System for positioning on a patient an observation and/or intervention device

Abstract

The present invention relates to a system for positioning with respect to a patient's body an observation and/or intervention device having a portion penetrating into the patient's body comprising a base laid on the patient's body; a means for supporting the device formed of a first portion movably assembled on the base according to a connection with one degree of freedom, and of a second portion movably assembled on the first portion according to a connection with one degree of freedom and connected to the device; and means for actuating the first portion with respect to the base, and the second portion with respect to the first portion, in which the base surrounds at a distance at least partially the device, said device being detachably connected to the second portion to enable removal of the positioning system while leaving in place the device.

1 . A system ( 10 ) for positioning with respect to a patient's body an observation and/or intervention device ( 12 ,  14 ) having a portion penetrating into the patient's body comprising: 
 a base ( 18 ,  80 ) laid on the patient's body;    means for supporting the device formed of a first portion ( 24 ,  82 ) movably assembled on the base according to a connection with one degree of freedom, and of a second portion ( 26 ,  88 ) movably assembled on the first portion according to a connection with one degree of freedom and connected to the device; and    means ( 43 ,  49 ,  50 ,  60 ,  66 ) for actuating the first portion with respect to the base, and the second portion with respect to the first portion,    characterized in that the base surrounds at a distance at least partially the device and in that the device is detachably connected to the second portion to enable removal of the positioning system with respect to the device while leaving in place the device with respect to the patient's body.    
     
     
         2 . The system of  claim 1 , in which the base ( 18 ) delimits a circular opening around the device ( 12 ,  14 ) and in which the first portion ( 24 ) is a mobile ring with an axis (Δ) substantially perpendicular to the patient's body and with an inner diameter substantially corresponding to the circular opening, the mobile ring being rotatably assembled on the base ( 18 ) around its axis.  
     
     
         3 . The system of  claim 2 , in which the second portion ( 26 ) comprises a head ( 90 ,  28 ) connected to the device ( 12 ,  14 ) prolonging at least in an arm ( 30 ,  31 ) pivotally assembled on the mobile ring ( 24 ) along an axis (Γ) substantially tangent to the patient's body.  
     
     
         4 . The system of  claim 1 , in which the first portion ( 82 ) comprises a semi-circular rail having its ends pivotally assembled on the base ( 80 ) along an axis substantially tangent to the patient's body.  
     
     
         5 . The system of  claim 4 , in which the second portion ( 88 ) comprises a carriage slidably assembled on the rail ( 82 ) and connected to the device ( 12 ,  14 ).  
     
     
         6 . The system of  claim 1 , in which the device ( 12 ) is movably assembled on the second portion ( 28 ,  88 ) according to a connection with one degree of freedom.  
     
     
         7 . The system of  claim 1 , in which the motions of the first ( 24 ,  82 ) and second ( 26 ,  88 ) portions are controlled by cables ( 43 ,  49 ,  50 ) driven by actuators located at a distance from the patient.  
     
     
         8 . The system of  claim 2 , in which the rotation motion of the mobile ring ( 24 ) with respect to the base ( 18 ) is controlled by an actuator ( 96 ) attached to the mobile ring, the actuator extending to be substantially parallel to the mobile ring axis (Δ).  
     
     
         9 . The system of  claim 3 , in which the pivoting motion of the arm ( 30 ,  31 ) with respect to the mobile ring ( 24 ) is controlled by an actuator ( 104 ) attached to the second portion ( 26 ) and extending to be substantially parallel to the pivoting axis (Γ) of the arm ( 30 ,  31 ) with respect to the mobile ring ( 24 ).  
     
     
         10 . The system of  claim 3 , in which the device ( 12 ) extends substantially longitudinally along a direction perpendicular to the pivoting axis (Γ) of the arm ( 30 ,  31 ) with respect to the mobile ring ( 24 ) and in which the device is movably assembled with respect to the second portion ( 26 ), to slide along said direction, the device sliding with respect to the second portion being controlled by an actuator ( 116 ) attached to the second portion and extending to be substantially parallel to the pivoting axis (Γ) of the arm ( 30 ,  31 ) with respect to the mobile ring ( 24 ).