Microbot with tool platform forming a connection zone

Abstract

Assembly (10) comprising a micro-robot (12) configured to navigate through an anatomical target area located inside a human body connected to the outside of the human body through an anatomic opening (O). The assembly comprises at least one flexible delivery conduct (14) and a tool platform (16) forming connection zone between the micro-robot and the at least one flexible delivery conduct. A working channel (22) is arranged in the tool platform, presenting a first opening (O1) and a second opening (O2). The first opening of the working channel is connected to the anatomical opening through the at least one flexible delivery conduct, and the second opening of the working channel puts the flexible delivery conduct in relation with the anatomical target area or the micro-robot.

Description

TOOL CARRIAGEFIELD OF INVENTION

[0001] The present invention relates to micro-devices and more particularly to functional micro-devices carrying at least one tool and designed to navigate in an environment towards a defined spot in order to act upon this spot with the carried tool.BACKGROUND OF INVENTION

[0002] Known from the state-of-the-art are micro-robotic devices configured to freely navigate or being navigated inside a target area, for example a human brain, from a single entrance hole of a few mm arranged at the periphery of the target area, for example in the cranium of a patient, thus enabling the micro-robotic device to intervene in several spots inside the target area with a 3D approach. This enables a higher flexibility regarding the mobility inside the target area and offers more possibilities that the current limited “straight line forward” motion possibilities.

[0003] In order to be able to intervene on those spots, the micro-device needs tools. In order to intervene in those spots, the micro-device also needs to reach them in a safe way.

[0004] Some tools are small enough to be directly embedded inside the micro-device, for example charged nano-particles, tiny electrodes, micro-reservoirs for medicine to be delivered, or pressure sensors.

[0005] Some tools are nevertheless too big to be embedded inside the micro-device, like for example non micro quantities amounts of medicine to be delivered, biopsy tools or implants.

[0006] Sometimes, the number of interventions to be carried out in the target area is important and necessitate an important number of tools which cannot all be carried, at the same time, by the micro-device. Therefore, there is a need for tools to be safely delivered to the micro-device regardless of the position of the micro-device inside the target area, from outside the target area. In the case of important sampling collections or importantmedicine deliveries, there is therefore a need to maintain a constant and safe connection between the micro-device inside the target area and the outside of the target area.

[0007] The aim of this invention is to propose an assembly comprising a micro-device:enabling a 3D approach inside a target area for safely reaching at least one precise spot to be acted upon with a given tool,enabling the maintaining of a constant and safe connection between the microdevice inside the target area and the outside of the target area.SUMMARY

[0008] This invention thus relates to an assembly comprising:a micro-robot configured to navigate through an anatomical target area located inside a human body, the anatomical target area being connected to the outside of the human body through an anatomic opening, the micro-robot comprising a body extending along an elongation axis, the micro-robot comprising at least one propulsion element and at least one steering element,at least one flexible delivery conduct,a tool platform forming connection zone between the micro-robot and the at least one flexible delivery conduct,wherein a working channel is arranged in the tool platform, the working channel presenting a first opening and a second opening,wherein the first opening of the working channel is connected to the anatomical opening through the at least one flexible delivery conduct, andwherein the second opening of the working channel puts the flexible delivery conduct in relation with the anatomical target area or the micro-robot.

[0009] This way, the solution enables to reach the here-above mentioned objective. Especially, it enables to safely and precisely reach any specific spot inside the target area in a minimally invasive way with a great flexibility of motion, while enabling the maintaining of a constant and safe connection between the micro-device inside the target area and the outside of the target area. This enables to safely and precisely use and / or deliver any relevant tool upon use and / or delivery on / in said specific spot, over any needed span of time.

[0010] The system according to the invention may comprises one or several of the following features, taken separately from each other or combined with each other:the tool platform may be configured to be rotated around the elongation axis, the working channel may be an angled channel,the micro-robot and the at least one flexible delivery duct may be configured to be removably connected to each other,the micro-robot may further comprise an internal conduct configured to connect the second opening of the working channel to a robot opening at a distal tip of the micro-robot,the tool platform may further comprise a secondary channel in communication with the working channel, the secondary channel also being configured to be connected to at least one flexible delivery conduct,the tool platform may comprise at least one more secondary channel, the working channel and each secondary channel may share one opening at a proximal end of the tool platform,the working channel and each secondary channel may share one opening in a side wall of the tool platform,the tool platform and the at least one flexible delivery conduct may be two parts of the same functional element, for example a duct,the at least one flexible delivery conduct may comprise at least one delivery opening in a side wall,the at least one flexible delivery conduct may present a diameter inferior or equal to 4mm and a length inferior or equal to 2m, preferably to 30 cm.

[0011] The invention also relates to a tool insertion and activation kit comprising an assembly as described here-above, and a control unit comprising a control algorithm configured to calculate a target position of the micro-robot inside the anatomical target area.

[0012] The invention further relates to a tool insertion and activation process implemented by means of an assembly and a control unit as described above, wherein the process comprises following steps:• Introduce the micro-robot inside the anatomical target area through opening,• Activate the micro -robot,• Move the micro-robot down to at least one target spot inside the target area, • Track the deployment, inside the anatomical target area, of the whole assembly while the micro-robot moves,• Stop the micro-robot in the right place inside the anatomical target area by means of calculations and measurements of the control unit, • Retrieve the assembly from the anatomical target area.BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The invention will be better understood, and other aims, details, characteristics and advantages thereof will emerge more clearly on reading the detailed explanatory description which follows, of embodiments of the invention given by way of illustration, purely illustrative and non-limiting examples, with reference to the accompanying drawings:figures la and lb are a schematical representation of a first embodiment of the tool platform according to the present invention, once empty, once in cooperation with a tool,figure 2 is a schematical representation of an embodiment of a rotating tool platform according to the present invention,figures 3a, 3b, 3c are schematical representations of tool platforms with several working channels according to the present invention, empty or in cooperation with tools,figure 4 is a schematic representation of an assembly according to the present invention,figure 5 is a side view of a micro-robot with an internal conduct according to the present invention,figures 6a and 6b are a schematic representation of a cooperation between the flexible delivery conduct according to the present invention and a delivery tool, figure 7 is a schematic representation of a cooperation between the flexible delivery conduct according to the present invention and a drop off tool,figure 8 is a schematic representation of a cooperation between the flexible delivery conduct according to the present invention and a collection tool, figure 9 is a schematic representation of the calculations implemented according to a control unit according to the present invention,figure 10 is a schematic representation of an assembly according to the present invention according to a further embodiment.figure 11 is a schematic of the section of the flexible delivery conduct according to the present invention.DETAILED DESCRIPTION

[0014] The present invention is about an assembly 10 configured to interact with an anatomical target area 100 located inside a human body. Said target area 100 is connected to the outside of the human body through an anatomic opening O. Said anatomic opening O can be a natural opening or an artificial opening created by surgery.Part 1: Micro-robot

[0015] As can be seen on figure 1, the assembly 10 according to the present invention comprises a micro-robot 12 configured to navigate through the anatomical target area 100 located inside the human body.

[0016] As can be seen on figure 5 the microrobot 12 comprises a body 18 extending along an elongation axis A. The micro-robot 12 comprises at least one propulsion element and at least one steering element. As can be seen on figure 5, the propulsion element is located at a rear end of the micro-robot 12 and the steering element is located at a top end of the micro-robot 12. The propulsion element is independent from the steering element. In some embodiments, the inside of the micro-robot is isolated from the anatomical target area 100. In some alternative embodiments, the micro-robot 12 further comprises an internal conduct extending through the micro-robot 12, preferably along the elongation axis A, and opens through a robot opening OR at a distal tip of the micro-robot 12.

[0017] The micro-robot 12 might be provided with energy (for example electricity) by means of an alimentation cable A extending from outside the anatomical target area 100 to the micro-robot 12 through the anatomic opening O. This is illustrated in figure 10.Part 2: Assembly

[0018] As can be seen on figures 1 and 4, the assembly 10 according to the present invention comprises:the micro-robot 12,at least one flexible delivery conduct 14 with a distal end 14A and a proximal end 14B,a tool platform 16 forming connection zone between the micro-robot 12 and the at least one flexible delivery conduct 14.

[0019] The assembly 10 according to the present invention aims at enabling a user (or surgeon) to safely introduce and / or use tools T inside the anatomical target area 100 and retrieve them safely afterwards. Those tools T will be defined and described further below.

[0020] The at least one flexible delivery conduct 14, and more particularly the proximal end 14B of the flexible delivery conduct 14, connects the anatomical opening O to the tool platform 16. The flexible delivery duct 14 preferably presents a diameter of maximum 4mm and a length of maximum 2m, preferably 30cm.

[0021] In some embodiments, the flexible delivery conduct 14 comprises an outer wall made of braided wire enabling to improve pushability while keeping flexibility. Alternative or complementary material can include PEBAX, Nilon, PI or for example PTFE.

[0022] In some embodiments, the at least one flexible delivery duct 14 and the microrobot 12 are configured to be removably connected to each other. This enables to change the at least one flexible delivery conduct 14 without needing to change the micro-robot 12. This enables the flexible delivery conduct 14 to be made disposable.

[0023] In some embodiments, the at least one flexible delivery conduct 14 comprises at least one delivery opening OD in a side wall. This at least one delivery opening OD is located outside the tool platform 16. The tool platform 16 can be of different shapes andcan include different elements. The tool platform 16 is a distinct element from the microrobot 12. The tool platform 16 extends along the elongation axis A and presents:a distal end 16 A,a proximal end 16B, and a side wall 16C.

[0024] The distal end 16A of the tool platform 16 is configured to cooperate with the micro-robot 12, and the proximal end 16B of the tool platform 16 is connected to the at least one flexible delivery conduct 14. In some embodiments, the distal end 16A is connected to the micro-robot 12, In some embodiments, the distal end 16A is removably connected to the micro-robot 12. In some other embodiment, the distal end 16A is configured to cooperate by abutment with the micro-robot 12 (see figure 10). This way the tool platform 16 forms a connection zone between the micro-robot 12 and the at least one flexible delivery conduct 14. By connection zone, it is meant that the flexible delivery conduct 14 and the micro-robot 12 are put in contact (temporary or continuous contact) through the tool platform 16.

[0025] In a first series of embodiments illustrated on figures la to 3c, the micro-robot 12 comprises a trailer element 20 being of the tool platform 16. The tool platform 16 can thus comprise:either exclusively the trailer element 20, orthe trailer element 20 and the distal end 14A of the at least one flexible delivery conduct 14.

[0026] In another series of embodiments illustrated on figure 4, the tool platform 16 is formed in the distal end 14A of the at least one flexible delivery conduct 14. In those embodiments, the tool platform 16 and the distal part 14A at least one flexible delivery conduct 14 are two parts of the same functional element, in this case a duct.

[0027] As can be seen on figures la to 4, a working channel 22 is arranged in the tool platform 16. The working channel 22 presents a first opening Oi and a second opening O2. The first opening Oi is located at a proximal extremity 22B of the working channel 22 and the second opening O2 is located at a distal extremity 22A of the working channel 22. The proximal extremity 22B preferably coincides with the proximal end of the toolplatform 16 and the first opening Oi opens in at the proximal end 16B of the tool platform 16. The first opening Oi of the working channel 22 is connected to the anatomical opening O through the at least one flexible delivery conduct 14. The second opening O2 of the working channel 22 puts the flexible delivery conduct 14 in relation with the anatomical target area 100 or the micro-robot 12. In the embodiments in which the inside of the micro-robot is isolated from the anatomical target area 100, the distal end 16A of the tool platform 16 isolates the working channel 22 from the micro-robot 12.

[0028] In some embodiments (see figures la and lb), the second opening O2 is located in the side wall 16C of the tool platform 16. In the alternative embodiment in which the micro-robot 12 comprises an internal conduct, the second opening O2 of the working channel 22 puts the working channel 22 in connection with the internal conduct and the anatomical opening is thus connected to the robot opening OR at the distal tip of the microrobot 12 (see figure 5).

[0029] The position of the second opening O2 is perfectly known with regards to the micro-robot 12, regardless of the shape of the working channel 22. Thus, once the position of the micro-robot 12 inside the target area 100 is known, the position of the second opening O2 inside the target area 100 is also perfectly known. Thus, once the assembly 10 is in place, a safe way is provided to connect the anatomical opening O (and thus the outside of the patient’s body) to a precise spot S (or series of spots Si, S2) or to the microrobot 12 inside the target area 100. Elements can thus be safely introduced or retrieved from the micro-robot 12 or said spot S (or spot series Si, S2) of the target area 100.

[0030] In some embodiments (see figures 3a, 3b and 3c), the tool platform 16 further comprises a secondary channel 24 in communication with the working channel 22. The secondary channel 24 is also configured to be connected to a flexible delivery conduct 14. It might be the same flexible delivery conduct 14 (see figure 3a) or it might be a different flexible delivery conduct 14 (see figures 3b and 3c). In the embodiments in which the secondary channel 24 is connected to the same flexible delivery conduct 14 than the working channel 22, both the secondary channel 24 and the working channel 22 share one first opening Oi at the proximal end 16B of the tool platform 16. Nevertheless, each channel 22, 24 presents a different second opening O2. Some embodiments (notrepresented) might also comprise a second (or more) secondary channel(s) 24 and a third (or more) second opening(s) O2. This way, starting from the same first opening Oi, a user might reach two (or more) distinct precise spots Si, S2 of the target area 100 at the same time with one tool or a series of tools and without moving the micro-robot 12 inside the target area 100. The openings distribution is a circular distribution around the side wall 16C of the tool platform 16. This embodiment also enables to treat several spots Si, S2 with different drugs, for example by introducing different delivery tools T (see further below) and connecting each delivery tool T to a different second openings O2 or in controlling the opening / closing of each second opening O2. In cases of biopsies such an embodiment would also enable multiple biopsies at once in several spots Si, S2. This also opens the way to sampling of the target area 100 during a given period of time.

[0031] A similar result can be achieved when using a flexible delivery conduct 14 presenting at least one delivery opening OD outside the tool platform 16, even with a single second opening O2. Except that in this case, the openings distribution is a longitudinal distribution.

[0032] In the case the secondary channel 24 is connected to a different flexible delivery conduct 14 than the working channel 22, both the secondary channel 24 and the working channel 22 share one second opening O2 in a sidewall 16C of the tool platform, but each present a different first opening Oi at the proximal end 16B of the tool platform 16. This enables a user to use a complex tool with two parts to reach one precise spot S of the target area 100.

[0033] Regardless of the embodiment, the tool platform 16 can be configured to be rotated around the elongation axis X (see figure 2). This eases the movements of the micro-robot 12 inside the target area 100. In some embodiments, the rotation is free. In some embodiments, the rotation is controlled and this enables a wider ranges of spots S to be reached by the second opening O2 for one given position of the micro-robot 12 inside the target area 100.

[0034] Regardless of the embodiment, the working channel 22 can be an angled channel presenting at least one angle A comprised between 15 to 90°, preferably 30 to 60°. In case the tool platform 16 is made in a flexible material, the angle A can be a variable angle.

[0035] In some embodiments (see figure 10), the flexible delivery duct 14 comprises an independent external channel 26 configured to accommodate the alimentation cable A and to protect it from the target area 100. The independent external channel 26 is completely isolated from the working channel 22 and the secondary channel 26.Part 3: Tools

[0036] The tools T to be used in combination with the present invention all have in common a shape which enables an introduction into a human body through a catheter. Several tool families can be listed:drop off tools,delivery tools,collecting tools.

[0037] Drop off tools T (see figure 7) are to be introduced and dropped inside the target area 100. After activation of the tool T (its drop off), no connection remains with the tool platform 16. This category comprises for example electrodes or anatomical scaffoldings. They usually have to be pushed from the anatomical opening O towards each second opening O2 of the working channel 22 (or delivery opening OD of the flexible delivery conduct 14) along the at least one flexible delivery conduct 14 by means of a hard stem or rod.

[0038] Delivery tools T (see figures 6a and 6b) are configured to safely and precisely deliver fluids or energy from the anatomical opening O towards each second opening O2 of the working channel 22 or each delivery opening OD, along the at least one flexible delivery conduct 14, by means of a syringe or a pump. This category enables for example to deliver drugs or light or heat towards one or several precise spot(s) S, Si, S2 inside the target area 100.

[0039] Collecting tools T (see figure 8) are configured to safely and precisely retrieve anatomical material, data or imagery from one or several spot(s) S, Si, S2 of the targetarea 100 towards the anatomical opening O along the at least one flexible delivery conduct 14, by means of a syringe or a pump. After activation of the tool T, the tool T remains connected to the tool platform 16 during all its activation time. This category comprises for example biopsy tools.

[0040] Some tools are “simple tools” and only comprise one single functional element to be inserted inside the at least one flexible delivery conduct 14. Some tools are “complex tools” and comprise at least two functional elements to be inserted inside the at least one flexible delivery conduct 14.Part 4: Control kit

[0041] In order to precisely position any tool T into the anatomical target area 100 located inside the human body (for example a brain), a control kit is needed. This control kit includes the assembly as disclosed here-above and a control unit 50 configured to run a control algorithm. This control unit 50 thus enables the implementation of a precise, safe and controlled “insertion and activation process”, as it enables a user to safely steer the micro-robot 12 inside the anatomical target area 100 and precisely position and orientate the micro-robot inside the anatomical target area 100 in order to let the tool T precisely hit the spot(s) S, Si, S2.

[0042] Typically, in the state of the art, the neuro-navigation process is based on imagery of the anatomical target area 100, in particular brain images, on which a coordinates system has been previously secured and / or virtually added. The coordinates system is based on so called (and well known) straight lines operation. A user (preferably a surgeon) calculates, by means of a control unit, the precise coordinates of the one or several spot(s) S, Si, S2 of the target area 100 to be reached by the tool T. Based on this coordinates system, an inserter or a guide is set. The user modifies the coordinates of the inserter to reach the one or several spot(s) S, Si, S2 of the target area 100. Nevertheless, this method only enables a “straight line” forward motion and lacks of flexibility and thus of safety.

[0043] With the present invention, in particular the micro-robot 12, the possibility to navigate in 3D into the anatomical target area 100 (for example a brain) and not only instraight lines is unlocked. There is therefore a need for a new neuro-navigation system enabling the assembly 10 to be placed at the right location (spot S, Si, S2) inside the anatomical target area 100.

[0044] The new neuro-navigation process is also based on imagery of the anatomical target area 100, on which a coordinates system has been previously secured and / or virtually added. The user (still preferably a surgeon) calculates, by means of the control unit 50, the precise coordinates of the_one or several spot(s) S, Si, S2 of the target area 100 to be reached by the tool T. As no guide or inserter is used, the control unit 50 further enables an ultrasound tracking of the micro-robot 12 inside the anatomical target area 100 while it moves.

[0045] Beside the ability to position the micro-robot 12 at the right position and the right orientation inside the anatomical target area 100, there is a need to precisely define the target position (or spot(s) S, Si, S2) which is (are) not straightforward and depend(s) highly on the relative position of the tool T relatively to the micro-robot 12.

[0046] More precisely, (see figure 9) the user defines the target spot(s) S, Si, S2 where they want to operate and the control algorithm provides the position of the micro-robot 12 that will enable the user to target said spot(s) S, Si, S2. The formula in the figure illustrated in figure 9 is as follows:X (Tf) = X (Tr) — L x sin aY (Tf) = Y (Tr) + L x cos aTtTarget position of tool,TrTarget position of robot.

[0047] This algorithm is preferably embedded in a complete surgical software that manages the overall procedure, comprised within the control unit 50.Part 6: Tool insertion and activation process

[0048] The assembly 10 according to the present invention enables the implementation of a tool T insertion and activation process inside the anatomical target area 100 of a patient. This tool insertion and activation process comprises following steps:• Create or prepare the anatomic opening O,• Introduce the micro-robot 12 inside the anatomical target area 100 through opening O,• Activate the micro-robot 12 to start the 3D displacement into the anatomical area 100,• Launch micro-robot 12 ultrasound tracking by means of control unit 50,• Move the micro-robot 12 forward along a rectilinear or curved axis under ultrasound tracking down to the target zone(s) (several precise spot(s) S, Si, S2 inside the target area 100),• Track the deployment, inside the anatomical target area 100, of the whole assembly 10 while the micro-robot 12 continues moving forward,• Stop the micro-robot 12 in the right place inside the anatomical target area 100 by means of the calculations and measurements of the control unit 50,• If necessary secure a blocker element (not represented) on the tool T in order to ensure that it will not extend a given distance inside / outside the tool platform 16, • If necessary, insert the tool T through the opening O and the flexible delivery conduct 14 towards the micro-robot 12 and the spot(s) S, Si, S2,• Introduce and / or activate the tool T,• Retrieve the assembly 10 from the anatomical target area 100 (with or without the tool T, depending of the tool T nature),• If necessary, close the anatomical opening O.

Claims

1. CLAIMS1. Assembly (10) comprising:a micro-robot (12) configured to navigate through an anatomical target area (100) located inside a human body, the anatomical target area (100) being connected to the outside of the human body through an anatomic opening (O), the micro-robot (12) comprising a body (18) extending along an elongation axis A, the microrobot (12) comprising at least one propulsion element and at least one steering element,at least one flexible delivery conduct (14),a tool platform (16) forming connection zone between the micro-robot (12) and the at least one flexible delivery conduct (14),wherein a working channel (22) is arranged in the tool platform (16), the working channel (22) presenting a first opening (Oi) and a second opening (O2), wherein the first opening (Oi) of the working channel (22) is connected to the anatomical opening (O) through the at least one flexible delivery conduct (14), and wherein the second opening (O2) of the working channel (22) puts the flexible delivery conduct (14) in relation with the anatomical target area (100) or the microrobot (12).

2. Assembly (10) according to the preceding claim, wherein the tool platform (16) is configured to be rotated around the elongation axis A.

3. Assembly (10) according to any one of the preceding claims, wherein the working channel (22) is an angled channel.

4. Assembly (10) according to any one of the preceding claims, wherein the microrobot (12) and the at least one flexible delivery duct (14) are configured to be removably connected to each other.

5. Assembly (10) according to any one of the preceding claims, wherein the microrobot (12) further comprises an internal conduct configured to connect the secondopening (O2) of the working channel (22) to a robot opening (OR) at a distal tip of the micro-robot (12).

6. Assembly (10) according to any one of the preceding claims, wherein the tool platform (16) further comprises a secondary channel (24) in communication with the working channel (22), the secondary channel (24) also being configured to be connected to at least one flexible delivery conduct (14).

7. Assembly (1) according to the precedent claim, wherein the tool platform (16) comprises at least one more secondary channel (24).

8. Assembly (10) according to the claims 6 or 7, wherein the working channel (22) and each secondary channel (24) share one opening (Oi) at a proximal end (16B) of the tool platform (16).

9. Assembly (10) according to claims 6 or 7, wherein the working channel (22) and each secondary channel (24) share one opening (O2) in a side wall (16C) of the tool platform (16).

10. Assembly (10) according to claims 1 or 2, wherein the tool platform (16) and the at least one flexible delivery conduct (14) are two parts of the same functional element, for example a duct.

11. Assembly (10) according to any one of the preceding claims, wherein the at least one flexible delivery conduct (14) comprises at least one delivery opening (OD) in a side wall (16C).

12. Assembly (10) according to any one of the preceding claims, wherein the at least one flexible delivery conduct (14) presents a diameter inferior or equal to 4mm and a length inferior or equal to 2m, preferably 30 cm.

13. Tool insertion and activation kit comprising an assembly according to any one of the preceding claims, and a control unit (50) comprising a control algorithm configured to calculate a target position of the micro-robot (12) inside the anatomical target area (100).

14. Tool insertion and activation process implemented by means of an assembly (10) and a control unit (50) according to the preceding claim, wherein the process comprises following steps:• Introduce the micro-robot (12) inside the anatomical target area (100) through opening (O),• Activate the micro -robot (12),• Move the micro-robot (12) down to the target zone(s) (S, Si, S2) inside the target area (100),• Track the deployment, inside the anatomical target area (100), of the whole assembly (10) while the micro-robot (12) moves,• Stop the micro-robot ( 12) in the right place inside the anatomical target area (100) by means of calculations and measurements of the control unit (50), • Retrieve the assembly (10) from the anatomical target area (100).

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