The invention relates to the field of robots for insertion of an elongate flexible medical instrument (1, 2), drive modules (3) for the elongate flexible medical instrument (1, 2) being included in these insertion robots, and accessories associated with these insertion robots. A robot for insertion of an elongate flexible medical instrument (1, 2) into a patient (9) includes one or more drive modules (3) for the elongate flexible medical instrument (1, 2) in this patient (9). A drive module (3) for an elongate flexible medical instrument (1, 2) transmits to this elongate flexible medical instrument (1, 2) a movement of translation and/or a movement of rotation that may undergo a slackening effect. The main objective of the invention is to reduce this slackening effect by acting at several locations along the transmission chain between the distal end of the elongate flexible medical instrument (1, 2), last section to undergo the movement of rotation originally imparted by the user at a man/machine interface controlling the drive module (3). The progression of the elongate flexible medical instrument (1, 2) is thus rendered more effective for the course of this progression, safer for the patient (9) and more ergonomic for the practitioner, who is the user of the elongate flexible medical instrument (1, 2).L'invention concerne le domaine des robots d'insertion d'instrument médical souple allongé (1, 2), des modules d'entraînements (3) d'instrument médical souple allongé (1, 2) inclus dans ces robots d'insertion, et des accessoires associés à ces robots d'insertion. Un robot d'insertion d'instrument médical souple allongé (1, 2) dans un patient (9) inclut un ou plusieurs modules d'entraînement (3) d'instrument médical souple allongé (1, 2) dans ce patient (9). Un module d'entraînement (3) d'instrument médical souple allongé (1, 2) transmet à cet instrument médical souple allongé (1, 2) un mouvement de translation et/ou un mouvement de rotation pouvant subir un effet de
