ROBOT CATHETER AND HUMAN-MACHINE INTERFACE CONTROL OF A TRAINING MODULE FOR A FLEXIBLE MEDICAL INSTRUMENT EXTENSION

Abstract

The invention relates to a catheter robot (1) comprising: a drive module (2) for an elongated flexible medical instrument, which translates along a principal axis of elongation of said elongated flexible medical instrument and rotates around the principal axis of elongation of said elongated flexible medical instrument, simultaneously or alternately; and a human-machine interface (4) for controlling said drive module, characterized in that said human-machine interface (4) is structured such that, in a first mode of operation: it controls the speed of the translational drive of said elongated flexible medical instrument and its position, and it controls the rotational drive of said elongated flexible medical instrument. Figure 1

Description

Title of the invention: ROBOT CATHETER AND HUMAN-MACHINE INTERFACE CONTROL OF A TRAINING MODULE FOR AN EXTENDABLE FLEXIBLE MEDICAL INSTRUMENT FIELD OF INVENTION

[0001] The invention relates to a catheter robot and a human-machine interface for controlling a drive module of an elongated flexible medical instrument. TECHNOLOGICAL BACKGROUND OF THE INVENTION

[0002] The insertion of an elongated flexible medical device into a patient's blood vessel, artery or vein, is generally monitored under X-ray. To prevent the surgeon or other practitioner performing this insertion from being exposed to excessive X-rays, it is known to use a catheter robot equipped with a drive module for the elongated flexible medical device, allowing the practitioner to remotely manipulate the device, thus performing telediagnosis or teleintervention. The drive module transmits a translational and / or rotational movement to the elongated flexible medical device inserted into the blood vessel, which may optionally be combined.

[0003] The translational movement allows the elongated flexible medical instrument to move back and forth within the blood vessel into which it is inserted. The rotational movement facilitates these displacements 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.

[0004] The translational and rotational movements of the elongated flexible medical instrument are usually controlled by a movable control element which is operated by the practitioner during the intervention on the patient.

[0005] According to a 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 displacement of the control member causes a displacement of the elongated flexible medical instrument with an amplitude that is proportional to the amplitude of the displacement of the control member. A drawback of this prior art is that the translational displacement, although precise, can become too slow at certain times, particularly at the beginning of catheter insertion into the patient, when the catheter must reach the area by particular of the patient's blood system in which it will be used.

[0006] According to a second prior art, the control element is configured to control, by velocity, the translational and rotational movements of the elongated flexible medical instrument. When the movements of the elongated flexible medical instrument are controlled by velocity, the displacement of the control element causes the elongated flexible medical instrument to move at a speed proportional to the amplitude of the control element's displacement. A drawback of this second prior art is that the rotational movement, although rapid, may lack precision at certain times, particularly when passing branches as the catheter is reaching the specific area of ​​the patient's circulatory system where it will be used.

[0007] The aim is to obtain a training method for the elongated flexible medical instrument that can be both sufficiently precise and sufficiently fast, at least in most usage situations, while offering the practitioner good ergonomics for piloting this elongated flexible medical instrument.

[0008] A series of tests conducted with a panel of practitioners, taking into account most of the usual situations for using the extended flexible medical device, surprisingly revealed that the configuration considered to achieve the best overall compromise between training effectiveness and piloting ergonomics is a configuration in which: • The translational drive of the elongated flexible medical instrument is speed-controlled, • while the rotation drive of the elongated flexible medical instrument is controlled in position.

[0009] On the one hand, the control in position of the rotation of the elongated flexible medical instrument allows it to be rotated around its axis with an angle of rotation proportional to the amplitude of rotation of the control organ, which allows the practitioner to rotate the elongated flexible medical instrument by a precise angle of rotation in an intuitive manner.

[0010] 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 displacement of the control organ, which allows the elongated flexible medical instrument to be moved over a long distance from a compact control organ.

[0011] Furthermore, thanks to the speed control it is possible to adapt the speed of The translation of the elongated flexible medical instrument depends on the area of ​​the blood vessel it is traversing. For example, to traverse curved areas of the vessel, the translation speed of the elongated flexible medical instrument can be reduced. To avoid damaging the blood vessel wall through collision between the elongated flexible medical instrument and the vessel wall, the present invention, by combining speed control of the elongated flexible medical instrument's translation and position control of its rotation, provides a catheter robot offering a better compromise between high precision and ease of use for the practitioner, resulting in a catheter robot that is both efficient and ergonomic. OBJECTS OF THE INVENTION

[0012] The object 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, at least partially overcoming the disadvantages of the aforementioned prior arts.

[0013] According to the invention, a catheter robot is provided comprising: - a training module for an elongated flexible medical instrument, in translation along a principal axis of elongation of said elongated flexible medical instrument and in rotation around the principal axis of elongation of said elongated flexible medical instrument, simultaneously or alternately, - a human-machine interface for controlling said drive module,

[0014] characterized in that said human-machine interface is structured so as to, in a first mode of operation: - to quickly initiate the translational drive of said elongated flexible medical instrument, - to control, in position, the rotational drive of said elongated flexible medical instrument.

[0015] 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 catheter robot obtained presents 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.

[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 the aforementioned object of the invention.

[0017] 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.

[0018] Preferably, said human-machine interface comprises a movable control element intended to be manipulated by a user's hand, and structured such that, in the first operating mode: - a translational displacement of said moving control organ with a translational amplitude results in a translational displacement of said elongated flexible medical instrument with a speed proportional to said translational amplitude, - a rotational displacement of said mobile control organ with an amplitude of rotation results in a rotational displacement of said elongated flexible medical instrument with an angle of rotation proportional to said amplitude of rotation.

[0019] Thus, a fairly elaborate kinematic of simultaneous displacement in translation and rotation can be achieved by a simple and robust structure of the drive element.

[0020] Preferably, said human-machine interface is structured so as to control, in position, the rotational drive of said elongated flexible medical instrument, with a proportionality coefficient between on the one hand the rotational displacement of said control member and on the other hand the rotational displacement of said elongated flexible medical instrument, said proportionality coefficient being modifiable by a selection of the catheter robot user.

[0021] Preferably, said human-machine control interface comprises: - a drive control mechanism for the translation and rotation of said elongated flexible medical instrument, - a safety element, allowing the drive of said elongated flexible medical instrument to be blocked or unlocked by said drive control element.

[0022] The control element is inherently sensitive. Thanks to the safety element, accidental activation of the drive mechanism for the elongated flexible medical device can be more easily avoided. Preferably, the safety element prevents at least accidental activation of the translational drive of the elongated flexible medical device. Since this translation is speed-controlled, there is a greater risk (than with position-controlled drive) to the patient's health in the event of accidental activation.

[0023] Preferably, said safety element comprises a safety surface capable of detecting the contact or pressure of a user's hand so as to unlock said drive control member, said safety surface 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.

[0024] The safety element therefore exhibits both ease of use and high operational efficiency.

[0025] 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 translational speed of the elongated flexible medical instrument.

[0026] The catheter robot user thus receives feedback on the translational drive they have commanded, allowing them to verify that this drive is taking place as 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 through tortuous or stenosed areas, enabling the user to know when it is appropriate to modify or adapt the command for the translational drive of the elongated flexible medical instrument and / or to command the rotation of the elongated flexible medical instrument.

[0027] Preferably, the human-machine interface is structured so that, in a second operating mode: - to quickly initiate the translational drive of said elongated flexible medical instrument, - to quickly initiate the rotation of said elongated flexible medical instrument.

[0028] 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 includes a touch surface.

[0029] The rod preferably has an elongated shape like the elongated flexible medical instrument. This makes the control of the drive of the elongated flexible medical instrument more ergonomic.

[0030] Preferably, said rod comprises two parts sliding one into the other: - a first part which is mobile in translation and 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.

[0031] With 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 ensuring effective control of the drive in translation and rotation of the elongated flexible medical instrument.

[0032] Preferably, said human-machine interface also includes a rotating ring disposed 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, when controlling the speed of the rotation drive of said elongated flexible medical instrument.

[0033] Preferably, said human-machine interface also includes an elastic return element, in the rest position, of said rotating ring disposed around said rod, the elastic return element preferably comprising a return spring.

[0034] The rest position corresponds to the position of the rotating ring before its rotation. In other words, in the rest position, the rotational speed of the elongated flexible medical device is zero. Also, thanks to the elastic return element, it is possible to stop the rotation of the elongated flexible medical device when the user stops actuating the rotating ring. Furthermore, the elastic return element also reduces the overall size of the human-machine interface because it allows for a reduction in the size and stroke of the rotating ring.

[0035] Preferably, said human-machine control interface includes a crank that is rotatable by the hand of a user so as to drive said elongated flexible medical instrument in rotation.

[0036] Preferably, said man-machine control interface also includes an elastic return element, in rest position, for translational drive only, of said moving control member or of said rod, said elastic return element preferably comprising a return spring.

[0037] The rest position corresponds to the position of the moving control element or the rod before its translational movement. In other words, in the rest position, the translational speed of the elongated flexible medical instrument is zero. Also, thanks to the elastic return element, it is possible to stop the translational movement of the elongated flexible medical instrument when the user ceases to actuate the moving control element. Furthermore, the elastic return element also reduces the overall size of the human-machine interface because it allows for a reduction in the size and stroke of the moving control element.

[0038] The angle of rotation of the control member or rod before returning them to the rest position is thus preserved.

[0039] Preferably, the catheter robot also includes another drive module for another elongated flexible medical instrument, in translation along a principal axis of elongation of said other elongated flexible medical instrument and in rotation around the principal axis of elongation of said other elongated flexible medical instrument, said human-machine interface also controlling said other training module and being structured so as to, in the first mode of operation: - to quickly initiate the translational drive of said other elongated flexible medical instrument, - to control, in position, the rotational drive of said other elongated flexible medical instrument.

[0040] 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 thus be added to the catheter robot. Furthermore, the same human-machine interface allows the drive of both medical instruments to be controlled, thereby reducing the overall size of the catheter robot.

[0041] Preferably, the catheter robot includes at least one additional drive module, in translation, for 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 drive in translation of said additional elongated flexible medical instrument.

[0042] Since the additional training module is also controlled by the same human-machine interface as the first training module, the overall size of the catheter robot is reduced. Furthermore, thanks to the additional training module and the extra elongated flexible medical instrument, it is possible to add additional functionalities to the catheter robot.

[0043] Preferably, said additional elongated flexible medical instrument is a catheter, preferably a stent or balloon catheter.

[0044] Preferably, said human-machine control interface also includes a wheel that can be rotated by a user's hand so as to control the speed and drive the translation of said additional elongated flexible medical instrument.

[0045] The wheel has the advantage of being simple to use and having a particularly small footprint. For a simple control, such as the translation of the additional elongated flexible medical instrument, this results in an improved compromise between ease of use and the overall size of the catheter robot's human-machine interface.

[0046] Preferably, said human-machine control interface also includes an additional elastic element for returning the wheel to the rest position, which preferably includes one or more additional return springs.

[0047] The rest position corresponds to the position of the wheel before it is rotated. In other words, in the rest position, the translational 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 movement of the additional elongated flexible medical instrument when the user stops operating the wheel. Furthermore, the additional elastic return element also reduces the overall size of the human-machine interface, as it allows for a reduction in the size and travel of the wheel.

[0048] Preferably, said human-machine interface is structured so as to: - control the translational drive of said elongated flexible medical instrument only in terms of speed, - control the rotational drive of said elongated flexible medical instrument only in terms of position.

[0049] Preferably, said human-machine interface is structured, in a third operating mode, so as to - to control, in position, the translational movement of said elongated flexible medical instrument, step by step, that is to say by moving a predetermined step at each impulse received by the human-machine interface, - to 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 impulse received by the human machine interface.

[0050] According to another aspect, the invention relates to a human-machine interface for controlling a drive module of an elongated flexible medical instrument, in translation along a principal axis of elongation of said elongated flexible medical instrument and in rotation around the principal axis of elongation of said elongated flexible medical instrument, in a catheter robot, characterized in that it is structured so as to, in a first mode of operation: - to quickly initiate the translational drive of said elongated flexible medical instrument, - to control, in position, the rotational drive of said elongated flexible medical instrument.

[0051] Preferably, the human-machine interface comprises a movable control element intended to be manipulated by a user's hand, and structured such that, in the first mode of operation: - a translational movement of said movable control element with a translational amplitude results in a translational movement of said elongated flexible medical instrument with a speed proportional to said translational amplitude, - a rotational displacement of said mobile control organ with an amplitude of rotation results in a rotational displacement of said elongated flexible medical instrument with an angle of rotation proportional to said amplitude of rotation.

[0052] Other features and advantages of the invention will become apparent from the following description of a preferred embodiment of the invention, given by way of example and with reference to the accompanying drawings. Brief description of the drawings

[0053] [Fig-1] Fig. 1 schematically represents an example of a catheter robot according to a method of embodiment of the invention.

[0054] [Fig.2] Fig.2 represents a schematic longitudinal cross-sectional view of an example of an elongated flexible medical instrument.

[0055] [Fig.3] The [Fig.3] is a schematic perspective view of an example of a human-machine interface of the catheter robot of the [Fig.1] according to an embodiment of the invention.

[0056] [Fig.4] The [Fig.4] is a schematic perspective view of an example of part of a moving control element, or drive control element, of the human machine interface of the [Fig.3].

[0057] [Fig.5] The [Fig.5] is a schematic perspective view of an example of a moving control element or drive control element of the human machine interface of the [Fig.3].

[0058] [Fig.6] Fig.6 represents a schematic side view of an example of a human-machine interface of the catheter robot of [Fig.1] according to another embodiment of the invention.

[0059] [Fig.7] The [Fig.7] represents a schematic side view of an example of a human-machine interface of the catheter robot of the [Fig.1] according to another embodiment of the invention.

[0060] [Fig.8] Fig.8 schematically represents an example of a catheter robot according to another embodiment of the invention.

[0061] [Fig.9] The [Fig.9] is a schematic perspective view of an example of a human-machine interface of the catheter robot of the [Fig.8] according to an embodiment of the invention.

[0062] DETAILED DESCRIPTION OF THE METHODS OF EMBODIMENT OF THE INVENTION

[0063] In the different figures, the same references designate identical or similar elements.

[0064] Figure 1 schematically represents a catheter robot 1 according to a first mode of realization of the invention. The catheter robot 1 comprises a drive module 2 of an elongated flexible medical instrument 3 (illustrated in [Fig.2]) and a human-machine interface 4 for controlling the drive module 2.

[0065] The elongated flexible medical instrument 3 may, for example, be an organ to be inserted into a patient's canal and moved within that canal, in particular an artery or vein of the patient. As illustrated in [Fig. 2], the elongated flexible medical instrument 3 extends along an axis A, called the principal axis of elongation.

[0066] Preferably, the elongated flexible medical device 3 comprises a catheter guidewire, and / or a guide catheter, and / or a microcatheter. The elongated flexible medical device 3 may also, or alternatively, comprise a catheter, for example, a balloon catheter or a stent catheter. In the non-limiting example of [Fig. 2], the elongated flexible medical device 3 comprises a coaxial A-axis guide catheter 3-1, a microcatheter 3-2, and a catheter guidewire 3-3. The guide catheter 3-1 and the microcatheter 3-2 are hollow, at least in a portion near the patient when the elongated flexible medical device 3 is introduced into the patient. The catheter guidewire 3-3 may be a solid wire. The diameter of the guide catheter 3-1 is greater than the diameter of the microcatheter 3-2, and the diameter of the catheter guide 3-3 is less than the diameter of the microcatheter 3-3.The catheter guide 3-3 is thus inserted, at least partially, into the micro-catheter 3-2 which is in turn inserted, at least partially, into the guide catheter 3-1.

[0067] 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.

[0068] In some cases, the catheter robot 1 may further include an additional training module 2' for an additional elongated flexible medical instrument.

[0069] Advantageously, the additional elongated flexible medical instrument surrounds the elongated flexible medical instrument 3, at least over part 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.

[0070] The additional training module 2' is structured so that it can be connected to the additional elongated flexible medical instrument. The additional training module 2' is configured to move the additional elongated flexible medical instrument in translation.

[0071] As will be detailed, the human machine interface 4 is also configured to control the additional drive module 2'.

[0072] The human-machine interface 4 will now be described with reference to figures 3 to 5.

[0073] The human-machine interface 4 includes a control element 5 of the elongated flexible medical instrument 3. The control element 5 is, for example, connected to a housing 6 of the human-machine interface 4.

[0074] Preferably, the control element 5 is a movable control element intended to be manipulated by a user of the catheter robot 1. For example, the control element 5 can be manipulated by the user's hand. "Manipulate" here means that the user voluntarily exerts force on the control element 5.

[0075] As will be detailed, manipulating the control member 5 causes the elongated flexible medical instrument 3 to move in translation along the main axis of elongation A and / or to rotate about 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 either direction (forward or backward). Similarly, from the control member 5, the rotation of the elongated flexible medical instrument 3 about its main axis of elongation A can be controlled in either direction (clockwise or counterclockwise). Thus, the control member 5 is, in particular, a drive member for the translation and rotation of the elongated flexible medical instrument 3.As will be detailed, the control unit 5 can control the translation and / or rotation of the elongated flexible medical instrument 3 using two types of commands: a position control or a speed control. These types of commands are described below.

[0076] 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.

[0077] 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 general cylindrical shape.

[0078] In some cases, the rod 7 is formed from a single piece. In other cases, the rod 7 is formed from several separate pieces connected together, as will be detailed later with reference to [Fig.4].

[0079] The rod 7 is partially inserted 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 to the first end portion of the rod 7 being outside the housing 6. The user of the catheter robot 1 can thus manipulate the rod 7 by its second end portion 7-2.

[0080] Manipulating the rod 7 may include moving the rod 7 or a portion thereof in translation along its longitudinal axis B in one direction or the other (forward or backward). Manipulating the rod 7 may also include the displacement of the rod 7 or a part thereof in rotation around this longitudinal axis B in one direction or the other (clockwise or counterclockwise). As will be explained later, the rod 7 is structured so that the displacement of the rod 7 (or a part thereof) in translation along the axis B or in rotation around the axis B commands a displacement of the elongated flexible medical instrument 3 in, respectively, translation along its principal axis of elongation A or rotation around the principal axis of elongation A.

[0081] In the non-limiting embodiment illustrated by [Fig.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 distinct 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 lateral 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 lateral 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 gap exists between the lateral wall of the first part 8 and the lateral wall of the second part 9 when the second part 9 is introduced into the first part 8.

[0087] As can be seen from [Fig.4], the second part 9 comprises at least one slot 13 passing through the lateral 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 lateral wall of the second part 9.

[0088] Each hole 11 and each slot 13 comprises a first dimension, called here "length", which extends substantially parallel to the longitudinal axis B of the rod 7. Each hole 11 and each slot 13 also includes a second dimension, referred to here as "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 [Fig. 4], a pin 14 connects the first part 8 and the second part 9 of the rod 7 to each other. The pin 14 passes through each hole 11 and each slot 13. Advantageously, the pin 14 is press-fitted or adjusted in each hole 11.

[0090] In this configuration of the rod 7, the second end portion 7-2 of the rod 7, which is external to the housing 6, can include 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 external to the housing 6, which allows the user of the catheter robot 1 to manipulate the rod 7 by applying force to 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 (forward or backward).

[0092] As previously stated, 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 together with the first part 8. Consequently, the second part 9 is decoupled in translation from the first part 8.

[0093] With the pin 14 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 to rest 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 to rest against the other end of the slot 13.

[0094] Thanks to the sliding of the first part 8 on the second part 9, the control member 5 can be compacted compared to a control member in which the entire rod 7 moves in translation along the axis B.

[0095] 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).

[0096] 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 rotationally coupled with the first part 8.

[0097] As shown in [Fig. 5], the control element 5 may further include a support 15 for installation inside the housing 6 of the human-machine interface 4. The rod 7 extends partially inside the support 15. For example, the support 15 can be positioned around the rod 7 so that the end portion 7-2 outside the housing 6 is also disposed outside the support 15.

[0098] The support 15 may include a first base 16 and a second base 17 arranged substantially perpendicular to the axis B, in particular opposite each other. Advantageously, the first base 16 and the second base 17 each include a respective (non-visible) through hole through which the rod 7 passes. Advantageously, the through holes in the support 15 are shaped such that the rod 7 can slide within them.

[0099] 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 in the bases 16, 17 allow the translation of the rod 7, or one of its parts, to be guided along the axis B.

[0100] One or more bars 18 connect the bases 16, 17 to each other. In this case, three bars 18 are provided, without this being limiting. Preferably, each bar 18 extends substantially parallel to the axis B.

[0101] 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.

[0102] As can be seen from [Fig.5], the potentiometer 19 is connected to the rod 7. For this purpose, a pivot 20 can be arranged around the rod 7.

[0103] The pivot 20 is connected, directly or indirectly, to the potentiometer 19 so as to be able to slide along the potentiometer. In the example of [Fig. 5], a transmission shaft 21 connects the pivot 20 and the potentiometer 19 in a sliding manner.

[0104] 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 that it is moved in translation along the axis B in conjunction with the rod 7. Thus, when the rod 1 is translated along the axis B, the pivot 20 follows the same movement, which changes 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 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 change in its resistance. Depending on the change in resistance of the potentiometer 19, the amplitude of translation or the speed of translation of the elongated flexible medical instrument 3 along its axis A varies.

[0105] 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 axis B. This allows the resistance of potentiometer 19 to be varied as soon as the rod is moved, even if only partially, along axis B.

[0106] The pivot 20 is advantageously decoupled in rotation around the axis B of the rod 7. Preferably even more, the pivot 20 is immobile in rotation around the axis B.

[0107] The control element 5 may also include 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.

[0108] The quadrature encoder 22 is configured to measure an amplitude and direction of rotation of the rod 7 around 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 around its principal axis of elongation 1.

[0109] 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 rod, 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 translational movement along the longitudinal axis B of the rod 7 or a part thereof.

[0110] In [Fig.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.

[0111] As indicated, the translational movement of the rod 7 (or a portion thereof) along axis B or its rotation about axis B causes the elongated flexible medical instrument 3 to move translationally along its principal axis of elongation A or to rotate about its principal axis of elongation A, respectively. Thanks to the elastic return element 23, as soon as the catheter robot operator ceases manipulating the rod 7, the rod 7 gradually moves along axis B to its rest position. As will be detailed, this can cause a gradual reduction in the speed of the elongated flexible medical instrument 3 to zero, or a recoil of the elongated flexible medical instrument 3 within the channel in which it is moving.

[0112] The human-machine interface 4 may include a safety element, allowing the drive of the elongated flexible medical instrument 3 to be blocked or unblocked by the control member 5, in this case the rod 7.

[0113] The safety element comprises a safety surface 24. In some cases, the safety surface 24 is a touch surface. In other cases, the safety surface 24 is a capacitive touch surface. In other cases, the safety surface 24 is a Capacitive touch surface coated with titanium paint.

[0114] The safety surface 24 is capable of detecting contact or pressure from the user's hand or other body part. When such contact or pressure is detected, the drive mechanism 5 unlocks the elongated flexible medical instrument 3. Thus, the translation of the rod 7, or a portion thereof, along axis B, or its rotation around axis B, causes the elongated flexible medical instrument 3 to move, respectively, in translation along axis A or rotate around axis A. Conversely, when such contact or pressure is not detected, the drive mechanism 5 locks the elongated flexible medical instrument 3. This prevents unintentional movement of the rod 7, in translation and / or rotation, from triggering the movement of the elongated flexible medical instrument 3 in translation and / or rotation, respectively.

[0115] In certain cases, if no contact or pressure from the user's hand (or any other part of their body) is detected by the safety surface 24, only the translational drive of the elongated flexible medical device 3 is blocked. This is because an unintentional triggering of the translation of the elongated flexible medical device 3 within the patient's canal presents a greater risk to the patient's health than an unintentional triggering of the rotation of the elongated flexible medical device 3, particularly when the translation is speed-controlled.

[0116] 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.

[0117] The first zone 24-1 is located on an edge of the housing 6. The second zone 24-2 is located on a surface of the housing 6 that is substantially perpendicular to the first zone 24-1. Preferably, the second zone 24-2 is substantially horizontal in the usual operating position of the human-machine interface 4. The third zone 24-3 is contained within the end portion 7-2 of the rod 7 outside the housing 6. In this example, the drive 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 contained within the rod 7 and on at least one of the first zone 24-1 and the second zone 24-2. On the contrary, the training 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.

[0118] According to one possible embodiment, the safety surface 24 is arranged on the rod 7, for example by covering the rod 7 with a touch surface.

[0119] The human-machine control interface may also include haptic feedback informing the user of the catheter robot 1 of the existence of movement of the elongated flexible medical instrument 3 inside the patient's canal. In some In this case, haptic feedback is activated only for the translation of the extended flexible medical instrument 3. The catheter robot user thus receives feedback on the translation training he ordered, allowing him to verify that this training is taking place in the way he wanted.

[0120] The haptic feedback is preferably in the form of vibrations. Even more preferably, the haptic feedback is in the form of vibrations of the control element 5.

[0121] By way of example, the vibration frequency is proportional to the translational speed of the elongated flexible medical device 3. The user of the human-machine interface 4 can thus detect the passage of the elongated flexible medical device 3 through tortuous or stenotic areas of the channel, where its translation is impeded, thereby 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 device 3 and / or to control the rotation of the elongated flexible medical device 3.

[0122] According to another non-limiting example, the vibration frequency is proportional to the translational speed of the elongated flexible medical device 3 when this speed is less than or equal to a threshold value. Once the translational speed of the elongated flexible medical device 3 exceeds this threshold value, the vibration frequency remains constant regardless of the translational speed of the elongated flexible medical device 3. For example, the threshold value of the translational speed of the elongated flexible medical device 3 could be 10 mm / s. Advantageously, when the translational speed of the elongated flexible medical device 3 is greater than the threshold value, the vibration frequency is such that the user perceives a continuous vibration (i.e., the user never ceases to feel the vibration).The user of the catheter robot 1 is thus alerted to a speed of translation of the elongated flexible medical instrument 3 which may present a major risk to the patient's health.

[0123] As shown in [Fig. 3], the human-machine interface 4 may further include a knob 25 which can be rotated by the user's hand. As will be detailed, the rotation of the knob 25 controls the movement of the additional drive module 2' so as to drive the additional elongated flexible medical instrument in translation.

[0124] Since the additional training module 2' is controlled by the same human-machine interface 4 as the training module 2, the overall size of the catheter robot 1 is reduced.

[0125] Preferably, said human-machine control interface also includes an additional elastic element for returning (not shown) the wheel 25 to the rest position. This additional elastic element may include one or more additional return springs (not shown). In the case of the knob 25, the rest position corresponds to the position of the knob before it is rotated. As explained later, thanks to the additional elastic return element, it is possible to stop the translational movement of the additional elongated flexible medical instrument when the user stops operating the knob 25.

[0126] The human-machine interface 4 may also include a display module 26. The display module 26 is, for example, a screen. The screen may, for example, be a touchscreen, but this is not a limitation.

[0127] The screen reports information on the operation of the drive module 2, and possibly the additional drive module 2', in response to the command of these modules 2, 2' using the control element 5 or the wheel 25 respectively.

[0128] The screen 26 can also display one or more virtual buttons allowing the selection of various functionalities of the catheter robot 1, such as an operating mode of the human-machine interface 4.

[0129] The screen 26 also allows visualization of the position of the elongated flexible medical instrument 3, and possibly of the additional elongated flexible medical instrument, in relation to the patient's various organs. This allows the user to decide and control the various movements of the elongated flexible medical instrument during the procedure 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.

[0130] Fig. 6 shows another embodiment of the human-machine interface 4 which differs from the human-machine interface 4 of Fig. 3 in that the control member 5 includes a crank 27 instead of the rod 7.

[0131] The crank 27 includes a first portion 27-1 substantially straight with longitudinal axis C. This first portion 27-1 is similar or identical to the rod 7 and will not be described in detail in what follows.

[0132] The crank 27 further comprises a second portion 27-2 located 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 joined together. The first part 28 is directly connected to the first portion 27-1 of the crank 27 and extends substantially perpendicularly 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 their hand, the crank 27 by means of the second part 29.

[0133] Manipulation of the crank 27 may include movement of the crank 27 or a portion thereof in translation along the longitudinal axis C in one direction or the other (forward or backward). Manipulation of the crank 27 may also include 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 so 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 principal axis of elongation A or in rotation about the principal axis of elongation A.

[0134] The remaining elements described previously with reference to the human-machine interface of [Fig. 3] can also be included in human-machine interface 4 of [Fig. 6]. For the sake of brevity, these elements are not described in detail again in what follows.

[0135] The embodiment illustrated in [Fig.6] allows a continuous rotational movement of the elongated flexible medical instrument 3 to be controlled while maintaining a position control of the rotational movement of the elongated flexible medical instrument 3.

[0136] Fig. 7 shows another embodiment of the human-machine interface 4 which differs from the human-machine interface 4 of Fig. 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.

[0137] The ring 30 can be manipulated by the user of the catheter robot 1 so as to rotate it around the axis B of the rod 7. For example, the user can use their hand to manipulate the ring 30. Preferably, the ring 30 can be rotated around the axis B of the rod without causing the rod 7 to rotate as a unit. As will be explained below, the rotation of the ring 30 causes the elongated flexible medical instrument 3 to rotate according to one of the previously indicated control methods (position or speed), which differs 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.

[0138] An elastic return element (not shown), in the rest position, of the rotating ring 30 can be provided in the human-machine interface 4. The rest position of the rotating ring 30 is understood to be 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 includes a return spring.

[0139] The remaining elements described previously with reference to the human-machine interface of [Fig. 3] can also be included in human-machine interface 4 of [Fig. 7]. For the sake of brevity, these elements are not described in detail again. in what follows.

[0140] The embodiment illustrated in [Fig.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 mode of operation 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 mode of operation using the rod 7 for translation and the ring 30 for rotation.

[0141] The operation of the catheter robot 1 according to the embodiment of [Fig.1] will now be described.

[0142] For the sake of brevity, in what follows, when reference is made to the movement of the control member 5, it includes the movement of the entire control member 5 or of a part thereof (in particular, the first part 8 when the control member 5 is the rod 7 of the [Fig.4]).

[0143] Furthermore, in what follows, reference is made to the "translational movement" or "translation" of the elongated flexible medical device 3, meaning the translational movement of this elongated flexible medical device 3 along its principal axis of elongation. Similarly, reference is made in what follows to the "rotational movement" or "rotation" of the elongated flexible medical device 3, meaning the rotational movement of the elongated flexible medical device 3 around its principal axis of elongation.

[0144] As previously stated, the training module 2 is connected to the elongated flexible medical instrument 3 and allows it to be moved in translation along axis A and / or in rotation around axis A inside a patient channel.

[0145] Advantageously, when the control element 5 of the human-machine interface 4 is moved, the drive module 2 moves in translation and / or rotation, causing a corresponding movement of the elongated flexible medical instrument 3 within the patient's channel. Thus, the human-machine interface 4 is structured to control the translational and / or rotational movement of the elongated flexible medical instrument 3. As previously mentioned, the control element 5 can be moved in translation and / or rotation by the hand of the user of the catheter robot 1.

[0146] When the control member 5 is the rod 7 or the crank 27, a translation along the axis B of the rod 7 (or 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 elongated flexible medical instrument 3 is driven in translation along the axis A. Similarly, a rotation about the axis B of the rod 7 (or 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. in the manner that the elongated flexible medical instrument 3 is driven in rotation around the axis A.

[0147] Advantageously, the direction of translation or rotation of the elongated flexible medical instrument 3 within the patient's canal 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 shown in [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 canal. Conversely, when the rod 7 (or its first part 8 when it has the configuration shown in [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 retract into the patient's canal.In the case of a clockwise rotation of the rod 7 or the crank 27, the elongated flexible medical instrument 3 can move in rotation around the axis A in a clockwise direction, while in the case of a counterclockwise rotation of the rod 7 or the crank 27, the elongated flexible medical instrument 3 can move in rotation around the axis A in a counterclockwise direction.

[0148] The potentiometer 19 can be used to detect the amplitude and direction of the translation of the control member 5. As previously stated, the resistance of the potentiometer 19 varies according to the amplitude and direction of the translation of the control member 5. This generates the signal that controls the translation of the drive module 2, and therefore, the translation of the elongated flexible medical instrument 3 inside the patient's canal. 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 the 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 canal.

[0149] It should be noted that when the human-machine interface 4 is equipped 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 contact or pressure from the user's hand, or another part of their body, as described above. If such contact or pressure is not detected, the translational and / or rotational movement of the elongated flexible medical instrument 3 by the control element 5 is blocked, even if the control element 5 is moved.

[0150] If, in a possible embodiment, the non-detection of the contact or the pressure 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 into rotation as soon as the control member 5 is rotated around its axis B or its axis C, even if such contact or pressure is not detected by the safety surface 24.

[0151] As also indicated previously, the translation and rotation of the elongated flexible medical instrument 3 can be controlled in position or speed by manipulating the control member 5. In the case of position control, the amplitude of displacement (in translation or rotation) of the elongated flexible medical instrument 3 inside the patient's canal is proportional to the amplitude of displacement (in translation or rotation) of the control member 5. In the case of speed control, the speed of displacement (in translation or rotation) of the elongated flexible medical instrument 3 inside the patient's canal is proportional to the amplitude of displacement (in translation or rotation) of the control member 5.

[0152] According to a first mode of operation, the translational movement of the elongated flexible medical instrument 3 along its axis A is controlled by speed, and the rotational movement of the elongated flexible medical instrument 3 around its axis A is controlled by position. Thus, the translational displacement of the control member 5 with a given translational amplitude results in a translational displacement of the elongated flexible medical instrument 3 with a speed proportional to the translational amplitude of the control member 5, while a rotational displacement of the control member 5 with a given rotational amplitude results in a rotational displacement of the elongated flexible medical instrument 3 with an angle of rotation proportional to the rotational amplitude of the control member 5.

[0153] Generally, when the rotation of the elongated flexible medical instrument 3 is commanded to 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, referred to as the proximal end, and the opposite end of the elongated flexible medical instrument 3 intended to penetrate the patient, referred to as the distal end. This is due to the fact that the distal end of the elongated flexible medical instrument 3 only begins to rotate once the proximal end of the elongated flexible medical instrument 3 has rotated through a certain angle around axis A.

[0154] To compensate for this difference between the angle of rotation at the proximal and distal ends of the elongated flexible medical instrument 3, the rotational drive of the elongated flexible medical instrument 3 can be controlled with a proportionality coefficient between, on the one hand, the rotational displacement of the control element 5 and, on the other hand, the rotational displacement of the elongated flexible medical instrument 3. Thus, when the user of the catheter robot 1 wants to control rapid rotational movements, they can choose a high proportionality coefficient whereby the rotation of the control element 5 results in a large rotational movement of the proximal end of the elongated flexible medical instrument 3 around axis A. Conversely, if the user of the catheter robot 1 wants to control precise rotational movements, it can choose a small proportionality coefficient through which the rotation of the control organ 5 causes a small rotational movement of the proximal end of the elongated flexible medical instrument 3.

[0155] 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, using a virtual button displayed on the display module 26 or using a physical control element, 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 stem 7 results in 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 required, for example, when passing a bifurcation with a guidewire. 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" motion (i.e., a continuous rotary motion such as screwing) or a "wiggling" motion (i.e., a series of large-amplitude rotary 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.

[0156] In this first operating mode, thanks to the position control of the rotation of the elongated flexible medical instrument 3, the user of the catheter robot 1 can intuitively rotate the elongated flexible medical instrument 3 by a precise angle of rotation around the axis A. Furthermore, thanks to 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 unit 5. In addition, the user can intuitively adjust the translation speed of the elongated flexible medical instrument 3 during its passage within the patient's canal. This makes it possible, for example, to reduce the translation speed of the elongated flexible medical instrument 3 to traverse 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.

[0157] In a second mode of operation, 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 axis A and in rotation around axis A.

[0158] In this second mode of operation, the rotational movement of the control member 5 with a given amplitude of rotation therefore results in a rotational movement of the elongated flexible medical instrument 3 with a rotational speed proportional to the amplitude of rotation of the control member 5.

[0159] The speed control of the translation and rotation of the elongated flexible medical instrument 3 makes it possible to provide a continuous combined movement of translation and rotation of the elongated flexible medical instrument 3.

[0160] In a third mode of operation, the human-machine interface 4 can be structured so as to control in position the drive of the elongated flexible medical instrument 3 in translation along the axis A and in rotation around the axis A.

[0161] In this third mode of operation, the translational displacement of the control member 5 with a given translational amplitude therefore results in a translational displacement of the elongated flexible medical instrument 3 with a translational amplitude proportional to the rotational amplitude of the control member 5.

[0162] This third operating mode allows for precise translational and rotational amplitudes of the elongated flexible medical instrument 3. This is particularly advantageous when the elongated flexible medical instrument has reached the specific area of ​​the patient's duct in which it is to be used, or when passing through branches as the elongated flexible medical instrument is reaching the specific area of ​​the patient's circulatory system in which it will be used. This third operating mode can, for example, be used to make rapid forward and retracted movements of the elongated flexible medical instrument 3.

[0163] It should be 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 allows the user to choose the operating mode best suited to the patient or the time of the procedure.

[0164] In some 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.

[0165] 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.

[0166] When the translation of the elongated flexible medical instrument 3 is commanded in In this position, the command can be done step by step. In such cases, the translation of the elongated flexible medical instrument 3 includes a displacement of the elongated flexible medical instrument 3 along the axis A by a predetermined step at each impulse received by the human-machine interface 4. Thus, the elongated flexible medical instrument 3 can, for example, perform a millimeter advance or withdrawal in the patient's channel.

[0167] 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 displacement of the elongated flexible medical instrument 3 around the axis A by a predetermined step at each impulse received by the human-machine interface 4. Thus, the elongated flexible medical instrument 3 can, for example, perform a millimeter-precise rotation within the patient's canal.

[0168] 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 catheter robot operator ceases to manipulate it. Also, thanks to the elastic return element 23, when the translation of the elongated flexible medical instrument 3 is commanded in position, the elongated flexible medical instrument 3 retracts into the patient's channel when the operator ceases to manipulate the control member 5. When the translation of the elongated flexible medical instrument 3 is commanded in velocity, the elastic return element 23 causes a progressive reduction in the translation velocity of the elongated flexible medical instrument 3 when the operator ceases to manipulate the control member 5, the translation velocity of the elongated flexible medical instrument 3 becoming zero when the control member 5 returns to its rest position.

[0169] Furthermore, as in the example of [Fig. 7], the human-machine interface 4 may include 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 than the rotation command generated by the control element 5. For example, if the rotation of the control element 5 controls the position of the elongated flexible medical instrument 3, the rotation of the ring 30 controls the speed of the elongated flexible medical instrument 3.

[0170] When the ring 30 speed controls the rotation of the elongated flexible medical instrument 3, the elastic return element (not shown), in the rest position, of the rotating ring 30 allows the rotation of the elongated flexible medical instrument 3 to stop when the user stops manipulating the ring 30.

[0171] 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 along and around its principal axis of elongation, respectively. 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.

[0172] As also indicated, the catheter robot 1 may include 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 knob 25 is turned, a command to move in translation for the additional drive module 2' is generated. The module 2' thus moves in translation, the additional elongated flexible medical instrument moving in conjunction with the additional module 2'.

[0173] The translational movement control generated by the rotation of the wheel 25 is, for example, a speed control. In this case, thanks to the additional elastic element that returns the wheel 25 to its 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.

[0174] The catheter robot 1 will now be described according to a second embodiment of the invention illustrated in [Fig.8].

[0175] 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 herein.

[0176] The catheter robot of [Fig. 8] further comprises a second training module 32 for a second elongated flexible medical instrument (not shown). The second training module 32 and the second elongated flexible medical instrument may be identical or similar to, respectively, the training module 2 and the elongated flexible medical instrument 3. Therefore, they will not be described in detail hereafter.

[0177] The second training module 32 is structured so as to be able to be connected to the second elongated flexible medical instrument. The training module 32 is specifically configured to move the second elongated flexible medical instrument in translation along its principal axis of elongation, and / or in rotation around its principal axis of elongation.

[0178] Furthermore, the catheter robot 1 of [Fig. 8] may include a second additional training module 32' of a second additional elongated flexible medical instrument (not shown). The second additional training module 32' and the second additional elongated flexible medical instrument may be identical or similar to, respectively, the additional training module 2' and the additional elongated flexible medical instrument. Therefore, they will not be described in detail hereafter.

[0179] Advantageously, the second additional training module 32' is structured so as to be able to be connected to the second additional elongated flexible medical instrument. The additional training module 32' is configured to move the second additional elongated flexible medical instrument in translation.

[0180] It is noted that the second elongated flexible medical instrument and the second additional elongated flexible medical instrument can be introduced into a patient channel 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 can be introduced into the same patient channel as the channel into which the elongated flexible medical instrument 3 and the additional elongated flexible medical instrument are introduced.

[0181] The catheter robot 1 of [Fig.8] also includes a human-machine interface 34.

[0182] 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.

[0183] Furthermore, as is clear from [Fig. 9], the human-machine interface 34 may include a second control element 5'. The control element 5' is preferably identical or similar to the control element 5 described above. Therefore, all the characteristics of the control element 5 indicated above are applicable to the second control element 5'.

[0184] As will be detailed, the manipulation of the control element 5' causes the second elongated flexible medical instrument to move in translation along its principal axis of elongation and / or in rotation around this principal axis of elongation. In particular, at From the control element 5', the translation of the second elongated flexible medical instrument along its principal axis of elongation can be controlled in either direction (forward or backward). Similarly, from the control element 5', the rotation of the second elongated flexible medical instrument around its principal axis of elongation can be controlled in either direction (clockwise or counterclockwise). Therefore, the control element 5' is, in particular, a drive element for the translation and rotation of the second elongated flexible medical instrument. Specifically, the control element 5' can be used to control the translation and / or rotation of the second elongated flexible medical instrument based on a position command or a speed command.

[0185] As shown in [Fig. 9], the human-machine interface 34 may further include a second knob 25' which can be rotated by the user's hand. The knob 25' is preferably identical or similar to the knob 25 described above. Therefore, all the characteristics of the knob 25 indicated above are applicable to the knob 25'.

[0186] As will be detailed, the rotation of the wheel 25' allows the movement of the second additional drive module 32' to be controlled so as to drive in translation the second additional elongated flexible medical instrument.

[0187] 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.

[0188] Furthermore, as indicated above, the catheter robot 1 according to the second embodiment includes the second control unit 5'. The operation of the control unit 5' is similar to the operation of the control unit 5 described previously. Advantageously, the operation of the second control unit 5' differs from that of the control unit 5 only in that the commands generated by the second control unit 5' cause the movement (in translation and / or rotation) of the second drive module 32 and the second elongated flexible medical instrument. The remaining characteristics of the operation of the control unit 5 indicated previously are therefore applicable to the control unit 5'.

[0189] It is noted that each of the control elements 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 element 5 at a given time can be the same as or different from the operating mode of the control element 5'. This allows the way in which to control the movement of the elongated flexible medical instrument 3 and the second elongated flexible medical instrument according to the particularities of the respective channels into which they are introduced.

[0190] As also indicated above, the catheter robot 1 according to the second embodiment includes the second wheel 25'. The operation of the wheel 25' is similar to the operation of the wheel 25 described above. 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 above are therefore applicable to the wheel 25'.

[0191] Of course, the present invention is not limited to the examples and embodiments described and illustrated, but is susceptible to numerous variations accessible to those skilled in the art. For example, the human-machine interface 4 includes a touch surface configured to detect and measure the displacement of a user's finger or a stylus along said touch 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 their finger or the stylus along the touch surface in a first direction, the direction of the finger or stylus movement controlling the direction of the translation of the elongated flexible medical instrument 3, while the length of the path traveled by the finger or stylus in the first direction controlling the speed of the translation of the elongated flexible medical instrument 3.To control a rotational movement of the elongated flexible medical instrument 3, the user moves their finger or stylus along the touch surface in a second direction perpendicular to the first direction. The direction of the finger or stylus movement controls the direction of rotation of the elongated flexible medical instrument 3, while the length of the path traveled by the finger or stylus in the second direction controls 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 results in a y° rotation of 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 their finger or stylus along the touch surface in a third direction that includes a component in the first direction and a component in the second direction.

Claims

Demands

1. Catheter robot (1) comprising: - a training module (2) of an elongated flexible medical instrument (3), in translation along a principal axis of elongation (A) of said elongated flexible medical instrument (3) and in rotation around the principal axis of elongation (A) of said elongated flexible medical instrument (3), simultaneously or alternately, - a human-machine interface (4, 34) for controlling said drive module (2), characterized in that said human-machine interface (4, 34) is structured so that, in a first mode of operation: - to quickly initiate the translational drive of said elongated flexible medical instrument (3), - to 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 movable control element (5): • which is intended to be manipulated by a user's hand, • and which is structured in such a way that, in the first mode of operation: • a translational displacement of said moving control member (5) with a translational amplitude results in a translational displacement of said elongated flexible medical instrument (3) with a velocity proportional to said translational amplitude, • a rotational displacement of said movable control member (5) with an amplitude of rotation results in a rotational displacement of said elongated flexible medical instrument (3) with an angle of rotation pro portion of said amplitude of rotation.

3. Catheter robot (1) according to claim 2, characterized in that: said human-machine interface (4, 34) is structured in such a way as to: • to control, in position, the rotational drive of said elongated flexible medical instrument (3), with a proportionality coefficient between on the one hand the rotational displacement of said control member (5) and on the other hand the rotational displacement of said elongated flexible medical instrument (3), • said proportionality coefficient being modifiable by a selection of the catheter robot user.

4. Catheter robot (1) according to any one of the preceding claims, characterized in that: - said human machine interface (4, 34) for control comprises: • a drive control member (5) for translation and rotation of said elongated flexible medical instrument (3), • a safety element, allowing the drive of said elongated flexible medical instrument (3) to be blocked or unblocked by said drive control member (5).

5. Catheter robot (1) according to claim 4, characterized in that: - said safety element comprises a safety surface (24) capable of detecting contact or pressure from a user's hand so as to unlock said drive control member (5), • said safety surface (24) preferably being a tactile surface, or a capacitive tactile surface, or a capacitive tactile surface coated with a titanium-containing coating, or a ca- tactile surface

6.

7.

8. peaceful covered with titanium paint. catheter robot (1) according to any one of the preceding claims, characterized in that: - said human-machine interface (4, 34) for control includes: • 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: - to quickly initiate the translational drive of said elongated flexible medical instrument (3), - to quickly control the rotational drive of said elongated flexible medical instrument (3). catheter robot (1) according to any one of the preceding claims, characterized in that: - said human-machine interface (4, 34) for control includes: • a stem (7): • which is movable in translation by the hand of a user so as to cause said elongated flexible medical instrument (3) to move in translation, • which is rotatable by the hand of a user so as to cause said elongated flexible medical instrument (3) to rotate, • and which preferably includes a touch surface (24-3).

9.

10.

11.

12. Catheter robot (1) according to claim 8, characterized in that: - said rod (7) comprises two parts sliding one into the other: • a first part (8) which is mobile in translation and rotation and which is intended to be manipulated by the hand of a user, • 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 includes: • a rotating ring (30) disposed 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), when a speed control of the rotation drive of said elongated flexible medical instrument (3). Catheter robot (1) according to claim 10, characterized in that: - said human-machine interface (4, 34) also includes: • an elastic return element, in the rest position, of said rotating ring (30) disposed around said rod (7), the elastic return element preferably comprising a return spring. Catheter robot (1) according to any one of claims 1 to 7, characterized in that: - said human-machine interface (4, 34) for control includes:

13.

14.

15. a crank (27): which is rotatable by the hand of a user so as to cause said elongated flexible medical instrument (3) to rotate. Catheter robot (1) according to any one of claims 2 to 12, characterized in that: said human-machine interface (4, 34) for control also includes: an elastic return element (23), in rest position, for translational drive only, of said movable control member (5) or of said rod (7), said elastic return element (23) preferably comprising a return spring. catheter robot (1) according to any one of the preceding claims, characterized in that it also comprises: another drive module (32) of another elongated flexible medical device, in translation along a principal axis of elongation of said other elongated flexible medical device and in rotation about the principal axis of elongation of said other elongated flexible medical device, said human-machine interface (34) also controlling said other drive module (32) and being structured so that, in the first mode of operation: to control, in speed, the translational drive of said other elongated flexible medical instrument, to control, in position, the rotational drive of said other elongated flexible medical instrument. catheter robot (1) according to any one of the preceding claims, characterized in that it comprises at least: an additional training module (2'), in translation, of an additional elongated flexible medical instrument, said additional elongated flexible medical instrument surrounding, over part of its length, said flexible medical instrument

16.

17.

18. extended (3), in that: - said human-machine interface (4, 34) also controls said additional drive module (2'), and in that: - said human-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 human-machine interface (4, 34) for control also includes: • a wheel (25) 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. Catheter robot (1) according to claim 16, characterized in that: - said human-machine interface (4, 34) for control also includes: • an additional elastic element for returning the wheel (25) to the rest position, which preferably includes one or more additional return springs. catheter robot (1) according to any one of the preceding claims, characterized in that said human-machine interface (4, 34) is structured such that: to only control, in speed, the translational drive of said elongated flexible medical instrument (3), only control the rotational drive when in position said elongated flexible medical instrument (3).

19. 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 mode of operation, so as to: • control, in position, the translational drive of said elongated flexible medical instrument (3), step by step, that is to say by moving a predetermined step at each impulse received by the human-machine interface (4, 34), • control, in position, the rotational drive of said elongated flexible medical instrument (3), step by step, that is to say by moving a predetermined step at each impulse received by the human-machine interface (4, 34).

20. Human-machine control interface (4, 34) of 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), in a catheter robot (1), characterized in that it is structured so as to, in a first mode of operation: - control, in speed, the drive in translation of said elongated flexible medical instrument (3), - control, in position, the drive in rotation of said elongated flexible medical instrument (3).

21. Human-machine interface (4, 34) according to claim 20, characterized in that it comprises: - a movable control element (5): • which is intended to be manipulated by the hand of a user, • and which is structured such that, in the first mode of operation: a translational displacement of said movable control member (5) with a translational amplitude results in a translational displacement of said elongated flexible medical instrument (3) with a velocity proportional to said translational amplitude, a rotational displacement of said movable control member (5) with a rotational amplitude results in a rotational displacement of said elongated flexible medical instrument (3) with an angle of rotation proportional to said rotational amplitude.

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