Manipulation of elongate medical devices

Abstract

The EMD drive system includes an on-device adapter removably secured to a shaft of the EMD. An on-device adapter is received in the cartridge. The cartridge is removably secured to the drive module. The drive module is operatively coupled to the on-device adapter to move the on-device adapter and the EMD together.

Description

[0001] This application is a divisional application of the Chinese invention patent application with application number 202080064601.2, application date July 14, 2020, and titled "Manipulation of Slender Medical Devices".

[0002] Cross-references to Related Patent Applications

[0003] This application claims the benefit of Provisional Application No. 62 / 874,173 (Attorney Docket No. C130-338), entitled MANIPULATION OF AN ELONGATED MEDICAL DEVICE, filed on July 15, 2019. Technical Field

[0004] The present invention relates generally to the field of robotic medical surgical systems, and more particularly to apparatus and methods for automatically controlling the movement and operation of elongated medical devices. Background Art

[0005] Catheter and other elongated medical devices (EMD) can be used for minimally invasive medical procedures for diagnosing and treating various vascular system diseases, including neurovascular intervention (NVI) (also referred to as neurointerventional surgery), percutaneous coronary intervention (PCI) and peripheral vascular intervention (PVI). These operations typically include a navigation guide wire through the vascular system, and advance the catheter via the guide wire for treatment. The catheterization procedure first uses standard percutaneous technology to enter appropriate blood vessels, such as arteries or veins, through an introducer sheath. Through the introducer sheath, sheath or guiding catheter are then advanced to a primary position on the diagnostic guide wire, such as the internal carotid artery for NVI, the coronary artery opening for PCI or the superficial femoral artery for PVI. The guide wire that is suitable for vascular system is then navigated through sheath or guiding catheter to the target position in the vascular system. In some cases, such as in a winding anatomical structure, a support catheter or microcatheter is inserted on the guide wire to assist in the navigation guide wire. The doctor or operator can use an imaging system (e.g., a fluoroscope) to obtain an image of the contrast agent injection and select a fixed frame to use as a roadmap to navigate the guidewire or catheter to the target location, such as a lesion. While the doctor is delivering the guidewire or catheter, a contrast-enhanced image can also be obtained so that the doctor can verify that the device is moving along the correct path to the target location. While observing the anatomical structure using the fluoroscope, the doctor manipulates the proximal end of the guidewire or catheter to guide the distal tip toward the lesion or target anatomical location to the appropriate blood vessel and avoid advancing into the side branches.

[0006] Robotic catheter-based surgical systems have been developed that can be used to assist physicians in performing catheterization procedures such as NVI, PCI, and PVI. Examples of NVI procedures include coil embolization of aneurysms, liquid embolization of arteriovenous malformations, and mechanical thrombectomy for large vessel occlusions in acute ischemic stroke. During NVI procedures, physicians use a robotic system to control the manipulation of a neurovascular guidewire and microcatheter to gain access to the target lesion, thereby providing treatment and restoring normal blood flow. Target access is achieved via a sheath or guide catheter, although an intermediate catheter may be required to access more distal areas or provide appropriate support for the microcatheter and guidewire. Depending on the lesion and treatment type, the distal tip of the guidewire is navigated into or through the lesion. To treat an aneurysm, the microcatheter is advanced into the lesion, the guidewire is removed, and several embolic coils are deployed into the aneurysm via the microcatheter and used to block blood flow into the aneurysm. To treat an arteriovenous malformation, liquid embolization is injected into the malformation via the microcatheter. Mechanical thrombectomy for vascular occlusion can be achieved through aspiration and / or the use of a stent retriever. Depending on the location of the clot, suction is performed by an aspiration catheter or by a microcatheter for smaller arteries. Once the aspiration catheter is in the lesion, negative pressure is applied to remove the clot through the catheter. Alternatively, a stent retriever can be deployed by a microcatheter to remove the clot. Once the clot is incorporated into the stent retriever, the clot is recovered by retracting the stent retriever and microcatheter (or intermediate catheter) into the guiding catheter.

[0007] In PCI, doctors use a robotic system to gain access to the lesion by manipulating a coronary guidewire to provide treatment and restore normal blood flow. This access is obtained by placing a guide catheter in the coronary ostium. The distal tip of the guidewire is navigated through the lesion, and for complex anatomical structures, a microcatheter can be used to provide moderate support for the guidewire. Blood flow is restored by delivering and deploying a stent or balloon at the lesion. The lesion may need to be prepared before stenting, by delivering a balloon for pre-dilation of the lesion, or by performing an arteriotomy using, for example, a laser or rotary arterectomy catheter and a balloon on a guidewire. Diagnostic imaging and physiological measurements can be performed to determine appropriate treatment methods using an imaging catheter or fractional flow reserve (FFR) measurement.

[0008] In percutaneous intubation (PVI), physicians use a robotic system to perform the procedure and restore blood flow using techniques similar to those used in nonpercutaneous intubation (NVI). The distal tip of a guidewire is navigated through the lesion, and a microcatheter can be used to provide appropriate support for the guidewire despite complex anatomy. Blood flow is restored by delivering and deploying a stent or balloon into the lesion. As with percutaneous intubation (PCI), lesion preparation and diagnostic imaging may also be used.

[0009] When support is required at the distal end of a catheter or guidewire, for example to navigate tortuous or calcified vessels, to reach distal anatomical locations, or to traverse hard lesions, over-the-wire (OTW) catheters or coaxial systems are used. OTW catheters have an inner lumen for a guidewire that extends the entire length of the catheter. This provides a relatively stable system because the guidewire is supported along its entire length. However, this system has some disadvantages, including greater friction and a longer overall length compared to rapid-exchange catheters (see below). Typically, to remove or replace an OTW catheter while maintaining the position of the internal guidewire, the exposed length of the guidewire (outside the patient's body) must be longer than that of the OTW catheter. A 300 cm guidewire is generally sufficient for this purpose and is often referred to as a replacement-length guidewire. Due to the length of the guidewire, two operators are required to remove or replace an OTW catheter. This becomes even more challenging when using a triaxial coaxial catheter, known in the art as a triaxial system (quadruple coaxial catheters are also known). However, due to their stability, OTW systems are commonly used in both NVI and PVI procedures. On the other hand, PCI procedures often use rapid exchange (or monorail) catheters. The guidewire lumen in a rapid exchange catheter extends only through the distal section of the catheter, also known as the monorail or rapid exchange (RX) section. In the case of an RX system, the operator manipulates the interventional devices in parallel with each other (as opposed to an OTW system, where the devices are manipulated in a serial configuration), and the exposed length of the guidewire only needs to be slightly longer than the RX section of the catheter. Rapid exchange length guidewires are typically 180-200 cm long. With shorter guidewire and monorail lengths, RX catheters can be changed by a single operator. However, when more distal support is required, an RX catheter is often insufficient. Summary of the Invention

[0010] The EMD drive system includes an on-device adapter that is removably secured to the shaft of the EMD. The on-device adapter is received in a cassette. The cassette is removably secured to a drive module. The drive module is operatively coupled to the on-device adapter so that the on-device adapter and the EMD move together.

[0011] In one embodiment, an EMD drive system includes a collet removably secured to an EMD. The EMD secured to the collet is radially loaded into a robotic actuator. EMD support is removably applied to the EMD in a non-axial direction; and the robotic actuator is operatively coupled to the collet to translate and / or rotate the collet and EMD.

[0012] In one embodiment, a robotic system includes a robotic drive comprising a base having a drive coupling. A cartridge is removably secured to the base. A collet in the cartridge is removably secured to an EMD. The collet has a driven member operatively coupled to the drive coupling; and the robotic drive includes a motor operatively coupled to the collet to move the collet.

[0013] In one embodiment, a robotic system includes a collet having a first portion with a first collet coupler coupled thereto and a second portion with a second collet coupler coupled thereto. An EMD is removably positioned within a path defined by the collet. A robotic actuator includes a base having a first motor and a second motor, the first motor and the second motor being continuously operatively coupled to the first collet coupler and the second collet coupler, respectively, to operatively tighten and loosen the EMD within the path and to rotate the EMD.

[0014] In one embodiment, the collet includes an inner member defining a path for receiving the EMD and an outer member. As the inner member moves relative to the outer member, a plurality of engagement members releasably engage the EMD.

[0015] In one embodiment, an EMD drive system includes a collet comprising a first collet member having a first engagement portion. The collet has a second member to be driven. The collet engagement member has a second engagement portion. The first collet member and the collet engagement member move between an engaged position and a disengaged position. As the first collet member and the collet engagement member move into the engaged position, the first engagement portion engages the second engagement portion. In the engaged position, rotation of the first collet member relative to the second collet member in a first direction tightens the EMD within the collet, and rotation of the first collet member relative to the second collet member in a second direction, opposite the first direction, releases the EMD within the collet.

[0016] In another embodiment, an EMD robotic drive system that utilizes a reset command to rotate and translate an EMD includes: a drive module controlled by a control system, the drive module including: a first actuator that operatively rotates a first axis and / or a second axis; a second actuator that operatively translates the first axis along its longitudinal axis from a first position to a second position relative to the second axis; a first tire assembly operatively attached to the first axis; a second tire assembly operatively attached to the second axis; and a third actuator that operatively moves the first tire assembly toward and away from the second tire assembly to thereby grasp and release an EMD having a longitudinal axis between the first and second tire assemblies. Translation of the first axis relative to the second axis causes the EMD to rotate about the longitudinal axis of the EMD, and rotation of the first and / or second axes causes the EMD to translate along the longitudinal axis of the EMD. The control system provides a reset command to the third actuator to release the EMD; to the second actuator to move the first tire assembly to a reset position relative to the second tire assembly; and to the third actuator to grasp the EMD.

[0017] In another embodiment, an EMD robot drive system includes a drive module comprising: a first actuator that is operative to rotate a first axis and / or a second axis; a second actuator that is operative to cause the first axis to translate from a first position to a second position relative to the second axis along its longitudinal axis; a first tire assembly that is removably attached to the first axis; and a second tire assembly that is removably attached to the second axis. An EMD having a longitudinal axis is positioned at a first position between the first tire assembly and the second tire assembly. Rotation of the first axis causes the EMD to translate along its longitudinal axis between the first tire assembly and the second tire assembly; and rotation of the second axis causes the EMD to rotate about its longitudinal axis. A third actuator is operative to move the first tire assembly toward and away from the second tire assembly, thereby gripping and releasing the EMD between the first tire assembly and the second tire assembly. A retaining clamp releasably grips a portion of the EMD spaced apart from the first tire and the second tire along the longitudinal axis of the EMD.

[0018] In one embodiment, the EMD machine drive system includes a first actuator that operatively rotates a first shaft and / or a second shaft. A second actuator operatively translates the first shaft along its longitudinal axis relative to the second shaft from a first position to a second position. A first tire assembly is operatively attached to the first shaft. A second tire assembly is operatively attached to the second shaft. A third actuator operatively moves the first tire assembly toward and away from the second tire assembly, thereby grasping and releasing an EMD having a longitudinal axis between the first tire assembly and the second tire assembly. Translation of the first shaft relative to the second shaft causes the EMD to rotate about the longitudinal axis of the EMD, and rotation of the first shaft and / or the second shaft causes the EMD to translate along the longitudinal axis of the EMD. When the first shaft moves away from its home position along its longitudinal axis, the first actuator moves with the first shaft.

[0019] In one embodiment, a method for automatically moving an EMD includes: clamping the axis of the EMD in an on-device adapter; removably securing the on-device adapter to a cartridge; removably securing the cartridge to a drive module; and automatically moving the on-device adapter and the EMD so that they translate together along the longitudinal axis of the EMD and / or rotate about the longitudinal axis of the EMD. In another aspect, the method includes: while the on-device adapter is secured in the cartridge, using an actuator to release the EMD from the on-device adapter. In another aspect, the method includes: automatically controlling the release of the EMD using an actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of an exemplary catheter surgery system according to an embodiment.

[0021] Figure 2 is a schematic block diagram of an exemplary catheter surgery system according to an embodiment.

[0022] Figure 3 is an isometric view of an exemplary bedside system of a catheter surgery system according to an embodiment.

[0023] Figure 4A is an exploded isometric view of a device module with a load sensing system and a cassette capable of receiving an on-device adapter with an EMD, according to an embodiment.

[0024] Figure 4B is an isometric view of a case with an on-device adapter with an EMD, according to an embodiment.

[0025] Figure 4C is an exploded isometric view of the cartridge showing the first and second parts of the isolation member.

[0026] Figure 4D is an exploded isometric view of the underside of the box and its connection to the drive module.

[0027] Figure 4E is a partial side view showing an on-device adapter with an EMD supported within an isolation member as part of a cassette.

[0028] Figure 4F is the position of the EMD inside the box Figure 4A A cross-sectional view of an embodiment of the present invention.

[0029] Figure 4G is an isometric view of the box and device support.

[0030] Figure 4H yes Figure 3 A close-up isometric view of the device module.

[0031] Figure 5A is an exploded isometric view of a drive module having a drive module base component and a load sensing component.

[0032] Figure 5B yes Figure 5A A close-up top view of a load sensing component connected to a load sensor within a drive module base component.

[0033] Figure 5C is a top view of a drive module with a load sensing system including an actuator to rotate and / or clamp / unclamp an EMD located external to a load sensing component and a bearing support for the load sensing component in at least one off-axis (unmeasured) direction.

[0034] Figure 5D is a side view of a drive module with a load sensing system including an actuator to rotate and / or clamp / unclamp an EMD located external to a load sensing component and a bearing support for the load sensing component in at least one off-axis (unmeasured) direction.

[0035] Figure 5E is an isometric view of a drive module including a load sensing component and a drive module base component.

[0036] Figure 6A is an exploded side view of an adapter on an EMD device according to an embodiment.

[0037] Figure 6B yes Figure 6A Side view of the assembled EMD device on the adapter.

[0038] Figure 6C is an exploded isometric view of an adapter on an EMD device according to an embodiment.

[0039] Figure 6D yes Figure 6C Side view of the assembled EMD device on the adapter.

[0040] Figure 7A is an on-device adapter according to an embodiment.

[0041] Figure 7B yes Figure 7A Exploded view of the adapter on the device.

[0042] Figure 7C It is from Figure 7A An isometric view of the device taken in a generally proximal orientation of the adapter.

[0043] Figure 7D It is from Figure 7A An isometric view of the device taken with the adapter oriented generally from the bottom.

[0044] Figure 7E When the joystick is in the open position Figure 7A Cross-section of the adapter on the device.

[0045] Figure 7F When the joystick is in the closed position Figure 7A Cross-section of the adapter on the device.

[0046] Figure 8A is an isometric view of a device adapter with a catheter.

[0047] Figure 8B is used for Figure 8A Schematic isometric view of a catheter embodiment of an adapter on a device.

[0048] Figure 9A is an isometric view of the collet.

[0049] Figure 9B yes Figure 9A Isometric view of the inner member of the collet.

[0050] Figure 9C It is taken roughly along line 9C-9C Figure 9A View of the collet.

[0051] Figure 9D It is roughly along Figure 9B The line 9D-9D intercepts Figure 9A A top plan view of the inner member of the collet.

[0052] Figure 9E yes Figure 9D Close-up of the free end of the inner member.

[0053] Figure 9FIt is roughly along Figure 9B The line 9F-9F is intercepted Figure 9A A top plan view of the inner member of the collet.

[0054] Figure 9G Here is an isometric view of another collet.

[0055] Figure 9H It is roughly cut along line 9H-9H Figure 9G View of the collet.

[0056] Figure 9I yes Figure 9G Isometric view of the internal components.

[0057] Figure 10A is an isometric view of a cam-actuated collet.

[0058] Figure 10B yes Figure 10A 3D decomposition (assembly) view.

[0059] Figure 10C.1 Is in a loose configuration Figure 10A Longitudinal cross-section of .

[0060] Figure 10C.2 Is in a loose configuration Figure 10A lateral cross-sectional view.

[0061] Figure 10D.1 Is in a clamping configuration Figure 10A Longitudinal cross-section of .

[0062] Figure 10D.2 Is in a clamping configuration Figure 10A lateral cross-sectional view.

[0063] Figure 11A is a longitudinal cross-sectional view of a flexure-actuated collet.

[0064] Figure 11B yes Figure 11A Assembled cross-sectional view of the flexure-actuated collet.

[0065] Figure 11C yes Figure 11A Exploded (assembled) view of the flexure-actuated collet.

[0066] Figure 11D yes Figure 11A Isometric cross-sectional view of a flexure-actuated collet.

[0067] Figure 11E yes Figure 11A Isometric view of the collar of a flexure-actuated collet.

[0068] Figure 12Ais an isometric view of a system including a dual gear collet drive assembly.

[0069] Figure 12B yes Figure 12A Side view of the dual gear collet drive assembly.

[0070] Figure 12C yes Figure 12A Isometric view of the dual gear collet drive assembly.

[0071] Figure 12D It shows Figure 12A An isometric exploded (clamshell) illustration of two perspective views of a dual gear collet drive assembly.

[0072] Figure 12E It shows Figure 12A Isometric view of selected components of the dual gear collet drive assembly.

[0073] Figure 12F.1 is shown in a loose configuration Figure 12A Longitudinal cross-sectional top view of the internal components of the dual-gear collet drive assembly.

[0074] Figure 12F.2 is shown in a clamped configuration Figure 12A Longitudinal cross-sectional top view of the internal components of the dual-gear collet drive assembly.

[0075] Figure 13A is an isometric view of a dual gear sliding collet drive system.

[0076] Figure 13B.1 It is in the proximal structure Figure 13A Side view of the dual-gear sliding collet drive system.

[0077] Figure 13B.2 It is located in the distal structure Figure 13A Side view of the dual-gear sliding collet drive system.

[0078] Figure 13C yes Figure 13A An enlarged side view of the collet and rotary drive assembly.

[0079] Figure 13D.1 is shown in a loose configuration Figure 13A Longitudinal cross-sectional side view of the internal components of the dual gear sliding collet drive assembly.

[0080] Figure 13D.2 is shown in a clamped configuration Figure 13A Longitudinal cross-sectional side view of the internal components of the dual gear sliding collet drive assembly.

[0081] Figure 14Ais an isometric view of a dual gear sliding collet drive system with a reset mechanism.

[0082] Figure 14B yes Figure 14A Bottom view of the dual gear sliding collet drive system with reset mechanism.

[0083] Figure 14C.1 Visible when the collet is locked Figure 14A A top view of some key components of the dual-gear sliding collet drive system with reset mechanism.

[0084] Figure 14C.2 Is visible in case of EMD advance Figure 14A A top view of some key components of the dual-gear sliding collet drive system with reset mechanism.

[0085] Figure 14C.3 Visible when the collet is unlocked Figure 14A A top view of some key components of the dual-gear sliding collet drive system with reset mechanism.

[0086] Figure 14C.4 Visible when EMD is retracted Figure 14A A top view of some key components of the dual-gear sliding collet drive system with reset mechanism.

[0087] Figure 15A is an isometric view of a system including a bellows drive.

[0088] Figure 15B Is in open configuration Figure 15A An enlarged isometric view of the driver block.

[0089] Figure 15C It is in a closed structure Figure 15A An enlarged isometric view of the driver block.

[0090] Figure 15D Is in open configuration Figure 15A Cross-sectional view of the device retainer.

[0091] Figure 15E It is in a closed structure Figure 15A Cross-sectional view of the device retainer.

[0092] Figure 15F Is in open configuration Figure 15A A magnified isometric view of the holding block.

[0093] Figure 15G Is in the drive structure Figure 15A A magnified isometric view of the holding block.

[0094] Figure 15H Is in a clamping configuration Figure 15A A magnified isometric view of the holding block.

[0095] Figure 16A is an exploded isometric view of the compression collet system.

[0096] Figure 16B yes Figure 16A An assembled isometric view of the compression collet system.

[0097] Figure 16C is shown in an unloaded configuration Figure 16A Cross-section of a compression collet system.

[0098] Figure 16D is shown in a loaded configuration Figure 16A Cross-section of a compression collet system.

[0099] Figure 17A is an isometric view (with dashed lines) of the plunger-collet system.

[0100] Figure 17B It is in a loose structure and is generally along Figure 17A The line 17A.1-17A.1 is taken Figure 17A Longitudinal cross-section of the plunger-collet system.

[0101] Figure 17C is in a clamping configuration generally along Figure 17A The line 17A.1-17A.1 is taken Figure 17A Longitudinal cross-section of the plunger-collet system.

[0102] Figure 18A is an exploded isometric view of a plunger-collet system with a disc housing.

[0103] Figure 18B is an isometric view of a multi-plunger collet system.

[0104] Figure 18C is an isometric view of a multi-plunger-collet system with a single plunger-collet assembly removed.

[0105] Figure 18D It is roughly along Figure 18B A side view of a multi-plunger collet system with dashed lines taken along line 18D-18D in FIG.

[0106] Figure 18E It is roughly along Figure 18D A longitudinal cross-sectional view of the multi-plunger collet in a released configuration, taken along line 18E-18E in FIG.

[0107] Figure 18F It is roughly along Figure 18D A longitudinal cross-sectional view of the multi-plunger collet in a clamped configuration, taken along line 18E-18E in FIG.

[0108] Figure 18G is an isometric view of a multi-plunger collet system in a clamped configuration with six plungers in the same orientation and in side and front views of the EMD.

[0109] Figure 18H is an isometric view of a multi-plunger collet system in a clamped configuration with six plungers oriented alternately 180 degrees apart and in side and front views of the EMD.

[0110] Figure 18I is an isometric view of a multi-plunger collet system in a clamped configuration with six plungers each rotated 60 degrees apart and in side and front views of the EMD.

[0111] Figure 19A is an isometric view of an opposed liner collet having an inner shell and an outer shell.

[0112] Figure 19B It is roughly along Figure 19A Side cross-sectional view of the opposed liner collet in the loosened configuration taken along line 19B-19B in FIG.

[0113] Figure 19C It is roughly along Figure 19A Side cross-sectional view of the opposed liner collets in a clamped configuration taken along line 19B-19B in FIG.

[0114] Figure 19D Is in the first position Figure 19A Cross-section and end views of a collet.

[0115] Figure 19E It is in the second position Figure 19A Cross-section and end views of a collet.

[0116] Figure 19F It is in the third position Figure 19A Cross-section and end views of a collet.

[0117] Figure 19G It is in fourth position Figure 19A Cross-section and end views of a collet.

[0118] Figure 20A is an isometric view of a collet drive system with two drive modules.

[0119] Figure 20B yes Figure 20A A side view of the first drive module of a collet drive system having two drive modules, showing some internal components.

[0120] Figure 20C It is in driving state Figure 20A Plan view of a collet drive system with two drive modules.

[0121] Figure 20D The collet is locked Figure 20A Plan view of a collet drive system with two drive modules.

[0122] Figure 20E Is in device exchange state Figure 20A A plan view of a collet device system with two drive modules.

[0123] Figure 20F When the collet is clamped and the tire is gripped Figure 20A Plan view of a collet drive system with two drive modules.

[0124] Figure 20G It is in tire drive state Figure 20A Plan view of a collet drive system with two drive modules.

[0125] Figure 21A is a plan view of the collet drive system with EMD support.

[0126] Figure 21B It has a clip Figure 21A Plan view of the collet drive system with EMD support.

[0127] Figure 21C Has a nearside tire Figure 21A Plan view of the collet drive system with EMD support.

[0128] Figure 21D Has a far side tire Figure 21A Plan view of the collet drive system with EMD support.

[0129] Figure 22A is a right side isometric view of the drive mechanism for actuating a pair of tires.

[0130] Figure 22B yes Figure 22A Exploded view of the drive mechanism.

[0131] Figure 22C Is a tire in a neutral position Figure 22A Left plan view of the drive mechanism.

[0132] Figure 22D The tire in the second position Figure 22A Left plan view of the drive mechanism.

[0133] Figure 22E Has a housing for a tire Figure 22A Left plan view of the drive mechanism.

[0134] Figure 22F is a device having a biasing mechanism in a first configuration Figure 22A Left side isometric view of the drive mechanism.

[0135] Figure 22G A tire having an engagement cam in a disengaged position and a tire in an engaged position Figure 22F A top view of the organization.

[0136] Figure 22H The tire is provided with an engagement cam in a clamping position and a tire in an engaged position. Figure 22F A top view of the organization.

[0137] Figure 22I is a tire having an engaged cam in a clamping position and a disengaged position Figure 22F A top view of the organization.

[0138] Figure 22J A tire having an engaged cam in a disengaged position and a tire in a disengaged position Figure 22F A top view of the organization.

[0139] Figure 22K is a schematic diagram of an eccentric assembly with a first tire assembly and a second tire assembly gripping an EMD.

[0140] Figure 22L is a schematic diagram of an eccentric assembly wherein the first and second tire assemblies do not grip the EMD.

[0141] Figure 22M is an isometric view of the tire assembly being mounted on the coupler.

[0142] Figure 22N is a cross-sectional view of the tire assembly and coupler.

[0143] Figure 22O It is a partial cross-sectional view of the tire assembly and the eccentric assembly.

[0144] Figure 22P is a schematic cross-sectional view of a tire assembly having a conical shape.

[0145] Figure 22Q is a schematic cross-sectional view of a tire assembly having a conical shape in an engaged position.

[0146] Figure 22R is a front view of the tire assembly secured to the coupler using the mounting member.

[0147] Figure 22S is a front view of a tire assembly with one tire assembly removed from a coupler.

[0148] Figure 22T A close-up of one tire assembly removed from the coupler.

[0149] Figure 22U is a close-up isometric view of the tire assembly.

[0150] Figure 22V is a schematic cross-sectional view of a tire assembly and EMD in a first position.

[0151] Figure 22W is a schematic cross-sectional view of the tire assembly and EMD in a second position.

[0152] Figure 22X is a schematic cross-sectional view of the tire assembly and EMD in a third position. DETAILED DESCRIPTION

[0153] Figure 1 is a perspective view of an exemplary catheter-based surgical system 10 according to an embodiment. The catheter-based surgical system 10 can be used to perform catheter-based medical procedures, such as percutaneous interventional procedures, such as percutaneous coronary intervention (PCI) (e.g., treatment of STEMI), neurovascular intervention (NVI) (e.g., treatment of emergency large vessel occlusion (ELVO)), peripheral vascular intervention (PVI) (e.g., for critical limb ischemia (CLI)), etc. Catheter-based medical procedures can include diagnostic catheterization procedures, during which one or more catheters or other elongated medical devices (EMDs) are used to assist in the diagnosis of a patient's disease. For example, during one embodiment of a catheter-based diagnostic procedure, a contrast agent is injected into one or more arteries through a catheter and an image of the patient's vascular system is acquired. Catheter-based medical procedures can also include catheter-based therapeutic procedures (e.g., angioplasty, stent placement, treatment of peripheral vascular disease, thrombectomy, arteriovenous malformation treatment, aneurysm treatment, etc.), during which a catheter (or other EMD) is used to treat a disease. The catheter-based medical procedure can be performed by including an accessory device 54 (e.g., Figure 2 The invention also provides a method for improving the treatment procedure by using an auxiliary device such as intravascular ultrasound (IVUS), optical coherence tomography (OCT), blood flow reserve fraction (FFR), etc. However, it should be noted that those skilled in the art will recognize that certain specific percutaneous interventional devices or components (e.g., guidewire type, catheter type, etc.) can be selected based on the type of surgery to be performed. The catheter-based surgical system 10 is capable of performing any number of catheter-based medical procedures and can be adapted to the specific percutaneous interventional device to be used in the surgery with only minor adjustments.

[0154] The catheter-based surgical system 10 includes, among other components, a bedside unit 20 and a control station 26. The bedside unit 20 includes a robotic actuator 24 and a positioning system 22 positioned adjacent to a patient 12. The patient 12 is supported on a bed 18. The positioning system 22 is used to position and support the robotic actuator 24. The positioning system 22 may be, for example, a robotic arm, an articulated arm, a holder, or the like. The positioning system 22 may be attached at one end to, for example, a track, a base, or a cart on the bed 18. The other end of the positioning system 22 is attached to the robotic actuator 24. The positioning system 22 (along with the robotic actuator 24) may be removed to allow the patient 12 to be placed on the bed 18. Once the patient 12 is positioned on the bed 18, the positioning system 22 may be used to position or orient the robotic actuator 24 relative to the patient 12 for the procedure. In an embodiment, the bed 18 is operably supported by a base 17, which is secured to the floor and / or ground. The bed 18 is capable of moving with multiple degrees of freedom relative to the base 17, such as roll, pitch, and yaw. The bedside unit 20 may also include controls and a display 46 (in Figure 2 For example, the controls and display may be located on the housing of the robotic drive 24.

[0155] Generally speaking, the robotic driver 24 may be equipped with appropriate percutaneous access devices and accessories 48 (in Figure 2 ) (e.g., guidewires, various types of catheters, including balloon catheters, stent delivery systems, stent retrievers, embolic coils, liquid embolisms, aspiration pumps, devices for delivering contrast agents, medications, hemostatic valve adapters, syringes, stopcocks, inflation devices, etc.) to allow a user or operator 11 to perform catheter-based medical procedures via the robotic system by operating various controls (such as controls and inputs located at the control station 26). The bedside unit 20 and specifically the robotic drive 24 may include any number of components and / or combinations of components to provide a bedside unit 20 having the functionality as described herein. The user or operator 11 at the control station 26 is referred to as the control station user or control station operator and is referred to herein as the user or operator. The user or operator at the bedside unit 20 is referred to as the bedside unit user or bedside unit operator. The robotic drive 24 includes a device mounted on a track or linear member 60 (on Figure 3 1 . A plurality of device modules 32a-d are provided on a track or linear member 60 (shown in FIG). A track or linear member 60 guides and supports the device modules. Each device module 32a-d can be used to drive an EMD, such as a catheter or a guidewire. For example, the robotic drive 24 can be used to automatically feed a guidewire into a diagnostic catheter and a guide catheter in an artery of the patient 12. One or more devices (such as an EMD) enter the body (e.g., a blood vessel) of the patient 12 at an insertion point 16 via, for example, an introducer sheath.

[0156] The bedside unit 20 is in communication with the control station 26, allowing signals generated by user input to the control station 26 to be transmitted wirelessly or via hardwire to the bedside unit 20 to control various functions of the bedside unit 20. As discussed below, the control station 26 may include a control computing system 34 (in Figure 2 ) or is coupled to the bedside unit 20 via the control computing system 34. The bedside unit 20 may also provide feedback signals (e.g., load, speed, operating conditions, warning signals, error codes, etc.) to the control station 26, the control computing system 34 (shown in FIG. Figure 2 Communication between the control computing system 34 and the various components of the catheter-based surgical system 10 may be provided via a communication link, which may be a wireless connection, a cable connection, or any other means capable of allowing communication between the components. The control station 26 or other similar control system may be located at a local location (e.g., Figure 2 local control station 38 shown) or at a remote location (e.g., Figure 2 ). The catheter surgery system 10 can be operated by a control station located at a local location, a control station located at a remote location, or by both a local control station and a remote control station. At the local location, the user or operator 11 and the control station 26 are located in the same room as the patient 12 and the bedside unit 20 or in an adjacent room. As used herein, the local location is the location of the bedside unit 20 and the patient 12 or subject (e.g., an animal or a cadaver), and the remote location is the location of the user or operator 11 and the control station 26 that is used to remotely control the bedside unit 20. The control station 26 (and control computing system) at the remote location and the bedside unit 20 and / or control computing system at the local location can be communicated with each other by using a communication system and service 36 (in Figure 2 ), for example, by communicating over the Internet. In embodiments, the remote location and the local (patient) location are remote from one another, such as in different rooms in the same building, in different buildings in the same city, in different cities, or other different locations where the remote location does not have physical access to the bedside unit 20 and / or the patient 12 at the local location.

[0157] The control station 26 generally includes one or more input modules 28 that are configured to receive user input to operate various components or systems of the catheter-based surgical system 10. In the illustrated embodiment, the control station 26 allows the user or operator 11 to control the bedside unit 20 to perform a catheter-based medical procedure. For example, the input module 28 can be configured to cause the bedside unit 20 to perform various tasks (e.g., advancing, retracting, or rotating a guidewire; advancing, retracting, or rotating a catheter; inflating or deflating a balloon located on a catheter; positioning and / or deploying a stent; positioning and / or deploying a stent retriever; positioning and / or deploying a coil; injecting contrast media into a catheter; injecting a liquid embolism into a catheter; injecting medication or saline into a catheter; applying suction to a catheter; or performing any other function that may be performed as part of a catheter-based medical procedure) by using a percutaneous interventional device (e.g., an EMD) interfaced with the robotic actuator 24. The robotic actuator 24 includes various drive mechanisms to cause movement (e.g., axial and rotational movement) of components of the bedside unit 20, including the percutaneous interventional device.

[0158] In one 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 26 may also use additional user controls 44 (in Figure 2), such as a foot switch and a microphone for voice commands, etc. The input module 28 can be configured to advance, retract or rotate various components and percutaneous interventional devices, such as, for example, a guidewire and one or more catheters or microcatheters. The buttons can, for example, include an emergency stop button, a multiplier button, a device selection button and an automatic movement button. When the emergency stop button is pushed, the power (e.g., electricity) to the bedside unit 20 is disconnected or removed. When in speed control mode, the multiplier button is used to increase or decrease the movement speed of the associated component in response to 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 11 to select which percutaneous interventional device loaded into the robot drive 24 is controlled by the input module 28. The automatic movement button is used to enable algorithmic motion, which the catheter-based surgical system 10 can perform on a percutaneous interventional device without the need for direct commands from the user or operator 11. 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 the display 30) that, when activated, cause operation of the components of the catheter-based surgical 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 dedicated to that control. In addition, the one or more touch screens may display one or more icons (not shown) associated with various portions of the input module 28 or various components of the catheter-based surgical system 10.

[0159] The control station 26 may include a display 30. In other embodiments, the control station 26 may include two or more displays 30. The display 30 may be configured to display information or patient-specific data to a user or operator 11 located at the control station 26. For example, the display 30 may be configured to display image data (e.g., X-ray images, MRI images, CT images, ultrasound images, etc.), hemodynamic data (e.g., blood pressure, heart rate, etc.), patient record information (e.g., medical history, age, weight, etc.), lesion or treatment assessment data (e.g., IVUS, OCT, FFR, etc.). In addition, the display 30 may be configured to display procedure-specific information (e.g., procedure checklist, recommendations, procedure duration, catheter or guidewire position, volume of medication or contrast agent delivered, etc.). In addition, the display 30 may be configured to display information to provide information related to the control computing system 34 (in Figure 2 The display 30 may include touch screen capabilities to provide certain user input capabilities of the system.

[0160] The catheter-based surgical system 10 also includes an imaging system 14. The imaging system 14 can be any medical imaging system that can be used in conjunction with a catheter-based medical procedure (e.g., non-digital X-ray, digital X-ray, CT, MRI, ultrasound, etc.). In an exemplary embodiment, the imaging system 14 is a digital X-ray imaging device that communicates with a control station 26. In one embodiment, the imaging system 14 can include a C-arm (in Figure 1 ), which allows the imaging system 14 to be rotated partially or completely around the patient 12 to obtain images at different angular positions relative to the patient 12 (e.g., sagittal view, caudal view, anteroposterior view, etc.). In one embodiment, the imaging system 14 is a fluoroscopic system including a C-arm having an x-ray source 13 and a detector 15, also known as an image intensifier.

[0161] The imaging system 14 can be configured to acquire X-ray images of appropriate areas of the patient 12 during surgery. For example, the imaging system 14 can be configured to acquire one or more X-ray images of the head in order to diagnose a neurovascular condition. The imaging system 14 can also be configured to acquire one or more X-ray images (e.g., real-time images) during a catheter-based medical procedure to assist a user or operator 11 at the control station 26 in properly positioning a guidewire, guide catheter, microcatheter, stent retriever, coil, stent, balloon, etc. during the procedure. The one or more images can be displayed on the display 30. For example, the image can be displayed on the display 30 to allow the user or operator 11 to accurately move a guide catheter or guidewire into position.

[0162] To clarify orientation, a rectangular coordinate system with X, Y, and Z axes is introduced. The positive X axis is oriented in the longitudinal (axial) distal direction, i.e., from proximal to distal, or in other words, from near to far. The Y and Z axes lie in a plane transverse to the X axis, with the positive Z axis pointing upward, i.e., opposite to gravity, and the Y axis automatically determined by the right-hand rule.

[0163] Figure 2 is a block diagram of a catheter-based surgical system 10 according to an exemplary embodiment. The catheter-based surgical system 10 may include a control computing system 34. The control computing system 34 may be, for example, physically located at the control station 26 ( Figure 1). The control computing system 34 can be generally an electronic control unit suitable for providing the various functions described herein to the catheter-based surgical system 10. For example, the control computing system 34 can be an embedded system, a dedicated circuit, a general-purpose system programmed to perform the functions described herein, etc. The control computing system 34 communicates with the bedside unit 20, communication systems and services 36 (e.g., the Internet, a firewall, a cloud service, a session manager, a hospital network, etc.), a local control station 38, additional communication systems 40 (e.g., a telepresence system), a remote control station and computing system 42, and patient sensors 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 also communicates with the imaging system 14, the patient bed 18, additional medical systems 50, a contrast agent injection system 52, and auxiliary devices 54 (e.g., IVUS, OCT, FFR, etc.). The bedside unit 20 includes a robotic drive 24, a positioning system 22, and can include additional controls and a display 46. As described above, additional controls and displays may be located on the housing of the robotic drive 24. Interventional devices and accessories 48 (e.g., guidewires, catheters, etc.) interface with the bedside system 20. In embodiments, the interventional devices and accessories 48 may include specialized devices (e.g., IVUS catheters, OCT catheters, FFR wires, diagnostic catheters for contrast agents, etc.) that interface with their respective accessory devices 54, i.e., an IVUS system, an OCT system, an FFR system, etc.

[0164] In various embodiments, the control computing system 34 is configured to be based on a user's interaction with, for example, the control station 26 (at Figure 1 The catheter-based surgical system 10 may be configured to perform a medical procedure using the catheter-based surgical system 10 by interacting with an input module 28 (shown in FIG. 1 ), such as a local control station 38 or a remote control station 42, and / or generating control signals based on information available to the control computing system 34 so that a medical procedure can be performed using the catheter-based surgical system 10. The local control station 38 includes one or more displays 30, one or more input modules 28, and additional user controls 44. The remote control station and computing system 42 may include similar components to the local control station 38. The remote 42 and local 38 control stations can be different and customized based on their desired functionality. The additional user controls 44 may, for example, 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 X-rays on and off and scrolling through different stored images. In another embodiment, a foot input device may be configured to allow a user to select which device is mapped to a scroll wheel included in the input module 28. Additional communication systems 40 (eg, audio conferencing, video conferencing, telepresence, etc.) may be used to assist the operator in interacting with the patient, medical personnel (eg, angiography personnel), and / or equipment near the bedside.

[0165] The catheter-based surgical system 10 may be connected to or configured to include any other systems and / or devices not explicitly shown. For example, the catheter-based surgical system 10 may include an image processing engine, a data storage and archiving system, an automated balloon and / or stent inflation system, a medical injection system, a medical tracking and / or recording system, user records, an encryption system, a system for limiting access to or use of the catheter-based surgical system 10, and the like.

[0166] As described, the control computing system 34 communicates with the bedside unit 20, which includes the robotic drive 24, the positioning system 22, and may include additional controls and a display 46, and may provide control signals to the bedside unit 20 to control the operation of motors and drive mechanisms used to drive percutaneous interventional devices (e.g., guidewires, catheters, etc.). Various drive mechanisms may be provided as part of the robotic drive 24. Figure 3 is a perspective view of a robotic actuator for a catheter-based surgical system 10 according to an embodiment. Figure 3 In, the robotic drive 24 includes a plurality of device modules 32a-d coupled to the linear member 60. Each device module 32a-d is coupled to the linear member 60 via a stage 62a-d that is movably mounted to the linear member 60. The device modules 32a-d can be connected to the stages 62a-d using connectors such as offset brackets 78a-d. In another embodiment, the device modules 32a-d are mounted directly to the stages 62a-d. Each stage 62a-d can be independently actuated to move linearly along the linear member 60. Thus, each stage 62a-d (and the corresponding device modules 32a-d coupled to the stages 62a-d) can move independently relative to each other and relative to the linear member 60. A drive mechanism is used to actuate each stage 62a-d. In Figure 3 In the embodiment shown in , the drive mechanism includes an independent stage translation motor 64a-d coupled to each stage 62a-d and a stage drive mechanism 76, for example, via a leadscrew via a rotating nut, a rack via a pinion, a belt via a pinion or pulley, a chain via a sprocket, or the stage translation motors 64a-d themselves may be linear motors. In some embodiments, the stage drive mechanism 76 may be a combination of these mechanisms, for example, a different type of stage drive mechanism may be used for each stage 62a-d. In embodiments where the stage drive mechanism is a leadscrew and a rotating nut, the leadscrew may be rotated and each stage 62a-d may engage and disengage the leadscrew to move, for example, to advance or retract. In Figure 3 In the embodiment shown in FIG, the stages 62a-d and device modules 32a-d are in a series driven configuration.

[0167] Each device module 32a-d includes a drive module 68a-d and a cartridge 66a-d mounted on and coupled to the drive module 68a-d. Figure 3 In the embodiment shown in, each box 66a-d is mounted to the drive module 68a-d with a vertical orientation. In other embodiments, each box 66a-d can be mounted to the drive module 68a-d with other mounting orientations. Each box 66a-d is configured to be connected to the proximal portion interface with the EMD (not shown) and supports this proximal portion. In addition, each box 66a-d can include an element that also provides one or more degrees of freedom except the linear motion along the linear member 60 linear movements provided by the actuation of the corresponding platform 62a-d. For example, box 66a-d can include an element that can be used to rotate the EMD when box is coupled to the drive module 68a-d. Each drive module 68a-d includes at least one coupler so as to be provided to the drive interface of the mechanism in each box 66a-d so as to provide additional degrees of freedom. Each box 66a-d also includes a channel positioned therein with a device support 79a-d, and each device support 79a-d is used to prevent EMD from buckling. 32a, 32b and 32c, so that the proximal end of device support 79b, 79c and 79d provides fixed support point respectively.Robot driver 24 can also comprise the device support connection 72 that is connected to device support 79, distal support arm 70 and support arm 77o.Support arm 77o is used for the proximal end of the distal device support 79a that is housed in the distal device module 32a and provides fixed support point.In addition, introducer interface support member (redirector) 74 can be connected to device support connection 72 and EMD (for example, introducer sheath).The structure of robot driver 24 has the advantage of reducing the volume and weight of driving robot driver 24 by using the actuator on single linear member.

[0168] To prevent pathogens from contaminating the patient, the medical staff will Figure 1 Aseptic technique is used in a room (shown in ). The room that houses the bedside unit 20 and the patient 12 can be, for example, a catheterization room or an angiography room. Aseptic technique includes the use of sterile barriers, sterile equipment, appropriate patient preparation, environmental control, and contact guidelines. Therefore, all EMDs and interventional accessories are sterilized and can only contact sterile barriers or sterile equipment. In an embodiment, a sterile drape (not shown) is placed over the non-sterile robotic drive 24. Each box 66a-d is sterilized and serves as a sterile interface between the covered robotic drive 24 and at least one EMD. Each box 66a-d can be designed to be sterilized for a single use, or to be repeatedly sterilized in whole or in part, so that the box 66a-d or its components can be used in multiple operations.

[0169] Distal and Proximal: The terms distal and proximal define the relative positions of two different features. With respect to a robotic actuator, the terms distal and proximal are defined by the position of the robotic actuator in its intended use relative to a patient. When used to define relative positions, a distal feature is a feature of the robotic actuator that is closer to the patient than a proximal feature when the robotic actuator is in its intended use position. In a patient, any vessel marker along a path further away from the entry point is considered more distal than a marker closer to the entry point, where the entry point is the point at which the EMD enters the patient. Similarly, a proximal feature is a feature that is further away from the patient than a distal feature when the robotic actuator is in its intended use position. When used to define a direction, the distal direction refers to the path that something is moving or intended to move, or the path that something is directed from a proximal feature to or toward a distal feature and / or the patient when the robotic actuator is in its intended use position. The proximal direction is the direction opposite to the distal direction. For example, refer to Figure 1 , showing the robotic device from the perspective of the operator facing the patient. In this configuration, the distal direction is along the positive X-axis and the proximal direction is along the negative X-axis. Figure 3 , the EMD moves in a distal direction on a path toward the patient through the introducer interface support 74 that defines the distal end of the robotic drive 24. The proximal end of the robotic drive 24 is the point farthest from the distal end along the negative X-axis. Referring to FIG3 , the most distal drive module is the drive module 32a that is closest to the distal end of the robotic drive 24. The most proximal drive module is the drive module 32d that is positioned farthest from the distal end of the robotic drive 24 along the negative X-axis. The relative positions of the drive modules are determined by their positions relative to the distal end of the robotic drive. For example, drive module 32b is distal to drive module 32c. Referring to FIG3 , the most distal drive module is the drive module 32a that is closest to the distal end of the robotic drive 24. Figure 3 , portions of cassette 66a and drive module 68a are defined by their positions relative to the distal end of the robotic driver. For example, when the cassette is in the use position on drive module 68a, along the negative X-axis, the distal end of cassette 66a is the portion of the cassette closest to the distal end of the robotic driver, and the proximal end of cassette 66a is the portion of the cassette farthest from the distal end of the robotic driver. In other words, the distal end of cassette 66a is the portion of the cassette through which the EMD is closest to the path to the patient in the use position.

[0170] Longitudinal Axis: The longitudinal axis of a member (e.g., an EMD or other element in a catheter-based surgical system) is a line or axis along the length of the member that passes through the center of the member's cross-section in a direction from the proximal portion of the member to the distal portion of the member. For example, the longitudinal axis of a guidewire is the central axis in a direction from the proximal portion of the guidewire to the distal portion of the guidewire, although the guidewire may be nonlinear over relevant portions.

[0171] Axial Movement: The term axial movement of a component refers to translation of the component along the longitudinal axis of the component. When the distal end of the EMD moves axially along its longitudinal axis in the distal direction into the patient's body or further into the patient's body, the EMD is being advanced. When the distal end of the EMD moves axially along its longitudinal axis in the proximal direction out of the patient's body or further out of the patient's body, the EMD is being withdrawn.

[0172] Rotational motion: The term rotational motion of a component refers to a change in the angular orientation of the component about its local longitudinal axis. Rotational motion of an EMD corresponds to a clockwise or counterclockwise rotation of the EMD about its longitudinal axis due to an applied torque.

[0173] Axial and lateral insertion: The term axial insertion refers to inserting a first member into a second member along the longitudinal axis of the second member. An EMD that is axially loaded in a collet is inserted axially into the collet. An example of axial insertion can be referred to as back loading the catheter on the proximal end of the guidewire. The term lateral insertion refers to inserting a first member into a second member along a direction in a plane that is perpendicular to the longitudinal axis of the second member. This can also be referred to as radial loading or lateral loading. In other words, lateral insertion refers to inserting a first member into a second member along a direction that is parallel to the radius of the second member and perpendicular to the longitudinal axis of the second member.

[0174] Pinch / Unpinch: The term pinch refers to releasably securing the EMD to a component so that the EMD and component move together when the component moves. The term unpinch refers to releasing the EMD from the component so that the EMD and component move independently when the component moves.

[0175] Clamp / Unclamp: The term clamp refers to releasably securing an EMD to a component so that its motion is constrained relative to the component. A component can be secured relative to a global coordinate system or a local coordinate system. The term unclamp refers to releasing the EMD from the component so that it can move independently.

[0176] Grip / Ungrip: The term grip refers to the application of a force or torque to the EMD by the drive mechanism that causes the EMD to move without slipping in at least one degree of freedom. The term ungrip refers to the release of the force or torque applied to the EMD by the drive mechanism so that the position of the EMD is no longer constrained. In one example, the EMD gripped between the two tires rotates about its longitudinal axis as the two tires move longitudinally relative to each other. The rotational motion of the EMD is distinct from the motion of the two tires. The position of the gripped EMD is constrained by the drive mechanism.

[0177] Buckling: The term buckling refers to the tendency of a flexible EDM to bend away from its longitudinal axis or the intended path along which it is being advanced when under axial compression. In one embodiment, the axial compression occurs in response to resistance from navigating through the vascular system. The distance that an EMD can be driven unsupported along its longitudinal axis before the EMD buckles is referred to herein as the device buckling distance. The device buckling distance is a function of the stiffness of the device, its geometry (including but not limited to diameter), and the forces applied to the EMD. Buckling can cause the EMD to form an arcuate portion that is different from the intended path. Kinking is a buckling condition in which the deformation of the EMD is inelastic, resulting in permanent deformation.

[0178] In-situ: The term in-situ refers to moving a component to a defined position. An example of a defined position is a reference position. Another example of a defined position is an initial position. The term in-situ refers to a defined position. It is often used as a reference for subsequent linear or rotational positions.

[0179] Up / Down, Front / Back, Inward / Outward: The terms top, up, and upper refer to the general direction away from the direction of gravity, and the terms bottom, down, and lower refer to the general direction in the direction of gravity. The term front refers to the side of the robotic actuator that faces the bedside user and away from the positioning system (such as an articulated arm). The term back refers to the side of the robotic actuator closest to the positioning system (such as an articulated arm). The term inward refers to the interior portion of a feature. The term outward refers to the exterior portion of a feature.

[0180] Stage: The term stage refers to a member, feature, or device used to couple an apparatus module to a robotic drive. For example, a stage may be used to couple an apparatus module to a track or linear member of a robotic drive.

[0181] Drive module: The term drive module generally refers to a portion (eg, the main portion) of a robotic drive system that typically includes one or more motors with a drive coupling that interfaces with the cartridge.

[0182] Device module: The term device module refers to the combination of the driver module and the box.

[0183] Cassette: The term cassette generally refers to a portion (non-primary, consumable or sterilizable unit) of a robotic drive system, typically a sterile interface between a drive module and at least one EMD (directly) or through a device adapter (indirectly).

[0184] Collet: The term collet refers to a device capable of releasably securing a portion of an EMD. The term secured herein refers to the absence of intentional relative movement between the collet and the EMD during operation. In one embodiment, the collet comprises at least two components that rotate relative to one another to releasably secure the EMD to at least one of the two components. In one embodiment, the collet comprises at least two components that move axially relative to one another (along a longitudinal axis) to releasably secure the EMD to at least one of the two components. In one embodiment, the collet comprises at least two components that rotate and move axially relative to one another to releasably secure the EMD to at least one of the two components.

[0185] Fixed: The term fixed means that there is no intentional relative movement of a first component with respect to a second component during operation.

[0186] On-device adapter: The term on-device adapter refers to a sterile device that can releasably clamp an EMD to provide a drive interface. The on-device adapter is also referred to as an end effector or EMD capture device. In one non-limiting embodiment, the on-device adapter is a collet that is robotically controlled to rotate the EMD about its longitudinal axis, clamp and / or release the EMD to the collet, and / or translate the EMD along its longitudinal axis. In one embodiment, the on-device adapter is a hub-drive mechanism, such as a driven gear located on the hub of the EMD.

[0187] Tandem drive: The term tandem drive refers to a drive unit or subsystem within a robotic drive that contains two or more EMD drive modules, which is capable of manipulating one or more EMDs.

[0188] EMD: The term elongated medical device (EMD) refers to, but is not limited to, catheters (e.g., guide catheters, microcatheters, balloon / stent catheters), wire-based devices (e.g., guidewires, embolic coils, stent retrievers, etc.), and medical devices comprising any combination thereof. In one example, wire-based EMDs include, but are not limited to, guidewires, microwires, proximal pushers for embolic coils, stent retrievers, self-expanding stents, and flow diverters. Typically, wire-based EMDs do not have a hub or handle at their proximal end. In one embodiment, the EMD is a catheter having a hub at the proximal end of the catheter and a flexible shaft extending from the hub to the distal end of the catheter, wherein the shaft is more flexible than the hub. In one embodiment, the catheter includes an intermediate portion transitioning between the hub and the shaft, having an intermediate flexibility that is less stiff than the hub and more rigid than the shaft. In one embodiment, the intermediate portion is a strain relief.

[0189] Hub (Proximal) Drive: The term hub drive or proximal drive refers to the grasping and manipulation of the EMD from a proximal location (e.g., a gear adapter on the catheter hub). In one embodiment, hub drive refers to the application of force or torque to the hub of the catheter to cause the catheter to translate and / or rotate. Hub drive can cause the EMD to buckle and therefore hub drive typically requires anti-buckling features. For devices that do not have a hub or other interface (e.g., a guidewire), a device adapter can be added to the device to serve as an interface for the device module. In one embodiment, the EMD does not include any mechanism for manipulating features within the catheter, such as a wire extending from a handle to the distal end of the catheter to deflect the distal end of the catheter.

[0190] Axial (distal) drive: The term "axial (distal) drive" refers to grasping and manipulating the EMD along its axis. In one example, the on-device adapter is typically located just proximal to the hub or Y-connector into which the device is inserted. If the on-device adapter is located near the insertion point (to the body or another catheter or valve), then the axial drive typically does not require an anti-buckling feature (which may be included to improve driving capabilities).

[0191] Sterilizable Unit: The term sterilizable unit refers to a device that is capable of being sterilized (free of pathogenic microorganisms). This includes, but is not limited to, cartridges, consumable units, drapes, device adapters, and sterilizable drive modules / units (which may include electromechanical components). Sterilizable units may contact a patient, other sterile devices, or anything placed within the sterile field of a medical procedure.

[0192] Sterile interface: The term sterile interface refers to the interface or boundary between a sterile and a non-sterile unit. For example, a cassette can be a sterile interface between a robotic drive and at least one EMD.

[0193] Reset: The term reset means repositioning the drive mechanism from a first position to a second position to allow continued rotational and / or axial movement of the EMD. During the reset, the drive mechanism does not actively move the EMD. In one embodiment, the drive mechanism releases the EMD before repositioning the drive mechanism. In one embodiment, a clip secures the position of the EMD during repositioning of the drive mechanism.

[0194] Continuous motion: The term continuous motion refers to motion that does not require resetting and is not interrupted.

[0195] Discontinuous motion: The term discontinuous motion refers to motion that requires resetting and is interrupted.

[0196] Consumable: The term consumable refers to a sterilizable unit that is typically used a single time in a medical procedure. The unit may be a reusable consumable that can be used in another medical procedure through a resterilization process.

[0197] Device Support: The term device support refers to a member, feature, or device that prevents EMD buckling.

[0198] Dual Gear: The term dual gear refers to two independent driven gears that are operably connected to two different parts of a device. Each of the two gears can be of the same or different design. The term gear can include a bevel gear, spiral bevel gear, spur gear, helical gear, worm gear, helical gear, rack and pinion gear, lead screw gear, internal gear (such as a sun gear), involute spline shaft and bushing, or any other type of gear known in the art. In one example, dual gear also includes any device in which a drive connection is maintained between two different parts of a device, including but not limited to a belt, friction joint, or other coupling known in the art.

[0199] refer to Figure 3 and Figure 4A , the EMD drive system includes an adapter 112 on the device, which, in one embodiment, includes a collet that is removably secured to the EMD 102. The collet 112 is a device that releasably secures a shaft portion of the EMD 102 thereto. As described in more detail herein, the collet 112 clamps the shaft of the EMD 102 so that rotation and / or translation of the entire collet 112 about or along its longitudinal axis causes the same rotation and / or translation of the clamped portion of the shaft of the EMD 102. In one embodiment, the collet 112 can be a single molded component having a body that defines an internal path through which a portion of the shaft of the EMD 102 can be secured. As described herein, the shaft of the EMD 102 is positioned in the internal path of the collet and clamped therein. The shaft of the EMD 102 can be radially loaded or axially loaded into the internal path of the collet. Radial loading may also be referred to as side loading or lateral loading because the shaft of the EMD is loaded into the collet 112 through the longitudinal sides of the collet body (which are the sides of the collet body extending from the proximal end to the distal end of the collet body). Radial loading, side loading, or lateral loading is distinguished from axial loading, in which the shaft is partially loaded into the internal path of the collet by first inserting the free end of the shaft into the proximal or distal opening in the internal path of the collet.

[0200] In one embodiment, the collet 112 includes at least two components that move relative to each other to releasably secure a shaft portion of the EMD to at least one of the two components. In one embodiment, the two components operate together to provide a mechanical advantage by increasing the torque and / or force that can be transmitted from the collet body to the shaft of the EMD without requiring the shaft of the EMD to move relative to the collet body. The clamping force on the EMD using the collet can be greater than the force required to actuate the clamping. When the shaft of the EMD is clamped, it is fixed so that relative movement of the collet and the EMD occurs within acceptable operating parameters for the EMD procedure.

[0201] The EMD 102 is secured to a collet 112 and radially loaded into a robotic drive, also referred to herein as a device module 32, such as an EMD drive. The EMD support 79 is removably applied to the EMD 102 in a non-axial direction. The robotic drive 32 is operatively coupled to the collet 112 to translate and / or rotate the collet 112 and the EMD 102. In one embodiment, the EMD 102 is removably and releasably loaded into the robotic drive 32.

[0202] In one embodiment, the collet 112 is in the robotic drive 32 when the EMD 102 is radially loaded into the robotic drive 32. In one embodiment, the collet 112 is removably inserted into the robotic drive 32 with the EMD 102 secured to the collet 112.

[0203] In one embodiment, as the EMD 102 is translating and / or rotating, the EMD supports 79 limit buckling and prevent the EMD 102 from kinking along its length.

[0204] In one embodiment, the robotic system includes a robotic drive 32, or the device module includes a drive module 68 or base having a drive coupling 130 and a cartridge 66 removably secured to the drive module 68. A collet 112 in the cartridge 66 is removably secured to the EMD 102. The collet 112 has a driven member 136 operatively coupled to the drive coupling 130. The robotic drive 32 includes a motor or actuator operatively coupled to the collet 112 to move the collet 112. In one embodiment, the cartridge 66 is removably secured to the base 68 by directly connecting the cartridge 66 to the base 68. In one embodiment, the cartridge 66 is removably secured to the base 68 indirectly, with an intermediate member positioned between the cartridge 66 and the base 68.

[0205] The EMD 102 can be radially loaded or axially loaded into the collet 112 before the collet 112 is positioned in the cartridge 66 so that the EMD 102 and the collet 112 are loaded together into the cartridge 66. The EMD 102 can be radially loaded or axially loaded into the collet 112 or when the collet 112 is already positioned in the cartridge 66.

[0206] In one embodiment, the EMD 102 is removably received in a collet 112 in a radial direction, and the collet 112 is removably received and positioned in the cartridge 66. As described herein, the collet 112 can have a slot extending from the periphery of the collet body to the internal path thereof. A portion of the EMD 102, such as a shaft portion, can be inserted into the path in a radial direction through the slot. The shaft portion of the EMD 102 is a portion of the EMD 102 intermediate the proximal end of the EMD 102 and the distal end of the EMD 102. The radial loading of the shaft portion of the EMD 102 into the collet occurs while the proximal end of the EMD 102 and the distal end of the EMD 102 remain outside the collet and the path. In other words, the shaft portion of the EMD 102 is loaded in a direction generally perpendicular to the longitudinal axis of the collet 112.

[0207] In one embodiment, the EMD 102 is removably received in the collet 112 in an axial direction, and the collet 112 is removably received in the cartridge 66. In such an embodiment, one of the distal end or the proximal end of the EMD 102 is inserted into the distal opening or the proximal opening of the collet 112 and moved along the longitudinal axis of the collet 112 until the distal end or the proximal end of the EMD clears the other of the distal end or the proximal end of the collet.

[0208] In one embodiment, the EMD 102 is removably received in a radial direction within the collet 112, and the collet 112 is non-removably positioned within the cartridge 66. In one embodiment, the EMD 102 is removably received in an axial direction within the collet 112, and the collet 112 is non-removably positioned within the cartridge 66. In one embodiment, the collet 112 includes a locating feature 408 positioned within the cartridge 66 with a locating feature 133 that allows for radial loading and rotation of the collet within the cartridge 66. In one embodiment, the collet 112 also includes a distal end that is positioned within the locating feature in the cartridge 66.

[0209] refer to Figure 4F In one embodiment, the motor 124 is positioned within the base 68 and is operatively coupled to the drive coupling 130. When the cassette 66 is secured to the base 68, the drive coupling 130 extends into the cassette 66. In one embodiment, the motor is located within the cassette 66. In one embodiment, the motor is located outside the base 68 but is operatively coupled to the drive coupling 130 in the base 68.

[0210] In one embodiment, the robotic system includes a gripper to releasably grip the shaft portion of the EMD independently of the collet. In one embodiment, the gripper includes at least one tire.

[0211] As discussed in greater detail herein, in one embodiment, moving the collet 112 rotates the collet and the EMD. In one embodiment, the EMD 102 selectively rotates in clockwise and counterclockwise directions about the longitudinal axis of the EMD 102.

[0212] As discussed in more detail herein, in one embodiment, moving the collet 112 selectively tightens and loosens the EMD within the collet. In one embodiment, as discussed in more detail herein, moving the collet 112 includes moving only one or more portions of the collet 112 rather than the entire collet to tighten and loosen the EMD.

[0213] As discussed in greater detail herein, in one embodiment, moving the collet 112 causes the collet and the EMD to selectively translate in a first direction and an opposite second direction along the longitudinal axis of the EMD.

[0214] As discussed in greater detail herein, in one embodiment, moving the collet 112 includes rotating the collet and EMD, translating the collet and EMD, and selectively tightening and loosening the EMD within the collet.

[0215] refer to Figure 3 、 Figure 4G and Figure 4H , the robotic system 24 includes a plurality of device modules 32a-32d. In one embodiment, there are two or more separate device modules. Figure 3 A system is shown with four device modules 32. In one embodiment, the modules are identical, and in one embodiment each device module is different or some modules are identical and some are different. Figure 3 As discussed above, a system with four device modules 32 is shown. Each EMD device support 79a-79d includes a proximal end and a distal end terminating in a distal connector 80. For example, referring to Figure 4H, the device module 32c has an EMD device support 79c, which has a proximal end 79c.1 and a relative distal connector 79c.2. The proximal end 79c.1 of the EMD device support 79c is fixed to the proximal end 77b.1 of the arm 77b. The arm 77b has a distal end 77b.2, which is fixed to the device module 32b on the distal side of the device module 32c. The end 77b.2 of the EMD drive support 77b is fixed to the proximal end of the device module 32b so that the end 77b.2 cannot move distally to the distal end of the device module 32b. In operation, the distal connector 80c is removably connected to the proximal connector 88b on the device module 32b. In one embodiment, the EMD supports 79a-79d include a flexible tube having a longitudinal slit, thereby allowing the EMD to be inserted into and removed from the corresponding EMD device supports 79a-79d. In one embodiment, the EMD supports 79a-79d are operated as flexible tracks as described in U.S. published application number US2016 / 0271368, entitled Guide Catheter Control Flexible Track, owned by the same applicant as the present application. The arm 77b moves linearly with the drive module 32b, and therefore in one mode the proximal end 77c.1 and the distal end 77c.2 move with the drive module 32b relative to the drive module 32c. The EMD device support 79c is removably applied to the EMD 102, which is being manipulated in a non-axial direction by the device module 32c. The EMD 102 being manipulated by the device module 32c enters and exits the support 79c via a longitudinal slit extending from the periphery of the EMD device support to the inner cavity of the EMD support. In one embodiment, the EMD device support is a telescopic member, as further discussed herein, wherein the EMD can be axially loaded or non-axially loaded into the EMD device support to provide anti-buckling support. Reference Figure 3 , each drive module 32a-32d independently manipulates a different device. Each EMD device support 79a-79d allows each device to translate a greater distance between two adjacent devices than would be possible without the EMD support. Without the EMD device support, the distance that the device could be translated would be less than the flexion length of the device. Therefore, the system would need to reset the drive each time the EMD moves the flexion length. The EMD support allows for certain devices to be used in conjunction with each other and / or during surgery without resetting. In other words, the EMD device support allows for certain devices to be used without resetting the collet. In one embodiment, the EMD support allows for fewer collet resets than would be necessary without the EMD support. Reference Figure 4G , the device support 79 is guided through the cartridge 66 c via the channel 138 and through the proximal support member 82 via the channel 84 , which extends therefrom.

[0216] The EMD 102 can be clamped by the device adapter and / or collet 112 by manually manipulating the collet 112, and then the collet and EMD are automatically rotated and translated. In one embodiment, the EMD 102 is automatically clamped and released by the collet 112 and automatically rotated and translated by rotating and translating the collet 112.

[0217] Several robot EMD drive systems are described herein. In addition, several collet designs are also described herein. The specific collet design described herein and collet designs known in the art can be used in the various EMD drive systems described herein. Collet as described herein can also be referred to as a pin vise, chuck, bushing or wire guide torquer in the art.

[0218] refer to Figure 1 、 Figure 4A and Figure 4D , the device module 32 includes a driver module 68, which, as discussed in more detail herein, includes a driver module base member 116 and a load sensing member 118. The EMD 102 is removably coupled to an isolation member 106. The isolation member 106 isolates the EMD 102 from external loads other than the actual load acting on the EMD 102. The isolation member 106 is removably coupled to the load sensing member 118. A load sensor 120 secured to the driver module base member 116 and the load sensing member 118 senses the actual load acting on the EMD 102.

[0219] In one embodiment, load sensor 120 is the sole support for load sensing component 118 in at least one load measurement direction. In one embodiment, cartridge housing 104 and isolation component 106 are internally connected such that they form a single component. In one embodiment, flexible membrane 108 connects cartridge housing 104 and isolation component 106, wherein flexible membrane 108 applies negligible force to isolation component 106 in the X-direction (device direction). In one embodiment, flexible membrane 108 is not a physical membrane and represents a cartridge interface.

[0220] refer to Figure 4A and Figure 4B In one embodiment, the device includes a case 66 comprised of a case housing 104 removably attached to a drive module base member 116 and a case cover 105 .

[0221] refer to Figures 5C-5EIn one embodiment, the drive module base member 116 includes a load sensing member 118 and a load sensor 120. The drive module 68 includes the drive module base member 116 and the load sensing member 118 as separate parts connected by the load sensor 120 located between the drive module base member 116 and the load sensing member 118. A bearing 128 of the load sensing member 118 supports the load sensing member in at least one off-axis (unmeasured) direction.

[0222] refer to Figure 8A and Figure 8B In one embodiment, an adapter 112 on the EMD device is connected to a catheter 140. The adapter 112 on the device includes an integrally connected driven bevel gear 136 that is removably connected to a Y-connector, which is shown as having a hub 142 that is removably connected to a hemostasis valve on the proximal end. One embodiment of the adapter 112 on the EMD device includes a catheter 140 that is removably connected to the driven bevel gear 136. The catheter 140 includes an integrally connected catheter hub 139 and a catheter shaft 141. In one embodiment, the catheter hub 139 is not a handle that includes a mechanism for manipulating features or portions of the catheter. In one embodiment, the EMD includes a handle that has a mechanism for manipulating features within the catheter, such as a wire that extends from the handle to the distal end of the catheter to steer or deflect the distal end of the catheter. In contrast, the hub is a rigid portion of the EMD at the proximal end that does not include a mechanism for manipulating features within the catheter.

[0223] refer to Figure 4B and Figure 4C When the isolation member 106 is connected to the load sensing member 118, the isolation member 106 is positioned within the cassette housing 104 and is separated from the cassette housing in at least one direction. The isolation member 106 includes a first member 106a and a second member 106b attached thereto. Figures 4A-4C When the cartridge 66 is in the use position fixed to the drive module 68, the first component 106a is placed in the groove 143 of the cartridge housing 104 in a first direction defined as a direction toward the drive module 68. The second component 106b is placed in the groove 143 in a direction away from the load sensing component 118 and toward the first component 106a. In other words, referring to Figure 4C , the first component 106a is placed in the groove 143 from above the box housing 104 in the -z axis direction, and the second component 106b is placed in the groove 143 from below the box housing 104 in the +z axis direction.

[0224] refer to Figure 4C and Figure 4F, first component 106a and second component 106b are secured to one another. Cassette housing 104 includes two longitudinally oriented, spaced-apart, parallel rails 107 positioned within recess 143. Rails 107 are also referred to herein as linear guides. Rails 107 are substantially parallel to and spaced apart from one another. First component 106a is positioned on the top surface of rails 107 closest to the top surface of cassette housing 104, and second component 106b is positioned on the bottom surface of rails 107 closest to load-sensing component 118. Note that while the assembly orientation of first component 106a and second component 106b of isolation component 106 is described with respect to the in-use position, the first and second components of isolation component 106 can be installed away from drive module 68. In other words, first component 106a of isolation component 106 is inserted into recess 143 in a direction generally perpendicular to the longitudinal axis of cassette housing 104, in a direction from the top surface of cassette 66 toward the bottom surface of cassette 66.

[0225] In one embodiment, a mechanical fastener or fasteners secure first component 106a to second component 106b of isolation component 106. In one embodiment, first component 106a and second component 106b are secured together using magnets. In one embodiment, first component 106a and second component 106b of isolation component 106 are secured together using an adhesive. In one embodiment, first component 106a and second component 106b are releasably secured to each other without the use of tools. In one embodiment, first component 106a and second component 106b are non-releasably secured to each other.

[0226] refer to Figure 4F In the in-use position in which the second member 106b of the isolation member 106 is releasably secured to the load sensing member 118, the first member 106a and the second member 106b are spaced apart from the track 107 of the cassette housing 104 so that the first member 106a and the second member 106b are in a non-contact relationship with the cassette housing 104.

[0227] In one embodiment, when the on-device adapter 112 is coupled to the load sensing component 118, the on-device adapter is spaced apart and non-contacting from the cassette housing 104. In one embodiment, the isolation component 106 is spaced apart from the cassette housing 104 in all directions. In one embodiment, the isolation component 106 is spaced apart and in a non-contacting relationship from the cassette housing 104.

[0228] refer to Figure 4B and Figure 4CIn one embodiment, the box 66 includes a box cover 105 that is pivotally coupled to an isolation member 106 by a hinge 103. The isolation member 106 is separate from and non-contacting the box housing 104. In one embodiment, the box cover 105 is pivotally coupled to a first member 106a of the isolation member 106 by a hinge 103. In one embodiment, the box cover 105 is connected to the first member 106a of the isolation member 106 by other means such as snap fit.

[0229] refer to Figure 1 and Figure 4C In one embodiment, the driving module 68 moves the EMD 102 in a first direction, and the isolation member 106 is separated from the cassette housing 104 in the first direction. In one embodiment, the driving module 68 moves the EMD 102 in a second direction, and the isolation member 106 is separated from the cassette housing 104 in the first direction and the second direction.

[0230] refer to Figure 4D In one embodiment, a fastener is used to releasably secure the second portion 106b of the isolation member 106 to the load sensing member 118. In one embodiment, the fastener comprises a quick release mechanism capable of releasably securing the second portion 106b of the isolation member 106 to the load sensing member 118. In one embodiment, the fastener is a magnet.

[0231] refer to Figures 5A-5E , sensing component 118 is located within driver module base component 116 and is secured to driver module base component 116 with load sensor 120. In one embodiment, load sensor 120 includes a first portion secured to driver module base component 116 using a first fastener 115 and a second portion secured to load sensing component 118 using a second fastener 119. In one embodiment, the first portion of load sensor 120 is distinct and separate from the second portion of load sensor 120. In one embodiment, first fastener 115 and second fastener 119 are bolts. In one embodiment, first fastener 115 and second fastener 119 are mechanical fasteners known in the art for securing a mechanical connection. In one embodiment, first fastener 115 and second fastener 119 are replaced with adhesive means to secure the mechanical connection. In one embodiment, first fastener 115 and second fastener 119 are magnets.

[0232] refer to Figure 5A In one embodiment, the drive module base member 116 includes a recess that receives the load sensing member 118. In one embodiment, the drive module base member 116 further defines a cavity extending from the recess that receives a portion of the load sensor 120.

[0233] refer to Figure 4B and Figure 4D In one embodiment, the cartridge housing 104 is releasably connected to the driver module base member 116 via a quick release mechanism 121. In one embodiment, the quick release mechanism 121 includes a spring-biased member in the cartridge housing 104 that is activated by a latch release 123 that releasably engages a quick-release locking pin 117 a secured to the driver module base member 116. In one embodiment, an alignment pin 117 b secured to the driver module base member 116 aligns the cartridge housing 104 relative to the driver module base member 116.

[0234] refer to Figure 4C and Figure 4F , the isolation member 106 is housed within the cassette housing 104 by attaching the first member 106a to the second member 106b of the isolation member 106 around the track 107 in the cassette housing 104. In the in-use position, the isolation member 106 does not contact the track 107. In this manner, load interaction due to external forces and / or external torques acting on the EMD 102 occurs with a component within the cassette 66.

[0235] The cartridge housing 104 includes a bracket 132 configured to receive the EMD device adapter 112 having the EMD 102. A cartridge bevel gear 134 in the cartridge housing 104 is freely rotatable relative to the cartridge housing 104 about an axis aligned with a coupler axis 131 about which the coupler 130 of the drive module 68 rotates. In the assembled device module 32, the cartridge 66 is positioned on the mounting surface of the drive module 68 such that the cartridge bevel gear 134 receives the coupler 130 along the coupler axis 131 so that it is freely engaged and disengaged along the coupler axis 131 and is integrally connected (not freely) about the coupler axis 131 so that rotation of the coupler 130 equally corresponds to rotation of the cartridge bevel gear 134. In other words, if the coupling 130 rotates clockwise at a given speed, the bevel gear 134 rotates clockwise at the same given speed, and if the coupling 130 rotates counterclockwise at a given speed, the bevel gear 134 rotates counterclockwise at the same given speed.

[0236] refer to Figure 1 、 Figure 3 4 , the EMD drive system includes an on-device adapter 112 that is removably secured to the shaft of the EMD 102. The on-device adapter 112 is received in a cassette 66 that is removably secured to the drive module 68. The drive module 68 is operatively coupled to the on-device adapter 112 so that the on-device adapter 112 and the EMD 102 move together.

[0237] In one embodiment, the adapter 112 moves translationally on the device. Figure 3 , the drive module 68 moves along the X axis so that the cartridge 68, the on-device adapter 112, and the EMD 102 translate together. In one embodiment, the translation along the X axis is coaxial with the longitudinal axis of the on-device adapter 112, the longitudinal axis of the cartridge, and the longitudinal axis of the EMD 102. Figure 20A The drive module includes a reset function that causes the on-device adapter and the EMD to move in translation. The translation movement causes the aforementioned elements to move in the distal and proximal directions along the longitudinal axis of the cartridge and the on-device adapter.

[0238] In one embodiment, the on-device adapter is rotationally movable about a longitudinal axis of the on-device adapter.

[0239] In one embodiment, the adapter 112 on the device comprises a collet. The collet can comprise a variety of collet designs, including but not limited to the collets discussed herein. Figure 6A 、 Figure 6B 、 Figures 9A-9I and Figures 10A-11E .

[0240] refer to Figure 6A and Figure 6B In one embodiment, the collet 400 includes a first member 402 that moves along and / or about a longitudinal axis 406 of a second member 404 to clamp the shaft of the EMD 102 within a third member 405. In one embodiment, the second member 404 is generally cylindrical. However, the second member 404 can have other geometric shapes, such as a frustoconical shape, wherein a first portion closer to the engagement portion 136 has a smaller cross-section than a second portion closer to the first member 402. In one embodiment, the first member 402 is referred to as a nut, the second member 404 is referred to as a collet body or sleeve, and the third member 405 is referred to as a chuck. The nut 402 is tightened to the body 404 to open and close the chuck 405, thereby clamping and loosening the EMD 102. In one embodiment, the nut 402 is threadedly engaged with the body 404.

[0241] The device adapter 112 includes an engagement portion 136 that is engaged by and driven by the drive member 134 in the cartridge 66 to rotate the device adapter 112. In one embodiment 136, the engagement portion is a gear. However, other engagement portions driven by the drive member are contemplated.

[0242] In one embodiment, the adapter on the device 112 includes a surface 408 that is supported by a bearing member within the cartridge.

[0243] In one embodiment, the adapter on the device 112 includes a thrust bearing surface 410 to prevent translational movement relative to a portion of the cartridge 66. In one embodiment, the thrust bearing surface 410 includes a first portion 412 that prevents translational movement in the distal direction and a second portion 414 that prevents translational movement in the proximal direction. In one embodiment, a groove is formed between the first portion 412 and the second portion 414, thereby defining a surface 408 supported by the bearing member 133 within the cartridge 66.

[0244] In one embodiment, the adapter 112 on the device includes a luer connector 416. In one embodiment, the ISO 80369-7 standard, which is incorporated herein by reference, covers the luer connector 416. In one embodiment, the luer connector 416 is configured to allow the adapter 112 on the device to be flushed with a cleaning fluid. The luer connector has a passageway therethrough that connects to the passageway in the adapter 112 on the device. In one embodiment, the passageway in the luer connector 416 is coaxial with the channel in the adapter on the device and is in fluid communication. In one embodiment, the passageway in the adapter 112 on the device is the passageway that receives the shaft of the EMD 102. In one embodiment, the luer connector 41 is a universal connector, and in one embodiment, it is a connector that falls within ISO 80369-7. In one embodiment, the luer connector is a luer lock.

[0245] refer to Figure 6C and Figure 6D Adapter 112 includes a retainer 418 having an engagement surface or gear 136 formed thereon or attached thereto. Retainer 418 has a plurality of slits 420 on its distal portion that extend to the distal end of retainer 418 to form a plurality of fingers 422. Retainer 418 has a channel that receives the proximal portion of a collet 424. In one embodiment, collet 424 is an off-the-shelf torque device sold by Merit under the trademark Pin Vise. Collet 424 has a proximal body portion 426 having an outer diameter that is larger than the inner diameter at the distal end of the channel of retainer 418. The proximal end of body 426 is positioned within the channel of retainer 418, causing fingers 422 to move outward, thereby capturing collet 424 within retainer 418, such that translation and / or rotation of retainer 418 results in translation and / or rotation of collet 424. By clamping the shaft of the EMD within the split member portion 428, the second member 430 is rotated about the threaded portion 432 of the collet body portion 426. As the inner tapered portion of the second member 430 moves toward the body portion 426, thereby engaging and moving the split member portions 428 toward each other, the slit member portions 428 move toward each other, thereby clamping the EMD 102.

[0246] refer to Figure 7A and Figure 7B , the adapter 112 on the device is an assembly including a quick clip 450 that engages the collet 424 as discussed above. However, it is contemplated that the quick clip 450 engages other collet designs. In one embodiment, the quick clip 450 quickly connects and / or releases the collet 424. Figure 7E and Figure 7F , the operating lever 452 is moved from the first disengaged position to the second clamping position to clamp the collet thereto. In one embodiment, no additional tools are required to releasably engage the quick clamp to the collet. Figure 7A and Figure 7B , the quick clamp 450 includes a clamp body 454 that defines a channel therethrough that receives a collet 424, such as a torquer described above. In one embodiment, the torquer 424 includes a proximal end 427 that is inserted into a distal opening 429 of the channel 431. A second portion 430 of the torquer that rotates relative to the body 426 is used to tighten and loosen the EMD within the channel defined by the body and the second portion. Figure 7E and Figure 7F , an operating lever 452 pivotally attached to the clamp body 454 moves from a first open position to a second closed position, wherein the clamp body moves from the disengaged position to the clamped position. The operating lever 452 includes a cam portion 457 that interacts with a portion 459 on the cam body 454. In the first open position, a gap 461 exists between the outer surface of the collet body 454 and the surface of the clamp channel. The gap 461 allows the quick clamp 450 to secure most different commercially available collets having a variety of outer body diameters. As the operating lever is pivoted from the open position to the closed position, the gap 461 is eliminated, thereby clamping the collet body to the quick clamp such that translation and / or rotation of the quick clamp causes corresponding translation and / or rotation of the collet and the EMD clamped in the collet. As the cam portion 457 interacts with the surface 459 to push the body 454 to eliminate the gap 461, the gap 461 is eliminated. Reference Figure 7B , the screw 455 connected to the pin 453 allows the gap 461 to be changed before the lever 452 is engaged (in Figure 7E This allows even more adjustment in the quick clamp to engage collets with various outer diameters (the joystick handle can also be adjusted to fine-tune the displacement for clamping force, with the screw handle adjusting for large displacement based on size variations).

[0247] refer to Figure 7B, the luer connector 456 is operatively coupled to the clamp body 454 by a connector 464, and in one embodiment the luer connector 456 is integral with a portion of the clamp body 454. In one embodiment, the engagement portion 458 includes a gear 460 and a surface 462 that is received within the cartridge so as to be supported by a bearing within the cartridge.

[0248] In one embodiment, the EMD 102 is removably received in the collet 112 in a radial direction, and the collet 112 is removably received and positioned in the cartridge. In one embodiment, the EMD 102 is removably received in the collet 112 in an axial direction, and the collet is removably received in the cartridge. In one embodiment, the EMD 102 is removably received in the collet 112 in a radial direction, and the collet 112 is non-removably positioned in the cartridge. In one embodiment, the EMD 102 is removably received in the collet 112 in an axial direction, and the collet 112 is non-removably positioned in the cartridge.

[0249] refer to Figure 4F The drive module includes an actuator operatively coupled to a drive coupling, i.e., a drive member operatively coupled to the cassette. The drive module is operatively coupled to the rail or linear support, and a second actuator causes the drive module to translate along the rail or linear support.

[0250] In one embodiment, the EMD is a guidewire. In one embodiment, the EMD is a catheter having a hub at a proximal end of the catheter and a flexible shaft extending from the hub to a distal end of the catheter, wherein the shaft is more flexible than the hub. In one embodiment, the catheter includes an intermediate portion transitioning between the hub and the shaft having an intermediate flexibility that is less stiff than the hub and more stiff than the shaft.

[0251] refer to Figure 8A and Figure 8B, an on-device adapter 510 holds an EMD 512, which in one embodiment is a catheter. The catheter 512 includes a hub 514 and a shaft 516. The on-device adapter 510 includes a body 518 having a cavity 520 extending therethrough from the proximal end of the body 518 that receives the hub 514. The catheter hub 514, located at or near the proximal end of the catheter 512 and shaft 516, extends from an area proximal to the hub 514 to an area proximal to the distal end of the catheter 512. In one embodiment, the hub 514 is received within the cavity 520 by a press-fit or other engagement mechanism to prevent independent translational and / or rotational movement of the catheter 516 from disengaging the on-device adapter 510. The on-device adapter 510 includes an engagement feature 522 that engages the drive member 134 in the cassette 66. In an embodiment, the engagement feature 522 is a gear. The gear 522 is similar to the gear 136 discussed herein. The on-device adapter 510 and conduit 512 translate with the cartridge 66 and / or drive module 68. The on-device adapter 510 and conduit 512 rotate about their longitudinal axis by the actuator operatively rotating the gear 134 and thereby the gear 522 and the on-device adapter 510 and conduit 512.

[0252] The catheter hub 514 includes a hub body 524 and, in one embodiment, a pair of wings 526 extending radially outward from the hub body 524. Figure 8A and Figure 8B , wings 562 are received within the cavity 520 of the adapter 510 on the device. In one embodiment, the catheter 512 includes a connector 528 at its proximal end. In one embodiment, the catheter 510 includes a strain relief section 532 intermediate the hub 514 and the shaft 516, which provides a transition between the hub 514 and the shaft 516. In one embodiment, the strain relief section 532 has a proximal portion with a proximal diameter and a distal portion with a distal diameter that is equal to or less than the proximal diameter of the shaft 516.

[0253] In one embodiment, the hub 514 includes a first port to provide access to the lumen 534 of the catheter shaft 516, either directly or through the hub shaft lumen 534. In one embodiment, the hub 514 includes an additional port in fluid communication with the lumen of the catheter, which can be used, for example, to inflate a balloon.

[0254] The shaft 516 includes a lumen 534 in fluid communication with the hub lumen 536. The connector 528 includes a lumen in fluid communication with the hub lumen 536 and / or the shaft lumen 534. Another EMD, such as a guidewire, can enter an opening in the connector 528 and extend therein into the hub lumen 536 and the shaft lumen 534. In one embodiment, a strain relief portion surrounds a proximal portion of the shaft lumen 534. The connector 528 also allows fluid to be directed therethrough into the hub lumen 536 and the shaft lumen 534 to flush the catheter and / or provide fluid to and through the distal end of the catheter shaft 516.

[0255] In order to describe how conduit 512 interacts with other distal conduits, conduit 512 and feature thereof will be referred to as first conduit and first feature, and distal conduit and feature thereof will be referred to as second conduit or second feature.First shaft 516 has given outer diameter to allow first shaft 516 to enter in the second lumen of second conduit (not shown) and enter into patient's vascular system for diagnosis or treatment purpose.The outer diameter of first shaft 516 is less than the inner diameter of the second lumen of second conduit and thus can be inserted into wherein. Notice that guide conduit enters in introducer sheath usually rather than in another conduit. Therefore, the hub of guide conduit has a geometric configuration so that it can not enter introducer sheath and patient's vascular system.

[0256] In contrast, the first hub 514 is not designed to enter the second lumen of the second catheter or, for that matter, the introducer sheath lumen. In one embodiment, the first hub 514 has an outer circumference, in a cross-section taken perpendicularly to the longitudinal axis of the hub and / or the catheter, that is greater than the inner diameter of the second lumen of the second catheter hub and / or the second lumen of the second catheter. Therefore, the first hub 514 cannot enter the second lumen of the second catheter. Furthermore, the first hub 514 geometry does not allow the proximal end of the catheter to enter the vascular system.

[0257] The shaft 516 is flexible enough to allow the shaft 516 to bend within the second lumen of the second catheter into which it enters and / or to allow the shaft to follow a non-straight path of the second catheter. In one embodiment, the shaft 516 is flexible enough to allow the shaft to bend within and follow a non-straight path of the vasculature.

[0258] In one embodiment, the shaft 516 can comprise a stainless steel hypotube, yet still be flexible enough to follow the non-straight path of a second catheter through which the shaft extends and / or the non-straight vasculature of a patient.

[0259] In one embodiment, connector 528 is a luer connector and in one embodiment the luer connector is a female luer connector. In one embodiment, the luer connector has an inner lumen in fluid communication with the inner lumen of the hub to allow another EMD to pass therethrough or to allow fluid to pass through the luer connector into the hub and catheter.

[0260] In one embodiment, in manual operation, the operator uses the hub wings 526 to hold the hub 524. The wings 526 can be used as a positioning device within the cavity 520 of the adapter 510 on the device.

[0261] In one embodiment, the hub 514 is free of controls for manipulating features within the catheter 512, such as a wire extending to the distal end of the catheter to deflect the tip. In one embodiment, the catheter 512 does not include any controls for manipulating features within the catheter, such as a wire extending to the distal end of the catheter to deflect the tip.

[0262] In one embodiment, the on-device adapter 510 is configured to clamp EMDs having various shaft outer diameters. In one embodiment, a Merit Medical torque device is used as part of the on-device adapter to cover one of the following outer shaft diameter ranges: 0.009" to 0.018", 0.018" to 0.038", 0.010" to 0.020", 0.013" to 0.024", or 0.025" to 0.040". Where the symbol " represents inches. Note that the torque devices provided by Merit Medical have overlapping ranges.

[0263] In one embodiment, more than one on-device adapter is used with the robotic drive system, depending on the outer diameter of the shaft of the EMD to be clamped.

[0264] In one embodiment where the robotic system is controlling more than one EMD, an adapter on a first device is used for a first EMD having a first outer diameter, and an adapter on a second device is used for a second EMD having a second outer diameter that is different from the first outer diameter of the first EMD. For example, the adapter on the first device is used to clamp an angiographic guidewire having an outer diameter of 0.035" or 0.038", and the adapter on the second device is used to clamp a microwire having an outer diameter of approximately 0.014". Angiographic guidewires that are used to position a guide catheter are also referred to as diagnostic guidewires. And microwires may be referred to as microguidewires or simply guidewires. For clarity, the term "approximated" as used herein is an abbreviation of the word "approximately".

[0265] In one embodiment, the adapter on the device does not need to be designed to be disassembled. In one embodiment, the adapter on the device can be designed to accept a single torquer. Note that the terms torquer and torque device are used interchangeably herein and are a subset of the collet used herein. In one embodiment, when the adapter on the device is advancing and retracting, the adapter on the device provides enough clamping force on the torque device to withstand axial force, and when the adapter on the device is rotating to rotate the EMD for a given surgery, the adapter provides enough clamping force on the torque device to withstand torsion. The clamping or clamping force applied to the torquer by the adapter on the device is enough to resist the sliding (axial or rotation) of the EMD that advances and / or rotates with the adapter on the device. In one embodiment, the adapter on the device penetrates the outer surface of the torque device body and / or deforms the surface of the torque device.

[0266] refer to Figure 12A-12F.2 , the robotic system 910 includes a collet 964 having a first portion 965 with a first collet coupler 958 connected thereto and a second portion 966 with a second collet coupler 960 connected thereto. Figure 12F.1 , the EMD 912 is removably positioned within an inner cavity or path 996 defined by the collet 964. The robotic drive includes a drive module or base 914 having a first motor 936 and a second motor 938, which are continuously operatively coupled to both the first collet coupler 958 and the second collet coupler 960 to operatively tighten and loosen the EMD 914 within the inner cavity 996 and rotate the EMD 912. As discussed herein, the first motor 936 and the second motor 938 rotate the first collet coupler 958 and the second collet coupler 960 differentially. In other words, the first motor 936 and the second motor 938 rotate independently of each other at different rates and in different directions, including one motor rotating while the second motor does not rotate. In one embodiment, the two motors rotate at the same rate. In one embodiment, the first motor and the second motor are continuously engaged with the first collet coupler 958 and the second collet coupler 960, respectively. In one embodiment, the first portion 965 and the first collet coupler 958 are formed as a single component and in one embodiment they are separate components. In one embodiment, the second portion 966 and the second collet coupler 960 are formed as a single component and in one embodiment they are separate components.

[0267] The EMD robotic system 910 includes a collet that utilizes a dual gear arrangement that releasably engages an EMD 912 and rotates and translates the EMD 912. In one embodiment, the dual gear arrangement includes dual bevel gears. The dual gear collet drive system 910 has a proximal end 911 and a distal end 913. As the EMD 912 moves from the proximal end 911 toward the distal end 913, the EMD 912 advances into the patient's body, and when the EMD 912 moves from the distal end 913 toward the proximal end, the EMD 912 is retracted or withdrawn from the patient. To clarify direction, a rectangular coordinate system with X, Y, and Z axes is introduced. The positive Z axis is oriented in the longitudinal (axial) distal direction, i.e., in the direction from the proximal end to the distal end. The X and Y axes are in a plane transverse to the Z axis, with the positive Y axis pointing upward, i.e., in the direction opposite to gravity, and the X axis in a direction toward the front (usually toward the operator / doctor at the bedside). The right-hand rule is employed to determine the direction of rotational direction, i.e., by pointing the thumb of the right hand in the direction of the positive X, Y, and Z axes and then associating the curling of the fingers of the right hand with a clockwise direction, an orientation convention is determined. The direction opposite to the curling of the fingers of the right hand is associated with a counterclockwise direction. The terms clockwise and counterclockwise as used herein are relative terms indicating a first rotational direction and a second rotational direction opposite to the first rotational direction. Therefore, any use of the terms clockwise and counterclockwise should be understood to refer to the first rotational direction and the second, opposite rotational direction. The terms clockwise and counterclockwise have been used to help follow the different rotational directions of the devices provided herein, however, the devices may be configured such that the clockwise and counterclockwise directions are reversed.

[0268] Collet drive system 910 includes a drive module 914 that translates axially along the EMD 912 and is actuated by a drive module translation driver 916. Drive module 914 includes a drive module housing 918, a mounting bracket 920, a cartridge 922, and a cartridge lid 924. Cartridge 922 includes a dual-gear collet drive housing 926 and an EMD guide 928. The top of dual-gear collet drive housing 926 includes a plurality of openings 927 and a plurality of ribs 929. The EMD guide 928 includes multiple pairs of guides that serve as V-shaped notches and open channels for guiding the EMD 912 through the drive system. Note that the open channels are open for loading but are covered when the cartridge lid is in the closed position. The guides serve as anti-buckling features. In one embodiment, the EMD guide 928 includes multiple pairs of V-shaped notches or U-shaped channels that serve as guides. The tops of the V-shaped or U-shaped channels can be chamfered to assist in loading the EMD 912. In one embodiment, a pair of EMD guides 928 are used on the proximal side of the dual gear collet drive housing 926, and a pair of EMD guides 928 are used on the distal side of the dual gear collet drive housing 926. In one embodiment, multiple pairs of EMD guides 928 are used on the proximal side of the dual gear collet drive housing 926, and multiple pairs of EMD guides 928 are used on the distal side of the dual gear collet drive housing 926.

[0269] In one embodiment, the robotic system 910 includes a third motor 932 (not shown) operatively coupled to the collet 964 to translate the collet 964 and the EMD 912 along the longitudinal axis of the collet 964. In one embodiment, the first motor 936 and the second motor 938 are fixed relative to the collet 964 during translation of the collet and the EMD. The drive module translation drive 916 includes a leadscrew 930 driven by a screw drive motor 932 (not shown) within a screw drive housing 934. The screw drive 930 is used to translate the drive module 914 relative to the fixed housing 934. In one embodiment, the screw drive motor 932 is a stepper motor. In one embodiment, the screw drive motor 932 is a servo motor. In one embodiment, the screw drive motor 932 is a rotary actuator powered electrically, pneumatically, hydraulically, or by other means.

[0270] In one embodiment, the drive module housing 918 and its contents are reusable. In one embodiment, the cartridge 922 is consumable and is meant to be discarded after a single patient use. In one embodiment, the cartridge 922 can be made of a material that can be sterilized and reused.

[0271] refer to Figure 12A and Figure 12BThe drive module housing 918 houses a first motor 936 operatively connected to and driving a first coupling 940 and a second motor 938 operatively connected to and driving a second coupling 942. In one embodiment, the first motor 936 and the second motor 938 are stepper motors. In one embodiment, the first motor 936 and the second motor 938 are servo motors. In one embodiment, the first motor 936 and the second motor 938 are rotary actuators powered by electrical, pneumatic, hydraulic, or other means.

[0272] The first coupling 940 passes through the drive module housing 918 and is integrally connected to the first coupling bevel gear 946. The second coupling 942 passes through the mounting bracket 920 and is integrally connected to the second bevel gear 948. The first motor 936, the first coupling 940, and the first coupling bevel gear 946 are located distally in the drive module housing 918. The second motor 938, the second coupling 942, and the second coupling bevel gear 948 are located distally in the drive module housing 918. In one embodiment, the first coupling 940 and the second coupling 942 pass through holes in the mounting bracket 920. In one embodiment, the first coupling 940 and the second coupling 942 pass through rotational bearings mounted in the mounting bracket 920.

[0273] The collet drive housing 926 houses a dual gear collet drive assembly 944 , as described herein.

[0274] refer to Figure 12B and Figure 12C , the first driven bevel gear 950 engages with and is driven by the first coupling bevel gear 946. The first driven bevel gear 950 is integrally connected to the first shaft distal portion 951, which is integrally connected to the first wheel 954, which is integrally connected to the first shaft proximal portion 953, all of which form a first composite (or group) assembly 958. The second driven bevel gear 952 engages with and is driven by the second coupling bevel gear 948. The second driven bevel gear 952 is integrally connected to the second shaft proximal portion 955, which is integrally connected to the second wheel 954, which is integrally connected to the second shaft distal portion 957, all of which form a second composite (or group) assembly 960.

[0275] In one embodiment, the top surface 947 of the first bevel coupling gear 946 includes an open central bore along its central axis to receive and drive the first coupling 940. In other words, the gear 946 has a bore along its longitudinal axis. In one embodiment, the top surface 947 of the first bevel coupling gear 946 is not open, but is sealed to prevent fluid from flowing from the cartridge into the base. In one embodiment, the top surface 949 of the second bevel coupling gear 948 includes an open central bore along its central axis to receive and drive the second coupling 942. In one embodiment, the top surface 949 of the second bevel coupling gear 948 is not open, but is sealed to prevent fluid from flowing from the cartridge into the base.

[0276] In one embodiment, the cartridge 922 is removably secured to the base 914. A collet 964 is positioned within the cartridge 922. A first collet coupler 958 and a second collet coupler 960 are coupled to a first motor 936 and a second motor 938 via first and second drive couplers 940, 942, respectively, located within the base 914. In one embodiment, the first drive coupler 940 includes a shaft operatively connected to the motor 936 and extending from the base in a sealed manner, and is operatively connected to a gear 946 that is operatively engaged with the first collet coupler 958. Similarly, the second drive coupler 942 includes a shaft operatively connected to the motor 938 and extending from the base in a sealed manner, and is operatively connected to a gear 948 that is operatively engaged with the second collet coupler 960.

[0277] The first composite component 958 includes a radial longitudinal slit 962 that extends from the outer surface of the component and terminates at its radial center. The second composite component 960 includes a radial longitudinal slit 963 that extends from the outer surface of the component and terminates at its radial center. Slits 962 and 963 allow for side or radial loading of the EMD 912. In one embodiment, slits 962 and 963 create radial openings with relatively non-parallel walls. In one embodiment, slits 962 and 963 create approximately radial openings with relatively parallel walls. In one embodiment, the outer surfaces of components 958 and 960 include v-shaped notches pointing toward their central longitudinal axes, which lead to slits 962 and 963, respectively, to assist in guiding the EMD 912 for side or radial loading. Note that slit 962 extends through the first driven bevel gear 950, and slit 963 extends through the second driven bevel gear 952. The first coupling bevel gear 946 meshes with and drives the first driven bevel gear 950 with the slit 962 without compromising performance. The second coupling bevel gear 948 meshes with and drives the second driven bevel gear 952 with the slit 963 without compromising performance.

[0278] refer to Figure 12A, the outer portion of the first wheel 954 and the outer portion of the second wheel 956 extend through the opening 927 in the housing 926, so that the operator can access the wheels 954 and 956 for manual manipulation. For example, in the event of a power loss, the operator can manually rotate the wheels 954 and 956 to remove the EMD 912. In one embodiment, by also removing the double-taper collet drive housing 926 from the cartridge, the operator can remove the collet assembly including the wheels 954 and 956 from the cartridge exterior, allowing the operator to align the slots in the collet assembly to remove the EMD from the cartridge. In one embodiment, the first wheel 954 and the second wheel 956 are discs having notches on their outer circumferences. In one embodiment, the first wheel 954 and the second wheel 956 are discs having grooves on their outer circumferences. In one embodiment, the first wheel 954 and the second wheel 956 are discs having knurling on their outer circumferences. In one embodiment, the first wheel 954 and the second wheel 956 are circular discs with features on their peripheries to assist in manual steering. In one embodiment, the first wheel 954 and the second wheel 956 are circular discs with no features on their peripheries, such as smooth walls.

[0279] refer to Figure 12A 、 Figure 12B and Figure 12C , first composite assembly 958 and second composite assembly 960 each rotate about a longitudinal axis aligned with EMD 912, and each assembly is held longitudinally in place by circular cutouts in ribs 929 that act as bearings. In one embodiment, the open circular cutouts in ribs 929 snap over and engage on both sides of first wheel 954 and second wheel 956. In other words, first composite assembly 958 and second composite assembly 960 can be snapped into the open cutouts in ribs 929, partially surrounding first shaft distal portion 951 and first shaft proximal portion 953 of first composite assembly 958 and second shaft proximal portion 955 and second shaft distal portion 957 of second composite assembly 960. The open cutouts in ribs 929 act as thrust bearings, preventing axial (longitudinal) movement while freely allowing rotational movement. The open cutouts in ribs 929 do not completely surround shafts 951, 953, 955, and 957. In one embodiment, the open cutouts in the ribs 929 provide an enclosure of 210 degrees about each axis 951, 953, 955, and 957. In one embodiment, the open cutouts provide an enclosure of greater than 180 degrees and less than 360 degrees about each axis 951, 953, 955, and 957. In one embodiment, the ribs with the open cutouts are made of an inherently compliant material, such as plastic.

[0280] refer to Figure 12A and Figure 12D, the dual gear collet drive assembly 944 includes a first composite assembly 958, a collet 964 including an inner collet portion 965, an outer collet portion 966 having threaded splines, and a second composite assembly 960. Due to the snap-fit ​​feature of the open cutouts in the ribs 929, the dual gear collet drive assembly 944 (which does not include the first coupler bevel gear 946 or the second coupler bevel gear 948) can be manually removed from the housing 926 and re-placed.

[0281] refer to Figure 12D and Figure 12E The inner collet portion 965 includes a collet first section 968 integrally connected to a collet tapered second section 970 that splits into opposing cantilevered tapered jaws 972 having an approximately semicircular cross-section. In one embodiment, the collet first section 968 has a prismatic shape with a generally constant radius. In one embodiment, the collet first section 968 has a prismatic shape with a square cross-section. In one embodiment, the collet 968 has a non-prismatic shape with a non-constant cross-section. The collet second section 970 extends from the collet first section 968 in a frustoconical manner such that the diameter of the second section continuously decreases from a region immediately adjacent to the first section to a proximal free end 974 of the second section 970, wherein the proximal end 974 is furthest from the region immediately adjacent to the first section 968 of the second section. In one embodiment, the inner collet portion 965 and the first composite assembly 958 are separate components. For example, the collet tapered second section 970 can be a pressed metal insert into the collet first section 968. In one embodiment, the inner collet portion 965 and the first composite component 958 are combined into one component. The collet 964 can be any collet device known in the art, including but not limited to the collet embodiments described herein.

[0282] The threaded spline 966 includes a threaded spline first section 976 integrally connected to a threaded spline second section 978. The threaded spline first section 976 includes external longitudinal spline threads 980 that engage internal longitudinal spline threads 982 of the second composite component 960 and allow relative translational movement in a longitudinal direction 988. The threaded spline second section 978 includes external helical circumferential threads 984 that engage internal threads 986 of the first composite component 958 and allow relative rotational movement in a clockwise or counterclockwise direction 990. The design of the threaded spline 966 having both longitudinal spline threads 980 and helical circumferential threads 984 allows the threaded spline 966 to rotate and translate relative to the inner collet portion 965 while maintaining a fixed longitudinal distance between the first driven coupler bevel gear 950 and the second driven coupler bevel gear 952 so that they can mesh with the first coupler bevel gear 946 and the second coupler bevel gear 948, respectively.

[0283] In one embodiment, the EMD 912 is not rotated while the EMD 912 is being tightened and loosened. The first collet section 968 is the section that releasably secures the EMD 912 thereto. By holding the first collet section 968 stationary while the second collet section 966 is rotated, the EMD 912 is not rotated. In other words, by maintaining the inner collet portion 965 of the collet, which is in direct fixed contact with the EMD 192, stationary relative to the patient, as the outer collet portion 966 rotates relative to the inner collet portion 965, thereby releasing the EMD 192 from its fixed relationship with the inner collet 965, the EMD 912 is loosened from the collet 964 without imparting any rotation to the EMD 912 about the longitudinal axis of the collet 964. In one embodiment, it may be desirable to continue rotating the EMD 912 during the initial loosening process. In such an embodiment, the first collet section 968 rotates at a different rate than the outer collet portion 966.

[0284] refer to Figure 12D and Figure 12E , the inner collet portion 965 includes radial longitudinal slits 992 in the collet first section 968 to allow for side or radial loading of the EMD 912 into the inner cavity 996. The longitudinal slits 992 extend radially from the outer surface of the first section 968 and terminate at the radial center of the inner collet portion 965. The longitudinal slits 992 extend longitudinally through the joint of the jaws 972 to the second tapered section 970. The threaded spline 966 includes radial longitudinal slits 994 to allow for side or radial loading of the EMD 912. The longitudinal slits 994 extend radially from the outer surface of the threaded spline 966 and terminate at its center.

[0285] Referring to 12F.1, in the unclamped configuration of the dual-gear collet drive assembly 944, the jaws 972 of the collet tapered second section 972 are open and unlatched (unclamped) to the EMD 912. In the fully unclamped configuration, the threaded splines 966 are in their proximal-most position. In one embodiment, the threaded splines 966 are constrained to their proximal-most position by a hard stop at the proximal end of their longitudinal splines. In one embodiment, the threaded splines 966 are constrained to their proximal-most position by a feature, such as a flange or lip, to stop further travel in the longitudinal splines. Referring to 12F.2, in the clamped configuration of the dual-gear collet drive assembly 944, the jaws 972 of the collet tapered second section 972 are closed together and locked (clamped) to the EMD 912. In the fully clamped configuration, the threaded splines 966 are in their distal-most position. In one embodiment, the threaded spline 966 is limited to its distal-most position by a hard stop because it is disengaged from the thread, i.e., because it is geometrically constrained and cannot be turned further. In one embodiment, the threaded spline 966 is limited to its distal-most position by a feature such as a flange or lip to stop further travel.

[0286] refer to Figure 12F.1 and Figure 12F.2 , movement of the inner collet portion 965 in the direction of the threaded splines 966 causes the jaws 972 of the collet tapered second section 972 to move toward each other to clamp the EMD 912. Movement of the inner collet portion 965 away from the threaded splines 966 causes the jaws 972 of the collet tapered second section 972 to move toward each other to release the EMD 912.

[0287] In operation, the dual gear collet drive assembly 944 uses the two rotational degrees of freedom from the motors 936 and 938 to achieve four operations, namely, clamping the EMD 912, unclamping the EMD 912, rotating the dual gear collet drive assembly 944 clockwise, and rotating the dual gear collet drive assembly 944 counterclockwise. The four operations are generated by the movement of the inner collet portion 965 relative to the threaded splines 966 based on the rotational direction of the first coupling 940 and the rotational direction of the second coupling 942.

[0288] In the first operating mode, which results in the dual-gear collet drive assembly 944 rotating clockwise, the first coupling 940 rotates counterclockwise and the second coupling 942 rotates clockwise. In the second operating mode, which results in the dual-gear collet drive assembly 944 rotating counterclockwise, the first coupling 940 rotates clockwise and the second coupling 942 rotates counterclockwise. In the third operating mode, which results in the EMD 912 being released, the first coupling 940 does not rotate and the second coupling 942 rotates counterclockwise. In the fourth operating mode, which results in the EMD 912 being clamped, the first coupling 940 does not rotate and the second coupling 942 rotates clockwise. In the third and fourth operating modes, the collet becomes released or clamped, respectively. In one embodiment, in the third and fourth modes, movement continues until a hard stop is reached. In one embodiment, during release, the hard stop is reached when the end of the spline threads on the first segment 976 of the thread spline is reached. In one embodiment, when clamping, the hard stop is reached when the threads on the second section 978 of the threaded splines are reached where they meet the first section 976 of the threaded splines. To begin rotating the EMD more quickly during clamping during the fourth mode, the first coupler 940 is rotated clockwise.

[0289] The first motor 936 and the second motor 938 can be controlled to constrain the amount of torque each motor can apply. In one embodiment where the first motor 936 and the second motor 938 are servo motors, each motor can be controlled using current limiting to constrain the amount of torque each motor can apply. The current limit can be set to different values ​​for the third and fourth operating modes. For example, the current can be limited to a smaller value for clamping than for unclamping because static friction must be overcome when unclamping.

[0290] In one embodiment, the dual gear collet drive system 910 includes a system to prevent buckling of the EMD 912 at the proximal end 911 of the collet drive system. In one embodiment, the dual gear collet drive system 910 includes a system to prevent buckling of the EMD 912 at the distal end 913 of the collet drive system. In one embodiment, the system to prevent buckling is a tube having an inner diameter slightly larger than the outer diameter of the EMD 912. In one embodiment, the system to prevent buckling is a set of telescoping tubes where the inner diameter of the smallest tube is slightly larger than the outer diameter of the EMD 912. In one embodiment, the system to prevent buckling is a side loaded rail.

[0291] refer to Figure 13A , a dual gear sliding collet drive system 1000 releasably engages an elongated medical device (EMD) 1002 and rotates and translates the EMD 1002. The dual gear sliding collet drive system 1000 includes a proximal end 1004 and a distal end 1006. As the EMD 1002 moves from the proximal end 1004 toward the distal end 1006, the EMD 1002 is advanced into the patient's body, and as the EMD 1002 moves from the distal end 1006 toward the proximal end 1004, the EMD 1002 is retracted or withdrawn from the patient.

[0292] The sliding collet drive system 1000 includes a carriage 1008 that translates along the axial direction of the EMD 1002 by actuation of a carriage translation driver 1010 mounted to a fixed base 1012. The carriage 1008 includes a carriage housing 1014, a carriage arm 1016, and a rack 1018, all of which are integrally connected. The carriage translation driver 1010 includes a pinion 1020 that is integrally connected to a motor shaft (not shown) of a translation drive motor 1022. The translation drive motor 1022 rotates the pinion 1020, which engages the rack 1018 to translate the carriage 1008. Linear guides or linear bearings (not shown) integrally connected to the base 1012 constrain the carriage 1008 to translational motion only along the EMD 1002 axis in the proximal and distal directions.

[0293] The carrier housing 1014 comprises a flat base plate with vertical side extensions at the proximal and distal ends. In one embodiment, the carrier housing 1014 is an integrally formed piece with the base plate, proximal extension, and distal extension being made of the same material. In one embodiment, the carrier housing 1014 comprises the base plate, proximal extension, and distal extension being three separate pieces made of the same material that are integrally connected. In one embodiment, the carrier housing 1014 comprises the base plate, proximal extension, and distal extension being three separate pieces made of different materials that are integrally connected. The proximal and distal extensions of the carrier housing 1014 include holes for supporting the collet and the rotary drive system 1024 (described below). In one embodiment, rotary bearings are mounted in holes in the proximal and distal extensions of the carrier housing 1014.

[0294] The first motor 1026 and the second motor 1028 are mounted to the stationary base 1012. In one embodiment, the first motor 1026 and the second motor 1028 are fixed relative to the base 1012 during translation of the collet 1056 and the EMD 1002. As described herein, the carrier 1008 translates with the collet 1056 independently of the base 1012 and the first motor 1026 and the second motor 1028. In other words, during at least one operating mode, the first motor 1026 and the second motor 1028 do not translate with the collet 1056 as the collet 1056 translates along its longitudinal axis. The first motor 1026 drives the first coupling 1030. The second motor 1028 drives the second coupling 1032. The first motor 1026 and the first coupling 1030 are located below or within the base 1012. The second motor 1028 and the second coupling 1032 are located proximally below the stationary base 1012. In one embodiment, the first coupling 1030 and the second coupling 1032 pass through holes in the fixed base 1012. In one embodiment, the first coupling 1030 and the second coupling 1032 pass through a rotary bearing and seal mounted in the fixed base 1012.

[0295] In one embodiment, the translation drive motor 1022, the first motor 1026, and the second motor 1028 are stepper motors, although other motor types known in the art are also contemplated. In one embodiment, the translation drive motor 1022, the first motor 1026, and the second motor 1028 are servo motors. In one embodiment, the translation drive motor 1022, the first motor 1026, and the second motor 1028 are rotary actuators powered by electrical, pneumatic, hydraulic, or other means.

[0296] refer to Figure 13B.1 and Figure 13B.2 , the collet and rotary drive system 1024 (described below) translate relative to the fixed base 1012. Figure 13B.1, the translation drive motor 1022 rotates the pinion 1020 in one direction (clockwise) so that the rack 1018, and therefore the collet and the rotation drive system 1024, translate in the proximal direction. Referring to FIG13B , the translation drive motor 1022 rotates the pinion 1020 in the opposite direction (counterclockwise) so that the rack 1018, and therefore the collet and the rotation drive system 1024, translate in the distal direction. In one embodiment, the collet and the rotation drive system 1024 translate relative to the fixed base 1012 via the rack and pinion mechanism described herein. In one embodiment, the collet and the rotation drive system 1024 translate relative to the fixed base 1012 via a different mechanism, such as a reciprocating mechanism in the form of a slider crank or scotch yoke mechanism. An advantage of a reciprocating mechanism is that the translation drive motor 1022 does not need to change direction.

[0297] Translation of the collet and rotary drive system 1024 is achieved without requiring translation of the first motor 1026 (and the first coupling 1030 and the first driver bevel gear 1034) and the second motor 1028 (and the second coupling 1030 and the second driver bevel gear 1042), both of which are mounted to the stationary base 1012. Thus, inertia issues associated with translational acceleration and deceleration of the first motor 1026 and the second motor 1028 are avoided.

[0298] refer to Figure 13CThe first coupling 1030 is integrally connected to a first driver bevel gear 1034 that meshes with a first driven bevel gear 1036. The first driven bevel gear 1036 is integrally connected to a first shaft 1037, which is integrally connected to a first spur gear 1038, all of which together form a first compound (or group) gear assembly 1040. The second coupling 1032 is integrally connected to a second driver bevel gear 1042 that meshes with a second driven bevel gear 1044. The second driven bevel gear 1044 is integrally connected to a second shaft 1045, which is integrally connected to a second spur gear 1046, all of which together form a second compound (or group) gear assembly 1048. The first spur gear 1038 meshes with a first collet spur gear 1050 that is translatable relative to the first spur gear 1038. The second spur gear 1046 meshes with a second collet spur gear 1052 that is translatable relative to the second spur gear 1046. At the distal end of the first collet spur gear 1050 is a short first shaft 1051 that is coaxially aligned with and integrally connected to the first collet spur gear 1050. At the proximal end of the second collet spur gear 1052 is a short second shaft 1053 that is coaxially aligned with and integrally connected to the second collet spur gear 1052. In one embodiment, the first shaft 1051 is supported by a hole in the distal extension of the carrier housing 1014. In one embodiment, the first shaft 1051 is supported by a rotational bearing mounted within the hole in the distal extension of the carrier housing 1014. In one embodiment, the second shaft 1053 is supported by a hole in the proximal extension of the carrier housing 1014. In one embodiment, the second shaft 1053 is supported by a rotational bearing mounted within the hole in the proximal extension of the carrier housing 1014.

[0299] The first collet spur gear 1050 and the second collet spur gear 1052 are wide gears, i.e., they are elongated gears that are wider than the width of the first spur gear 1038 and the second spur gear 1046. In one embodiment, the width of the first collet spur gear 1050 and the second collet spur gear 1052 is ten times the width of the first spur gear 1038 and the second spur gear 1046, respectively. In one embodiment, the width of the first collet spur gear 1050 and the second collet spur gear 1052 is less than ten times the width of the first spur gear 1038 and the second spur gear 1046, respectively. In one embodiment, the width of the first collet spur gear 1050 and the second collet spur gear 1052 is greater than ten times the width of the first spur gear 1038 and the second spur gear 1046, respectively.

[0300] The first and second compound gear assemblies 1040 and 1048 are supported relative to the base 1012 so that they are coaxially aligned and rotatable about the longitudinal axis. In one embodiment, a first shaft 1037 connecting the first driven bevel gear 1036 and the first spur gear 1038 passes through a hole in an extension of the base 1012 and is supported by the hole. In one embodiment, the first shaft 1037 connecting the first driven bevel gear 1036 and the first spur gear 1038 passes through a rotary bearing in an extension of the base 1012 and is supported by the rotary bearing. In one embodiment, a second shaft 1045 connecting the second driven bevel gear 1044 and the second spur gear 1046 passes through a hole in an extension of the base 1012 and is supported by the rotary bearing.

[0301] refer to Figure 13A and Figure 13C , the collet and rotary driver 1024 includes a first collet spur gear 1050 having a first axis 1051, a collet mechanism 1054 (described below), and a second collet spur gear 1052 having a second axis 1053, all coaxially aligned along the longitudinal axis. In one embodiment, the collet and rotary driver 1024 can be manually removed from the carrier housing 1014 and replaced in the carrier housing 1014 due to snap-fit ​​features built into the proximal and distal sides of the carrier housing 1014.

[0302] In one embodiment, the first collet spur gear 1050 is integrally connected to a first wheel (not shown) having a larger diameter than the spur gear 1050, and the second collet spur gear 1052 is integrally connected to a second wheel (not shown) having a larger diameter than the spur gear 1052. The first and second wheels are accessible to an operator for manual manipulation. For example, in the event of a power loss, the operator can manually rotate the first and second wheels to remove the EMD 1002. In one embodiment, the first and second wheels are discs having notches on their outer circumferences. In one embodiment, the first and second wheels are discs having grooves on their outer circumferences. In one embodiment, the first and second wheels are discs having teeth on their outer circumferences. In one embodiment, the first and second wheels are discs having features on their outer circumferences to assist in manual manipulation. In one embodiment, the first and second wheels are discs having no features on their outer circumferences, such as smooth walls. In one embodiment, the first collet spur gear 1050 and the first wheel are a single, integral component made of the same material, and the second collet spur gear 1052 and the second wheel are a single, integral component made of the same material. In one embodiment, the first collet spur gear 1050 and the first wheel are separate components that are integrally bonded together, and the second collet spur gear 1052 and the second wheel are separate components that are integrally bonded together.

[0303] In one embodiment, the carrier arm 1016 can be manually removed from the proximal side of the carrier housing 1014 and reconnected to the proximal side of the carrier housing 1014 due to snap features built into the proximal side of the carrier housing 1014. In one embodiment, the carrier arm 1016 can be manually removed from the rack 1018 and reconnected to the rack 1018 due to snap features built into the distal side of the rack 1018.

[0304] In one embodiment, the collet and rotary drive 1024 are consumable. In one embodiment, the collet and rotary drive 1024 and the carrier 1008 are consumable. In one embodiment, the collet and rotary drive 1024 and the carrier housing 1014 are consumable. In one embodiment, the collet and rotary drive 1024, the carrier housing 1014, and the carrier arm 1016 are consumable.

[0305] refer to Figure 13D.1 and Figure 13D.2 , the first collet spur gear 1050 and the second collet spur gear 1052 are connected by the internal components of the collet mechanism 1054. The collet mechanism 1054 includes a collet inner member 1056 and a collet outer member 1058. The collet inner member 1056 and the collet outer member 1058 can be any collet device known in the art, including but not limited to the collet embodiments described herein.

[0306] The collet inner member 1056 is comprised of a first section 1060 and a second section 1062. The first section 1060 of the collet inner member 1056 has a cylindrical collar or sleeve shape, wherein the center of its longitudinal axis is co-linear with the axis of the EMD 1002 and its outer circumferential surface is integrally connected to the inner wall 1064 of the first collet spur gear 1050. The second section 1062 of the collet inner member 1056 has a tapered shape toward the central longitudinal axis and has an inner cavity. In one embodiment, the second section 1062 of the collet inner member 1056 includes two separate tapered jaws. In one embodiment, the second section 1062 of the collet inner member 1056 includes more than two separate tapered jaws. In one embodiment, the first section 1060 and the second section 1062 of the collet inner member 1056 and the first collet spur gear 1050 are formed as a single, integral piece. In one embodiment, the first and second sections 1060, 1062 of the collet inner member 1056 and the first collet spur gear 1050 are separate pieces that are integrally connected.

[0307] The collet outer member 1058 is composed of a first section 1066 and a second section 1068. The first section 1066 of the collet outer member 1058 has a cylindrical collar or sleeve shape, wherein the center of its longitudinal axis is collinear with the axis of the EMD 1002 and its outer circumferential surface is integrally connected to the inner wall 1070 of the second collet spur gear 1052. The second section 1068 of the collet outer member 1058 has a cylindrical collar or sleeve shape and has external threads 1074 on its outer circumferential portion and the center of its longitudinal axis is collinear with the axis of the EMD 1002. In one embodiment, the first section 1066 and the second section 1068 of the collet outer member 1058 and the second collet spur gear 1052 are one integral piece. In one embodiment, the first section 1066 and the second section 1068 of the collet outer member 1058 and the second collet spur gear 1052 are separate pieces that are integrally connected.

[0308] The external threads 1074 of the second section 1068 of the collet outer member 1058 engage the internal threads 1072 of the second section 1062 of the collet inner member 1056. Due to the engagement of the internal threads 1072 with the external threads 1074, rotation of the collet inner member 1056 relative to the collet outer member 1058 about the longitudinal axis corresponds to translation of the collet inner member 1056 relative to the collet outer member 1058 along the longitudinal axis. Because the first collet spur gear 1050 is integrally connected to the collet inner member 1056 and the second collet spur gear 1052 is integrally connected to the collet outer member 1058, rotation of the first collet spur gear 1050 relative to the second collet spur gear 1052 about the longitudinal axis corresponds to translation of the first collet spur gear 1050 relative to the second collet spur gear 1052 along the longitudinal axis. Rotation of the first collet spur gear 1050 is achieved by its meshing with the first spur gear 1038. The rotation of the second collet spur gear 1052 is achieved by meshing with the second spur gear 1046 .

[0309] To ensure continuous meshing between the first collet spur gear 1050 and the first spur gear 1038, the first collet spur gear 1050 is made wider than the first spur gear 1038. This is necessary to accommodate translation of the first collet spur gear 1050 as it is rotated by the first spur gear 1038 and to accommodate translation of the first collet spur gear 1050 as it is translated by the carrier 1008. To ensure continuous meshing between the second collet spur gear 1052 and the second spur gear 1046, the second collet spur gear 1052 is made wider than the second spur gear 1046. This is necessary to accommodate translation of the second collet spur gear 1052 as it is rotated by the second spur gear 1046 and to accommodate translation of the second collet spur gear 1052 as it is translated by the carrier 1008. In one embodiment, the first collet spur gear 1050 and the second collet spur gear 1052 remain engaged with the first motor 1026 and the second motor 1028 during translation of the collet 1054. In other words, the first collet spur gear 1050 includes teeth whose tooth face width is of sufficient length to allow the teeth of the gear 1050 to engage with the gear 1038 when the gear 1050, along with the collet 1054, is translated relative to the motor 1026. Similarly, the second collet spur gear 1052 includes teeth whose tooth face width is of sufficient length to allow the teeth of the gear 1052 to engage with the gear 1046 when the gear 1052, along with the collet 1054, is translated relative to the motor 1028.

[0310] Referring to 13D.1, in the unclamped configuration of the collet and rotary drive system 1024, the jaws of the second section 1062 of the collet inner member 1056 are open and not locked (not clamped) to the EMD 1002. In the fully unclamped configuration, the collet outer member 1058 is in its proximal-most position relative to the collet inner member 1056. In one embodiment, the collet outer member 1058 is restrained in its proximal-most position by a hard stop at the proximal end of its travel. In one embodiment, the collet outer member 1058 is restrained in its proximal-most position by a feature, such as a flange or lip, to stop further travel in the longitudinal direction. Referring to 13D.2, in the clamped configuration of the collet and rotary drive system 1024, the jaws of the second section 1062 of the collet inner member 1056 are closed together and locked (clamped) to the EMD 1002. In the fully clamped configuration, the collet outer member 1058 is in its distal-most position relative to the collet inner member 1056. In one embodiment, the collet outer member 1058 is restrained in its distal-most position by a hard stop because it is unthreaded, i.e., it cannot be twisted further because of its geometrical constraints. In one embodiment, the collet outer member 1058 is restrained in its distal-most position by a feature, such as a flange or lip, to stop further longitudinal travel.

[0311] The operating principle of the collet and rotary drive system 1024 is similar to Figure 12C and Figure 12D The collet 1002 is a collet 1002 driven by a dual gear collet drive assembly 944. As the first collet spur gear 1050 and the second collet spur gear 1052 rotate so that they thread toward each other, the inner surface of the second section 1068 of the collet outer 1058 presses against the second section 1062 of the collet inner 1056 and clamps onto the EMD 1002. As the first collet spur gear 1050 and the second collet spur gear 1052 rotate so that they thread away from each other, the inner surface of the second section 1068 of the collet outer 1058 releases and stops pressing against the second section 1062 of the collet inner 1056 and releases the EMD 1002.

[0312] In operation, the dual gear collet and rotary drive system 1024 uses the two rotational degrees of freedom from the motors 1026 and 1028 to achieve four operations, namely, clamping the EMD 1002, unclamping the EMD 1002, rotating the dual gear collet and rotary drive system 1024 clockwise, and rotating the dual gear collet and rotary drive system 1024 counterclockwise. These four operations are generated by the movement of the collet inner member 1056 relative to the collet outer member 1058 based on the rotational direction of the first coupling 1030 and the rotational direction of the second coupling 1032.

[0313] In a first operating mode, which results in the dual-gear collet and the rotary drive system 1024 rotating in a clockwise direction, the first coupling 1030 rotates in a clockwise direction and the second coupling 1032 rotates in a counterclockwise direction. In a second operating mode, which results in the dual-gear collet and the rotary drive system 1024 rotating in a counterclockwise direction, the first coupling 1030 rotates in a counterclockwise direction and the second coupling 1032 rotates in a clockwise direction. In a third operating mode, which results in loosening the EMD 1002, the first coupling 1030 rotates in a clockwise direction and the second coupling 1032 rotates in a clockwise direction. In a fourth operating mode, which results in clamping the EMD 1002, the first coupling 1030 rotates in a counterclockwise direction and the second coupling 1032 rotates in a counterclockwise direction. In the third and fourth operating modes, the collet inner member 1056 loosens or clamps the EMD 1002, respectively, until a hard stop is reached.

[0314] In one embodiment, the clamping and unclamping of the collet mechanism 1054 is synchronized with the rotational position of the shaft of the translation drive motor 1022 .

[0315] In one embodiment, components of the dual gear sliding collet drive system 1000 incorporate longitudinal slots (not shown) to enable radial or side loading of the EMD 1002 into the collet lumen 1076 .

[0316] In one embodiment, the robotic system 1000 includes a clamping / unclamping mode, a rotation mode, and a translation mode. The clamping / unclamping mode, the rotation mode, and the translation mode can occur separately or simultaneously. In one embodiment, the rotation mode and the translation mode occur simultaneously.

[0317] refer to Figure 14A, shows an embodiment of a dual gear sliding collet drive system with a reset mechanism. Disposable cartridge 1080 is releasably mounted to fixed base 1012 and includes a distal collet and rotation drive system 1024 (as described above) and a proximal reset mechanism 1082. Reset mechanism 1082 (as described below) is designed to advance, retract, and hold EMD 1002. Cartridge 1080 includes a top lid 1084 and a bottom cartridge housing 1086. In one embodiment, lid 1084 is connected to cartridge housing 1086 by a hinge at the back that allows the lid to be rotated open and closed from the front. In one embodiment, lid 1084 is connected to cartridge housing 1086 by a hinge at the front that allows the lid to be rotated open and closed from the back. In one embodiment, lid 1084 is connected to cartridge housing 1086 by a hinge to allow the lid to be rotated open and closed from the side. In one embodiment, the cassette lid 1084 is connected to the cassette housing 1086 by fasteners that allow the lid to be opened and closed by rotation, translation, or a combination of rotation and translation relative to the housing 1086. In one embodiment, the cassette lid 1084 is connected to the cassette housing 1086 by press-fit features that allow the lid to be opened and closed by rotation, translation, or a combination of rotation and translation relative to the housing 1086. In one embodiment, the cassette lid 1084 is connected to the cassette housing 1086 by press-fit features that allow the lid to be removed from the housing 1086 and replaced in the housing 1086.

[0318] The proximal and distal sides of the lid 1084 include lid notches 1088 that allow the EMD 1002 to pass freely. The proximal and distal sides of the case housing 1086 include case notches 1090 that match the positions of the lid notches 1088. In one embodiment, the lid notches 1088 and the case notches 1090 are triangular cutouts that allow the EMD 1002 to pass freely. In one embodiment, the lid notches 1088 and the case notches 1090 are cutouts of any shape that allow the EMD 1002 to pass freely. The bottom side of the lid 1084 includes lid ribs 1092. When the lid 1084 is closed, the lid ribs 1092 place the EMD 1002 in the alignment notches 1090 in the case housing 1086 and maintain the EMD 1002 vertical position in the alignment grooves or channels (which maintain the EMD 1002 lateral position).

[0319] As described above, the collet and rotary drive system 1024 are actuated by the first motor 1026 driving the first coupling 1030 and the second motor 1028 driving the second coupling 1032. The reset mechanism 1082 is actuated by the reset mechanism motor 1094 driving the reset mechanism coupling 1096. In one embodiment, the reset mechanism motor 1094 is a stepper motor. In one embodiment, the reset mechanism motor 1094 is a servo motor. In one embodiment, the reset mechanism motor 1094 is a rotary actuator powered by electrical, pneumatic, hydraulic, or other means.

[0320] refer to Figure 14B , showing the underside of the fixed base 1012. The reset mechanism 1082 is built into a reset mechanism frame 1098 that is integrally connected to the fixed base 1012. A reset mechanism coupler 1096 is integrally connected to a reset mechanism crank 1100 that is rotatable relative to the frame 1098 and the base 1012. In one embodiment, the reset mechanism coupler 1096 passes through a hole in the reset mechanism frame 1098. In another embodiment, the reset mechanism coupler 1096 passes through a rotary bearing mounted in the reset mechanism frame 1098. The reset mechanism crank 1100 is connected to a connecting link 1104 by a first rotary joint 1102. The connecting link 1104 is connected to a crossbar 1108 by a second rotary joint 1106. Cross-slider 1108 is constrained to longitudinal translational motion (i.e., translational motion only along the axis of EMD 1002) by first cross-slider linear bearing 1110 and second cross-slider linear bearing 1112, both of which are integrally connected to cross-slider 1108. First linear bearing 1110 is a prismatic joint capable of translation relative to first guide 1114, and second linear bearing 1112 is a prismatic joint capable of translation relative to second guide 1116. The distal ends of first guide 1114 and second guide 1116 are integrally connected to fixed base 1012, and thus guides 1114 and 1116 are fixed.

[0321] A proximal first linear bearing 1118 and a distal first linear bearing 1120 are integrally mounted to a front corner of the reset mechanism frame 1098. A proximal second linear bearing 1122 and a distal second linear bearing 1124 are integrally mounted to a rear corner of the reset mechanism frame 1098. The first guide 1114 is translatable relative to the proximal first linear bearing 1118 and the distal first linear bearing 1120. The second guide 1116 is translatable relative to the proximal second linear bearing 1122 and the distal second linear bearing 1124. Because these four bearings 1118, 1120, 1122, and 1124 are integrally mounted to the reset mechanism frame 1098, the reset mechanism 1082 is translatable longitudinally relative to the fixed base 1012.

[0322] In one embodiment, the first coupler 1030 has a first coupler slotted end 1126 that seats in a slotted receiver of a shaft integrally connected to the first driver bevel gear 1034, and the second coupler 1032 has a second coupler slotted end 1128 that seats in a slotted receiver of a shaft integrally connected to the second driver bevel gear 1042 (see FIG. Figure 13C ).

[0323] refer to Figure 14C.1 、 Figure 14C.2 、 Figure 14C.3 and Figure 14C.4 , a series of steps illustrates the operation of the linear positioning mechanism 1082, which includes a rotatable reset clamping cam 1130 and a fixed clamp support 1132. The reset cam 1130 rotates about a vertical axis via a reset cam coupler 1134. In one embodiment, the reset cam coupler 1134 about which the reset cam 1130 rotates is driven by a motor (not shown). In one embodiment, the reset cam coupler 1134 about which the reset cam 1130 rotates is driven by a mechanism actuated by the reset mechanism motor 1094. In one embodiment, the reset cam coupler 1134 has a slotted end that seats in a receiver in the cam 1130. The reset cam 1130 has a curved outer surface 1136. In one embodiment, the curved outer surface 1136 of the reset cam 1130 has a convex geometry. In one embodiment, the curved outer surface 1136 of the reset cam 1130 has a circular arc geometry. The retaining cam 1132 has a curved outer surface 1138. In one embodiment, the curved outer surface 1138 of the retaining cam 1132 has a convex geometry. In one embodiment, the curved outer surface 1138 of the retaining cam 1132 has an arc geometry.

[0324] In operation, the reset cam 1130 can be in a closed position or an open position. In the closed position, the reset cam 1130 is in an opposing position relative to the retaining cam 1132. In one embodiment, in the closed position, there is no gap between the reset cam outer surface 1136 and the retaining cam outer surface 1138, and the two surfaces 1136 and 1138 are in contact. In one embodiment, in the closed position, there is a gap between the reset cam outer surface 1136 and the retaining cam outer surface 1138, and the gap distance is less than the diameter of the EMD 1002. In the closed position, the EMD 1002 is clamped between the reset cam outer surface 1136 and the retaining cam outer surface 1138, so that the EMD 1002 is prevented from longitudinal translation. In one embodiment, the reset cam outer surface 1136 and the retaining cam outer surface 1138 comprise an elastic material or other deformable or compliant material that deforms around the EMD in the closed position. In the open position, the reset cam 1130 is rotated away from the retaining cam 1132 such that a gap exists between the reset cam outer surface 1136 and the retaining cam outer surface 1138. In the open position, the reset cam 1130 does not contact the EMD 1002 such that the EMD 1002 is not constrained to translate longitudinally at the location of the retaining cam 1132. In one embodiment, the reset cam 1130 is rotated 60 degrees away from the retaining cam 1132 in the open position. In one embodiment, the reset cam 1130 is rotated less than 60 degrees away from the retaining cam 1132 in the open position. In one embodiment, the reset cam 1130 is rotated greater than 60 degrees away from the retaining cam 1132 in the open position.

[0325] refer to Figure 14C.1 , the collet and rotary drive system 1024 is clamped onto the EMD 1002, the reset cam 1130 is in the open position, and the cross slide 1108 is in the proximal position relative to the reset mechanism frame 1098. As a result of this step, the EMD 1002 is clamped in the collet and rotary drive system 1024.

[0326] refer to Figure 14C.2 , the collet and rotary drive system 1024 are clamped to the EMD 1002, the reset cam 1130 is in the open position, and the cross slide 1108 is translated distally from a proximal position relative to the reset mechanism frame 1098. In one embodiment, the cross slide 1108 is translated distally due to the reset mechanism motor 1094 rotating the reset mechanism crank 1100 clockwise. As a result of this step, the collet and rotary drive system 1024 are advanced distally, which means that the EMD 1002 is advanced distally.

[0327] refer to Figure 14C.3, the collet and rotary drive system 1024 is released from the EMD 1002, the reset cam 1130 is in the closed position, and the cross slide 1108 is in its most distal position relative to the reset mechanism frame 1098. As a result of this step, the EMD 1002 is released from the collet and rotary drive system 1024.

[0328] refer to Figure 14C.4 , the collet and rotary drive system 1024 are released from the EMD 1002, the reset cam 1130 is in the closed position, and the cross slide 1108 is translated proximally relative to the reset mechanism frame 1098. In one embodiment, the cross slide 1108 is translated proximally due to the reset mechanism motor 1094 rotating the reset mechanism crank 1100 counterclockwise. As a result of this step, the collet and rotary drive system 1024 are advanced proximally and the system is reset and can then be restarted (to Figure 14C.1 ).

[0329] refer to Figure 17A , a single plunger collet system 1280 capable of releasably engaging an EMD includes a spring 1282 and a plunger 1284 movably positioned along a plunger axis 1286 within a receiving cavity 1288 of a housing 1290. Figure 17A In one embodiment, the housing 1290 is a rectangular prism having a first lateral surface 1292, a second lateral surface 1294, and a convex top surface 1296. The first lateral surface 1292 is parallel to a plane defined by the plunger axis 1286 and the EMD axis 1298. The second lateral surface 1294 is parallel to a plane defined by the plunger axis 1286 and a vertical axis 1302, wherein the vertical axis 1302 is perpendicular to the plunger axis 1286 and the EMD axis 1298. In one embodiment, the housing 1290 is a rectangular prism having a top surface 1296 that is a rectangular plane and an opposing bottom surface. In one embodiment, Figure 18A In an embodiment, the housing 1290 is a cylindrical disk having the plunger axis 1286 aligned with the diameter axis of the disk, wherein Figure 17A An embodiment is a segment removed from such a cylindrical disk. Figure 18B and Figure 18D , an outer shell 1291 surrounds the housing 1290. The outer shell 1291 includes a plurality of cam surfaces on an inner wall that operatively engage corresponding plungers 1284 as the outer shell 1291 rotates about its longitudinal axis relative to the housing 1290. In one embodiment, the longitudinal axis of the housing 1290 is colinear with the longitudinal axis of the outer shell 1291. In one embodiment, at least a portion of the outer shell 1291 and / or a portion of the housing 1290 is arcuate and / or circular.

[0330] The first lateral face 1292 of the housing 1290 has a slot 1300 oriented in a plane defined by the EMD axis 1298 and a perpendicular axis 1302, extending from the face 1292 and terminating at the EMD axis 1298, through the housing 1290 from the second lateral face 1294 to the opposite face thereof. In one embodiment, the walls of the slot 1300 are parallel. In one embodiment, the walls of the slot 1300 are non-parallel, such as v-shaped walls with an apex oriented toward the EMD axis 1298. In one embodiment, the slot 1300 has an introduced chamfer on the first lateral face 1292. In one embodiment, the slot 1300 has no introduced chamfer on the first lateral face 1292.

[0331] The second lateral surface 1294 of the housing 1290 includes a plunger pin hole 1304 ( Figure 17A 1290 ) and a guide hole 1308 (not shown) for an alignment pin. The plunger pin hole 1304 is aligned with a plunger pin axis 1307 that is parallel to the EMD axis 1298 in a plane defined by the plunger axis 1286 and the EMD axis 1298, thereby extending from the second lateral face 1294 through the housing 1290 and terminating at an opposite outer side face. The guide hole 1308 is aligned with an axis that is parallel to the EMD axis 1298 in a plane defined by the plunger axis 1286 and the EMD axis 1298, thereby extending from the second lateral face 1294 through the housing wall and terminating at an opposite wall interior face of the cavity 1288 in the housing 1290. In one embodiment, the guide hole 1308 is a well or cap hole in the second lateral face 1294 and does not terminate at an opposite wall interior face of the cavity 1288 in the housing 1290. Figure 17A In the embodiment of the single plunger collet system 1280, the guide holes 1308 are not required. The guide holes 1308 are used to align the multi-plunger assembly.

[0332] refer to Figure 17B, the plunger-collet system 1280 is shown in a released configuration, wherein the EMD 1314 is not operatively secured to the collet 1280. An applied force 1310 acts on a top surface 1312 of the plunger 1284, pushing the plunger 1284 downward within the cavity 1288 of the housing 1290, thereby compressing the spring 1282 located beneath the plunger 1284, with the long axis of the spring 1282 oriented along the plunger axis 1286. With the plunger 1284 fully depressed into the cavity 1288, in one embodiment, a bottom outer surface 1326 of the plunger 1284 contacts a lip 1328 in the cavity 1288 of the housing 1290, thereby limiting further movement of the plunger 1284. With the surface 1326 and the lip 1328 in contact, the plunger 1284 reaches its most depressed configuration, wherein the spring 1282 is in its most compressed state. In this case, the plunger notch 1316 in the plunger 1284 is farthest from the housing notch 1318 in the housing 1290, and the EMD 1314 is able to move into the opening slit 1300 in the direction of the plunger axis 1286. In one embodiment, the plunger notch 1316 is a v-shaped channel or groove with its apex pointing downward. In one embodiment, the plunger notch 1316 is a well with a recess pointing downward. In one embodiment, the plunger notch 1316 is a generally downward depression of any geometry. In one embodiment, the housing notch 1318 is a v-shaped channel or groove with its apex pointing upward. In one embodiment, the housing notch 1318 is a well with a recess pointing upward. In one embodiment, the housing notch 1318 is a generally upward depression of any geometry.

[0333] After the EMD 1314 is fully inserted into the well of the slot 1300 at the plunger axis 1286, the applied force 1310 is removed. Figure 17C , the plunger-collet system 1280 is shown in a clamped configuration, wherein the EMD 1314 is unable to move freely relative to the collet, being captured in the well of the slot 1300 at the plunger axis 1286 between the plunger notch 1316 and the housing notch 1318 due to the restoring force 1320 from the spring 1282 pushing on the plunger 1284. In the clamped configuration, there is a gap between the bottom outer surface 1326 of the plunger 1284 and the lip 1328 in the cavity 1288 of the housing 1290. Additionally, in the clamped configuration, a portion 1322 of the plunger 1284 protrudes outside the top surface 1296 of the housing 1290 and is exposed.

[0334] refer to Figure 17B and Figure 17C , the plunger-collet system 1280 is a normally closed collet, meaning that without the applied force 1310 being applied, the collet is in a clamped configuration.

[0335] The bottom of compression spring 1282 contacts the bottom inner surface 1330 of cavity 1288 of housing 1290. The top of compression spring 1282 contacts the bottom inner surface 1332 of plunger 1284. In one embodiment, a pocket or cup is present on bottom inner surface 1332 of plunger 1284 that receives the top of spring 1282 and constrains it via lip 1328. The outer diameter of spring 1282 is smaller than the inner diameter of cavity 1288 at the bottom of housing 1290 to allow for compression freedom. In one embodiment, the outer diameter of spring 1282 is smaller than the inner diameter of cavity 1288 at the bottom of housing 1290 and larger than the diameter corresponding to spring buckling or bending, thereby preventing buckling or bending of the spring. In one embodiment, a single compression spring 1282 is utilized. In another embodiment, multiple springs, such as two nested springs, are used.

[0336] The plunger 1284 includes a plunger slot 1324 oriented along the plunger axis 1286, thereby allowing the plunger 1284 to translate along the plunger axis 1286 relative to the housing 1290 due to the constraints of the plunger pin 1306 and the walls of the cavity 1288 in the housing 1290. To release the collet 1280, the plunger 1284 is depressed by applying a force 1310 to a top surface 1312 of the plunger. In operation, the plunger 1284 is a cam follower and its top surface 1312 is a follower surface that contacts a cam (not shown), thereby pushing the cam follower downward using the applied force 1310. An outer member (not shown) having an internal cam contacts the top surface 1312 of the plunger 1284. By rotating the outer member relative to the housing 1290, the inner cam of the outer member pushes down the top surface 1312, thereby depressing the plunger 1284 and releasing the EMD 1314 in the collet 1280.

[0337] refer to Figure 18A , the single plunger collet system 1280 operates on the same principle, where the housing 1290 is a circular disk with a central hole 1334 for the EMD 1314 (not shown). Figure 18A An embodiment includes six guide holes 1308 that are symmetrically arranged around the EMD axis 1298 and are at the same radial distance from the EMD axis 1298.

[0338] refer to Figure 18B , the multi-plunger collet system 1336 is shown in an assembled configuration of six individual plunger assemblies 1280, each of which is Figure 18A1298 relative to each other about the EMD axis 1298. In one embodiment, each of the six individual plunger assemblies 1280 in series is rotated individually (i.e., sequentially rotated in the same direction) to be 60 degrees apart from each other so that the guide holes 1308 are aligned. In this embodiment, each individual plunger assembly is rotated 60 degrees from the assembly before it in the series. That is, if the first assembly is considered to be at a reference of 0 degrees, the second assembly is rotated 60 degrees clockwise relative to the first assembly, the third assembly is rotated 120 degrees clockwise relative to the first assembly, the fourth assembly is rotated 180 degrees clockwise relative to the first assembly, the fifth assembly is rotated 240 degrees clockwise relative to the first assembly, and the sixth assembly is rotated 300 degrees clockwise relative to the first assembly. Thus, the plungers of the first and fourth assemblies are in opposite directions (180 degrees apart), the plungers of the second and fifth assemblies are in opposite directions (180 degrees apart), and the plungers of the third and sixth assemblies are in opposite directions (180 degrees apart).

[0339] refer to Figure 18C , the multi-plunger collet system 1336 is shown in the assembled configuration shown in 18B, wherein the first individual plunger assembly 1280 is separated. Likewise, the system 1336 includes six individual plunger assemblies (1280), each of which is Figure 18A embodiments, which are cascaded in series with each other to rotate 60 degrees around the EMD axis 1298 relative to the component before it.

[0340] refer to Figure 18D , Figure 18BAn end view of the assembled multi-plunger system 1336 is shown as a solid line for the first individual plunger assembly 1280 and as a dashed line for the second through sixth individual plunger assemblies 1280, wherein each individual plunger assembly is rotated 60 degrees about the EMD axis 1298 relative to the previous assembly so that the guide holes 1308 are aligned. The three visible individual plunger assemblies correspond to the first and fourth assemblies, the second and fifth assemblies, and the third and sixth assemblies, each pair being in opposite directions (180 degrees apart). The center holes 1334 of these six individual plunger assemblies 1280 are aligned for axial loading of the EMD 1314. In one embodiment, six individual plunger assemblies 1280 are used, wherein each assembly is rotated 60 degrees about the EMD axis 1298 relative to the previous assembly. In one embodiment, four individual plunger assemblies 1280 are used, wherein each assembly is rotated 90 degrees about the EMD axis 1298 relative to the previous assembly. In one embodiment, three individual plunger assemblies 1280 are used, wherein each assembly is individually rotated 120 degrees relative to the assembly preceding it about the EMD axis 1298. In one embodiment, two individual plunger assemblies 1280 are used, wherein the second assembly is individually rotated 180 degrees relative to the first assembly about the EMD axis 1298. In one embodiment, two individual plunger assemblies 1280 are used, wherein the second assembly is rotated less than 180 degrees relative to the first assembly about the EMD axis 1298. In one embodiment, two individual plunger assemblies 1280 are used, wherein the second assembly is rotated greater than 180 degrees relative to the first assembly about the EMD axis 1298. In one embodiment, more than two individual plunger assemblies 1280 are used, wherein each assembly is individually rotated any number of degrees relative to the assembly preceding it about the EMD axis 1298. In an example of such an embodiment using four individual plunger assemblies 1280, if the first assembly is considered to be at a reference of 0 degrees, the second assembly is rotated 45 degrees clockwise relative to the first assembly, the third assembly is rotated 135 degrees clockwise relative to the first assembly, and the fourth assembly is rotated 180 degrees clockwise relative to the first assembly. Such an embodiment allows for radial loading of the EMD within the collet. In one embodiment, the individual plunger assemblies 1280 in a multi-plunger collet system are identical. In one embodiment, the individual plunger assemblies 1280 in a multi-plunger collet system are different.

[0341] refer to Figure 18E , the released configuration of the multi-plunger collet system 1336 having six individual plunger assemblies 1280 requires an externally applied force 1310 applied from an outer member cam (not shown) to each plunger 1284. In the released configuration, the EMD 1314 has no contact between the plunger and the housing at any individual plunger assembly 1280 in the multi-plunger system 1336.

[0342] refer to Figure 18F, shows a clamped configuration of a multi-plunger collet system 1336 having six individual plunger assemblies 1280. In the clamped configuration, due to the reaction force 1320 from each compression spring 1282, contact exists between the plunger and the housing at the EMD 1314 at each individual plunger assembly 1280 in the multi-plunger system 1336. As each individual plunger assembly 1280 rotates successively relative to the previous assembly, contact on the EMD 1314 occurs at different surfaces, resulting in greater torque capability of the collet system 1336. Figure 18F , contact occurs at a portion of the bottom surface 1338 of the EMD 1314 in the first individual plunger assembly 1280 (shown on the left), and contact occurs at a portion of the top surface 1340 of the EMD 1314 in the fourth (from the left) individual plunger assembly 1280. Contact at different surface portions of the EMD 1314 occurs at each individual plunger assembly 1280, meaning that contact exists at different portions longitudinally along the EMD.

[0343] refer to Figure 18G 、 Figure 18H and Figure 18I , shows a multi-plunger collet system 1336 having six individual plunger assemblies 1280 in a clamped configuration with the EMD 1314 in side and front views. Figure 18G , shows a multi-plunger collet system 1336 having six individual plunger assemblies 1280 all oriented in the same direction. The side view of the EMD 1314 is a straight line and the front view of the EMD 1314 is a single point. Figure 18H , shows a multi-plunger collet system 1336 having six individual plunger assemblies 1280, each oriented 180 degrees apart from the previous assembly. The side view of the EMD 1314 is approximately sinusoidal in plane, and the front view of the EMD 1314 is a single point moving up and down along a vertical line. Figure 18I , shows a multi-plunger collet system 1336 having six individual plunger assemblies 1280, each oriented 60 degrees apart from the previous assembly. The side view of the EMD 1314 is approximately sinusoidal in plane, and the front view of the EMD 1314 is a single point moving along the circumference of a circle.

[0344] When clamped Figure 18G The torque carrying capacity of the multi-plunger collet system 1336 is compared when clamped Figure 18H The torque carrying capacity of the multi-plunger collet system 1336 is increased. Figure 18HThe EMD 1314 is a 180 degree offset from the single plunger assembly 1280 in the multi-plunger collet system of the invention. It adopts a serpentine configuration that moves up and down in the side view and has the maximum resistance torque at the top and bottom of the vertical line in the front view (with the neutral device axis at the center of the line). Figure 18H The torque carrying capacity of the multi-plunger collet system 1336 is compared when clamped Figure 18I The torque carrying capacity of the multi-plunger collet system 1336 is further increased. Figure 18H With a 60 degree offset of a single plunger assembly 1280 in a multi-plunger collet system, the EMD 1314 is configured with a helical path (ie, a spiral shape) where the EMD always moves away from a central axis 1298 of the EMD, thereby generating maximum drag torque.

[0345] The deformation of the EMD 1314 in the clamped configuration of the multi-plunger collet system 1336 is a function of the through-hole diameter in the center of the plunger housing, the gap (clearance) between the plunger and the plunger housing, and the force applied by the spring mechanism.

[0346] In one embodiment, a series of clamping elements in a robotically actuated collet are provided, wherein the clamping elements are actuated independently. An actuation mechanism, such as a cam, allows the elements to be actuated less together, such as sequentially, rather than all together. This feature serves to reduce actuation forces.

[0347] In one embodiment, a multi-plunger collet system 1336 consisting of multiple clamping elements is rotationally locked to each other to increase the overall torque holding capacity of the collet. Rotational locking refers to placing the clamping elements at various angles in a plane perpendicular to the longitudinal axis of the collet 1336.

[0348] refer to Figure 18B , the collet 1336 includes an inner member defining a path for receiving the EMD 1314 and an outer member, and as the inner member moves relative to the outer member, a plurality of engagement members 1284 releasably engage the EMD 1314. In one embodiment, a spring 1282 biases the engagement members 1284. In one embodiment, the spring 1282 biases the engagement members 1284 away from the path, and in one embodiment, the spring 1282 biases the engagement members 1284 toward the path. In one embodiment, the engagement members 1284 are normally closed or located in the path and require movement to an open position to insert the EMD. In one embodiment, the engagement members 1284 are normally open or located outside of the path and require movement to a closed position to engage the EMD. In one embodiment, the engagement members 1284 engage the EMD sequentially. Reference Figure 18I In one embodiment, the engagement members 1284 are circumferentially offset about the EMD. Figure 18GIn one embodiment, the engagement member 1284 is axially offset. Figure 18H In one embodiment, the first engaging member is positioned 180 degrees from the second engaging member. In one embodiment, the engaging members 1284 are independent and not directly connected to each other. In one embodiment, the movement of the inner member relative to the outer member is rotation. In one embodiment, the movement of the inner member relative to the outer member is translation. In one embodiment, the movement of the inner and outer members relative to each other is robotically controlled. In one embodiment, the movement of the inner and outer members relative to each other is manual. Reference Figure 18H and Figure 18I In one embodiment, the engagement members 1284 are radially offset about the EMD to form a serpentine path. Figure 18H In one embodiment, the serpentine path lies in a single plane. Figure 18I In one embodiment, the serpentine path does not lie in a single plane.

[0349] refer to Figure 19A 、 Figure 19B 、 Figure 19C and Figure 19E The opposing liner collet system 1360, capable of releasably engaging an EMD 1388, includes an inner housing 1362, an outer housing 1363, a plurality of springs 1364a, b, c, ..., a plurality of levers 1366a, b, c, ..., and a pivot pin 1368. In one embodiment, the inner housing 1362 of the collet system 1360 is a right cylindrical shape with its longitudinal axis oriented along the EMD axis 1370. The inner housing 1362 includes an internal cavity 1372, a radial longitudinal slit 1374, and a plurality of circumferential slits 1376a, b, c, .... In one embodiment, the outer housing 1363 is a right cylindrical shape with its longitudinal axis oriented along the EMD axis 1370. The outer housing 1363 includes a radial longitudinal slit 1367, an internal cavity 1369, and a plurality of cam surfaces 1365a, b, c, ... on the inner surface (inner wall) of the outer housing 1363. In one embodiment, the outer shell 1363 is a cylindrical tube having a wall thickness greater than 10 percent of the inner diameter and having a plurality of cam surfaces 1365a, b, c, ... on the inner surface. In one embodiment, the outer shell 1363 is a cylindrical tube having a wall thickness less than 10 percent of the inner diameter and having a plurality of cam surfaces 1365a, b, c, ... on the inner surface. (Refer to Figures 19A-19G , the wall thickness of the outer shell 1363 is representative. Note that Figure 19A The geometric configuration of the outer shell 1363 is different from Figures 19B-19G ) The outer diameter of the inner housing 1362 is smaller than the diameter of the interior cavity 1369 of the outer housing 1363, such that the inner housing 1362 is located inside the outer housing 1363 in the assembled embodiment.

[0350] In one embodiment, the longitudinal axis of inner housing 1362 is colinear with the longitudinal axis of outer housing 1363. In one embodiment, at least a portion of outer housing 1363 and / or a portion of inner housing 1362 is arcuate and / or circular. In one embodiment, all of levers 1366a, b, c, ... rotate about a single pivot pin 1368. In one embodiment, multiple pivot pins 1368a, b, c, ... are used, with lever 1366a rotating about pin 1368a, lever 1366b rotating about pin 1368b, and so on. In one embodiment, the plurality of cam surfaces 1365a, b, c, ... are incrementally spaced along the longitudinal axis around the inner circumference of outer housing 1363. In one embodiment, the plurality of cam surfaces 1365a, b, c, ... are grooves or recesses incrementally spaced along the longitudinal axis around the inner circumference of outer housing 1363.

[0351] The circumferential slots 1376a, b, c, ... of the inner shell 1362 are oriented parallel to a plane perpendicular to the EMD axis 1370. Figure 19A In one embodiment, nine circumferential slots 1376a, b, c, ... i are shown, correspondingly exposing nine arms 1384a, b, c, ... i of the joysticks 1366a, b, c, ... i. In other embodiments, a different number of circumferential slots is used, exposing a corresponding number of arms. For example, in one embodiment, one circumferential slot 1376a is used, exposing arm 1384a of joystick 1366a. In one embodiment, two circumferential slots 1376a, b are used, exposing arms 1384a, b of joysticks 1366a, b, respectively. In one embodiment, more than one circumferential slot 1376 is used. In one embodiment, the circumferential slots 1376a, b, c, ... extend radially inward from the outer surface of the inner housing 1362 to the interior cavity 1372 of the inner housing 1362. In one embodiment, the circumferential slits 1376a, b, c, ... extend radially inward from the outer surface of the inner shell 1362 to an interior portion of the inner shell 1362 that is not part of the cavity 1372. In one embodiment, the circumferential slits 1376a, b, c, ... extend radially inward from the outer surface of the inner shell 1362 through to the interior cavity 1372 of the inner shell 1362 and through to an interior portion of the inner shell 1362 that is not part of the cavity 1372. In one embodiment, the walls of the slits 1376a, b, c, ... are parallel. In one embodiment, the walls of the circumferential slits 1376a, b, c, ... are non-parallel. In one embodiment, the circumferential slits 1376a, b, c, ... have an introduced chamfer on the outer surface of the inner shell 1362. In one embodiment, the circumferential slits 1376a, b, c, ... do not have an introduced chamfer on the outer surface of the inner shell 1362.

[0352] The radial longitudinal slits 1367 of the outer shell 1363 extend from the outer surface of the outer shell 1363 and terminate at the inner surface of the interior cavity 1369 of the outer shell 1363. The gap between the walls of the radial longitudinal slits 1367 is greater than the diameter of the EMD 1388 to allow the EMD 1388 to enter. In one embodiment, the walls of the radial longitudinal slits 1367 are parallel. In one embodiment, the walls of the radial longitudinal slits 1367 are non-parallel, such as v-shaped walls with an apex oriented toward the EMD axis 1370. In one embodiment, the radial longitudinal slits 1367 have an introduced chamfer on the outer surface of the outer shell 1363. In one embodiment, the radial longitudinal slits 1367 do not have an introduced chamfer on the outer surface of the outer shell 1363.

[0353] The radial longitudinal slot 1374 of the inner shell 1362 extends from the outer surface of the inner shell 1362 and terminates at its radial center corresponding to the EMD axis 1370 and extends longitudinally through the inner shell 1362. The gap distance between the walls of the radial longitudinal slot 1374 is greater than the diameter of the EMD 1388 to allow the EMD 1388 to enter. In one embodiment, the walls of the radial longitudinal slot 1374 are parallel. In one embodiment, the walls of the radial longitudinal slot 1374 are non-parallel, such as v-shaped walls with an apex toward the EMD axis 1370. In one embodiment, the radial longitudinal slot 1374 has an introduction chamfer on the outer surface of the outer shell 1362. In one embodiment, the radial longitudinal slot 1374 does not have an introduction chamfer on the outer surface of the outer shell 1362.

[0354] Springs 1364a, b, c, ... are compression springs, such as coil springs, within the interior cavity 1372 of the inner housing 1362. One end of each spring 1364a, b, c, ... is constrained by the interior wall 1378 of the cavity 1372 of the inner housing 1362. The other end of each spring 1364a, b, c, ... is seated on and extends into a projection 1380a, b, c, ... of the operating lever 1366a, b, c, .... In one embodiment, the projection 1380a, b, c, ... of the operating lever 1366a, b, c, ... extends into one end coil of the spring 1364a, b, c, .... In another embodiment, the projection 1380a, b, c, ... of the operating lever 1366a, b, c, ... extends into more than one end coil of the spring 1364a, b, c, .... In one embodiment, protrusions 1380a, b, c, ... of levers 1366a, b, c, ... are operatively connected to one end coil of springs 1364a, b, c, .... In one embodiment, protrusions 1380a, b, c, ... of levers 1366a, b, c, ... are operatively connected to more than one end coil of springs 1364a, b, c, .... In one embodiment, a single compression spring 1364 is used. In one embodiment, multiple compression springs are used. In one embodiment, the number of springs is equal to the number of levers. In one embodiment, a collar or sleeve is used around each spring 1364a, b, c, ... to prevent buckling or bending of the springs.

[0355] In the assembled configuration, the springs 1364a, b, c, ... are in compression. In operation, as the outer housing 1363 rotates about its longitudinal axis relative to the inner housing 1362, the cam surfaces 1365a, b, c, ... on the inner surface (inner wall) of the outer housing 1363 operatively engage the corresponding arms 1384a, b, c, ... of the levers 1366a, b, c, ... exposed in the slots 1376a, b, c, .... Figure 19B, the opposing liner collet system 1360 is shown in a released configuration, wherein the EMD 1388 is not operatively secured to the collet 1360. In this configuration, the radial longitudinal slot 1367 of the outer housing 1363 is aligned with the radial longitudinal slot 1374 of the inner housing. An applied force 1382a acts on the arm 1384a of the lever 1366a, causing the lever 1366a to rotate counterclockwise about the pivot pin 1368 with the spring 1364a under compression in the cavity 1372 of the inner housing 1362. Due to the position of the lever 1366a, the liner 1386a of the lever 1366a is oriented away from the EMD axis 1370 and away from the radial longitudinal slot 1374 near the EMD axis 1370. In the released configuration, EMD 1388 is movable in the direction of EMD axis 1370 into radial longitudinal slots 1367 and radial longitudinal slots 1374. In one embodiment, an actuator (not shown) rotates outer housing 1363 relative to inner housing 1362. The actuator that rotates outer housing 1363 relative to inner housing 1362 is in the drive module in one embodiment and in the cartridge in one embodiment.

[0356] To tighten and loosen the relative liner collet system 1360, the lever 1366a is rotated about the pivot pin 1368 through a limited range of motion. In one embodiment, the angular range of motion of the lever 1366a is less than 10 degrees. In another embodiment, the angular range of motion is greater than 10 degrees. The lever 1366a acts as a first-stage lever and its pivot is between the applied force and the load. The applied force or input force 1382a is applied to the arm 1384a of the lever 1366a. The load or output force acts on the pad 1386a of the lever 1366a.

[0357] With the EMD 1388 fully inserted into the radial longitudinal slot 1374, the applied force 1382a is removed. Figure 19C , the opposing liner collet system 1360 is shown in a clamped configuration wherein the EMD 1388 is unable to freely move relative to the collet, being captured between the liner 1386a and the walls of the radial longitudinal slot 1374 due to a restoring force 1390a from the spring 1364a pushing on the arm 1384a of the lever 1366a. In one embodiment, the outboard ends of the arms 1384a protrude into the circumferential slot 1376a of the inner housing 1362 in the clamped configuration and are exposed.

[0358] refer to Figure 19B and Figure 19C , the opposing liner collet system 1360 is a normally closed collet, meaning that without the applied force 1382a being applied, the collet is in a clamped configuration.

[0359] In operation, the arm 1384a of the lever 1366a is a cam follower, wherein the outer surface of the arm 1384a is the follower surface that contacts the cam (the inner surface of the outer housing 1363), thereby pushing on the cam follower using an applied force 1382a. The outer member 1363, having an internal cam, contacts the outer surface of the arm 1384a. By rotating the outer housing 1363 relative to the inner housing 1362, the inner cam of the outer member pushes against the outer surface of the arm 1384a, exposed in the circumferential slot 1376a, thereby rotating the lever 1366a and moving the pad 1386a of the lever 1366a away from the EMD axis 1370 and releasing the EMD 1388 in the collet 1360. In one embodiment having a single circumferential slot 1376a, the cam comprises a finger or tab that presses against the outer surface of the arm 1384a. In one embodiment having a plurality of circumferential slots 1376a,b,c, ..., the cam comprises a plurality of fingers or tongues that press against the outer surfaces of a plurality of arms 1384a,b,c, .... In one embodiment, a plurality of levers 1366a,b,c, ... and their pads 1386a,b,c, ... are used to clamp the EMD 1388 at a plurality of longitudinal locations. In one embodiment, contact of the EMD 1388 occurs between the pads 1386a of a single lever 1366a along the length of the collet system.

[0360] refer to Figures 19D-19G , showing a sequence of incremental tightening of the opposing liner collet system 1360. (In the drawing, springs 1364a, b, c, ... are present but not shown on the right side; in the drawing, springs 1364a, b, c, ... are not numbered but are shown by slightly dashed circles on the left side.) Reference Figure 19D , the opposing liner collet system 1360 is shown in a loosened configuration for radially loading the EMD 1388. Because the inner wall of the outer housing 1363 maintains the arms 1384a,b,c, ... of the levers 1366a,b,c, ... in a configuration that compresses the springs 1364a,b,c, ... in a state of maximum compression during operation, there is no contact between the liner 1386a,b,c, ... and the EMD 1388. Figure 19E, a first rotational increment of the outer housing 1363 relative to the inner housing 1362 (corresponding to a clockwise arrow) corresponds to the engagement of the pad 1386a of the lever 1366a with the EMD 1388 due to the groove of the cam 1365a on the inner surface of the outer housing 1363, due to the rotation of the lever 1366a. The spring 1364a is slightly released from its maximum compression state and is the source of the force between the pad 1386a and the EMD 1388. During this first rotational increment, all other pads 1386b, c, ... of the lever 1366b, c, ... remain in a loosened configuration. During this first rotational increment, it is not possible to remove the EMD 1388 from the opposing liner collet system 1360 because the radial longitudinal slit 1367 of the outer housing 1363 is not aligned with the radial longitudinal slit 1374 of the inner housing 1362. Reference Figure 19F A second rotational increment of outer housing 1363 relative to inner housing 1362 (corresponding to the two clockwise arrows) corresponds to the engagement of pads 1386a and 1386b with EMD 1388 due to the grooves of cams 1365a and 1365b on the inner surface of outer housing 1363 and due to the rotation of levers 1366a and 1366b. Springs 1364a and 1364b are slightly released from their maximum compression state and are the source of force between pads 1386a and 1386b and EMD 1388. During this second rotational increment, all other pads 1386c, d, ... of levers 1366c, d, ... remain in a released configuration. Figure 19G The third rotational increment of the outer housing 1363 relative to the inner housing 1362 (corresponding to the three clockwise arrows) corresponds to the engagement of the pads 1386a,b,c with the EMD 1388 due to the grooves of the cams 1365a,b,c on the inner surface of the outer housing 1363 and the rotation of the levers 1366a,b,c. The springs 1364a,b,c are slightly released from their maximum compression and are the source of force between the pads 1386a,b,c and the EMD 1388. During this third rotational increment, all other pads 1386d,e,... of the levers 1366d,e,... remain in a released configuration (note: during Figures 19E-19G , EMD 1388 is shown as being exaggeratedly offset where the join exists. ).

[0361] In one embodiment, a 20-degree rotation of the outer housing 1363 relative to the inner housing 1362 corresponds to a rotational increment for engagement of the pads 1386a,b,c, ... of the corresponding joysticks 1366a,b,c, ... with the EMD 1388. In one embodiment, a less than 20-degree rotation of the outer housing 1363 relative to the inner housing 1362 corresponds to a rotational increment for engagement of the pads 1386a,b,c, ... of the corresponding joysticks 1366a,b,c, ... with the EMD 1388. In one embodiment, a greater than 20-degree rotation of the outer housing 1363 relative to the inner housing 1362 corresponds to a rotational increment for engagement of the pads 1386a,b,c, ... of the corresponding joysticks 1366a,b,c, ... with the EMD 1388.

[0362] refer to Figure 20A The collet drive system 1500 capable of rotating, translating, and clamping an EMD 1502 includes a collet 1504, a collet engagement member 1506, a first drive module 1508, and a second drive module 1510. The collet drive system 1500 may also be referred to as a quick-release collet having two linear drives and an axial spline engagement.

[0363] The collet 1504 has a collet first member 1512 having a first engagement portion 1514. The collet 1504 has a collet second member 1516 which is actuated.

[0364] The collet engagement member 1506 has a second engagement portion 1518 .

[0365] The collet first member 1512 and the collet engagement member 1506 move between an engaged position and a disengaged position. Figure 20C , the collet first member 1512 and the collet engagement member 1506 are shown in a disengaged position.

[0366] As the collet first member 1512 and the collet engagement member 1506 move to the engaged position, the first engagement portion 1514 engages the second engagement portion 1518. Figures 20C-20G , the collet first member 1512 and the collet engagement member 1506 are shown in an engaged position.

[0367] Rotation of the collet first member 1512 relative to the collet second member 1516 in a first direction 1520 in the engaged position tightens the EMD 1502 within the collet 1504, and rotation of the collet first member 1512 relative to the collet second member 1516 in a second direction 1522 opposite to the first direction 1520 releases the EMD 1502 within the collet 1504.

[0368] In the collet drive system 1500 , the first engagement portion 1514 includes a plurality of splines extending circumferentially around at least a portion of the collet first member 1512 . The second engagement portion 1518 includes a plurality of members that operatively engage the plurality of splines of the first engagement portion 1514 .

[0369] In one embodiment, the collet second member 1516 is connected to the bevel gear 1524, which engages and is driven by the capstan bevel gear 1526. In one embodiment, the collet second member 1516 is driven by the coupling.

[0370] In one embodiment, the plurality of splines of the first engagement portion 1514 include longitudinally extending external spline teeth. In one embodiment, the plurality of members of the second engagement portion 1518 include internal spline teeth that extend longitudinally and engage the longitudinally extending external spline teeth of the plurality of splines of the first engagement portion 1514.

[0371] The collet engagement member 1506 is integrally connected to the first drive module 1508 and is oriented so that its centerline is longitudinally aligned with the axis of the EMD 1502 .

[0372] The first driving module 1508 and the second driving module 1510 (such as Figure 3 76 in the figure) is longitudinally translated relative to the fixed lead screw 1528 and is independently actuated by a first actuator 1530 and a second actuator 1532 (in Figure 3 In one embodiment, the first actuator 1530 is driven by a motor (shown as a translation motor 64). In one embodiment, the lead screw 1528 is a ball screw. In one embodiment, the first drive module 1508 and the second drive module 1510 are independently driven by belt drives. In one embodiment, the first actuator 1530 is a motor powered by electrical, pneumatic, hydraulic, or other means. In one embodiment, the second actuator 1532 is a motor powered by electrical, pneumatic, hydraulic, or other means.

[0373] refer to Figure 20A , the collet drive system 1500 is connected to the entire robotic system 24. In particular, the connections of the lead screw 1528, the first actuator 1530, the second actuator 1532, the first drive module 1508, and the second drive module 1510 to the entire robotic system are shown.

[0374] In one embodiment, translation of the first drive module 1508 is achieved as follows. The drive shaft of the first actuator 1530 is integrally connected to a first actuation pulley 1534, which drives a first belt 1536, which drives a first nut pulley 1538, which is integrally connected to a first nut-bearing assembly 1540, which engages the leadscrew 1528 and is integrally connected to the first drive module 1508. Similarly, in one embodiment, translation of the second drive module 1510 is achieved as follows. The drive shaft of the second actuator 1532 is integrally connected to the second actuating pulley 1544, which drives the second belt 1546, and the second belt 1546 drives the second nut pulley 1548. The second nut pulley 1548 is integrally connected to the second nut bearing assembly 1550, which engages the screw 1528 and is integrally connected to the second drive module 1510.

[0375] First drive module 1508 comprises a clamp and a rotary drive mechanism, which is used to clamp / disengage the EMD and to translate the EMD along its longitudinal axis. In one embodiment, the clamp and the rotary drive mechanism comprise a drive tire 1558 and an idler tire 1568. In one embodiment, the drive tire 1558 is driven as described below. A driver gear 1552 engages a drive tire gear 1554 that is integrally connected to a drive tire capstan 1556, which is integrally connected to the drive tire capstan 1556. It is conceivable that other clamps and translation devices known in the art may also be used.

[0376] refer to Figure 20A and Figure 20B In one embodiment, the driver gear 1552 is driven by a third actuator 1560 that is incorporated into the interior of the first drive module 1508. In one embodiment, the third actuator 1560 is a motor powered by electrical, pneumatic, hydraulic, or other means.

[0377] In one embodiment, rotation of the driver gear 1552 is achieved as follows: The drive shaft of the third actuator 1560 is integrally connected to a third actuation pulley 1562 (which is supported by a bearing), which drives a second belt 1564, which drives a driver gear pulley 1566 (which is supported by a bearing) that is integrally connected to the driver gear 1552.

[0378] First drive module 1508 includes a straddle rocker 1570 and a spring 1572. The straddle rocker 1570 rotates about a pivot 1574 that is parallel to the axes of the drive tire 1558 and the idler tire 1568. Spring 1572 is a tension spring and has one end connected to a rocker distal post 1575 integrally connected to the straddle rocker 1570 and one end connected to a driver gear extension post 1576 extending from the driver gear 1552. The straddle rocker 1570 is a spring-loaded bell crank, i.e., a spring-loaded lever having two arms and a pivot 1574. One arm of the straddle rocker 1570 is integrally connected to the rocker distal post 1575 at its free end. One arm of the straddle rocker 1570 supports the idler tire 1568 at its free end.

[0379] The second drive module 1510 includes a driven winch bevel gear 1526 and a winch 1527. The winch bevel gear 1526 is integrally connected to the winch 1527 driven by an actuator (not shown). The second drive module 1510 is integrally connected to an extension link 1578, which extends from the distal end (i.e., the end farthest from the lead screw 1528) of the second drive module 1510 in a direction toward the first drive module 1508 and parallel to the lead screw 1528 and the EMD 1502. In one embodiment, the extension link 1578 is a rectangular rod and its length is greater than its width and its width is greater than its height (thickness). The extension link 1578 includes a first lip 1580 and a second lip 1581. In one embodiment, the first lip 1580 and the second lip 1581 are rectangular rod protrusions, such as flanges, which point upward and perpendicular to the extension link 1578. In one embodiment, the first lip 1580 is located at the proximal end of the extension link 1578 and the second lip 1581 is located near the distal end of the extension link 1578 such that a gap exists between the inner sides of the first lip 1580 and the second lip 1581 .

[0380] In one embodiment, the collet drive system 1500 includes a cartridge (not shown) that includes the collet 1504 , the collet engagement member 1506 , the drive tire 1558 , and the idler tire 1568 .

[0381] As described herein, the operation of the collet drive system 1500 consists of various states.

[0382] refer to Figure 20C, the collet drive system 1500 is shown in a driven state (first state). In the driven state, the collet 1504 clamps the EMD 1502, the collet 1504 rotates the EMD 1502, the first drive module 1508 and the second drive module 1510 move together to maintain the same separation distance, the spline teeth of the first engagement portion 1514 and the second engagement portion 1518 are not engaged (i.e., not engaged), and the drive tire 1558 and the idler tire 1568 are separated and do not grip the EMD 1502. In the driven state, the rocker distal post 1575 contacts the inner side of the first lip 1580, and the straddle rocker 1570 is positioned to keep the idler tire 1568 separated from the drive tire 1558.

[0383] refer to Figure 20D , the collet drive system 1500 is shown in a collet locked state (second state). In the collet locked state, the collet 1504 clamps the EMD 1502, the first drive module 1508 and the second drive module 1510 move toward each other to reduce their separation distance (e.g., the second drive module 1510 moves toward the fixed first drive module 1508), the spline teeth of the first engagement portion 1514 engage the spline teeth of the second engagement portion 1518 (i.e., they are engaged, although not fully engaged), and the drive tire 1558 and the idler tire 1568 are slightly separated from each other and do not grip the EMD 1502. In the collet locked state, the rocker distal post 1575 contacts the inner side of the first lip 1580 and rotates astride the rocker 1570, causing the idler tire 1568 to move toward the drive tire 1558 but without the tires gripping the EMD 1502.

[0384] refer to Figure 20E , the collet drive system 1500 is shown in a device exchange state (a second alternative state). In the device exchange state, the collet 1504 releases the EMD 1502, the first drive module 1508 and the second drive module 1510 move toward each other to reduce their separation distance (same as the collet locked state), the spline teeth of the first engagement portion 1514 engage the spline teeth of the second engagement portion 1518 (i.e., they are engaged, although not fully engaged), and the drive tire 1558 and the idler tire 1568 are separated from each other and do not grip the EMD 1502. In the exchange state, just as in the collet locked state, the rocker distal post 1575 contacts the inside of the first lip 1580 and rotates astride the rocker 1570, causing the idler tire 1568 to move toward the drive tire 1558 but without the tires gripping the EMD 1502.

[0385] In the exchange state, the collet 1504 releases the EMD 1502 by rotating the capstan bevel gear 1526, which engages and rotates the driven bevel gear 1524, causing the collet second member 1516 to rotate relative to the collet first member 1512. Note that the collet first member 1512 is locked (does not move) due to the engagement of the spline teeth of the first engagement portion 1514 with the spline teeth of the immobile second engagement portion 1518. With the collet 1504 in the released state, the EMD 1502 can be removed. In one embodiment, the EMD 1502 can be removed by lateral or radial unloading with the collet slit 1582 in the collet 1504 and the collet engagement member slit 1584 in the collet engagement member 1506 aligned. In one embodiment, the EMD 1502 can be removed by axial unloading.

[0386] refer to Figure 20A , collet slit 1582 extends longitudinally from the outer circumferential surface and radially through the collet 1504 to its centerline, and collet engagement member slit 1584 extends longitudinally from the outer surface circumference and radially through the collet engagement member 1506 to its centerline. In one embodiment, the slits 1582 and 1584 have parallel walls. In one embodiment, the slits 1582 and 1584 have non-parallel walls, such as v-shaped walls with an apex toward the radial center. In one embodiment, the slits 1582 and 1584 have lead-in chamfers on their outer surfaces. In one embodiment, the slits 1582 and 1584 do not have chamfers on their outer surfaces.

[0387] refer to Figure 20F , the collet drive system 1500 is shown in a collet-clamped, tire-grasping state (third state). In the collet-clamped, tire-grasping state, the collet 1504 clamps the EMD 1502, the first drive module 1508 and the second drive module 1510 move toward each other to their minimum separation distance (e.g., the second drive module 1510 moves toward the fixed first drive module 1508), the spline teeth of the first engagement portion 1514 fully engage the spline teeth of the second engagement portion 1518 (i.e., they are fully engaged), and the drive tire 1558 and the idler tire 1568 do not separate and grasp the EMD 1502. In the collet-clamped, tire-grasping state, the rocker distal post 1575 contacts the inner side of the second lip 1581 and rotates astride the rocker 1570, thereby moving the idler tire 1568 into the drive tire 1558 so that the tire grasps the EMD 1502.

[0388] refer to Figure 20G, the collet drive system 1500 is shown in a tire drive state (fourth state). In the tire drive state, the collet 1504 releases the EMD 1502, the first drive module 1508 and the second drive module 1510 move toward each other to their minimum separation distance (e.g., the second drive module 1510 moves toward the fixed first drive module 1508), the spline teeth of the first engagement portion 1514 fully engage the spline teeth of the second engagement portion 1518 (i.e., they are fully engaged), and the drive tire 1558 and the idler tire 1568 do not separate and grip the EMD 1502. In the tire drive state, as in the collet clamped tire grip state, the rocker distal post 1575 contacts the inner side of the second lip 1581 and rotates astride the rocker 1570, thereby moving the idler tire 1568 into the drive tire 1558 so that the tire grips the EMD 1502.

[0389] In the tire-driven state, the collet 1504 releases the EMD 1502 by rotating the capstan bevel gear 1526 which engages and rotates the driven bevel gear 1524, causing the collet second member 1516 to rotate relative to the collet first member 1512. Note that the collet first member 1512 is locked (does not move) due to the engagement of the spline teeth of the first engagement portion 1514 with the spline teeth of the immobile second engagement portion 1518. With the collet 1504 in the released state, the EMD 1502 can be translated by rotating the drive tire 1558, thereby gripping the EMD 1502 against the idler tire 1568.

[0390] The collet drive system 1500 operates in a reset mode or an exchange mode. In the reset mode, the operating sequence is the drive state (first state), collet locked state (second state), collet clamped tire gripping state (third state), tire drive state (fourth state), collet clamped tire gripping state (third state), collet locked state (second state), and return to the drive state (first state). In the exchange mode, the operating sequence is the drive state (first state), collet locked state (second state), device exchange state (second alternative alternating state), collet locked state (second state), and return to the drive state (first state).

[0391] The collet drive system 1500 includes a collet 1504. To minimize the amount of actuation required, the collet drive system 1500 is designed to lock one half of the collet 1504, thereby preventing rotational movement of that half, while providing rotational freedom to the collet half 1504 to loosen and clamp the EMD 1502. There are multiple ways to lock the collet half 1504. The term locking refers to maintaining the component stationary and fixed relative to the patient. If the component is stationary relative to the bed rail, then for the purposes of this document, the component is stationary and fixed relative to the patient. One embodiment includes engaging splines. One embodiment includes inserting a locking pin into a hole. One embodiment includes inserting a key into a keyway. One embodiment includes a device for preventing mechanical interference with rotation.

[0392] In one embodiment, the EMD 1502 is released, and after the EMD is released, the various components are moved to a home position to allow the EMD to be removed from the device through the aligned slots.

[0393] refer to Figure 21A , a “collet drive system” 1600 capable of rotating, translating, and clamping an EMD 1602 includes a device driver 1604, an EMD support 1606, and a y-connector assembly 1608. The device driver 1604 includes a cartridge 1610 and a drive module 1612.

[0394] The drive module 1612 is relative to the fixed screw 1614 (such as Figure 3 76) and is translated longitudinally by actuator 1616 (in Figure 3 In one embodiment, the lead screw 1614 is a ball screw. In one embodiment, the actuator 1616 is a motor powered by electrical, pneumatic, hydraulic or other means.

[0395] refer to Figure 21A , the collet drive system 1600 is connected to the entire robotic system 24. In particular, the connection of the leadscrew 1614, actuator 1616 and drive module 1612 to the entire robotic system is shown.

[0396] In one embodiment, as for Figure 20A The driving module of the embodiment of the present invention realizes the translation of the driving module 1612 (note that in Figure 21A 、 Figure 21B 、 Figure 21C and Figure 21D , some components that connect the drive module 1612 to the actuation system for translation are not shown. ).

[0397] refer to Figure 21A 、 Figure 21B 、 Figure 21C and Figure 21D, the collet drive system 1600 is capable of clamping and unclamping the EMD 1602, rotating the EMD 1602 clockwise and counterclockwise, and advancing and retracting (i.e., translating forward and backward) the EMD 1602. In one embodiment, the cartridge 1610 is coupled to the Figure 12A The collet drive system 1600 is identical to the cartridge 922 of the embodiment of the present invention and includes a double-tapered collet and a rotary drive for clamping and unclamping the EMD 1602 and rotating the EMD 1602 in the clamped collet. In other words, the collet drive system 1600 includes a collet such as Figure 12D collet 964, which is capable of clamping and releasing the EMD 1602.

[0398] EMD support 1606 is a restraint that prevents EMD 1602 from buckling as EMD 1602 is advanced distally. In one embodiment, EMD support 1606 is a system of telescoping segments having an inner diameter greater than the diameter of EMD 1602. In one embodiment, EMD support 1606 is a rail that allows the device to be radially loaded. In one embodiment, EMD support 1606 is a tube. In one embodiment, EMD support 1606 is any system that prevents EMD 1602 from buckling or bending as it is advanced.

[0399] refer to Figure 21B , Figure 21A The collet drive system 1600 is shown as having a retaining clip 1618 as a part of the y-shaped connector assembly 1608. The EMD support 1606 is used between the y-shaped connector assembly 1608 and the box 1610. The retaining clip 1618 is a safety mechanism so that the EMD 1602 does not move when reset. In one embodiment, the retaining clip 1618 includes two relative blocks, which can be in a clamping state that constrains the position of the EMD 1602 relative to the y-shaped connector assembly 1608, or in a disengaged state that does not constrain the EMD 1602, thereby meaning that it is free to move. In one embodiment, the retaining clip 1618 includes two relative pads, which can be in a clamping state or a disengaged state. The actuating system for engaging (clamping) and disengaging (disengaging) the retaining clip 1618 is not shown.

[0400] refer to Figure 21C , Figure 21AThe collet drive system 1600 is shown having a first tire 1620 and a second tire 1622 that are opposed to each other and pressed together to grasp the EMD 1602. The first tire 1620 and the second tire 1622 are located proximal to the box 1610. An EMD support 1606 is used between the y-connector assembly 1608 and the box 1610. An actuation system for moving the first tire 1620 and the second tire 1622 toward and away from each other is not shown. Rotating the first tire 1620 and the second tire 1622 at the same speed and in opposite directions allows the EMD 1602 to translate at a higher speed than can be achieved using a screw drive. The use of the first tire 1620 and the second tire 1622 provides the EMD 1602 with rapid traverse and unlimited travel. In one embodiment, the translation speed of the device driver 1604 is synchronized with the rotation speed of the first tire 1620 and the second tire 1622 so that the EMD 1602 does not move. Using Figure 21C A method for resetting the collet drive system includes gripping the EMD 1602 between tires 1620 and 1622. The collet 964 is then released, thereby releasing the EMD 1602 secured thereto. The drive module 1612 is then translated in a first direction while rotating the tires 1620 and 1622 to maintain the EMD in a fixed position relative to the earth and / or the patient. Once the drive module 1612 has moved to a new desired position, the collet is actuated to clamp the EMD 1602 thereto, and the tires 1620 and 1622 release the EMD 1602. In this manner, the collet drive module is reset for continued advancement. In one embodiment, once the drive module cannot move further in the distal direction, the reset occurs when the EMD 1602 is translated in the distal direction. To reset the drive module to continue driving the EMD 1602 in the distal direction, the drive module 1612 is moved in the proximal direction to a reset position. During translation reset to continue distal drive, the first direction is the proximal direction. As drive module 1612 moves proximally to maintain EMD 1602 stationary relative to the patient, tires 1620 and 1622 rotate in a manner that maintains EMD 1602 to compensate for the proximal movement of drive module 1612.

[0401] refer to Figure 21D , Figure 21A The collet drive system 1600 is shown with a third tire 1624 and a fourth tire 1626 that are opposed to each other and pressed together to grasp the EMD 1602. The third tire 1624 and the fourth tire 1626 are located proximal to the y-connector assembly 1608 and distal to the EMD support 1606. The EMD support 1606 is used between the y-connector assembly 1608 and the cartridge 1610. The third tire 1624 and the fourth tire 1626 replace Figure 21BThe retaining clip 1618 is not shown. The actuation system for moving the third tire 1624 and the fourth tire 1626 toward and away from each other is not shown.

[0402] Collet: This article provides several collet designs that can be used in the robotic system. Figure 9A , the collet 800 releasably engages the EMD (not shown). The collet 800 includes an inner member 802 that is movably positioned in the distal or proximal direction within a receiving sleeve having a tapered cavity 816 of an outer member 804. The outer member 804 has a longitudinal slit 805 that extends from the outer surface of the outer member and terminates at its radial center. In one embodiment, the walls of the slit 805 are parallel. In one embodiment, the walls of the slit 805 are non-parallel, such as v-shaped walls with an apex toward the radial center. In one embodiment, there is a lead-in chamfer on the outer surface of the slit 805. In one embodiment, there is no chamfer on the outer surface of the slit 805.

[0403] refer to Figure 9B Inner member 802 includes a first section 806 having a generally constant radius and a second tapered section 808 extending from first section 806 in a frusto-conical manner such that the diameter of the second section continuously decreases from a region immediately adjacent to the first section to a distal free end 810 of second section 808, wherein distal free end 810 of second section 808 is distal to the region immediately adjacent to first section 806. In one embodiment, first section 806 and second section 808 have the same length. In one embodiment, first section 806 is longer than second section 808. In one embodiment, first section 806 is shorter than second section 808.

[0404] First section 806 has a longitudinal slit 812 extending from the outer surface of the first section and terminating at the radial center of inner member 802. Second tapered section 808 has a longitudinal slit 814 extending from a portion of the outer surface of the second section that is collinear with slit 812 in first section 806, through the entirety of second section 808, to a portion of the outer surface of second section 180 that is 180 degrees from the first outer surface area. Second slit 814 defines a first plane and a second plane that is angled relative to the first plane. In one embodiment, the walls of slit 812 are parallel and the walls of slit 814 are non-parallel. In one embodiment, the walls of slit 812 and slit 814 are parallel. In one embodiment, the walls of slit 812 and slit 814 are non-parallel.

[0405] refer to Figure 9B ,exist Figure 9D and Figure 9FTwo cross sections are shown in . In one embodiment, there is a slit 812 in the top portion of the inner member 802 and no slit 812 in the bottom portion of the inner member 802 .

[0406] refer to Figure 9C , the first section 806 and the second section 808 are connected along a connection portion at a lower portion of the inner member 802 at a seam line 807 .

[0407] refer to Figure 9A , movement of the inner member 802 from the first end 823 of the outer member cavity toward the tapered end 825 of the outer member cavity causes the two segments 818 and 820 to move toward each other to clamp the EMD (not shown). Similarly, movement of the inner member 802 in a direction from the second tapered end 825 of the outer member 804 toward the first open end 823 of the outer member causes the two segments 818 and 820 to move away from each other to pivot about a line passing through the seam 807.

[0408] refer to Figure 9D In one embodiment, contact between the inner member 802 and the outer member 804 occurs between the inner circumferential surface of the tapered cavity 816 and the outer circumferential surface of the distal end 810 of the second section 808. In one embodiment, this contact is limited to a longitudinal distance of 1 to 5 mm. In one embodiment, this contact is a longitudinal distance greater than 5 mm.

[0409] refer to Figure 9D 、 Figure 9E and Figure 9F , in the “normally open” unloaded configuration, the two portions 818 and 820 of the second section 808 of the inner member 802 gradually separate in the direction of the distal end 810 .

[0410] In operation, the translational movement of the inner member 802 into the tapered cavity 816 of the outer member 804 forces the two portions 818 and 820 of the second segment or portion 808 to move toward each other, thereby causing the two facing surfaces 819 and 821 of the portions 818 and 820, respectively, to move toward each other to clamp the EMD. As the inner member 802 moves distally into the inner member 804, compressive forces generated by the contact between the inner member 802 and the outer member 804 (which occurs between the inner circumferential surface of the tapered cavity 816 and the outer circumferential surface of the distal end of the inner second segment 808) act on the two segments of the inner member second segment 808. These forces overcome the inherent compliance of the two segments of the inner member second segment 808, thereby causing the two facing surfaces 819 and 821 of the portions 818 and 820, respectively, to move toward each other to a loaded configuration.

[0411] In one embodiment, in the loaded configuration, the inner surfaces 819 and 821 of the second section 808 of the inner member 802 first contact the EMD at the distal free end 810 and then gradually continue to contact the EMD proximally in the slit 814 of the tapered second section 808 of the inner member.

[0412] In order to move the inner member 802 into the outer member 804, an external driving force is required to be applied in the distal direction to the inner member 802 by an operator or a robotic system (not shown). In one embodiment, the external driving force in the distal direction is applied to the proximal end of the inner member 802. In one embodiment, the inner member is moved relative to the outer member by rotating one of the inner member 802 and the outer member 804 using a rotational input that engages a screw member to cause linear translation of the inner member 802 relative to the outer member 804 along the longitudinal axis of the collet.

[0413] In order to gradually move the inner member 802 distally into the outer member 804, an increased external driving force is required to overcome the increased compliance force (so as to gradually move the two facing surfaces 819 and 821 of the portions 818 and 820, respectively, toward each other) and to overcome the increased friction force (which is due to the increased contact between the inner circumferential surface of the tapered cavity 816 and the outer circumferential surface of the distal end of the second section 808).

[0414] When the two facing surfaces 819 and 821 of portions 818 and 820, respectively, clamp onto the EMD so that the EMD cannot move, the loaded configuration becomes the locked configuration. In the locked configuration, no external driving force is required. Friction (caused by contact between the inner circumferential surface of the tapered cavity 816 and the outer circumferential surface of the distal end of the second section 808) maintains the collet 800 in the locked configuration. In other words, in the locked configuration, the inner member 802 is locked to the outer member 804 due to friction.

[0415] In operation, the translational movement of the inner member 802 away from the tapered cavity 816 of the outer member 804 (i.e., when the inner member 802 is withdrawn relative to the outer member 804) separates the two portions 818 and 820 of the second section or portion 808 from each other, thereby causing the two facing surfaces 819 and 821 of the portions 818 and 820, respectively, to move away from each other to release the EMD. When the inner member 802 is withdrawn from the outer member 804, the inherent compliance of the two sections of the inner member second section 808 restores the two facing surfaces 819 and 821 of the portions 818 and 820, respectively, to their normally open unloaded configurations.

[0416] In order to move the inner member 802 away from the outer member 804, an external driving force is required to be applied to the inner member 802 in a proximal direction by an operator or a robotic system (not shown). The external driving force in the proximal direction must overcome the friction force to maintain the collet mechanism 800 in the locked configuration. In one embodiment, the external driving force is applied to the proximal end of the inner member 802.

[0417] In one embodiment, the two sections of the inner member second section 808 are connected by a living hinge having spring properties that push the two sections away from each other as the inner member moves toward the open end of the outer member. In one embodiment, a separate spring operates to bias the two sections apart.

[0418] In one embodiment, the outer surface of the inner member tapered second section 808 has smooth walls. In one embodiment, the outer surface of the inner member tapered second section 808 has uneven walls, for example, one or more recesses or wells are present on the outer surface. Compared to a design with smooth walls, a design with uneven walls allows the two sections of the inner member tapered second section 808 to have inconsistent and generally less inherent compliance.

[0419] In one embodiment, the inner member 802 is made of moldable plastic. In one embodiment, the inner surfaces 819 and 821 of the second section 808 of the inner member 802 include an elastomer or other deformable or compliant material that deforms around the EMD during clamping and in the locked configuration.

[0420] In one embodiment, the EMD is radially loaded through the outer member slit 805 and the inner member slit 812 and slit 814 when the slits 805, 812, and 814 are aligned. Radial loading allows a user to place the EMD into the center of the collet without having to thread the free end of the EMD through the first end 823. Instead, a portion of the EMD between the first and second ends of the EMD is placed directly into the radial center of the collet through the aligned slits 805, 812, and 814. In radial loading, the first end of the EMD remains distal to the distal end of the collet and the second, opposite end of the EMD remains proximal to the proximal end of the collet, while the portion of the EMD intermediate the first and second ends of the EMD is inserted through the slits 805, 812, and 814 to the radial center of the collet. Loading the EMD as described in this paragraph is referred to herein as side loading or radial loading.

[0421] refer to Figure 9A and Figure 19D, the angle α1 822 of the tapered portion of the inner cavity 816 of the outer member 804 is greater than the angle α2 824 of the tapered portion of the outer surface of the second section 814 of the inner member, thereby urging the two parts 818 and 820 toward each other as the inner member moves into the cavity 816 in a direction toward the second end of the outer member 804.

[0422] 9C , in one embodiment of the inner member 802, the longitudinal slit 812 extending from the outer surface of the first section 806 terminates at the central longitudinal axis of the inner member 802. In one embodiment of the inner member 802, the longitudinal slit 812 extending from the outer surface of the first section 806 terminates offset from the central longitudinal axis of the inner member 802.

[0423] In one embodiment, the first portion 818 and the second portion of the second section 808 define two cantilevered portions extending from the first section of the inner member. The cantilevered portions 818 and 820 have varying spring forces along their respective longitudinal lengths such that surfaces 819 and 821 contacting the EMD positioned therebetween conform to the EMD to keep pressure applied to the EMD low and diffuse along the surfaces 819 and 821. The spring force applied to the EMD can be varied by varying the cross-sectional thickness of the cantilevered portions 818 and 820 along the longitudinal axis of the collet 800.

[0424] The collet 800 features increased rigidity for greater release force with full slits 814 in the second section 808 of the inner member 802 and partial slits 812 in the first section 806 of the inner member 802 .

[0425] refer to Figure 9G , the collet 826 has an inner member 828 and an outer member 804. The outer member 804 has the same Figure 9A The outer member 804 is shown to have the same geometric configuration. The operating principle of the collet 826 is similar to that of the outer member 804. Figure 9A Operating principle of the Collet 800.

[0426] refer to Figure 9H and Figure 9I , the inner member 828 has a longitudinal slit 830 that extends from a region 832 on an outer surface 834 of the inner member 828 and extends through the inner member 828, terminating at a region 836 that is close to but does not pass through the outer surface and is approximately 180 degrees from an opening 838 of the slit 830.

[0427] refer to Figure 9H, longitudinal slit 830 forms two approximately semicircular cross-sectional segments of inner member 828, namely, first segment 840 and second segment 842, which pivot about region 836 where slit 830 terminates. In one embodiment, in an unloaded configuration, i.e., in the relaxed state, slit 830 creates facing parallel walls from segments 840 and 842. In one embodiment, in an unloaded configuration, i.e., in the relaxed state, slit 830 creates facing non-parallel walls, such as v-shaped walls, from segments 840 and 842. In one embodiment, a stress relief 848 is used in an area of ​​the inner member near the bottom of slit 830 to minimize the effects of stress concentration and, thereby, the potential for failure. In one embodiment, other stress relief means are used in an area of ​​the inner member near the bottom of slit 830.

[0428] refer to Figure 9G , translational movement of the inner member 828 from the first end 844 of the outer member cavity toward the tapered end 846 of the outer member cavity causes the first section 840 and the second section 842 of the inner member 828 to move toward each other to clamp the EMD (not shown). Similarly, translational movement of the inner member 828 in a direction from the second tapered end 846 of the outer member 804 toward the first open end 844 of the outer member causes the first section 840 and the second section 842 of the inner member 828 to move away from each other to pivot about a line passing through the longitudinal slit 838 to release the EMD (not shown).

[0429] In one embodiment, the area of ​​the inner member 836 near the bottom of the slot 830 is a living hinge having a spring property that pushes the two sections apart as the inner member moves toward the open end of the outer member. In one embodiment, a separate spring operates to bias the two sections 838 and 840 apart.

[0430] Friction (due to contact between the inner circumferential surface of the tapered cavity of the outer member 804 and the outer circumferential surface of the distal end of the second section 834) maintains the collet 826 in the locked configuration. In other words, in the locked configuration, the inner member 828 is locked to the outer member 804 due to friction.

[0431] Compared to the collet of FIG. F2A , the collet accommodates a larger diameter range of EMDs based on the size and angle of the longitudinal slits 830 forming the two sections (first section 840 and second section 842 ) of the inner member 828 .

[0432] refer to Figure 10A and Figure 10BCollet 852 has an inner member 854, two inner components including a follower pad 856 and a follower finger 858, and an outer member 860. Outer member 860 has a prismatic interior cavity 862 that receives inner components 856 and 858 oriented from an interior cavity 864 of inner member 854. Outer member 860 includes a circumferential retaining channel 863 on an inner surface of the outer member toward its proximal end. Inner member 854 includes a key 859 on an outer surface of the inner member that is sized to fit within channel 863. In one embodiment, follower pad 856 and follower finger 858 are separate components. In one embodiment, follower pad 856 and follower finger 858 are integrally connected to form a single, unitary component. In one embodiment, follower pad 856 and follower finger 858 are made of the same material. In one embodiment, the follower pad 856 and the follower finger 858 are made of different materials. For example, in one embodiment, the follower pad 856 is made of an elastomeric material and the follower finger 858 is made of a moldable plastic. In one embodiment, the follower pad 856 is made of one material. In one embodiment, the follower pad 856 is made of more than one material, such as a moldable plastic with an elastomeric coating. In one embodiment, the follower pad 856 has two parallel flat surfaces. In one embodiment, the follower pad 856 has two non-parallel flat surfaces. In one embodiment, the follower pad 856 has one flat surface and one curved surface, such as a convex surface.

[0433] Inner member 854 has a longitudinal slit 855 along its entire length, extending from the outer surface of the inner member and terminating at its radial center. Outer member 860 has a longitudinal slit 861 along its entire length, extending from the outer surface of the outer member and terminating at its radial center. In one embodiment, slits 855 and 861 have parallel walls. In one embodiment, slits 855 and 861 have non-parallel walls, such as v-shaped walls with their apex oriented toward the radial center. In one embodiment, slits 855 and 861 have lead-in chamfers on their outer surfaces. In one embodiment, slits 855 and 861 do not have chamfers on their outer surfaces.

[0434] refer to Figure 10C.1 and Figure 10D.1 , diametrical cross-sections of the assembled collet 852 in the loosened (open) and clamped (closed) configurations, respectively, are shown having configurations depending on the relative angular orientation of the inner member 854 relative to the outer member 860 about the longitudinal axis. Figure 10C.2 , there is a gap 866 between the outer surface of the follower pad 856 and the inner surface of the inner member 854 so as not to clamp the EMD 867. (In Figure 10C.1) In the default released configuration, due to the size and geometry of the internal cam 865 of the inner member 854, a gap 866 exists such that there is no contact between the internal cam surface 865 and the follower finger 858. Figure 10D.2 Because the inner cam 865 that contacts the follower finger 858 has a relatively large size, there is no gap 866 between the outer surface of the follower pad 856 and the inner surface of the inner member 854 to clamp the EMD 867. (In Figure 10D.1 (The EMD 867 is not shown in the figure.) In the clamped configuration, the collet 852 remains in a locked state. In one embodiment, the interior surface 857 of the inner member 854 that receives the follower pad 856 when the EMD 867 is captured in the clamped configuration is flat. In one embodiment, the interior surface 857 of the inner member 854 that receives the follower pad 856 when the EMD 867 is captured in the clamped configuration is concave, for example, having a profile similar to the profile of the outer surface of the follower pad 856. In one embodiment, the inner member 854 is made of a single material. For example, in one embodiment, the inner member 854 is made of a moldable plastic. In one embodiment, the inner member 854 is made of more than one material. For example, in one embodiment, the interior surface 857 of the inner member 854 that receives the follower pad 856 has an elastomeric lining or coating on the moldable plastic inner member 854.

[0435] Transitioning from an unfastened to a clamped configuration or vice versa requires a user or a drive system to impart relative angular motion about the longitudinal axis between the inner member 854 and the outer member 860. In one embodiment, a 90-degree rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis corresponds to a transition from an unfastened to a clamped configuration. In one embodiment, a 180-degree rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis corresponds to a transition from an unfastened to a clamped configuration. In one embodiment, any rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis less than 360 degrees corresponds to a transition from an unfastened to a clamped configuration.

[0436] In one embodiment, the internal cam 865 is designed to achieve clamping when the outer member 860 is rotated clockwise about the longitudinal axis relative to the inner member 854. In one embodiment, the cam is designed to achieve clamping when the outer member 860 is rotated counterclockwise about the longitudinal axis relative to the inner member 854.

[0437] In one embodiment, the internal cam 865 achieves clamping at a single position of the inner member 854 rotated relative to the outer member 860 about the longitudinal axis. In one embodiment, the cam achieves clamping at two or more positions of the inner member 854 rotated relative to the outer member 860 about the longitudinal axis.

[0438] In one embodiment, the inner cam 865 is designed with a rest so that relative rotation between the inner member 854 and the outer member 860 does not result in a change of state, i.e., it remains in the clamped configuration if the collet system 852 is in the clamped configuration, or it remains in the loosened configuration if the collet system 852 is in the loosened configuration. The rest is achieved by the radial dimension of the profile of the inner cam 865 not changing over a range of relative rotation between the inner member 854 and the outer member 860. In one embodiment, in the clamped configuration, the rest accommodates errors that may occur in the displacement commands of the motors that rotationally drive the inner and outer members 854, 860, thereby providing some tolerance for errors while the EMD 867 remains clamped.

[0439] In one embodiment, the cam 865 is designed such that 90 degrees of rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis maintains the EMD in the clamped configuration. In one embodiment, the cam is designed such that less than 90 degrees of rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis maintains the EMD in the clamped configuration. In one embodiment, the cam is designed such that greater than 90 degrees of rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis maintains the EMD in the clamped configuration.

[0440] In one embodiment, the cam 865 is designed such that 90 degrees of rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis maintains the EMD in the released configuration. In one embodiment, the cam is designed such that less than 90 degrees of rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis maintains the EMD in the released configuration. In one embodiment, the cam is designed such that greater than 90 degrees of rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis maintains the EMD in the released configuration.

[0441] In the assembled collet 852, the key 859 of the inner member 854 is retained in the channel 863 of the outer member 860, allowing rotational freedom of the inner member 854 relative to the outer member 860 and no translational freedom of the inner member 854 relative to the rotation of the outer member 860. The key 859 captured in the channel 863 ensures that the inner and outer members 854, 860 are aligned during assembly such that the outer surface of the pad 856 of the follower finger 858 is longitudinally positioned opposite the surface 857 in the inner member 854. The key 859 captured in the channel 863 prevents the two members from being pulled apart in either the clamped or unclamped configurations.

[0442] In an initial configuration, the slits 855 in the inner member 854 of the collet 852 align with the slits 861 in the outer member 860 to allow for side or radial loading of the EMD as described herein.

[0443] refer to Figure 11A, the collet 868 has an inner member 870 , two inner components consisting of a flexure 872 and a collar 874 , and an outer member 876 .

[0444] Inner member 870 has a longitudinal slit 871 along its entire length, extending from its outer surface and terminating at its radial center. Outer member 876 has a longitudinal slit 877 along its entire length, extending from its outer surface and terminating at its radial center. In one embodiment, slits 871 and 877 have parallel walls. In one embodiment, slits 871 and 877 have non-parallel walls, such as v-shaped walls with their apex oriented toward the radial center. In one embodiment, slits 871 and 877 have lead-in chamfers on their outer surfaces. In one embodiment, slits 871 and 877 do not have chamfers on their outer surfaces.

[0445] refer to Figure 11B , the collet 868 is shown in a fully assembled configuration, with the slits 871 of the inner member 870 and the slits 877 of the outer member 876 aligned for side or radial loading of the EMD 878.

[0446] refer to Figure 11C Inner member 870 is a single, integral member composed of four sections and has a longitudinal slit 871 extending from its outer surface to its radial center. Starting from the most proximal side, first section 882 is a cylindrical section with an internal lumen at its radial center. Distal to first section 882, second section 884 is a cylindrical section with an internal cylindrical cavity. Distal to second section 884, third section 886 is a cylindrical section with external threads 890 and an internal cylindrical cavity. Distal to third section 886, fourth section 888 is an extension from third section 886. In one embodiment, the outer diameter of second section 884 is larger than the outer diameter of first section 882. In one embodiment, the outer diameter of second section 884 is the same as the outer diameter of first section 882. In one embodiment, the outer diameter of second section 884 is smaller than the outer diameter of first section 882. In one embodiment, fourth section 888 is a prismatic extension with a rectangular cross-section perpendicular to the longitudinal axis. In one embodiment, the fourth portion 888 is a prismatic extension having a non-rectangular cross-section perpendicular to the longitudinal axis. In one embodiment, the fourth portion 888 is a non-prismatic extension having a non-rectangular cross-section perpendicular to the longitudinal axis.

[0447] The outer member 876 is a single, integral member composed of two parts and has a longitudinal slit 877 extending radially from its outer surface to its center. Starting from the most proximal side, the first part 896 is a cylindrical, cup-shaped segment having internal threads 892 at its proximal portion and an internal cylindrical cavity at its distal portion. The internal threads 892 engage the external threads 890 of the inner member 870. The cylindrical cavity at the distal portion of the first part 896 receives the collar 874. The second part 898 of the outer member 876 is a cylindrical segment having an internal lumen at its radial center.

[0448] refer to Figure 11C 、 Figure 11D and Figure 11E The collar 874 is a cylindrical component comprising a distal portion with a closed end, a proximal portion with an internal cavity, and a keyway pocket 875 removed from its outer circumferential surface along its entire length. In one embodiment, the collar 874 has a closed end with a flush outer circular surface perpendicular to the longitudinal axis and an internal cavity. In one embodiment, the closed end of the collar 874 has an arcuate edge extending from the outer circular surface perpendicular to the longitudinal axis and has an internal cavity. In one embodiment, the closed end of the collar 874 has a lip or flange extending from the outer circular surface perpendicular to the longitudinal axis and has an internal cavity. In one embodiment, the internal cavity of the collar 874 is centered relative to the central longitudinal axis of its outer diameter plane. In one embodiment, the internal cavity of the collar 874 is not centered relative to the central longitudinal axis of its outer diameter plane. In one embodiment, the internal cavity of the collar 874 is rectangular. In one embodiment, the internal cavity of the collar 874 is cylindrical. In one embodiment, the internal cavity of the collar 874 is not rectangular or cylindrical. In one embodiment, the interior cavity of the collar 874 has a corner pocket or well to receive the distal end of the flexure 872 .

[0449] Collar 874 has a longitudinal slit 894 extending through the circumferential wall of the collar and a radial slit extending to its center. In one embodiment, slit 894 has parallel walls. In one embodiment, slit 894 has non-parallel walls, such as a v-shaped wall with its apex oriented toward the radial center. In one embodiment, slit 894 has an introductory chamfer on the outer surface. In one embodiment, slit 894 does not have a chamfer on the outer surface.

[0450] In one embodiment, the collar 874 is positioned within the distal portion of the interior cavity of the outer member 876 via an extension 888 of the inner member 870. The extension 888 acts as a mechanical key to ensure that the collar 874 rotates with the inner member 870 so that the ends of the flexures 872 can be longitudinally compressed together and are not exposed to relative rotation or torque. In other words, the ends of the flexures 872 can translate relative to each other but cannot rotate relative to each other. The extension 888 is rotationally constrained by the keyway-like cavity 875 in the collar 874 and is free to translate longitudinally as the inner member 870 rotates relative to the outer member 868.

[0451] refer to Figure 11A and Figure 11C In one embodiment, the proximal portion of the internal cavity of the inner member 870 has a corner recess or well to receive the proximal end of the flexure 872. The flexure 872 is a rectangular prism whose length along the axial direction is greater than its width or height in a plane perpendicular to the axial direction. In one embodiment, the flexure 872 is a rectangular prism whose width and height in a plane perpendicular to the axial direction are equal, meaning that the flexure 872 has a square cross-section. In one embodiment, the flexure 872 is a rectangular prism whose width is greater than its height in a plane perpendicular to the axial direction, meaning that the flexure 872 has a rectangular cross-section that is wider than its height. In one embodiment, the flexure 872 is a rectangular prism whose width is less than its height in a plane perpendicular to the axial direction, meaning that the flexure 872 has a rectangular cross-section that is taller than its width. In one embodiment, the flexure 872 is a rectangular prism with sharp edges. In one embodiment, the flexure 872 is a rectangular prism with rounded edges. In one embodiment, the flexure 872 is approximately a rectangular prism. In one embodiment, the flexure 872 is made of a compliant material, such as a moldable material or acrylic. The flexure 872 has elastic bending properties that depend on its geometry (length, width, and height) and its material properties (primarily its elastic modulus).

[0452] In operation, clamping the EMD 878 is achieved by rotating the inner member 870 relative to the outer member 876 in a direction about the longitudinal axis to screw together the external threads 892 and the internal threads 892. Thus, the flexure 872 can be made to flex or bend (so that it has a small radius of curvature), and the outer surface 873 of the flexure 872 (at or near the longitudinal center of the flexure) can be used to clamp the EMD 878 against the inner surface 880 of the inner member 870. The longitudinal distance between the two ends of the flexure 872 is determined by rotating the inner member 870 relative to the outer member 876 and can be used to vary the amount of flexure. As the longitudinal distance between the ends of the flexure 872 decreases, the deflection or bending of the flexure increases, resulting in the flexure having a smaller radius of curvature and a larger lateral distance, which is defined as the distance perpendicular to the longitudinal axis at the longitudinal center of the flexure between the outer surface 873 of the undeflected flexure 872 and the outer surface 873 of the deflected flexure 872. Because the lateral distance is constrained by the internal cavity, the EMD 878 is trapped between the outer surface 873 of the flexure 872 and the inner surface 880 of the inner member 870.

[0453] In operation, the EMD 878 is loosened by rotating the inner member 870 relative to the outer member 876 in a direction about the longitudinal axis to unscrew the external threads 892 from the internal threads 892. Thus, the flexure 872 can be made unflexed or unbent (so that it has a larger radius of curvature), and the outer surface 873 of the flexure 872 causes the EMD 878 to loosen from the inner surface 880 of the inner member 870. The longitudinal distance between the two ends of the flexure 872 is determined by rotating the inner member 870 relative to the outer member 876 and can be used to change the amount of bending. As the longitudinal distance between the ends of the flexure 872 increases, the deflection or bending of the flexure decreases, resulting in a flexure having a larger radius of curvature and a smaller lateral distance, which is defined as the distance perpendicular to the longitudinal axis between the outer surface 873 of the unflexed flexure 872 and the outer surface 873 of the bent flexure 872 at the longitudinal center of the flexure. In the relaxed configuration, the lateral distance between the outer surface 873 of the flexure 872 and the inner surface 880 of the inner member 870 is greater than the diameter of the EMD 878 such that the EMD 878 is free.

[0454] In one embodiment, the interior surface 880 of the inner member 870 that receives the flexure 872 when the EMD 878 is captured in the clamped configuration is concave, e.g., having a profile similar to the profile of the outer surface 873 of the bent flexure 872. This increases the surface area that contacts the EMD 878 and can increase the resistive torque on the EMD 878 by moving it away from the central axis of rotation. In one embodiment, the interior surface 880 of the inner member 870 that receives the flexure 872 when the EMD 878 is captured in the clamped configuration is flat.

[0455] In one embodiment, the inner member 870 is made of one material, such as a moldable plastic. In one embodiment, the inner member 870 is made of more than one material. For example, in one embodiment, the interior surface 880 of the inner member 870 that receives the flexure 872 in the clamped configuration to capture the EMD 878 has an elastomeric lining or coating on the moldable plastic inner member 870.

[0456] In one embodiment, the flexure 872 is made of one material, such as a moldable plastic. In one embodiment, the flexure 872 is made of more than one material. For example, in one embodiment, the flexure 872 has an elastomeric lining or coating on an inner portion of the moldable plastic.

[0457] In one embodiment of the collet 868, a single flexure 872 is used. In one embodiment of the collet 868, more than one flexure 872 is used. For example, two flexures oriented 180 degrees apart about the central longitudinal axis can be used to tighten and loosen the EMD 878 based on relative rotation of the inner and outer members 870, 876 using the principles described herein.

[0458] In an initial configuration, the slits 871 in the inner member 870 of the collet 868 align with the slits 877 in the outer member 876 to allow for side or radial loading of the EMD as described herein.

[0459] refer to Figure 15AThe flexible bellows collet drive system 1150, which is capable of rotating, translating, and clamping an EMD 1154, includes a device retainer 1152, a drive block assembly 1156, and a retaining block assembly 1158. The device retainer 1152 is a device support member that includes a longitudinal section of a flexible bellows 1160 located between the drive block assembly 1156 and the retaining block assembly 1158. The flexible bellows 1160 is a device support member that allows translational movement between the drive block assembly 1156 and the retaining block assembly 1158. In one embodiment, the drive block assembly 1156 is located distally of the flexible bellows 1160, and the retaining block assembly 1158 is located proximally of the flexible bellows 1160. In another embodiment, the drive block assembly 1156 is located proximally of the flexible bellows 1160, and the retaining block assembly 1158 is located distally of the flexible bellows 1160. In one embodiment, the device retainer 1152 includes a distal tapered section 1162, a distal constant section 1164, a proximal constant section 1166, and a proximal tapered section 1168. In one embodiment, the device retainer 1152 includes the distal constant section 1164 and the proximal constant section 1166 without the distal tapered section 1162 and the proximal tapered section 1168.

[0460] refer to Figure 15A , the flexible bellows collet drive system 1150 includes a translation drive system (not shown) that is capable of longitudinally translating (advancing and retracting) the drive block set 1156 relative to the retaining block set 1158.

[0461] refer to Figure 15B , the drive block group 1156 is shown in an open configuration, wherein there is no contact between the drive block group 1156 and the device retainer 1152. In one embodiment, the drive block group 1156 includes a first drive block assembly 1170 and a second drive block assembly 1172. In one embodiment, the drive block group 1156 includes the first drive block assembly 1170 and does not have the second drive block assembly 1172. In one embodiment, the design of the first block assembly 1170 and the design of the second drive block assembly 1172 are the same. In one embodiment, the design of the first block assembly 1170 and the design of the second drive block assembly 1172 are different.

[0462] The first drive block assembly 1170 includes a first spur gear 1174, a first spur gear pin 1176, and a first drive block retainer 1178. In one embodiment, the first spur gear 1174 rotates about the first spur gear pin 1176, which is retained in the side wall of the first drive block retainer 1178. In one embodiment, the first spur gear 1174 is integrally connected to the first spur gear pin 1176 at the middle of its length, and the ends of the first spur gear pin 1176 on either side of the first spur gear 1174 are supported in holes that serve as rotational bearings in the outer wall of the first drive block retainer 1178. In one embodiment, the first spur gear 1174 is integrally connected to the first spur gear pin 1176 at the middle of its length, and the ends of the first spur gear pin 1176 on either side of the first spur gear 1174 are supported in rotational bearings mounted in the outer wall of the first drive block retainer 1178. In one embodiment, first driver block retainer 1178 includes a first driver block cutout 1180 that exposes a section of first spur gear teeth 1182 of first spur gear 1174. In one embodiment, first driver block cutout 1180 has a semicircular convex cross-section in a plane transverse to the longitudinal axis.

[0463] The second drive block assembly 1172 includes a second spur gear 1184, a second spur gear pin 1186, and a second drive block retainer 1188. In one embodiment, the second spur gear 1184 rotates about the second spur gear pin 1186, which is retained in the side wall of the second drive block retainer 1188. In one embodiment, the second spur gear 1184 is integrally connected to the second spur gear pin 1186 at the middle of its length, and the ends of the second spur gear pin 1186 on either side of the second spur gear 1184 are supported in holes that serve as rotational bearings in the outer wall of the second drive block retainer 1188. In one embodiment, the second spur gear 1184 is integrally connected to the second spur gear pin 1186 at the middle of its length, and the ends of the second spur gear pin 1186 on either side of the second spur gear 1184 are supported in rotational bearings mounted in the outer wall of the second drive block retainer 1188. In one embodiment, second drive block retainer 1188 includes a second drive block cutout 1190 that exposes a section of second spur gear teeth 1192 of second spur gear 1184. In one embodiment, second drive block cutout 1190 has a semicircular convex cross-section in a plane transverse to the longitudinal axis.

[0464] The first spur gear 1174 is driven by a first spur gear drive system (not shown), which is capable of rotating the first spur gear 1174 in a clockwise or counterclockwise direction, or not rotating the first spur gear 1174. The second spur gear 1184 is driven by a second spur gear drive system (not shown), which is capable of rotating the second spur gear 1184 in a clockwise or counterclockwise direction, or not rotating the second spur gear 1184. In one embodiment, the first spur gear drive system, the second spur gear drive system, and the translation drive system are included in a translation-rotation drive system (not shown) that is capable of simultaneously rotating the first spur gear 1174, rotating the second spur gear 1184, and translating the drive block group 1156. In one embodiment, the first spur gear drive system, the second spur gear drive system, and the translation drive system are included in a translation-rotation drive system (not shown) that is capable of sequentially rotating the first spur gear 1174, rotating the second spur gear 1184, and translating the drive block group 1156.

[0465] refer to Figure 15B The device retainer 1152 includes a gearing section 1194, which is a longitudinal section having external spur gear teeth oriented along the longitudinal axis of the device retainer 1152 and sized to engage the teeth of the first spur gear 1174 and the teeth of the second spur gear 1184. The gearing section 1194 is located proximal to the distal constant section 1164 and distal to the flexible bellows 1160. The length of the gearing section 1194 is greater than the width of the first spur gear 1174 or the width of the second spur gear 1184. In one embodiment, the length of the gearing section 1194 is ten times the width of the first spur gear 1174 or the width of the second spur gear 1184. In one embodiment, the length of the gearing section 1194 is less than ten times the width of the first spur gear 1174 or the width of the second spur gear 1184. In one embodiment, the length of the gearing section 1194 is greater than ten times the width of the first spur gear 1174 or ten times the width of the second spur gear 1184. In one embodiment, the spur gear teeth of the gearing section 1194 are molded into a section of the device retainer 1152.

[0466] In one embodiment, the device retainer 1152 includes a distal drive collar 1196 and a proximal drive collar 1198. The distal drive collar 1196 is located distally of the geared section 1194 and proximal to the distal constant section 1164. The proximal drive collar 1198 is located proximal to the geared section 1194 and distal to the flexible bellows 1160. The distal drive collar 1196 and the proximal drive collar 1198 are longitudinal sections having flanges or lips extending outwardly from the device retainer 1152. In one embodiment, the device retainer 1152 includes a first intermediate constant section 1200 located distally of the flexible bellows 1160 and proximal to the proximal drive collar 1198.

[0467] refer to Figure 15B and Figure 15D In the open configuration of device retainer 1152, there is an opening 1202 that leads to a central channel 1204 of EMD 1154. In one embodiment, the cross-section of opening 1202 is a scallop removed from the circular cross-section of device retainer 1152, exposing a first face 1206 and a second face 1208. In one embodiment, the cross-section of central channel 1204 is an open circular cavity in which EMD 1154 can be positioned or retained. In one embodiment, the center of central channel 1204 is aligned with the center of device retainer 1152.

[0468] refer to Figure 15C, the driver block set 1156 is shown in a closed configuration, wherein the first and second driver block assemblies 1170, 1172 are both moved toward each other in the direction of the central axis of the device retainer such that the exposed teeth 1182 of the first spur gear 1174 engage the teeth of the gear drive section 1194 and the exposed teeth 1192 of the second spur gear 1184 engage the teeth of the gear drive section 1194. In the closed configuration, a portion of the outer distal wall of the first and second driver block retainers 1178, 1188 contact or nearly contact the distal drive collar 1196, thereby preventing distal movement of the first and second driver block assemblies 1170, 1172 relative to the device retainer 1152. In the closed configuration, a portion of the outer proximal wall of the first drive block retainer 1178 and a portion of the outer proximal wall of the second drive block retainer 1188 contact or nearly contact the proximal drive collar 1198, thereby preventing proximal movement of the first drive block assembly 1170 and the second drive block assembly 1172 relative to the device retainer 1152. Thus, in the closed configuration, the drive block assembly 1156, constrained by the distal drive collar 1196 and the proximal drive collar 1198, acts as a thrust bearing, thereby allowing rotational movement of the device retainer 1152 and preventing translation of the device retainer 1152 relative to the drive block assembly 1156. In other words, if there is no translational movement of the drive block assembly 1156, there is no translational movement of the device retainer 1152. If there is translational movement of the drive block assembly 1156 (such as advancement and retraction in the longitudinal direction), there is a corresponding translational movement of the device retainer 1152.

[0469] refer to Figure 15C and Figure 15E 12. In the closed configuration of the device retainer 1152, the first face 1206 and the second face 1208 are opposed to each other and meet at the closed seam 1210, and the central channel 1204 surrounds and clamps around the EMD 1154. Thus, in the closed configuration, the EMD 1154 is pressed by the walls of the central cavity 1204 of the device retainer 1152 and cannot move relative to the device retainer 1152. In other words, if there is no translational movement of the device retainer 1152, there is no translational movement of the EMD 1154. If there is translational movement of the device retainer 1152 (such as advancement and retraction in the longitudinal direction), there is a corresponding translational movement of the EMD 1154. Thus, if there is no translational movement of the drive block set 1156, there is no translational movement of the EMD 1154. If there is translational movement of the drive block set 1156 (such as advancement and retraction in the longitudinal direction), there is the same corresponding translational movement of the EMD 1154.

[0470] The drive block assembly 1156 includes a drive block open and close actuation system (not shown) that moves the first drive block assembly 1170 and the second drive block assembly 1172 in a direction transverse to the longitudinal axis toward and away from the device retainer 1152. Figure 15B , the drive block opening and closing actuation system has moved the first drive block assembly 1170 and the second drive block assembly 1172 to a position in the open configuration. Figure 15C , the drive block opening and closing actuation system has moved the first drive block assembly 1170 and the second drive block assembly 1172 into a position in the closed configuration. In one embodiment, the drive block opening and closing actuation system smoothly transitions the first drive block assembly 1170 and the second drive block assembly 1172 from the open configuration to the closed configuration and from the closed configuration to the open configuration. In one embodiment, the drive block opening and closing actuation system discretely positions the first drive block assembly 1170 and the second drive block assembly 1172 in the open configuration or the closed configuration.

[0471] refer to Figure 15F , retaining block set 1158 is shown in an open configuration, wherein there is no contact between first retaining block 1212 and device retainer 1152 and no contact between second retaining block 1214 and device retainer 1152. In one embodiment, retaining block set 1158 includes first retaining block 1212 and second retaining block 1214. In one embodiment, retaining block set 1158 includes first retaining block 1212 and does not include second retaining block 1214. In one embodiment, the design of first retaining block 1212 and the design of second retaining block 1214 are the same. In one embodiment, the design of first retaining block 1212 and the design of second retaining block 1214 are different.

[0472] In one embodiment, first retaining block 1212 includes first retaining block cutout 1216, and second retaining block 1214 includes second retaining block cutout 1218. In one embodiment, first retaining block cutout 1216 and second retaining block 1214 each have a semicircular convex cross-section in a plane transverse to the longitudinal axis.

[0473] In one embodiment, the device retainer 1152 includes a distal retention collar 1220 and a proximal retention collar 1222. The distal retention collar 1220 is located proximal to the flexible bellows 1160 and distal to a constant retention section 1224, which is a longitudinal section of the device retainer 1152 having a constant cross-section transverse to the longitudinal direction. The proximal retention collar 1222 is located distal to the proximal constant section 1166 and distal to the constant retention section 1224. The distal retention collar 1220 and the proximal retention collar 1222 are longitudinal sections having a flange or lip extending outward from the device retainer 1152. In one embodiment, the device retainer 1152 includes a second intermediate constant section 1226 located proximal to the flexible bellows 1160 and distal to the distal retention collar 1220. The device retainer 1152 acts as an anti-buckling support, allowing the collet to have a travel distance longer than the device buckles.

[0474] refer to Figure 15G , the retaining block set 1158 is shown in an intermediate configuration in which the first retaining block 1212 and the second retaining block 1214 are both moved toward each other in the direction of the central axis of the device retainer 1152. In the intermediate configuration, a portion of the outer distal wall of the first retaining block 1212 and a portion of the outer distal wall of the second retaining block 1214 contact or nearly contact the distal retaining collar 1220, thereby preventing distal movement of the retaining block set 1158 relative to the device retainer 1152. In the intermediate configuration, a portion of the outer proximal wall of the first retaining block 1212 and a portion of the outer proximal wall of the second retaining block 1214 contact or nearly contact the proximal retaining collar 1222, thereby preventing proximal movement of the retaining block set 1158 relative to the device retainer 1152. Thus, in the intermediate configuration, the retaining block set 1158, constrained by the distal retaining collar 1220 and the proximal retaining collar 1222, acts as a thrust bearing, allowing rotational movement of the device retainer 1152 and preventing translational movement of the device retainer 1152 relative to the retaining block set 1158. In the intermediate configuration, the retaining block set 1158 is constrained from translational movement and the EMD 1154 is incompletely clamped.

[0475] refer to Figure 15H, the retaining block set 1158 is shown in a closed configuration, wherein the first retaining block 1212 and the second retaining block 1214 are both moved toward each other in the direction of the central axis of the device retainer 1152. In the closed configuration, a portion of the outer distal wall of the first retaining block 1212 and a portion of the outer distal wall of the second retaining block 1214 contact or nearly contact the distal retaining collar 1220, thereby preventing distal movement of the retaining block set 1158 relative to the device retainer 1152. In the closed configuration, a portion of the outer proximal wall of the first retaining block 1212 and a portion of the outer proximal wall of the second retaining block 1214 contact or nearly contact the proximal retaining collar 1222, thereby preventing proximal movement of the retaining block set 1158 relative to the device retainer 1152. Thus, in the closed configuration, the retaining block set 1158, constrained by the distal retaining collar 1220 and the proximal retaining collar 1222, acts as a thrust bearing, allowing rotational movement of the device retainer 1152 and preventing translational movement of the device retainer 1152 relative to the retaining block set 1158. In the closed configuration, the retaining block set 1158 is constrained from translational movement and the EMD 1154 is fully clamped.

[0476] The retaining block set 1158 includes a retaining block actuation system (not shown) that moves the first retaining block 1212 and the second retaining block 1214 toward and away from the device retainer 1152 in a direction transverse to the longitudinal axis. Figure 15F , the retaining block actuation system has moved the first retaining block 1212 and the second retaining block 1214 to a position in the open configuration. Figure 15G , the retaining block actuation system has moved the first retaining block 1212 and the second retaining block 1214 to a position in the intermediate configuration. Figure 15H , the retaining block actuation system has moved the first retaining block 1212 and the second retaining block 1214 to a position in the closed configuration. In one embodiment, the retaining block actuation system smoothly transitions the first retaining block 1212 and the second retaining block 1214 from the open configuration to the intermediate configuration, and from the intermediate configuration to the closed configuration, and from the closed configuration to the intermediate configuration, and from the intermediate configuration to the open configuration. In one embodiment, the retaining block actuation system discretely positions the first retaining block 1212 and the second retaining block 1214 in the open configuration, the intermediate configuration, or the closed configuration.

[0477] refer to Figure 16A and Figure 16B, the compression collet system 1240 includes a plunger 1242, a donut 1244, and a receiver 1246. In one embodiment, the plunger 1242 is a rigid right circular cylinder having a central lumen 1248, with the long axis of the cylinder and the axis of the lumen aligned with the longitudinal axis 1250 of the EMD. In one embodiment, the lumen 1248 has a circular cross-section in a plane transverse to the longitudinal axis 1250 of the EMD, and the lumen diameter is greater than the outer diameter of the EMD 1252. The donut 1244 is an annular ring made of a compliant material. In one embodiment, the donut 1244 is an O-ring. In one embodiment, the donut 1244 is made of an elastomeric material. In its resting state, i.e., unloaded state, the donut 1244 has an internal bore 1254 with a bore diameter greater than the outer diameter of the EMD 1252. Receiver 1246 is a rigid container that includes a well 1256 and an interior lumen 1258 aligned with the longitudinal axis 1250 of the EMD and having a larger diameter than the outer diameter of the EMD 1252. In one embodiment, receiver 1246 is a rectangular prism with well 1256 on one face and an opening having the shape of a right cylinder. In one embodiment, well 1256 has straight walls. In another embodiment, well 1256 has tapered walls that taper into the well.

[0478] refer to Figure 16C and Figure 16D , a plunger actuation system (not shown) causes the plunger 1242 to translate relative to the receiver 1246 along the EMD longitudinal axis 1250 and apply a plunger force 1260.

[0479] refer to Figure 16C , the compression collet system 1240 is shown in an unloaded configuration, wherein the plunger 1242 is not pressed against the donut 1244 in the well 1256, i.e., no plunger force 1260 is applied thereto. Thus, the donut 1244 is in its rest state and is undeformed, and the EMD 1252 is free to translate relative to the receiver 1246 (the donut has a circular cross-section in the poloidal plane, as shown in FIG. Figure 16C as shown. ).

[0480] refer to Figure 16D , the compression collet system 1240 is shown in a loaded configuration, wherein the plunger 1242 is pressed against the donut 1244 in the wellbore 1256 by the plunger force 1260. As a result, the donut 1244 is compressed and deformed (it changes its original shape, e.g., from a circular cross-section to an elliptical cross-section in the poloidal plane, as shown in FIG. Figure 16D ) In the deformed state, a portion of the deformed surface wall 1262 of the donut hole 1254 is clamped around the EMD 1252. Thus, the EMD 1252 is not free to translate relative to the receiver 1246.

[0481] In one embodiment, a rotational drive system (not shown) causes the compression collet system 1240 to rotate (clockwise and counterclockwise) about the longitudinal axis 1250 of the EMD 1252. In one embodiment, a translational drive system (not shown) causes the compression collet system 1240 to translate (advance and retract) along the longitudinal axis 1250 of the EMD 1252.

[0482] In one embodiment, the compression collet system 1240 includes a slot (not shown) to allow for side or radial loading of the EMD 1252 .

[0483] In one embodiment, a collet can include a first collet member and a second collet member that tighten and loosen the EMD when moved relative to each other. In one embodiment, the first collet member and the second collet member can be formed as a single component, wherein the first collet member and the second collet member are compliantly connected. In a non-limiting example, the first collet member and the second collet member can be connected by a living hinge, an accordion-like portion of a flexible portion that is movable relative to each other.

[0484] refer to Figures 22A-22X , drive mechanism 210 is a device for actuating a tire to robotically control the motion of an EMD. In one embodiment, the drive mechanism has a pair of tires with the EMD clamped therebetween. In one embodiment, multiple pairs of tires (including but not limited to four pairs) work together to increase the grip on the EMD. The tire rotates around its longitudinal axis so that the EMD is linearly translated along its longitudinal axis, and the tire moves axially in opposite directions to drive the EMD to rotate around its longitudinal axis. As discussed herein, the drive mechanism 210 includes three integrated mechanisms to rotate the tire, translate the tire axially, and clamp and release the tire. In addition, in one embodiment, the clamp mechanism operates to clamp and disengage a part of the EMD at a distance from the paired tire.

[0485] refer to Figure 22AThe robotic drive system includes a drive module 210 that uses at least a pair of tire assemblies 222 and 224 to rotate the EMD 208 about its longitudinal axis, translate the EMD 208 along its longitudinal axis, and reposition the tire assemblies during manipulation of the EMD 208. The drive module 210 is controlled by a control system. The drive module 210 includes a first actuator 240 that operatively rotates a first shaft 272 and / or a second shaft 282. A second actuator 244 operatively translates the first shaft 272 along its longitudinal axis relative to the second shaft 282 between a first position and a second position. The first tire assembly 222 is operatively attached to the first shaft 272, and the second tire assembly 224 is operatively attached to the second shaft 282. A third actuator 248 operatively moves the first tire assembly 222 toward and away from the second tire assembly 224, thereby gripping and releasing the EMD 208 between the first tire assembly 222 and the second tire assembly 224 along its longitudinal axis. As described in more detail herein, translation of first axis 272 relative to second axis 282 causes EMD 208 to rotate about the longitudinal axis of the EMD, and rotation of first axis 272 and / or second axis 282 causes EMD 208 to translate along the longitudinal axis of the EMD. The control system provides a reset command to third actuator 248 to release EMD 208, to second actuator 244 to move first tire assembly 222 to a reset position relative to second tire assembly 224, and to third actuator 248 to grasp EMD 208. In one embodiment, the reset commands are provided sequentially.

[0486] The reset position is automatically determined based on one or more of an input device command, an offset distance between the two tire assemblies, and a position of the EMD.

[0487] In one embodiment, the control system provides a reset instruction when the second position reaches a predetermined distance from the first position. Figure 22V , the EMD 208 is positioned at first locations 370 and 373 on the first tire assembly 222 and the second tire assembly 224, respectively. In one embodiment, the first locations 370 and 371 are centrally located between the first longitudinal ends 382, ​​392 and the second opposing longitudinal ends 386, 388 of the first tire assembly 222 and the second tire assembly 224, respectively. In one embodiment, the control system provides a reset command when the second location reaches a predetermined distance from the first location.

[0488] When the operator provides instructions via user input to rotate EMD 208 about its longitudinal axis in a first direction, first tire assembly 222 and second tire assembly 224 move in opposite directions along their longitudinal axes until EMD 208 reaches second position 372 on first tire assembly 222 and third position 375 on second tire assembly 224. The controller automatically resets first tire assembly 222 and second tire assembly 224 to reset positions along their respective longitudinal axes 242 and 246. If the user continues to provide instructions to rotate EMD 208 in the same first direction when or after first and second tire assemblies reach the second and third positions, respectively, the controller automatically sets the reset position to third position 374 on first tire assembly and second position 372 on second tire assembly. In this manner, tire assemblies 222 and 224 are positioned to allow EMD 208 to continue rotating in the first direction for a greater number of revolutions than would be the case if the reset positions were at center positions 370 and 371. In other words, the first tire assembly 222 and the second tire assembly are positioned relative to each other along their respective longitudinal axes 242 and 246. Figure 10B 10C and a second extended position opposite the first extended position. In the first extended position, the upper portion of first tire assembly 222 is proximate to the lower portion of second tire assembly 224. In the second extended position, the lower portion of first tire assembly 222 is proximate to the upper portion of second tire assembly 224.

[0489] In one embodiment, the reset position is a function of input device commands, including the duration of time the input device is idle. The controller detects the duration of time no command is given to rotate the EMD. Once the duration reaches a predetermined time interval, the system automatically resets the first tire assembly 222 and the second tire assembly 224 to the idle reset position. In one embodiment, the idle reset position is a central position in which the center portion of the first tire assembly 222 is adjacent to the center portion of the second tire assembly 224, such that the first position 370 of the first tire assembly 222 is adjacent to the first position 371 of the second tire assembly 224. However, other idle reset positions may be used.

[0490] refer to Figure 22A and Figure 22B , the drive mechanism 210 is described in more detail. The drive mechanism 210 includes a base 212, an actuating assembly 214, and an EMD engagement mechanism 216. The base 212 includes reusable drive mechanism 210 components. The actuating assembly 214 is operatively secured within a cavity defined by the base 212. A coupler mechanism 218 operatively connects the actuating assembly 214 to the EMD engagement mechanism 216. In one embodiment, the base 212 includes a top plate AA and a bottom plate BB.

[0491] The coupling mechanism 218 includes a first support member 268 and a second support member 280, which extend outward from the base 212 via shafts 272 and 282, respectively. The EMD engagement mechanism 216 includes a first tire assembly 222 and a second tire assembly 224. Tire assemblies 222 and 224 are located within a housing 220 that is operatively connected to the base 212. The EMD engagement mechanism 216 includes the first tire assembly 222 and the second tire assembly 224. In one embodiment, the first tire assembly 222 and the second tire assembly 224 are identical. The first tire assembly 222 includes a hub 226 that supports a tire 228 positioned around the outer surface of the hub 226. Similarly, the second tire assembly 224 includes a hub 227 that supports a tire 229 positioned around the outer surface of the hub 227. Each tire 228 and 229 includes a roller having a longitudinal axis about which the tire rotates. Tire 228 has an outer surface that contacts the EMD. In one embodiment, the outer surface of each tire has a constant radius from a first end of the tire to an opposite second end of the tire. In one embodiment, the radius of the outer surface varies along the longitudinal axis of the tire. In one embodiment, the radius of the outer surface intermediate the ends of the tire is greater than the radius at the outer center at each of the ends of the tire. In one embodiment, the outer surface defines an oblong shape. In one embodiment, the outer surface of the tire defines a frustoconical shape or profile, wherein the tire has a larger diameter near one free end of the tire than near the other end of the tire. When the EMD is gripped between the first tire and the second tire, the surfaces pressed against the EMD are substantially parallel to each other, while the surfaces of the tire not pressed against the EMD are not parallel. Reference Figure 22P , the tire having a conical shape compensates for the deflection and clearance present in the shafts 272, 282 and the bearings (not shown but to be positioned in apertures in the first and second housing couplers 266, 268). In the loosened state, the conical tire will have parallel axes, meaning the surfaces will not be parallel. In the clamped state, the tire surfaces in the contact area will be parallel. The cone angle is equal to the amount the axes deviate from parallel due to shaft deflection and bearing clearance. In one embodiment, the conical tire has an angle between 0.1 and 10 degrees. In one embodiment, the conical tire has an angle between 0.5-3.0 degrees.

[0492] The movement of tires 228 and 229 toward and away from each other grips and releases the EMD disposed therebetween. As described herein, the movement of tires 228 and 229 about their longitudinal axes causes the EMD gripped therebetween to translate, and the relative movement of tires 228 and 229 along the longitudinal axes of tires 228 and 229 causes the gripped EMD to rotate about its longitudinal axis.

[0493] In one embodiment, the hub 226 includes a first portion 230 having an outer cylindrical shape and a second portion 232 having a frustoconical shape extending from the first portion 230 and terminating in a tip 234. A pair of engagement arms 236 extend from the bottom of the first portion 230 and terminate in a barbed member 238 that operatively engages a portion of the second support 268.

[0494] refer to Figure 22C and Figure 22D The actuation assembly 214 provides three operating motions, including rotational drive, axial drive, and grip / release. In one embodiment, the grip / release drive is part of the grip / release mode or a separate fourth mode. That is, the rotational drive mode rotates the EMD about its longitudinal axis. The axial drive mode drives the EMD along its longitudinal axis. The grip / release and grip / release modes are used to grip / release a portion of the EMD between two tires and to grip / release a portion of the EMD at a distance from two tires. In one embodiment, there is no clamp.

[0495] A first motor 240 is operatively coupled to the first tire assembly 222, thereby providing rotational motion to the first tire assembly 222, and thus the tire 228, about the longitudinal axis 242 of the first tire assembly 222. Control of the first motor 240 by the workstation provides control of the linear motion of the EMD. In one embodiment, the first motor 240 has an output shaft 290 operatively coupled to a first pulley 292. The first pulley rotates with the output shaft 290 and rotates a second pulley 270 via a belt 294. In one embodiment, pulleys 292 and 270 are gears that are connected directly via gear teeth or via a gear chain having at least one additional gear connecting gears 292 and 270. In one embodiment, the output shaft 290 is connected directly to the shaft 272 or to the tire assembly 222 using a coupling.

[0496] refer to Figure 22F A second motor 244 is operatively coupled to the first and second supports 268, 280 to provide linear motion of the tire assemblies r...

Claims

1. A cartridge configured to be coupled to a drive module of an elongated medical device (EMD) drive system, the cartridge comprising: A box housing, the box housing comprising: a bracket configured to receive an EMD device upper adapter, the EMD device upper adapter including a driven bevel gear; a cartridge bevel gear configured to freely rotate relative to the cartridge housing about an axis aligned with a coupler axis about which the coupler of the drive module rotates when the cartridge is coupled to the drive module; and a channel configured to receive and guide the device support, wherein, when the adapter on the EMD device is received in the cassette, the cassette bevel gear is aligned with the driven bevel gear such that rotation of the cassette bevel gear causes the driven bevel gear to rotate, and Wherein, the adapter on the EMD device is configured to selectively clamp and release the EMD.

2. The box according to claim 1, wherein The EMD support is a flexible tube having a longitudinal slit configured to allow insertion and removal of an EMD into and from the EMD device support.

3. The cartridge of claim 1, further comprising a proximal support member configured to receive the device support.

4. The cartridge according to claim 1, wherein When the cassette is coupled to the drive module, the cassette bevel gear receives the coupler along the coupler axis such that rotation of the coupler corresponds equally to rotation of the cassette bevel gear.

5. The box according to claim 1, further comprising a separation member positioned within the box housing and separated from the box housing in at least one direction.

6. The box according to claim 5, wherein The isolation component is configured to be coupled to a load sensing component of the drive module.

7. The box according to claim 5, wherein The isolation member is received in a recess of the cartridge housing, wherein the recess is adjacent to the bracket.

8. The cartridge according to claim 7, wherein The isolation member includes a first member and a second member.

9. The cartridge according to claim 8, wherein The cassette housing includes a track located within the groove.

10. The cartridge according to claim 9, wherein The rails are substantially parallel to each other and spaced apart from each other.

11. The cartridge according to claim 10, wherein The first component is located on a top surface of the track and the second component is located on a bottom surface of the track proximate to the load sensing component.

12. The cartridge according to claim 5, wherein A flexible membrane connects the box housing and the isolation component.

13. The cartridge according to claim 8, wherein The first part of the isolation member is inserted into the groove in a direction from the top surface of the cassette toward the bottom surface of the cassette in a direction generally perpendicular to the longitudinal axis of the cassette housing.

14. The cartridge according to claim 11, wherein The first component and the second component are spaced apart from the track of the cassette housing such that the first component and the second component are in a non-contacting relationship with the cassette housing.

15. The cartridge according to claim 1, wherein The cartridge is configured to be positioned in a non-vertical orientation when coupled to the drive module.

16. The cartridge according to claim 1, wherein The cartridge is consumable and is meant to be discarded after a single patient use.

17. A cassette configured to be coupled to a drive module of an elongated medical device (EMD) drive system, the cassette comprising: A box housing, the box housing comprising: a bracket configured to receive a collet, the collet including a driven bevel gear; and a cartridge bevel gear configured to freely rotate relative to the cartridge housing about an axis aligned with a coupler axis about which the coupler of the drive module rotates when the cartridge is coupled to the drive module, wherein, when the collet is received in the cartridge, the cartridge bevel gear is aligned with the driven bevel gear such that rotation of the cartridge bevel gear causes the driven bevel gear to rotate.

18. The cartridge according to claim 17, wherein The collet moves in translation and in rotation about a longitudinal axis.

19. The cartridge of claim 17, further comprising a channel configured to receive and guide the device support.

20. The cartridge of claim 17, wherein: The box includes a box longitudinal axis, wherein the coupling axis is perpendicular to the box longitudinal axis.

21. The cartridge of claim 20, further comprising a channel configured to receive and guide the device support, wherein The channel is at an angle relative to the longitudinal axis of the box.

22. The cartridge of claim 17, wherein: The cartridge is consumable and is meant to be discarded after a single patient use.

23. A cartridge configured to be coupled to a drive module of an elongated robotic actuator, the elongated robotic actuator configured to drive the drive module to perform axial movement along a longitudinal axis of the elongated robotic actuator, the cartridge comprising: A box housing, the box housing comprising: a bracket configured to receive an EMD device upper adapter, the EMD device upper adapter including a driven bevel gear; a cartridge bevel gear configured to freely rotate relative to the cartridge housing about an axis aligned with a coupler axis about which the coupler of the drive module rotates when the cartridge is coupled to the drive module; and a channel configured to receive and guide the device support, wherein, when the adapter on the EMD device is received in the cassette, the cassette bevel gear is aligned with the driven bevel gear such that rotation of the cassette bevel gear causes the driven bevel gear to rotate, and Wherein, the adapter on the EMD device is configured to selectively clamp and release the EMD.

24. The cartridge of claim 23, wherein: The cartridge is configured to be positioned in a non-vertical orientation when coupled to the drive module.

25. The cartridge of claim 23, wherein: When the adapter on the EMD device clamps the EMD, rotation and / or translation of the entire adapter on the EMD device about or along its longitudinal axis results in the same rotation and / or translation of the clamped portion of the shaft.

26. The cartridge of claim 23, further comprising a proximal support member configured to receive the device support.

27. A robot system comprising: Robotic drives; a first drive module and a second drive module, each drive module is coupled to the robot drive, the robot drive is configured to drive the first drive module and the second drive module, the first drive module is positioned distal to the second device module, the first drive module is configured to receive a first cartridge, and the second drive module is configured to receive a second cartridge; Wherein, the first box and the second box each include: a bracket configured to receive an adapter on an EMD device, the adapter on the EMD device including a driven bevel gear; a cartridge bevel gear configured to freely rotate relative to the cartridge housing about an axis aligned with a coupler axis about which the coupler of the drive module rotates when the cartridge is coupled to the drive module; and a channel configured to receive and guide the device support, wherein, when the adapter on the EMD device is received in the cartridge, the cartridge bevel gear is aligned with the driven bevel gear such that rotation of the cartridge bevel gear causes the driven bevel gear to rotate, and Wherein, the adapter on the EMD device is configured to selectively clamp and release the EMD.

Images