VASCULAR REMOTE CATHETER MANIPULATOR

1 . A robotic instrument driver for elongate members, comprising:

a first elongate member; and

at least one manipulator mechanism configured to manipulate the first elongate member; and

at least one articulating drive configured to articulate the first elongate member, positionable on a bed and beside a patient access site, wherein the manipulator and articulating drive are positioned relative to each other a distance less than the insertable length of the first elongate member, stationary in position.

2 . The robotic instrument drive of claim 1 wherein the feed axis is configured to change the orientation of the first elongate member when the first elongate member is disposed within the feed mechanism.

3 . The robotic instrument driver of claim 1 , further comprising a second elongate member, and a second manipulator mechanism wherein the second elongate member is coaxially disposed within the first elongate member along a catheter axis, and the second manipulator mechanism is configured to manipulate the second elongate member.

4 . The robotic instrument driver of claim 3 , further comprising a second articulating drive wherein the second articulating drive is configured to articulate the second elongate member.

5 . The robotic instrument driver of claim 4 , further comprising a third elongate member, and a third manipulator mechanism wherein the third elongate member is coaxially disposed within the second elongate member along a catheter axis, and the third manipulator mechanism is configured to manipulate the third elongate member.

6 . The robotic instrument driver of claim 5 , wherein the first, second and third manipulator mechanisms may be operated independently so as to move the second elongate member independently of the first or third elongate members.

7 . The robotic instrument driver of claim 5 , wherein the axis of the first and second elongate members are laterally spaced apart from and is parallel to the feed axis of the manipulator such that the first and second elongate members are bent 180°.

8 . The robotic instrument driver of claim 5 , further comprising of a movable carriage, wherein the carriage is configured to articulate the second elongate member, wherein the carriage is movable independent from the first elongate member.

9 . The instrument driver of claim 5 where the second elongate member can be inserted or removed telescopically through the first elongate member over the third elongate without the third elongate member moving relative to the first elongate member.

10 . The robotic instrument driver of claim 1 , wherein the manipulator mechanism is fixed to a lateral side edge of the robotic instrument driver.

11 . The robotic instrument driver of claim 1 , wherein the manipulator mechanisms are mounted to the instrument driver such that the manipulator mechanism may be selectively rotated towards the manipulator as the elongate member is advanced to reduce the length of the elongate member outside the patient.

12 . The robotic instrument driver of claim 1 , wherein the feed mechanism is mounted on a shaft that extends from the instrument driver, wherein the feed mechanism is configured to pivot with respect to an axis extending through the shaft.

13 . The robotic instrument driver of claim 1 , further comprising:

a robotic instrument driver, a first splayer and a second splayer,

wherein the first splayer and second splayer are operatively engaged with the robotic instrument driver, and wherein the first splayer articulates the first elongate member, and the second splayer articulates the second elongate member, and

wherein the at least one manipulator mechanism further comprises at least a first and a second manipulator mechanism, the first manipulator mechanism being positioned between the first splayer and the second splayer and configured to orient the first elongate member approximately 180° from the second elongate member operational axis so as to be coaxial with the first elongate member operational axis; and

wherein the second manipulator mechanism is positioned distally of the first splayer and is configured to orient the first elongate member about 180° from the first elongate member operational axis so as to be coaxial with a feed axis that is oriented parallel to the first elongate member operational axis.

14 . The robotic instrument driver of claim 12 , wherein the first, second and third manipulator mechanisms may be operated independently so as to move the guide catheter independently of the catheter sheath and move the guide wire independently of the guide catheter and the catheter sheath.

15 . The robotic instrument driver of claim 1 , further comprising:

a robotic instrument driver, a sheath splayer and a guide splayer,

wherein the sheath splayer and guide splayer are operatively engaged with the robotic instrument driver, and wherein the sheath splayer carries the catheter sheath, and the guide splayer carries the guide catheter, and

wherein the guide catheter is positioned over the sheath splayer in a stacked relationship, and wherein the guide catheter is defined by a catheter sheath operational axis and the guide splayer is defined by an guide catheter operational axis, wherein the sheath operational axis and guide catheter operational axis are oriented parallel to one another and spaced apart from one another, and

wherein the at least one feed mechanism further comprises at least a first and a second feed mechanism, the first feed mechanism being positioned between an entrance of the sheath splayer and an exit of the guide splayer and configured to orient the guide catheter about 180° from the guide catheter operational axis so as to be coaxial with the catheter sheath operational axis; and wherein the second feed mechanism is positioned distally of the sheath splayer and is configured to orient the sheath catheter about 180° from the catheter sheath operational axis so as to be coaxial with a feed axis that is oriented parallel to the catheter sheath operational axis.

16 . The robotic instrument driver of claim 14 , wherein the first and second feed mechanisms may be operated independently so as to move the guide catheter independently of the catheter sheath.

17 . The robotic instrument driver of claim 14 , further comprising a third feed mechanism disposed proximally of the guide splayer and defining a third feed axis that is coaxial with guide catheter operational axis, wherein the third feed mechanism operatively engages a guide wire.

18 . The robotic instrument driver of claim 14 , wherein the first, second and third feed mechanisms may be operated independently so as to move the guide catheter independently of the catheter sheath and move the guide wire independently of the guide catheter and the catheter sheath.

19 . The robotic instrument driver of claim 14 , wherein the first feed mechanism is mounted on a shaft that extends from the instrument driver, wherein the feed mechanism is configured to pivot with respect to an axis extending through the shaft.