Centre National De La Recherche Scientifique

Sorbonne Université

Université Pierre Et Marie Curie (Paris 6)

Koelis

Kielis

Cecile Poquet

Pierre Mozer

Guillaume Morel

Antoine Leroy

Michael Baumann

Marie-Aude Vitrani

Patrick Henri

Gregoire Coffin

Patrick Henry

The invention relates to an assistive device for positioning a medical instrument () inserted into a natural duct () or an artificial duct of a patient relative to an internal organ (P) of a patient, wherein the device comprises a support () that is to be inserted at least in part into the body of the patient and supports the medical instrument, means for moving the support, wherein said movement means comprise an articulated arm () that includes a plurality of degrees of freedom for moving a proximal end () of the support, means for acquiring images of the internal organ for positioning the medical instrument relative to the internal organ, wherein the image acquisition means comprise a probe () supported by the support such that the medical instrument and the probe are rigidly connected, and a control unit () for controlling the movement means, which is connected to the image acquisition means and comprises image analyzing means () for generating control commands for the articulated arm in order to control at least one movement of the medical instrument relative to the internal organ. The invention further relates to a method for controlling such a device.

Assistive device for positioning a medical instrument relative to an internal organ of a patient

A device for guiding a medical instrument () inserted into a natural duct () or an artificial duct of a patient in order to bring at least a distal end () of the instrument in proximity to an internal organ (). The device includes an articulated arm () with a plurality of degrees of freedom, for moving a proximal end () of the instrument, and a controlled blocking mechanism () for blocking the degrees of freedom of the articulated arm. The blocking mechanism is designed in such a way that, for at least one of the degrees of freedom, a blockage imposed on the degree of freedom can be released when an outer stress exerted on the instrument () exceeds a predetermined threshold.

Device for guiding a medical instrument inserted into a natural duct or an artificial duct of a patient

Growing community of inventors

Ivry-sur-Seine, France

Cecile Poquet