Robotizable module for driving an elongated flexible medical member, medical robot and system including such a module

{
  "publication_number": "US11147950B2",
  "country": "US",
  "kind": "B2",
  "title": "Robotizable module for driving an elongated flexible medical member, medical robot and system including such a module",
  "abstract": "Disclosed is a module including: a base; a first drive member; and a second drive member. The second drive member is also mounted so as to be movable relative to the first drive member, in a degree of freedom other than rotational about the second axis, between a first and a second configuration. A motion transmission system transmits the driving movement generated by the drive motor to the second drive member in order to rotate the second drive member about the second axis between the first and second configurations.",
  "claims": [
    "1. A robotizable module for driving an elongated flexible medical member, comprising: a base (31); a drive motor (34); a first drive member (28 a), defining a first axis (29 a) and comprising a first peripheral driving surface (30 a) around said first axis (29 a), the first drive member (28 a) being mounted so as to rotate relative to the base (31) about the first axis (29 a) and comprising a member (33 a) connecting to said drive motor (34) adapted to rotate the first drive member (28 a) about the first axis (29 a); a second drive member (28 b), defining a second axis (29 b) parallel to the first axis (29 a) and comprising a second peripheral driving surface (30 b) around said second axis (29 b), the second drive member (28 b) being mounted so as to rotate relative to the base (31) about the second axis (29 b), and the second drive member (28 b) also being mounted so as to be movable relative to the first drive member (28 a) between: a first configuration wherein the first and second peripheral driving surfaces (30 a, 30 b) face each other with a first spacing therebetween, and a second configuration wherein the first and second peripheral driving surfaces (30 a, 30 b) face each other with a second spacing therebetween that is greater than the first spacing; an actuation system (43) operable by a user, adapted to move the second drive member (28 b) from one of the first and second configurations to an other of the first and second configurations; a motion transmission system (35) that transmits a driving movement generated by said drive motor (34) to the second drive member (28 b) in order to rotate the second drive member (28 b) about the second axis (29 b) at least in any configuration between the first and second configurations, said motion transmission system (35) comprised of a first gear (36 a) that is coaxial with the first drive member (28 a) and forms an input member of the motion transmission system (35), an intermediate gear (37) having an intermediate gear axis (38) parallel to and offset from the first axis (29 a), teeth of the intermediate gear (37) entering into spaces formed by teeth of the first gear (36 a) at least in any configuration between the first and second configurations, and a transmission (39) between the intermediate gear (37) and the second drive member (28 b), transmitting the rotational motion of the intermediate gear (37) about the intermediate gear axis (38) into said rotational motion of the second drive member (28 b) about the second axis (29 b); and an elastic system (46) directly connected to the second drive member (28 b) and biasing the second drive member (28 b) from the second configuration towards the first configuration, wherein the actuation system (43) is operable to move the second drive member (28 b) from the first configuration and to the second configuration while compressing said elastic system (46).",
    "2. The robotizable module according to claim 1, wherein the motion transmission system (35) operates in the second configuration.",
    "3. The robotizable module according to claim 1, wherein the elastic system (46) biases the actuation system (43) which is integral with the second drive member (28 b).",
    "4. The robotizable module according to claim 1, further comprising: a locking system adapted to alternatively lock the second drive member (28 b) in the second free configuration or to release the second drive member (28 b), the actuation system (43) being adapted to control the locking system.",
    "5. The robotizable module according to claim 1, wherein the actuation system (43) is electrically operable by the user.",
    "6. The robotizable module according to claim 1, wherein at least one drive member (28 a) is also mounted so as to be movable relative to the base (31) in a translational motion along the first axis (29 a).",
    "7. The robotizable module according to claim 6, wherein said at least one drive member (28 a) is mounted so as to be movable relative to the base (31) in a translational motion along the first axis (29 a) in a translational path, and wherein the first drive member (28 a) comprises a deformable skirt (81), rubbing on the base (31) during rotation of the first drive member (28 a) relative to the base (31), and defining a closed perimeter on the base (31) along the entire translational path.",
    "8. The robotizable module according to claim 1, further comprising: a cover (32) secured to the base (31) and together with the base defining a housing (16) defining an interior space (41) in which are arranged at least a portion of the first drive member (28 a), at least a portion of the second drive member (28 b), and at least a portion of the actuation system (43), wherein an actuation portion (44 a) of the actuation system (43), a portion of the first drive member (28 a), and a portion of the second drive member (28 b) extend out of the housing (16).",
    "9. A medical robot kit, comprising: a permanent portion (51) and a removable portion, the permanent portion comprising a motor (34) and a first coupling (68, 68 ′), and the removable portion comprising a robotizable module according to claim 1, provided with a second coupling (69, 69 ′) complementary to the first coupling (68, 68 ′), wherein the first and second couplings (68, 68 ′, 69, 69 ′) comprise at least one cam surface adapted to rotate the first and second couplings (68, 68 ′, 69, 69 ′) relative to each other with respect to a direction of assembly, during assembly of the removable portion to the permanent portion (51) along the direction of assembly.",
    "10. The medical robot kit according to claim 9, wherein the first coupling (68, 68 ′) comprises a plurality of protrusions (65, 62) of concave shape, and the second coupling (69, 69 ′) comprises a plurality of complementary recesses (66, 64) of complementary shape.",
    "11. The medical robot kit according to claim 9, wherein the first coupling comprises a centering cone (61), a protrusion (62) that is movable relative to the centering cone (61) in a sliding direction, and a biasing member (95) biasing the protrusion (62) relative to the centering cone (61) during assembly of the removable portion to the permanent portion.",
    "12. A medical system, comprising: a hollow elongated flexible medical member extending along an axis of elongation; and a medical robot according to claim 9, the hollow elongated flexible medical member (15) being held between the first and second peripheral driving surfaces (30 a, 30 b) of the medical robot in the first configuration, the first drive member (28 a) being rotatable relative to the base (31) about the first axis (29 a) in order to generate translational motion of the elongated flexible medical member (15) along the axis of elongation.",
    "13. The medical system according to claim 12, the first drive member (28 a) being driven in translation relative to the base (31) along the first axis (29 a) in order to generate rotation of the elongated flexible medical member (15) about the axis of elongation.",
    "14. A medical system, comprising: a hollow elongated flexible medical member extending along an axis of elongation; and a robotizable module according to claim 1, the hollow elongated flexible medical member (15) being held between the first and second peripheral driving surfaces (30 a, 30 b) in the first configuration of the medical robot, the first drive member (28 a) being rotatable relative to the base (31) about the first axis (29 a) in order to generate translational motion of the elongated flexible medical member (15) along the axis of elongation.",
    "15. The medical system according to claim 14, the first drive member (28 a) being driven in translation relative to the base (31) along the first axis (29 a) in order to generate rotation of the elongated flexible medical member (15) about the axis of elongation.",
    "16. The robotizable module according to claim 1, wherein the intermediate gear axis (38) is offset from the second axis (29 b) of the second drive member (28 b)."
  ],
  "description_excerpt": "The present invention relates to robotizable modules for driving an elongated flexible medical member.\n\nManual insertion of a catheter or guide in a patient is a relatively conventional surgical procedure. However, as this procedure is monitored by X-ray, the surgeon responsible for the procedure is exposed to substantial radiation if performing such an operation on many patients.\n\nTo reduce the risks for the surgeon, it is desirable to robotize such insertion. Such robotization is complex, because it is difficult to grip the catheter. The catheter is slippery, and must remain sterile. The reliability of these robotic systems despite these difficulties is a determining factor in their acceptance by the medical community.\n\nRecently, a drive system was proposed in U.S. Pat. No. 7,927,310 which manages both the translation and rotation of the catheter. The catheter is held on a plate which rotates relative to a base in order to drive the rotation. The plate itself comprises a translational drive mechanism. In addition, use is made of remote motors remaining on the frame, and systems for transferring movement to the catheter. Indeed, not having embedded motors is preferred for reasons of power routing, footprint, and sterility.\n\nAlthough this configuration is fully satisfactory, there is still a desire to further facilitate its use by medical staff. Deciding factors are fast startup and shutdown. Rapid, simple, and instinctive startup allows staff to avoid improper placement of the catheter in the robot and the subsequent issues.",
  "cpc": [
    "A61B 34/30",
    "A61B 2017/00398",
    "A61B 2034/301",
    "A61B 2090/376",
    "A61B 34/20",
    "A61M 25/0113"
  ],
  "ipc": [
    "A61B 34/20",
    "A61B 34/30",
    "A61M 25/01"
  ],
  "assignees": [
    "Robocath"
  ],
  "inventors": [
    "Fabien Destrebecq",
    "Julien Maurel",
    "Sébastien Deboeuf",
    "Philippe Bencteux"
  ],
  "filing_date": "2017-01-05",
  "publication_date": "2021-10-19",
  "grant_date": "2021-10-19",
  "priority_date": "2016-01-07",
  "application_number": "US-201716068564-A",
  "family_id": "55752484",
  "cited_by_count": 31,
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}