ARTICULATED ARM WITH HANDGRIP AND LOCKING AND UNLOCKING ACTUATOR FOR SUPPORT OF AN EXTENDED FLEXIBLE MEDICAL INSTRUMENT

Abstract

An articulated arm for support of an extended flexible medical instrument includes: a segment rotationally mobile around an axis of rotation, where the mobile segment can either be rotationally locked or unlocked, a handgrip including: a distal holding part to be hand held, a proximal support part connecting the distal holding part to the remainder of the structure, and an actuator on the distal holding part locking and unlocking mobility of the segment in rotation around the axis. The locking and unlocking actuator extends over the main part of the length of the distal holding part such that: pressure of the user's hand griping the distal holding part directly creates contact with the actuator, sufficient for automatically unlocking mobility of the segment in rotation and release of the distal holding part terminates contact with the locking and unlocking actuator, sufficient for automatically locking mobility of the segment in rotation.

Claims

1. An articulated arm for support of an extended flexible medical instrument comprising: at least one segment rotationally mobile around an axis of rotation, where the mobile segment can either be rotationally locked around the axis of rotation or rotationally unlocked around the axis of rotation, a handgrip comprising: a distal holding part, with an elongated shape, intended to be held by the hand of the user of the articulated arm, a proximal support part connecting the distal holding part to the remainder of the structure of the articulated arm, and an actuator for locking and unlocking the mobility of the segment in rotation around the axis of rotation, disposed on the distal holding part, wherein the locking and unlocking actuator extends over the main part of the length of the distal holding part such that: a simple pressure of the hand of the user griping the distal holding part directly exerts a contact with the locking and unlocking actuator which is sufficient for automatically unlocking the mobility of the segment in rotation around the axis of rotation, and a simple release of the distal holding part by the hand of the user directly leads to an absence of contact with the locking and unlocking actuator which is sufficient for automatically locking the mobility of the segment in rotation around the rotational axis.

2. The articulated arm according to claim 1, wherein said contact is a pressure mechanical contact.

3. The articulated arm according to claim 2, wherein: said locking and unlocking actuator is a press button: which, when the press button is directly or indirectly depressed, directly and mechanically actuates the closure, or respectively the opening, of an electrical contact located inside the distal holding part, during rotational unlocking of the segment, and which, when the press button is released, directly and mechanically actuates the opening, or respectively the closing, of this electrical contact, during rotational locking of the segment.

4. The articulated arm according to claim 2, wherein: said locking and unlocking actuator comprises at least two press buttons: depressing these two buttons directly and mechanically actuates the closure, or respectively the opening, of an electrical contact located inside the distal holding part, during rotational unlocking of the segment, and releasing at least one of these two press buttons directly and mechanically actuates the opening, or respectively the closing, of this electrical contact, during rotational locking of the segment.

5. The articulated arm according to claim 3, wherein, while depressed, the press button slides in one or more guiding rails, or wherein while depressed, the press buttons slide in one or more guiding rails.

6. The articulated arm according to claim 1, wherein said contact is a capacitive contact.

7. The articulated arm according to claim 6, wherein: the outer surface of the distal holding part comprises at least two capacitive zones: a simultaneous contact of these two capacitive zones by a single hand of the user automatically unlocks the mobility of the segment in rotation around the axis of rotation, and an absence of simultaneous contact with these two capacitive zones by a single hand of a user automatically locks the mobility of the segment in rotation around the axis of rotation.

8. The articulated arm according to claim 1, wherein the distal holding part is straight.

9. The articulated arm according to claim 1, wherein: the proximal support part has an elongate shape, and the distal holding part is longer than the proximal support part.

10. The articulated arm according to claim 9, wherein the distal holding part and the proximal support part are orthogonal to each other.

11. The articulated arm according to claim 1, wherein the distal holding part has a cylindrical shape.

12. The articulated arm according to claim 1, wherein the junction between the rotational locking and unlocking actuator and the distal holding part is a sealed junction which remains sealed even during actuation of said actuator.

13. The articulated arm according to claim 12, wherein said sealed junction comprises an O-ring arranged around the rotational locking and unlocking actuator, and sliding in the body of the distal holding part if said actuator is mobile.

14. The articulated arm according to claim 12, wherein said sealed junction comprises a bellows arranged around the rotational locking and unlocking actuator, and compressing and extending during movement of said mobile actuator.

15. The articulated arm according to claim 12, wherein said sealed junction comprises a sleeve covering the rotational locking and unlocking actuator and surrounding at least the majority of the distal holding part, where this sleeve is sufficiently deformable that the pressure from the hand of the user of the articulated arm actuates the rotational locking and unlocking actuator.

16. The articulated arm according to claim 1, further comprising a system of cylinders internal to the articulated arm canceling the weight of the articulated arm for a hand of a user who moves the articulated arm after having held the handgrip of the articulated arm.

17. The articulated arm according to claim 1, wherein: the articulated arm comprises several segments mobile in rotation around one or several axes of rotation each mobile segment of which can be either rotationally locked around the axis of rotation thereof or rotationally unlocked around the axis of rotation thereof, and wherein: the locking and unlocking actuator commands the locking and unlocking of the rotational mobility of several of said segments.

18. The articulated arm according to claim 1, further comprising: at least three segments rotationally articulated relative to each other, around a single rotational direction, among which: a proximal segment located closest to the operating table when the articulated arm is attached onto this operating table, a distal segment, which carries the extended flexible medical instrument, and an intermediate segment located between the proximal segment and the distal segment.

19. The articulated arm according to claim 1, wherein the extended flexible medical instrument comprises a catheter and/or a catheter guide and/or a guide catheter.

20. The articulated arm according to claim 1, wherein the distal holding part has a cylindrical shape with a circular section.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0056] FIG. 1 shows schematically in side view an example of an articulated arm incorporating a handgrip, and a locking and unlocking actuator according to an embodiment of the invention.

[0057] FIG. 2 shows schematically in top view an example of an articulated arm incorporating a handgrip, and a locking and unlocking actuator according to an embodiment of the invention.

[0058] FIG. 3 shows schematically in top view an example of a handgrip and a locking and unlocking actuator according to an embodiment of the invention.

[0059] FIG. 4 shows schematically in top view an example of internal structure of a handgrip and a locking and unlocking actuator according to an embodiment of the invention.

[0060] FIG. 5 shows schematically in side view example of seal joints for a handgrip and a locking and unlocking actuator according to an embodiment of the invention.

[0061] FIG. 6 shows schematically in side view example of seal joints for a handgrip and a locking and unlocking actuator according to an embodiment of the invention.

[0062] FIG. 7 shows schematically in side view example of seal joints for a handgrip and a locking and unlocking actuator according to an embodiment of the invention.

[0063] FIG. 8 shows schematically in top view an example of internal structure of a handgrip and a locking and unlocking actuator according to another embodiment of the invention.

[0064] FIG. 9 shows schematically in top view an example of internal structure of a handgrip and a locking and unlocking actuator according to yet another embodiment of the invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0065] FIG. 1 shows schematically in side view an example of an articulated arm incorporating a handgrip, and a locking and unlocking actuator according to an embodiment of the invention.

[0066] FIG. 2 shows schematically in top view an example of an articulated arm incorporating a handgrip, and a locking and unlocking actuator according to an embodiment of the invention.

[0067] An articulated arm 3 comprises at least one segment 19 rotationally mobile around an axis of rotation 20. This articulated arm 3 comprises a robot 1 carrying the extended flexible medical instrument intended to be inserted into the patient and also a handgrip 2 for manipulation of the articulated arm 3 in the robot 1 carried by this articulated arm 3.

[0068] The user proceeds as follows: [0069] first, they take hold of the handgrip 2 with a hand, in fact with only one hand, left or right, as they prefer, according to whether they are left- or right-handed; [0070] ○ the simple fact of taking hold of the handgrip 2 automatically unlocks the brake; [0071] ○ the segment 19 is thus freely mobile in rotation around the axis of rotation 20; [0072] next, with the handgrip 2 firmly in hand, the user moves the robot 1 as they wish to the intended position, the articulated arm 3 then fluidly accompanying the movements of the robot 1, in particular because of the internal cylinders (not shown for reasons of clarity) which cancel the weight of the robot 1 born by the articulated arm 3; [0073] finally, they release the handgrip 2; [0074] ○ the simple fact of releasing the handgrip 2 again automatically locks the brake; [0075] ○ the segment 19 is thus blocked and locked in rotation around the axis of rotation 20.

[0076] The brake is an electrically controlled braking system which is actuated by the holding handgrip 2. This brake actuated by gripping the holding handgrip 2 can control one or more rotationally mobile segments, or even all the segments that are rotationally mobile and belong to the articulated arm 3.

[0077] FIG. 3 shows schematically in top view an example of a handgrip and a locking and unlocking actuator according to an embodiment of the invention.

[0078] The handgrip 2 comprises a distal holding part 4 and a proximal part 18 for support of the distal part 4. The distal part 4 is intended to be gripped or taken hold of by the hand 16 of the user of the robot 1 carried by the articulated arm 3. The proximal part 18 connects the distal part 4 to the rest of the articulated arm 3. The distal part 4 has an extended shape, preferably cylindrical, with a section that is advantageously circular. The distal holding part 4 is advantageously at least two times longer than the proximal part 18 supporting this distal part 4.

[0079] A large press button 5 which, when depressed and released, commands respectively the unlocking and locking of the mobile segment 19 in rotation around the axis of rotation 20 extends over the length of distal part 4 extends over most of the length of this distal part 4, even over at least three quarters of the length of this distal part 4, even again more practically over the full length of this distal part 4. The length of this distal part 4 is along the horizontal direction in FIG. 3. When the hand of the user 16 grips the distal part 4 of the handgrip 2, the fingers of the hand 16 exert a mechanical pressure on the press button 5 which is then depressed into the distal part 4. When the hand of the user 16 releases the distal part 4 of the handgrip 2, the fingers of the hand 16 release the mechanical pressure on the press button 5 which then returns from the distal part 4.

[0080] The press button 5 is sufficiently large, meaning that it extends over a sufficient length of the distal part 4 of the handgrip 2 such that, when the hand 16 of the user grips this distal part 4, then this hand 16 of the user necessarily presses on the press button 5. This press button 5 is sufficiently large for operating with the right hand or the left hand of the user.

[0081] FIG. 4 shows schematically in top view an example of an internal structure of a handgrip and a locking and unlocking actuator according to an embodiment of the invention.

[0082] The distal part 4 of the handgrip comprises the press button 5. The internal structure of this distal part 4 also comprises a pair of compression springs 6, a push button 7, electric wires 8, an electronic card 9 for driving the braking system of the mobile segment 19 relative to the axis of rotation 20, and a pair of guide rails 10.

[0083] The press button 5 is a rigid part mounted on two compression springs 6 slidably in the two guiding rails 10 and whose pressing on the push button 7 causes the closure of an electrical contact. The two electrical wires 8 of the push-button 7 are connected to the electronic card 9 which is consequently able to drive the electrical command of the braking system.

[0084] When the hand of the user grips the distal holding part 4, the large press button 5 depresses into the body of this distal part 4 by sliding along the guiding rails 10, along the direction D1, by compressing the springs 6 for finally coming to bear, at the end of the translation range, on the push button 7 which then establishes an electronic contact with the driving electronic card 9 through the electric wires 8. The driving electronic card 9 triggers, starting with establishing this electrical contact, the blocking and locking of the brake(s) thus blocking the rotation of the mobile segment(s) 19 around the axis (axes) of rotation 20.

[0085] When the hand of the user releases the distal holding part 4, the large press button 5 returns from the body of this distal part 4 again sliding along the guiding rails 10, along the direction D2, by being pushed back by the springs 6 during decompression, for finally coming to release the push button 7 which then brakes the electronic contact previously established with the driving electronic card 9 through the electric wires 8. The driving electronic card 9 triggers, starting with braking this electrical contact, the unblocking and unlocking of the brake(s) thus releasing the rotation of the mobile segment(s) 19 around the axis (axes) of rotation 20.

[0086] FIGS. 5 to 7 show schematically in side view examples of seal joints for a handgrip and a locking and unlocking actuator according to several embodiments of the invention.

[0087] The junction, between the press button 5 and the remainder of the body of the distal holding part 4 of the handgrip 2 is sealed. That way, this junction is going to be able to resist disinfection using liquid products at the end of the operation on the patient; during the operation on the patient, the seal against liquids in that case is provided by a skirt not shown here and which is independent of this invention.

[0088] In FIG. 5, the seal is provided by a joint 11 which can be either be an O-ring or a lip joint and which is located at the interface between the press button 5 and the remainder of the body of the distal holding part 4. This joint 11 goes around the press button 5 in a plane orthogonal to the plane of FIG. 5. The press button 5 is depressed into and returns from the remainder of the body of the distal holding part 4 by rubbing on the inside of the ring formed by the joint 11.

[0089] In FIG. 6, the seal is provided by a bellows 12. This bellows 12 is compressed when the press button 5 is depressed into the remainder of the body of the distal holding part 4. This bellows 12 is released when the press button 5 returns from the remainder of the body of the distal holding part 4.

[0090] In FIG. 7, the seal is provided by a flexible sleeve 13 which surrounds the assembly formed by both the press button 5 and also by the distal holding part 4 of the handgrip 2 or at least most of this distal part 4. This flexible sleeve 13 moves with the deformation related to pressing on the press button 5 by the hand of the user, for example either by the elasticity of the material from which it is made, or by a bellows shape 17 in the area of the interfaces located between both the press button 5 and also the distal holding part 4.

[0091] FIG. 8 shows schematically in top view an example of internal structure of a handgrip and a locking and unlocking actuator according to an embodiment of the invention.

[0092] The press button 5 from the preceding figures was replaced here by a single capacitive sensor 14 or capacitive zone 14. It is the simple contact with the hand of the user which is detected and which serves for activation of the locking and unlocking command. With concern for additional safety, two capacitive sensors 14 are used here, with the requirement that the hand of the user activate both capacitive sensors 14 simultaneously in order to cause the unlocking of the brake, meaning the activation of the unlocking command. The two capacitive sensors 14 are arranged on opposite sides or on opposite surfaces of the body of the distal holding part 4. The distal holding part 4 of the handgrip 2 advantageously has a cylindrical shape with square cross-section and rounded angles.

[0093] FIG. 9 shows schematically in top view an example of internal structure of a handgrip and a locking and unlocking actuator according to an embodiment of the invention.

[0094] The principal used is, as in FIG. 8, the principle of the use of one or more capacitive sensors. Increasing the number of capacitive sensors used serves to produce a better discrimination between an accidental press and an intentional press. In FIG. 9, both one of the two short capacitive sensors 15 and also the large capacitive sensor 16 have to be activated simultaneously, for example, in order to rotationally unlock the mobile segment(s) 19 in rotation around the axis (axes) of rotation 20. The short capacitive sensors 15 correspond to the placement of the thumb; third two short capacitive sensors 15, respectively for the right thumb and the left thumb, at the choice of the user according to whether they are right-handed or left-handed, for example. The large capacitive sensor 16 for its part corresponds to the end of the other four fingers of the hand of the user. The two short capacitive sensors 15 are shorter than the large capacitive sensor 16 which is larger than them. The two short capacitive sensors 15 are located on the same side of the body of the distal holding part 4 of the handgrip 2, advantageously near the two ends of this extended distal holding part 4. The large capacitive sensor 16 is located on a contiguous side or on a contiguous surface of the side or of the surface with the two short capacitive sensors 15, where the two short capacitive sensors 15 are located near the two ends of the large capacitive sensor 16. The grasping distal part 4 of the handgrip 2 advantageously has a cylindrical shape with square cross-section and rounded corners.

[0095] Of course, the present invention is not limited to the examples and the embodiment described and shown, but it could have many variants accessible to the person skilled in the art.