Systems, methods, and devices for advancing an endovascular instrument
A system for moving an elongate tool through a lumen can include a proximal device and a distal device. The proximal device moves linearly in proximal and distal directions and includes a proximal shutter that between an open state in which an elongate tool moves freely through the proximal shutter and a closed state in which the elongate tool is fixedly held by the proximal shutter. The distal device moves linearly in the proximal and distal directions and includes a distal shutter that transitions between an open state in which the elongate tool moves freely through the distal shutter and a closed state in which the elongate tool is fixedly held by the distal shutter. The motions of the proximal and distal devices can be coordinate to provide smooth, continuous, and/or uninterrupted insertion or retraction of the elongate tool.
1. A system for moving an elongate tool through a lumen, the system comprising:
a proximal device configured to move linearly in proximal and distal directions and comprising a proximal shutter configured to transition between an open state in which an elongate tool moves freely through the proximal shutter and a closed state in which the elongate tool is fixedly held by the proximal shutter;
a distal device configured to move linearly in the proximal and distal directions and comprising a distal shutter configured to transition between an open state in which the elongate tool moves freely through the distal shutter and a closed state in which the elongate tool is fixedly held by the distal shutter; and
at least one processor and at least one electronic storage medium, the at least electronic storage medium storing instructions configured to cause the at least one processor to continuously advance the elongate tool in the distal direction by transitioning the distal device and the proximal device through each of the following states sequentially:
a first state, wherein the proximal device is moving in the distal direction and the proximal shutter is closed, and the distal device is moving in the distal direction and the distal shutter is closing,
a second state, wherein the proximal device is moving in the distal direction and the proximal shutter is opening, and the distal device is moving in the distal direction and the distal shutter is closed,
a third state, wherein the proximal device is moving in the proximal direction and the proximal shutter is open, and the distal device is moving in the distal direction and the distal shutter is closed,
a fourth state, wherein the proximal device is moving in the distal direction and the proximal shutter is open, and the distal device is moving in the distal direction and the distal shutter is closed,
a fifth state, wherein the proximal device is moving in the distal direction and the proximal shutter is closing, and the distal device is moving in the distal direction and the distal shutter is closed,
a sixth state, wherein the proximal device is moving in the distal direction and the proximal shutter is closed, and the distal device is moving in the distal direction and the distal shutter is opening,
a seventh state, wherein the proximal device is moving in the distal direction and the proximal shutter is closed, and the distal device is moving in the proximal direction and the distal shutter is open, and
an eighth state, wherein the proximal device is moving in the distal direction and the proximal shutter is closed, and the distal device is moving the distal direction and the distal shutter is open.
2. The system of claim 1 , wherein, as the distal device and the proximal device sequentially transition through each of the states, the elongate tool advances in a continuous manner.
3. The system of claim 1 , wherein, as the distal device and the proximal device sequentially transition through each of the states, the elongate tool advances with a constant velocity.
4. The system of claim 1 , wherein the elongate tool comprises a guidewire, a coil, a stent, a flow diverter, or a stent retriever.
5. The system of claim 1 , wherein the instructions are configured to cause the at least one processor to begin advancing the elongate tool from any of the states.
6. The system of claim 1 , wherein the instructions are configured to cause the at least one processor, using the proximal device and the distal device, to:
stop inserting the elongate tool in the distal direction; and
retract the elongate tool in the proximal direction.
7. The system of claim 6 , wherein retraction can begin from any of the states.
8. The system of claim 6 , wherein retraction is continuous.
9. The system of claim 1 , further comprising a catheter device configured to fixedly engage with a catheter, the catheter comprising a lumen with the elongate tool inserted therethrough, the catheter device configured to move linearly in proximal and distal directions, wherein the catheter device is positioned distal to the distal device.
10. The system of claim 9 , wherein the instructions are further configured to cause the at least one processor to advance or retract the catheter by moving the catheter device linearly in the distal and proximal directions.
11. The system of claim 9 , wherein the elongate tool extends from the lumen of the catheter, through the distal shutter of the distal device, and through the proximal shutter of the proximal device.
12. The system of claim 9 , wherein the catheter comprises a microcatheter.
13. A system for moving an elongate tool through a lumen, the system comprising:
a proximal device configured to move linearly in proximal and distal directions and comprising a proximal shutter configured to transition between an open state in which an elongate tool moves freely through the proximal shutter and a closed state in which the elongate tool is fixedly held by the proximal shutter,
a distal device configured to move linearly in the proximal and distal directions and comprising a distal shutter configured to transition between an open state in which the elongate tool moves freely through the distal shutter and a closed state in which the elongate tool is fixedly held by the distal shutter; and
at least one processor and at least one electronic storage medium, the at least electronic storage medium storing instructions configured to cause the at least one processor to continuously retract the elongate tool in the proximal direction by transitioning the distal device and the proximal device through each of the following states sequentially:
a first state, wherein the proximal device is moving in the proximal direction and the proximal shutter is closing, and the distal device is moving in the proximal direction and the distal shutter is closed;
a second state, wherein the proximal device is moving in the proximal direction and the proximal shutter is closed, and the distal device is moving in the proximal direction and the distal shutter is opening,
a third state, wherein the proximal device is moving in the proximal direction and the proximal shutter is closed, and the distal device is moving in the distal direction and the distal shutter is open,
a fourth state, wherein the proximal device is moving in the proximal direction and the proximal shutter is closed, and the distal device is moving in the proximal direction and the distal shutter is open,
a fifth state, wherein the proximal device is moving in the proximal direction and the proximal shutter is closed, and the distal device is moving in the proximal direction and the distal shutter is closing,
a sixth state, wherein the proximal device is moving in the proximal direction and the proximal shutter is opening, and the distal device is moving in the proximal direction and the distal shutter is closed,
a seventh state, wherein the proximal device is moving in the distal direction and the proximal shutter is open, and the distal device is moving in the proximal direction and the distal shutter is closed, and
an eighth state, wherein the proximal device is moving in the proximal direction and the proximal shutter is closing, and the distal device is moving in the proximal direction and the distal shutter is closed.
14. The system of claim 13 , wherein, as the distal device and the proximal device sequentially transition through each of the states, the elongate tool retracts in a continuous manner.
15. The system of claim 13 , wherein, as the distal device and the proximal device sequentially transition through each of the states, the elongate tool retracts with a constant velocity.
16. The system of claim 13 , wherein the elongate tool comprises a guidewire, a coil, a stent, a flow diverter, or a stent retriever.
17. The system of claim 13 , wherein the instructions are configured to cause the at least one processor to begin retracting the elongate tool from any of the states.
18. The system of claim 13 , wherein the instructions are configured to cause the at least one processor, using the proximal device and the distal device, to:
stop retracting the elongate tool in the proximal direction; and
insert the elongate tool in the distal direction.
19. The system of claim 18 , wherein insertion can begin from any of the states.
20. The system of claim 18 , wherein insertion is continuous.
21. The system of claim 13 , further comprising a catheter device configured to fixedly engage with a catheter, the catheter comprising a lumen with the elongate tool inserted therethrough, the catheter device configured to move linearly in proximal and distal directions, wherein the catheter device is positioned distal to the distal device.
22. The system of claim 21 , wherein the instructions are further configured to cause the at least one processor to advance or retract the catheter by moving the catheter device linearly in the distal and proximal directions.
23. The system of claim 21 , wherein the elongate tool extends from the lumen of the catheter, through the distal shutter of the distal device, and through the proximal shutter of the proximal device.
24. The system of claim 21 , wherein the catheter comprises a microcatheter.