Remote catheter manipulator

1. A robotic system, comprising:

a medical instrument comprising an elongate member configured for insertion into a patient;

a splayer coupled to a first portion of the elongate member, the splayer configured to articulate a distal end of the elongate member; and

a manipulator comprising drive wheels configured to axially translate the elongate member along a feed axis along which the elongate member is insertable into and retractable from the patient;

wherein the splayer and the manipulator are oriented such that the elongate member bends and follows a non-linear path between the splayer and the manipulator.

2. The robotic system of claim 1 , wherein the manipulator and the splayer are repositionable relative to each other.

3. The robotic system of claim 2 , wherein the splayer is configured to be rotated toward the manipulator.

4. The robotic system of claim 1 , further comprising an instrument driver operatively coupled to the medical instrument through a mechanical interface on the splayer.

5. The robotic system of claim 1 , wherein the manipulator is configured to hold and propel the elongate member.

6. The robotic system of claim 1 , wherein the manipulator is configured to roll the elongate member.

7. The robotic system of claim 1 , wherein the elongate member bends at least 180 degrees.

8. The robotic system of claim 1 , wherein the first portion of the elongate member and a second portion of the elongate member are substantially parallel to each other.

9. The robotic system of claim 1 , wherein the elongate member is further coupled to an introducer.

10. The robotic system of claim 1 , wherein a distance between the splayer and the manipulator is less than a length of the elongate member between the splayer and the manipulator.

11. The robotic system of claim 1 , wherein the splayer is positioned along a first axis, wherein the first axis and the feed axis are non-coaxial.

12. A method comprising:

articulating a distal end of an elongate member of a medical instrument with a splayer; and

axially translating the elongate member along a feed axis to insert and retract the elongate member within a patient with drive wheels of a manipulator;

wherein the splayer and the manipulator are oriented such that the elongate member bends and follows a non-linear path between the splayer and the manipulator.

13. The method of claim 12 , further comprising repositioning the manipulator relative to the splayer.

14. The method of claim 13 , further comprising rotating the splayer toward the manipulator.

15. The method of claim 12 , further comprising articulating the distal end of the elongate member in response to actuation from an instrument driver operatively coupled to the medical instrument through a mechanical interface on the splayer.

16. The method of claim 12 , further comprising advancing, retracting, or rolling the elongate member in response to actuation from an instrument driver operatively coupled to the medical instrument through a mechanical interface on the splayer.

17. The method of claim 12 , further comprising holding and propelling the elongate member with a drive mechanism of the manipulator.

18. The method of claim 12 , further comprising feeding the elongate member into an introducer with the manipulator.

19. The method of claim 12 , further comprising positioning the splayer and the manipulator at a distance less than a length of the elongate member between the splayer and the manipulator.

20. The method of claim 12 , further comprising adjusting an insertion angle of the elongate member with the manipulator.