. Figures 5 to 7 represent detailed views of a sliding ball joint 6 for compensating for axial misalignment and radial misalignment installed on the output shaft 51a of the linear motors 51. The sliding ball joint 6 installed on the output shafts 41a of the linear motors 41 is similar to the sliding ball joint 6 installed on the output shafts 51a of the linear motors 51.

[0101] The sliding ball joint 6 comprises a ball joint 61 mounted around the output shaft 51a of the linear motor 51. The ball joint 61 is mounted on the output shaft 51a so as to be free to rotate around said output shaft 51a. In the embodiment illustrated in Figures 5 to 7, the ball joint 61 is mounted around a bearing 62 which is mounted around the output shaft 51a, the ball joint 61 being mounted free to rotate around said bearing 62. In order to ensure the fixing of the ball joint 61, the bearing 62 comprises a shoulder in order to form a first stop at a first end of the ball joint 61, and a nut 63 is screwed around the output shaft 51a at the second end of the ball joint 61 in order to form a second stop opposite said first stop.A ring 64 is mounted around the ball joint 61 and is adapted to slide around said ball joint 61 in order to ensure the three degrees of freedom in rotation of the sliding ball joint 6, and thus compensate for axial misalignment relative to the output shaft 51a during assembly.

[0102] In order to ensure that the radial misalignment is taken up, the ball joint 61 is on the one hand mounted around the bearing 62 with a radial clearance JR, for example a radial clearance of between 0.2 mm and 1 mm, and on the other hand is mounted between the stops with an axial clearance JA, for example also of between 0.2 mm and 1 mm. The radial clearance JR makes it possible to compensate for the radial misalignment and the axial clearance JA allows the ball joint 61 to slide radially to take up the radial misalignment. The value of the radial clearance JR can be adapted according to the maximum acceptable radial misalignment. The value of the axial clearance JA can be adapted according to the maximum acceptable axial misalignment.

[0103] Figure 8 schematically represents a first relative position between two shafts in a robotic platform.

[0104] Two shafts 101 and 102 are perfectly aligned with each other, that is to say their axes are exactly in line with each other.

[0105] Figure 9 schematically represents a first configuration of a sliding ball joint corresponding to the first relative position between two shafts in a robotic platform corresponding to Figure 8.

[0106] The sliding ball joint comprises a convex ball joint 61 located in a concave ring 64, the ball joint 61 being free to rotate in the ring 64. Figure 10 schematically represents a second relative position between two shafts in a robotic platform.

[0107] The two shafts 101 and 102 are not perfectly collinear, that is to say their axes have a radial misalignment DR between them.

[0108] Figure 11 schematically represents a second configuration of a sliding ball joint corresponding to the second relative position between two shafts in a robotic platform corresponding to Figure 10.

[0109] The use of a sliding ball joint comprising a ball joint 61 located in a ring 64, the ball joint 61 being free to rotate in the ring 64, makes it possible to solve the problem of radial misalignment DR shown in FIG. 10, thanks to the radial offset DR' between the ball joint 61 on the one hand and the second shaft 102 on the other hand.

[0110] Figure 12 schematically represents a third relative position between two shafts in a robotic platform.

[0111] The two shafts 101 and 102 are not perfectly aligned with each other, that is to say that their axes have an axial misalignment DA with each other.

[0112] Figure 13 schematically represents a third configuration of a sliding ball joint corresponding to the third relative position between two shafts in a robotic platform corresponding to Figure 12.

[0113] The use of a sliding ball joint comprising a ball joint 61 located in a ring 64, the ball joint 61 being free to rotate in the ring 64, makes it possible to solve the problem of axial misalignment DA shown in FIG. 12, thanks to the axial offset DA' between the ball joint 61 on the one hand and the ring 64 on the other hand.

[0114] Figure 14 schematically represents a fourth configuration of a sliding ball joint corresponding to a combination of the second and third relative positions between two shafts in a robotic platform.

[0115] The use of a sliding ball joint comprising a ball joint 61 located in a ring 64, the ball joint 61 being free to rotate in the ring 64, makes it possible to solve both: the problem of radial misalignment DR, thanks to the radial offset DR' between the ball joint 61 on the one hand and the second shaft 102 on the other hand, and the problem of axial misalignment DA, thanks to the axial offset DA' between the ball joint 61 on the one hand and the ring 64 on the other hand.

[0116] Of course, the present invention is not limited to the examples and the embodiment described and represented, but it is susceptible to numerous variants accessible to those skilled in the art.

Claims

CLAIMS 1. Robotic catheter module for translation and rotation of an elongated flexible medical instrument, comprising: a support (S) having a longitudinal direction (y), a transverse direction (x) which is orthogonal to the longitudinal direction (y), and a vertical direction (z) which is orthogonal to the longitudinal direction (y) and to the transverse direction (x); at least one pair of movable keys (1g and Id, 2g and 2d) facing each other, adapted to be able to: o perform a longitudinal translation of the elongated flexible medical instrument, by enclosing the elongated flexible medical instrument between the keys and by translating the keys together in the longitudinal direction;o rotating the elongated flexible medical instrument about the longitudinal direction, by enclosing the elongated flexible medical instrument between the keys and translating the keys together in the vertical direction, said keys translating in opposite directions; a key drive device comprising: o a first key drive member (4) in the longitudinal direction (y) comprising a first actuator (41) which is connected to the keys via at least one rolling slide connection; o a second key drive member (5) in the vertical direction (z) comprising a second actuator (51) which is connected to the keys via at least one rolling slide connection;o a third drive member (3) for driving the keys at least relatively to each other in the transverse direction (x) comprising a third actuator (31) which is connected to at least one key via at least one rolling slide connection; o these three drive members (4, 5, 3) for the keys being independent of each other, so that the activation of an actuator (41, 51, 31) of one of the drive members (4, 5, 3) does not move the actuators of the other two drive members.; 2. Robotic catheter module according to claim 1, characterized in that one of the first drive member (4), the second drive member (5) and the third drive member (3), comprises a sliding coupling (32) which is connected to the actuator (41, 51, 31) of said drive member (4, 5, 3) by a first shaft (51a, 31a) and which is connected to at least one key by a second shaft (331), the sliding coupling (32) allowing a translational movement of the second shaft (331) relative to the first shaft (51a, 31a) along a plane perpendicular to the first shaft (51a, 31a).

3. Robotic catheter module according to claim 2, characterized in that the sliding coupling (32) by rolling comprises several balls (323), said balls (323) being respectively housed in several housings carried by the same support, and being able to roll on the same plane of the same part.

4. Robotic catheter module according to claim 3, characterized in that the sliding coupling (32) comprises at least three balls (323).

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

6. Robotic catheter module according to any one of the preceding claims, characterized in that the second actuator (51) is a linear actuator and the second drive member (5) comprises a transformation device which transforms a translational movement of the second actuator (51) into a translational movement of the keys along the vertical axis (z) by means of an intermediate connecting piece (531, 532).

7. Robotic catheter module according to claim 6, characterized in that the intermediate connecting piece (531, 532) is L-shaped and the rotation axis (5313, 5323) of said intermediate connecting piece (531, 532) is located at the intersection of the two branches of the L, a first branch (541, 542) of the L being connected to a key, the second drive member (5) being connected to a second branch of the L (551, 552), the first branch (541, 542) of the L being preferably shorter than the second branch (551, 552) of the L or the first branch (541, 542) of the L being preferably at least 2 times or at least 3 times shorter than the second branch (551, 552) of the L.

8. Robotic catheter module according to claim 6 or claim 7, characterized in that the intermediate connecting piece (531, 532) comprises a sliding pivot connection at each of its two ends.

9. Robotic catheter module according to any one of the preceding claims, characterized in that at least one of the first drive member (4), the second drive member (5) and the third drive member (3) comprises a sliding ball joint (6) with radial misalignment compensation (DR) and axial misalignment compensation (DA) mounted around a shaft so as to slide radially around said shaft.

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

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