Centre National De La Recherche Scientifique

General Electric Company

Sorbonne Université

Université Pierre Et Marie Curie (Paris 6)

Koelis

Kielis

Université Pierre Et Marie Curie

Marie-Aude Vitrani

Guillaume Morel

Pierre Mozer

Antoine Leroy

Michael Baumann

Cecile Poquet

Serge Louis Wilfrid Muller

Patrick Henri

Patrick Henry

Gregoire Coffin

Anja Marx

Razvan Gabriel Iordache

Grégoire Coffin

Cécile Poquet

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

A device for assisting with the handling of an instrument or tool, the device comprising a jointed mechanical structure on a support, wherein an instrument or tool may be attached, motor drives configured to actuate the jointed mechanical structure, according to a number of degrees of freedom of less than that which the structure provides to the instrument or tool, and an automatic control, wherein the automatic control drives the motor drives in order to facilitate the meeting of a constraint on position and/or velocity parameters of the instrument or tool, which constraint the motor drives by themselves, independently of handling by an operator, cannot entirely meet.

Device for assisting with the handling of an instrument or tool

Growing community of inventors

Paris, France

Marie-Aude Vitrani