Handheld catheter driver with endoscope mount utilizing friction-driven wheel mechanism
An instrument driving mechanism includes an instrument drive assembly ( 140 ) including a first set of wheels ( 136 ) coupled to a first end portion and a second set ( 138 ) of wheels coupled to a second end portion opposite the first end portion. The first set of wheels is configured to engage an elongated instrument ( 104 ) therein such that a rotation plane of the first set of wheels is coplanar with a longitudinal axis of the instrument. The second set of wheels is configured to engage the elongated instrument therein such that a rotation plane of the second set of wheels is obliquely oriented with the longitudinal axis of the instrument wherein motion of the instrument is controlled by controlling rotations of the wheels. The instrument drive assembly mounts to a mounting position ( 149 ) of a medical device that permits the instrument to pass therethrough and is configured to fix a position of the instrument drive assembly to enable positioning of the instrument.
1. An instrument driving mechanism, comprising:
an instrument drive assembly including a first set of wheels coupled to a first end portion and a second set of wheels coupled to a second end portion opposite the first end portion, the first set of wheels being configured to engage an elongated instrument therein such that a rotation plane of the first set of wheels is coplanar with a longitudinal axis of the instrument, the second set of wheels being configured to engage the elongated instrument therein such that a rotation plane of the second set of wheels is obliquely oriented with the longitudinal axis of the instrument to provide both translational and rotational movement wherein motion of the instrument is controlled by controlling rotations of the wheels;
the instrument drive assembly mounts to a mounting position of a medical device that permits the instrument to pass therethrough and being configured to fix a position of the instrument drive assembly to enable positioning of the instrument.
2. The mechanism as recited in claim 1 , wherein the first and second sets of wheels are controlled to cooperate to control motion of the instrument.
3. The mechanism as recited in claim 2 , wherein the first set of wheels are controlled by a first motor to control linear motion and provide friction for the instrument and the second set of wheels are controlled by a second motor to rotate the instrument.
4. The mechanism as recited in claim 2 , wherein the second set of wheels are controlled by a second motor to rotate the instrument and (i) driving the second set of wheels and the first set of wheels in the same direction causes the instrument to be advanced or retracted, and (ii) driving the second set of wheels with the first set of wheels held fixed prevents the instrument from being advanced or retracted.
5. The mechanism as recited in claim 1 , wherein the mounting position forms a joint and the joint includes a lock to lock a position of the joint.
6. The mechanism as recited in claim 1 , wherein the mounting position is included on the medical device, which includes an endoscope and the instrument is passed through the endoscope.
7. The mechanism as recited in claim 6 , wherein the instrument drive assembly is controlled through a user interface mounted on the endoscope.
8. The mechanism as recited in claim 1 , further comprising a user interface for controlling the instrument drive assembly by (i) using the first set of wheels to control linear insertion or retraction motion of the instrument and (ii) using the second set of wheels to control rotation motion of the instrument.
9. The mechanism as recited in claim 1 , wherein the instrument includes a catheter and further comprising a telescopic stabilizer for connecting to and supporting a handle of the catheter.
10. The mechanism as recited in claim 1 , wherein the first set of wheels includes at least three wheels and the second set of wheels includes at least three wheels.
11. An instrument driving mechanism, comprising:
an instrument drive assembly including a first set of wheels coupled to a first end portion and a second set of wheels coupled to a second end portion opposite the first end portion, the first set of wheels being configured to engage a catheter therein such that a rotation plane of the first set of wheels is coplanar with a longitudinal axis of the catheter, the second set of wheels being configured to engage the catheter therein such that a rotation plane of the second set of wheels is obliquely oriented with the longitudinal axis of the catheter to provide both translational and rotational movement wherein fixation and motion of the catheter is controlled by controlling rotations of the wheels;
a joint disposed adjacent at the first end portion and configured to mount the instrument drive assembly to an endoscope and permit the catheter to pass through the joint into a working channel of the endoscope, the joint being configured to fix a position of the instrument drive assembly to enable positioning of the catheter;
a telescopic stabilizer configured to connect a handle of the catheter to the instrument drive assembly adjacent the second end portion; and
a user interface configured to control the instrument drive assembly.
12. The mechanism as recited in claim 11 , wherein the first and second sets of wheels are controlled to cooperate to control motion of the instrument.
13. The mechanism as recited in claim 12 , wherein the first set of wheels are controlled by a first motor to control linear motion and provide friction for the instrument and the second set of wheels are controlled by a second motor to rotate the instrument.
14. The mechanism as recited in claim 12 , wherein the second set of wheels are controlled by a second motor to rotate the instrument and (i) driving the second set of wheels and the first set of wheels in the same direction causes the instrument to be advanced or retracted, and (ii) driving the second set of wheels with the first set of wheels held fixed prevents the instrument from being advanced or retracted.
15. The mechanism as recited in claim 11 , wherein the joint includes a spherical joint and the spherical joint includes a lock to lock a position of the joint.
16. The mechanism as recited in claim 11 , wherein the user interface is mounted on the endoscope.
17. The mechanism as recited in claim 11 , wherein the user interface includes a handheld portable instrument that is attachable to and detachable from objects.
18. The mechanism as recited in claim 11 , wherein the first set of wheels includes at least three wheels and the second set of wheels includes at least three wheels.
19. A method for driving an instrument, comprising:
positioning an instrument drive assembly on a mounting position on another device to mount the instrument drive assembly and permit an elongated instrument to pass through the other device;
controlling motion of the instrument using the instrument drive assembly including a first set of wheels coupled to a first end portion and a second set of wheels coupled to a second end portion opposite the first end portion, the first set of wheels being configured to engage the instrument therein such that a rotation plane of the first set of wheels is coplanar with a longitudinal axis of the instrument, the second set of wheels being configured to engage the elongated instrument therein such that a rotation plane of the second set of wheels is obliquely oriented with the longitudinal axis of the instrument to provide both translational and rotational movement wherein fixation and motion of the instrument is controlled by controlling rotations of the wheels; and
navigating the instrument using the first and second sets of wheels, which cooperate to provide a specific motion of the instrument.
20. The method as recited in claim 19 , wherein the first set of wheels includes at least three wheels and the second set of wheels includes at least three wheels.