DE MATHELIN, MICHEL,MAURIN, BENJAMIN,BAYLE, BERNARD,GANGLOFF, JACQUES,PICCIN, OLIVIER
申请号：
EP06709387.2
公开号：
EP1871265B1
申请日:
2006.02.28
申请国别(地区):
EP
年份:
2012
代理人:
摘要：
The invention relates to a device for supporting an elongated body and for the controlled translational movement of same, said body being elongated along the longitudinal axis thereof in the form of a rod, such as a needle and, in particular, a needle that is intended for a percutaneous medical procedure. The inventive device is designed to be mounted to a support that can be controlled in terms of position and orientation, such as a platform or an arm of a positioning and orienting robotic device. The device essentially comprises: (i) a first member (5) for gripping the elongated body (2), the movement of which can be controlled in the translation direction (Z) with a pre-determined maximum stroke and (ii) a second fixed member (6) which can guide the elongated body (2) when said body is moved by the first mobile gripping member (5) and which can maintain the elongated body (2) in position when said body is not engaged with the first member (5). The aforementioned two members (5 and 6) are aligned in the translation direction (Z) and the first member (5) can be moved alternately between a position close to the second member (6) and a position at a distance from said second member.La présente invention a pour objet un dispositif de maintien et de déplacement contrôlé eh translation dun corps allongé en forme de tige dans sa direction longitudinale, notamment dune aiguille, et en particulier dune aiguille pour procédure médicale percutanée, dispositif destiné à être monté sur un support réglable de manière contrôlée en position et en orientation, tel que par exemple une plateforme ou un bras dun dispositif robotique de positionnement et dorientation. Ce dispositif comprend essentiellement, dune part, un premier organe (5) de préhension du corps allongé (2), déplaçable de manière commandée dans la direction de translation (Z) avec une course maximale prédéterminée, et, dautre part, un second organe (6) fixe, apte à guider le corps allongé (2) lorsque ce dernier est
