| 摘要 |
Robotic manipulator for the remote manoeuvring of steerable catheters (C) in the human cardiovascular system, of the type for subjecting the catheter, by supporting its handle (D) and by stiffening its outer portion by means of a telescopic guide (E), to axial advance and retraction movements, to axial rotation in both directions, and to the necessary steering movements to enable the tip of the catheter to be steered through the twists and turns of the cardiovascular system of the patient (P) and to reach a predetermined point in this system, in a controlled, repeatable and safe way. The manipulator comprises a body (1) designed for fixing to adjustable support means (H) with correct positioning and orientation with respect to the patient, and comprises an arm (13) fixed in a projecting way and rotatably about an axis of said body (1) in which body the means for producing said rotation are housed, at least one carriage (18') being mounted in said arm (13) in such a way that it can travel longitudinally, in at least one suitable guide (16), the carriage having an intermediate clamp (31-36) for supporting the handle (D) of the catheter (C) and being movable by drive means positioned in the arm (13) to produce the advance and retraction of the catheter in the cardiovascular system, a sliding block (42) being mounted on said carriage (18') with a gripping device (44) acting on the slider (F) or other suitable means provided for the catheter steering control, this sliding block being actuated by drive means associated with the carriage (18') |
