Module for driving a robotic catheterisation system

摘要

The invention relates to a module for driving a robotic catheterization system, comprising a base and mobile equipment that rotates in relation to the base about a rotational axis, and comprising a support receiving a flexible medical body; a device for driving in translation, suitable for generating a translation of said body in the main direction; a regulating device comprising a push element which is mobile in relation to the receiving space in a lateral adjustment direction perpendicular to the main direction; and a system for transferring motive energy comprising a control part carried by the base and a transmission part carried by the mobile equipment, the motive energy transfer system being suitable for moving the push element irrespective of the relative orientation of the mobile unit and the base.

主权项

1. A module for driving a robotic catheterization system, comprising a base and a mobile unit mounted so as to relative to the base about an axis of rotation extending along a main direction, the mobile unit comprising:
a mounting in which is defined a receiving space extending along the main direction and adapted to receive an elongate flexible medical member; a translation driving means, carried by the mounting and comprising a drive element having a driving surface adapted to engage with the flexible medical member so as to generate a translational movement of said medical device along the main direction; said drive module further comprising an adjustment device comprising: a push element that is part of the mobile unit, movable relative to the receiving space along a lateral adjustment direction perpendicular to the main direction and having a push surface engaging with the drive element so as to move the driving surface along the adjustment direction; a motive power transfer system comprising a control part carried by the base, adapted to receive motive power from a motive power source integral with the base, and capable of selectively adopting an active adjustment configuration and an inactive configuration, and a transmission part carried by the mobile unit, engaging with the control part in the active adjustment configuration and adapted to convert the motive power into driving force and to transfer said driving force to the push element in order to move said push element along the adjustment direction, and wherein the motive power transfer system is adapted to transfer the driving force to the push element regardless of the relative orientation of the mobile unit and the base about the axis of rotation, when the control part is in the active adjustment configuration.