Guidewire controller box and methods of use thereof

Abstract

Provided herein is an intravascular procedure system comprising: a first drive unit comprising a first drive assembly having a first rotary actuator and configured to be mechanically coupled to a first intravascular insert device propulsion assembly of a first cassette; a second drive unit having a second drive assembly having a second rotary actuator and configured to be mechanically coupled to a second intravascular insert device propulsion assembly of a second cassette; a third drive unit comprising a third drive assembly having a third rotary actuator and configured to be mechanically coupled to a third intravascular insert device propulsion assembly of a third cassette; and a track to which the first drive unit is fixedly coupled, to which the second and third drive units are movably mechanically coupled, and along which the second drive unit is disposed between the first and third drive units.

Description

Technical Field

[0001] This specification relates to medical devices and control methods for minimally invasive interventional procedures, and more specifically, to the field of robotic controllers for endovascular interventions using guidewires and catheters to insert the distal tip into the target site within a body cavity. Background Technology

[0002] A guidewire is used to guide an auxiliary sheath (e.g., a catheter) supplied along the guidewire to a desired location in the body (e.g., the body of a mammal such as a human). In one application for minimally invasive interventional procedures, the guidewire is introduced into a body cavity, i.e., a blood vessel, through an incision made through the patient's skin and cavity walls, and the introduced end or distal end of the guidewire is guided from there to a desired location within the body cavity, or to a desired location within a body cavity that branches off from the body cavity where the guidewire has been introduced, or to a desired location within a body cavity that branches off from the body cavity where the guidewire has been introduced.

[0003] One problem with guidewire introduction systems is the limited ability to conform the distal end of the guidewire to follow the geometry of a tortuous lumen and to guide it into an intersecting or branch lumen that connects to the lumen in which the distal end of the guidewire is located. To introduce the distal end of the guidewire into a branch lumen, it must be controllably moved from alignment with the lumen (where the guidewire reaches its position in the branch lumen) to a point where further movement of the guidewire into the body will cause it to enter and follow the alignment of the branch lumen. In some cases, the branch lumen, which is the target destination of the distal end of the guidewire, intersects the lumen in which the distal end is located at a large angle (e.g., greater than 45 degrees, and in some cases, greater than 90 degrees). In other cases, it may be difficult to guide the distal end of the guidewire into the tortuosity and sharp turns of the vessel without damaging the lumen, as the tendency to turn and fluid flow adjacent to the lateral wall will push the guidewire toward the lateral wall of the vessel.

[0004] To overcome this problem, one method for facilitating control of distal guidewire orientation involves developing robotic systems for stably controlling the movement of the catheter and the guidewire surrounding it. For example, US10342953B2 discloses a robotic catheter system. This catheter system includes a housing and a drive mechanism supported by the housing. The drive mechanism includes an engagement structure configured to engage the catheter assembly and impart movement to it. A cartridge for use with the robotic catheter system is also provided. The cartridge includes: a housing; a first axial drive mechanism supported by the housing to releasably engage and drive the guidewire along its longitudinal axis; a second axial drive mechanism supported by the housing to releasably engage and drive a working catheter along its longitudinal axis; and a rotational drive mechanism supported by the housing to rotate the guidewire about its longitudinal axis. Summary of the Invention

[0005] To overcome the challenges mentioned above, there remains an urgent need for novel robotic control systems that are easy to navigate, highly stable, and have the potential to reduce radiation exposure for patients and surgeons while achieving more uniform, operator-independent results.

[0006] Herein, in one aspect, this document provides a system for endovascular surgery, the system comprising: a first drive unit including a first drive assembly having a first rotary actuator and configured to be mechanically coupled to a first endovascular insertion device advancement assembly of a first housing; a second drive unit having a second drive assembly having a second rotary actuator and configured to be mechanically coupled to a second endovascular insertion device advancement assembly of a second housing; a third drive unit including a third drive assembly having a third rotary actuator and configured to be mechanically coupled to a third endovascular insertion device advancement assembly of a third housing; and a track, the first drive unit being fixedly coupled to the track, the second drive unit and the third drive unit being mechanically coupled to the track, the second drive unit being disposed along the track between the first drive unit and the third drive unit, the second drive unit and the third drive unit being movable along the track. Attached Figure Description

[0007] To understand the above features in detail, please refer to the following detailed description in conjunction with the accompanying drawings, wherein:

[0008] Figure 1 It is a three-dimensional diagram of a simplified multiaxial conduit system based on some examples.

[0009] Figure 2 It is a three-dimensional diagram based on some examples of multi-axis conduit systems.

[0010] Figure 3A , Figure 3B , Figure 3C and Figure 3D These are perspective views, side views, top views, and bottom views of the proximal drive unit based on some examples.

[0011] Figure 4A , Figure 4B , Figure 4C and Figure 4D These are perspective views, side views, top views, and bottom views of intermediate drive units based on some examples.

[0012] Figure 5A , Figure 5B , Figure 5C and Figure 5DThese are perspective views, side views, top views, and bottom views of the distal drive unit based on some examples.

[0013] Figure 6 It is an exploded 3D diagram of the driver components based on some examples.

[0014] Figure 7A It is a stereoscopic view of the proximal box based on some examples.

[0015] Figure 7B and Figure 7C It is based on partial disassembly of some examples. Figure 7A The corresponding three-dimensional view of the proximal box.

[0016] Figure 7D , Figure 7E , Figure 7F and Figure 7G These are based on some examples. Figure 7C Rear view, front view, top view, and bottom view of the partially disassembled near-side box.

[0017] Figure 8A and Figure 8B These are schematic diagrams depicting the rotation and advance of the guidewire according to some examples.

[0018] Figure 9A , Figure 9B and Figure 9C It is an exploded perspective view of a translation component mechanically connected to a track according to some examples, and a schematic diagram of a proximal box in which the translation component is positioned according to some examples.

[0019] Figure 10 It is an exploded perspective view based on some example clasp assemblies.

[0020] Figure 11A and Figure 11B It is an exploded perspective view of the corresponding parts of the clamping and pushing components based on some examples.

[0021] Figure 12 It is an exploded 3D diagram based on some example follower components.

[0022] Figure 13 It is an exploded perspective view of a duct rotation assembly based on some examples.

[0023] Figure 14 These are exploded perspective views of guide wire rotation assemblies based on some examples.

[0024] Figure 15 , Figure 16 and Figure 17 It is based on some examples of configurations including conduits and Y-connectors.

[0025] Figure 18 and Figure 19 These are schematic diagrams depicting the rotation and advancement of the catheter according to some examples.

[0026] Figure 20 and Figure 21 It is a flowchart of a method for operating a system for endovascular surgery, based on some examples. Detailed Implementation

[0027] The examples described herein generally relate to systems and methods for endovascular surgery. More specifically, some of the examples described herein enable robotic systems and methods of operating such robotic systems for use in endovascular surgery. In some examples, multi-axis catheter systems may include multiple drive units, each for a respective cartridge. The multiple drive units can collaboratively achieve the advance and rotation of multiple catheters and guidewires. In such systems, the advance and rotation of a catheter or guidewire can be independent of any advance or rotation of any other catheter or guidewire. Some examples include cartridges that can achieve the advance and / or rotation of a catheter or guidewire.

[0028] The examples described herein can achieve various benefits. Robotic systems can allow surgeons performing endovascular procedures to precisely control the navigation of endovascular insertion devices (e.g., catheters and / or guidewires). Rotation of the endovascular insertion device during endovascular surgery can allow it to be guided through the tortuous vascular system of the body undergoing the procedure. Additionally, rotating components configured to rotate the endovascular insertion device can remain mechanically coupled to it (e.g., including during advancement), thereby maintaining the rotational orientation of the endovascular insertion device.

[0029] In the following description, various features are illustrated with reference to the accompanying drawings. The illustrated examples need not possess all the aspects or advantages shown. Aspects or advantages described in connection with a particular example are not necessarily limited to that example and can be practiced in any other example, even if not so illustrated or so explicitly described. Furthermore, the methods described herein may be described in a particular order of operations, but other methods according to other examples may be implemented with more or fewer operations in various other orders (e.g., including different serial or parallel executions of various operations). Various figures are illustrated using three-dimensional coordinate axes oriented relative to each other, although such axes will not be explicitly described below. The three-dimensional coordinate axes represent the directionality along the positive direction of motion of the respective axis. More specifically, the three-dimensional coordinate axes show the positive X (+X) direction, the positive Y (+Y) direction, and the positive Z (+Z) direction.

[0030] Figure 1A simplified perspective view of a multiaxial catheter system 10 according to some examples is illustrated. The multiaxial catheter system 10 includes a frame 12, a track 14, cassette platforms 22, 24, 26, 28, and drive units 32, 34, 36, 38. In operation, the multiaxial catheter system 10 implements a distal cassette 42, a first intermediate cassette 44, a second intermediate cassette 46, and a proximal cassette 48. Cassettes 42 to 48 may be single-use cassettes (e.g., cassettes suitable for a single endovascular procedure). The illustrated multiaxial catheter system 10 implements cassette platforms and drive units for two intermediate cassettes. In other examples, cassette platforms and drive units may be implemented for fewer or more intermediate cassettes (e.g., one, three, four, etc.).

[0031] Frame 12 is a supporting structure to which various other components of the multiaxial conduit system 10 are mechanically connected and supported. Although not illustrated, a housing or shield may be included together with and surrounding frame 12. Rail 14 is located below frame 12 and mechanically connected to it. Rail 14 extends along the longitudinal axis of frame 12, which... Figure 1 The middle is the X direction. The track 14 allows components mechanically connected to and moving along the track 14 to translate in a direction parallel to the longitudinal axis (e.g., in the X direction).

[0032] The distal box platform 22 is illustrated as being integral with the frame 12, and in other examples, the distal box platform 22 may be mechanically coupled to the frame 12, such as via a bracket and / or other frame. The distal drive unit 32 is located below the distal box platform 22 and is mechanically coupled to the distal box platform 22 and / or the frame 12. The distal box platform 22 and the distal drive unit 32 are in a fixed position relative to the frame 12 (e.g., by mechanical coupling to the frame 12). In operation, the distal box 42 is disposed on the distal box platform 22 and may be mechanically attached to the distal box platform 22 and / or the distal drive unit 32.

[0033] The first intermediate box platform 24 and / or the first intermediate drive unit 34 are mechanically coupled to the track 14 and are movable along the track 4. The first intermediate drive unit 34 is located below the first intermediate box platform 24 and is mechanically coupled to the first intermediate box platform 24. The first intermediate box platform 24 and the first intermediate drive unit 34 are configured and are capable of translation in a direction parallel to the longitudinal direction of the track 14 (e.g., in the X direction). In operation, the first intermediate box 44 is disposed on the first intermediate box platform 24 and can be mechanically attached to the first intermediate box platform 24 and / or the first intermediate drive unit 34.

[0034] The second intermediate box platform 26 and / or the second intermediate drive unit 36 ​​are mechanically coupled to and movable along the track 14. The second intermediate drive unit 36 ​​is located below and mechanically coupled to the second intermediate box platform 26. The second intermediate box platform 26 and the second intermediate drive unit 36 ​​are configured and capable of translation in a direction parallel to the longitudinal direction of the track 14 (e.g., in the X direction). In operation, the second intermediate box 46 is disposed on the second intermediate box platform 26 and can be mechanically attached to the second intermediate box platform 26 and / or the second intermediate drive unit 36.

[0035] The proximal box platform 28 and / or the proximal drive unit 38 are mechanically coupled to and movable along the track 14. The proximal drive unit 38 is located below the proximal box platform 28 and is mechanically coupled to it. The proximal box platform 28 and the proximal drive unit 38 are configured and are capable of translation in a direction parallel to the longitudinal direction of the track 14 (e.g., in the X direction). In operation, the proximal box 48 is disposed on the proximal box platform 28 and may be mechanically attached to the proximal box platform 28 and / or the proximal drive unit 38. The proximal box platform 28 and its components will be discussed in detail below.

[0036] As illustrated, a first intermediate box platform 24 (with a corresponding first intermediate drive unit 34) is disposed between a distal box platform 22 (with a corresponding distal drive unit 32) and a second intermediate box platform 26 (with a corresponding second intermediate drive unit 36), and is movable along track 14. Similarly, a second intermediate box platform 26 (with a corresponding second intermediate drive unit 36) is disposed between a first intermediate box platform 24 (with a corresponding first intermediate drive unit 34) and a proximal box platform 28 (with a corresponding proximal drive unit 38), and is movable along track 14. Furthermore, a proximal box platform 28 (with a corresponding proximal drive unit 38) is disposed at a proximal position relative to the second intermediate box platform 26 (with a corresponding second intermediate drive unit 36), and is movable along track 14 within this relatively proximal position.

[0037] In operation, each cartridge 42, 44, 46 is configured in conjunction with a corresponding drive unit 32, 34, 36 to advance a corresponding catheter (e.g., to supply or retrieve a catheter into or from the body). A given catheter advanced by a given cartridge 42, 44, 46 has a proximal connection to a Y-shaped connector fixed by the next cartridge 44, 46, 48 located more proximally. For example, a catheter advanced by the distal cartridge 42 has a proximal connection to a Y-shaped connector fixed by a first intermediate cartridge 44; a catheter advanced by the first intermediate cartridge 44 has a proximal connection to a Y-shaped connector fixed by a second intermediate cartridge 46; and a catheter advanced by the second intermediate cartridge 46 has a proximal connection to a Y-shaped connector fixed by the proximal cartridge 48. Therefore, advancing a catheter by a cartridge can result in translation of the next cartridge located more proximally, as well as the corresponding cartridge platform and drive unit. The multiaxial catheter system 10 may also include one or more translational assemblies that can collaboratively translate the cassette (and corresponding cassette platform and drive unit) when the catheter with the proximal end having a fixation cassette is advanced, thereby reducing or preventing tension on the catheter and catheter buckling. Additionally, the proximal cassette 48 is configured to advance the guidewire.

[0038] Additionally, each of the boxes 44, 46, and 48 is configured to rotate the corresponding catheter having a proximal end mechanically connected to a Y-shaped connector fixed by the boxes 44, 46, and 48. Furthermore, the proximal box 48 is configured to rotate the guidewire.

[0039] exist Figure 1 In the multiaxial catheter system 10, each catheter and guidewire can be advanced independently of each other. Additionally, each catheter and guidewire can be rotated independently of each other. Details of this operation and the components that implement it are described below in the context of various examples.

[0040] Additionally, each of the boxes 44, 46, and 48 is configured to rotate the corresponding catheter having a proximal end mechanically connected to a Y-shaped connector fixed by the boxes 44, 46, and 48. Furthermore, the proximal box 48 is configured to rotate the guidewire.

[0041] exist Figure 1 In the multiaxial catheter system 10, each catheter and guidewire can be advanced independently of each other. Additionally, each catheter and guidewire can be rotated independently of each other. Details of this operation and the components that implement it are described below in the context of various examples.

[0042] Figure 2 A perspective view of a multiaxial conduit system 100 according to some examples is shown. Figure 2 100 examples of multiaxial catheter systems were shown. Figure 1Further details of the simplified multiaxial conduit system 10 are provided. The multiaxial conduit system 100 similarly includes a frame 112, a track (concealed), cassette platforms 122, 124, 126, 128, and drive units 132, 134, 136, 138 (e.g., housed within corresponding housings attached to the respective cassette platforms 122 to 128). Here, the distal drive unit 132 corresponds to... Figure 1 The distal drive unit 32, the first intermediate drive unit 134 corresponds to Figure 1 The first intermediate drive unit 34 and the second intermediate drive unit 136 correspond to Figure 1 The second intermediate drive unit 36, and the proximal drive unit 48 corresponding to Figure 1 The proximal drive unit 48. Figure 2 Also shown are boxes 142, 144, 146, 148 that are mechanically attached to the respective box platforms 122, 124, 126, 128 and / or drive units 132, 134, 136, 138. Boxes 142 to 148 may be single-use boxes (e.g., boxes suitable for a single endovascular procedure). This will be readily understood by those skilled in the art. Figure 2 These components and in Figure 1 The correspondence between the components shown in the diagram and described above is illustrated. Figure 2 Boxes 144 to 148 are shown as examples of boxes that have been translated to a more distant position along the track.

[0043] Figure 2 Also shown are catheters 152, 154, 156, guidewire 158, and Y-connectors 162, 164, 166. The second catheter 154, driven and supported by the second drive unit 134, is advanced through the orifice of the first catheter 152, driven and supported by the first drive unit 132. The third catheter 156, driven and supported by the third drive unit 136, is advanced through the orifice of the second catheter 154, driven and supported by the second drive unit 135. The guidewire 158, driven and supported by the fourth drive unit 138, is advanced through the orifice of the third catheter 156, driven and supported by the third drive unit 136. Here, the inner diameter (e.g., the diameter of the orifice) of the first catheter 152 is larger than the outer diameter of the second catheter 154; the inner diameter (e.g., the diameter of the orifice) of the second catheter 154 is larger than the outer diameter of the third catheter 156; and the inner diameter (e.g., the diameter of the orifice) of the third catheter 156 is larger than the outer diameter of the guidewire 158. In some cases, the first catheter 152 may be referred to as a guiding catheter; the second catheter 154 may be referred to as an intermediate catheter; and the third catheter 156 may be referred to as a microcatheter.

[0044] The first catheter 152 has a female Luerlock connector at its proximal end, which is mechanically coupled to the male Luerlock connector of the Y-shaped connector 162. The Y-shaped connector 162 is secured by a first intermediate box 144. The second catheter 154 has a female Luerlock connector at its proximal end, which is mechanically coupled to the male Luerlock connector of the Y-shaped connector 164. The Y-shaped connector 164 is secured by a second intermediate box 146. The third catheter 156 has a female Luerlock connector at its proximal end, which is mechanically coupled to the male Luerlock connector of the Y-shaped connector 166. The Y-shaped connector 166 is secured by a proximal box 148. The female Luerlock connector of the catheter can be mechanically coupled to the male Luerlock connector of the Y-shaped connector either directly or through an intermediate component. Some examples are described below.

[0045] The distal cassette 142 (connected to the distal drive unit 132) is configured to advance the first catheter 152, and the first intermediate cassette 144 (connected to the first intermediate drive unit 134) is configured to rotate the first catheter 152. The first intermediate cassette 144 (connected to the first intermediate drive unit 134) is configured to advance the second catheter 154, and the second intermediate cassette 146 (connected to the second intermediate drive unit 136) is configured to rotate the second catheter 154. The second intermediate cassette 146 (connected to the second intermediate drive unit 136) is configured to advance the third catheter 156, and the proximal cassette 148 (connected to the proximal drive unit 138) is configured to rotate the third catheter 156. The proximal cassette 148 (connected to the proximal drive unit 138) is configured to advance and rotate the guidewire 158.

[0046] Figure 3A , Figure 3B , Figure 3C and Figure 3D These are perspective views, side views, top views, and bottom views of a proximal drive unit 138 based on some examples. Figure 4A , Figure 4B , Figure 4C and Figure 4D These are perspective views, side views, top views, and bottom views of intermediate drive units (e.g., first intermediate drive unit 134 and second intermediate drive unit 136) based on some examples. Figure 5A , Figure 5B , Figure 5C and Figure 5D These are perspective views, side views, top views, and bottom views of the distal drive unit 132 based on some examples. Figures 3A to 3D to Figures 5A to 5DThe drive units shown in the figures include some common components. To avoid redundant descriptions, the components in these figures are marked with "-8", "-4", or "-2" to indicate which of the proximal drive units 138, intermediate drive units 134, 136, or distal drive units 132 a given component is included in, respectively. However, the description of these components may not refer to the accompanying "-8", "-4", or "-2". Various modifications (including different orientations) to such components for different drive units may be apparent to those skilled in the art, such as accommodating different components to accommodate catheters or guidewires of different sizes.

[0047] Each of the proximal drive units 138, intermediate drive units 134, 136, and distal drive unit 132 includes a support plate 202. The support plate 202 mechanically supports and is mechanically connected to the components of the respective drive unit. The support plate 202 may vary in size or layout, or both, for different drive units to accommodate different components and / or components of different sizes.

[0048] Each drive unit includes a pair of hooks 204 and ribs 206 mounted on the side of the support plate 202 that will be close to the corresponding box platform during operation. Each hook 204 has an inner surface that is a partial cylinder defined by a radius extending from the longitudinal center of the cylinder. The hooks 204 are mounted such that the longitudinal center of the partial cylinder defining the inner surface of the hook 204 is aligned, for example, along the y-direction (as shown in side view "B"). The ribs 206 are mounted on the support plate 202 such that the ribs 208 of the ribs 206 face and oppose the openings of the hooks 204. The ribs 208 have an upper inclined planar surface and a lower planar surface. As will become clearer later, the hooks 204 and ribs 206 are configured to secure the box. When the box is installed, the corresponding tabs of the box engage the hooks 204, and subsequently, the spring-loaded ribs of the box engage the ribs 206. The spring-loaded buckle has a reverse-sloping planar surface that first contacts the upper-sloping planar surface of rib 208, thereby displacing the buckle of the box. Once the buckle passes through rib 208, the spring causes the buckle to return to abut against rib 208 and secure it, thereby securing the box.

[0049] Each drive unit includes multiple drive components. Figure 6 An exploded perspective view of the drive component 220 according to some examples is shown. Figure 6 The drive component 220 is used as a drive component in the drive unit; however, different drive components and / or modifications to the illustrated drive component 220 can be implemented in the drive unit. Various types of shafts and gears are described below with respect to the drive component 220; however, other types of shafts and gears can be implemented to achieve different configurations or orientations of the drive component.

[0050] Drive assembly 220 includes a rotary actuator 222. The rotary actuator 222 includes a drive shaft 224 (e.g., a shaft having a D-shaped cross-section orthogonal to the axis of rotation of the shaft). The rotary actuator 222 is configured to rotate the drive shaft 224. In some examples, the rotary actuator 222 is a motor, such as an electric motor. In some cases, the rotary actuator 222 may be a servo motor. The rotary actuator 222 is mechanically attached to and mounted on a bracket 226, which is mechanically attached to and mounted on a support plate 202 (as shown in other figures). A worm gear 228 is mechanically attached to the drive shaft 224.

[0051] The drive assembly 220 also includes a transverse shaft 230 (e.g., a shaft having a D-shaped cross-section orthogonal to the axis of rotation of the shaft). A gear 232 (e.g., a spur gear having a concave outer surface) is mechanically attached to and surrounds the transverse shaft 230. A ball bearing 234 mechanically connects the transverse shaft 230 to a bracket 226. A ball bearing 236 mechanically connects the transverse shaft 230 to a support plate 202 through an opening in the support plate 202. The ball bearings 234 and 236 are disposed on the transverse shaft 230 on opposite sides of the gear 232.

[0052] Worm gear 228 engages gear 232. Rotary actuator 222 is configured to rotate drive shaft 224, thereby causing worm gear 228 to rotate about drive axis. Rotation of worm gear 228 causes gear 232 to rotate about a transverse axis transverse to drive axis. Rotation of gear 232 causes transverse shaft 230 to rotate about transverse axis.

[0053] The drive assembly 220 also includes a coupling assembly 240. The coupling assembly 240 includes a hollow, open-end cylinder 242, a male connector 244, a spring 246, and a pin 248. The cylinder 242 (e.g., the closed end of the cylinder 242) is positioned opposite the transverse shaft 230, which is mechanically coupled to the bracket 226 via a ball bearing 234. The longitudinal central axis of the cylinder 242 is collinear with the transverse axis. The male connector 244 comprises a solid cylinder. The solid cylinder has a piston 250 extending from a (bottom) circular surface and a coupling protrusion 252 extending from another opposite (top) circular surface. One or more of the protrusions 252 extend in a direction parallel to the transverse axis at locations offset from or displaced relative to the transverse axis. Therefore, rotation of the piston 250 causes the protrusions to move in a generally circular path centered on the longitudinal axis of the piston 250. Spring 246 and piston 250 are disposed within the hollow region of cylinder 242. Piston 250 has an elongated opening 254 passing through it in a direction perpendicular to the transverse axis, and the elongated opening 254 extends along the transverse axis. Cylinder 242 has an opening 256 passing through its sidewall. With spring 246 and piston 250 located within cylinder 242, pin 248 is inserted through the opening 256 of cylinder 242 and the elongated opening 254 of piston 250 in a direction perpendicular to the transverse axis. Thus, pin 248 secures spring 246 and piston 250 within cylinder 242.

[0054] The elongated opening 254 allows the piston 250, and consequently the male connector 244, to translate along the transverse axis, i.e., to move in the direction of the transverse axis, by extending in the direction along the transverse axis. This translational movement is limited to the extent permitted by the elongation of the elongated opening 254 by a pin 248 inserted through the elongated opening 254. In the absence of any other force, a spring 246 applies a force to the piston 250 in a direction opposite to the transverse axis 230, thereby causing the male connector 244 to extend from the transverse axis 230 to the permitted extent. The permitted translation of the male connector 244 allows for the adaptation of various tolerances when engaging the male connector 244 with the female connector of the housing.

[0055] When the transverse shaft 230 rotates about the transverse axis, the cylinder 242 rotates in the same way due to the mechanical connection between the transverse shaft 230 and the cylinder 242. The rotation of the cylinder 242 caused by the pin 248 inserted in a direction perpendicular to the transverse axis is carried to the piston 250, and thus to the male connector 244. When mechanically connected, the off-axis positioning of the protrusion 252 causes the rotation of the male connector 244 to be carried to the female connector of the housing.

[0056] Return to reference Figures 3A to 3D to Figures 5A to 5DEach of the proximal drive unit 138, intermediate drive units 134, 136, and distal drive unit 132 includes a propulsion drive assembly 220a and a clamping drive assembly 220b. (Refer to...) Figures 3A to 3D and Figures 4A to 4D The proximal drive unit 138 and intermediate drive units 134 and 136 each include a catheter rotation drive assembly 220c. (See reference...) Figures 3A to 3D The proximal drive unit 138 includes a guidewire rotation drive assembly 220d. Although in Figures 3A to 3D to Figures 5A to 5D The document does not explicitly identify drive components 220a, 220b, 220c, and 220d, but it does identify some components of drive components 220a, 220b, 220c, and 220d, and these components are from [source missing]. Figure 6 The corresponding reference numerals are marked with "a", "b", "c", or "d". These "a", "b", "c", or "d" correspond to drive assemblies 220a, 220b, 220c, and 220d, respectively. As shown, for each of the drive assemblies 220a, 220b, 220c, and 220d, a corresponding bracket 226, on which the rotary actuator 222 is mechanically attached, is mechanically attached to and mounted on the bottom side of the corresponding support plate 202. A corresponding transverse shaft 230 extends through an opening in the support plate 202, and a male connector 244 extends from the top side of the support plate 202.

[0057] Each of the proximal drive units 138, intermediate drive units 134, 136, and distal drive unit 132 includes an encoder 262 and an encoder coupling 264. The encoder 262 is mounted through an opening in the support plate 202 and includes a shaft. The encoder coupling 264 is mechanically attached to the shaft of the encoder 262. The encoder coupling 264 extends from the top side of the support plate 202. The encoder 262 is configured to detect the rotational position of the shaft of the encoder 262 that rotates through the encoder coupling 264. As will be described in more detail later, the encoder 262 detects the rotational position of this shaft so that the controller can determine the length and direction by which an intravascular insertion device (e.g., a catheter or guidewire) has been advanced by the corresponding cartridge. The encoder 262 can be used as feedback to control the advancement of the intravascular insertion device.

[0058] Each drive unit may also include other components not illustrated in the figures. For example, each drive unit may include electrical components (e.g., controllers, circuit boards, wiring, and connectors) to enable the rotary actuator 222 to operate. Each drive unit may include a sensor to sense when a box is secured to the drive unit, such that, for example, the controller may impede operation of any rotary actuator 222 when the sensor senses that no box is secured to the drive unit. A spring-loaded release device may be included to apply force to any secured box, and the spring-loaded release device may assist in separating the box while it is being removed from the drive unit.

[0059] exist Figure 2 In the context of the multi-axis conduit system 100 shown, the top side of the support plate 202 of the drive unit is mechanically attached to the bottom side of the corresponding cassette platforms 122, 124, 126, and 128. The top side of the support plate 202-2 of the distal drive unit 132 is mechanically attached to the bottom side of the distal cassette platform 122. The top side of the support plate 202 (e.g., support plate 202-4) of the first intermediate drive unit 134 is mechanically attached to the bottom side of the first intermediate cassette platform 124. The top side of the support plate 202 (e.g., support plate 202-4) of the second intermediate drive unit 136 is mechanically attached to the bottom side of the second intermediate cassette platform 126. The top side of the support plate 202-8 of the proximal drive unit 138 is mechanically attached to the bottom side of the proximal cassette platform 128. For each drive unit and corresponding box platform, hook 204, buckle 206, male connector 244 of drive assembly 220 and encoder connector 264 of drive unit extend through the box platform to connect with the box.

[0060] Figure 7A It is a stereoscopic view based on some examples of proximal box 148. Figure 7B and Figure 7C It is based on partial disassembly of some examples. Figure 7A The corresponding three-dimensional view of the proximal box 148. Figure 7D , Figure 7E , Figure 7F and Figure 7G They are Figure 7C Rear view, front view, top view and bottom view of the partially disassembled near-side box 148. Figures 7A to 7GThe boxes shown include some common components. To avoid redundant description, the components in these figures are marked with "-8", "-4", or "-2" to indicate which box (proximal box 148, intermediate box, or distal box 142) a given component is included in, respectively. However, the description of these components may not refer to the accompanying "-8", "-4", or "-2". Various modifications (including different orientations) to such components for different boxes may be apparent to those skilled in the art, such as accommodating different components to accommodate catheters or guidewires of different sizes.

[0061] Each of the proximal box 148, intermediate boxes 144, 146, and distal box 142 includes a base 302, a housing 304, and a cap 306. The base 302, housing 304, and cap 306 mechanically support various components and can be any suitable material, such as molded plastic, having structural integrity for mechanically supporting these components. The housing 304 is fixedly and mechanically attached to the base 302, and the cap 306 is hingedly attached to the housing 304. A channel 308 extends through the housing 304. The channel 308 through the housing 304 is in the direction of advancement of the corresponding intravascular insertion device (e.g., in reference...). Figure 2 Extending in the X direction. Channel 308 is configured for an intravascular insertion device, i.e., a guidewire or catheter, to pass through. In the case of, for example, distal housing 142, up to three catheters nested together, along with a central guidewire, extend through channel 308, with only the outer surface of the outermost catheter exposed to the wall of channel 308. Cap 306 includes a proximal restrictor 310 and a distal restrictor 312, which are configured to extend into channel 308 when cap 306 is closed on housing 304 to restrict vertical movement of the intravascular insertion device within the channel during its operation.

[0062] Each box includes a tab 314 and a latch assembly. The tab 314 extends from the base 302 and is configured to engage the hook 204 when the corresponding box is secured to the appropriate drive unit. Figure 10An exploded perspective view of a snap fastener assembly according to some examples is shown. The snap fastener assembly includes a snap fastener 322, a spring 324, and an opposing button 326. The snap fastener 322 is generally a block having a rib 328 and a flange 330. The rib 328 has a downwardly inclined planar surface (e.g., inclined in the opposite direction to the inclined planar surface of the corresponding rib 208) and an upper planar surface. The rib 328 is oriented facing the snap fastener rib 206 of the appropriate drive unit when secured to the drive unit. Each flange 330 has an elongated opening 332 passing through it. The snap fastener 322 is at least partially disposed in an opening 334 through the base 302. A corresponding screw 336 passes through the elongated opening 332 of the flange 330 of the snap fastener 322 to secure the snap fastener 322, which is at least partially disposed in the opening 334. The elongated opening 332 allows the snap fastener 322 to translate laterally. The spring 324 is disposed between the wall 340 of the base 302 and the snap fastener 322 opposite to the rib 328. Spring 324 is set and configured to apply a reaction force on wall 340 and buckle 322.

[0063] Each button 326 has an angled tab 342 extending from the corresponding button 326. A limiter 344 extends from the angled tab 342. When assembled, the base 302 and the housing 304 have walls with openings through which the corresponding angled tabs 342 extend toward the latch 322. The limiter 344, in conjunction with these walls of the base 302 and the housing 304, restricts the movement of the buttons 326.

[0064] After assembly, without any other force, spring 324 applies force to buckle 322, positioning buckle 322 distally from wall 340 into opening 334. When the box is secured to the drive unit, tab 314 first engages hook 204, and the buckle assembly is lowered to buckle rib 206. The corresponding inclined surfaces of ribs 208 and 328 contact, and as the box is lowered, buckle 322 shifts closer to wall 340 to allow rib 328 to be unobstructed by rib 208. Once rib 328 is unobstructed, spring 324 shifts buckle 322 distally, causing ribs 208 and 328 to engage with each other. This causes the box to be secured to the drive unit. To remove the box from the drive unit, button 326 is pressed inward against the box, causing angled tab 342 to shift buckle 322 closer to wall 340. This allows rib 328 to be unobstructed by rib 208, thus allowing the box to be removed.

[0065] Each box includes clamping and pushing components. Figure 11A and Figure 11BAn exploded perspective view of corresponding portions of a clamping and advancing assembly according to some examples is shown. The clamping and advancing assembly includes advancing rollers 352, 354, advancing spur gears 356, 358, and advancing shafts 360, 362. The roller surfaces of the advancing rollers 352, 354 face each other. In operation, an intravascular insertion device is disposed between the roller surfaces of the advancing rollers 352, 354. The channel 308 of the housing 304 has corresponding openings in the wall forming the channel 308, thereby allowing the roller surfaces of the advancing rollers 352, 354 to contact the intravascular insertion device in the channel 308 and advance the intravascular insertion device.

[0066] In the illustrated example, propulsion shaft 360 is integral with propulsion spur gear 356, and propulsion shaft 362 is integral with propulsion spur gear 358. In other examples, one or both of propulsion shafts 360 and 362 may be separate components from the corresponding propulsion spur gears 356 and 358. Propulsion spur gear 356 is disposed on and surrounds propulsion shaft 360, and propulsion spur gear 358 is disposed on and surrounds propulsion shaft 362. Propulsion roller 352 is disposed on and surrounds propulsion shaft 360, and propulsion roller 354 is disposed on and surrounds propulsion shaft 362. Each of propulsion shafts 360 and 362 may have one or more flat surfaces (e.g., having a D-shaped cross-section perpendicular to the axis of rotation of propulsion shafts 360 and 362), wherein the corresponding propulsion rollers 352 and 354 are disposed on propulsion shafts 360 and 362 at said flat surfaces. Similarly, each of the feed rollers 352, 354 may have an opening having a cross-section corresponding to the cross-section of the respective feed shaft 360, 362, to help ensure that the feed rollers 352, 354 rotate as the respective feed shaft 360, 362 rotates.

[0067] A female connector 364 is disposed on and mechanically attached to the propulsion shaft 360. The propulsion shaft 360 may have one or more flat surfaces (e.g., a D-shaped cross-section perpendicular to the axis of rotation of the propulsion shaft 360), with the female connector 364 disposed on the propulsion shaft 360 at said flat surfaces. Similarly, the female connector 364 may have an opening having a cross-section corresponding to the cross-section of the propulsion shaft 360 to help ensure that the propulsion shaft 360 rotates with the female connector 364. The female connector 364 is exposed through and / or extends through the base 302 of the housing.

[0068] Ball bearing 366 mechanically connects the propulsion shaft 360 to the base 302 of the housing, and ball bearing 368 mechanically connects the propulsion shaft 360 to the housing 304 of the housing. Ball bearings 366 and 368 allow the propulsion shaft 360 to rotate freely while it is fixed inside the housing.

[0069] The clamping and advancing assembly includes a clamping support frame, which, in the illustrated example, includes a lower support frame 370, an intermediate support frame 372, and an upper support frame 374. The lower support frame 370 is mechanically attached to the lower side of the intermediate support frame 372, and the upper support frame 374 is mechanically attached to the upper side of the intermediate support frame 372. A ball bearing 376 mechanically connects the advance shaft 362 to the lower support frame 370, and a ball bearing 378 mechanically connects the advance shaft 362 to the upper support frame 374. The ball bearings 376 and 378 allow the advance shaft 362 to rotate freely while being fixed between the lower support frame 370 and the upper support frame 374 of the clamping support frame.

[0070] Rack 380 is mechanically attached to a clamping support frame (e.g., to an intermediate support frame 372). Rack 380 extends laterally away from the clamping support frame in a direction perpendicular to the axis of rotation of the feed shaft 362. Pinion 382 engages rack 380. Pinion 382 is disposed on and surrounds clamping shaft 384. In the illustrated example, clamping shaft 384 and pinion 382 are integral. In other examples, clamping shaft 384 may be a separate component from pinion 382. Female connector 386 is disposed on and mechanically attached to clamping shaft 384. Clamping shaft 384 may have one or more flat surfaces (e.g., a D-shaped cross-section perpendicular to the axis of rotation of clamping shaft 384), wherein female connector 386 is disposed on clamping shaft 384 at said flat plane. Similarly, the female connector 386 may have an opening with a cross-section corresponding to the cross-section of the clamping shaft 384 to help ensure that the clamping shaft 384 rotates with the rotation of the female connector 386. The female connector 386 is exposed through and / or extends through the base 302 of the housing.

[0071] Ball bearing 388 mechanically connects clamping shaft 384 to base 302 of the housing, and ball bearing 390 mechanically connects clamping shaft 384 to housing 304 of the housing. Ball bearings 388 and 390 allow clamping shaft 384 to rotate freely while fixed inside the housing.

[0072] When the housing is secured to the corresponding drive unit, the female connector 364 engages the male connector 244a of the drive unit's propulsion drive assembly 220a, and the female connector 386 engages the male connector 244b of the drive unit's clamping drive assembly 220b. In this example configuration, the longitudinal axis of the propulsion shaft 360 (e.g., about which the propulsion shaft 360 rotates) is aligned with the transverse axis of the propulsion drive assembly 220a, and the longitudinal axis of the clamping shaft 384 (e.g., about which the clamping shaft 384 rotates) is aligned with the transverse axis of the clamping drive assembly 220b.

[0073] Rotation of the lateral shaft 230b of the clamping drive assembly 220b causes rotation of the clamping shaft 384 (e.g., via male connector 244b and female connector 386). Rotation of the clamping shaft 384 causes rotation of the pinion 382, ​​thereby causing the rack 380 to translate laterally along the direction in which the rack 380 extends. Lateral translation of the rack 380 causes lateral translation of the clamping support frame, which in turn causes lateral translation of the feed shaft 362 and the feed roller 354. The walls and / or surfaces of the housing 304 and / or base 302 and / or other components within the housing may limit significant lateral and vertical movement of the clamping support frame in any direction perpendicular to the direction in which the rack 380 extends from the clamping support frame. Additionally, the walls, slots, tracks, and / or surfaces of the housing 304 and / or base 302 and / or other components within the housing may limit the amount of lateral movement of the clamping support frame in the direction in which the rack 380 extends from the clamping support frame to help prevent excessive movement of the clamping support frame.

[0074] The configuration of the clamping support frame, rack 380, and pinion 382 (and others) allows the push roller 354 and push shaft 362 to be in at least two positions. In the released position, push roller 354 is away from push roller 352. In the released position, the intravascular insertion device is released from between push rollers 352 and 354. When push roller 354 is in the released position, push rollers 352 and 354 do not apply force to the intravascular insertion device. Additionally, in the released position, push spur gear 358 can disengage from push spur gear 356. In the clamped position, push roller 354 is close to push roller 352. In the clamped position, the intravascular insertion device is clamped by push rollers 352 and 354, thereby being mechanically connected and secured. Push rollers 352 and 354 can apply opposing forces to the intravascular insertion device to clamp it. In the clamped position, the drive spur gear 358 engages with the drive spur gear 356.

[0075] In the clamped position, the clamping and advancing assembly can advance the intravascular insertion device. Rotation of the transverse axis 230a of the advancing drive assembly 220a causes rotation of the advancing shaft 360 (e.g., via male connector 244a and female connector 364). Rotation of the advancing shaft 360 causes rotation of the advancing spur gear 356, which in turn causes rotation of the advancing spur gear 358 and the advancing shaft 362 in opposite directions. The reverse rotation of the advancing shafts 360 and 362 causes reverse rotation of the advancing rollers 352 and 354. Since the advancing rollers 352 and 354 clamp the intravascular insertion device in this clamped position, rotation of the advancing rollers 352 and 354 advances the intravascular insertion device (e.g., to supply or retrieve a corresponding catheter into or from the body).

[0076] Each box includes a follow-up component. Figure 12 An exploded perspective view of a follower assembly according to some examples is shown. The follower assembly includes follower rollers 402 and 404, follower spur gears 406 and 408, follower shafts 410 and 412, bevel gears 414 and 416, shaft 418, and encoder coupling 420. The roller surfaces of the follower rollers 402 and 404 face each other. In operation, an intravascular insertion device is disposed between the roller surfaces of the follower rollers 402 and 404. The channel 308 of the housing 304 has an opening in the wall forming the channel 308, thereby allowing the roller surfaces of the follower rollers 402 and 404 to contact the intravascular insertion device.

[0077] In the illustrated example, follower shaft 410 is integral with follower spur gear 406, and follower shaft 412 is integral with follower spur gear 408. In other examples, one or both of follower shafts 410 and 412 may be separate components from the corresponding follower spur gears 406 and 408. Follower spur gear 406 is disposed on and surrounds follower shaft 410, and follower spur gear 408 is disposed on and surrounds follower shaft 412. Follower roller 402 is disposed on and surrounds follower shaft 410, and follower roller 404 is disposed on and surrounds follower shaft 412. Each of the follower shafts 410, 412 may have one or more flat surfaces (e.g., a D-shaped cross-section perpendicular to the axis of rotation of the follower shafts 410, 412), wherein the corresponding follower rollers 402, 404 are disposed on the follower shafts 410, 412 at said flat surfaces. Similarly, each of the follower rollers 402, 404 may have an opening having a cross-section corresponding to the cross-section of the corresponding follower shaft 410, 412, to help ensure that the follower rollers 402, 404 rotate with the rotation of the corresponding follower shaft 410, 412. A bevel gear 414 is mechanically attached to the follower spur gear 406 and / or the follower shaft 410. As illustrated, the bevel gear 414 is integral with the follower spur gear 406; however, in other examples, the bevel gear 414 may be a separate component from the follower spur gear 406. Supports 422 and 424 mechanically connect the assembled follower shaft 410, follower roller 402, follower spur gear 406, and bevel gear 414 to the base 302 and / or housing 304 of the box. Ball bearing 426 mechanically connects the follower shaft 410 to support 422, and ball bearing 428 mechanically connects the bevel gear 414 to support 424. Ball bearings 426 and 428 allow the assembled follower shaft 410, follower roller 402, follower spur gear 406, and bevel gear 414 to rotate freely while fixed within the box.

[0078] In the illustrated example, shaft 418 is integral with bevel gear 416. In other examples, shaft 418 may be a separate component from bevel gear 416. Bevel gear 416 is disposed at one end of shaft 418. Bevel gear 416 engages with bevel gear 414. Encoder coupling 420 is disposed on and mechanically attached to shaft 418. Shaft 418 may have one or more flat surfaces (e.g., a D-shaped cross-section perpendicular to the axis of rotation of shaft 418), at which encoder coupling 420 is disposed. Similarly, encoder coupling 420 may have an opening with a cross-section corresponding to the cross-section of shaft 418 to help ensure that shaft 418 rotates with encoder coupling 420. Encoder coupling 420 is exposed through and / or extends through base 302 of the housing. Ball bearing 430 mechanically connects shaft 418 to base 302 of the housing. The ball bearing 430 allows the shaft 418 to rotate freely while it is fixed inside the housing.

[0079] Frame 436 mechanically connects the assembled follower shaft 412, follower roller 404, and follower spur gear 408. Ball bearings 438 and 440 mechanically connect the follower shaft 412 to frame 436. Ball bearings 438 and 440 allow the assembled follower shaft 412, follower roller 404, and follower spur gear 408 to rotate freely while fixed within the box. Frame 436 is mechanically connected to bracket 442. Bracket 442 is mechanically attached to the bottom side of the box cover 306. Frame 436 can move vertically / straight within bracket 442. Frame 436 includes opposing tabs 444 extending laterally from frame 436 in opposite directions (one of the tabs is in...). Figure 12 The frame 436 is partially obscured, and the bracket 442 has an elongated opening 446 extending through the respective lateral side. Each tab 444 of the frame 436 is inserted into the corresponding elongated opening 446 of the bracket 442, thereby mechanically connecting the frame 436 to the bracket 442. The elongated opening 446 allows the tab 444 to move vertically / vertically within the elongated opening 446, thereby allowing the frame 436 to move vertically / vertically relative to the bracket 442. A spring 448 is vertically positioned between the top side of the frame 436 and the bottom side of the bracket 442. In the absence of another force, the spring 448 holds the frame 436 in a distal position relative to the bracket 442.

[0080] When the cartridge is secured to the corresponding drive unit, encoder connector 420 engages encoder connector 264 of the drive unit. The intravascular insertion device can be positioned between follower rollers 402 and 404 by lifting or removing the cartridge cover 306 and positioning it in the cartridge channel 308. Lifting or removing the cover 306 displaces the follower roller 404, follower shaft 412, follower spur gear 408, frame 436, and support 442 to clear the surface of the follower roller 404 from contact with the follower roller 402 via the channel 308, thereby allowing the intravascular insertion device to be positioned in the channel 308 between the follower rollers 402 and 404. Subsequently, returning the cover 306 to its original position or closing the cover 306 moves the follower roller 404, follower shaft 412, follower spur gear 408, frame 436, and support 442, causing the surface of the follower roller 404 to move inwards into the channel 308. The intravascular insertion device is then positioned between the follower rollers 402 and 404. A spring 448 causes the follower rollers 402 and 404 to apply a counterforce to the intravascular insertion device, thereby limiting its vertical / reverse movement. The counterforce applied to the intravascular insertion device by the follower rollers 402 and 404 is sufficiently large to limit its vertical / reverse movement and to cause the follower rollers 402 and 404 to rotate as the intravascular insertion device advances, and sufficiently small to allow the intravascular insertion device to rotate between the follower rollers 402 and 404. Typically, when the cap 306 is returned to its original position or closed, the follower spur gear 408 engages the follower spur gear 406.

[0081] During operation, as the intravascular insertion device is advanced via the clamping and advancing assembly of the cartridge, the advancement of the intravascular insertion device causes the follower rollers 402 and 404 to rotate in opposite directions. The rotation of the follower rollers 402 and 404 causes the follower shafts 410 and 412 to rotate, and correspondingly, the follower spur gears 406 and 408. The rotation of the follower rollers 402 and 404 and the follower shafts 410 and 412 can be coordinated due to the engagement of the follower spur gear 408 with the follower spur gear 406. The rotation of the follower shaft 410 and / or the follower spur gear 406 causes the bevel gear 414 to rotate about the axis of rotation around which the follower shaft 410 rotates. The rotation of the bevel gear 414 causes the rotation of the bevel gear 416 and the shaft 418. The rotation of the bevel gear 416 and the shaft 418 is about an axis of rotation transverse to the axes of rotation of the bevel gear 414, the follower shaft 410, the follower spur gear 406, and the follower roller 402. The shaft of encoder 262 rotates via the rotation of shaft 418 (e.g., via encoder couplings 264, 420). The rotation of the encoder shaft can be detected by encoder 262 and used by a controller (e.g., a processor) to infer the length, direction, and / or rate of advancement of the intravascular insertion device. Therefore, the servo component and encoder 262 can be implemented for feedback control of the advancement of the intravascular insertion device.

[0082] Each of the intermediate boxes 144, 146 and the distal box 142 includes a catheter rotation assembly. Figure 13 An exploded perspective view of a tubing rotation assembly according to some examples is shown. The tubing rotation assembly includes a Y-shaped connector housing, a bevel gear 452, and a rotation shaft 454. The Y-shaped connector housing includes a base 456 and a cap 458. The base 456 is mechanically attached to the housing 304 of the box. The cap 458 is attached to the base 456 via a hinge. The base 456 and the cap 458 are configured to secure the Y-shaped connector between the base 456 and the cap 458 when the cap 458 is closed on the base 456.

[0083] In the illustrated example, the rotating shaft 454 and the bevel gear 452 are integral. In other examples, the rotating shaft 454 may be a separate component from the bevel gear 452. The bevel gear 452 is disposed at one end of the rotating shaft 454. A female connector 460 is disposed on and mechanically attached to the rotating shaft 454. The rotating shaft 454 may have one or more flat surfaces (e.g., a D-shaped cross-section perpendicular to the axis of rotation of the rotating shaft 454), at which the female connector 460 is disposed. Similarly, the female connector 460 may have an opening with a cross-section corresponding to the cross-section of the rotating shaft 454 to help ensure that the rotating shaft 454 rotates as the female connector 460 rotates. The female connector 460 is exposed through and / or extends through the base 302 of the housing. A ball bearing 462 mechanically connects the rotating shaft 454 to the base 302 of the housing. The ball bearing 462 allows the rotating shaft 454 to rotate freely while it is fixed inside the housing.

[0084] When the box is secured to the corresponding drive unit, the female connector 460 engages the male connector 244c of the catheter rotation drive assembly 220c of the drive unit. In this example configuration, the longitudinal axis of the rotation shaft 454 (e.g., about which the rotation shaft 454 rotates) is aligned with the transverse axis of the catheter rotation drive assembly 220c.

[0085] Rotation of the transverse axis 230c of the conduit rotation drive assembly 220c causes rotation of the rotation shaft 454 (e.g., via male connector 244c and female connector 460). Rotation of the rotation shaft 454 causes rotation of the bevel gear 452. In operation, the bevel gear 452 (through the opening 464 through the base 456) engages with another bevel gear mechanically coupled to the conduit, which is attached to a Y-shaped connector secured by a Y-shaped connector housing. Rotation of the bevel gear 452 causes rotation of the bevel gear mechanically coupled to the conduit, thereby causing rotation of the conduit, as will be described in more detail later. Rotation of the bevel gear mechanically coupled to the conduit is about an axis transverse to the axis around which the rotation of the rotation shaft 454 is rotated.

[0086] The proximal box 148 includes a guidewire rotation assembly. Figure 14 An exploded perspective view of a guidewire rotation assembly according to some examples is shown. The guidewire rotation assembly includes a drive bevel gear 482 and a rotation shaft 484. In the illustrated example, the rotation shaft 484 is integral with the drive bevel gear 482. In other examples, the rotation shaft 484 may be a separate component from the drive bevel gear 482. A female connector 486 is disposed on and mechanically attached to the rotation shaft 484. The rotation shaft 484 may have one or more flat surfaces (e.g., having a D-shaped cross-section perpendicular to the axis of rotation of the rotation shaft 484), at which the female connector 486 is disposed on the rotation shaft 484. Similarly, the female connector 486 may have an opening having a cross-section corresponding to the cross-section of the rotation shaft 484 to help ensure that the rotation shaft 484 rotates as the female connector 486 rotates. The female connector 486 is exposed through and / or extends through a base 302 of the housing. Ball bearing 488 mechanically connects the rotating shaft 484 to the base 302 of the box, and ball bearing 490 mechanically connects the rotating shaft 484 to the outer shell 304 of the box. Ball bearings 488 and 490 allow the rotating shaft 484 to rotate freely while it is fixed inside the box.

[0087] The guide wire rotation assembly also includes a driven bevel gear 492, a first spur gear 494, and a second spur gear 496 meshing with the drive bevel gear 482, and a bracket 498. The bracket 498 is mechanically attached to the base 302 of the proximal housing 148. The bracket 498 has protrusions 500 and 502. The first spur gear 494 is mechanically coupled to and rotatable about protrusion 500, and the second spur gear 496 is mechanically coupled to and rotatable about protrusion 502. The first spur gear 494 engages with the second spur gear 496. The first bevel gear 492 is mechanically attached to the first spur gear 494. The respective axes of rotation of the first bevel gear 492 and the first spur gear 494 are collinear.

[0088] The guide wire rotation assembly includes a cap 512, a cap spur gear 514, a collet 516, a guide wire connector 518, and a clamping bracket 520. The cap spur gear 514 is mechanically attached to one end of the cap 512. In the illustrated example, the cap spur gear 514 is integral with the cap 512, while in other examples, the cap spur gear 514 and the cap 512 may be separate / discrete components. The cap 512 includes a threaded female connector (in... Figure 14(The portion is obscured). The guide wire connector 518 includes a threaded male connector 522. Upon assembly, the threaded female connector of the cap 512 engages the threaded male connector 522 of the guide wire connector 518. The guide wire connector 518 has a recess with a tapered wall inside the threaded male connector 522. The tapered wall of the guide wire connector 518 generally corresponds to the angled surface of the collet 516. Upon assembly, the collet 516 is inserted into the recess of the guide wire connector 518, and then the threaded female connector of the cap 512 engages with the threaded male connector 522 of the guide wire connector 518. As the cap 512 rotates on the guide wire connector 518 via the threaded engagement, the collet 516 is compressed. The guide wire can pass through the collet 516 and the opening through the cap 512, such that the collet 516 is compressed to hold and secure the guide wire.

[0089] The clamping bracket 520 is mechanically attached to the housing 304 of the proximal box 148. The clamping bracket 520 is configured to hold the guidewire connector 518 while allowing rotation of the guidewire connector 518. The guidewire connector 518 has ribs 524 surrounding the exterior of the guidewire connector 518. The clamping bracket 520 has a limiter 526. When the clamping bracket 520 holds the guidewire connector 518, the limiter 526 is laterally positioned between the ribs 524 of the guidewire connector 518, thereby limiting significant lateral movement of the guidewire connector 518. The clamping bracket 520 allows the guidewire connector 518 to rotate about its longitudinal axis. When the clamping bracket 520 holds the guidewire connector 518 with the cap 512 on it, the spur gear 514 engages the spur gear 496.

[0090] When the proximal box 148 is secured to the proximal drive unit 138, the female connector 486 engages the male connector 244d of the guidewire rotation drive assembly 220d of the proximal drive unit 138. In this example configuration, the longitudinal axis of the rotation shaft 484 (e.g., about which the rotation shaft 484 rotates) is aligned with the transverse axis of the guidewire rotation drive assembly 220d.

[0091] Rotation of the transverse axis 230d of the guide wire rotation drive assembly 220d causes rotation of the rotation shaft 484 (e.g., via male connector 244d and female connector 486). Rotation of the rotation shaft 484 causes rotation of the drive bevel gear 482, which in turn causes the driven bevel gear 492 to rotate about an axis transverse to the transverse axis of the guide wire rotation drive assembly 220d. Rotation of the driven bevel gear 492 causes rotation of the first spur gear 494 in the same direction. Rotation of the first spur gear 494 causes rotation of the second spur gear 496 in the opposite direction, in other words, in opposite directions. Rotation of the second spur gear 496 causes rotation of the cap spur gear 514 in the opposite direction, which rotates the guide wire when the chuck 516 is clamped onto the guide wire extending through the chuck.

[0092] Figure 15 , Figure 16 and Figure 17 An example configuration including a catheter and a Y-connector is shown. In Figure 15 In this design, the Y-shaped connector 602 includes a female Luer lock connector. The female Luer lock connector has a connecting bevel gear 604 integrally formed with the outer sheath of the female connector. The conduit 606 has a tab at its proximal end and a male Luer lock connector. The male connector of the conduit 606 engages with the female connector of the Y-shaped connector 602 during operation. Rotation of the connecting bevel gear 604 on the sheath of the female connector causes rotation of the conduit 606.

[0093] exist Figure 16 In this connection, the Y-shaped connector 608 includes a Luer lock female connector. The conduit 606 has a tab at its proximal end and a Luer lock male connector. The intermediate connector 610 has a Luer lock female connector and a male connector. The intermediate connector 610 has an intermediate connector bevel gear 612 integral with its outer sheath. During operation, the male connector of the conduit 606 engages with the female connector of the intermediate connector 610, and the male connector of the intermediate connector 610 engages with the female connector of the Y-shaped connector 608. Rotation of the intermediate connector bevel gear 612 on the intermediate connector 610 causes rotation of the conduit 606.

[0094] exist Figure 17 In this design, the Y-shaped connector 608 includes a Luer lock female connector. The conduit 614 has a tab at its proximal end and a Luer lock male connector. The male connector of the conduit 614 has a Luer bevel gear 616 integrally formed with the outer sheath of the male connector. During operation, the male connector of the conduit 614 engages with the female connector of the Y-shaped connector 608. Rotation of the Luer bevel gear 616 on the male connector sheath causes rotation of the conduit 614.

[0095] Return to reference Figure 13 The Y-shaped connector housing (including base 456 and cover 458) can be configured to receive and secure the Y-shaped connector, including Figures 15 to 17 Y-shaped connectors 602 and 608. The Y-shaped connector housing is configured such that when the Y-shaped connector housing secures the Y-shaped connectors 602 and 608, bevel gears 604, 612, and 616 mechanically connected to the Y-shaped connectors 602 and 608 and / or conduits 606 and 614 pass through opening 464 to engage the Y-shaped connector bevel gear 452 of the conduit rotation assembly. Therefore, rotation of the Y-shaped connector bevel gear 452 (via rotation of the rotation shaft 454) causes the bevel gears 604, 612, and 616 to rotate about an axis transverse to the rotation axis 454, which further causes the conduits 606 and 614 to rotate.

[0096] Figure 18 and Figure 19 These are schematic diagrams depicting the rotation and advancement of a catheter, based on some examples. Figure 18 and Figure 19 A first box 702 and a second box 704 are shown. The first box 702 is positioned closer to the side, and the second box 704 is positioned further to the side. The first box 702 and the second box 704 can be the distal box 142 and the first intermediate box 144, respectively. The first box 702 and the second box 704 can be the first intermediate box 144 and the second intermediate box 146, respectively. The first box 702 and the second box 704 can be the second intermediate box 146 and the proximal box 148, respectively.

[0097] The first housing 702 is shown as including a Y-connector housing (including a base 456 and a cover 458) that secures the Y-connector 602 to the bevel gear 604. A conduit 606 engages with the Y-connector 602. The Y-connector housing can secure any Y-connector and bevel gear configuration, and in other examples, any conduit can be implemented. The bevel gear 604 engages with the bevel gear 452 of the conduit rotation assembly of the first housing 702. The conduit 606 extends through a channel 308 of the second housing 704 (e.g., between the feed rollers 352, 354).

[0098] In operation, the clamping and advancing assembly of the second housing 704 can hold the conduit 606 in the channel 308 of the second housing 704 without movement or advancement in the lateral direction. If the conduit 606 is to be rotated, the clamping and advancing assembly of the second housing 704 releases the conduit 606 to allow rotation. Regardless of the movement of the conduit 606 (e.g., rotation, advancement, and no movement), the conduit rotation assembly of the first housing 702, configured to rotate the conduit 606, can remain mechanically engaged with the conduit 606 (e.g., via bevel gear 604 mechanically engaged with the conduit 606 via bevel gear 452).

[0099] First, assume that the first housing 702 and the second housing 704 are in their respective positions where the conduit 606 is not moving, such that the clamping and pushing assembly of the second housing 704 fixes the conduit 606 between the pushing rollers 352 and 354 of the second housing 704. To rotate the conduit 606, the clamping and pushing assembly of the second housing 704 releases the conduit 606. The pushing roller 354 of the second housing 704 translates laterally, such that the opposing pushing rollers 352 and 354 do not exert opposing forces (e.g., clamping) on ​​the conduit 606. (Reference) Figure 11A and Figure 11BThe pinion 382 is rotated by the clamping drive assembly 220b (e.g., via male connector 244b and female connector 386), and the rotation of the pinion 382 causes the rack 380 to translate, causing the clamping support frame (including lower support frame 370, intermediate support frame 372, and upper support frame 374) and the feed roller 354 to translate in a direction away from the feed roller 352 (e.g., in the -Y direction). Reference Figure 18 The push roller 354 is translated to the release position in the direction 712 away from the push roller 352.

[0100] With conduit 606 clamped and the advance assembly released, the conduit rotating assembly of the first housing 702 can rotate conduit 606. To rotate conduit 606, the bevel gear 452 of the first housing 702 rotates 714 about axis 716. The rotation 714 of the bevel gear 452 of the first housing 702 causes the bevel gear 604 to rotate about a transverse axis, which causes the conduit 606 to rotate 718. (Reference) Figure 13 The bevel gear 452 is rotated via the guide tube rotation drive assembly 220c (e.g., via male connector 244c and female connector 460). Axis 716 corresponds to the longitudinal axis around which the rotation shaft 454 and the bevel gear 452 rotate.

[0101] To advance catheter 606, refer to Figure 19 The clamping and pushing assembly of the second housing 704 clamps the guide tube 606. The pushing roller 354 of the second housing 704 translates laterally, causing the opposing pushing rollers 352, 354 to apply opposing forces (e.g., clamping) to the guide tube 606. (See reference) Figure 11A and Figure 11B The pinion 382 is rotated by the clamping drive assembly 220b (e.g., via male connector 244b and female connector 386), and the rotation of the pinion 382 causes the rack 380 to translate, causing the clamping support frame (including lower support frame 370, intermediate support frame 372, and upper support frame 374) and the feed roller 354 to translate in a direction toward the feed roller 352 (e.g., in the +Y direction). Reference Figure 19 The push roller 354 is translated to the clamping position in the direction 720 toward the push roller 352.

[0102] With the catheter 606 clamped and the propulsion assembly engaged, the clamping and propulsion assembly of the second housing 704 can advance the catheter 606 (e.g., to supply the catheter into or retrieve it from the body). To advance the catheter 606, the propulsion shaft 360 of the second housing 704 is rotated via the propulsion drive assembly 220a (e.g., via male connector 244a and female connector 364), causing the propulsion roller 352 to rotate 722. Additionally, the rotation of the propulsion shaft 360 of the second housing 704 causes the propulsion spur gear 356 to rotate similarly. In the clamped position, the propulsion spur gear 356 engages the propulsion spur gear 358. Therefore, the rotation of the propulsion spur gear 356 causes the propulsion spur gear 358 to rotate in the opposite direction, which in turn causes the propulsion roller 354 to rotate in the opposite direction 724. Figure 19 The rotation 722, 724 of the push rollers 352, 354 shown can supply the conduit 606 into the body. The rotation of the push rollers 352, 354 opposite to the illustrated rotation 722, 724 can retrieve the conduit from the body.

[0103] When the clamping and pushing assembly of the second box 704 advances the conduit 606, the first box 702 follows the advancement of the conduit 606. For example... Figure 19 As shown, the first cartridge 702 follows in the lateral translation direction 726 (e.g., when the catheter 606 is supplied into the body). The first cartridge 702 can also follow in the lateral translation direction opposite to 726 (e.g., when the catheter 606 is retrieved from the body). The following / following of the first cartridge 702 can be accomplished by independent translational components such as those described later. The following of the first cartridge 702 can cause minimal or no tension in the catheter 606 between the feed rollers 352, 354 of the second cartridge 704 clamping the catheter 606 and the Y-shaped connector 602 secured by the Y-shaped connector housing of the first cartridge 702. This lack of tension in Figure 19 The relaxation 728 present in catheter 606 is illustrated in the example.

[0104] If passed Figure 18 and Figure 19 For example, regardless of the movement of conduit 606, the conduit rotating assembly of the first housing 702 can remain engaged with or mechanically coupled to the connecting bevel gear 604 (e.g., via bevel gear 452 engaging the connecting bevel gear 604). Therefore, regardless of the movement of conduit 606 during operation, the conduit rotating assembly can remain mechanically coupled to conduit 606. Figure 19 During this process, the catheter rotation assembly is not rotating the catheter 606, and while the catheter 606 is being advanced, the bevel gear 452 remains engaged with the bevel gear 604. Additionally, as by... Figure 18 and Figure 19For example, the clamping and pushing assembly of the second box 704 is released from or becomes mechanically disengaged from the conduit 606 to allow the conduit 606 to rotate through the channel 308 of the second box 704.

[0105] Figure 8A and Figure 8B These are schematic diagrams depicting the rotation and advance of guide wire 732 according to some examples. Figure 8A and Figure 8B Proximal housing 148 is shown. Proximal housing 148 is shown as including a guide wire connector 518 and a cap 512. As previously described, guide wire 732 is secured by guide wire connector 518, cap 512, and chuck 516 (not shown). Cap spur gear 514 on cap 512 engages with spur gear 496. Guide wire 732 extends from guide wire connector 518 and cap 512 through channel 308 of proximal housing 148 (e.g., between feed rollers 352, 354). The length of guide wire 732 extending from cap 512 to housing 304 (e.g., extending to channel 308 through housing 304) can be referred to as the loop of guide wire 732.

[0106] During operation, the clamping and advancing assembly of the proximal box 148 can hold the guidewire 732 in the channel 308 of the proximal box 148 without movement or advancement in the lateral direction. If the guidewire 732 is to be rotated, the clamping and advancing assembly of the proximal box 148 releases the guidewire 732 for rotation. Regardless of the movement of the guidewire 732 (e.g., rotation, advancement, and no movement), the guidewire rotation assembly of the proximal box 148 can remain mechanically engaged with the guidewire 732 (e.g., via the chuck 516, guidewire connector 518, and cap 512).

[0107] First, assuming the proximal box 148 is in the position where the guide wire 732 is not moving, the clamping and advancing assembly of the proximal box 148 fixes the guide wire 732 between the advancing rollers 352 and 354 of the proximal box 148. To rotate the guide wire 732, the clamping and advancing assembly releases the guide wire 732. The advancing roller 354 of the proximal box 148 is laterally translated in direction 734 to the released position, such that the opposing advancing rollers 352 and 354 do not apply opposing forces (e.g., clamping) to the guide wire 732, as described above. Figure 18 The description is the same.

[0108] With the guidewire 732 released by the clamping and advancing assembly of the proximal box 148, the catheter rotation assembly of the proximal box 148 can rotate the guidewire 732. To rotate the guidewire 732, the spur gear 496 of the proximal box 148 rotates 736 about axis 738. The rotation 736 of the spur gear 496 causes the cap spur gear 514, and consequently the cap 512, guidewire connector 518, and chuck 516, to rotate in the opposite direction to the rotation 736, thus rotating the guidewire 732 740 degrees. (Reference) Figure 14 The spur gear 496 is rotated by the guide wire rotation drive assembly 220d (e.g., via male connector 244d and female connector 486).

[0109] To advance guidewire 732, refer to Figure 21 The clamping and advancing assembly near the box 148 clamps the guide wire 732. The advancing roller 354 translates laterally, causing the opposing advancing rollers 352, 354 to apply opposing forces (e.g., clamping) to the guide wire 732, as shown in the reference. Figure 19 As described. The feed roller 354 is translated to the clamping position in the direction 742 toward the feed roller 352.

[0110] With the guide wire 732 clamped and the advance assembly engaged, the clamping and advance assembly can advance the guide wire 732 (e.g., supplying the guide wire into or retrieving it from the body). To advance the guide wire 732, the advance shaft 360 of the proximal housing 148 is rotated via the advance drive assembly 220a (e.g., via male connector 244a and female connector 364), thereby rotating the advance roller 352 744. Additionally, the rotation of the advance shaft 360 causes the advance spur gear 356 to rotate in the same manner. In the clamped position, the advance spur gear 356 engages the advance spur gear 358. Therefore, the rotation of the advance spur gear 356 causes the advance spur gear 358 to rotate in the opposite direction, which in turn causes the advance roller 354 to rotate in the opposite direction 746. Figure 21 The rotation 744, 746 of the feed rollers 352, 354 shown herein allows the guide wire 732 to be fed into the body. The rotation of the feed rollers 352, 354 in the opposite direction to the illustrated rotation 744, 746 allows the guide wire to be retrieved from the body.

[0111] When the clamping and advancing assembly of the proximal box 148 advances the guide wire 732, the loop of the guide wire 732 can be changed. For example... Figure 21 As shown, the length of the loop can be reduced when the guidewire 732 is advanced in the lateral translation direction 748 (e.g., when the guidewire 732 is supplied into the body). Similarly, the length of the loop can be increased when the guidewire 732 is advanced in the lateral translation direction opposite to the direction 748 (e.g., when the guidewire 732 is retrieved from the body).

[0112] If passed Figure 8A and Figure 8B For example, regardless of the movement of the guidewire 732, the guidewire rotation assembly of the proximal housing 148 can remain engaged with or mechanically coupled to the guidewire 732 (e.g., by means of the guidewire connector 518, clamp 516, and cap 512 that secure the guidewire 732). Therefore, regardless of the movement of the guidewire 732 during operation, the guidewire rotation assembly can remain mechanically coupled to the guidewire 732. Figure 21In this process, the catheter rotation assembly is not rotating the guidewire 732, and while the guidewire 732 is being advanced, the guidewire connector 518, clamp 516, and cap 512 hold the guidewire 732 in place while the spur gears 514 and 496 remain engaged. Additionally, as by... Figure 20 and Figure 21 For example, the clamping and advancing assembly of the proximal box 148 is released from or becomes mechanically disengaged from the guide wire 732 to allow the guide wire 732 to rotate through the channel 308 of the proximal box 148.

[0113] Figures 9A to 9C An exploded perspective view of a translation assembly mechanically coupled to a track, according to some examples, is shown. Each of the first intermediate drive unit 134, the second intermediate drive unit 136, and the proximal drive unit 138 includes a corresponding translation assembly mechanically coupled to it. The translation assembly allows the respective drive units 134 to 138 to translate along the track (e.g., in the X direction). Different translation assemblies can be implemented for the drive units and / or modifications can be made to the illustrated translation assembly. Various types of shafts and gears are described below with respect to the translation assembly; however, other types of shafts and gears can be implemented to achieve different configurations of the translation assembly.

[0114] The translation assembly includes a rotary actuator 802. The rotary actuator 802 includes a drive shaft 804 (e.g., a shaft having a D-shaped cross-section orthogonal to the axis of rotation of the shaft). The rotary actuator 802 is configured to rotate the drive shaft 804. In some examples, the rotary actuator 802 is a motor, such as an electric motor. The rotary actuator 802 is mechanically attached to and mounted on a bracket 806. A worm gear 808 is mechanically attached to the drive shaft 804.

[0115] The translation assembly also includes a transverse shaft 810 (e.g., a shaft having a D-shaped cross-section orthogonal to the axis of rotation of the shaft). A gear 812 (e.g., a spur gear having a concave outer surface) and a pinion 814 are each mechanically attached to and surround the transverse shaft 810. A worm gear 808 engages the gear 812. A rotary actuator 802 is configured to rotate the drive shaft 804, causing the worm gear 808 to rotate about the drive axis. The rotation of the worm gear 808 causes the gear 812 to rotate about a transverse axis transverse to the drive axis. The rotation of the gear 812 causes the transverse shaft 810 to rotate about the transverse axis, which in turn causes the pinion 814 to rotate about the transverse axis. The translation assembly also includes a slider 816. The slider 816 generally has a C-shaped cross-section, such as... Figure 9A , Figure 9B As shown in the diagram, the slider 816 is mechanically attached to the bracket 806.

[0116] The track includes guide 818 and rack 820. Although in Figure 9A and Figure 9BNot illustrated, but guide 818 and rack 820 are mechanically connected to and supported by frame 112. Guide 818 has a groove on its top side and a groove on its bottom side. Slider 816 engages the grooves of guide 818 to mechanically support the translation assembly and allow the translation assembly to translate along guide 818. Pinion 814 engages rack 820. Through engagement with rack 820, rotation of pinion 814 causes translation of the translation assembly.

[0117] The translation components are mechanically connected to the corresponding drive units. Figure 9A and Figure 9B In the middle, the mounting plate 822 is mechanically attached to the bracket 806. The mounting plate 822 is mechanically attached to the spacer 824, which is mechanically attached to the support plate 202 of the corresponding drive unit.

[0118] The translation assembly may also include a connecting conduit 826. In the illustrated example, one end of the connecting conduit 826 is mechanically attached to a bracket 828 mechanically attached to a bracket 806. The other end of the connecting conduit 826 is mechanically attached to a frame 112 (not shown). The connecting conduit 826 can carry wiring and cables that transmit power and / or control signals to various electrical components within the translation assembly and drive unit. The end of the connecting conduit 826 mechanically attached to the frame 112 can be held in a fixed position, while the end of the connecting conduit 826 mechanically attached to the bracket 828 can move as the translation assembly translates. The connecting conduit 826 can reduce kinks or tangles in the wiring or cables carried by it.

[0119] Figure 9C The illustration schematically shows a device, according to some embodiments, integrated within its housing. Figure 9A and Figure 9B A view of the proximal box of the translation assembly. The proximal box 830 in this document includes the housing 832. (As...) Figure 11A The clamping and pushing assembly 834 shown is as follows: Figure 14 The guide wire rotation assembly 834 and guide wire 838 shown are fully housed within the housing 832.

[0120] Figure 20 and Figure 21 These are flowcharts of methods 900A and 900B for operating systems used in endovascular surgery, based on some examples. Figure 20 and Figure 21 Methods 900A and 900B are used for various operations. Figure 2 The multiaxial conduit system 100 and various components described in relation to other figures are illustrated in the background. Different systems may be used in other implementations. The various operations of methods 900A and 900B can be implemented in any order. Additionally, some examples implement... Figure 20 and Figure 21 The methods 900A and 900B exemplify and describe fewer (or more) operations. Any logical arrangement of the operations of methods 900A and 900B, or a subset thereof, can be implemented in some examples.

[0121] In operation, the distal box 142 is mounted on the distal box platform 122 and mechanically secured to the distal drive unit 132. The tab 314-2 of the distal box 142 engages with the hook 204-2 of the distal drive unit 132, and the buckle 322-2 of the distal box 142 engages with the buckle rib 206-2 of the distal drive unit 132. The male connector 244a-2 of the distal drive unit 132 engages with the female connector 364-2 of the distal box 142, and the male connector 244b-2 of the distal drive unit 132 engages with the female connector 386-2 of the distal box 142. The encoder connector 264-2 of the distal drive unit 132 engages with the encoder connector 420-2 of the distal box 142.

[0122] A first intermediate box 144 is disposed on a first intermediate box platform 124 and mechanically secured to a first intermediate drive unit 134. A tab 314 (e.g., tab 314-4) of the first intermediate box 144 engages a hook 204 (e.g., hook 204-4) of the first intermediate drive unit 134, and a buckle 322 (e.g., buckle 322-4) of the first intermediate box 144 engages a buckle rib 206 (e.g., buckle rib 206-4) of the first intermediate drive unit 134. A male connector 244a (e.g., male connector 244a-4) of the first intermediate drive unit 134 engages a female connector 364 (e.g., female connector 364-4) of the first intermediate box 144. A male connector 244b (e.g., male connector 244b-4) of the first intermediate drive unit 134 engages a female connector 386 (e.g., female connector 386-4) of the first intermediate box 144. The male connector 244c (e.g., male connector 244c-4) of the first intermediate drive unit 134 engages the female connector 460 (e.g., female connector 460-4) of the first intermediate box 144. The encoder connector 264 (e.g., encoder connector 264-4) of the first intermediate drive unit 134 engages the encoder connector 420 (e.g., encoder connector 420-4) of the first intermediate box 144.

[0123] The second intermediate box 146 is disposed on the second intermediate box platform 126 and mechanically secured to the second intermediate drive unit 136. A tab 314 (e.g., tab 314-4) of the second intermediate box 146 engages a hook 204 (e.g., hook 204-4) of the second intermediate drive unit 136, and a buckle 322 (e.g., buckle 322-4) of the second intermediate box 146 engages a buckle rib 206 (e.g., buckle rib 206-4) of the second intermediate drive unit 136. A male connector 244a (e.g., male connector 244a-4) of the second intermediate drive unit 136 engages a female connector 364 (e.g., female connector 364-4) of the second intermediate box 146. A male connector 244b (e.g., male connector 244b-4) of the second intermediate drive unit 136 engages a female connector 386 (e.g., female connector 386-4) of the second intermediate box 146. The male connector 244c (e.g., male connector 244c-4) of the second intermediate drive unit 136 engages the female connector 460 (e.g., female connector 460-4) of the second intermediate box 146. The encoder connector 264 (e.g., encoder connector 264-4) of the second intermediate drive unit 136 engages the encoder connector 420 (e.g., encoder connector 420-4) of the second intermediate box 146.

[0124] The proximal box 148 is mounted on the proximal box platform 128 and mechanically fixed to the proximal drive unit 138. The protrusion 314-8 of the proximal box 148 engages with the hook 204-8 of the proximal drive unit 138, and the buckle 322-8 of the proximal box 148 engages with the buckle rib 206-8 of the proximal drive unit 138. The male connector 244a-8 of the proximal drive unit 138 engages with the female connector 364-8 of the proximal box 148. The male connector 244b-8 of the proximal drive unit 138 engages with the female connector 386-8 of the proximal box 148. The male connector 244c-8 of the proximal drive unit 138 engages with the female connector 460-8 of the proximal box 148. The male connector 244d-8 of the proximal drive unit 138 engages with the female connector 486-8 of the proximal box 148. The encoder connector 264-8 of the proximal drive unit 138 engages with the encoder connector 420-8 of the proximal box 148.

[0125] The first conduit 152 is disposed through the channel 308-2 of the distal box 142, including between the feed rollers 352-2 and 354-2 and between the follower rollers 402-2 and 404-2. The proximal end of the first conduit 152 is mechanically coupled to a Y-shaped connector 162, which is mechanically secured by the Y-shaped connector housing of the first intermediate box 144 (including a base 456 and a cover 458 (e.g., base 456-4 and cover 458-4)). Gears are mechanically coupled to the first conduit 152 and are positioned around the axis of rotation of the first conduit 152, such as relative to... Figures 15 to 17The gear engages with the bevel gear 452 (e.g., bevel gear 452-4) of the conduit rotating assembly of the first intermediate box 144.

[0126] The second conduit 154 is disposed through a channel 308 (e.g., channel 308-4) of the first intermediate box 144, including between the feed rollers 352, 354 (e.g., feed rollers 352-4, 354-4) and the follower rollers 402, 404 (e.g., follower rollers 402-4, 404-4). The proximal end of the second conduit 154 is mechanically coupled to a Y-shaped connector 164, which is mechanically secured by a Y-shaped connector housing of the second intermediate box 146 (including a base 456 and a cover 458 (e.g., base 456-4 and cover 458-4)). A gear is mechanically coupled to the second conduit 154 and, for example, around the axis of rotation of the second conduit 154, such as relative to... Figures 15 to 17 Described. The gear engages with a bevel gear 452 (e.g., bevel gear 452-4) of the conduit rotation assembly of the second intermediate box 146. The second conduit 154 is inserted into the first conduit 152 and is movable within the first conduit 152.

[0127] The third conduit 156 is disposed through a channel 308 (e.g., channel 308-4) of the second intermediate box 146, including between the feed rollers 352, 354 (e.g., feed rollers 352-4, 354-4) and the follower rollers 402, 404 (e.g., follower rollers 402-4, 404-4). The proximal end of the third conduit 156 is mechanically coupled to a Y-shaped connector 166, which is mechanically secured by a Y-shaped connector housing (including a base 456-8 and a cover 458-8) of the proximal box 148. A gear is mechanically coupled to the third conduit 156 and, for example, around the axis of rotation of the third conduit 156, such as relative to... Figures 15 to 17 Described. The gear engages with the bevel gear 452-8 of the conduit rotating assembly of the proximal box 148. The third conduit 156 is inserted into the second conduit 154 and is movable within the second conduit 154.

[0128] The guide wire 158 is disposed through channels 308-8 of the proximal box 148, including between feed rollers 352-8 and 354-8 and follower rollers 402-8 and 404-8. The proximal end of the guide wire 158 is mechanically coupled to the guide wire connector 518-8, chuck 516-8, and cap 512-8 of the proximal box 148. A spur gear 514-8 is mechanically attached to the cap 512-8 and engages with the spur gear 496-8 of the guide wire rotation assembly of the proximal box 148. The guide wire 158 is inserted into and movable within a second guide tube 154.

[0129] In frame 902, the first conduit 152 is mechanically coupled to the clamping and pushing assembly of the distal box 142. The first conduit 152 is mechanically coupled to the clamping and pushing assembly of the distal box 142 by translating the push roller 354-2 of the distal box 142 into a clamping position (which clamps the first conduit 152 and mechanically engages it between the push rollers 352-2 and 354-2 of the distal box 142). As described above, the push roller 354-2 can be translated by actuating the rotary actuator 222b-2 of the clamping drive assembly 220b-2 of the distal drive unit 132.

[0130] In frame 904, the first conduit 152 is advanced via the clamping and advancing assembly of the distal box 142. Advancing the first conduit 152 may include one or both of supplying the first conduit 152 into the body in frame 906 and retrieving the first conduit 152 from the body in frame 908. Advancing the first conduit 152 includes rotating the advancing rollers 352-2, 354-2 of the clamping and advancing assembly of the distal box 142. As described above, the advancing rollers 352-2, 354-2 can be rotated by actuating the rotary actuator 222a-2 of the advancing drive assembly 220a-2 of the distal drive unit 132.

[0131] As the first conduit 152 is advanced within frame 904, it is mechanically connected to the clamping and advancing assembly of the distal box 142 and the conduit rotating assembly of the first intermediate box 144. The first conduit 152 remains clamped between the advancing rollers 352-2 and 352-4 of the distal box 142 while being advanced. Simultaneously, the first conduit 152 remains mechanically connected to the Y-shaped connector 162 and a gear surrounding the axis of rotation of the first conduit 152, and the bevel gear 452 (e.g., bevel gear 452-4) of the conduit rotating assembly of the first intermediate box 144 remains engaged with the surrounding gear.

[0132] Additionally, as the first conduit 152 is advanced in frame 904, the first intermediate box 144 translates correspondingly along a track. A rotary actuator 802 for the translation assembly of the first intermediate drive unit 134 can be actuated to cause the first intermediate drive unit 134 to translate along a track (e.g., guide 818 and rack 820). When the first conduit 152 is supplied into the body in frame 906, the distance between the distal box 142 and the first intermediate box 144 is reduced by correspondingly translating the first intermediate box 144 and the first intermediate drive unit 134 with the corresponding translation assembly. When the first conduit 152 is retrieved from the body in frame 908, the distance between the distal box 142 and the first intermediate box 144 is increased by correspondingly translating the first intermediate box 144 and the first intermediate drive unit 134 with the corresponding translation assembly. The translation of the first intermediate box 144 can reduce or eliminate tension on the first conduit 152 between the distal box 142 and the first intermediate box 144. As the first catheter 152 is advanced, the second intermediate box 146 and the proximal box 148 can also be translated accordingly or remain stationary.

[0133] In frame 910, the first conduit 152 is mechanically disengaged from the clamping and pushing assembly of the distal box 142. This disengagement is achieved by translating the push roller 354-2 of the distal box 142 to a release position (which releases the first conduit 152 and mechanically disengages it from the push rollers 352-2 and 354-2 of the distal box 142). As described above, the push roller 354-2 can be translated by actuating the rotary actuator 222b-2 of the clamping drive assembly 220b-2 of the distal drive unit 132.

[0134] In block 912, as the first conduit 152 mechanically disengages from the clamping and advancing assembly of the distal box 142, the conduit rotating assembly of the first intermediate box rotation 144 rotates the first conduit 152. As described above, the first conduit 152 can be rotated by actuating the rotary actuator 222c (e.g., rotary actuator 222c-4) of the conduit rotating drive assembly 220c (e.g., conduit rotating drive assembly 220c-4) of the first intermediate drive unit 134. The mechanical disengagement of the first conduit 152 from the clamping and advancing assembly of the distal box 142 allows the first conduit 152 to rotate through the distal box 142.

[0135] In frame 914, the second conduit 154 is mechanically coupled to the clamping and pushing assembly of the first intermediate box 144. The second conduit 154 is mechanically coupled to the clamping and pushing assembly of the first intermediate box 144 by translating the pushing roller 354 (e.g., pushing roller 354-4) of the first intermediate box 144 into a clamping position (which clamps the second conduit 154 and mechanically engages it between the pushing rollers 352, 354 (e.g., pushing rollers 352-4, 354-4) of the first intermediate box 144). As described above, the pushing roller 354 can be translated by actuating the rotary actuator 222b (e.g., rotary actuator 222b-4) of the clamping drive assembly 220b (e.g., clamping drive assembly 220b-4) of the first intermediate drive unit 134.

[0136] In frame 916, the second conduit 154 is advanced via the clamping and advancing assembly of the first intermediate box 144. Advancing the second conduit 154 may include supplying the second conduit 154 into the body in frame 918 and retrieving the second conduit 154 from the body in frame 920, or both. Advancing the second conduit 154 includes rotating the advancing rollers 352, 354 (e.g., advancing rollers 352-4, 354-4) of the clamping and advancing assembly of the first intermediate box 144. As described above, the advancing rollers 352, 354 (e.g., advancing rollers 352-4, 354-4) can be rotated by actuating the rotary actuator 222a (e.g., rotary actuator 222a-4) of the advancing drive assembly 220a (e.g., advancing drive assembly 220a-4) of the first intermediate drive unit 134.

[0137] As the second conduit 154 is advanced within frame 916, it is mechanically connected to the clamping and advancing assembly of the first intermediate box 144 and the conduit rotating assembly of the second intermediate box 146. The second conduit 154 remains clamped between the advancing rollers 352, 354 of the first intermediate box 144 while being advanced. Simultaneously, the second conduit 154 remains mechanically connected to the Y-shaped connector 164 and a gear surrounding the axis of rotation of the second conduit 154, and the bevel gear 452 (e.g., bevel gear 452-4) of the conduit rotating assembly of the second intermediate box 146 remains engaged with the surrounding gear.

[0138] Additionally, as the second conduit 154 is advanced in frame 916, the second intermediate box 146 translates correspondingly along the track. A rotary actuator 802 for the translation assembly of the second intermediate drive unit 136 can be actuated to cause the second intermediate drive unit 136 to translate along the track (e.g., guide 818 and rack 820). When the second conduit 154 is supplied into the body in frame 918, the distance between the first intermediate box 144 and the second intermediate box 146 is reduced by correspondingly translating the second intermediate box 146 and the second intermediate drive unit 136 with the corresponding translation assembly. When the second conduit 154 is retrieved from the body in frame 920, the distance between the first intermediate box 144 and the second intermediate box 146 is increased by correspondingly translating the second intermediate box 146 and the second intermediate drive unit 136 with the corresponding translation assembly. The translation of the second intermediate box 146 can reduce or eliminate tension on the second conduit 154 between the first intermediate box 144 and the second intermediate box 146. As the second catheter 154 is advanced, the proximal box 148 can also be translated accordingly or remain stationary.

[0139] In frame 922, the second conduit 154 is mechanically disengaged from the clamping and pushing assembly of the first intermediate box 144. This disengagement is achieved by translating the push roller 354 (e.g., push roller 354-4) of the first intermediate box 144 to a release position (which releases the second conduit 154 and mechanically disengages it from the push rollers 352, 354 (e.g., push rollers 352-4, 354-4) of the first intermediate box 144). As described above, the push roller 354 can be translated by actuating the rotary actuator 222b (e.g., rotary actuator 222b-4) of the clamping drive assembly 220b (e.g., clamping drive assembly 220b-4) of the first intermediate drive unit 134.

[0140] In block 924, as the second conduit 154 mechanically disengages from the clamping and advancing assembly of the first intermediate box 144, the conduit rotation assembly of the second intermediate box 146 rotates the second conduit 154. As described above, the second conduit 154 can be rotated by actuating the rotary actuator 222c (e.g., rotary actuator 222c-4) of the conduit rotation drive assembly 220c (e.g., conduit rotation drive assembly 220c-4) of the second intermediate drive unit 136. The mechanical disengagement of the second conduit 154 from the clamping and advancing assembly of the first intermediate box 144 allows the second conduit 154 to rotate through the first intermediate box 144.

[0141] In some examples, while the second conduit 154 is advanced in frame 916 and / or rotated in frame 924, the first conduit 152 remains mechanically coupled to the clamping and advancing assembly of the distal box 142. In some examples, while the second conduit 154 is advanced in frame 916 and / or rotated in frame 924, the first conduit 152 can be mechanically disengaged from the clamping and advancing assembly of the distal box 142.

[0142] In frame 926, the third conduit 156 is mechanically coupled to the clamping and pushing assembly of the second intermediate box 146. The third conduit 156 is mechanically coupled to the clamping and pushing assembly of the second intermediate box 146 by translating the pushing roller 354 (e.g., pushing roller 354-4) of the second intermediate box 146 into a clamping position (which clamps the third conduit 156 and mechanically engages it between the pushing rollers 352, 354 (e.g., pushing rollers 352-4, 354-4) of the second intermediate box 146). As described above, the pushing roller 354 can be translated by actuating the rotary actuator 222b (e.g., rotary actuator 222b-4) of the clamping drive assembly 220b (e.g., clamping drive assembly 220b-4) of the second intermediate drive unit 136.

[0143] In frame 928, the third conduit 156 is advanced via the clamping and advancing assembly of the second intermediate box 146. Advancing the third conduit 156 may include supplying the third conduit 156 into the body in frame 930 and retrieving the third conduit 156 from the body in frame 932, or both. Advancing the third conduit 156 includes rotating the advancing rollers 352, 354 (e.g., advancing rollers 352-4, 354-4) of the clamping and advancing assembly of the second intermediate box 146. As described above, the advancing rollers 352, 354 (e.g., advancing rollers 352-4, 354-4) can be rotated by actuating the rotary actuator 222a (e.g., rotary actuator 222a-4) of the advancing drive assembly 220a (e.g., advancing drive assembly 220a-4) of the second intermediate drive unit 136.

[0144] As the third conduit 156 is advanced within frame 928, it is mechanically connected to the clamping and advancing assembly of the second intermediate box 146 and the conduit rotating assembly of the proximal box 148. The third conduit 156 remains clamped between the advancing rollers 352 and 354 of the second intermediate box 146 while being advanced. Simultaneously, the third conduit 156 remains mechanically connected to the Y-shaped connector 166 and the gear surrounding the axis of rotation of the third conduit 156, and the bevel gears 452-8 of the conduit rotating assembly of the proximal box 148 remain engaged with the surrounding gears.

[0145] Additionally, as the third conduit 156 is advanced in frame 928, the proximal cassette 148 translates correspondingly along a track. A rotary actuator 802 for the translation assembly of the proximal drive unit 138 can be actuated to cause the proximal drive unit 138 to translate along a track (e.g., guide 818 and rack 820). When the third conduit 156 is supplied into the body in frame 930, the distance between the second intermediate cassette 146 and the proximal cassette 148 is reduced by correspondingly translating the proximal cassette 148 and the proximal drive unit 138 with the corresponding translation assembly. When the third conduit 156 is retrieved from the body in frame 932, the distance between the second intermediate cassette 146 and the proximal cassette 148 is increased by correspondingly translating the proximal cassette 148 and the proximal drive unit 138 with the corresponding translation assembly. The translation of the proximal cassette 148 can reduce or eliminate tension on the third conduit 156 between the second intermediate cassette 146 and the proximal cassette 148.

[0146] In frame 934, the third conduit 156 is mechanically disengaged from the clamping and pushing assembly of the second intermediate box 146. The third conduit 156 is mechanically disengaged from the clamping and pushing assembly of the second intermediate box 146 by translating the pushing roller 354 (e.g., pushing roller 354-4) of the second intermediate box 146 to a release position (which releases the third conduit 156 and mechanically disengages it from the pushing rollers 352, 354 (e.g., pushing rollers 352-4, 354-4) of the second intermediate box 146). As described above, the pushing roller 354 can be translated by actuating the rotary actuator 222b (e.g., rotary actuator 222b-4) of the clamping drive assembly 220b (e.g., clamping drive assembly 220b-4) of the second intermediate drive unit 136.

[0147] In frame 936, as the third conduit 156 mechanically disengages from the clamping and advancing assembly of the second intermediate box 146, the conduit rotation assembly of the proximal box 148 rotates the third conduit 156. As described above, the third conduit 156 can be rotated by actuating the rotation actuator 222c-8 of the conduit rotation drive assembly 220c-8 of the proximal drive unit 138. The mechanical disengagement of the third conduit 156 from the clamping and advancing assembly of the second intermediate box 146 allows the third conduit 156 to rotate through the second intermediate box 146.

[0148] In some examples, while the third conduit 156 is advanced in frame 928 and / or rotated in frame 936, conduits 152 and 154 remain mechanically coupled to the corresponding clamping and advancing assemblies of the distal box 142 and the first intermediate box 144. In some examples, while the third conduit 156 is advanced in frame 928 and / or rotated in frame 936, conduits 152 and 154 can be mechanically disengaged from the corresponding clamping and advancing assemblies of the distal box 142 and the first intermediate box 144.

[0149] In frame 938, guide wire 158 is mechanically coupled to the clamping and advancing assembly of proximal box 148. Guide wire 158 is mechanically coupled to the clamping and advancing assembly of proximal box 148 by translating the advance roller 354-8 of proximal box 148 to the clamping position (which clamps guide wire 158 and mechanically engages it between advance rollers 352-8 and 354-8 of proximal box 148). As described above, the advance roller 354-8 can be translated by actuating the rotary actuator 222b-8 of the clamping drive assembly 220b-8 of proximal drive unit 138.

[0150] In frame 940, guide wire 158 is advanced via the clamping and advancing assembly of proximal box 148. Advancing guide wire 158 may include one or both of supplying guide wire 158 into the body in frame 942 and retrieving guide wire 158 from the body in frame 944. Advancing guide wire 158 includes advancing rollers 352-8, 354-8 that rotate the clamping and advancing assembly of proximal box 148. As described above, advancing rollers 352-8, 354-8 can be rotated by actuating the rotary actuator 222a-8 of the advancing drive assembly 220a-8 of proximal drive unit 138.

[0151] As the guide wire 158 is advanced within frame 940, it is mechanically connected to the clamping and advancing assembly and the guide wire rotating assembly of proximal box 148. While being advanced, the guide wire 158 remains clamped between the advancing rollers 352-8 and 354-8 of proximal box 148. Simultaneously, as the guide wire 158 is advanced by the clamping and advancing assembly of proximal box 148, it also remains mechanically connected to the guide wire connector 518-8, the chuck 516-8, the cap 512-8, and the spur gear 514-8 surrounding the axis of rotation of the guide wire 158, with the spur gear 496-8 of the guide wire rotating assembly of proximal box 148 remaining engaged with the spur gear 514-8.

[0152] When guidewire 158 is supplied into the body in frame 942, the loop length of guidewire 158 decreases. When guidewire 158 is retrieved from the body in frame 944, the loop length of guidewire 158 increases.

[0153] In frame 946, guide wire 158 is mechanically disengaged from the clamping and feeding assembly of proximal box 148. Guide wire 158 is mechanically disengaged from the clamping and feeding assembly of proximal box 148 by translating the feed roller 354-8 of proximal box 148 to a release position (which releases guide wire 158 and mechanically disengages it from the feed rollers 352-8, 354-8 of proximal box 148). As described above, the feed roller 354-8 can be translated by actuating the rotary actuator 222b-8 of the clamping drive assembly 220b-8 of proximal drive unit 138.

[0154] In frame 948, as the guide wire 158 mechanically disengages from the clamping and advancing assembly of the proximal box 148, the guide wire rotation assembly of the proximal box 148 rotates the guide wire 158. As described above, the guide wire 158 can be rotated by actuating the rotation actuator 222d-8 of the guide wire rotation drive assembly 220d-8 of the proximal drive unit 138. The mechanical disengagement of the guide wire 158 from the clamping and advancing assembly of the proximal box 148 allows the guide wire 158 to rotate through the proximal box 148.

[0155] In some examples, while guidewire 158 is advanced in frame 940 and / or rotated in frame 948, catheters 152, 154, and 156 remain mechanically coupled to the corresponding clamping and advancing assemblies of distal box 142, first intermediate box 144, and second intermediate box 146. In some examples, while guidewire 158 is advanced in frame 940 and / or rotated in frame 948, catheters 152, 154, and 156 can be mechanically disengaged from the corresponding clamping and advancing assemblies of distal box 142, first intermediate box 144, and second intermediate box 146.

[0156] appendix

[0157] Clause 1. A system for endovascular surgery, the system comprising:

[0158] A first drive unit, the first drive unit including a first drive assembly including a first rotary actuator, the first drive assembly being configured to be mechanically coupled to a first intravascular insertion device propulsion assembly of a first box;

[0159] The second drive unit includes a second drive assembly, which includes a second rotary actuator, and is configured to be mechanically coupled to a second intravascular insertion device propulsion assembly of the second housing.

[0160] A third drive unit, comprising a third drive assembly including a third rotary actuator, the third drive assembly being configured to be mechanically coupled to a third intravascular insertion device advancement assembly of a third housing; and

[0161] The track, wherein the first drive unit, the second drive unit and the third drive unit are each mechanically connected to the track, the first drive unit is mechanically connected at a fixed position relative to the track, the second drive unit is disposed between the first drive unit and the third drive unit along the track, and the second drive unit and the third drive unit are mechanically connected to the track and can move along the track.

[0162] Clause 2. The system as described in Clause 1, wherein:

[0163] The second drive unit includes a fourth drive assembly, which includes a fourth rotary actuator, and the fourth drive assembly is configured to be mechanically coupled to the first intravascular insertion device rotary assembly of the second housing; and

[0164] The third drive unit includes a fifth drive assembly, which includes a fifth rotary actuator and is configured to be mechanically coupled to the second intravascular insertion device rotary assembly of the third box.

[0165] Clause 3. The system according to Clause 2, wherein the third drive unit includes a sixth drive assembly, the sixth drive assembly including a sixth rotary actuator, the sixth drive assembly being configured to be mechanically coupled to the rotary assembly of the third intravascular insertion device of the third housing.

[0166] Clause 4. The system according to Clause 1, wherein:

[0167] The first drive unit includes a fourth drive assembly, the fourth drive assembly including a fourth rotary actuator, the fourth drive assembly being configured to be mechanically coupled to a first intravascular insertion device clamping assembly of the first box;

[0168] The second drive unit includes a fifth drive assembly, which includes a fifth rotary actuator, and the fifth drive assembly is configured to be mechanically coupled to the second intravascular insertion device clamping assembly of the second housing; and

[0169] The third drive unit includes a sixth drive assembly, which includes a sixth rotary actuator, and the sixth drive assembly is configured to be mechanically coupled to the third intravascular insertion device clamping assembly of the third box.

[0170] Clause 5. The system according to Clause 1, the system further comprising a fourth drive unit, the fourth drive unit including a fourth drive assembly including a fourth rotary actuator, the fourth drive assembly being configured to be mechanically coupled to a fourth intravascular insertion device propulsion assembly of a fourth cartridge, the fourth drive unit being mechanically coupled to the track, the fourth drive unit being disposed along the track between the second drive unit and the third drive unit, the fourth drive unit being mechanically coupled to the track and movable along the track.

[0171] Clause 6. The system according to Clause 5, wherein the fourth drive unit includes a fifth drive assembly, the fifth drive assembly including a fifth rotary actuator, the fifth drive assembly being configured to be mechanically coupled to the endovascular insertion device rotary assembly of the fourth box.

[0172] Clause 7. The system according to Clause 5, wherein the fourth drive unit includes a fifth drive assembly, the fifth drive assembly including a fifth rotary actuator, the fifth drive assembly being configured to be mechanically coupled to the intravascular insertion device clamping assembly of the fourth box.

[0173] Clause 8. The system described in Clause 1, wherein:

[0174] The second drive unit is mechanically connected to the track via the first translation component;

[0175] The third drive unit is mechanically connected to the track via the second translation component;

[0176] The track includes a guide and a rack; and

[0177] Each of the first translation component and the second translation component includes:

[0178] A slider that engages with and is movable along the guide; and

[0179] A fourth rotary actuator is configured as a rotating pinion that engages the rack.

[0180] Clause 9. A kit for endovascular surgery, said kit comprising:

[0181] A housing having a channel configured for passage of a first intravascular insertion device; and

[0182] A clamping and advancing assembly, comprising a first roller and a second roller, the clamping and advancing assembly being configured to translate the second roller between a clamping position and a releasing position by operation of the clamping and advancing assembly, wherein, in the clamping position, the first roller and the second roller are configured to secure the first intravascular insertion device, and in the releasing position, the first roller and the second roller are configured to release the first intravascular insertion device, the clamping and advancing assembly being further configured to advance the first intravascular insertion device when the second roller is in the clamping position.

[0183] Clause 10. The box according to Clause 9, wherein the clamping and pushing assembly comprises:

[0184] A first shaft, wherein the first roller is disposed on and surrounds the first shaft;

[0185] A first spur gear, which is disposed on and surrounds the first shaft;

[0186] A second shaft, the second roller being disposed on and surrounding the second shaft; and

[0187] A second spur gear is disposed on and surrounds the second shaft, wherein, in the clamped position, the second spur gear engages the first spur gear, and the first shaft is configured to be rotated by a drive assembly.

[0188] Clause 11. The box according to Clause 9, wherein the clamping and pushing assembly comprises:

[0189] A shaft, wherein the second roller is disposed on the shaft and surrounds the shaft;

[0190] A support frame, the shaft being mechanically connected to and supported by the support frame; and

[0191] A rack and a pinion, the rack being mechanically connected to the support frame, the pinion engaging the rack, wherein rotation of the pinion causes translation of the second roller.

[0192] Clause 12. The box according to Clause 9, the box further comprising a base, the clamping and advancing assembly including a first external connector and a second external connector located outside the base, the first external connector being configured to be mechanically coupled to a first drive assembly to actuate the advancement of the first intravascular insertion device, and the second external connector being configured to be mechanically coupled to a second drive assembly to actuate the translation of the second roller.

[0193] Clause 13. The box according to Clause 9, the box further comprising a first rotating assembly configured to rotate the second intravascular insertion device, the first rotating assembly including a connector housing configured to be mechanically coupled to the second intravascular insertion device.

[0194] Clause 14. The box as described in Clause 13, wherein:

[0195] The connector housing is a Y-shaped connector housing configured to fix a Y-shaped connector, the Y-shaped connector having a mechanically engaged first gear and mechanically coupled to the second intravascular insertion device; and

[0196] The first rotating component includes a second gear configured to engage with the first gear within the Y-shaped connector housing, the second gear being configured to be rotated by a drive component.

[0197] Clause 15. The box according to Clause 13, the box further comprising a second rotating component configured to rotate the first intravascular insertion device.

[0198] Clause 16. The box according to Clause 15, wherein the second rotating assembly comprises:

[0199] Guide wire connector;

[0200] A cap, the cap being configured to threadly engage with the guide wire connector;

[0201] A clamp disposed between the guidewire connector and the cap, the clamp being configured in conjunction with the guidewire connector and the cap to secure the first intravascular insertion device;

[0202] A first gear, the first gear being mechanically attached to the cap; and

[0203] A second gear engages with the first gear and is configured to be rotated by a drive assembly.

[0204] Clause 17. The box according to Clause 9, the box further includes:

[0205] A base having tabs and an opening; and

[0206] A fastening assembly, the fastening assembly including a fastener at least partially disposed in the opening, wherein the tab and the fastening assembly are configured to secure the base to the drive unit.

[0207] Clause 18. A method of operating a system for endovascular surgery, the method comprising:

[0208] A first intravascular insertion device is supplied into the body via a first box, wherein, while the first intravascular insertion device is supplied into the body, the distance between the first box and the second box is reduced, and one end of the first intravascular insertion device is mechanically connected to the second box; and

[0209] The first intravascular device is retrieved from the body via the first box, wherein the distance between the first box and the second box increases at the same time as the first intravascular device is retrieved from the body.

[0210] Clause 19. The method according to Clause 18, the method further comprising rotating the first intravascular insertion device via the second box.

[0211] Clause 20. The method described in Clause 18 further comprises:

[0212] A second endovascular device is supplied into the body via the second box. The second endovascular device passes through and is movable within the first endovascular device. Simultaneously with the supply of the second endovascular device into the body, the distance between the second and third boxes decreases, and one end of the second endovascular device is mechanically connected to the third box.

[0213] The second intravascular device is retrieved from the body via the second box, wherein the distance between the second box and the third box increases at the same time as the second intravascular device is retrieved from the body.

[0214] Clause 21. A method of operating a system for endovascular surgery, the method comprising:

[0215] The intravascular insertion device is mechanically connected to the propulsion assembly;

[0216] While the intravascular insertion device is mechanically coupled to the propulsion assembly, the intravascular insertion device is advanced by the propulsion assembly, wherein, while the intravascular insertion device is advanced, a rotating assembly is mechanically coupled to the intravascular insertion device;

[0217] Mechanically disengaging the intravascular insertion device from the propulsion assembly; and

[0218] While the intravascular insertion device is mechanically disengaged from the propulsion assembly, the intravascular insertion device is rotated by the rotating assembly.

[0219] Clause 22. The method described in accordance with Clause 21, wherein:

[0220] Mechanically coupling the intravascular insertion device to the propulsion assembly includes clamping the intravascular insertion device between the rollers of the propulsion assembly; and

[0221] Mechanically disengaging the intravascular insertion device from the propulsion assembly includes translating at least one of the rollers of the propulsion assembly to release the intravascular insertion device from between the rollers of the propulsion assembly.

[0222] Clause 23. The method described in accordance with Clause 21, wherein:

[0223] The intravascular insertion device is mechanically coupled to a first gear configured to rotate the intravascular insertion device, the first gear being about the rotation axis of the intravascular insertion device;

[0224] The rotating assembly includes a second gear; and

[0225] The rotating assembly is mechanically connected to the intravascular insertion device via the second gear engaging the first gear.

[0226] Clause 24. The method described in accordance with Clause 21, wherein:

[0227] The first box includes the aforementioned propulsion assembly; and

[0228] The second box includes the rotating assembly, and the second box is disposed separately from the first box.

[0229] Clause 25. The method according to Clause 24, wherein the distance between the first box and the second box changes when the intravascular insertion device is advanced.

[0230] Clause 26. The method according to Clause 24, wherein both the first box and the second box are mechanically connected to and movable along the track.

[0231] Clause 27. The method according to Clause 21, wherein the box comprises both the propulsion assembly and the rotation assembly.

[0232] Clause 28. A method of operating a system for endovascular surgery, the method comprising:

[0233] The first roller is moved to the clamping position, wherein, in the clamping position, the first roller and the second roller fix the intravascular insertion device between the first roller and the second roller;

[0234] While the first roller is in the clamping position, the intravascular insertion device is advanced by the first roller and the second roller, wherein, while the intravascular insertion device is advanced, the rotating assembly is mechanically connected to the intravascular insertion device.

[0235] The first roller is translated to the release position, wherein, in the release position, the intravascular insertion device is released from between the first roller and the second roller; and

[0236] While the first roller is in the release position, the intravascular insertion device is rotated by the rotating assembly.

[0237] Clause 29. The method described pursuant to Clause 28, wherein:

[0238] The intravascular insertion device is mechanically coupled to a first gear configured to rotate the intravascular insertion device, the first gear being about the rotation axis of the intravascular insertion device;

[0239] The rotating assembly includes a second gear; and

[0240] The rotating assembly is mechanically connected to the intravascular insertion device via the second gear engaging the first gear.

[0241] Clause 30. The method described pursuant to Clause 29, wherein:

[0242] The intravascular insertion device is a catheter;

[0243] The conduit is mechanically connected to the Y-shaped connector; and

[0244] The first gear is integrated with the Y-shaped connector.

[0245] Clause 31. The method described pursuant to Clause 29, wherein:

[0246] The intravascular insertion device is a guidewire;

[0247] The guidewire is mechanically secured by a clamp positioned between the guidewire connector and the cap; and

[0248] The first gear is mechanically attached to the cap.

[0249] Clause 32. The method described pursuant to Clause 28, wherein:

[0250] The first box includes a propulsion assembly, which includes a first roller and a second roller; and

[0251] The second box includes the rotating assembly, and the second box is disposed separately from the first box.

[0252] Clause 33. The method according to Clause 32, wherein the distance between the first box and the second box changes when the intravascular insertion device is advanced.

[0253] Clause 34. The method according to Clause 33, wherein both the first box and the second box are mechanically connected to and movable along the track.

[0254] Clause 35. The method according to Clause 28, wherein the box includes both a propulsion assembly and the rotation assembly, the propulsion assembly including the first roller and the second roller.

[0255] Clause 36. A method of operating a system for endovascular surgery, the method comprising:

[0256] Clamp the guide tube between the first rollers of the first box;

[0257] The conduit is advanced by rotating the first roller, the conduit being clamped between the first roller during the advancement of the conduit, a first rotating assembly of the second box being mechanically coupled to the conduit during the advancement of the conduit, the second box being separated from the first box;

[0258] Release the guide tube from between the first rollers; and

[0259] The conduit is rotated by the first rotating assembly of the second box, during which the conduit is released from between the first rollers.

[0260] Clause 37. The method described in accordance with Clause 36, wherein:

[0261] The conduit is mechanically connected to a Y-shaped connector;

[0262] The Y-shaped connector is mechanically coupled to a first gear configured to rotate the conduit;

[0263] The first rotating component includes a second gear; and

[0264] The first rotating component is mechanically connected to the conduit by the second gear engaging the first gear.

[0265] Clause 38. The method described in Clause 36 further comprises:

[0266] The guide wire is clamped between the second rollers of the second box, and the guide wire passes through the conduit and is movable within the conduit;

[0267] The guide wire is advanced by rotating the second roller, during which the guide wire is clamped between the second roller, and during which the second rotating assembly of the second box is mechanically coupled to the guide wire;

[0268] Release the guide wire from between the second rollers; and

[0269] The guide wire is rotated by the second rotating assembly of the second box, during which the guide wire is released from between the second rollers.

[0270] Clause 39. The method described pursuant to Clause 38, wherein:

[0271] The guide wire is mechanically fixed by a clamp disposed between the guide wire connector and the cap;

[0272] A first gear is mechanically attached to the cap, and the first gear is configured to rotate the guide wire;

[0273] The second rotating component includes a second gear; and

[0274] The second rotating component is mechanically connected to the guide wire via the second gear engaging the first gear.

[0275] Clause 40. The method according to Clause 36, wherein the distance between the first box and the second box changes as the catheter is advanced.

Claims

1. A system for robotic surgery, the system comprising: A first drive unit, the first drive unit including a first drive assembly including a first rotary actuator, the first drive assembly being configured to be mechanically coupled to a first intravascular insertion device propulsion assembly of a first box; The second drive unit includes a second drive assembly, which includes a second rotary actuator, and is configured to be mechanically coupled to a second intravascular insertion device propulsion assembly of the second housing. A third drive unit, the third drive unit including a third drive assembly including a third rotary actuator, the third drive assembly being configured to be mechanically coupled to a third intravascular insertion device propulsion assembly of a third box; as well as The track, the second drive unit and the third drive unit are each mechanically connected to the track via a slider, the first drive unit is mechanically connected to a fixed position relative to the track, the second drive unit is disposed between the first drive unit and the third drive unit along the track, the second drive unit and the third drive unit are mechanically connected to the track and can move along the track, the track also includes a guide and a rack; The guide includes a first groove and a second groove, wherein the slider engages the first groove and the second groove and is slidable along the track; The second and third drive units further include a translation drive motor connected to a pinion gear, the pinion gear engaging with the track, and rotation of the pinion gear causing the slider to slide along the track; and The second intravascular insertion device advancement assembly of the second box can be mounted to the second drive unit and stacked above the translation drive motor of the second drive assembly. The third intravascular insertion device propulsion assembly of the third box can be installed on the third drive unit and stacked above the translation drive motor of the third drive assembly.

2. The system according to claim 1, wherein: The second drive unit includes a fourth drive assembly, the fourth drive assembly including a fourth rotary actuator, the fourth drive assembly being configured to be mechanically coupled to the first intravascular insertion device rotary assembly of the second box; and The third drive unit includes a fifth drive assembly, which includes a fifth rotary actuator and is configured to be mechanically coupled to the second intravascular insertion device rotary assembly of the third box.

3. The system according to claim 2, wherein, The third drive unit includes a sixth drive assembly, which includes a sixth rotary actuator and is configured to be mechanically coupled to the rotary assembly of the third intravascular insertion device of the third box.

4. The system according to claim 1, wherein: The first drive unit includes a fourth drive assembly, the fourth drive assembly including a fourth rotary actuator, the fourth drive assembly being configured to be mechanically coupled to a first intravascular insertion device clamping assembly of the first box; The second drive unit includes a fifth drive assembly, which includes a fifth rotary actuator, and the fifth drive assembly is configured to be mechanically coupled to the second intravascular insertion device clamping assembly of the second housing; and The third drive unit includes a sixth drive assembly, which includes a sixth rotary actuator, and the sixth drive assembly is configured to be mechanically coupled to the third intravascular insertion device clamping assembly of the third box.

5. The system of claim 1, further comprising a fourth drive unit, the fourth drive unit including a fourth drive assembly including a fourth rotary actuator, the fourth drive assembly being configured to be mechanically coupled to a fourth intravascular insertion device propulsion assembly of a fourth cartridge, the fourth drive unit being mechanically coupled to the track, the fourth drive unit being disposed along the track between the second drive unit and the third drive unit, the fourth drive unit being mechanically coupled to the track and movable along the track.

6. The system according to claim 5, wherein, The fourth drive unit includes a fifth drive assembly, which includes a fifth rotary actuator and is configured to be mechanically coupled to the endovascular insertion device rotary assembly of the fourth box.

7. The system according to claim 5, wherein, The fourth drive unit includes a fifth drive assembly, which includes a fifth rotary actuator and is configured to be mechanically coupled to the intravascular insertion device clamping assembly of the fourth box.

8. The system according to claim 1, wherein: The second drive unit is mechanically connected to the track via the first translation component; The third drive unit is mechanically connected to the track via the second translation component; and Each of the first translation component and the second translation component includes: The slider engages with the guide and is movable along the guide; as well as A fourth rotary actuator is configured to rotate the pinion gear, which engages the rack.

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