Abstract: Disclosed is a catheterization robot including: several tracks for longitudinal horizontal rectilinear translational movement of several flexible elongate medical elements, the tracks being parallel to each other; a drive component for driving a flexible elongate medical device in rectilinear translation, the drive component being common to the tracks, transversely horizontally movable, and surrounded by a sealing ring which is deformable and integrally secured to the drive component; a sealing belt which is transversely horizontally movable, is integrally secured to the periphery of the sealing ring, and of which two portions extend the sealing ring transversely horizontally, respectively on the two sides, sufficiently to ensure that all of the tracks remain continuously covered.

Abstract: Disclosed is a drive module for an elongate flexible medical device of a catheter robot, including: at least two drive devices respectively carrying two pad holders, each drive device being self-supporting and including three drive units which are independent of each other, and at least two drive units have a structure preventing rotational movements of the pad holder, including: a drive crossmember, driven by the drive motor; a pad holder crossmember rigidly connected to the pad holder, driven by the drive crossmember; two connecting rods respectively connected by one of their ends to two pivoting points of the drive crossmember set apart from each other, and by the other end to two pivoting points of the pad holder crossmember set apart from each other; the drive crossmember, the pad holder crossmember, and the two connecting rods forming a parallelogram deformable at its vertices which are the four pivoting points.

Abstract: Disclosed is a catheter robot including: a base, at least two catheter translation modules supported by the base, each catheter translation module including: only one set of movable parts so as to translate longitudinally at a time only one flexible elongated medical element, a group of several crossing tracks within which several corresponding flexible elongated medical elements can translate through the catheter translation module, a switch to direct the single set of movable parts in any of the crossing tracks so as to then translate longitudinally the corresponding flexible elongated medical element, the first and second catheter translation modules being longitudinally spaced apart from each other so that: respective groups of crossing tracks of both catheter translation modules are facing each other so that a given flexible elongated medical element which translates within a crossing track of one group also translates within a crossing track of the other group.

Abstract: Disclosed is an articulated support arm for an elongated flexible medical instrument, including: a segment rotating about an axis of rotation, a radial brake for preventing rotation of the segment about the axis of rotation, including: a supply of hydraulic fluid, a piston whose stroke along the direction of the axis of rotation, due to the pressure of the hydraulic fluid, prevents rotation of the segment about the axis of rotation, the piston being an annular piston having a hollow center about the axis of rotation, the supply of hydraulic fluid passing through the hollow center.

Abstract: A robot for insertion of an elongate flexible medical instrument into a patient includes drive modules for driving the elongate flexible medical instrument in this patient. A drive module for an elongate flexible medical instrument transmits to the instrument a movement of translation and/or a movement of rotation which may be subject to a slack effect. The main aim of the invention is to reduce this slack effect by acting at several locations along the transmission chain between the distal end of the elongate flexible medical instrument, the last section to undergo the rotational movement originally imparted by the user at a human-machine control interface of the drive module. The advancement of the elongate flexible medical instrument is thus rendered more effective for the process of this advancement, safer for the patient, and more ergonomic for the practitioner who is the user of the elongate flexible medical instrument.