Robotic catheter module for translation and rotation of an elongate flexible medical instrument

A robotic catheter module for translation and rotation of an elongate flexible medical instrument, comprising:

• a support (S) having a longitudinal direction (y), a transverse direction (x) which is orthogonal to the longitudinal direction (y), and a vertical direction (z) which is orthogonal to the longitudinal direction (y) and to the transverse direction (x);
• at least one pair of movable pads arranged face to face, adapted to be able to:
• effect a longitudinal translation of the elongate flexible medical instrument, by gripping the elongate flexible medical instrument between the pads and by moving the pads together in translation in the longitudinal direction;
• effect a rotation of the elongate flexible medical instrument about the longitudinal direction, by gripping the elongate flexible medical instrument between the pads and by moving the pads together in translation in the vertical direction, said pads moving in translation in opposite directions;
• a device for driving the pads, comprising:
• a first drive member for driving pads in the longitudinal direction (y), comprising a first actuator which is connected to the pads via at least one rolling-bearing slide connection;
• a second drive member for driving pads in the vertical direction (z), comprising a second actuator which is connected to the pads via at least one rolling-bearing slide connection;
• a third drive member for driving pads at least relative to one another in the transverse direction (x), comprising a third actuator which is connected to at least one pad via at least one rolling-bearing slide connection;
• these three drive members for the pads being independent of one another such that the actuation of an actuator of one of the drive members does not displace the actuators of the two other drive members.