Robotized module for guiding an elongate flexible medical device

A robotized module for actuating an elongated flexible medical device comprising:

• a base,
• a pair of actuation members each having an actuation surface, the pair of actuation members being suitable for being placed alternately in an actuation configuration wherein the actuation surfaces of the actuation members of the pair of actuation members are engaged with the elongated flexible medical device to be actuated and arranged on either side thereof, and in a free configuration wherein the actuation surface of the actuation members of the pair of actuation members is not engaged with the elongated flexible medical device,
• the pair of actuation devices being movably mounted with respect to the base according to a degree of freedom between a first and a second positions,
• a control member suitable for controlling in a cyclically repeated manner a movement with respect to the base of the actuation members of the pair of actuation members in the actuation configuration from the first to the second position, thus actuating the elongated flexible medical device with respect to the base, and a movement with respect to the base of the actuation members of the pair of actuation members in the free configuration from the second to the first position without actuating the elongated flexible medical device with respect to the base,
• wherein the movement with respect to the base of the actuation members from the first position to the second position comprises at least:
• a translation of the actuation members with respect to the base along a transverse direction to the local longitudinal direction of the elongated flexible medical device and in the same direction,
• wherein the degree of freedom between the first and second positions is a first degree of freedom, wherein the pair of actuation members is also movably mounted with respect to the base according to a second degree of freedom differing from the first degree of freedom between the first and a third positions,
• the control member being suitable for controlling in a cyclically repeated manner a movement with respect to the base of the actuation members in the actuation configuration from the first to the third position, thus actuating the elongated flexible medical device with respect to the base, and a movement with respect to the base of the actuation members in the free configuration from the third to the first position
• without actuating the elongated flexible medical device with respect to the base,
• wherein the control member controls in a cyclically repeated manner a movement with respect to the base of the actuation members, so as to generate translation of the elongated flexible medical device over a stroke in the first direction along the longitudinal direction, by cyclically repeating in controlled manner the following steps:
• first step:
• the free configuration enters the actuation configuration, by both actuation members moving in opposite directions along the transverse direction,
• second step:
• in the actuation configuration, simultaneous movement of the actuation members is generated in the same direction along the longitudinal direction in a first direction, thereby generating an identical movement of the elongated flexible medical device,
• third step:
• in order to pass from the actuation configuration to the free configuration, the two actuation members are caused to move in opposite directions along the transverse direction, in the direction opposite to the direction used for passing the actuation members from the free configuration to the actuation configuration,
• fourth step:
• in the free configuration, optionally simultaneous movement in the same direction of the actuation members is generated in the longitudinal direction in a second direction opposite to the first direction, thereby not generating a movement of the elongated flexible medical device, thereby returning to the free configuration of said first step, at same location as in said first step,
• and wherein the translation of the actuation members with respect to the base along the transverse direction to the local longitudinal direction of the elongated flexible medical device and in opposite directions is suitable rolling of the elongated flexible medical device on the actuation surfaces about the local longitudinal direction of the elongated flexible medical device.