Differential drive
A differential drive for manipulating an elongated device includes a drive mechanism configured to provide rotational and linear movement to the elongated percutaneous device. The drive mechanism including a platform rotatably supported by a support and a linear drive operatively coupled to the platform. A first motor operatively rotates the platform relative to the support and moving a portion of the linear drive relative to the platform. A second motor operatively rotates the platform relative to the support and moving a portion of the linear drive relative to the platform.
1. A method of controlling an elongated percutaneous device including:
controlling a first motor coupled to a drive mechanism to rotate and a second motor coupled to the drive mechanism to rotate in a first manner to cause the drive mechanism to move an elongated percutaneous device loaded into the drive mechanism linearly and not rotationally; and
controlling the first motor to rotate and the second motor to rotate in a second manner in order to cause the drive mechanism to move the elongated percutaneous device rotationally and not linearly.
2. The method of claim 1 , further comprising loading the elongated percutaneous device into the drive mechanism in a direction perpendicular to an axis that is co-linear with an elongated axis of the elongated percutaneous device when the elongated percutaneous device is within the drive mechanism.
3. The method of claim 1 , wherein controlling the first motor to rotate and the second motor to rotate in the first manner comprises controlling the first motor to rotate in a clockwise direction and the second motor to rotate in a clockwise direction to cause the drive mechanism to move the elongated percutaneous device linearly in a first direction.
4. The method of claim 3 , further comprising:
controlling the first motor to rotate in a counterclockwise direction and the second motor to rotate in a counterclockwise direction to cause the drive mechanism to move the elongated percutaneous device linearly in a second direction opposite the first direction.
5. The method of claim 4 , wherein controlling the first motor to rotate and the second motor to rotate in the second manner comprises controlling the first motor to rotate in a clockwise direction and the second motor to rotate in a counterclockwise direction to cause the drive mechanism to rotate the elongated percutaneous device in a first rotational direction.
6. The method of claim 5 , further comprising:
controlling the first motor to rotate in a counterclockwise direction and the second motor to rotate in a clockwise direction to cause the drive mechanism to rotate the elongated percutaneous device in a second rotational direction opposite the first rotational direction.
7. The method of claim 1 , wherein controlling the first motor to rotate and the second motor to rotate in the second manner comprises controlling the first motor to rotate in a clockwise direction and the second motor to rotate in a counterclockwise direction to cause the drive mechanism to rotate the elongated percutaneous device in a first rotational direction.
8. The method of claim 7 , further comprising:
controlling the first motor to rotate in a counterclockwise direction and the second motor to rotate in a clockwise direction to cause the drive mechanism to rotate the elongated percutaneous device in a second rotational direction opposite the first rotational direction.
9. The method of claim 1 , further comprising:
controlling the first motor to rotate and the second motor to rotate in a third manner to cause the drive mechanism to simultaneously rotate and translate the elongated percutaneous device.
10. The method of claim 9 , wherein controlling the first motor and the second motor to rotate in the third manner comprises controlling the first motor and the second motor to rotate at different speeds.
11. The method of claim 10 , wherein controlling the first motor to rotate and the second motor to rotate in the third manner comprises controlling the first motor and the second motor to rotate in different directions.
12. The method of claim 1 , wherein rotation and translation of the elongated percutaneous device is a function of the rotational speed and direction of the first motor and the rotational speed and direction of the second motor.