Robotic catheter system

Abstract

A catheter system including a housing and a drive mechanism supported by the housing is provided. The drive mechanism includes an engagement structure configured to engage and to impart movement to a guide wire. The engagement structure defines a path for the guide wire, and the engagement structure is moveable between an engaged position in which the engagement structure engages the guide wire and a disengaged position in which the engagement structure does not engage the guide wire. The catheter system includes a biasing element configured to bias the engagement structure toward the engaged position, and the biasing element is aligned generally parallel to the path defined by the engagement structure.

What is claimed is: 
     
         1 . A robotic catheter system, the system comprising:
 a motor drive base comprising one or more drive motors located in the motor drive base;   a cassette including a cassette housing and an axial drive assembly;   wherein the axial drive assembly includes:   a first axial drive mechanism supported by the cassette housing and configured to releasably engage and impart axial movement to a guide wire along a longitudinal axis of the guide wire,   wherein the guide wire extends out of a rear of the first axial drive mechanism and exits a front end of the cassette housing; and   a second axial drive mechanism configured to releasably engage and impart axial movement to a catheter device along a longitudinal axis of the catheter device;   wherein the catheter device exits the front end of the cassette housing over the guide wire;   wherein the motor drive base further includes one or more motor couplers configured to couple the one or more motors to the axial drive mechanisms within the cassette.   
     
     
         2 . The robotic catheter system of  claim 1 , further including a rotational drive mechanism configured to rotate the guide wire about its longitudinal axis. 
     
     
         3 . The robotic catheter system of  claim 1 , wherein the cassette is configured to couple to the motor drive base. 
     
     
         4 . The robotic catheter system of  claim 1 , further comprising an articulating arm. 
     
     
         5 . The robotic catheter system of  claim 4 , wherein the motor drive base is coupled to the articulating arm. 
     
     
         6 . The robotic catheter system of  claim 1 , wherein in use the cassette is coupled to a top of the motor drive base such that the motor drive base and the cassette are moveable relative to a patient. 
     
     
         7 . The robotic catheter system of  claim 1 , wherein the motor drive base includes one or more motor couplers configured to couple one or more motors to the axial drive mechanisms within the cassette. 
     
     
         8 . The robotic catheter system of  claim 1 , further including a cover moveable from a closed position overlying the first axial drive mechanism to an open position exposing the axial drive mechanism, and further including a restraint structure that acts to restrain movement of the guide wire when the cover is in the closed position. 
     
     
         9 . The robotic catheter system of  claim 1 , wherein the guide wire extends out of the rear of the cassette housing. 
     
     
         10 . The robotic catheter system of  claim 1 , further comprising a handle provide on the motor drive base. 
     
     
         11 . The robotic catheter system of  claim 1 , wherein the cassette further includes a locking mechanism configured to lock the position of the guide wire. 
     
     
         12 . The robotic catheter system of  claim 1 , wherein the cassette is configured to couple to the motor drive base. 
     
     
         13 . The robotic catheter system of  claim 2 , further comprising an articulating arm. 
     
     
         14 . The robotic catheter system of  claim 13 , wherein the motor drive base is coupled to the articulating arm. 
     
     
         15 . The robotic catheter system of  claim 14 , wherein the cassette is configured to be coupled to the motor drive base. 
     
     
         16 . A robotic catheter system, the system comprising:
 a motor drive base comprising one or more drive motors located in the motor drive base; and   a cassette configured to couple to the motor drive base,   the cassette including a cassette housing,   the cassette housing including a front end, a rear end, a first channel and a second channel,   wherein the cassette includes:   a first pair of engagement surfaces configured to releasably engage and impart axial movement to a guide wire retained in the first channel,   wherein the guide wire   extends out of a rear of the cassette housing and   exits a front end of the cassette housing; and   a second pair of engagement surfaces configured to releasably engage and impart axial movement to a catheter device retained in the second channel;   wherein the catheter device exits the front end of the cassette housing over the guide wire;   wherein the second channel is arranged at an angle with respect to the first channel.   
     
     
         17 . The robotic catheter system of  claim 16 , further comprising an articulating arm, wherein the motor drive base is coupled to the articulating arm. 
     
     
         18 . The robotic catheter system of  claim 16 , wherein in use the cassette is coupled to a top of the motor drive base such that the motor drive base and the cassette are moveable relative to a patient. 
     
     
         19 . The robotic catheter system of  claim 17 , further comprising a sterile, plastic cover shielding sterilized components of the robotic catheter system from unsterilized components, including the motor drive base, the articulating arm, and an arm support.