Active drives for robotic catheter manipulators

Abstract

An instrument driver comprises opposing rotatable gripping pads. Each of the gripping pads includes 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 - 20 . (canceled) 
     
     
         21 . An apparatus, comprising:
 (a) a gripping assembly, the gripping assembly comprising:
 (i) a first jaw, and 
 (ii) a second jaw, 
 the gripping assembly being operable to receive an elongate member between the first jaw and the second jaw, 
 the gripping assembly being further operable to grip the elongate member between the first jaw and the second jaw; and 
   (b) an actuation assembly, the actuation assembly being operable to:
 (i) actuate the gripping assembly to grip the elongate member between the first jaw and the second jaw at a first longitudinal position along the elongate member, and 
 (ii) drive the gripping assembly to thereby drive movement of the elongate member through a first range of motion while the gripping assembly grips the elongate member at the first longitudinal position along the elongate member. 
   
     
     
         22 . The apparatus of  claim 21 , the actuation assembly being operable to drive the first jaw relative to the second jaw to thereby grip the elongate member between the first jaw and the second jaw. 
     
     
         23 . The apparatus of  claim 22 , the actuation assembly being operable to drive translation of the first jaw toward the second jaw to thereby grip the elongate member between the first jaw and the second jaw. 
     
     
         24 . The apparatus of  claim 23 , the elongate member defining a longitudinal axis, the actuation assembly being operable to drive translation of the first jaw toward the second jaw in a direction transverse to the longitudinal axis to thereby grip the elongate member between the first jaw and the second jaw. 
     
     
         25 . The apparatus of  claim 21 , the first jaw including a first gripping pad, the second jaw including a second gripping pad, the first gripping pad and the second gripping pad each being positioned to engage the elongate member when the gripping assembly grips the elongate member. 
     
     
         26 . The apparatus of  claim 21 , the actuation assembly being further operable to actuate the gripping assembly to release the elongate member after driving the gripping assembly to thereby drive movement of the elongate member through the first range of motion. 
     
     
         27 . The apparatus of  claim 26 , the actuation assembly being further operable to move relative to the elongate member after actuating the gripping assembly to release the elongate member, to thereby reposition the gripping assembly relative to the elongate member. 
     
     
         28 . The apparatus of  claim 27 , the actuation assembly being further operable to actuate the gripping assembly to grip the elongate member between the first jaw and the second jaw at a second longitudinal position along the elongate member after repositioning the gripping assembly relative to the elongate member. 
     
     
         29 . The apparatus of  claim 28 , the actuation assembly being further operable to drive the gripping assembly to thereby drive movement of the elongate member through a second range of motion while the gripping assembly grips the elongate member at the second longitudinal position along the elongate member. 
     
     
         30 . The apparatus of  claim 21 , the first range of motion being oriented along a longitudinal axis defined by the elongate member. 
     
     
         31 . The apparatus of  claim 21 , the gripping assembly further comprising:
 (i) a third jaw, and   (ii) a fourth jaw,   the gripping assembly being operable to receive the elongate member between the third jaw and the fourth jaw,   the gripping assembly being further operable to grip the elongate member between the third jaw and the fourth jaw.   
     
     
         32 . The apparatus of  claim 31 , the third jaw and the fourth jaw being offset from the first jaw and the second jaw such that the third jaw and the fourth jaw are located at a second longitudinal position along the elongate member when the first jaw and the second jaw are located at the first longitudinal position along the elongate member. 
     
     
         33 . The apparatus of  claim 32 , the actuation assembly being further operable to actuate the gripping assembly to provide an operational sequence that includes:
 (i) the first jaw and the second jaw gripping the elongate member while the third jaw and the fourth jaw do not grip the elongate member, and   (ii) the third jaw and the fourth jaw gripping the elongate member while the first jaw and the second jaw do not grip the elongate member.   
     
     
         34 . The apparatus of  claim 33 , the actuation assembly being further operable to actuate the gripping assembly to provide an operational sequence that includes:
 (i) the first jaw and the second jaw driving the elongate member through the first range of motion while the third jaw and the fourth jaw do not grip the elongate member, and   (ii) the third jaw and the fourth jaw driving the elongate member through a second range of motion while the first jaw and the second jaw do not grip the elongate member.   
     
     
         35 . The apparatus of  claim 21 , the actuation assembly comprising a cam and cam follower set, the cam and cam follower set being operable to drive movement of the first jaw and the second jaw. 
     
     
         36 . The apparatus of  claim 21 , further comprising the elongate member. 
     
     
         37 . The apparatus of  claim 36 , the elongate member comprising a catheter. 
     
     
         38 . An apparatus, comprising:
 (a) a first jaw assembly, the first jaw assembly being operable to receive an elongate member, the first jaw assembly being further operable to grip the elongate member; and   (b) an actuation assembly, the actuation assembly being operable to:
 (i) actuate the first jaw assembly to grip at a first longitudinal position along the elongate member, and 
 (ii) drive the first jaw assembly to thereby drive movement of the elongate member through a first range of motion while the first jaw assembly grips the elongate member at the first longitudinal position along the elongate member. 
   
     
     
         39 . The apparatus of  claim 38 , further comprising a second jaw assembly, the second jaw assembly being operable to receive the elongate member, the second jaw assembly being further operable to grip the elongate member, the actuation assembly being further operable to actuate the first jaw assembly and the second jaw assembly in a sequence that includes:
 (i) the second jaw assembly not gripping the elongate member as the first jaw assembly drives movement of the elongate member through the first range of motion, and   (ii) the second jaw assembly moving the elongate member through a second range of motion, the first jaw assembly not gripping theelongate member as the second jaw assembly drives movement of the elongate member through the second range of motion.   
     
     
         40 . A method, comprising:
 (a) gripping an elongate member between a first jaw and a second jaw of a gripping assembly at a first longitudinal position along the elongate member; and   (b) driving the gripping assembly to thereby drive movement of the elongate member through a first range of motion while the gripping assembly grips the elongate member at the first longitudinal position along the elongate member.