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.

1 . A robotizable module for driving an elongated flexible medical member, comprising:
 a base;   a first drive member, defining a first axis and comprising a first peripheral driving surface around said first axis,   the first drive member being mounted so as to rotate relative to the base about the first axis, and comprising a member connecting to a drive motor adapted to rotate the first drive member about the first axis;   a second drive member, defining a second axis parallel to the first axis, and comprising a second peripheral driving surface around said second axis,   the second drive member being mounted so as to rotate relative to the base about the second axis, and   the second drive member also being 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 configuration wherein the first and second peripheral driving surfaces face each other with a first spacing therebetween, and 
 a second configuration wherein the first and second peripheral driving surfaces face each other with a second spacing therebetween that is greater than the first spacing; 
   an actuation system operable by a user, adapted to move the second drive member from one of the first and second configurations to an other of the first and second configurations; and   a motion transmission system for transmitting 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 at least in any configuration between the first and second configurations,   wherein the motion transmission system comprises:
 a first gear that is coaxial with the first drive member and forms an input member of the motion transmission system, 
 an intermediate gear having an intermediate gear axis parallel to and offset from the first axis, the intermediate gear meshing with the first gear at least in any configuration between the first and second configurations, and 
 a transmission between the intermediate gear and the second drive member, transmitting the rotational motion of the intermediate gear about the intermediate gear axis into said rotational motion of the second drive member about the second axis, 
   and wherein said first drive member is fixed to a shaft that extends along said first axis and is driven by said drive motor so that said shaft establishes a connection between said drive motor and said first drive member.   
     
     
         2 . The robotizable module according to  claim 1  wherein the motion transmission system operates in the second configuration. 
     
     
         3 . The robotizable module according to  claim 1 , wherein said transmission comprises a belt which is integral in rotation both with said intermediate gear about the rotation axis of said intermediate gear and with said second drive member about the rotation axis of said second drive member. 
     
     
         4 . The robotizable module according to  claim 1 , further comprising:
 an elastic system biasing the second drive member from the second configuration towards the first configuration,   wherein the actuation system is operable to move the second drive member from the first configuration and to the second configuration while compressing said elastic system.   
     
     
         5 . The robotizable module according to  claim 4 , wherein the elastic system biases the actuation system which is integral with the second drive member. 
     
     
         6 . The robotizable module according to  claim 1 , further comprising:
 a locking system adapted to alternatively lock the second drive member in the second free configuration or to release the second drive member, the actuation system being adapted to control the locking system.   
     
     
         7 . The robotizable module according to  claim 1 , wherein the actuation system is electrically operable by the user. 
     
     
         8 . The robotizable module according to  claim 1 , wherein at least one drive member is also mounted so as to be movable relative to the base in a translational motion along the first axis. 
     
     
         9 . The robotizable module according to  claim 8 ,
 wherein said at least one drive member is mounted so as to be movable relative to the base in a translational motion along the first axis in a translational path, and   wherein the first drive member comprises a deformable skirt, rubbing on the base during rotation of the first drive member relative to the base, and defining a closed perimeter on the base along the entire translational path.   
     
     
         10 . The robotizable module according to  claim 1 , further comprising:
 a cover secured to the base and together with the base defining a housing defining an interior space in which are arranged at least a portion of the first drive member, at least a portion of the second drive member, and at least a portion of the actuation system,   wherein an actuation portion of the actuation system, a portion of the first drive member, and a portion of the second drive member extend out of the housing.   
     
     
         11 . A medical robot kit, comprising:
 a permanent portion and a removable portion,   the permanent portion comprising a motor and a first coupling, and   the removable portion comprising a robotizable module according to  claim 1 , provided with a second coupling complementary to the first coupling,   wherein the first and second couplings comprise at least one cam surface adapted to rotate the first and second couplings relative to each other with respect to a direction of assembly, during assembly of the removable portion to the permanent portion along the direction of assembly.   
     
     
         12 . The medical robot kit according to  claim 11 , wherein the first coupling comprises a plurality of protrusions of concave shape, and the second coupling comprises a plurality of complementary recesses of complementary shape. 
     
     
         13 . The medical robot kit according to  claim 11 , wherein the first coupling comprises a centering cone, a protrusion that is movable relative to the centering cone in a sliding direction, and a biasing member biasing the protrusion relative to the centering cone during assembly of the removable portion to the permanent portion. 
     
     
         14 . A medical system, comprising:
 a hollow elongated flexible medical member extending along an axis of elongation; and   a medical robot according to  claim 11 ,   the hollow elongated flexible medical member being held between the first and second peripheral driving surfaces of the medical robot in the first configuration, the first drive member being rotatable relative to the base about the first axis in order to generate translational motion of the elongated flexible medical member along the axis of elongation.   
     
     
         15 . The medical system according to  claim 14 , the first drive member being driven in translation relative to the base along the first axis in order to generate rotation of the elongated flexible medical member about the axis of elongation. 
     
     
         16 . 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 being held between the first and second peripheral driving surfaces in the first configuration of the medical robot, the first drive member being rotatable relative to the base about the first axis in order to generate translational motion of the elongated flexible medical member along the axis of elongation.   
     
     
         17 . The medical system according to  claim 16 , the first drive member being driven in translation relative to the base along the first axis in order to generate rotation of the elongated flexible medical member about the axis of elongation. 
     
     
         18 . The robotizable module according to  claim 2 , wherein the motion transmission system comprises:
 a first gear that is coaxial with the first drive member and forms an input member of the motion transmission system,   an intermediate gear having an intermediate gear axis parallel to and offset from the first axis, the intermediate gear meshing with the first gear at least in any configuration between the first and second configurations, and   a transmission between the intermediate gear and the second drive member, transmitting the rotational motion of the intermediate gear about the intermediate gear axis into said rotational motion of the second drive member about the second axis.   
     
     
         19 . The robotizable module according to  claim 2 , further comprising:
 an elastic system biasing the second drive member from the second configuration towards the first configuration,
 wherein the actuation system is operable to move the second drive member from the first configuration and to the second configuration while compressing said elastic system. 
   
     
     
         20 . A robotizable module for driving an elongated flexible medical member, comprising:
 a base;   a first drive member, defining a first axis and comprising a first peripheral driving surface around said first axis,   the first drive member being mounted so as to rotate relative to the base about the first axis and comprising a member connecting to a drive motor adapted to rotate the first drive member about the first axis;   a second drive member, defining a second axis parallel to the first axis and comprising a second peripheral driving surface around said second axis,   the second drive member being mounted so as to rotate relative to the base about the second axis, and   the second drive member also being 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 configuration wherein the first and second peripheral driving surfaces face each other with a first spacing therebetween, and 
 a second configuration wherein the first and second peripheral driving surfaces face each other with a second spacing therebetween that is greater than the first spacing; 
   an actuation system operable by a user, adapted to move the second drive member from one of the first and second configurations to an other of the first and second configurations; and   a motion transmission system for transmitting 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 at least in any configuration between the first and second configurations,   wherein the motion transmission system comprises:
 a first gear that is coaxial with the first drive member and forms an input member of the motion transmission system, 
 an intermediate gear having an intermediate gear axis parallel to and offset from the first axis, the intermediate gear meshing with the first gear at least in any configuration between the first and second configurations, and 
 a transmission between the intermediate gear and the second drive member, transmitting the rotational motion of the intermediate gear about the intermediate gear axis into said rotational motion of the second drive member about the second axis, 
   and wherein said transmission comprises a belt which is integral in rotation both with said intermediate gear about the rotation axis of said intermediate gear and with said second drive member about the rotation axis of said second drive member.