Systems and apparatus for elongated medical device torqer

Abstract

The invention relates to a system and apparatus for an elongate medical device torquemeter. An apparatus for supporting an elongate medical device includes: a first jaw having a first surface; a first pad disposed on a first surface of the first jaw; a second jaw having a second surface opposite the first surface; and a second pad disposed on a second surface of the second jaw. The first pad defines at least one first recess extending along at least a portion of a length of the first pad. The first pad and the second pad are configured to engage an elongate medical device. The at least one first recess is configured to hold the elongate medical device at a central portion of the at least one first recess during movement of the elongate medical device.

Description

Technical Field

[0001] The present disclosure relates to systems and apparatus for elongated medical device torquers. Background Art

[0002] Catheters and other elongated medical devices (EMDs) can be used for minimally invasive medical procedures to diagnose and / or treat various diseases of the vascular system. Exemplary medical procedures include neurovascular intervention (NVI), also known as neurointerventional procedures, percutaneous coronary intervention (PCI), and peripheral vascular intervention (PVI). These procedures typically involve guiding a guide wire through the vascular system to advance the catheter to provide treatment. Robotic catheter-based surgical systems can be used to assist physicians in performing medical procedures such as those mentioned above. Summary of the invention

[0003] At least one exemplary embodiment relates to an apparatus for supporting an elongated medical device. The apparatus includes a first jaw having a first surface, a first pad disposed on the first surface of the first jaw, a second jaw having a second surface opposite the first surface, and a second pad disposed on the second surface of the second jaw. The first pad defines at least one first recess extending along at least a portion of the length of the first pad.

[0004] In at least one exemplary embodiment, the first cushion and the second cushion are configured to engage the elongated medical device.The at least one first recess is configured to retain the elongated medical device at a central portion of the at least one first recess during movement of the elongated medical device.

[0005] In at least one exemplary embodiment, the moving of the elongated medical device includes one or more of axial movement, rotation, pinching, attachment, and clamping of the elongated medical device between the first jaw and the second jaw.

[0006] In at least one exemplary embodiment, the at least one first recess has a concave or V-shape.

[0007] In at least one exemplary embodiment, the second liner defines at least one second recess extending along at least a portion of a length of the second liner.

[0008] In at least one exemplary embodiment, the at least one first recess includes a first curved surface extending in a longitudinal direction of the first pad, and the at least one second recess includes a second curved surface extending in a longitudinal direction of the second pad.

[0009] In at least one exemplary embodiment, the curvature of the first curved surface extends in a direction perpendicular to the longitudinal axis of the first pad, and the curvature of the second curved surface extends in a direction perpendicular to the longitudinal axis of the second pad.

[0010] In at least one exemplary embodiment, at least one of the first curved surface or the second curved surface has a constant radius of curvature.

[0011] In at least one exemplary embodiment, at least a portion of at least one of the first liner or the second liner has a textured surface, and the textured surface has a periodic morphology.

[0012] In at least one exemplary embodiment, the periodic morphology decreases from an outer edge of the first pad toward a center of the first pad, and the periodic morphology decreases from an outer edge of the second pad toward a center of the second pad.

[0013] In at least one exemplary embodiment, the periodic morphology of the first liner is 180° out of phase with the periodic morphology of the second liner.

[0014] In at least one exemplary embodiment, at least a portion of the first liner includes a first contoured surface extending along at least the portion of the length of the first liner, and the at least one first recess is defined in the first contoured surface.

[0015] In at least one exemplary embodiment, at least a portion of the second liner includes a second contoured surface extending along at least the portion of the length of the second liner, and the at least one second recess is defined in the second contoured surface.

[0016] In at least one exemplary embodiment, the first corrugated surface includes a first plurality of waves and the second corrugated surface includes a second plurality of waves. The peaks of the first plurality of waves are configured to align with the troughs of the second plurality of waves, and the peaks of the second plurality of waves are configured to align with the troughs of the first plurality of waves.

[0017] In at least one exemplary embodiment, the apparatus includes a plurality of first recesses extending along at least the portion of the length of the first pad. Each of the plurality of first recesses includes a curved or V-shaped groove.

[0018] In at least one exemplary embodiment, the apparatus includes a plurality of second recesses extending along at least the portion of the length of the second pad. Each of the plurality of second recesses includes a curved or V-shaped groove.

[0019] In at least one exemplary embodiment, the plurality of first recesses are aligned with the plurality of second recesses.

[0020] In at least one exemplary embodiment, the plurality of first recesses are offset from the plurality of second recesses.

[0021] In at least one exemplary embodiment, the apparatus includes: a first housing portion defining a first cavity; a jaw assembly configured to move within the first cavity; a second housing portion defining a second cavity; a pusher within the second cavity and configured to extend into at least a portion of the first housing portion; a biasing member engaged with the pusher and configured to apply a biasing force to the pusher; and an actuator engaged with the biasing member. The jaw assembly includes a first jaw, a first pad, a second jaw, and a second pad. The second housing portion is configured to be coupled to a proximal end of the first housing portion. The pusher is configured to move the jaw assembly between a first position and a second position. The biasing member is engaged with the pusher and configured to apply a biasing force to the pusher. The actuator is configured to move the biasing member and the pusher in a first direction and a second direction.

[0022] At least one exemplary embodiment relates to an apparatus for supporting an elongated medical device. The apparatus includes a first jaw having a first surface, a second jaw having a second surface, a first pad disposed on the first surface of the first jaw, and a second pad disposed on the second surface of the second jaw. The second surface faces the first surface of the first jaw. The first surface of the first pad faces the second surface of the second pad. The first pad includes a first wall extending from at least a first outer edge of the first surface of the first pad toward the second surface of the second pad, and the second pad includes a second wall extending from at least a first outer edge of the second surface of the second pad toward the first surface of the first pad.

[0023] In at least one exemplary embodiment, the first pad includes a third wall extending from at least a second outer edge of the first surface of the first pad toward the second surface of the second pad, and the second pad includes a fourth wall extending from at least a second outer edge of the second surface of the second pad toward the first surface of the first pad.

[0024] In at least one exemplary embodiment, the first wall extends along at least a portion of the first outer edge of the first surface of the first pad; the second wall extends along at least a portion of the first outer edge of the second surface of the second pad; the third wall extends along at least a portion of the second outer edge of the first surface of the first pad; and the fourth wall extends along at least a portion of the second outer edge of the second surface of the second pad.

[0025] In at least one exemplary embodiment, the first wall, the second wall, the third wall, and the fourth wall are crenellated walls having a plurality of battlements.

[0026] In at least one exemplary embodiment, the apparatus includes: a first housing portion defining a first cavity; a jaw assembly configured to move within the first cavity; a second housing portion defining a second cavity; a pusher within the second cavity and configured to extend into at least a portion of the first housing portion; a biasing member engaged with the pusher and configured to apply a biasing force to the pusher; and an actuator engaged with the biasing member, the actuator configured to move the biasing member and the pusher in a first direction and a second direction. The jaw assembly includes a first jaw, a first pad, a second jaw, and a second pad. The second housing portion is configured to be coupled to a proximal end of the first housing portion. The pusher is configured to move the jaw assembly between a first position and a second position.

[0027] In at least one exemplary embodiment, the first and second pads are configured to engage the elongated medical device and retain the elongated medical device at a central portion of the first and second pads during movement of the elongated medical device.

[0028] At least one exemplary embodiment relates to an apparatus for supporting an elongated medical device. The apparatus includes a first jaw having a first surface, a first pad disposed on the first surface of the first jaw, a second jaw having a second surface, and a second pad disposed on the second surface of the second jaw. The second surface is opposite to the first surface. The first pad and the second pad are configured to hold the elongated medical device at a central portion of the first pad and the second pad when engaged with the elongated medical device. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The various features and advantages of the non-limiting embodiments herein may become more apparent by studying the detailed description in conjunction with the accompanying drawings. The accompanying drawings are provided for illustrative purposes only and should not be construed as limiting the scope of the claims. Unless explicitly stated, the accompanying drawings should not be considered to be drawn to scale. For clarity, the various dimensions of the accompanying drawings may be exaggerated.

[0030] Figure 1 is a side perspective view of a treatment system according to at least one exemplary embodiment.

[0031] Figure 2 According to at least one exemplary embodiment Figure 1 Block diagram of the treatment system.

[0032] Figure 3A According to at least one exemplary embodiment Figure 1 Exploded view of the box assembly, robotic actuator, and drive module of the treatment system.

[0033] Figure 3BAccording to at least one exemplary embodiment Figure 3A Side view of the torquer actuator and box.

[0034] Figure 3C According to at least one exemplary embodiment Figure 3B Cross-sectional view of the torquer actuator and box.

[0035] Figure 4 According to at least one exemplary embodiment Figure 3B-3C A perspective view of a torquer actuator.

[0036] Figure 5 According to at least one exemplary embodiment Figure 4 Exploded view of the torquer actuator.

[0037] Figure 6 According to at least one exemplary embodiment Figure 4 Cross-sectional view of a torquer actuator.

[0038] Fig. 7A According to at least one exemplary embodiment Figure 5 A perspective view of the jaw assembly of a torquer actuator.

[0039] Figure 7B According to at least one exemplary embodiment Fig. 7A Front view of the jaw assembly.

[0040] Figure 7C is a front view of a jaw assembly according to at least one exemplary embodiment.

[0041] Fig. 8A According to at least one exemplary embodiment Figure 5 A perspective view of the jaw assembly.

[0042] Figure 8B According to at least one exemplary embodiment Fig. 8A A perspective view of the second jaw of the jaw assembly.

[0043] Figure 8C According to at least one exemplary embodiment Fig. 8A A cross-sectional view of a clamp assembly.

[0044] Fig.8D According to at least one exemplary embodiment Fig. 8A A cross-sectional view of a clamp assembly.

[0045] Fig. 9A According to at least one exemplary embodiment Figure 5 A perspective view of the jaw assembly.

[0046] Fig. 9BAccording to at least one exemplary embodiment Fig. 9A Front view of the jaw assembly.

[0047] Fig. 9C According to at least one exemplary embodiment Fig. 9A A bottom perspective view of a first jaw of a jaw assembly.

[0048] Fig. 10A According to at least one exemplary embodiment Figure 5 A perspective view of the jaw assembly.

[0049] Fig. 10B is a bottom perspective view of a first jaw of the jaw assembly of FIG. 10 , according to at least one exemplary embodiment.

[0050] Fig. 10C According to at least one exemplary embodiment Fig. 10A Front view of the jaw assembly.

[0051] Fig.11A According to at least one exemplary embodiment Figure 5 A perspective view of the jaw assembly.

[0052] Fig. 11B According to at least one exemplary embodiment Fig.11A A bottom view of the first jaw of the jaw assembly.

[0053] Fig. 11C According to at least one exemplary embodiment Fig.11A Front view of the jaw assembly.

[0054] Fig. 12A According to at least one exemplary embodiment Figure 5 A perspective view of the jaw assembly.

[0055] Fig. 12B According to at least one exemplary embodiment Fig. 12A Front view of the jaw assembly. DETAILED DESCRIPTION

[0056] Regardless of the grammatical usage of the term, individuals with either male or female identification are included within the term.

[0057] Some detailed exemplary embodiments are disclosed herein. However, the specific structural and functional details disclosed herein are only representative for the purpose of describing some exemplary embodiments. However, the exemplary embodiments can be implemented in a variety of alternative forms and should not be interpreted as being limited to the exemplary embodiments set forth herein.

[0058] Therefore, although the exemplary embodiments are capable of various modifications and alternative forms, exemplary embodiments thereof are shown by way of example in the drawings and will be described in detail herein. However, it should be understood that there is no intention to limit the exemplary embodiments to the specific forms disclosed, but on the contrary, the exemplary embodiments will cover all modifications, combinations, equivalent forms and alternatives that fall within the scope of the exemplary embodiments. Throughout the description of the drawings, the same reference numerals represent the same elements.

[0059] It should be understood that when an element or layer is referred to as being "on," "connected to," "coupled to," or "overlying" another element or layer, it may be directly on, directly connected to, coupled to, or overlying another element or layer, or there may be intervening elements or layers. Conversely, when an element is referred to as being "directly on," "directly connected to," or "directly coupled to" another element or layer, there are no intervening elements or layers. Throughout the specification, the same reference numerals represent the same elements. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0060] It should be understood that although the terms "first", "second", "third", etc. may be used herein to describe various elements, regions, layers and / or sections, these elements, regions, layers and / or sections should not be limited by these terms. These terms are only used to distinguish one element, region, layer or section from another region, layer or section. Therefore, without departing from the teachings of the exemplary embodiments, the first element, region, layer or section discussed below may be referred to as a second element, region, layer or section.

[0061] For ease of description, spatial relative terms (e.g., "below," "below," "below," "above," "on," etc.) may be used herein to describe the relationship between one element or feature and another element or feature as shown in the figure. It should be understood that spatial relative terms are intended to cover different orientations of the device in use or operation other than the orientation depicted in the figure. For example, if the device in the figure flips, the element described as "below" or "below" other elements or features will be oriented to be "above" the other elements or features. Therefore, the term "below" can cover both orientations above and below. The device can be oriented in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptors used herein are interpreted accordingly.

[0062] The terms used herein are only used for the purpose of describing various exemplary embodiments and are not intended to limit the exemplary embodiments. As used herein, the singular forms "a", "an" and "a kind" are intended to also include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when used in this specification, the terms "include", "comprise" and / or "contain" describe the presence of stated features, integers, steps, operations and / or elements, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements and / or groups thereof.

[0063] The exemplary embodiments are described herein with reference to the cross-sectional illustrations as schematic diagrams of the exemplary embodiments. As such, variations in shape from these illustrations are contemplated. Therefore, the exemplary embodiments should not be interpreted as being limited to the shapes of the regions shown herein, but rather include deviations and variations in shape.

[0064] When the words "approximately" and "substantially" are used in conjunction with numerical values ​​in this specification, it is intended that the relevant numerical value includes a tolerance of approximately ±10% of the numerical value, unless otherwise expressly limited. In addition, when the term "approximately" or "substantially" is used in conjunction with a geometric shape, it is intended that the accuracy of the geometric shape is not required, but the latitude of the shape is within the scope of the present disclosure. In addition, whether a numerical value or shape is modified as "approximately", "approximately" or "substantially", it will be understood that these values ​​and shapes should be interpreted as including manufacturing or operating tolerances (e.g., ±10%) around the numerical value or shape.

[0065] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the exemplary embodiments belong. It will also be understood that terms, including those defined in commonly used dictionaries, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and will not be interpreted in an idealized or overly formal sense unless explicitly so defined herein.

[0066] Figure 1 is a side perspective view of a treatment system according to at least one exemplary embodiment.

[0067] In at least one exemplary embodiment, the treatment system 10 can be used to perform catheter-based medical procedures, such as percutaneous interventional procedures, including percutaneous coronary intervention (PCI) (e.g., for treating STEMI), neurovascular intervention (NVI) (e.g., for treating emergency large vessel occlusion (ELVO)), and / or peripheral vascular intervention (PVI) (e.g., for critical limb ischemia (CLI), etc.). Catheter-based medical procedures may include diagnostic catheterizations, during which one or more catheters or other elongated medical devices (EMDs) are used to help diagnose a patient's disease. Catheter-based medical procedures may also include catheter-based therapeutic procedures (e.g., angioplasty, stent placement, treatment of peripheral vascular disease, clot removal, arteriovenous malformation treatment, treatment of aneurysms, etc.), during which a catheter (or other EMD) is used to treat a disease. The system 10 may be used to perform catheter-based medical procedures, such as percutaneous interventional procedures, including adjunct devices 54 (such as intravascular ultrasound (IVUS), optical coherence tomography (OCT), fractional flow reserve (FFR), etc.). Figure 2 In at least one exemplary embodiment, a percutaneous intervention device or component (eg, guidewire type, catheter type, etc.) may be selected based on the type of surgery to be performed.

[0068] In at least one exemplary embodiment, the treatment system 10 includes a bedside unit 20 and at least one control station. The control station may include one or more of a local control station or a remote control station, such as Figure 2 The bedside unit 20 includes a robot drive 24 and a positioning system 22 adjacent to the patient 12. The patient 12 may be supported on a patient table 18. A first end of the positioning system 22 may be attached to one end of the patient table 18, such as Figure 1 As shown in . In other exemplary embodiments, the first end of the positioning system 22 may be attached to a base or a cart, for example. In at least one exemplary embodiment, the positioning system 22 is used to position and support the robotic drive 24. The second end of the positioning system 22 may be attached to the robotic drive 24. The positioning system 22 may include a robotic arm, an articulated arm, a holder, etc. The positioning system 22 and / or the robotic drive 24 may be moved away to allow the patient 12 to be placed on the patient table 18. Once the patient 12 is positioned on the patient table 18, the positioning system 22 may be used to position or position the robotic drive 24 relative to the patient 12 for surgery or treatment. In at least one exemplary embodiment, the patient table 18 may be supported by a base 17, which may be secured to the floor of the room. The patient table 18 is configured to move with multiple degrees of freedom relative to the base 17, such as roll, pitch, and yaw. In at least one exemplary embodiment, the bedside unit 20 may include controls and a display 46, such as Figure 2For example, in some exemplary embodiments, the controls and display 46 may be located on the housing of the robotic drive 24.

[0069] In at least one exemplary embodiment, the robotic drive 24 may be equipped with one or more devices and accessories 48, such as Figure 2 . For example, the device and accessories 48 may include one or more of the following: a guidewire, various types of catheters including but not limited to balloon catheters, a stent delivery system, a stent retriever, an embolic coil, a liquid embolic agent, a suction pump, a device for delivering a contrast agent, a drug, a hemostatic valve adapter, a syringe, a stopcock, an inflatable device, etc. The one or more devices and accessories 48 may allow a user or operator to perform surgery or treatment, such as a catheter-based medical procedure. In at least one exemplary embodiment, the bedside unit 20 and / or the robot drive 24 may include any number and / or combination of components to provide the bedside unit 20 with the functionality described herein. For example, the robot drive 24 includes one or more device modules, such as a plurality of device modules 32a-d, mounted to a track or linear member of the robot drive 24. Each device module 32a-d can be used to drive an elongated medical device ("EMD"), such as a catheter or a guidewire. For example, the robot drive 24 can be used to automatically deliver a guidewire into a diagnostic catheter and into a guide catheter in an artery of the patient 12. One or more devices, such as EMDs, may enter the body (e.g., a blood vessel) of patient 12 at insertion point 16, such as via an introducer sheath. Each device module 32a-d includes a drive module and a cartridge removably attached to the drive module, as will be described below with respect to Figure 3A Each drive module is configured to move along the longitudinal axis of the robotic drive 24 using a support or gantry.

[0070] In at least one exemplary embodiment, the bedside unit 20 is in communication with a control station, thereby allowing signals generated by user inputs to the control station to be transmitted wirelessly or via a fixed line to the bedside unit 20 to control various functions of the bedside unit 20. For example, Figure 2 As shown in , the control computing system 34 can be coupled between the bedside unit 20 and the local control station 38 and / or the remote control station 42. The bedside unit 20 can also provide feedback signals (e.g., load, speed, operating conditions, warning signals, error codes, etc.) to the control computing system 34. Communication between the control computing system 34 and the various components of the treatment system 10 can be provided via a communication link, which can be a wireless connection, a cable connection, or any other device or mechanism that can allow communication between components.

[0071] In at least one exemplary embodiment, the control station may be located at a local location (e.g., Figure 2) or at a remote location (e.g., Figure 2 42). For example, the treatment system 10 may be operated by a local control station 38, a remote control station 42, or both. At the local location, a user or operator and the local control station 38 are located in the same room as the patient 12 and the bedside unit 20 or in an adjacent room. For example, the local location is the location of the bedside unit 20 and the patient 12 or an experimental subject (e.g., an animal or a cadaver). At the remote location, the user or operator uses the remote control station 42 to remotely control the bedside unit 20. For example, the remote location cannot physically access the bedside unit 20 and / or the patient 12. The remote control station 42 may be configured to use the communication system and service 36 ( Figure 2 ), for example, via the Internet, a local area network (LAN), a wide area network (WAN), or other network, to communicate with a control computing system 34 at the bedside unit 20 and / or a local location.

[0072] In at least one exemplary embodiment, the control station typically includes one or more input modules 28 configured to receive user input to operate various components or systems of the treatment system 10. For example, the input module 28 can be configured to cause the bedside unit 20 to use a percutaneous interventional device (e.g., an EMD) interfaced with the robotic drive 24 to perform various tasks (e.g., to advance, retract, or rotate a guidewire, advance, retract, or rotate a catheter, inflate or deflate a balloon located on a catheter, position and / or deploy a stent, position and / or deploy a stent retriever, position and / or deploy a coil, inject contrast media into a catheter, inject a liquid embolic agent into a catheter, inject a drug or saline into a catheter, aspirate on a catheter, or perform any other function that may be performed as part of a catheter-based medical procedure). The robotic drive 24 includes various drive mechanisms to cause movement (e.g., axial and / or rotational movement) of components of the bedside unit 20, including one or more devices and accessories 48.

[0073] In at least one exemplary embodiment, the input module 28 may include one or more touch screens, joysticks, scroll wheels and / or buttons. In addition to the input module 28, the control station may use additional user controls 44, such as a foot switch and a microphone for voice commands, etc. The input module 28 may be configured to advance, retract or rotate various components and the one or more devices and accessories 48, such as guidewires and one or more catheters or microcatheters. For example, the button may include an emergency stop button, a multiplier button, a device selection button, and an automatic movement button. When the emergency stop button is pressed, the power (e.g., electrical power) given to the bedside unit 20 is turned off or removed. When in speed control mode, the multiplier button is used to increase or decrease the speed at which the relevant components move in response to the manipulation of the input module 28. When in position control mode, the multiplier button changes the mapping between the input distance and the output command distance. The device selection button allows the user or operator to select which percutaneous interventional devices loaded into the robot drive 24 are controlled by the input module 28. The automatic movement button is used to enable the algorithm movement that the treatment system 10 can perform on the percutaneous interventional device without direct commands from the user or operator. In one embodiment, the input module 28 may include one or more controls or icons (not shown) displayed on a touch screen (which may or may not be part of a display) that, when activated, cause operation of a component of the treatment system 10. The input module 28 may also include a balloon or stent control that is configured to inflate or deflate a balloon and / or deploy a stent. Each input module 28 may include one or more buttons, scroll wheels, joysticks, touch screens, etc., which may be used to control one or more specific components to which the control is dedicated. In addition, one or more touch screens may display one or more icons (not shown) associated with various portions of the input module 28 or with various components of the treatment system 10.

[0074] In at least one exemplary embodiment, the treatment system 10 includes an imaging system 14. For example, the imaging system 14 may include one or more of non-digital X-ray, digital X-ray, computed tomography (CT), magnetic resonance imaging (MRI), ultrasound, etc. In at least one exemplary embodiment, the imaging system 14 includes a digital X-ray imaging device that communicates with a control station. In at least one exemplary embodiment, the imaging system 14 may include a C-arm that allows the imaging system 14 to be partially or completely rotated around the patient 12 so as to obtain images at different angular positions relative to the patient 12 (e.g., sagittal view, caudal view, anterior-posterior view, etc.). In at least one exemplary embodiment, the imaging system 14 may be a fluoroscopic system that includes a C-arm having an X-ray source 13 and a detector 15, which is also called an image intensifier.

[0075] In at least one exemplary embodiment, the imaging system 14 may be configured to take X-ray images of desired areas of the patient 12 during surgery. For example, the imaging system 14 may be configured to take one or more X-ray images of the head to diagnose neurovascular conditions. The imaging system 14 may also be configured to take one or more X-ray images (e.g., real-time images) during a catheter-based medical procedure to help a user or operator of a control station to properly position a guidewire, guide catheter, microcatheter, stent retriever, coil, stent, balloon, etc. during surgery. The one or more images may be displayed on the display 30. For example, the image may be displayed on the display 30 to allow the user or operator to accurately move the guide catheter or guidewire into the appropriate or desired position.

[0076] In at least one exemplary embodiment, the robotic drive 24 includes a housing having a top or first member 24a; a bottom or second member opposite and parallel to the first member 24a; a front or third member 24c extending substantially perpendicularly between the first member 24a and the second member; and a fourth member opposite and parallel to the third member 24c and perpendicular to the first member 24a and the second member. The third member 24c can be configured to face the user when the robotic drive 24 is in use. In at least one exemplary embodiment, the robotic drive 24 includes a distal region 24e and a proximal region 24f opposite the distal region 24e.

[0077] Figure 2 According to at least one exemplary embodiment Figure 1 Block diagram of the treatment system.

[0078] In at least one exemplary embodiment, the control computing system 34 may be part of a control station, such as a local control station 38 and / or a remote control station 42. The control computing system 34 may generally be an electronic control unit configured to provide the various functions described herein for the treatment system 10. For example, the control computing system 34 may be an embedded system, a dedicated circuit, a general purpose system programmed with the functions described herein, etc. The control computing system 34 may communicate with the bedside unit 20, the communication system and service 36 (e.g., via the Internet, a firewall, a cloud service, a session manager, a hospital network, etc.), the local control station 38, an additional communication system 40 (e.g., a telepresence system), the remote control station 42, and the patient sensor 56 (e.g., an electrocardiogram (ECG) device, an electroencephalogram (EEG) device, a blood pressure monitor, a temperature monitor, a heart rate monitor, a respiratory monitor, etc.). The control computing system 34 may also communicate with the imaging system 14, the patient table 18, the additional medical system 50, the contrast agent injection system 52, and the auxiliary devices 54 (e.g., IVUS, OCT, FFR, etc.).

[0079] In at least one exemplary embodiment, the control computing system 34 is configured to generate control signals based on user interaction with the input module 28 (e.g., an input module of a control station, such as the local control station 38 or the input module of the remote control station 42) and / or based on information accessible to the control computing system 34, so that the treatment system 10 can be used to perform a medical procedure. For example, the control computing system 34 can communicate with the bedside unit 20, the robotic drive 24, the positioning system 22, and the additional controls and displays 46, and can provide control signals to one or more of the bedside unit 20, the robotic drive 24, the positioning system 22, and the additional controls and displays 46 to control the operation of the motor and drive mechanism used to drive the percutaneous intervention device (e.g., guidewire, catheter, etc.). For example, the various drive mechanisms can be part of the robotic drive 24. The local control station 38 can include one or more displays 30, one or more input modules 28, and additional user controls 44.

[0080] The remote control station 42 and the control computing system 34 may include components similar or analogous to the local control station 38. The remote control station 42 and the local control station 38 may be different and customized based on their desired functionality. In at least one exemplary embodiment, the additional user controls 44 include one or more foot input controls. The foot input controls may be configured to allow a user to select functions of the imaging system 14, such as turning the x-ray on and off and scrolling through different stored images. In another exemplary embodiment, the foot input controls may be configured to allow a user to select which devices are mapped to a scroll wheel included in the input module 28. In at least one exemplary embodiment, an additional communication system 40, such as audio and / or video communications, may be employed to help the operator interact with patients, medical personnel, and / or equipment near the bedside.

[0081] Figure 3A According to at least one exemplary embodiment Figure 1 Exploded view of the box assembly, robotic actuator, and drive module of the treatment system.

[0082] refer to Figure 3A In at least one exemplary embodiment, the device module 32a includes a first driver module 60 and a first cartridge 68, the device module 32b includes a second driver module 62 and a second cartridge 70, the device module 32c includes a third driver module 64 and a third cartridge 72, and the device module 32d includes a fourth driver module 66 and a fourth cartridge 74. The first cartridge 68, the second cartridge 70, the third cartridge 72, and the fourth cartridge 74 may form a multi-unit cartridge assembly 76. Each of the first cartridge 68, the second cartridge 70, the third cartridge 72, and the fourth cartridge 74 may be configured to be removably coupled to the first driver module 60, the second driver module 62, the third driver module 64, and the fourth driver module 66, respectively.

[0083] In at least one exemplary embodiment, each of the plurality of device modules 32a - d are configured to move independently of one another along a longitudinal axis 78 that extends through the length of the robotic drive 24 from the distal region 24e to the proximal region 24f .

[0084] Figure 3B According to at least one exemplary embodiment Figure 3A Side view of the torquer actuator and box. Figure 3C According to at least one exemplary embodiment Figure 3B Cross-sectional view of the torquer actuator and box.

[0085] refer to Figure 3B and 3C In at least one exemplary embodiment, the torquer actuator 100 is configured to be positioned in one or more of the first box 68, the second box 70, the third box 72, and the fourth box 74. For illustrative purposes, Figure 3B The torquer actuator 100 is shown positioned in the second box 70. The torquer actuator 100 may include a guide tube 208 configured to receive the EMD 220. The torquer actuator 100 may also be configured to secure the EMD 220 within the first housing portion 110 and the second housing portion 108 of the torquer actuator 100, as will be described below with respect to Figure 4-6 Described.

[0086] Figure 4 According to at least one exemplary embodiment Figure 3B-3C A perspective view of a torquer actuator. Figure 5 According to at least one exemplary embodiment Figure 4 Exploded view of the torquer actuator. Figure 6 According to at least one exemplary embodiment Figure 4 Cross-sectional view of a torquer actuator.

[0087] refer to Figure 4-6In at least one exemplary embodiment, the torquer actuator includes a housing 106 including a first housing portion 110 and a second housing portion 108. A pusher 112 may be movably received within the housing 106 along a torquer longitudinal axis 114 between a proximal end 116 and a distal end 118 of the housing 106. In at least one exemplary embodiment, a jaw assembly 500 is located within the housing 106 and is configured to releasably pinch the shaft of the EMD 220. For example, the jaw assembly 500 includes a first jaw 120 and a second jaw 122. The first jaw 120 and the second jaw 122 may be configured to move between a first position and a second position, such as toward and away from each other, to releasably pinch and un-pinch the EMD 220.

[0088] In at least one exemplary embodiment, the biasing member 124 is configured to move toward and away from the jaw assembly 500 to move the first jaw 120 and the second jaw 122 between the first position and the second position. For example, movement of the pusher 112 from the proximal end 116 toward the distal end 118 may move the first jaw 120 and the second jaw 122 toward each other, such as toward the torquer longitudinal axis 114, and movement of the pusher 112 from the distal end 118 toward the proximal end 116 may move the first jaw 120 and the second jaw 122 away from each other, such as away from the torquer longitudinal axis 114. In other exemplary embodiments, movement of the pusher 112 from the proximal end 116 toward the distal end 118 may move the first jaw 120 toward the second jaw 122 (e.g., when the second jaw 122 is fixed relative to the first jaw 120), or may move the second jaw 122 toward the first jaw 120 (e.g., when the first jaw 120 is fixed relative to the second jaw 122).

[0089] In at least one exemplary embodiment, first jaw 120 includes first surface 130, and second jaw 122 includes second surface 131. First surface 130 is configured to face second surface 131. In at least one exemplary embodiment, first surface 130 has a first pad disposed thereon, and second surface 131 has a second pad disposed thereon. Surfaces of the first pad and the second pad are configured to contact or engage EMD 220. For clarity, Figure 4-6 The first and second pads are not shown in FIG. Figures 7A-12B Exemplary embodiments of the first and second liners are discussed in greater detail.

[0090] In at least one exemplary embodiment, the first housing portion 110 includes a first ramp 142 and a second ramp 144. The pusher 112 includes a first ramp 146 and a second ramp 148. When the pusher 112 moves from the proximal end 116 toward the distal end 118, the first ramp 146 of the pusher 112 contacts the first proximal ramp 132 of the first jaw 120, and the second ramp 148 of the pusher 112 contacts the second proximal ramp 138 of the second jaw 122. Similarly, the first distal ramp 134 of the first jaw 120 contacts the first ramp 142 of the first housing portion, and the second distal ramp 140 of the second jaw 122 contacts the second ramp 144 of the first housing portion 110. Such contact causes the first jaw 120 and the second jaw 122 to move toward each other in a generally perpendicular direction toward the torquer longitudinal axis 114, which is configured to clamp the EMD 220 between the first pad and the second pad.

[0091] In at least one exemplary embodiment, the pusher 112 is configured to be moved within the first housing portion 110 by manipulation of the actuator 104. The actuator 104 includes a shaft 150 that is configured to be threadedly engaged with the second housing portion 108. The distal end of the shaft 150 is configured to be coupled to at least a proximal end 158 of the pusher 112, such that movement of the shaft 150 in the distal direction moves the pusher 112 in the distal direction, for example, toward the distal end 118 of the housing 106. Additionally, movement of the shaft 150 in the proximal direction moves the pusher 112 in the proximal direction, for example, toward the proximal end 116 of the housing 106. In at least one exemplary embodiment, the pusher 112 includes a pair of arms 156 that are configured to engage the distal end of the shaft 150, such that when the shaft 150 moves in the proximal direction, the pusher 112 also moves in the proximal direction.

[0092] In at least one exemplary embodiment, the actuator 104 includes a knob 160 that is fixed to the proximal end of the shaft 150 opposite the pusher 112. The knob 160 can be fixed to the shaft 150 using a fastener 162. Rotation of the knob 160 in a first direction causes rotation of the drive gear 172. The drive gear 172 can engage with the proximal end of the shaft 150 so that rotation of the knob 160 and the drive gear 172 causes the shaft 150 to rotate in the first direction. In at least one exemplary embodiment, a biasing member 178 is located between the knob 160 and the drive gear 172. The biasing member 178 is configured to bias the drive gear 172 into engagement with the shaft 150.

[0093] Still refer to Figure 4-6In at least one exemplary embodiment, when the knob 160 is rotated in a first direction, the shaft 150 moves in a distal direction, for example, toward the distal end 118 of the housing 106. This movement in the distal direction also moves the pusher 112 in a distal direction toward the distal end 118 of the housing, which causes the first jaw 120 and the second jaw 122 to move toward each other to clamp the EMD 220. In at least one exemplary embodiment, each of the knob 160, the drive gear 172, and the shaft 150 is configured to rotate about the torquer longitudinal axis 114.

[0094] In at least one exemplary embodiment, the rotation in the first direction can be in a clockwise direction. The knob 160, the drive gear 172 and the shaft 150 can also be configured to rotate in a second direction, such as in a counterclockwise direction. When the knob 160 is rotated in the second direction or in a counterclockwise direction, the shaft 150 can move in a proximal direction. This movement in the proximal direction also moves the pusher 112 in a proximal direction toward the proximal end 116 of the housing 106, which causes the first jaw 120 and the second jaw 122 to move away from each other. When the first jaw 120 and the second jaw 122 move away from each other, the EMD 220 can be inserted into the torquer actuator 100, or the EMD 220 can be released and removed from the torquer actuator 100.

[0095] In at least one exemplary embodiment, the biasing member 124 includes a base portion 190 having a hole 194. The hole 194 is configured to receive at least a portion of the shaft 150. The shaft 150 and the biasing member 124 are free to move independently of each other along the torquer longitudinal axis 114. The biasing member 124 includes a first arm 196 and a second arm 198, which are spaced apart from each other and from the torquer longitudinal axis 114. The first arm 196 and the second arm 198 extend along the exterior of the pusher 112. The first arm 196 includes a first branch 200 and a second branch 202, which are configured to respectively engage a portion of the first jaw 120 and a portion of the second jaw 122 on a first side. Similarly, the second arm 198 includes a first branch 204 and a second branch 206, which are configured to respectively engage a portion of the first jaw 120 and a portion of the second jaw 122 on a second side opposite the first side. The branches 200, 202, 204, and 206 are configured to bias the first jaw 120 and the second jaw 122 toward and away from each other. For example, the shaft 150 is configured to move the biasing member 124 including the branches 200, 202, 204, and 206 in a distal direction toward the distal end 118 of the housing 106 to move the first jaw 120 and the second jaw 122 toward each other, and to move the biasing member 124 in a proximal direction toward the proximal end 116 of the housing 106 to move the first jaw 120 and the second jaw 122 away from each other.

[0096] The operation of a torquer for an elongated medical device, such as the torquer actuator 100, is also described in International Patent Application Publication No. WO 2022 / 154977, filed on January 14, 2021, entitled “TORQUER FOR AN ELONGATED MEDICAL DEVICE,” the entire contents of which are incorporated herein by reference.

[0097] As discussed in more detail below, one or more exemplary embodiments provide a pad construction for a jaw assembly of a torquer actuator that mitigates (e.g., large-scale) lateral movement of the EMD, causes the EMD to be centered along the longitudinal axis of the jaw assembly, and / or reduces the likelihood of the EMD contacting surfaces of the jaw assembly other than the pad.

[0098] One or more exemplary embodiments may also enable more economical manufacture of a torque device having relatively high torque / force capabilities while mitigating damage to the EMD being manipulated.

[0099] Fig. 7A According to at least one exemplary embodiment Figure 5 A perspective view of the jaw assembly of a torquer actuator. Figure 7B According to at least one exemplary embodiment Fig. 7A Front view of the jaw assembly.

[0100] refer to Fig. 7A and 7B In at least one exemplary embodiment, the jaw assembly 500 includes a first pad 125 disposed on a first surface 130 of the first jaw 120 and a second pad 133 disposed on a second surface 131 of the second jaw 122. The second surface 131 of the second jaw 122 is opposite the first surface 130 of the first jaw 120. The first pad 125 may define at least one first channel or recess 127 extending along at least a portion of the length of the first pad 125. For example, the first pad 125 may define the recess 127, which may extend from the first end 700 of the first pad 125 to the second end 705. The second pad 133 may define at least one second channel or recess 135 extending along at least a portion of the length of the second pad 133. For example, the at least one second recess 135 may extend from the first end 710 of the second pad 133 to the second end 715.

[0101] The first recess 127 may include a first curved (concave) surface extending in the longitudinal direction of the first liner 125, and the second recess 135 may include a second curved (concave) surface extending in the longitudinal direction of the second liner 133. The curvature of the first curved surface may extend in a direction perpendicular to the longitudinal axis of the first liner 125, and the curvature of the second curved surface may extend in a direction perpendicular to the longitudinal axis of the second liner 133. In at least one exemplary embodiment, the first curved surface and / or the second curved surface may have a constant radius of curvature, which may be related to the curvature radius described later. Figure 8C The curvature radius discussed in the exemplary embodiment shown in FIG. 1 may be the same or different. In another exemplary embodiment, the first curved surface and / or the second curved surface may be linear, as described later with respect to FIG. Fig.8D For example, the first curved surface of the first pad 125 and the second curved surface of the second pad 133 may form a first angle and a second angle, respectively. In this case, one or more of the recesses may have a V-shape instead of being curved.

[0102] In one example, the first recess 127 and / or the second recess 135 may extend continuously along the entire length of the first liner 125 and / or the second liner 133, respectively. Alternatively, the first recess 127 and / or the second recess 135 may be discontinuous in that there may be interruptions along the length of the first liner 125 and / or the second liner 133. In yet another example, the first recess 127 and / or the second recess 135 may not extend to the ends of the respective liner.

[0103] In at least one exemplary embodiment, the first end 700 and / or the second end 705 of the first liner 125 may have a chamfered or tapered edge that slopes downward toward the first surface 130. Additionally, the first end 710 and / or the second end 715 of the second liner 133 may have a chamfered or tapered edge that slopes downward toward the second surface 131, such as Fig. 7A as shown in .

[0104] In at least one exemplary embodiment, the first pad 125 and the second pad 133 are configured to engage the EMD 220. In at least one exemplary embodiment, the at least one first recess 127 and the at least one second recess 135 are configured to hold the EMD 220 at the central portion of the first pad 125 and the second pad 133 during movement of the EMD 220. For example, the at least one first recess 127 and the at least one second recess 135 are configured to clamp, attach, engage and / or clamp the EMD 220 between the central portions of the first pad 125 and the second pad 133 of the first jaw 120 and the second jaw 122. Movement of the EMD 220 may include one or more of: clamping, attaching and clamping the EMD 220 between the first jaw 120 and the second jaw 122. Movement of the EMD 220 may also include axial or linear movement along the longitudinal axis of the EMD 220 and rotation of the EMD 220 when performing a procedure. In at least some exemplary embodiments discussed herein, the center or center portion of first pad 125 and second pad 133 may refer to a center portion along a longitudinal axis of the jaw assembly.

[0105] In at least one exemplary embodiment, the outer surface of EMD 220 may include a coating. For example, EMD 220 may include a lubricating hydrophilic coating on a superelastic core coated with an elastomer. Such a coating may be very slippery when wet, which together with the superelastic core may cause EMD 220 to slide off the axis during the movement of EMD 220. In other exemplary embodiments, EMD 220 may include a polytetrafluoroethylene (PTFE) coating on a metal core. In yet other exemplary embodiments, EMD 220 may include a metal or bare metal material. As described above, the at least one first recess 127 and the at least one second recess 135 may be configured to maintain EMD 220 at the center portion of the first liner 125 and the second liner 133 during the movement of EMD 220, regardless of the coating applied or the material composition of EMD 220.

[0106] Figure 7C is a front view of another jaw assembly according to at least one exemplary embodiment. Figure 7C The clamp assembly shown in is similar to Figure 7B The jaw assembly shown in , except that only one of the first and second pads includes a recess, while the other pad has a flat or substantially flat surface (without the recess). Due to the similarities between these embodiments, only the differences will be discussed herein.

[0107] refer to Figure 7C , the first liner 125F may include a flat or substantially flat surface, rather than Figure 7BThe EMD 220 may be positioned between the first liner 125F and at least one second recess 135 of the second liner 133, as shown in FIG. Figure 7C Although not shown, in other exemplary embodiments, the second pad 133 may have a flat or substantially flat surface, and the first pad 125F may have a flat or substantially flat surface. Figure 7B In this case, the second pad 133 may be the same as or similar to the recess 127 shown in FIG. Figure 7C In such an embodiment, the second liner 133 may not include the at least one second recess 135 , and the EMD 220 may be positioned between the first recess 127 and the flat surface of the second liner 133 .

[0108] Fig. 8A According to at least one exemplary embodiment Figure 5 A perspective view of the jaw assembly. Figure 8B According to at least one exemplary embodiment Fig. 8A A perspective view of the second jaw of the jaw assembly. Figure 8C According to at least one exemplary embodiment Fig. 8A A cross-sectional view of a clamp assembly. Fig.8D According to at least one exemplary embodiment Fig. 8A According to at least this exemplary embodiment, the first jaw can be identical to the second jaw, but oriented differently.

[0109] refer to Figures 8A-8D In at least one exemplary embodiment, the jaw assembly 500 includes a first pad 125A and a second pad 133A. In at least one exemplary embodiment, the first pad 125A and the second pad 133A may each include a contoured surface. For example, the contoured surface may include a cyclical pattern. In at least one exemplary embodiment, the first pad 125A includes a first wavy surface extending along at least a portion of the length of the first pad 125A, and the second pad 133A includes a second wavy surface extending along at least a portion of the length of the second pad 133A. Figures 8A-8BAs shown in, for example, the first liner 125A includes a first wavy surface extending from the first end 700A of the first liner 125A to the second end 705A, and the second liner 133A includes a second wavy surface extending from the first end 710A of the second liner 133A to the second end 715A. In one example, the first wavy surface and / or the second wavy surface may extend continuously along the entire length of the first liner 125A and / or the second liner 133A, respectively. Alternatively, the first wavy surface and / or the second wavy surface may be discontinuous because there may be interruptions along the length of the first liner 125A and / or the second liner 133A. In at least one exemplary embodiment, the periodic morphology or the first wavy surface of the first liner 125A is configured to be out of phase with the periodic morphology or the second wavy surface of the second liner 133A. For example, the first wavy surface of the first liner 125A may be approximately 180° out of phase with the second wavy surface of the second liner 133A. In other exemplary embodiments, the first wavy surface of the first pad 125A may be less than about 180° out of phase with the second wavy surface of the second pad 133A. However, exemplary embodiments should not be limited to these examples.

[0110] According to at least some exemplary embodiments, the periodic form or first wavy surface of the first pad 125A may gradually decrease from the outer edge of the first pad 125A toward the center of the first pad 125A to define the first recess 127A. The periodic form or second wavy surface of the second pad 133A may also gradually decrease from the outer edge of the second pad 133A toward the center of the second pad 133A to define the second recess 135A. In at least one exemplary embodiment, the periodic form or first wavy surface of the first pad 125A and / or the periodic form or second wavy surface of the second pad 133A may vary along the length of the first pad 125A and the second pad 133A. For example, one or more of the amplitude or wavelength of the first wavy surface of the first pad 125A may vary along the length of the first pad 125A, and / or one or more of the amplitude or wavelength of the second wavy surface of the second pad 133A may vary along the length of the second pad 133A.

[0111] In at least one exemplary embodiment, the first recess 127A includes a first curved surface extending in the longitudinal direction of the first pad 125A, and the second recess 135A includes a second curved surface extending in the longitudinal direction of the second pad 133A. The curvature of the first curved surface may extend in a direction perpendicular to the longitudinal axis of the first pad 125A, and the curvature of the second curved surface may extend in a direction perpendicular to the longitudinal axis of the second pad 133A. In an exemplary embodiment, the first curved surface and / or the second curved surface may be linear, such as Fig.8DAs shown in . For example, the first curved surface of the first pad 125A and the second curved surface of the second pad 133A may form a first angle 820 and a second angle 825 respectively. In some exemplary embodiments, the first angle 820 and the second angle 825 may be between about 6 degrees and about 9 degrees. In at least one exemplary embodiment, the first curved surface and / or the second curved surface may have a constant radius of curvature. In this case, the contact angle with the EMD may be constant as it moves away from the center of the corresponding surface.

[0112] In another exemplary embodiment, Figure 8C As shown in , the first curved surface and / or the second curved surface may have a varying radius of curvature, wherein the contact angle with the EMD 220 may increase or decrease moving away from the center of the corresponding surface.

[0113] In at least one exemplary embodiment, the first undulating surface of the first pad 125A includes a first plurality of waves having peaks 800 and valleys 805. The second undulating surface of the second pad 133A includes a second plurality of waves having peaks 810 and valleys 815. In at least one exemplary embodiment, the peaks 800 of the first plurality of waves of the first pad 125A are configured to align with the valleys 815 of the second plurality of waves of the second pad 133A. The peaks 810 of the second plurality of waves of the second pad 133A may also be configured to align with the valleys 805 of the first plurality of waves of the first pad 125A.

[0114] In another exemplary embodiment, the first pad 125A including the first wavy surface and the second pad 133A including the second wavy surface can be identical. In this example, when the first pad 125A is placed above or on top of the second pad 133A, the valleys 805 of the first plurality of waves of the first pad 125A can be aligned with the valleys 815 of the second plurality of waves of the second pad 133A. In at least one exemplary embodiment, each of the first pad 125A and the second pad 133A can include about five peaks and about five valleys. In other exemplary embodiments, each of the first pad 125A and the second pad 133A can include more or less than five peaks and five valleys.

[0115] Fig. 9A According to at least one exemplary embodiment Figure 5 A perspective view of the jaw assembly. Fig. 9B According to at least one exemplary embodiment Fig. 9A Front view of the jaw assembly. Fig. 9C According to at least one exemplary embodiment Fig. 9A A bottom perspective view of a first jaw of a jaw assembly.

[0116] refer to Figures 9A-9CIn at least one exemplary embodiment, the jaw assembly 500 includes a first pad 125B and a second pad 133B. In at least one exemplary embodiment, a first surface 901 of the first pad 125B faces a second surface 902 of the second pad 133B. The first pad 125B may include a first wall 900 extending from at least a portion of a first outer edge 905 of the first pad 125B toward the second surface 902 of the second pad 133B. The second pad 133B may include a second wall 915 extending from at least a portion of a first outer edge 920 of the second pad 133B toward the first surface 901 of the first pad 125B. Figures 9A-9C , for example, the first wall 900 may extend from the first outer edge 905 toward the second surface 902 along substantially the entire length of the first pad 125B. Similarly, the second wall 915 may extend from the first outer edge 920 toward the first surface 901 along substantially the entire length of the first pad 125B. In at least one exemplary embodiment, the first wall 900 and the second wall 915 may be formed of the same material as the first pad 125B and the second pad 133B. For example, the first wall 900 and the first pad 125 may be integral, and the second wall and the second pad 133B may be integral. In other exemplary embodiments, the first wall 900 and the second wall 915 may be formed of the same material as the first jaw 120 and the second jaw 122.

[0117] In at least one exemplary embodiment, the first wall 900 and the second wall 915 define a channel 930. For example, the channel 930 may be defined between the first surface 901 of the first pad 125B and the second surface 902 of the first wall 900 and the second pad 133B and the second wall 915. The channel 930 may be configured to receive at least a portion of the EMD 220 and hold the EMD 220 at a central portion between the first pad 125B and the second pad 133B. For example, the channel 930 may be configured to hold the EMD 230 at a center between the first pad 125B and the second pad 133 and between the first wall 900 and the second wall 915 during movement of the EMD 220. The movement of the EMD 220 may include one or more of: clamping, attaching, and clamping the EMD 220 between the first jaw 120 and the second jaw 122. Movement of the EMD 220 may also include axial or linear movement along the longitudinal axis of the EMD 220 and rotation of the EMD 220 while performing a procedure.

[0118] In at least one exemplary embodiment, the first wall 900 may extend along at least a portion of the length of the first liner 125B in the longitudinal direction. For example, the first wall 900 may extend the length of the first liner 125B from the first end 700B to the second end 705B opposite the first end 700B, such as Fig. 9CIn other exemplary embodiments, the first wall 900 may extend (e.g., only) along a portion of the length of the first liner 125B from the first end 700B to the second end 705B or from the second end 705B to the first end 700B, as will be described below with respect to Fig. 10B Similarly, the second wall 915 of the second liner 133B may extend the length of the second liner 133B in the longitudinal direction, i.e., from the first end 710B to the second end 715B opposite the first end 710B. In other exemplary embodiments, the second wall 915 of the second liner 133B may extend (e.g., only) along a portion of the length of the second liner 133B from the first end 710B to the second end 715B or from the second end 715B to the first end 710B.

[0119] In at least one exemplary embodiment, the inner surface of the first wall 900 can be aligned with the second outer edge 925 of the second liner 133B, as shown in FIG. Fig. 9B . Similarly, the inner surface of the second wall 915 may be aligned with the second outer edge 910 of the first liner 125B. In other exemplary embodiments, the first wall 900 may extend toward the second surface 902 of the second liner 133B. For example, an end portion of the first wall 900 may face and / or contact at least a portion of the second surface 902 of the second liner 133B. Similarly, the second wall 915 may extend to the first surface 901 of the first liner 125B. For example, an end portion of the second wall 915 may face and / or contact the first surface 901 of the first liner 125B.

[0120] In at least one exemplary embodiment, the first wall 900 has a first height 950, and the second wall 915 has a second height 955. In some exemplary embodiments, the first height 950 and the second height 955 can be the same, substantially the same, or equal. For example, the first height 950 and the second height 955 can be between about 0.75 mm and about 1.5 mm. In other exemplary embodiments, the first height 950 and the second height 955 can be different. For example, the first height 950 can be greater than the second height 955, or the second height 955 can be greater than the first height 950.

[0121] Fig. 10A According to at least one exemplary embodiment Figure 5 A perspective view of the jaw assembly. Fig. 10B According to at least one exemplary embodiment Fig. 10A A bottom perspective view of a first jaw of a jaw assembly. Fig. 10C According to at least one exemplary embodiment Fig. 10A Front view of the jaw assembly.

[0122] refer to Figures 10A-10CIn at least one exemplary embodiment, the jaw assembly 500 includes a first pad 125C and a second pad 133C. In at least one exemplary embodiment, the first pad 125C may include a first wall 900C extending from a portion of the first surface 901C and a third wall 1000 extending from a portion of the first surface 901C. The third wall 1000 may be opposite to the first wall 900C. For example, the third wall 1000 may be adjacent to the second outer edge 910C of the first pad 125C, and the first wall 900C may be adjacent to the first outer edge 905C of the first pad 125C, as shown in FIG. Fig. 10B In addition, the first wall 900C and the third wall 1000 may be located on opposite ends of the first liner 125C. For example, the first wall 900C may be adjacent to the second end 705C of the first liner 125C, and the third wall 1000 may be adjacent to the first end 700C of the first liner 125C, as shown in FIG. Fig. 10B In other exemplary embodiments, the first wall 900C may be adjacent to the first end 700C, and the third wall 1000 may be adjacent to the second end 705C of the first liner 125C.

[0123] In at least one exemplary embodiment, the second pad 133C includes a second wall 915C extending from a portion of the second surface 902C of the second pad 133C and a fourth wall 1005 extending from a portion of the second surface 902C. In at least one exemplary embodiment, the second wall 915C and the fourth wall 1005 of the second pad 133C may be similar or analogous to the first wall 900C and the third wall 1000 of the first pad 125C. The fourth wall 1005 may be opposite to the second wall 915C. For example, the fourth wall 1005 may be adjacent to the second outer edge 925C of the second pad 133C, and the second wall 915C may be adjacent to the first outer edge 920C of the second pad 133C. In addition, the second wall 915C and the fourth wall 1005 may be located on opposite ends of the second pad 133C. For example, the second wall 915C may be adjacent to the second end 715C of the second liner 133C, and the fourth wall 1005 may be adjacent to the first end 710C of the second liner 133C, as shown in FIG. Fig. 10A In other exemplary embodiments, the second wall 915C may be adjacent to the first end 710C, and the fourth wall 1005 may be adjacent to the second end 715C of the second pad 133C.

[0124] Although the first wall 900C, the second wall 915C, the third wall 1000 and the fourth wall 1005 Figures 10A-10C1000 and 1005 may extend more or less than half the length of the first and second pads 125C and 133C, as long as the total length of the wall extending along the respective sides of the first and second pads 125C and 133C is approximately the length of the first and second pads 125C and 133C. In addition, the respective wall need not extend to the end of the respective pad.

[0125] In at least one exemplary embodiment, a portion of the first liner 125C and the second liner 133C can be removed or omitted to receive at least a portion of at least one of the walls of the second liner 133C and the first liner 125C, respectively. For example, a portion of the first liner 125C adjacent to the first wall 900C can be removed or omitted to form the first recess 1010, and a portion of the first liner 125C adjacent to the third wall 1000 can be removed or omitted to form the second recess 1015, as shown in FIG. Fig. 10B As shown in . The first recess 1010 may be adjacent to the first end 700C of the first liner 125C opposite the first wall 900C, and the second recess 1015 may be adjacent to the second end 705C of the first liner 125C opposite the third wall 1000. In at least one exemplary embodiment, the first recess 1010 may be configured to receive the second wall 915C of the second liner 133C, and the second recess 1015 may be configured to receive the fourth wall 1005 of the second liner 133C. In at least one exemplary embodiment, the second liner 133C may be similar or analogous to the first liner 125C. For example, the second liner 133C may define a third recess 1020, which is adjacent to the first end 710C of the second liner 133C opposite the second wall 915C and is configured to receive the third wall 1000 of the first liner 125C, as shown in . Fig. 10A The second liner 133C may further define a fourth recess (not shown) adjacent to a second end 715C of the second liner 133C opposite the fourth wall 1005 and configured to receive the first wall 900C of the first liner 125C.

[0126] In at least one exemplary embodiment, the first wall 900C and the third wall 1000 of the first pad 125C and the second wall 915C and the fourth wall 1005 of the second pad 133C define a channel 930C. For example, the channel 930C may be defined between the first surface 901C, the first wall 900C, the third wall 1000, the second surface 902C, the second wall 915C, and the fourth wall 1005. The channel 930C may be configured to receive at least a portion of the EMD 220 and hold the EMD 220 at a center portion between the first pad 125C and the second pad 133C. For example, the channel 930C may be configured to hold the EMD 230 at a center between the first pad 125C and the second pad 133C and between the first wall 900C and the second wall 915C during movement of the EMD 220. Movement of EMD 220 may include one or more of: clamping, attaching, and clamping EMD 220 between first jaw 120 and second jaw 122. Movement of EMD 220 may also include axial or linear movement along the longitudinal axis of EMD 220 and rotation of EMD 220 when performing a procedure.

[0127] Fig.11A According to at least one exemplary embodiment Figure 5 A perspective view of the jaw assembly. Fig. 11B According to at least one exemplary embodiment Fig.11A A bottom view of the first jaw of the jaw assembly. Fig. 11C According to at least one exemplary embodiment Fig.11A Front view of the jaw assembly.

[0128] refer to Figures 11A-11C In at least one exemplary embodiment, the jaw assembly 500 includes a first pad 125D and a second pad 133D. In at least one exemplary embodiment, the first pad 125D includes a first wall 1100 adjacent to the first outer edge 905D and a second wall 1105 adjacent to the second outer edge 910D. The first wall 1100 may extend along at least a portion of the first outer edge 905D, and the second wall 1105 may extend along at least a portion of the second outer edge 910D. Figures 11A-11C As shown in , for example, the first wall 1100 and the second wall 1105 can extend from the first end 700D of the first liner 125D to the second end 705D (e.g., substantially the entire length of the first liner 125D). However, exemplary embodiments should not be limited to this example. For example, the first wall 1100 and the second wall 1105 do not need to extend to the ends of the first liner 125D.

[0129] In at least one exemplary embodiment, the first wall 1100 and the second wall 1105 are castellated walls, such as Fig. 11B For example, the crenellated walls of the first wall 1100 and the second wall 1105 include a plurality of battlements 1110 and a plurality of recesses 1113 between each of the plurality of battlements 1110 .

[0130] In at least one exemplary embodiment, the second pad 133D includes a third wall 1115 and a fourth wall 1120. The third wall 1115 and the fourth wall 1120 of the second pad 133D may be similar to the above description of Fig. 11B The first wall 1100 and the second wall 1105 of the first pad 125D discussed are similar or analogous. For example, the third wall 1115 and the fourth wall 1120 may be crenellated walls having a plurality of battlements 1110 and a plurality of recesses 1113 between each of the plurality of battlements 1110.

[0131] In at least one exemplary embodiment, the crenellations of the first wall 1100 and the second wall 1105 may be offset from the crenellations of the third wall 1115 and the fourth wall 1120, such as Fig.11A For example, the plurality of battlements 1110 of the first wall 1100 and the second wall 1105 can be configured to be received by the plurality of recesses 1113 of the third wall 1115 and the fourth wall 1120. Additionally, the plurality of battlements 1110 of the third wall 1115 and the fourth wall 1120 can be received by the plurality of recesses 1113 of the first wall 1100 and the second wall 1105.

[0132] In at least one exemplary embodiment, a first liner 125D including a first wall 1100 and a second wall 1105 and a second liner 133D including a third wall 1115 and a fourth wall 1120 define a channel 930D. The channel 930D ​​may be configured to receive at least a portion of the EMD 220 and hold the EMD 220 at a central portion between the first liner 125D and the second liner 133D. For example, the channel 930D ​​may be configured to hold the EMD 230 at a center between the first liner 125D and the second liner 133D and between the walls 1100, 1105, 1115, and 1120 during movement of the EMD 220. The movement of the EMD 220 may include one or more of: clamping, attaching, and clamping the EMD 220 between the first jaw 120 and the second jaw 122. Movement of the EMD 220 may also include axial or linear movement along the longitudinal axis of the EMD 220 and rotation of the EMD 220 when performing a procedure.

[0133] Fig. 12A According to at least one exemplary embodiment Figure 5 A perspective view of the jaw assembly. Fig. 12B According to at least one exemplary embodiment Fig. 12A Front view of the jaw assembly.

[0134] In at least one exemplary embodiment, the jaw assembly 500 includes a first liner 125E and a second liner 133E. In at least one exemplary embodiment, the first liner 125E defines a plurality of first recesses 1200 extending along at least a portion of the length of the first liner 125E, and the second liner 133E defines a plurality of second recesses 1205 extending along at least a portion of the length of the second liner 133E. For example, Figures 12A-12B As shown in , the plurality of first recesses 1200 may extend from the first end 700E of the first liner 125E to the second end 705E, and the plurality of second recesses 1205 may extend from the first end 710E of the second liner 133E to the second end 715E. Each of the plurality of first recesses 1200 and each of the plurality of second recesses 1205 may include a V-shaped groove, such as Fig. 12B In other exemplary embodiments, each of the plurality of first recesses 1200 and each of the plurality of second recesses 1205 may include a curved (or concave) groove having a U-shape.

[0135] In at least one exemplary embodiment, the plurality of first recesses 1200 may be aligned with the plurality of second recesses 1205, such as Fig. 12B . In other exemplary embodiments, the plurality of first recesses 1200 may be offset from the plurality of second recesses 1205. At least a portion of the plurality of first recesses 1200 and the plurality of second recesses 1205 may be configured to hold the EMD 220 at a central portion of the first pad 125E and the second pad 133E during movement of the elongated medical device. Movement of the EMD 220 may include one or more of: clamping, attaching, and clamping the EMD 220 between the first jaw 120 and the second jaw 122. Movement of the EMD 220 may also include axial or linear movement along the longitudinal axis of the EMD 220 and rotation of the EMD 220 when performing a procedure.

[0136] According to an exemplary embodiment, the plurality of first recesses 1200 and the plurality of second recesses 1205 may extend continuously along the entire length of the first liner 125E and / or the second liner 133E, respectively. Alternatively, the plurality of first recesses 1200 and the plurality of second recesses 1205 may be discontinuous, in that there may be interruptions along the length of the first liner 125E and / or the second liner 133E. In yet another example, the plurality of first recesses 1200 and the plurality of second recesses 1205 may not extend to the ends of the respective liner.

[0137] Although exemplary embodiments may be described herein with respect to each pad of the jaw assembly 500 including a specific pad configuration, exemplary embodiments should not be limited to this example. Rather, one pad of the jaw assembly 500 may include, for example, Figures 7A-12B The specific pad configuration described above and another pad of the jaw assembly 500 may have the same Figures 7A-12B In another exemplary embodiment, only one pad of the jaw assembly 500 may have a pad configuration different from those described above. Figures 7A-12B The pad configuration described, and the other pad may, for example, have a flat or substantially flat surface.

[0138] Exemplary embodiments have been disclosed herein, and it should be understood that other variations are possible. Such variations should not be regarded as departing from the spirit and scope of the present disclosure, and all such modifications are intended to be included within the scope of the following claims as would be apparent to one skilled in the art.

Claims

1. A device for supporting an elongated medical device, the device include: a first jaw having a first surface; a first pad disposed on the first surface of the first jaw, the first pad defining at least one first recess extending along at least a portion of a length of the first pad; a second jaw having a second surface, the second surface opposite the first surface; as well as A second pad is disposed on the second surface of the second jaw.

2. The device according to claim 1, Features: The first liner and the second liner are configured to engage the elongated medical device; and The at least one first recess is configured to retain the elongate medical device at a central portion of the at least one first recess during movement of the elongate medical device.

3. The device according to claim 2, It is characterized in that The moving of the elongated medical device includes one or more of axial movement, rotation, gripping, attachment, and clamping of the elongated medical device between the first jaw and the second jaw.

4. The device according to claim 1, It is characterized in that The at least one first recess has a concave or V-shape.

5. The device according to claim 1, Features: The second liner defines at least one second recess extending along at least a portion of a length of the second liner.

6. The device according to claim 5, Features: The at least one first recess comprises a first curved surface extending in a longitudinal direction of the first pad; and The at least one second recess includes a second curved surface extending in a longitudinal direction of the second pad.

7. The device according to claim 6, Features: The curvature of the first curved surface extends in a direction perpendicular to a longitudinal axis of the first pad; and The curvature of the second curved surface extends in a direction perpendicular to a longitudinal axis of the second pad.

8. The device according to claim 6, It is characterized in that At least one of the first curved surface or the second curved surface has a constant radius of curvature.

9. The device according to claim 1, Features: at least a portion of at least one of the first liner or the second liner has a textured surface; and The textured surface has a periodic morphology.

10. The device according to claim 9, Features: The periodic morphology decreases from an outer edge of the first liner toward a center of the first liner; and The periodic morphology decreases from an outer edge of the second pad toward a center of the second pad.

11. The device according to claim 10, It is characterized in that The periodic morphology of the first pad is 180° out of phase with the periodic morphology of the second pad.

12. The device according to claim 9, Features: at least a portion of the first liner comprises a first contoured surface extending along at least the portion of the length of the first liner; and The at least one first recess is defined in the first contoured surface.

13. The device according to claim 12, Features: at least a portion of the second pad comprises a second contoured surface extending along at least the portion of the length of the second pad; and The at least one second recess is defined in the second contoured surface.

14. The device according to claim 13, Features: the first corrugated surface comprising a first plurality of waves; the second corrugated surface comprising a second plurality of waves; The peaks of the first plurality of waves are configured to align with the troughs of the second plurality of waves; and The peaks of the second plurality of waves are configured to align with the troughs of the first plurality of waves.

15. The device according to claim 1, further comprising: include: A plurality of first recesses extend along at least the portion of the length of the first pad, each of the plurality of first recesses being a curved or V-shaped groove.

16. The device according to claim 15, further comprising: include: A plurality of second recesses extend along at least the portion of the length of the second pad, each of the plurality of second recesses being a curved or V-shaped groove.

17. The device according to claim 16, It is characterized in that The plurality of first recesses are aligned with the plurality of second recesses.

18. The device according to claim 16, It is characterized in that The plurality of first recesses are offset from the plurality of second recesses.

19. The device according to claim 1, further comprising: include: a first housing portion defining a first cavity; a jaw assembly configured to move within the first cavity, the jaw assembly comprising the first jaw, the first pad, the second jaw, and the second pad; a second housing portion defining a second cavity, the second housing portion configured to be coupled to a proximal end of the first housing portion; a pusher disposed within the second cavity and configured to extend into at least a portion of the first housing portion, the pusher configured to move the jaw assembly between a first position and a second position; a biasing member engaged with the pusher and configured to apply a biasing force to the pusher; as well as An actuator engaged with the biasing member, the actuator configured to move the biasing member and the pusher in a first direction and a second direction.

20. An apparatus for supporting an elongated medical device, the apparatus include: a first jaw having a first surface; a second jaw having a second surface, the second surface facing the first surface of the first jaw; a first pad disposed on the first surface of the first jaw; as well as a second pad disposed on the second surface of the second jaw; in, The first surface of the first pad faces the second surface of the second pad, The first pad includes a first wall extending from at least a first outer edge of the first surface of the first pad toward the second surface of the second pad, and The second pad includes a second wall extending from at least a first outer edge of the second surface of the second pad toward the first surface of the first pad.

21. The device according to claim 20, Features: The first pad includes a third wall extending from at least a second outer edge of the first surface of the first pad toward the second surface of the second pad; and The second gasket includes a fourth wall extending from at least a second outer edge of the second surface of the second gasket toward the first surface of the first gasket.

22. The device according to claim 21, Features: the first wall extending along at least a portion of the first outer edge of the first surface of the first pad; the second wall extending along at least a portion of the first outer edge of the second surface of the second pad; the third wall extending along at least a portion of the second outer edge of the first surface of the first pad; as well as The fourth wall extends along at least a portion of the second outer edge of the second surface of the second pad.

23. The device according to claim 21, Features: The first wall, the second wall, the third wall and the fourth wall are crenellated walls having a plurality of battlements.

24. The device according to claim 20, further comprising: include: a first housing portion defining a first cavity; a jaw assembly configured to move within the first cavity, the jaw assembly comprising the first jaw, the first pad, the second jaw, and the second pad; a second housing portion defining a second cavity, the second housing portion configured to be coupled to a proximal end of the first housing portion; a pusher disposed within the second cavity and configured to extend into at least a portion of the first housing portion, the pusher configured to move the jaw assembly between a first position and a second position; a biasing member engaged with the pusher and configured to apply a biasing force to the pusher; as well as An actuator engaged with the biasing member, the actuator configured to move the biasing member and the pusher in a first direction and a second direction.

25. The apparatus according to claim 20, Features: The first and second pads are configured to engage the elongated medical device and retain the elongated medical device at a central portion of the first and second pads during movement of the elongated medical device.

26. An apparatus for supporting an elongated medical device, the apparatus include: a first jaw having a first surface; a first pad disposed on the first surface of the first jaw; a second jaw having a second surface, the second surface opposite the first surface; as well as A second pad is disposed on the second surface of the second jaw, the first pad and the second pad being configured to retain the elongated medical device at a central portion of the first pad and the second pad when engaged with the elongated medical device.

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