Automated insertion device

Abstract

A device for insertion of a medical tool held in an end effector, the device comprising moveable platforms providing motion in two generally orthogonal directions, and two piston mechanisms operating within cylinders, coupled to the moveable platforms, and being attached at their distal end to the end effector by means of a common joint. The pistons may be linear actuators. The end effector is manipulated by driving mechanisms propelling the pistons linearly. The proximal ends of the cylinders may be coupled to a common shaft. The axes of the cylinders and the pistons, the line connecting the pistons axes through the common joint and the axis of the cylinders' common shaft may all be located substantially in a single plane. Coordinated motion of the moveable platforms and the piston mechanisms enables the maintenance of a virtual remote center of motion of the medical tool as its orientation changes.

1 . An automated device for inserting and steering a medical tool into a target, comprising:
 at least two movable platforms operatively coupled to each other;   at least two driving mechanisms, wherein each comprises a motor configure to move one of the at least two movable platforms in a linear direction substantially perpendicular to one another;   at least one piston mechanism coupled to one of the at least two movable platforms, and   an end effector coupled to the piston mechanism by a common joint and configured for coupling at least a first portion of an insertion mechanism, the insertion mechanism configured to impart movement to the medical tool from an entry point to the target.   
     
     
         2 . The automated device of  claim 1 , wherein the longitudinal axe of the piston mechanism and the common joint are located substantially in a single plane. 
     
     
         3 . The automated device of  claim 1 , wherein the coupling of the end effector to the common joint is via a first gimbal. 
     
     
         4 . The automated device of  claim 3 , wherein the first gimbal is coupled to the common joint via a rotational joint. 
     
     
         5 . The automated device of  claim 4 , wherein the rotational joint configured to hold the piston mechanism and the common joint on a same plane as the first gimbal with the coupled end effector are being rotated. 
     
     
         6 . The automated device of  claim 1 , wherein the second movable platform comprises an extending arm, and wherein the end effector is coupled to the extending arm via a second gimbal. 
     
     
         7 . The automated device of  claim 6 , wherein the second gimbal is coupled to the extending arm via an axial joint configured to allow rotation of the second gimbal, and the end effector, as the extending arm maintains an angular position. 
     
     
         8 . The automated device of  claim 1 , wherein the at least two movable platforms comprises:
 a first platform adapted to move in a first linear direction; and   a second platform coupled to said first platform and adapted to move in a second linear direction substantially perpendicular to the first linear direction,   
       wherein said at least one piston mechanism is coupled to said second platform. 
     
     
         9 . The automated device of  claim 1 , wherein the first portion of the insertion mechanism is coupled to the end effector. 
     
     
         10 . The automated device of  claim 9 , further comprising an insertion module configured for coupling to the end effector and for receiving the medical tool, wherein the insertion module comprises a second portion of the insertion mechanism, the second portion of the insertion mechanism being operatively couplable to the first portion of the insertion mechanism. 
     
     
         11 . The automated device of  claim 1 , wherein the steering of the medical tool is configured to an angular workspace, the angular workspace comprises a cone shape wherein the vertex of the cone being located at a distal end of the medical tool at an entry point. 
     
     
         12 . The automated device of  claim 1 , further comprising a device base. 
     
     
         13 . The automated device of  claim 12 , further comprising a stationary platform coupled to the device base, wherein a first portion of the first driving mechanism is coupled to the stationary platform, and a second portion of the first driving mechanism is coupled to the first movable platform. 
     
     
         14 . The automated device of  claim 13 , wherein a first portion of the second driving mechanism is coupled to the first movable platform, and a second portion of the second driving mechanism is coupled to the second movable platform. 
     
     
         15 . The automated device according to  claim 1 , further comprising at least one registration element.