SELECTIVE GRIP DEVICE FOR DRIVE MECHANISM
A gripping device includes a housing having an outer periphery and a lumen wall arranged within the housing. The lumen wall may define a passage and the passage may be configured to receive an instrument. The lumen wall may have a flexible inwardly facing surface configured to grip the instrument in response to receiving a grip signal and release the instrument in response to receiving a release signal.
1 . A gripping device comprising:
a housing having an outer periphery; and
a lumen wall arranged within the housing, the lumen wall defining a passage, the passage configured to receive an instrument, wherein the lumen wall has a flexible inwardly facing surface configured to grip the instrument in response to receiving a grip signal and release the instrument in response to receiving a release signal.
2 . The gripping device of claim 1 , wherein the gripping of the instrument secures the instrument within the lumen in an engaged state and wherein the releasing of the instrument releases the instrument within the lumen in a released state.
3 . The gripping device of claim 2 , wherein the lumen wall applies a pressure to frictionally engage the instrument in the engaged state, wherein the pressure does not exceed a predefined threshold.
4 . The gripping device of claim 3 , wherein the predefined threshold is defined by the strength of the instrument.
5 . The gripping device of claim 1 , wherein the lumen wall includes a compressible tube configured to engage the instrument.
6 . The gripping device of claim 5 , wherein at least one of the grip signal and the release signal is received from an interface in communication with the housing.
7 . The gripping device of claim 6 , further comprising an actuator configured to receive the at least one of the grip signal and the release signal, wherein the actuator is configured to compress the tube in response to the grip signal.
8 . The gripping device of claim 1 , further comprising a gear configured to rotate a torque device in response to an activation signal.
9 . An elongate device drive mechanism comprising:
a first gripping device having a first housing and a first lumen arranged within the first housing, the first lumen configured to receive a first portion of an instrument;
a second gripping device having a second housing and a second lumen arranged within the second housing, the second lumen configured to receive a second portion of the instrument, wherein the second gripping device is spaced and moveable along an axis with respect to the first gripping device; and
wherein each of the first lumen and the second lumen include a lumen wall with a flexible inwardly facing surface configured to selectively grip the respective portion of the instrument.
10 . The drive mechanism of claim 9 , wherein each lumen wall of the gripping devices is configured to grip the instrument in response to receiving a grip signal and release the instrument in response to receiving a release signal.
11 . The drive mechanism of claim 10 , wherein the gripping of the instrument secures the instrument within the respective lumen wall in an engaged state and wherein the releasing of the instrument releases the instrument in a released state.
12 . The drive mechanism of claim 9 , wherein the first and second gripping devices are configured to travel axially with respect to the first and second housings, respectively, over a maximum axial stroke length; and wherein the first and second gripping devices are configured to cooperate to continuously grip the instrument while simultaneously moving the instrument through a first distance axially with respect to the housing, the first distance greater than the maximum axial stroke length.
13 . The drive mechanism of claim 12 , wherein the gripping devices are configured to alternate between a near and far position with respect to each other, and in each of the positions, one of the lumen walls of a respective gripping device is in an engaged stated and the other lumen wall of the other gripping device is in a released state.
14 . The drive mechanism of claim 9 , wherein the first and second gripping devices are configured to cooperate to continuously grip the instrument while simultaneously rotating the instrument with respect to the first and second housings, respectively.
15 . The drive mechanism of claim 14 , wherein the first and second gripping devices are configured to rotate with respect to the first and second housings, respectively, over a maximum radial stroke angle; and wherein the first and second gripping devices are configured to cooperate to continuously grip the instrument while simultaneously rotating the instrument with respect to the first and second housings, respectively, through a first angle, the first angle greater than the maximum radial stroke angle.
16 . The drive mechanism of claim 9 , wherein the first and second gripping devices are configured to rotate the instrument with respect to the first and second housings, respectively, and simultaneously move the instrument axially with respect to the first and second housings, respectively.
17 . The drive mechanism of claim 9 , further comprising a disposable portion defining a sterile barrier between the first and second gripping devices and the drive mechanism.
18 . The drive mechanism of claim 9 , wherein the first housing includes a first gear and the second housing includes a second gear, wherein at least one of the first and second gears is configured to rotate at least one of the respective housing in response to an activation signal.
19 . The drive mechanism of claim 18 , wherein the activation signal is triggered by a grip signal.
20 . The drive mechanism of claim 10 , wherein at least one of the grip signal and the release signal is received from an interface in communication with the housing.