A robotised module for actuating an elongated flexible medical device comprising: - a base, - a pair of actuation members (24, 24') each having an actuation surface (34, 34'), the pair of actuation members (24, 24') being suitable for being placed alternately in an actuation configuration wherein the actuation surfaces (34, 34') of the actuation members (24, 24') of the pair of actuation members (24, 24') are engaged with the elongated flexible medical device to be actuated and arranged on either side thereof, and in a free configuration wherein the actuation surface (34, 34') of the actuation members (24, 24') of the pair of actuation members (24, 24') is not engaged with the elongated flexible medical device, the pair of actuation devices (24, 24') being movably mounted with respect to the base according to a degree of freedom between a first and a second positions, - a control member (18, 11) suitable for controlling in a cyclically repeated manner a movement with respect to the base of the actuation members (24, 24') of the pair of actuation members (24, 24') in the actuation configuration from the first to the second position, thus actuating the elongated flexible medical device with respect to the base, and a movement with respect to the base of the actuation members (24, 24') of the pair of actuation members (24, 24') in the free configuration from the second to the first position without actuating the elongated flexible medical device with respect to the base, wherein the degree of freedom between the first and second positions is a first degree of freedom, wherein the pair of actuation members (24, 24') is also movably mounted with respect to the base according to a second degree of freedom differing from the first degree of freedom between the first and a third positions, the control member (18, 11) being suitable for controlling in a cyclically repeated manner a movement with respect to the base of the actuation members (24, 24') in the actuation configuration from the first to the third position, thus actuating the elongated flexible medical device with respect to the base, and a movement with respect to the base of the actuation members (24, 24') in the free configuration from the third to the first position without actuating the flexible medical device with respect to the base, characterised in that the translation of the actuation members (24, 24') with respect to the base along a direction transverse to the local longitudinal direction of the elongated flexible medical device and in opposite directions is suitable for enabling rolling of the elongated flexible medical device on the actuation surfaces (34, 34') about the local longitudinal direction of the elongated flexible medical device. - a base, - a pair of actuation members (24, 24') each having an actuation surface (34, 34'), the pair of actuation members (24, 24') being suitable for being placed alternately in an actuation configuration wherein the actuation surfaces (34, 34') of the actuation members (24, 24') of the pair of actuation members (24, 24') are engaged with the elongated flexible medical device to be actuated and arranged on either side thereof, and in a free configuration wherein the actuation surface (34, 34') of the actuation members (24, 24') of the pair of actuation members (24, 24') is not engaged with the elongated flexible medical device, the pair of actuation devices (24, 24') being movably mounted with respect to the base according to a degree of freedom between a first and a second positions, - a control member (18, 11) suitable for controlling in a cyclically repeated manner a movement with respect to the base of the actuation members (24, 24') of the pair of actuation members (24, 24') in the actuation configuration from the first to the second position, thus actuating the elongated flexible medical device with respect to the base, and a movement with respect to the base of the actuation members (24, 24') of the pair of actuation members (24, 24') in the free configuration from the second to the first position without actuating the elongated flexible medical device with respect to the base, wherein the degree of freedom between the first and second positions is a first degree of freedom, wherein the pair of actuation members (24, 24') is also movably mounted with respect to the base according to a second degree of freedom differing from the first degree of freedom between the first and a third positions, the control member (18, 11) being suitable for controlling in a cyclically repeated manner a movement with respect to the base of the actuation members (24, 24') in the actuation configuration from the first to the third position, thus actuating the elongated flexible medical device with respect to the base, and a movement with respect to the base of the actuation members (24, 24') in the free configuration from the third to the first position without actuating the flexible medical device with respect to the base, characterised in that the translation of the actuation members (24, 24') with respect to the base along a direction transverse to the local longitudinal direction of the elongated flexible medical device and in opposite directions is suitable for enabling rolling of the elongated flexible medical device on the actuation surfaces (34, 34') about the local longitudinal direction of the elongated flexible medical device.