US 12,740,837 B2Granted

System for rotationally and translationally driving an elongate flexible medical instrument

AssigneeRobocath

InventorsMarc Boulangé, Philippe Bencteux

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Abstract

A drive system for driving an elongate and flexible medical instrument along a main elongation axis, the drive system including a first roller and a second roller intended to cooperate in order to drive the medical instrument translationally along its main elongation axis and to drive the medical instrument rotationally about its main elongation axis. The first roller is coupled to a first shaft and the second roller is coupled to a second shaft.

Claims21

Dependent claims

A drive system for driving an elongate and flexible medical instrument along a main elongation axis, said drive system comprising:

a first roller and a second roller which are intended to cooperate in order to drive the medical instrument translationally along its main elongation axis, and to drive the medical instrument rotationally about its main elongation axis, the first roller being coupled to a first shaft and the second roller being coupled to a second shaft:
a first motor which is coupled to the first shaft, said first motor being configured to drive the first shaft and the first roller rotationally about a first axis that is collinear with the first shaft, the first shaft being coupled to the second shaft in order to transmit motion from the first motor to said second shaft and thus drive the second shaft and the second roller rotationally about a second axis that is collinear with the second shaft, the medical instrument being driven translationally by a driving force transmitted both by the rotation of the first roller and by the rotation of the second roller;
and
a second motor which is coupled to the first shaft, said second motor being configured to drive the first shaft and the first roller translationally along the first axis, the first shaft being coupled to the second shaft in order to transmit motion from the second motor to said second shaft and thus drive the second shaft and the second roller translationally along the second axis in the opposite direction relative to the first roller, the medical instrument being rotated by a driving force transmitted both by the translation of the first roller and by the translation of the second roller;
or
a second motor which is coupled to the second shaft, said second motor being configured to drive the second shaft and the second roller translationally along the second axis, the second shaft being coupled to the first shaft in order to transmit motion from the second motor to said first shaft and thus drive the first shaft and the first roller translationally along the first axis in the opposite direction relative to the second roller, the medical instrument being rotated by a driving force transmitted both by the translation of the first roller and by the translation of the second roller;
wherein the first shaft comprises a first gear which is meshed with an output gear of the first motor on the one hand, and with a second gear of the second shaft on the other hand.

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Dependencies are inferred from the claim text.

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Abstract

A drive system for driving an elongate and flexible medical instrument along a main elongation axis, said drive system comprising:

a first roller and a second roller which are intended to cooperate in order to drive the medical instrument translationally along its main elongation axis, and to drive the medical instrument rotationally about its main elongation axis, the first roller being coupled to a first shaft and the second roller being coupled to a second shaft:
a first motor which is coupled to the first shaft, said first motor being configured to drive the first shaft and the first roller rotationally about a first axis that is collinear with the first shaft, the first shaft being coupled to the second shaft in order to transmit motion from the first motor to said second shaft and thus drive the second shaft and the second roller rotationally about a second axis that is collinear with the second shaft, the medical instrument being driven translationally by a driving force transmitted both by the rotation of the first roller and by the rotation of the second roller;
and
a second motor which is coupled to the first shaft, said second motor being configured to drive the first shaft and the first roller translationally along the first axis, the first shaft being coupled to the second shaft in order to transmit motion from the second motor to said second shaft and thus drive the second shaft and the second roller translationally along the second axis in the opposite direction relative to the first roller, the medical instrument being rotated by a driving force transmitted both by the translation of the first roller and by the translation of the second roller;
or
a second motor which is coupled to the second shaft, said second motor being configured to drive the second shaft and the second roller translationally along the second axis, the second shaft being coupled to the first shaft in order to transmit motion from the second motor to said first shaft and thus drive the first shaft and the first roller translationally along the first axis in the opposite direction relative to the second roller, the medical instrument being rotated by a driving force transmitted both by the translation of the first roller and by the translation of the second roller;
wherein the first shaft comprises a first gear which is meshed with an output gear of the first motor on the one hand, and with a second gear of the second shaft on the other hand.

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