Centre National De La Recherche Scientifique

Institut National Des Sciences Appliquees

UniversitÉde Strasbourg

Université Louis Pasteur

Institut Hospitalo-universitaire De Chirurgie Mini-invasive Guidée Par L'image

Universite De Strasbourg (etablissement Public National a Caractere Scientifique, Culturel Et Professionnel)

Centre National De La Recherche Scientifique (etablissement Public National a Caractere Scientifique Et Technologique)

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

Institut National Des Sciences Appliquees (establissement Public National a Caractere Scientifique, Culturel Et Professionnel)

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

Institut Hospitalo-universitaire De Chirurgie Mini -invasive Guidee Par L'image De Strasbourg

Centre National De La Recherche Scientifique (cnrs) Etablissement Public À Caractère Scientifique Et Technologique

Institut National Des Sciences Appliquees De Strasbourg

Olivier Piccin

Bernard Bayle

Michel De Mathelin

Jacques Gangloff

Benjamin Maurin

Cyrille Lebosse

Pierre Renaud

Edouard Laroche

Francois Schmitt

Michel Demathelin

Nitish Kumar

Laurent Barbe

Laurence Meylheuc

Laurent BarbÉ

François Schmitt

A device for selectively grasping a part of a separate elongated body extending through the device, includes at least three partially mobile jaw members defining between them a through hole of variable diameter depending on their mutual relative positioning, supporting and driving elements to which the jaw members are mounted and which are adapted to provide a coordinated motion to the members around the elongated body situated in the variable through hole, resulting in a closing or opening of the through hole. The jaw members have an elongated shape with two opposed ends and the supporting and driving elements include a circular or annular support body to which a first end of each jaw member is connected and a mobile annular driving body to which a second opposed end of each jaw member is connected.

Device for grasping an elongated body, such as a needle, and robotized device comprising the same

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

Robotized installation for the guided and controlled positioning and movement of a component or an instrument for diagnostic or surgical treatment at or around the head of a patient, whereby the installation includes a robotic device that forms a serial kinematic chain and carries component or instrument at its free and position-controlled end. The robotic device has three kinematic sub-assemblies that are mutually combined in series and include, a first sub-assembly in the form of a rotary-articulation mechanism corresponding to a serial-type, spherical kinematic arrangement with three degrees of freedom, a second sub-assembly in the form of a mechanism with linear translation along an axis, and a third sub-assembly in the form of a second rotary-articulation mechanism, integral with the moving part of the second sub-assembly and also corresponding to a serial-type spherical kinematic arrangement with three degrees of freedom.

Robotized installation for the positioning and movement of a component or instrument and treatment device that comprises such an installation

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

Mittelhausen, France

Olivier Piccin