Active drives for robotic catheter manipulators

Abstract

An instrument driver comprises opposing rotatable gripping pads. Each of the gripping pads including an outer circular rim and a center hub. The pads are configured for applying a gripping force to an elongated member. The instrument driver further comprises shafts affixed to the center hubs, and a driver assembly configured for rotating at least one of the shafts, thereby causing the pads to rotate in opposite directions to linearly translate the gripped member. Each of the pads further includes a framework for partially collapsing in response to the gripping force, such that portions of the rims flatten to contact each other. Each rim has a concave gripping surface in order to facilitate vertical centering of the member between the pads. Each of the pads further includes a pair of upper and lower sprockets for interlacing with each other to prevent the elongated member from slipping out between the pads.

1 .- 61 . (canceled) 
     
     
         62 . An instrument driver for use with an elongated member, comprising:
 a pair of opposing rotatable gripping pads, each of the rotatable gripping pads including an outer circular rim, a center hub, and a framework between the outer circular rim and the hub, wherein the opposing rotatable gripping pads are configured for applying a gripping force to the elongated member, and the frameworks of the respective rotatable gripping pads are configured for partially collapsing in response to the gripping force, such that portions of the rims of the respective rotatable gripping pads flatten to contact each other;   a pair of shafts affixed to the center hubs of the respective rotatable gripping pads; and   a driver assembly configured for rotating at least one of the shafts, thereby causing the rotatable gripping pads to rotate in opposite directions to linearly translate the gripped elongated member between the rotatable gripping pads.   
     
     
         63 . The instrument driver of  claim 62 , wherein each of the frameworks includes a plurality of spokes extending between the center hub and the outer circular rim of the respective rotatable gripping pad. 
     
     
         64 . The instrument driver of  claim 63 , wherein the spokes are curved, such that they collapse onto each other in response to the gripping force, thereby flattening the portions of the rims of the respective rotatable gripping pads. 
     
     
         65 . The instrument driver of  claim 63 , wherein the spokes have a thickness in the range of 0.010-0.050 inches. 
     
     
         66 . The instrument driver of  claim 62 , wherein the rim of each of the rotatable gripping pads is composed of material having at least a 50 A durometer. 
     
     
         67 . The instrument driver of  claim 62 , wherein each of the rotatable gripping pads has a diameter of two inches or less. 
     
     
         68 . The instrument driver of  claim 62 , wherein the rim of each of the rotatable gripping pad has a concave gripping surface in order to facilitate vertical centering of the elongated member between the rotatable gripping pads. 
     
     
         69 . The instrument driver of  claim 62 , wherein each of the rotatable gripping pads includes a pair of opposing flat upper and lower surfaces, and a pair of upper and lower sprockets respectively disposed on the flat upper and lower surfaces, wherein the upper and lower sprockets of one of the rotatable gripping pads are respectively configured for interlacing with the upper and lower sprockets of the other of the rotatable gripping pads to prevent the elongated member from slipping out between the rotatable gripping pad pads. 
     
     
         70 . The instrument driver of  claim 69 , wherein one of the rotatable gripping pads is configured for driving the other of the rotatable gripping pads via the interlacing of the upper and lower sprockets of the one rotatable gripping pad respectively with the upper and lower sprockets of the other rotatable gripping pad. 
     
     
         71 . The instrument driver of  claim 62 , wherein the driver assembly comprises a drive train configured for being actuated to rotate at least one of the shafts, and a motor configured for actuating the drive train. 
     
     
         72 . The instrument driver of  claim 62 , further comprising a pair of opposable arms on which the shafts are respectively rotatably disposed. 
     
     
         73 . The instrument driver of  claim 72 , wherein one of the opposable arms is configured for being pivoted in one direction to grip the elongated member between the rotatable gripping pads, and pivoted in a second opposite direction to release the elongated member from between the rotatable gripping pads. 
     
     
         74 . The instrument driver of  claim 73 , wherein the driver assembly includes a gripping force adjustment mechanism configured for being actuated to alternately pivot the one arm in the first direction and in the second opposite direction. 
     
     
         75 . The instrument driver of  claim 74 , wherein the gripping force adjustment mechanism includes a compression spring configured for being varied to adjust the gripping force of the arms when gripping the elongated member. 
     
     
         76 . The instrument driver of  claim 75 , wherein the gripping force adjustment mechanism includes a rod associated with the compression spring and mechanically coupled to one of the arms, wherein the rod is configured for being alternately actuated to pivot the one arm in the first direction and in the second opposite direction. 
     
     
         77 . The instrument driver of  claim 72 , wherein the pair of opposable arms comprises a pair of upper opposable arms, the driver assembly includes a lower pair of opposable arms, and the shafts are configured for mating with corresponding apertures in the respective lower arms, such that the lower arms respectively pivot with the upper arms in unison. 
     
     
         78 . The instrument driver of  claim 62 , wherein the elongated member is an elongated medical device. 
     
     
         79 . The instrument driver of  claim 78 , wherein the elongated medical device is a steerable catheter. 
     
     
         80 . The instrument driver of  claim 78 , wherein the elongated medical device is one of a balloon catheter and a stent delivery catheter. 
     
     
         81 . The instrument driver of  claim 62 , further comprising a housing containing the driver assembly. 
     
     
         82 . The instrument driver of  claim 62 , wherein the instrument driver is for use with a telescoping assembly comprising an outer elongated medical instrument and an inner elongated medical instrument, the outer medical instrument including an outer elongated body and a proximal adapter affixed to the outer elongated body, the inner medical instrument including the elongated member, the instrument driver further comprising:
 a housing on which the base is mounted; and   an interface mounted to the housing and configured for being mated with the proximal adapter of the outer medical instrument, wherein the inner elongated body is configured for being advanced within the outer elongated body when the rotatable gripping pads are rotated.   
     
     
         83 . The instrument driver of  claim 82 , wherein the inner medical instrument further has a proximal adapter affixed to the elongated member, the instrument driver further comprising:
 a slidable carriage to which the proximal adapter of the inner medical instrument is configured for being mated; and   and at least one motor configured for translating the slidable carriage distally towards the sheath interface to translate the proximal catheter adapter towards the proximal sheath adapter while operating the cam shaft to translate the jaw assemblies in the first axial direction.   
     
     
         84 . A medical system, comprising:
 the instrument driver of  claim 62 , wherein the instrument driver is a robotic instrument driver;   a master input device configured for receiving commands from a user; and   a computer configured for controlling the robotic instrument driver in accordance with the user commands.   
     
     
         85 .- 154 . (canceled)