CATHETER INSERTION SYSTEM AND METHOD OF FABRICATION
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Accused Products
Abstract
A robotic instrument driver for elongate members includes a first carriage positionable on a bed and beside a patient access site for manipulating a first elongate member, and a second carriage positionable proximate the bed, the second carriage configured to articulate the first elongate member, wherein the second carriage is movable independent from the first carriage.
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Citations
43 Claims
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1-20. -20. (canceled)
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21. A robotic instrument driver, comprising:
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a first pod comprising a first articulation mechanism configured to articulate one or more steering wires in a first elongate member, the first pod further comprising a first active drive mechanism fixed relative to the first articulation mechanism, the first active drive mechanism configured to insert or retract a second elongate member with respect to the first elongate member; and a second pod comprising a second articulation mechanism configured to articulate one or more steering wires in the second elongate member, and further comprising a second active drive mechanism fixed relative to the second articulation mechanism and configured to insert or retract a third elongate member with respect to the second elongate member, wherein the first and second pod are each configured to be movable vertically and rotatable about a yaw axis. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42)
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32. A system, comprising:
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a first carriage comprising a first manipulation mechanism configured to advance or retract a second elongate member relative to a first elongate member; a second carriage comprising a second manipulation mechanism configured to advance or retract a third elongate member relative to the second elongate member, wherein the first carriage and second carriage are each configured to be movable vertically and rotatable about a yaw axis.
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43. A method, comprising:
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articulating, via a first articulation mechanism of a first pod, one or more steering wires in a first elongate member, the first pod further comprising a first active drive mechanism fixed relative to the first articulation mechanism, the first active drive mechanism configured to insert or retract a second elongate member with respect to the first elongate member; articulating, via a second articulation mechanism of a second pod, one or more steering wires in the second elongate member, the second pod further comprising a second active drive mechanism fixed relative to the second articulation mechanism and configured to insert or retract a third elongate member with respect to the second elongate member; and moving the second pod independently from the first pod, wherein the first and second pod are each configured to be movable vertically and rotatable to a yaw angle.
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Specification