Elongate medical part guide module

• US 9,687,304 B2
• Filed: 03/07/2014
• Issued: 06/27/2017
• Est. Priority Date: 03/07/2013
• Status: Active Grant

• Current Assignee: Robocath
• Original Assignee: Robocath
• Inventors: Deboeuf, Sbastien, Marignier, Jacques, Bencteux, Philippe
• Primary Examiner(s): Luo, David S
• Application Number:
  US14/770,747
• Publication Number:
  US 20160008077A1
• Time in Patent Office: 1,208 Days
• Field of Search: 318560, 318567, 3185681, 31856811, 31856812
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers

Abstract

The invention concerns a module for guiding an elongate medical part along an elongation axis for a robotic system comprising: mobile apparatus mounted so as to rotate relative to a base about a rotational axis, and defining a space for receiving the elongate medical part, and comprising a rotational guiding system comprising a passage region for the elongate medical part corresponding to the location of the passage of the elongate medical part through the mobile apparatus, and a plurality of rotary guiding portions distributed about the rotational axis, an access aperture comprising an angular aperture of at least 30°.

Claims

1. A module for driving an elongate medical part extending along an elongation axis, for a robotic system, comprising:

a base carrying at least one rotation control member,

a mobile apparatus mounted so as to rotate relative to the base about an axis of rotation, and defining a receiving space for the elongate medical part,

the mobile apparatus comprising a rotation driving system comprising a passage region for the elongate medical part corresponding to the location for the passage of the elongate medical part through the mobile apparatus, and a plurality of rotation driving portions distributed about the axis of rotation, each suitable for cooperating with at least one rotation control member, the rotation driving portions being arranged, in a driving configuration, such that at least one of the rotation driving portions cooperates with at least one of the rotation control member regardless of the relative orientation of the mobile apparatus and the base about the axis of rotation,

an access aperture extending from the receiving space between two adjacent rotation driving portions, and by which the elongate medical part is radially movable between a usage configuration where it extends into the receiving space, and an external configuration where it is external to the driving module, the access aperture having an angle of aperture of at least 30°

measured as projected onto a plane normal to the axis of rotation between two straight lines extending from the passage region to each of the two adjacent driving portions in the access configuration.

2. The driving module according to claim 1, further comprising a translation driving system for the elongate medical part, carried by the mobile apparatus, comprising at least one surface suitable for being placed in contact with the elongate medical part and suitable for being placed in motion relative to the mobile apparatus in order to drive the elongate medical part in translation along the elongation axis,

said surface being further adapted for gripping the elongate medical part so as to rotate it about the axis of rotation.

3. The driving module according to claim 2, wherein the mobile apparatus comprises a frame supporting at least one rotary member of the translation driving system, the rotation driving system being integral with the frame.

4. The driving module according to claim 3, wherein the access aperture is a first access aperture, wherein the frame carries the translation driving system, the translation driving system comprising a passage region for the elongate medical part corresponding to the location for the passage of the elongate medical part through the mobile apparatus, and a plurality of translation driving portions distributed about the axis of rotation, each adapted to cooperate with at least one translation control member of the base,

the translation driving portions being arranged, in the driving configuration, such that at least one of the translation driving portions cooperates with at least one of the translation control members regardless of the relative orientation of the mobile apparatus and the base about the axis of rotation,

a second access aperture extending from the receiving space between two adjacent translation driving portions,

the second access aperture having an angle of aperture of at least 30°

measured as projected onto a plane normal to the axis of rotation between two straight lines extending from the passage region to each of two adjacent driving portions in the access configuration.

5. The driving module according to claim 4, wherein the translation control member cooperates with a shaft rotatable about a shaft axis of rotation, and having a cross-section in the shape of an arc of a circle centered on the axis of rotation whose central angle is greater than the angle of aperture of the second access aperture and less than 360°

minus the angle of aperture of the second access aperture.

6. The driving module according to claim 4, wherein the first and second access apertures are superimposed in a projection normal to the axis of rotation, regardless of the relative orientation of the mobile apparatus and the base.

7. The driving module according to claim 1, wherein the rotation driving system comprises a connection portion and at least two arms extending to either side of the receiving space and each connected to the connection portion.

8. The driving module according to claim 1, wherein at least one, possibly each, of the access apertures has an angle of aperture at least equal to 45°

in the access configuration, or possibly at least equal to 90°

.

9. The driving module according to claim 8, wherein at least one of the access apertures has an angle of aperture at least equal to 90°

in the access configuration.

10. The driving module according to claim 8, wherein each of the access apertures has an angle of aperture at least equal to 45°

in the access configuration.

11. The driving module according to claim 8, wherein each of the access apertures has an angle of aperture at least equal to 90°

in the access configuration.

12. The driving module according to claim 1, wherein the rotation control member comprises a belt that can be driven to travel a path along the base, said path comprising an arc portion of a circle centered on the axis of rotation and having a central angle greater than the angle of aperture and less than 360°

minus the angle of aperture.

13. The driving module according to claim 1, wherein the rotation control member comprises a shaft rotatable about a shaft axis of rotation, and having a cross-section in the shape of an arc of a circle centered on the axis of rotation with a central angle greater than the angle of aperture of the access aperture and less than 360°

minus the angle of aperture of the access aperture.

14. The driving module according to claim 1, wherein the mobile apparatus comprises a removable cap that is suitable:

in the assembled position, for closing the access aperture and preventing radial movement of the elongate medical part between its usage configuration and its external configuration, and

in the disassembled position, for opening the access aperture and enabling such movement.

15. The driving module according to claim 14, wherein the removable cap comprises a rotation driving surface that is suitable, in the assembled position, for cooperating with at least one rotation control member in the driving configuration.

16. The driving module according to claim 14, wherein the cap is retained on the mobile apparatus such that it is movable between the assembled configuration and the disassembled configuration.

17. The driving module according to any claim 1, wherein the set of parts is in the form of disposable and/or sterilizable items.