ROBOTIC CATHETER SYSTEM
A catheter system including a housing and a drive mechanism supported by the housing is provided. The drive mechanism includes an engagement structure configured to engage and to impart movement to a guide wire. The engagement structure defines a path for the guide wire, and the engagement structure is moveable between an engaged position in which the engagement structure engages the guide wire and a disengaged position in which the engagement structure does not engage the guide wire. The catheter system includes a biasing element configured to bias the engagement structure toward the engaged position, and the biasing element is aligned generally parallel to the path defined by the engagement structure.
1 . A robotic catheter system, the system comprising:
a motor drive base comprising one or more drive motors located in the motor drive base;
a cassette including a cassette housing and an axial drive assembly;
wherein the axial drive assembly includes:
a first axial drive mechanism supported by the cassette housing and configured to releasably engage and impart axial movement to a guide wire along a longitudinal axis of the guide wire,
wherein the guide wire extends out of a rear of the first axial drive mechanism and exits a front end of the cassette housing; and
a second axial drive mechanism configured to releasably engage and impart axial movement to a catheter device along a longitudinal axis of the catheter device;
wherein the catheter device exits the front end of the cassette housing over the guide wire;
wherein the motor drive base further includes one or more motor couplers configured to couple the one or more motors to the axial drive mechanisms within the cassette.
2 . The robotic catheter system of claim 1 , further including a rotational drive mechanism configured to rotate the guide wire about its longitudinal axis.
3 . The robotic catheter system of claim 1 , wherein the cassette is configured to couple to the motor drive base.
4 . The robotic catheter system of claim 1 , further comprising an articulating arm.
5 . The robotic catheter system of claim 4 , wherein the motor drive base is coupled to the articulating arm.
6 . The robotic catheter system of claim 1 , wherein in use the cassette is coupled to a top of the motor drive base such that the motor drive base and the cassette are moveable relative to a patient.
7 . The robotic catheter system of claim 1 , wherein the motor drive base includes one or more motor couplers configured to couple one or more motors to the axial drive mechanisms within the cassette.
8 . The robotic catheter system of claim 1 , further including a cover moveable from a closed position overlying the first axial drive mechanism to an open position exposing the axial drive mechanism, and further including a restraint structure that acts to restrain movement of the guide wire when the cover is in the closed position.
9 . The robotic catheter system of claim 1 , wherein the guide wire extends out of the rear of the cassette housing.
10 . The robotic catheter system of claim 1 , further comprising a handle provide on the motor drive base.
11 . The robotic catheter system of claim 1 , wherein the cassette further includes a locking mechanism configured to lock the position of the guide wire.
12 . The robotic catheter system of claim 1 , wherein the cassette is configured to couple to the motor drive base.
13 . The robotic catheter system of claim 2 , further comprising an articulating arm.
14 . The robotic catheter system of claim 13 , wherein the motor drive base is coupled to the articulating arm.
15 . The robotic catheter system of claim 14 , wherein the cassette is configured to be coupled to the motor drive base.
16 . A robotic catheter system, the system comprising:
a motor drive base comprising one or more drive motors located in the motor drive base; and
a cassette configured to couple to the motor drive base,
the cassette including a cassette housing,
the cassette housing including a front end, a rear end, a first channel and a second channel,
wherein the cassette includes:
a first pair of engagement surfaces configured to releasably engage and impart axial movement to a guide wire retained in the first channel,
wherein the guide wire
extends out of a rear of the cassette housing and
exits a front end of the cassette housing; and
a second pair of engagement surfaces configured to releasably engage and impart axial movement to a catheter device retained in the second channel;
wherein the catheter device exits the front end of the cassette housing over the guide wire;
wherein the second channel is arranged at an angle with respect to the first channel.
17 . The robotic catheter system of claim 16 , further comprising an articulating arm, wherein the motor drive base is coupled to the articulating arm.
18 . The robotic catheter system of claim 16 , wherein in use the cassette is coupled to a top of the motor drive base such that the motor drive base and the cassette are moveable relative to a patient.
19 . The robotic catheter system of claim 17 , further comprising a sterile, plastic cover shielding sterilized components of the robotic catheter system from unsterilized components, including the motor drive base, the articulating arm, and an arm support.