DEVICE FOR GUIDING A MEDICAL INSTRUMENT INSERTED INTO A NATURAL DUCT OR AN ARTIFICAL DUCT OF A PATIENT

摘要

The invention relates to a device for guiding a medical instrument (2) inserted into a natural duel (101) or an artificial duct of a patient in order to bring at least a distal end (1) of the instrument in proximity to an internal organ (100), the device comprising an articulated arm (3) with a plurality of degrees of freedom, for moving a proximal end (4) of the instrument, and controlled blocking means (7) for blocking the degrees of freedom of the articulated arm. According to the invention, the blocking means are designed in such a way that, for at Mast one of the degrees of freedom, a blockage imposed on said degree of freedom can be enforced when an outer stress exerted on the instrument (2) exceeds a predetermined threshold.

主权项

1. A device for guiding a medical instrument (2; 21) inserted into a natural duct (101; 201) or an artificial duct of a patient in order to bring at least a distal end (1) of the instrument in proximity to an internal organ (100; 200), the device comprising:
an articulated arm (3; 27) with a plurality of degrees of freedom for moving a proximal end (4) of the instrument, controlled locking means (7; 30) for restricting the degrees of freedom of the articulated arm, the locking means being designed so that, for at least one of the degrees of freedom, imposed restriction of said degree of freedom can be enforced when an external effort exerted on the instrument (2; 21) exceeds a predetermined threshold, and a computing module (6; 29) for controlling the locking means,the guiding device being characterized in that it comprises image acquisition means (10; 25), carried by the instrument, for acquiring images of the organ, the computing module being based on at least said images in order to control the locking means.