Centre National De La Recherche Scientifique

Institut National Des Sciences Appliquees

UniversitÉde Strasbourg

Université Louis Pasteur

Institut De Recherche Sur Les Cancers De L'appareil Digestif (ircad)

Institut De La Recherche Sur Les Cancers De L'appareil Digestif (ircad)

Jacques Gangloff

Bernard Bayle

Olivier Piccin

Michel De Mathelin

Philippe Zanne

Benjamin Maurin

Michel Demathelin

Laurent Ott

A device for supporting and controlling the translational movement of an elongated body, the body extending along the longitudinal axis thereof in the form of a rod, such as a needle intended for a percutaneous medical procedure. The device is designed to be mounted to a support that can be controlled in terms of position and orientation, and includes: (i) a first member for gripping the body, whose movement can be controlled in the translation direction with a pre-determined maximum stroke; and (ii) a second fixed member which can guide the elongated body when the body is moved by the first mobile gripping member and which can maintain the body in position when the body is not engaged with the first member.

Device for supporting an elongated body and for the controlled translational movement of the same

The invention relates to a robotic device for the positioning and orientation of a platform that is connected thereto by means of articulated support structures forming parallel mechanical links, each in the form of a serial kinematic chain of articulations that are interconnected by support segments. The inventive device () is characterized in that it comprises three articulated parallel mechanical links comprising: (i) two opposing, symmetrical and co-planar support structures (and), and (ii) a third support structure () which is located in a plane that is perpendicular to the plane containing the support structures (and). According to the invention, the articulated links formed by the three supports structures (and) enable the controlled movement of points belonging to the platform () on a surface corresponding to a spherical or ellipsoidal cap and, preferably, essentially to a half-sphere, thereby providing at least five degrees of freedom.

Robotic positioning and orientation device and needle holder comprising one such device

Growing community of inventors

Mulhausen, France

Jacques Gangloff