Infinitely rotatable tool with finite rotating drive shafts
View Patent ↗A catheter rotation drive apparatus includes first and second drives that are engageable to an output shaft. When the first drive is engaged to the output shaft and rotated, the output shaft rotates in an output rotation direction, and when the second drive is engaged to the output shaft and rotated, the output shaft rotates in the output rotation direction.
1. A robotically controlled surgical system, comprising:
a robotic instrument driver configured to articulate a steerable catheter, the robotic instrument driver comprising rotatable shafts operatively coupleable to respective drive shafts of a splayer of the steerable catheter and configured to rotate the respective drive shafts of the splayer to tension respective directional control elements coupled thereto; and
a non-steerable catheter rotation device positioned on the robotic instrument driver, wherein the non-steerable catheter rotation device comprises:
an output shaft extending from a housing;
a first input drive pair within the housing and comprising a first eccentric shaft; and
a second input drive pair within the housing and comprising a second eccentric shaft,
wherein each of the first input drive pair and the second input drive pair is rotatable about respective drive axes and is coupled to a respective one of the rotatable shafts of the robotic instrument driver,
wherein a first rotation of the first and second eccentric shafts results in engagement of the first input drive pair with the output shaft and disengagement of the second input drive pair with the output shaft, and a second rotation of the first and second eccentric shafts results in engagement of the second input drive pair with the output shaft and disengagement of the first input drive pair with the output shaft, and
wherein:
when the first input drive pair is engaged with the output shaft and rotated, the output shaft is caused to rotate in an output rotational direction, and
when the second input drive pair is engaged with the output shaft and rotated, the output shaft is caused to rotate in the output rotational direction.
2. The surgical system of claim 1 , wherein:
the first input drive pair further comprises a first drive pulley coupled to the first eccentric shaft via a first belt;
the second input drive pair further comprises a second drive pulley coupled to the second eccentric shaft via a second belt, and
when the first input drive pair is engaged and the first drive pulley is rotated in its drive direction, the output shaft is caused to rotate via the first belt in a first rotational direction.
3. The surgical system of claim 2 , wherein when the second input drive pair is unengaged, the second drive pulley is rotatable in its retraction direction without causing rotation of the output shaft.
4. The surgical system of claim 2 , wherein when the second input drive pair is engaged and the second drive pulley is rotated in its drive direction, the output shaft is caused to rotate in the first rotational direction via the second belt.
5. The surgical system of claim 2 , wherein the first belt is a first O-ring, and the second belt is a second O-ring.
6. The surgical system of claim 5 , wherein:
the first O-ring is wrapped about:
the first eccentric shaft;
the first drive pulley; and
the output shaft; and
the second O-ring is wrapped about:
the second eccentric shaft;
the second drive pulley; and
the output shaft.
7. The surgical system of claim 2 , wherein an overall output shaft rotation is greater than an input rotation of either of the first and second drive pulleys.
8. The surgical system of claim 2 , wherein the first and second drive pulleys are each rotatable no more than one full revolution.
9. The surgical system of claim 1 , wherein the output shaft is rotated continuously through engagement of the first input drive pair and engagement of the second input drive pair.