Robotic system for arteriography, robot and rotary drive part for such a robotic system

A rotation drive part wherein the rotation drive part comprises:

• a fastening portion suited for fastening the rotation drive part to a flexible tube of an upstream hollow catheter,
• a gear connected to the fastening portion, having a central hole intended to be in communication with the hollow inside of the flexible tube, and a first rotation drive surface,
• a secondary fastening portion suited for fastening the rotation drive part to a hollow connector downstream, and allowing for the passage of a guide wire through the connector to the hole of the gear,
• a robotic catheterisation system, wherein the robotic catheterisation system comprises the catheter to be introduced inside a patient and a catheterisation robot, the catheter comprising the flexible tube and being connected to the rotation drive part,
• the robotic catheterisation system further comprising:
• said catheter and the flexible tube and being connected to the rotation drive part, having a hole and the first rotation drive surface,
• the catheterisation robot further comprising
• a fixed base,
• a receptacle mounted movable relative to the fixed base along at least one degree of freedom, the receptacle being suited to receive said catheter to be introduced inside a patient,
• a drive system suitable for driving the receptacle relative to the base along the degree of freedom,
• the receptacle further comprising a drive module, the drive module having a longitudinal axis for the passage of the catheter, with the drive module being connected to the catheter in translation along the longitudinal axis of passage in operational configuration of the robot, with the drive module comprising a rotation drive member comprising a pinion directly or indirectly motorised, and comprising a second rotation drive surface, the pinion meshing with the gear of the rotation drive part connected to the catheter, the drive module able to be actuated in order to generate a rotational movement of the catheter about the longitudinal axis of passage, the first and second rotation drive surfaces cooperating in order to transmit a rotational command from the rotation drive member to a rotational movement of the catheter about the longitudinal axis of passage.

A robotic catheterisation system, wherein the robotic catheterisation system comprises a catheter to be introduced inside a patient and a catheterisation robot,

• the catheter comprising a flexible tube and being connected to a rotation drive part, the rotation drive part comprising a gear connected to the flexible tube, having a hole and a first rotation drive surface, and a hollow connector connected to the drive part, downstream of the latter, and allowing for the passage of a guide through the connector and to the hole of the gear, said gear comprising a central hole in communication with the hollow inside of the catheter,
• with the catheterisation robot comprising:
• a fixed base,
• a receptacle mounted movable relative to the fixed base along at least one degree of freedom,
• the receptacle being suited to receive said catheter to be introduced inside a patient,
• a drive system suitable for driving the receptacle relative to the base along the degree of freedom,
• the receptacle further comprising a drive module, the drive module having a longitudinal axis for the passage of the catheter, with the drive module being connected to the catheter in translation along the longitudinal axis of passage in operational configuration of the robot, with the drive module comprising a rotation drive member comprising a pinion directly or indirectly motorised, and comprising a second rotation drive surface, the pinion meshing with the gear of the rotation drive part connected to the catheter, the drive module able to be actuated in order to generate a rotational movement of the catheter about the longitudinal axis of passage, the first and second rotation drive surfaces cooperating in order to transmit a rotational command from the rotation drive member to a rotational movement of the catheter about the longitudinal axis of passage.