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 a Chinese patent application with application number 202080064601.2, filing date July 14, 2020, and titled "Manipulation of an Elongated Medical Device".

[0002] Cross - reference to related patent applications

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

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

[0005] Catheters and other elongated medical devices (EMDs) can be used in minimally invasive medical procedures for diagnosing and treating various vascular system diseases, including neurovascular intervention (NVI) (also known as neurointerventional surgery), percutaneous coronary intervention (PCI), and peripheral vascular intervention (PVI). These procedures typically involve navigating a guidewire through the vasculature and advancing a catheter over the guidewire for treatment. Catheter insertion procedures first use standard percutaneous techniques to enter an appropriate blood vessel, such as an artery or vein, through an introducer sheath. Through the introducer sheath, a sheath or guiding catheter is then advanced over a diagnostic guidewire to a primary location, such as the internal carotid artery for NVI, the coronary artery ostium for PCI, or the superficial femoral artery for PVI. A guidewire suitable for the vasculature is then navigated through the sheath or guiding catheter to a target location within the vasculature. In some cases, such as in tortuous anatomy, a support catheter or micro - catheter is inserted over the guidewire to assist in navigating the guidewire. A doctor or operator can use an imaging system (e.g., fluoroscope) to obtain images of contrast agent injections and select a fixed frame to use as a roadmap to navigate the guidewire or catheter to a target location, such as a lesion. While the doctor is delivering the guidewire or catheter, contrast - enhanced images 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 anatomy using a fluoroscope, the doctor manipulates the proximal end of the guidewire or catheter to direct the distal tip towards the lesion or target anatomical location in the appropriate blood vessel and avoid advancing into side branches.

[0006] Robotic catheter-based surgical systems have been developed and can be used to assist physicians in performing catheterization procedures such as, for example, NVI, PCI, and PVI. Examples of NVI procedures include coil embolization of aneurysms, liquid embolization of arteriovenous malformations, and mechanical thrombectomy for large vessel occlusion in acute ischemic stroke. In an NVI procedure, the physician uses the robotic system to obtain access to the target lesion by controlling the manipulation of a neurovascular wire and a microcatheter, thereby providing treatment to restore normal blood flow. Access to the target is obtained through a sheath or guiding catheter, although an intermediate catheter may also be needed for more distal regions or to provide moderate support for the microcatheter and wire. Depending on the lesion and type of treatment, the distal tip of the wire is navigated into or past the lesion. To treat an aneurysm, the microcatheter is advanced into the lesion, the wire is removed, and several embolization coils are deployed through the microcatheter into the aneurysm 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 treating vascular occlusion can be achieved by aspiration and / or using a stent retriever. Depending on the location of the clot, aspiration is performed through an aspiration catheter or, for smaller arteries, through the microcatheter. Once the aspiration catheter is at the lesion, negative pressure is applied to remove the clot through the catheter. Alternatively, a stent retriever can be deployed through the microcatheter to remove the clot. Once the clot is engaged with the stent retriever, the clot is retrieved by withdrawing the stent retriever and the microcatheter (or intermediate catheter) into the guiding catheter.

[0007] In PCI, the physician uses the robotic system to obtain access to the lesion by manipulating a coronary wire to provide treatment and restore normal blood flow. Access to the lesion is obtained by placing a guiding catheter in the coronary ostium. The distal tip of the wire is navigated past the lesion, and for complex anatomies, a microcatheter can be used to provide moderate support for the wire. 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 using, for example, a laser or a rotational atherectomy catheter and a balloon on the wire for atherectomy. Diagnostic imaging and physiological measurements can be performed by using an imaging catheter or fractional flow reserve (FFR) measurement to determine the appropriate treatment approach.

[0008] In PVI, the physician uses the robotic system to perform treatment and restore blood flow using techniques similar to NVI. The distal tip of the wire is navigated past the lesion, and a microcatheter can be used to provide moderate support for the wire for complex anatomies. Blood flow is restored by delivering and deploying a stent or balloon to the lesion. As in the case of PCI, lesion preparation and diagnostic imaging can also be used.

[0009] When support is needed at the distal end of a catheter or guidewire, such as for navigating tortuous or calcified vessels in order to reach a distal anatomical location or cross a hard lesion, an over-the-wire (OTW) catheter or coaxial system on a wire is used. The OTW catheter has a lumen for a guidewire that extends the entire length of the catheter. This provides a relatively stable system as the guidewire is supported along its entire length. However, the system has some drawbacks, including greater friction and a longer overall length compared to a rapid exchange catheter (see below). Typically, in order to remove or replace an OTW catheter while maintaining the position of the internal guidewire, the exposed length of the guidewire (outside the patient) must be longer than the OTW catheter. A 300 cm long guidewire is usually sufficient for this purpose and is commonly referred to as a replacement length guidewire. Due to the length of the guidewire, two operators are required to remove or replace the OTW catheter. This becomes even more challenging if a tri-coaxial catheter, also known as a three coaxial catheter (it is also known to use a four coaxial catheter) which is referred to in the art as a triaxial system is used. However, due to its stability, the OTW system is commonly used in NVI and PVI procedures. On the other hand, rapid exchange (or monorail) catheters are often used in PCI procedures. The guidewire lumen in a rapid exchange catheter only extends through the distal section of the catheter, which is also referred to as the monorail or rapid exchange (RX) section. In the case of an RX system, the operator manipulates the interventional device in parallel with each other (as opposed to the OTW system where the device is 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. A rapid exchange length guidewire is typically 180 - 200 cm long. In the case where the guidewire and monorail length are shorter, the RX catheter can be replaced by a single operator. However, when more distal support is needed, the RX catheter is usually insufficient. Summary of the Invention

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

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

[0012] In one embodiment, a robotic system includes a robotic actuator, the robotic actuator including a base having a drive coupler. A cartridge is removably secured to the base. A collet within the cartridge is removably secured to an EMD. The collet has a driven member operatively coupled to the drive coupler; and the robotic actuator 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 attached thereto; and a second portion with a second collet coupler attached thereto. An EMD is removably positioned within a path defined by the collet. A robotic actuator including a base having a first motor and a second motor, the first motor and the second motor being respectively and continuously operatively coupled to the first collet coupler and the second collet coupler to operatively clamp and unclamp the EMD within the path and rotate the EMD.

[0014] In one embodiment, a collet includes an inner member and an outer member defining a path for receiving an EMD. 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, the collet including a first collet member having a first engagement portion. The collet has a second driven member. 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 to the engaged position, the first engagement portion engages the second engagement portion. Rotation of the first collet member relative to the second collet member in a first direction in the engaged position clamps 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 unclamps the EMD within the collet.

[0016] In another embodiment, an EMD robotic drive system for rotating and translating an EMD using a reset instruction includes: a drive module controlled by a control system, the drive module including: a first actuator operably rotating a first axis and / or a second axis; a second actuator operably translating the first axis along its longitudinal axis relative to the second axis from a first position to a second position; a first tire assembly operably attached to the first axis; a second tire assembly operably attached to the second axis; a third actuator operably moving the first tire assembly toward and away from the second tire assembly to grip and release an EMD having a longitudinal axis therebetween. The translation of the first axis relative to the second axis causes the EMD to rotate about the longitudinal axis of the EMD, and the rotation of the first axis and / or the second axis causes the EMD to translate along the longitudinal axis of the EMD. The control system provides a reset instruction to the third actuator to release the EMD; to the second actuator to move the first tire assembly relative to the second tire assembly to a reset position; and to the third actuator to grip the EMD.

[0017] In yet another embodiment, an EMD robotic drive system includes a drive module, the drive module including: a first actuator operably rotating a first axis and / or a second axis; a second actuator operably causing the first axis to translate along its longitudinal axis relative to the second axis from a first position to a second position; a first tire assembly removably attached to the first axis; a second tire assembly 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 operably moves the first tire assembly toward and away from the second tire assembly to grip and release the EMD therebetween. A holding clip releasably clamps 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 to grip and release an EMD having a longitudinal axis therebetween the first tire assembly and the second tire assembly. The translation of the first shaft relative to the second shaft causes the EMD to rotate about the longitudinal axis of the EMD, and the 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 original position along its longitudinal axis, the first actuator moves with the first shaft.

[0019] In one embodiment, a method of automatically moving an EMD includes: clamping an axis of the EMD in a device-on adapter. Removably securing the device-on adapter to a cartridge. Removably securing the cartridge to a drive module; and automatically moving the device-on adapter and the EMD together to translate along the longitudinal axis of the EMD and / or rotate about the longitudinal axis of the EMD. In another aspect, the method includes: using an actuator to release the EMD in the device-on adapter when the device-on adapter is secured in the cartridge. 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 view of an exemplary catheterization system according to an embodiment.

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

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

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

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

[0025] Figure 4C is an exploded isometric view of a cartridge showing a first part and a second part of an isolation component.

[0026] Figure 4D Is an exploded isometric view of the bottom side of the cassette and its connection to the drive module.

[0027] Figure 4E Is a partial side view showing the device upper adapter having an EMD supported as part of the cassette within the isolation member.

[0028] Figure 4F Is in the position where the EMD is within the cassette Figure 4A Cross-sectional view of the embodiment.

[0029] Figure 4G Is an isometric view of the cassette and the device support.

[0030] Figure 4H Is Figure 3 Close-up isometric view of the device module.

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

[0032] Figure 5B Is Figure 5A Close-up top view showing the load sensing member connected to the load sensor within the drive module base member.

[0033] Figure 5C Is a top view of the drive module having a load sensing system, the drive module including an actuator for rotating and / or clamping / loosening an EMD located outside the load sensing member and a bearing support for the load sensing member in at least one off-axis (not measured) direction.

[0034] Figure 5D Is a side view of the drive module having a load sensing system, the drive module including an actuator for rotating and / or clamping / loosening an EMD located outside the load sensing member and a bearing support for the load sensing member in at least one off-axis (not measured) direction.

[0035] Figure 5E Is an isometric view of the drive module including a load sensing member and a drive module base member.

[0036] Fig. 6A Is an exploded side view of the EMD device upper adapter according to an embodiment.

[0037] Figure 6B Is Fig. 6A Side view of the assembled EMD device upper adapter.

[0038] Figure 6C Is an exploded isometric view of the EMD device upper adapter according to an embodiment.

[0039] Fig.6D is Figure 6C a side view of an adapter on an assembled EMD device.

[0040] Fig. 7A is an adapter on a device according to an embodiment.

[0041] Figure 7B is Fig. 7A an exploded view of the adapter on the device.

[0042] Figure 7C is from Fig. 7A an isometric view taken from a generally proximal orientation of the adapter on the device.

[0043] Fig.7D is from Fig. 7A an isometric view taken from a generally bottom orientation of the adapter on the device.

[0044] Fig. 7E is a cross-sectional view of the adapter on the device Fig. 7A with the joystick in the open position.

[0045] Figure 7F is a cross-sectional view of the adapter on the device Fig. 7A with the joystick in the closed position.

[0046] Fig. 8A is an isometric view of a device adapter with a conduit.

[0047] Figure 8B is for Fig. 8A a schematic isometric view of an embodiment of a conduit of the adapter on the device.

[0048] Fig.9A is an isometric view of a collet.

[0049] Fig. 9B is Fig.9A an isometric view of the inner member of the collet.

[0050] Fig. 9C is a view of the collet taken generally along line 9C-9C Fig.9A of the collet.

[0051] Fig.9D is generally along Fig. 9B line 9D-9D of Fig.9A a top plan view of the inner member of the collet.

[0052] Fig.9E is Fig.9D a close-up view of the free end of the inner member.

[0053] Fig.9Fis taken generally along Fig. 9B the line 9F-9F of the Fig.9A inner member of the collet.

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

[0055] Figure 9H is taken generally along the line 9H-9H of the Figure 9G collet.

[0056] Fig.9I is Figure 9G the isometric view of the inner member.

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

[0058] Fig. 10B is Fig. 10A the three-dimensional exploded (assembled) view.

[0059] Figure 10C.1 is the longitudinal sectional view of the Fig. 10A in the released configuration.

[0060] Figure 10C.2 is the transverse sectional view of the Fig. 10A in the released configuration.

[0061] Figure 10D.1 is the longitudinal sectional view of the Fig. 10A in the clamped configuration.

[0062] Figure 10D.2 is the transverse sectional view of the Fig. 10A in the clamped configuration.

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

[0064] Fig. 11B is Fig.11A the assembled sectional view of the flexure-actuated collet.

[0065] Fig. 11C is Fig.11A the exploded (assembled) view of the flexure-actuated collet.

[0066] Fig.11D is Fig.11A the isometric sectional view of the flexure-actuated collet.

[0067] Fig.11E is Fig.11A the isometric view of the collar of the flexure-actuated collet.

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

[0069] Fig. 12B Is Fig. 12A A side view of the dual gear collet drive assembly of

[0070] Fig. 12C Is Fig. 12A An isometric view of the dual gear collet drive assembly of

[0071] Fig.12D Is a showing Fig. 12A An isometric exploded (clam shell) view of two perspective views of the dual gear collet drive assembly of

[0072] Fig.12E Is a showing Fig. 12A An isometric view of selected components of the dual gear collet drive assembly of

[0073] Figure 12F.1 Is a showing the Fig. 12A Longitudinal cross-sectional top view of the internal components of the dual gear collet drive assembly in the released configuration of

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

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

[0076] Figure 13B.1 Is in the proximal configuration of Fig.13A A side view of the dual gear sliding collet drive system of

[0077] Figure 13B.2 Is in the distal configuration of Fig.13A A side view of the dual gear sliding collet drive system of

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

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

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

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

[0082] Fig. 14B Is Fig.14A The bottom view of a dual gear sliding collet drive system with a reset mechanism.

[0083] Figure 14C.1 Is visible in the case of collet locking Fig.14A The top view of some key components of a dual gear sliding collet drive system with a reset mechanism.

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

[0085] Figure 14C.3 Is visible in the case of collet unlocking Fig.14A The top view of some key components of a dual gear sliding collet drive system with a reset mechanism.

[0086] Figure 14C.4 Is visible in the case of EMD retracting Fig.14A The top view of some key components of a dual gear sliding collet drive system with a reset mechanism.

[0087] Fig.15A Is an isometric view of a system including a bellows actuator.

[0088] Fig. 15B Is in the open configuration Fig.15A The enlarged isometric view of the drive block.

[0089] Fig. 15C Is in the closed configuration Fig.15A The enlarged isometric view of the drive block.

[0090] Fig.15D Is in the open configuration Fig.15A The cross-sectional view of the device retainer.

[0091] Fig.15E Is in the closed configuration Fig.15A The cross-sectional view of the device retainer.

[0092] Fig.15F Is in the open configuration Fig.15A The enlarged isometric view of the holding block.

[0093] Figure 15G Is in the driving configuration Fig.15A The enlarged isometric view of the holding block.

[0094] Fig.15H is of the retaining block in the clamping configuration Fig.15A in an enlarged isometric view.

[0095] Fig.16A is an exploded isometric view of a compression collet system.

[0096] Fig. 16B is Fig.16A an assembled isometric view of the compression collet system of

[0097] Fig. 16C is a cross-sectional view showing the compression collet system of Fig.16A in the unloading configuration.

[0098] Fig.16D is a cross-sectional view showing the compression collet system of Fig.16A in the loading configuration.

[0099] Fig.17A is an isometric view (with dashed lines) of a plunger collet system.

[0100] Fig. 17B is of the plunger collet system in the released configuration taken generally along Fig.17A line 17A.1-17A.1 in Fig.17A a longitudinal cross-sectional view.

[0101] Fig. 17C is of the plunger collet system in the clamping configuration taken generally along Fig.17A line 17A.1-17A.1 in Fig.17A a longitudinal cross-sectional view.

[0102] Fig.18A is an exploded isometric view of a plunger collet system having a disc housing.

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

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

[0105] Fig.18D is a side view with dashed lines of the multi-plunger collet system taken generally along Fig.18B line 18D-18D in

[0106] Fig.18E is a longitudinal cross-sectional view of the multi-plunger collet in the released configuration taken generally along Fig.18D line 18E-18E in

[0107] Fig.18F is generally along Fig.18D Longitudinal sectional view of a multi-plunger collet in a clamping configuration, taken along line 18E-18E therein.

[0108] Figure 18G Isometric view of a multi-plunger collet system in a clamping configuration, having six plungers in the same direction and in side and front views of the EMD.

[0109] Fig.18H Isometric view of a multi-plunger collet system in a clamping configuration, having six plungers that are 180 degrees apart and alternately oriented and in side and front views of the EMD.

[0110] Fig.18I Isometric view of a multi-plunger collet system in a clamping configuration, having six plungers that are separated by 60 degrees of rotation one by one and in side and front views of the EMD.

[0111] Fig.19A Isometric view of an opposed pad collet having an inner housing and an outer housing.

[0112] Fig.19B Is generally along Fig.19A Side sectional view of an opposed pad collet in a released configuration, taken along line 19B-19B therein.

[0113] Fig.19C Is generally along Fig.19A Side sectional view of an opposed pad collet in a clamping configuration, taken along line 19B-19B therein.

[0114] Fig.19D Is of a collet in a first position Fig.19A Cross-sectional and end views.

[0115] Fig.19E Is of a collet in a second position Fig.19A Cross-sectional and end views.

[0116] Fig.19F Is of a collet in a third position Fig.19A Cross-sectional and end views.

[0117] Figure 19G Is of a collet in a fourth position Fig.19A Cross-sectional and end views.

[0118] Fig. 20A Isometric view of a collet drive system having two drive modules.

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

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

[0121] Fig.20D is in the collet locking state Fig. 20A Plan view of a collet drive system with two drive modules

[0122] Fig.20E is in the device exchange state Fig. 20A Plan view of a collet device system with two drive modules

[0123] Fig.20F is in the state where the collet is clamped and the tire is gripped Fig. 20A Plan view of a collet drive system with two drive modules

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

[0125] Fig.21A Plan view of a collet drive system with an EMD support

[0126] Fig. 21B is with a clip Fig.21A Plan view of a collet drive system with an EMD support

[0127] Fig. 21C is with a proximal tire Fig.21A Plan view of a collet drive system with an EMD support

[0128] Fig.21D is with a distal tire Fig.21A Plan view of a collet drive system with an EMD support

[0129] Fig.22A Right isometric view of a drive mechanism for actuating a pair of tires

[0130] Fig. 22B is Fig.22A Exploded view of the drive mechanism

[0131] Fig. 22C is with a tire in the neutral position Fig.22A Left plan view of the drive mechanism

[0132] Fig.22D with a tire in the second position Fig.22A Left plan view of the drive mechanism

[0133] Fig.22E is a left plan view of a drive mechanism having a housing for a tire Fig.22A of the drive mechanism.

[0134] Fig.22F is a left isometric view of a drive mechanism having an offset mechanism in a first configuration Fig.22A of the drive mechanism.

[0135] Figure 22G is a top plan view of a mechanism having an engagement cam in a disengaged position and a tire in an engaged position Fig.22F of the mechanism.

[0136] Fig.22H is a top plan view of a mechanism having an engagement cam in a clamping position and a tire in an engaged position Fig.22F of the mechanism.

[0137] Fig.22I is a top plan view of a mechanism having an engagement cam in a clamping position and a tire in a disengaged position Fig.22F of the mechanism.

[0138] Fig.22J is a top plan view of a mechanism having an engagement cam in a disengaged position and a tire in a disengaged position Fig.22F of the mechanism.

[0139] Figure 22K is a schematic view of an eccentric assembly in which a first tire assembly and a second tire assembly grip an EMD.

[0140] Figure 22L is a schematic view of an eccentric assembly in which a first tire assembly and a second tire assembly do not grip an EMD.

[0141] Figure 22M is an isometric view of a tire assembly mounted to a coupler.

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

[0143] Fig.22O is a partial cross-sectional view of a tire assembly and an 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 a tire assembly fixed to a coupler using a mounting member

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

[0148] Figure 22T A close-up view of a tire assembly that is removed from a coupler.

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

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

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

[0152] Figure 22X A schematic cross-sectional view of the tire assembly and the EMD in a third position. Detailed Description

[0153] Figure 1 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., treating STEMI), neurovascular interventional procedures (NVI) (e.g., treating emergent large vessel occlusion (ELVO)), peripheral vascular interventional procedures (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 elongate 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, contrast agent is injected through a catheter into one or more arteries and images of the patient's vascular system are acquired. Catheter-based medical procedures can also include catheter-based treatment procedures (e.g., angioplasty, stent placement, treatment of peripheral vascular disease, thrombus removal, treatment of arteriovenous malformations, aneurysm treatment, etc.), during which a catheter (or other EMD) is used to treat a disease. Treatment procedures can be improved by including accessory devices 54 (as Figure 2 shown), such as, for example, intravascular ultrasound (IVUS), optical coherence tomography (OCT), fractional flow reserve (FFR), etc. However, it should be noted that those skilled in the art should recognize that certain specific percutaneous interventional devices or components (e.g., wire type, catheter type, etc.) can be selected based on the type of procedure 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 devices to be used in the procedure with only minor adjustments.

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

[0155] Generally speaking, the robotic driver 24 can be equipped with appropriate percutaneous intervention devices and accessories 48 (shown in Figure 2 ) (e.g., guide wires, various types of catheters, including balloon catheters, stent delivery systems, stent retrievers, embolization coils, liquid embolics, aspiration pumps, devices for delivering contrast agents, drugs, 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 the controls and inputs located at the control station 26). The bedside unit 20 and specifically the robotic driver 24 can include any number of components and / or combinations of components to provide the bedside unit 20 with the functions 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 driver 24 includes a plurality of device modules 32a-d mounted on a track or linear member 60 (shown in Figure 3 ). The 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 guide wire. For example, the robotic driver 24 can be used to automatically feed a guide wire into a diagnostic catheter and a guiding catheter in the 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 communicates with the control station 26, thereby allowing signals generated by user input at the control station 26 to be transmitted wirelessly or via hardwiring 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 (shown in Figure 2 ), or be 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 Figure 2 ), or both. Communication may be provided between the control computing system 34 and the various components of the catheter-based surgical system 10 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 systems may be located at a local location (e.g., the local control station 38 shown in Figure 2 ) or at a remote location (e.g., the remote control station and computer system 42 shown in Figure 2 ). The catheter surgical system 10 may be operated by a control station located at a local location, a control station located at a remote location, or both a local control station and a remote control station simultaneously. At the local location, the user or operator 11 and the control station 26 are located in the same room or an adjacent room as the patient 12 and the bedside unit 20. 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 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 may communicate by using a communication system and service 36 (shown in Figure 2 ), e.g., via the Internet. In an embodiment, the remote location and the local (patient) location are far apart from each other, e.g., in different rooms in the same building, different buildings in the same city, different cities, or other different locations where the remote location cannot physically access 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 a user or operator 11 to control the bedside unit 20 to perform catheter-based medical procedures. For example, the input module 28 can be configured to cause the bedside unit 20 to perform various tasks by using a percutaneous intervention device (e.g., EMD) interfaced with the robotic drive 24, (e.g., advancing, retracting, or rotating a guidewire; advancing, retracting, or rotating a catheter; inflating or deflating a balloon located on the catheter; positioning and / or deploying a stent; positioning and / or deploying a stent retriever; positioning and / or deploying a coil; injecting contrast agent into the catheter; injecting liquid embolic into the catheter; injecting a drug or saline into the catheter; performing aspiration on the catheter; or performing any other function that may be performed as part of a catheter-based medical procedure). The robotic drive 24 includes various drive mechanisms to cause movement (e.g., axial and rotational movement) of components of the bedside unit 20 including the percutaneous intervention device).

[0158] In one embodiment, the input module 28 can include one or more touchscreens, joysticks, rollers, and / or buttons. In addition to the input module 28, the control station 26 can also use additional user controls 44 (in Figure 2as shown in, such as foot switches and microphones for voice commands, etc. The input module 28 can be configured to advance, retract, or rotate various components and percutaneous intervention devices, such as, for example, guidewires and one or more catheters or microcatheters. The buttons can include, for example, 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 components in response to the manipulation of the input module 28. When in position control mode, the multiplier button changes the mapping between the input distance and the output command distance. The device selection button allows the user or operator 11 to select which percutaneous intervention device loaded into the robotic driver 24 is controlled by the input module 28. The automatic movement button is used to enable algorithmic movement that the catheter-based surgical system 10 can perform on the percutaneous intervention device without a direct command from the user or operator 11. In one embodiment, the input module 28 can 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), and when activated, the controls or icons cause the operation of the components of the catheter-based surgical system 10. The input module 28 can also include balloon or stent controls that are configured to inflate or deflate the balloon and / or deploy the stent. Each input module 28 can include one or more buttons, rollers, joysticks, touch screens, etc., which can be used to control one or more specific components dedicated to that control. Additionally, one or more touch screens can display one or more icons (not shown) related to the various parts of the input module 28 or to the components of the catheter-based surgical system 10.

[0159] The control station 26 can include a display 30. In other embodiments, the control station 26 can include two or more displays 30. The display 30 can be configured to display information or patient-specific data to the user or operator 11 located at the control station 26. For example, the display 30 can 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.). Additionally, the display 30 can be configured to display surgical-specific information (e.g., surgical checklists, recommendations, surgical duration, catheter or guidewire position, volume of drug or contrast agent delivered, etc.). Additionally, the display 30 can be configured to display information to provide the functionality associated with the control computing system 34 (shown in Figure 2 ). The display 30 can include touch screen capabilities to provide certain user input capabilities for 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 (e.g., non-digital X-ray, digital X-ray, CT, MRI, ultrasound, etc.) that can be used in conjunction with catheter-based medical procedures. In an exemplary embodiment, the imaging system 14 is a digital X-ray imaging device that communicates with the control station 26. In one embodiment, the imaging system 14 can include a C-arm (shown in Figure 1 which allows the imaging system 14 to rotate partially or fully 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 fluoroscopy system that includes a C-arm and has 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 an appropriate region of the patient 12 during the procedure. For example, the imaging system 14 can be configured to acquire one or more X-ray images of the head to diagnose neurovascular conditions. 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 the user or operator 11 of the control station 26 in properly positioning a guide wire, guiding catheter, microcatheter, stent retriever, coil, stent, balloon, etc. during the procedure. One or more images can be displayed on the display 30. For example, the images can be displayed on the display 30 to allow the user or operator 11 to accurately move the guiding catheter or guide wire to the appropriate position.

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

[0163] Figure 2 is a block diagram of the catheter-based surgical system 10 according to an exemplary embodiment. The catheter-surgical system 10 can include a control computing system 34. The control computing system 34 can, for example, physically be the control station 26 (in Figure 1a portion shown in). The control computing system 34 can generally be an electronic control unit adapted to provide 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 have the functions described herein, and the like. The control computing system 34 communicates with the bedside unit 20, the communication system and services 36 (e.g., the Internet, a firewall, cloud services, a session manager, a hospital network, etc.), the local control station 38, the additional communication system 40 (e.g., a telepresence system), the remote control station and computing system 42, and the patient sensor 56 (e.g., an electrocardiogram (ECG) device, an electroencephalogram (EEG) device, a blood pressure monitor, a temperature monitor, a heart rate monitor, a respiration monitor, etc.). The control computing system also communicates with the imaging system 14, the hospital bed 18, the additional medical system 50, the contrast injection system 52, and the accessory devices 54 (e.g., IVUS, OCT, FFR, etc.). The bedside unit 20 includes the robot driver 24, the positioning system 22, and can include additional controls and a display 46. As described above, the additional controls and the display can be located on the housing of the robot driver 24. The intervention device and accessories 48 (e.g., wires, catheters, etc.) interface with the bedside system 20. In an embodiment, the intervention device and accessories 48 can include dedicated devices (e.g., an IVUS catheter, an OCT catheter, an FFR wire, a diagnostic catheter for contrast agent, etc.), which interface with their corresponding accessory devices 54, i.e., the IVUS system, the OCT system, the FFR system, etc.

[0164] In various embodiments, the control computing system 34 is configured to generate control signals based on the interaction of the user with the input module 28 (e.g., the control station 26 shown in Figure 1 ), such as the local control station 38 or the remote control station 42) and / or based on information available to the control computing system 34 so that a medical procedure can be performed by 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 can include components similar to those of the local control station 38. The remote 42 and local 38 control stations can be customized based on their required functions being different. The additional user controls 44 can include, for example, one or more foot input controls. The foot input controls can be configured to allow the user to select functions of the imaging system 14, such as turning on and off the X-ray and scrolling through different stored images. In another embodiment, the foot input device can be configured to allow the user to select which device is mapped to the roller included in the input module 28. The additional communication system 40 (e.g., audio conferencing, video conferencing, telepresence, etc.) can be used to assist the operator in interacting with the patient, medical staff (e.g., angiography personnel), and / or equipment near the bedside.

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

[0166] As described, the control computing system 34 communicates with the bedside unit 20 that includes the robotic driver 24, the positioning system 22, and may include additional controls and a display 46, and can provide control signals to the bedside unit 20 to control the operation of motors and drive mechanisms used to drive percutaneous intervention devices (e.g., guidewires, catheters, etc.). Various drive mechanisms can be provided as part of the robotic driver 24. Figure 3 is a perspective view of a robotic driver for a catheter-based surgical system 10 according to an embodiment. In Figure 3 , the robotic driver 24 includes a plurality of device modules 32a-d coupled to a linear member 60. Each device module 32a-d is coupled to the linear member 60 via a stage 62a-d movably mounted to the linear member 60. The device modules 32a-d can be connected to the stages 62a-d by using connectors such as offset brackets 78a-d. In another embodiment, the device modules 32a-d are directly mounted to the stages 62a-d. Each stage 62a-d can be independently actuated to linearly move along the linear member 60. Thus, each stage 62a-d (and the corresponding device module 32a-d coupled to the stage 62a-d) can move independently relative to each other and relative to the linear member 60. Drive mechanisms are used to actuate each stage 62a-d. In Figure 3 the embodiment shown, the drive mechanisms include independent stage translation motors 64a-d coupled to each stage 62a-d and a stage drive mechanism 76, e.g., a lead screw via a rotary nut, a rack via a pinion, a belt via a pinion or pulley, a chain via a sprocket, or the stage translation motor 64a-d itself can be a linear motor. In some embodiments, the stage drive mechanism 76 can be a combination of these mechanisms, e.g., each stage 62a-d can use a different type of stage drive mechanism. In an embodiment where the stage drive mechanism is a lead screw and a rotary nut, the lead screw can rotate and each stage 62a-d can engage and disengage from the lead screw to move, e.g., advance or retract. In Figure 3 the embodiment shown, the stages 62a-d and the device modules 32a-d are in a series drive 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. In the embodiment shown in Figure 3 , each cartridge 66a-d is mounted to the drive module 68a-d in a vertical orientation. In other embodiments, each cartridge 66a-d may be mounted to the drive module 68a-d in other mounting orientations. Each cartridge 66a-d is configured to interface with and support a proximal portion of an EMD (not shown). Additionally, each cartridge 66a-d may include elements that provide one or more degrees of freedom in addition to the linear movement along the linear member 60 provided by actuation of the corresponding stage 62a-d. For example, the cartridge 66a-d may include elements that can be used to rotate the EMD when the cartridge is coupled to the drive module 68a-d. Each drive module 68a-d includes at least one coupler to provide a drive interface to the mechanism in each cartridge 66a-d to provide additional degrees of freedom. Each cartridge 66a-d also includes a channel within which a device support 79a-d is located, and each device support 79a-d is used to prevent buckling of the EMD. Support arms 77a, 77b, and 77c are respectively attached to each device module 32a, 32b, and 32c to provide fixed support points for the proximal ends of device supports 79b, 79c, and 79d, respectively. The robotic driver 24 may also include a device support connection 72 that is connected to the device support 79, the distal support arm 70, and the support arm 77o. The support arm 77o is used to provide a fixed support point for the proximal end of the most distal device support 79a housed in the most distal device module 32a. Additionally, an introducer interface support (redirector) 74 may be connected to the device support connection 72 and the EMD (e.g., an introducer sheath). The construction of the robotic driver 24 has the advantage of reducing the volume and weight of driving the robotic driver 24 by using actuators on a single linear member.

[0168] To prevent pathogen contamination of the patient, healthcare providers use aseptic techniques in the room housing the bedside unit 20 and the patient 12 or subject (shown in Figure 1 ). The room housing the bedside unit 20 and the patient 12 may be, for example, a catheterization laboratory or an angiography room. Aseptic techniques include the use of aseptic barriers, aseptic equipment, appropriate patient preparation, environmental control, and contact guidelines. Accordingly, all EMDs and interventional accessories are disinfected and can only contact aseptic barriers or aseptic equipment. In an embodiment, a sterile drape (not shown) is placed over the non-sterile robotic driver 24. Each cartridge 66a-d is disinfected and serves as a sterile interface between the covered robotic driver 24 and at least one EMD. Each cartridge 66a-d can be designed to be disinfected for single use, or disinfected in whole or in part for repeated use so that the cartridge 66a-d or its components can be used in multiple procedures.

[0169] Distal and Proximal: The terms distal and proximal define the relative positions of two different features. With respect to a robotic driver, the terms distal and proximal are defined by the position of the robotic driver relative to the patient in its intended use. When used to define a relative position, a distal feature is a feature of the robotic driver that is closer to the patient than a proximal feature when the robotic driver is in its intended use position. In a patient's body, any vascular marker that is further along a path away from the entry point is considered to be more distal than a marker that is 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 of the robotic driver that is further from the patient than a distal feature when the robotic driver is in its intended use position. When used to define a direction, the distal direction refers to the path along which something is moving or is intended to move, or the path along which something points or is oriented from a proximal feature towards a distal feature and / or the patient when the robotic driver is in its intended use position. The proximal direction is the direction opposite to the distal direction. For example, referring to Figure 1 , a robotic device is shown from the perspective of an operator facing the patient. In this setup, the distal direction is along the positive X coordinate axis and the proximal direction is along the negative X coordinate axis. Referring to Figure 3 , the EMD moves in the distal direction along a path towards the patient through an introducer interface support 74 that defines the distal end of the robotic driver 24. The proximal end of the robotic driver 24 is the point that is furthest from the distal end along the negative X axis. Referring to Figure 3, the most distal drive module is the drive module 32a that is closest to the distal end of the robotic driver 24. The most proximal drive module is the drive module 32d that is positioned furthest from the distal end of the robotic driver 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 driver. For example, drive module 32b is distal to drive module 32c. Referring to Figure 3 , the portions of the cassette 66a and the drive module 68a are defined by their positions relative to the distal end of the robotic driver. For example, when the cassette is in its use position on the drive module 68a, along the negative X axis, the distal end of the cassette 66a is the portion of the cassette that is closest to the distal end of the robotic driver, and the proximal end of the cassette 66a is the portion of the cassette that is furthest from the distal end of the robotic driver. In other words, the distal end of the cassette 66a is the portion of the cassette through which the EMD is closest to the path leading to the patient in the use position.

[0170] Longitudinal Axis: The longitudinal axis of a member (e.g., the 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 the 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 the direction from the proximal portion of the guidewire to the distal portion of the guidewire, although the guidewire may be non-linear in relevant portions.

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

[0172] Rotational movement: The term rotational movement of a component refers to the change in the angular orientation of the component about the local longitudinal axis of the component. The rotational movement of the EMD corresponds to the 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 component into a second component along the longitudinal axis of the second component. The EMD axially loaded in the collet is axially inserted into the collet. An example of axial insertion can be referred to as back loading a catheter onto the proximal end of a guide wire. The term lateral insertion refers to inserting a first component into a second component along a direction in a plane perpendicular to the longitudinal axis of the second component. This can also be referred to as radial loading or lateral loading. In other words, lateral insertion refers to inserting a first component into a second component along a direction parallel to the radius of the second component and perpendicular to the longitudinal axis of the second component.

[0174] Pinch / Unpinch: The term pinch refers to releasably fixing the EMD to a component such that when the component moves, the EMD moves with the component. The term unpinch refers to releasing the EMD from the component such that when the component moves, the EMD and the component move independently.

[0175] Clamp / Unclamp: The term clamp refers to releasably fixing the EMD to a component such that the movement of the EMD is constrained relative to the component. The component can be fixed relative to a global coordinate system or relative to a local coordinate system. The term unclamp refers to releasing the EMD from the component such that the EMD can move independently.

[0176] Grip / Ungrip: The term grip refers to applying a force or torque to the EMD by a drive mechanism that causes the EMD to move without slipping in at least one degree of freedom. The term ungrip refers to releasing the force or torque applied to the EMD by the drive mechanism such that the position of the EMD is no longer constrained. In one example, when two tires move longitudinally relative to each other, the EMD gripped between the two tires rotates about its longitudinal axis. The rotational movement of the EMD is different from the movement 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 encountered while navigating through the vascular system. The distance that the EDM can be driven unsupported along its longitudinal axis before buckling is referred to herein as the device buckling distance. The device buckling distance is a function of the rigidity of the device, its geometric configuration (including but not limited to diameter), and the forces applied to the EDM. Buckling can cause the EDM to form an arcuate portion that is different from the intended path. Kinking is a type of buckling situation in which the deformation of the EDM is inelastic, resulting in a permanent deformation.

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

[0179] Up / down, front / back, inwards / outwards: The terms "top", "upper" and "upper part" refer to the general direction away from the direction of gravity, and the terms "bottom", "lower" and "lower part" 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 is opposite to the positioning system (such as an articulated arm). The term "back" refers to the side of the robotic actuator that is closest to the positioning system (such as an articulated arm). The term "inwards" refers to the inner part of a feature. The term "outwards" refers to the outer part of a feature.

[0180] Stage: The term "stage" refers to a component, feature or device that is used to couple a device module to a robotic actuator. For example, a stage can be used to couple a device module to a track or linear member of a robotic actuator.

[0181] Drive module: The term "drive module" generally refers to a part (e.g., a main part) of a robotic actuator system that typically includes one or more motors with drive couplings that connect to a cartridge interface.

[0182] Device module: The term "device module" refers to the combination of a drive module and a cartridge.

[0183] Cartridge: The term "cartridge" generally refers to the part (non-primary, consumable or disposable unit) of a robotic actuator system that is typically the sterile interface between the drive module and at least one EDM (directly) or via a device adapter (indirectly).

[0184] Collet: The term collet refers to a device that can releasably secure a portion of an EMD. Here, the term "secure" means that there is no intentional relative movement between the collet and the EMD during operation. In one embodiment, the collet includes at least two members that rotate relative to each other to releasably secure the EMD to at least one of the two members. In one embodiment, the collet includes at least two members that move axially (along the longitudinal axis) relative to each other to releasably secure the EMD to at least one of the two members. In one embodiment, the collet includes at least two members that rotate and move axially relative to each other to releasably secure the EMD to at least one of the two members.

[0185] Secure: The term "secure" means that there is no intentional relative movement of a first member with respect to a second member 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 an EMD capture device. In one non-limiting embodiment, the on-device adapter is a collet that is operatively controlled by a robot to rotate the EMD about its longitudinal axis, clamp and / or release the EMD to / from 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 includes two or more EMD drive modules and is capable of manipulating one or more EMDs.

[0188] EMD: The term elongate medical device (EMD) refers to, but is not limited to: catheters (e.g., guiding catheters, microcatheters, balloon / stent catheters), wire-based devices (e.g., guidewires, embolization coils, stent retrievers, etc.), and medical devices including any combination thereof. In one example, wire-based EMDs include, but are not limited to, guidewires, microfilaments, proximal pusher for embolization coils, stent retrievers, self-expanding stents, and flow diverters. Generally, 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, where the shaft is more flexible than the hub. In one embodiment, the catheter includes an intermediate portion that transitions between the hub and the shaft and has an intermediate flexibility with a stiffness less 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 holding and manipulating the EMD from a proximal location (e.g., a gear adapter on the catheter hub). In one embodiment, the hub drive refers to applying a force or torque to the hub of the catheter to cause the catheter to translate and / or rotate. The hub drive can cause the EMD to buckle and thus the hub drive typically requires anti-buckling features. For a device that does 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] Shaft (distal) drive: The term shaft (distal) drive refers to holding and manipulating the EMD along its shaft. In one example, the on-device adapter is typically located proximally to the hub or Y-connector into which the device is inserted. If the location of the on-device adapter is near the insertion point (to the body or another catheter or valve), the shaft drive typically does not require anti-buckling features (which can include anti-buckling features to improve the driving ability).

[0191] Sterilizable unit: The term sterilizable unit refers to a device that can be sterilized (free of pathogenic microorganisms). This includes but is not limited to cartridges, disposable units, drapes, device adapters, and sterilizable drive modules / units (which can include electromechanical components). The sterilizable unit can come into contact with the patient, other sterile devices, or any item 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 cartridge can be a sterile interface between a robotic driver 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 continuous rotation 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 clamp fixes the position of the EMD during the repositioning of the drive mechanism.

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

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

[0196] Disposable: The term disposable refers to a sterilizable unit that is typically used once in a medical procedure. The unit can be a reusable disposable that can be used for another medical procedure through a re-sterilization process.

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

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

[0199] Reference Figure 3 and Figure 4A and, the EMD drive system includes a device upper adapter 112, which, in one embodiment, includes a collet removably fixed to the EMD 102. The collet 112 is a device that releasably fixes the shaft portion of the EMD 102. As described in more detail herein, the collet 112 clamps the shaft of the EMD 102 such that rotation and / or translation of the entire collet 112 about or along its longitudinal axis results in 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 part having a body that defines an internal path through which a portion of the shaft of the EMD 102 can be fixed. As described herein, the shaft of the EMD 102 is positioned within 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 can 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 side of the collet body, which is the side of the collet body that extends from the proximal end to the distal end of the collet body. Radial loading, side loading, or lateral loading is different from axial loading, in which the shaft portion is loaded into the internal path by first inserting the free end of the shaft into the proximal or distal opening of the internal path of the collet.

[0200] In one embodiment, the collet 112 includes at least two members that move relative to each other to releasably fix the shaft portion of the EMD to at least one of the two members. In one embodiment, the two members cooperate to provide the following mechanical advantage: increasing the torque and / or force that can be transmitted from the collet body to the shaft of the EMD without the shaft of the EMD moving relative to the collet body. The clamping force of the collet on the EMD can be greater than the force required to actuated the clamping. When the shaft of the EMD is clamped, it is fixed such that there is relative movement between the collet and the EMD during acceptable operating parameters of the EMD procedure.

[0201] The EMD 102 is secured to the 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 from 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 may 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 may 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 the collet 112 in the radial direction, and the collet 112 is removably received and positioned in the cartridge 66. As described herein, the collet 112 may have a slot extending from the outer periphery of the collet body to its internal path. A portion of the EMD 102, such as the shaft portion, may be inserted into the path through the slot in the radial direction. 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. 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 the axial direction, and the collet 112 is removably received in the cartridge 66. In this embodiment, one of the distal end or the proximal end of the EMD 102 is inserted into the distal or proximal opening of the collet 112 and moves along the longitudinal axis of the collet 112 until the distal end or the proximal end of the EMD exits the other of the distal end or the proximal end of the collet.

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

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

[0210] In one embodiment, the robotic system includes a clamp that releasably clamps the shaft portion of the EMD independently of the collet. In one embodiment, the clamp includes at least one tire.

[0211] As discussed in more detail herein, in one embodiment, the movable collet 112 rotates the collet and the EMD. In one embodiment, the EMD 102 rotates selectively in a clockwise and counterclockwise direction about the longitudinal axis of the EMD 102.

[0212] As discussed in more detail herein, in one embodiment, the movable collet 112 selectively clamps and releases the EMD within the collet. In one embodiment, as discussed in more detail herein, the movable collet 112 includes moving only one or more portions of the movable collet 112 rather than the entire collet to clamp and release the EMD.

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

[0214] As discussed in more detail herein, in one embodiment, the movable collet 112 includes rotating the collet and the EMD, translating the collet and the EMD, and selectively clamping and releasing the EMD within the collet.

[0215] Reference 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 with four device modules 32 is shown. In one embodiment, the modules are the same, and in one embodiment each device module is different or some modules are the same 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 that terminates in a distal connector 80. For example, reference Figure 4H, the device module 32c has an EMD device support 79c, which has a proximal end 79c.1 and an opposite 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 distal to the device module 32c. The distal end 77b.2 of the EMD drive support device 77b is fixed to the proximal end of the device module 32b, so that the distal end 77b.2 cannot move distally beyond 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 flexible tubes having longitudinal slits, allowing the EMD to be inserted into and removed from the respective 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 No. US2016 / 0271368, entitled Guide Catheter Control Flexible Track, owned by the same applicant as this application. The arm 77b moves linearly with the drive module 32b, and thus in one mode the proximal end 77c.1 and the distal end 77c.2 move relative to the drive module 32c with the drive module 32b. The EMD device support 79c is removably applied to the EMD 102, which is being manipulated by the device module 32c in a non-axial direction. The EMD 102 being manipulated by the device module 32c enters and exits the support 79c via a longitudinal slit extending from the outer periphery of the EMD device support to the lumen of the EMD support. In one embodiment, the EMD device support is a telescoping member, as further discussed herein, where the EMD can be axially 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 compared to translation without an EMD support. Without an EMD device support, the distance by which a device can be translated will be less than the buckling length of the device. Therefore, each time the EMD moves a buckling length, the system will need to reset the actuator. The EMD support allows for non-resetting during the use of certain devices in combination with each other and / or during a surgical procedure. In other words, the EMD device support allows for non-resetting of the collet when using certain devices. In one embodiment, the EMD support allows for fewer resets of the collet compared to the resets that would be necessary without an EMD support. Reference Figure 4G , the device support 79 is guided through the cartridge 66c via the channel 138 and through the proximal support member 82 via the channel 84, which extends from the proximal support member 82.

[0216] The EMD 102 can be mounted with an adapter and / or clamped by the collet 112 on the device by manually manipulating the collet 112, and then the collet and the 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 robotic EMD drive systems are described herein. Additionally, several collet designs are also described herein. The specific collet designs described herein and collet designs known in the art can be used in the various EMD drive systems described. The collets as described herein may also be referred to in the art as pin vises, chucks, bushings, or wire guiding torque devices.

[0218] Reference Figure 1 、 Figure 4A and Figure 4D Referring to

[0219] and

[0220] Reference Figure 4A and Figure 4B In one embodiment, the device module 32 includes a drive module 68, which includes a drive module base member 116 and a load sensing member 118 as discussed in more detail herein. The EMD 102 is removably coupled to an isolation member 106. The isolation member 106 isolates 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 fixed to the drive module base member 116 and the load sensing member 118 senses the actual load acting on the EMD 102.

[0221] Reference Figure 5C-5E, in 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, which are connected by a load sensor 120 located between the drive module base member 116 and the load sensing member 118. The bearing 128 of the load sensing member 118 supports the load sensing member in at least one off-axis (not measured) direction.

[0222] Reference Fig. 8A and Figure 8B , in one embodiment, the on-device adapter 112 of the EMD device is connected to the catheter 140. The on-device adapter 112 includes a driven bevel gear 136 integrally connected thereto, and the driven bevel gear 136 can be removably connected to a Y-shaped connector, which is shown as having a hub 142 that can be removably connected to a hemostatic valve on the proximal end. One embodiment of the on-device adapter 112 of the EMD device includes a catheter 140 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 of a mechanism that includes features or parts for manipulating the catheter. In one embodiment, the EMD includes a handle having 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 part of the EMD at the proximal end that does not include a mechanism for manipulating features within the catheter.

[0223] Reference 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 cartridge housing 104 and separated from the cartridge housing in at least one direction. The isolation member 106 includes a first member 106a and a second member 106b attached thereto. Reference Figures 4A-4C , when the cartridge 66 is in the use position fixed to the drive module 68, the first member 106a is placed within a recess 143 of the cartridge housing 104 in a first direction defined to be the direction towards the drive module 68. The second member 106b is placed within the recess 143 in a direction away from the load sensing member 118 towards the first member 106a. In other words, reference Figure 4C , the first member 106a is placed within the recess 143 from above the cartridge housing 104 in the -z axis direction, and the second member 106b is placed within the recess 143 from below the cartridge housing 104 in the +z axis direction.

[0224] Reference Figure 4C and Figure 4F, the first component 106a and the second component 106b are fixed to each other. The cartridge housing 104 includes two longitudinally oriented and spaced parallel rails 107 located within the recess 143. The rails 107 are also referred to herein as linear guides. The rails 107 are substantially parallel to each other and spaced apart from each other. The first component 106a is located on the top surface of the rails 107 closest to the top surface of the cartridge housing 104, and the second component 106b is located on the bottom surface of the rails 107 closest to the load sensing component 118. Note that although the assembly directions of the first component 106a and the second component 106b of the isolation component 106 are described with respect to their positions in use, the first and second components of the isolation component 106 can be mounted away from the drive module 68. In other words, the first component 106a of the isolation component 106 is inserted into the recess 143 in a direction from the top surface of the cartridge 66 towards the bottom surface of the cartridge 66 in a direction generally perpendicular to the longitudinal axis of the cartridge housing 104.

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

[0226] Reference Figure 4F , in the position in use where the second component 106b of the isolation component 106 is releasably fixed to the load sensing component 118, the first component 106a and the second component 106b are spaced apart from the rails 107 of the cartridge housing 104 such that the first component 106a and the second component 106b are in a non-contact relationship with the cartridge 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 from and non-contact with the cartridge housing 104. In one embodiment, the isolation component 106 is separated from the cartridge housing 104 in all directions. In one embodiment, the isolation component 106 is separated from the cartridge housing 104 and is in a non-contact relationship.

[0228] Reference Figure 4B and Figure 4C, in one embodiment, the cartridge 66 includes a cartridge lid 105 that is pivotally coupled by a hinge 103 to a spacer member 106 that is separate and non - contacting from the cartridge housing 104. In one embodiment, the cartridge lid 105 is pivotally coupled by the hinge 103 to a first member 106a of the spacer member 106. In one embodiment, the cartridge lid 105 is connected to the first member 106a of the spacer member 106 by other means such as snap - fit.

[0229] Reference Figure 1 and Figure 4C , in one embodiment, the drive module 68 causes the EMD 102 to move in a first direction, and the spacer member 106 separates from the cartridge housing 104 in the first direction. In one embodiment, the drive module 68 causes the EMD 102 to move in a second direction, and the spacer member 106 separates from the cartridge housing 104 in the first and second directions.

[0230] Reference Figure 4D , in one embodiment, the second member 106b of the spacer member 106 is releasably fixed to the load sensing member 118 using a fastener. In one embodiment, the fastener includes a quick - release mechanism that can releasably fix the second member 106b of the spacer member 106 to the load sensing member 118. In one embodiment, the fastener is a magnet.

[0231] Reference Figures 5A-5E , the sensing member 118 is located within the drive module base member 116 and is fixed to the drive module base member 116 having a load sensor 120. In one embodiment, the load sensor 120 includes a first portion fixed to the drive module base member 116 using a first fastener 115 and a second portion fixed to the load sensing member 118 using a second fastener 119. In one embodiment, the first portion of the load sensor 120 is different from and distinct from the second portion of the load sensor 120. In one embodiment, the first fastener 115 and the second fastener 119 are bolts. In one embodiment, the first fastener 115 and the second fastener 119 are mechanical fastening components known in the art for ensuring a mechanical connection. In one embodiment, the first fastener 115 and the second fastener 119 are replaced with adhesive means to ensure a mechanical connection. In one embodiment, the first fastener 115 and the second fastener 119 are magnets.

[0232] Reference Figure 5A , in one embodiment, the drive module base member 116 includes a recess for receiving 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] Reference Figure 4B and Figure 4D ,In one embodiment, the cartridge housing 104 is releasably connected to the drive 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 117a fixed to the drive module base member 116. In one embodiment, an alignment pin 117b fixed to the drive module base member 116 aligns the cartridge housing 104 relative to the drive module base member 116.

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

[0235] The cartridge housing 104 includes a carriage 132 that is configured to receive the on-device adapter 112 of the EMD device having the EMD 102. A cartridge bevel gear 134 in the cartridge housing 104 is free to rotate relative to the cartridge housing 104 about an axis aligned with the coupler axis 131, wherein the coupler 130 of the drive module 68 rotates about the coupler axis 131. 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 freely engages and disengages along the coupler axis 131 and is integrally connected (not freely) about the coupler axis 131, such that the rotation of the coupler 130 equivalently corresponds to the rotation of the cartridge bevel gear 134. In other words, if the coupler 130 rotates clockwise at a given speed, the cartridge bevel gear 134 rotates clockwise at the same given speed, and if the coupler 130 rotates counterclockwise at a given speed, the cartridge bevel gear 134 rotates counterclockwise at the same given speed.

[0236] Reference Figure 1 、 Figure 3 and FIG. 4, the EMD drive system includes an on-device adapter 112 removably fixed to the shaft of the EMD 102. The on-device adapter 112 is received in a cartridge 66 removably fixed 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 on-device adapter 112 moves translationally. Refer to Figure 3 , the drive module 68 moves along the X-axis such 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. Refer to Figure 20A , the drive module includes a reset function that causes the on-device adapter and the EMD to move translationally. The translational movement causes the above-mentioned components to move in the distal and proximal directions along the longitudinal axes of the cartridge and the on-device adapter.

[0238] In one embodiment, the on-device adapter rotates about its longitudinal axis.

[0239] In one embodiment, the on-device adapter 112 includes a collet. The collet can include various collet designs, including but not limited to the collets discussed herein. See 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 the 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 be other geometric shapes, such as a frustum of a cone, having a first cross-section closer to the first part of the engagement portion 136 that is smaller than a second cross-section of the second part 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 fastened to the body 404 to open and close the chuck 405 to clamp and release the EMD 102. In one embodiment, the nut 402 is threadedly engaged with the body 404.

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

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

[0243] In one embodiment, the on-device 112 adapter 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 to define a surface 408 supported by a bearing member 133 within the cartridge 66.

[0244] In one embodiment, the on-device adapter 112 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 on-device 112 adapter to be flushed with a cleaning fluid. The luer connector has a passage therethrough that is connected to a passage within the on-device adapter 112. In one embodiment, the passage in the luer connector 416 is coaxial and in fluid communication with a channel in the on-device adapter. In one embodiment, the passage in the on-device adapter 112 is a passage 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 luerlock.

[0245] Reference Figure 6C and Figure 6D Referring to and, the on-device adapter 112 includes a retainer 418 having a mating surface or gear 136 formed thereon or attached thereto. The retainer 418 has a plurality of slits 420 in its distal portion that extend to the distal end of the retainer 418 to form a plurality of fingers 422. The retainer 418 has a channel that receives the proximal portion of a collet 424. In one embodiment, the collet 424 is an off-the-shelf torque device sold by Merit under the trademark Pin Vise. The collet 424 has a portion 426 proximal to the body that has an outer diameter greater than the inner diameter at the distal end of the channel in the retainer 418. The proximal end of the body 426 is located within the channel of the retainer 418 such that the fingers 422 move outwardly to trap the collet 424 within the retainer 418 such that translation and / or rotation of the retainer 418 causes translation and / or rotation of the collet 424. By clamping the shaft of the EMD within a split member portion 428, a second member 430 rotates about a threaded portion 432 of the collet body portion 426. As the inner cone portion of the second member 430 moves toward the body portion 426 such that the split member portions 428 move toward and engage each other, the slit member portions 428 move toward each other to clamp the EMD 102.

[0246] Reference Figure 7A and Figure 7B , on the device, adapter 112 is a component of quick clip 450 that includes engagement collet 424 as discussed above. However, it is contemplated that quick clip 450 engages other collet designs. In one embodiment, quick clip 450 quickly connects and / or releases collet 424. Reference Figure 7E and Figure 7F , the joystick 452 moves from a first disengaged position to a second clamping position to clamp the collet thereto. In one embodiment, no additional tool is required to releasably engage the quick clip to the collet. Reference Figure 7A and Figure 7B , quick clip 450 includes clip body 454 that defines a passage therethrough that receives collet 424, such as the torquer described above. In one embodiment, torquer 424 includes a proximal end 427 that is inserted into the distal opening 429 of passage 431. A second portion 430 of the torquer that rotates relative to body 426 is used to clamp and unclamp the EMD within the passage defined by the body and the second portion. Reference Figure 7E and Figure 7F , the joystick 452 pivotally attached to clip body 454 moves from a first open position to a second closed position, where the clip body moves from a disengaged position to a clamping position. Joystick 452 includes a cam portion 457 that interacts with portion 459 on cam body 454. In the first open position, there is a gap 461 between the outer surface of clip body 454 and the surface of the clip passage. Gap 461 allows quick clip 450 to secure most different commercially available collets having various outer body diameters. As the joystick pivots from the open position to the closed position, gap 461 is eliminated, thereby clamping the collet body to the quick clip such that translation and / or rotation of the quick clip results in corresponding translation and / or rotation of the collet and the EMD clamped within the collet. As cam portion 457 interacts with surface 459 to push body 454 to eliminate gap 461, gap 461 is eliminated. Reference Figure 7B , screw 455 connected to pin 453 allows gap 461 to vary (in Figure 7E ) before joystick 452 is engaged. This allows even more adjustment in the quick clip to engage collets having various outer diameters (the joystick handle can also be adjusted for fine-tuning displacement for clamping force, with large displacement of the screw handle adjusted based on dimensional changes).

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

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

[0249] Reference Figure 4F , the drive module includes an actuator operatively coupled to a drive coupler. I.e., operatively coupled to a drive member within the cartridge. The drive module is operatively coupled to a 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 guide wire. 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 that transitions between the hub and the shaft and has an intermediate flexibility with a stiffness less than the hub and greater than the shaft.

[0251] Reference Figure 8A and Figure 8B, on the device, adapter 510 holds EMD 512, which is a catheter in one embodiment. Catheter 512 includes hub 514 and shaft 516. Device adapter 510 includes body 518 having cavity 520 that extends proximally from body 518 for receiving hub 514 therein. Catheter hub 514, at or near the proximal end of catheter 512 and shaft 516, extends from an area proximate to hub 514 to an area proximate to the distal end of catheter 512. In one embodiment, hub 514 is received within cavity 520 by press fit or other engagement means to prevent independent translational and / or rotational movement of catheter 516 away from device adapter 510. Device adapter 510 includes engagement feature 522 for engaging drive member 134 in cartridge 66. In an embodiment, engagement feature 522 is a gear. Gear 522 is similar to gear 136 discussed herein. Device adapter 510 and catheter 512 translate together with cartridge 66 and / or drive module 68. By operatively rotating gear 134 with an actuator and thus rotating gear 522 and device adapter 510 and catheter 512, device adapter 510 and catheter 512 rotate about the longitudinal axis of device adapter 510 and catheter 512.

[0252] Catheter hub 514 includes hub body 524 and, in one embodiment, a pair of wings 526 that extend radially outwardly from hub body 524. Refer Figure 8A and Figure 8B , wings 562 are received within cavity 520 of device adapter 510. In one embodiment, catheter 512 includes connector 528 at its proximal end. In one embodiment, catheter 510 includes strain relief section 532 intermediate hub 514 and shaft 516 that provides a transition between hub 514 and shaft 516. In one embodiment, 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 shaft 516.

[0253] In one embodiment, hub 514 includes a first port to provide access to lumen 534 of catheter shaft 516 either directly or through hub shaft lumen 534. In one embodiment, hub 514 includes additional ports that are 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 that is in fluid communication with the hub lumen 536. The connector 528 includes a lumen that is in fluid communication with the hub lumen 536 and / or the shaft lumen 534. Another EMD, such as a guide wire, 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 pass therethrough and be directed 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] To describe how the catheter 512 interacts with other distal catheters, the catheter 512 and its features will be referred to as the first catheter and first features, and the distal catheter and its features will be referred to as the second catheter or second features. The first shaft 516 has a given outer diameter to allow the first shaft 516 to enter a second lumen of a second catheter (not shown) and into a patient's vasculature for diagnostic or therapeutic purposes. The outer diameter of the first shaft 516 is less than the inner diameter of the second lumen of the second catheter and is thus capable of being inserted therein. Note that a guiding catheter typically enters an introducer sheath rather than another catheter. Thus, the hub of the guiding catheter has a geometry such that it cannot enter the introducer sheath and the patient's vasculature.

[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 perimeter at a cross-section taken perpendicular to the longitudinal axis of the hub and / or 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. Thus, the first hub 514 cannot enter the second lumen of the second catheter. Additionally, the geometry of the first hub 514 does not allow the proximal end of the catheter to enter the vasculature.

[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 a non-straight path of the vasculature and follow that path.

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

[0259] In one embodiment, the 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 a lumen that is in fluid communication with the 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 the catheter.

[0260] In one embodiment, in manual operation the operator uses the hub wings 526 to grip 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 does not have controls for manipulating features within the catheter 512, such as a wire that extends 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 that extends to the distal end of the catheter to deflect the tip.

[0262] In one embodiment, the adapter 510 on the device is configured to clamp EMDs having various outer shaft diameters. In one embodiment, a MeritMedical torque device is used as part of the adapter on the device 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 MeritMedical have overlapping ranges.

[0263] In one embodiment, one or more adapters on the device are 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, a first adapter on the device is used for a first EMD having a first outer diameter, and a second adapter on the 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, a first adapter on the device is used to clamp an angiography guide wire having an outer diameter of 0.035” or 0.038”, and a second adapter on the device is used to clamp a micro wire having an outer diameter of approximately 0.014”. The angiography guide wire used to position the guiding catheter is also known as a diagnostic guide wire. And the micro wire can be referred to as a micro guide wire or simply as a guide wire. For clarity, the term “approx” used herein is an abbreviation of the word “approximately”.

[0265] In one embodiment, the on-device adapter need not be designed to be disassembled. In one embodiment, the on-device adapter can be designed to accept a single torquer. Note that the terms torquer and torque device are used interchangeably herein and are subsets of the collets used herein. In one embodiment, when the on-device adapter is advancing and retracting, the on-device adapter provides sufficient clamping force on the torque device to withstand axial forces, and when the on-device adapter is rotating to rotate the EMD for a given procedure, the on-device adapter provides sufficient clamping force on the torque device to withstand torsional forces. The clamping or gripping force applied by the on-device adapter to the torquer is sufficient to resist slippage (axial or rotational) of the EMD advancing and / or rotating with the on-device adapter. In one embodiment, the on-device adapter penetrates the outer surface of the torque device body and / or deforms the surface of the torque device.

[0266] Reference Figures 12A - 12F.2 , the robotic system 910 includes a collet 964 having: a first portion 965 with a first collet coupler 958 attached thereto; and a second portion 966 with a second collet coupler 960 attached thereto. Reference Figure 12F.1 , the EMD 912 is removably located within the lumen 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, the first motor 936 and the second motor 938 being operatively coupled to both the first collet coupler 958 and the second collet coupler 960 to operatively clamp and release the EMD 914 within the lumen 996 and rotate the EMD 912. As discussed herein, the first motor 936 and the second motor 938 differentially rotate the first collet coupler 958 and the second collet coupler 960. 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 and the second motor not rotating. 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 applies a dual gear arrangement that releasably engages the EMD 912 and rotates and translates the EMD 912. In one embodiment, the dual gear arrangement includes 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 retracts or withdraws from the patient. To define directions, a rectangular coordinate system with X, Y, and Z axes is introduced. The positive Z axis is oriented along the longitudinal (axial) distal direction, i.e., along the direction from the proximal end to the distal end. The X and Y axes are in a plane transverse to the Z axis, where the positive Y axis points upward, i.e., in the direction opposite to gravity, and the X axis is in the forward (generally pointing toward the operator / doctor at the bedside) direction. The right hand rule is employed to determine the direction of the rotational direction, i.e., by pointing the thumb of the right hand in the positive X, Y, and Z axis directions and then associating the curling of the right hand fingers with the clockwise direction to determine the orientation convention. The direction opposite to the curling of the right hand fingers is associated with the counterclockwise direction. The terms clockwise and counterclockwise as used herein are relative terms that indicate a first rotational direction and a second rotational direction opposite to the first rotational direction. Thus, 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 assist in following the different rotational directions of the devices provided herein; however, the devices may be constructed such that the clockwise and counterclockwise directions are reversed.

[0268] The collet drive system 910 includes a drive module 914 that translates along the axial direction of the EMD 912 and is actuated by a drive module translation driver 916. The drive module 914 includes a drive module housing 918, a mounting bracket 920, a cartridge 922, and a cartridge cover 924. The cartridge 922 includes a dual gear collet drive housing 926 and an EMD guide 928. The top of the 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 as 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 cover 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 top of the V-shaped or U-shaped channels may 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) that is operatively coupled to the collet 964 such that the collet 964 and the EMD 912 translate 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 driver 916 includes a lead screw 930 driven by a lead screw motor 932 (not shown) inside a screw drive housing 934. The screw driver 930 is used to translate the drive module 914 relative to the fixed housing 934. In one embodiment, the lead screw motor 932 is a stepper motor. In one embodiment, the lead screw motor 932 is a servo motor. In one embodiment, the lead screw motor 932 is a rotary actuator powered by electrical, pneumatic, hydraulic, or 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 single patient use. In one embodiment, the cartridge 922 can be made of materials that can be sterilized and reused.

[0271] Reference Figure 12A and Figure 12B, the drive module housing 918 houses a first motor 936 operatively connected to and driving a first coupler 940 and a second motor 938 operatively connected to and driving a second coupler 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 coupler 940 passes through the drive module housing 918 and is integrally connected to a first coupler bevel gear 946. The second coupler 942 passes through the mounting bracket 920 and is integrally connected to a second bevel gear 948. The first motor 936, the first coupler 940, and the first coupler bevel gear 946 are located distally within the drive module housing 918. The second motor 938, the second coupler 942, and the second coupler bevel gear 948 are located distally within the drive module housing 918. In one embodiment, the first coupler 940 and the second coupler 942 pass through holes in the mounting bracket 920. In one embodiment, the first coupler 940 and the second coupler 942 pass through rotary 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] Reference Figure 12B and Figure 12C , a first driven bevel gear 950 meshes with and is driven by the first coupler bevel gear 946. The first driven bevel gear 950 is integrally connected to a first distal shaft portion 951, the first distal shaft portion 951 is integrally connected to a first wheel 954, and the first wheel 954 is integrally connected to a first proximal shaft portion 953, all of which form a first composite (or group) assembly 958. A second driven bevel gear 952 meshes with and is driven by the second coupler bevel gear 948. The second driven bevel gear 952 is integrally connected to a second proximal shaft portion 955, the second proximal shaft portion 955 is integrally connected to the second wheel 954, and the second wheel 954 is integrally connected to a second distal shaft portion 957, all of which form a second composite (or group) assembly 960.

[0275] In one embodiment, the top surface 947 of the first coupling bevel gear 946 includes an open central hole along its central axis to receive and drive the first coupling 940. In other words, the gear 946 has a hole along its longitudinal axis. In one embodiment, the top surface 947 of the first coupling bevel 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 coupling bevel gear 948 includes an open central hole along its central axis to receive and drive the second coupling 942. In one embodiment, the top surface 949 of the second coupling bevel 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 fixed to the base 914. The collet 964 is positioned within the cartridge 922. The first collet coupling 958 and the second collet coupling 960 are coupled to the first motor 936 and the second motor 938 respectively via the first drive coupling 940 and the second drive coupling 942 located within the base 914. In one embodiment, the first drive coupling 940 includes a shaft operatively connected to the motor 936 and extending from the base in a sealed manner, and operatively connected to a gear 946 that operatively engages the first collet coupling 958. Similarly, the second drive coupling 942 includes a shaft operatively connected to the motor 938 and extending from the base in a sealed manner, and operatively connected to a gear 948 that operatively engages the second collet coupling 960.

[0277] The first composite assembly 958 includes radial longitudinal slits 962 that extend from the outer surface of the assembly and terminate at its radial center. The second composite assembly 960 includes radial longitudinal slits 963 that extend from the outer surface of the assembly and terminate at its radial center. The slits 962 and 963 allow for side or radial loading of the EMD 912. In one embodiment, the slits 962 and 963 produce a radial opening with relatively non-parallel walls. In one embodiment, the slits 962 and 963 produce an approximately radial opening with relatively parallel walls. In one embodiment, the outer surfaces of the assemblies 958 and 960 include V-shaped notches pointing towards their central longitudinal axes, which lead to the slits 962 and 963 respectively to assist in guiding the EMD 912 for side or radial loading. Note that the slit 962 extends through the first driven bevel gear 950, and the 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] Reference Figure 12A, the outer portions of the first wheel 954 and the second wheel 956 extend through an opening 927 in the housing 926, enabling the operator to 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-cone collet drive housing 926 from the cartridge, the operator can remove the collet assembly including the wheels 954 and 956 from outside the cartridge, 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 perimeters. In one embodiment, the first wheel 954 and the second wheel 956 are discs having grooves on their outer perimeters. In one embodiment, the first wheel 954 and the second wheel 956 are discs having knurling on their outer perimeters. In one embodiment, the first wheel 954 and the second wheel 956 are discs having features for assisting manual manipulation on their outer perimeters. In one embodiment, the first wheel 954 and the second wheel 956 are discs having no features on their outer perimeters, such as smooth walls.

[0279] Reference Figure 12A , Figure 12B and Figure 12C , the first composite assembly 958 and the second composite assembly 960 both rotate about a longitudinal axis aligned with the EMD 912, and each assembly is longitudinally held in place by a circular cutout in a rib 929 that serves as a bearing. In one embodiment, the open circular cutout in the rib 929 snaps over and engages on both sides of the first wheel 954 and the second wheel 956. In other words, the first composite assembly 958 and the second composite assembly 960 can be snapped into the open cutout in the rib 929, which partially surrounds the first shaft distal portion 951 and the first shaft proximal portion 953 of the first composite assembly 958 and the second shaft proximal portion 955 and the second shaft distal portion 957 of the second composite assembly 960. The open cutout in the rib 929 serves as a thrust bearing to prevent axial (longitudinal) movement and freely allows rotational movement. The open cutout in the rib 929 does not completely surround the shafts 951, 953, 955, and 957. In one embodiment, the open cutout in the rib 929 provides a 210-degree enclosure around each shaft 951, 953, 955, and 957. In one embodiment, the open cutout provides an enclosure around each shaft 951, 953, 955, and 957 that is greater than 180 degrees and less than 360 degrees. In one embodiment, the rib having the open cutout is made of a material with inherent flexibility, such as plastic.

[0280] Reference Figure 12A and Figure 12D, the double 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 a threaded spline, and a second composite assembly 960. Due to the engagement features of the open cutouts in the ribs 929, the double gear collet drive assembly 944 (which does not include the first coupling bevel gear 946 or the second coupling bevel gear 948) can be manually removed from the housing 926 and repositioned repeatedly.

[0281] Reference Figure 12D and Figure 12E , the inner collet portion 965 includes a collet first section 968 that is integrally connected to a collet tapered second section 970, which splits into opposing cantilevered tapered jaws 972 having an approximately semi-circular 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 the region adjacent to the first section to the proximal free end 974 of the second section 970, where the proximal end 974 is furthest from the region of the second section adjacent to the first section 968. 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 that fits into the collet first section 968. In one embodiment, the inner collet portion 965 and the first composite assembly 958 are combined into a single 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 that is integrally connected to a threaded spline second section 978. The threaded spline first section 976 contains external longitudinal spline threads 980 that engage the internal longitudinal spline threads 982 of the second composite assembly 960 and allow relative translational movement in the longitudinal direction 988. The threaded spline second section 978 contains external helical circumferential threads 984 that engage the internal threads 986 of the first composite assembly 958 and allow relative rotational movement in the 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 coupling bevel gear 950 and the second driven coupling bevel gear 952 such that they can engage the first coupling bevel gear 946 and the second coupling bevel gear 948, respectively.

[0283] In one embodiment, while positively clamping and releasing the EMD 912, the EMD 912 does not rotate. The collet first section 968 is the section that releasably secures the EMD 912 thereto. By keeping the collet first section 968 stationary while rotating the second section 966 portion, the EMD 912 does not rotate. In other words, by maintaining the inner collet portion 965 of the collet that 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 to release the EMD 192 from its fixed relationship with the inner collet 965, the EMD is released from the collet 964 without applying 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 start of the release process. In such an embodiment, the first collet section 968 rotates at a different rate than the outer collet portion 966.

[0284] Reference Figure 12D and Figure 12E , the inner collet portion 965 includes a radially longitudinal slit 992 in the collet first section 968 to allow side or radial loading of the EMD 912 into the lumen 996. The longitudinal slit 992 extends radially from the outer surface of the first section 968 and terminates at the radial center of the inner collet portion 965. The longitudinal slit 992 extends longitudinally through the seam of the jaws 972 to the second tapered section 970. The threaded spline 966 includes a radially longitudinal slit 994 to allow side or radial loading of the EMD912. The longitudinal slit 994 extends radially from the outer surface of the threaded spline 966 and terminates at its center.

[0285] Referring to 12F.1, in the release configuration of the dual gear collet drive assembly 944, the jaws 972 of the collet tapered second section 972 open and do not lock (do not clamp) onto the EMD 912. In the fully released configuration, the threaded spline 966 is in its most proximal position. In one embodiment, the threaded spline 966 is restricted to its most proximal position by a hard stop at the proximal end of its longitudinal spline. In one embodiment, the threaded spline 966 is restricted to its most proximal position by a feature such as a flange or lip to stop further travel in the longitudinal spline. Referring to 12F.2, in the clamping configuration of the dual gear collet drive assembly 944, the jaws 972 of the collet tapered second section 972 close together and lock (clamp) onto the EMD 912. In the fully clamped configuration, the threaded spline 966 is in its most distal position. In one embodiment, the threaded spline 966 is restricted to its most distal position by a hard stop due to thread disengagement, i.e., because it is geometrically constrained from being further screwed. In one embodiment, the threaded spline 966 is restricted to its most distal position by a feature such as a flange or lip to stop further travel.

[0286] Reference Figure 12F.1 and Figure 12F.2 ,Movement of the inner collet portion 965 in the direction of the spline thread 966 causes the jaws 972 of the collet tapered second section 972 to move towards each other to clamp the EMD 912. Movement of the inner collet portion 965 in a direction away from the spline thread 966 causes the jaws 972 of the collet tapered second section 972 to move away from each other to release the EMD 912.

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

[0288] In a first operating mode where the result is that the dual gear collet drive assembly 944 rotates in the clockwise direction, the first coupler 940 rotates in the counterclockwise direction and the second coupler 942 rotates in the clockwise direction. In a second operating mode where the result is that the dual gear collet drive assembly 944 rotates in the counterclockwise direction, the first coupler 940 rotates in the clockwise direction and the second coupler 942 rotates in the counterclockwise direction. In a third operating mode where the result is to release the EMD 912, the first coupler 940 does not rotate and the second coupler 942 rotates in the counterclockwise direction. In a fourth operating mode where the result is to clamp the EMD 912, the first coupler 940 does not rotate and the second coupler 942 rotates in the clockwise direction. In the third and fourth operating modes, the collet becomes released or clamped respectively. In one embodiment, in the third and fourth modes, the movement continues until a hard stop is reached. In one embodiment, during release, the hard stop is reached when the end of the spline thread on the first section 976 of the spline thread is reached. In one embodiment, during clamping, the hard stop is reached when the end of the thread on the second section 978 of the spline thread where it meets the first section 976 of the spline thread is reached. To start rotating the EMD faster during clamping in the fourth mode, the first coupler 940 rotates clockwise.

[0289] The first motor 936 and the second motor 938 can be controlled to constrain the amount of torque that 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 that each motor can apply. The current limiting can be set to different values for the third operating mode and the fourth operating mode. For example, the current can be limited to a smaller value for clamping than for releasing because static friction must be overcome during release.

[0290] In one embodiment, the dual gear collet drive system 910 includes a system that prevents 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 that prevents buckling of the EMD 912 at the distal end 913 of the collet drive system. In one embodiment, the anti-buckling system is a tube having an inner diameter slightly larger than the outer diameter of the EMD 912. In one embodiment, the anti-buckling system 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 anti-buckling system is a side-loaded rail.

[0291] Reference Figure 13A , the dual gear sliding collet drive system 1000 releasably engages an elongate 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 towards the distal end 1006, the EMD 1002 advances into the patient, and as the EMD 1002 moves from the distal end 1006 towards the proximal end 1004, the EMD 1002 retracts or withdraws 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 causes the pinion 1020 to rotate, which meshes with the rack 1018 to translate the carriage 1008. A linear guide or linear bearing (not shown) integrally connected to the base 1012 constrains the carriage 1008 to translational movement only in the proximal and distal directions along the EMD 1002 axis.

[0293] The carrier housing 1014 includes a flat substrate having vertical side extensions at its proximal and distal ends. In one embodiment, the carrier housing 1014 is a one-piece molded part with the substrate, proximal extension, and distal extension made of the same material. In one embodiment, the carrier housing 1014 includes a substrate, a proximal extension, and a distal extension, which are three separate pieces made of the same material and integrally connected. In one embodiment, the carrier housing 1014 includes a substrate, a proximal extension, and a distal extension, which are three separate pieces made of different materials and integrally connected. The proximal and distal extensions of the carrier housing 1014 include holes for the collet and the rotary drive system 1024 (described below). In one embodiment, rotary bearings are installed in the 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 fixed base 1012. In one embodiment, the first motor 1026 and the second motor 1028 are fixed relative to the base 1012 during the translation of the collet 1056 and the EMD 1002. As described herein, the carrier 1008 is independent of the base 1012 and the first motor 1026 and the second motor 1028 and translates with the collet 1056. In other words, at least during one operating mode, when the collet 1056 translates along its longitudinal axis, the first motor 1026 and the second motor 1028 do not translate with the collet 1056. The first motor 1026 drives the first coupler 1030. The second motor 1028 drives the second coupler 1032. The first motor 1026 and the first coupler 1030 are located below or within the base 1012. The second motor 1028 and the second coupler 1032 are located below the fixed base 1012 on the proximal side. In one embodiment, the first coupler 1030 and the second coupler 1032 pass through holes in the fixed base 1012. In one embodiment, the first coupler 1030 and the second coupler 1032 pass through rotary bearings and seals installed 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. However, other types of motors known in the art are also conceivable. 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] Reference Figure 13B.1 and Figure 13B.2 , the collet and the rotary drive system 1024 (described below) translate relative to the fixed base 1012. Reference Figure 13B.1, the translation drive motor 1022 causes the pinion 1020 to rotate in one direction (clockwise), so that the rack 1018 and thus the collet and the rotary drive system 1024 translate in the proximal direction. Referring to FIG. 13B, the translation drive motor 1022 causes the pinion 1020 to rotate in the opposite direction (counterclockwise), so that the rack 1018 and thus the collet and the rotary drive system 1024 translate in the distal direction. In one embodiment, the collet and the rotary drive system 1024 translate relative to the fixed base 1012 by means of the rack and pinion mechanism described herein. In one embodiment, the collet and the rotary drive system 1024 translate relative to the fixed base 1012 by a different mechanism, such as a reciprocating mechanism in the form of a slider crank or a scotch yoke mechanism. The advantage of the reciprocating mechanism is that the translation drive motor 1022 will not need to change direction.

[0297] Translation of the collet and the rotary drive system 1024 is achieved without the need to translate the first motor 1026 (and the first coupler 1030 and the first drive bevel gear 1034) and the second motor 1028 (and the second coupler 1030 and the second drive bevel gear 1042), both of which are mounted to the fixed base 1012. Accordingly, the inertia problems of translational acceleration and deceleration of the first motor 1026 and the second motor 1028 are avoided.

[0298] Referring to Figure 13C, the first coupler 1030 is integrally connected to a first drive 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, and all these components together form a first compound (or cluster) gear assembly 1040. The second coupler 1032 is integrally connected to a second drive 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, and all these components together form a second compound (or cluster) 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 rotary bearing installed in a 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 rotary bearing installed in a 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 widths of the first spur gear 1038 and the second spur gear 1046. In one embodiment, the widths of the first collet spur gear 1050 and the second collet spur gear 1052 are ten times the widths of the first spur gear 1038 and the second spur gear 1046, respectively. In one embodiment, the widths of the first collet spur gear 1050 and the second collet spur gear 1052 are less than ten times the widths of the first spur gear 1038 and the second spur gear 1046, respectively. In one embodiment, the widths of the first collet spur gear 1050 and the second collet spur gear 1052 are greater than ten times the widths of the first spur gear 1038 and the second spur gear 1046, respectively.

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

[0301] Reference Figure 13A and Figure 13C , the collet and rotary driver 1024 includes a first collet spur gear 1050 having a first shaft 1051, a collet mechanism 1054 (described below), and a second collet spur gear 1052 having a second shaft 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 repositioned in the carrier housing 1014 due to mating 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 diameter larger than the diameter of the spur gear 1050, and the second collet spur gear 1052 is integrally connected to a second wheel (not shown) having a diameter larger than the diameter of the spur gear 1052. The first and second wheels will be accessible to the 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 for assisting manual manipulation on their outer circumferences. 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 part made of the same material, and the second collet spur gear 1052 and the second wheel are a single integral part made of the same material. In one embodiment, the first collet spur gear 1050 and the first wheel are separate parts integrally joined together, and the second collet spur gear 1052 and the second wheel are separate parts integrally joined 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 engagement 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 engagement features built into the distal side of the rack 1018.

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

[0305] Reference Figure 13D.1 and Figure 13D.2 , the first collet spur gear 1050 and the second collet spur gear 1052 are connected by 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 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 composed 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 collinear 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 towards the central longitudinal axis and has a 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 an integral piece. 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 separate pieces 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 an external thread 1074 on its outer circumferential part 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 an 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 integrally connected.

[0308] The external thread 1074 of the second section 1068 of the collet outer member 1058 meshes with the internal thread 1072 of the second section 1062 of the collet inner member 1056. Due to the meshing of the internal thread 1072 and the external thread 1074, the rotation of the collet inner member 1056 relative to the collet outer member 1058 about the longitudinal axis corresponds to the translation of the collet inner member 1056 relative to the collet outer member 1058 along the longitudinal axis. Since 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, the rotation of the first collet spur gear 1050 relative to the second collet spur gear 1052 about the longitudinal axis corresponds to the translation of the first collet spur gear 1050 relative to the second collet spur gear 1052 along the longitudinal axis.

[0309] The rotation of the first collet spur gear 1050 is achieved through its engagement with the first spur gear 1038.

[0310] The rotation of the second collet spur gear 1052 is achieved through its engagement with the second spur gear 1046.

[0311] To ensure continuous engagement 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. It is necessary to accommodate the translation of the first collet spur gear 1050 when it is rotated by the first spur gear 1038 and to accommodate the translation of the first collet spur gear 1050 when it is translated by the carrier 1008. To ensure continuous engagement 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. It is necessary to accommodate the translation of the second collet spur gear 1052 when it is rotated by the second spur gear 1046 and to accommodate the translation of the second collet spur gear 1052 when it is translated by the carrier 1008. In one embodiment, during the translation of the collet 1054, 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. In other words, the first collet spur gear 1050 includes teeth, and the face width of its teeth has a sufficient length to allow the teeth of the gear 1050 to engage with the gear 1038 when the gear 1050 together with the collet 1054 is translated relative to the motor 1026. Similarly, the second collet spur gear 1052 includes teeth, and the face width of its teeth has a sufficient length to allow the teeth of the gear 1052 to engage with the gear 1046 when the gear 1052 together with the collet 1054 is translated relative to the motor 1028.

[0312] Referring to 13D.1, in the release configuration of the collet and rotary drive system 1024, the jaws of the second section 1062 of the collet inner member 1056 open and do not lock (do not clamp) onto the EMD 1002. In the fully released configuration, the collet outer member 1058 is in its closest position relative to the collet inner member 1056. In one embodiment, the collet outer member 1058 is restricted to its closest position by a hard stop at the proximal end of its stroke. In one embodiment, the collet outer member 1058 is restricted to its closest position by a feature such as a flange or lip to stop further travel in the longitudinal direction. Referring to 13D.2, in the clamping configuration of the collet and rotary drive system 1024, the jaws of the second section 1062 of the collet inner member 1056 close together and lock (clamp) onto the EMD 1002. In the fully clamped configuration, the collet outer member 1058 is in its furthest position relative to the collet inner member 1056. In one embodiment, the collet outer member 1058 is restricted to its furthest position by a hard stop due to thread disengagement, i.e., because it is geometrically constrained from being further screwed. In one embodiment, the collet outer member 1058 is restricted to its furthest position by a feature such as a flange or lip to stop further longitudinal travel.

[0313] The operating principle of the collet and rotary drive system 1024 is similar to Figure 12C and Figure 12D the operating principle of the collet of the dual gear collet drive assembly 944. As the first collet spur gear 1050 and the second collet spur gear 1052 rotate such that they rotate threadedly towards each other, the inner surface of the second section 1068 of the collet outer member 1058 presses against the second section 1062 of the collet inner member 1056 and clamps onto the EMD 1002. As the first collet spur gear 1050 and the second collet spur gear 1052 rotate such that they rotate threadedly away from each other, the inner surface of the second section 1068 of the collet outer member 1058 releases and stops pressing against the second section 1062 of the collet inner member 1056 and releases the EMD 1002.

[0314] In operation, the dual gear collet and rotary drive system 1024 uses two rotational degrees of freedom from motors 1026 and 1028 to achieve four operations, namely, clamping the EMD 1002, releasing 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. Based on the rotational direction of the first coupler 1030 and the rotational direction of the second coupler 1032, these four operations are generated by the movement of the collet inner member 1056 relative to the collet outer member 1058.

[0315] In a first operating mode in which the result is that the dual gear collet and the rotary drive system 1024 rotate in the clockwise direction, the first coupler 1030 rotates in the clockwise direction and the second coupler 1032 rotates in the counterclockwise direction. In a second operating mode in which the result is that the dual gear collet and the rotary drive system 1024 rotate in the counterclockwise direction, the first coupler 1030 rotates in the counterclockwise direction and the second coupler 1032 rotates in the clockwise direction. In a third operating mode in which the result is to release the EMD 1002, the first coupler 1030 rotates in the clockwise direction and the second coupler 1032 rotates in the clockwise direction. In a fourth operating mode in which the result is to clamp the EMD 1002, the first coupler 1030 rotates in the counterclockwise direction and the second coupler 1032 rotates in the counterclockwise direction. In the third and fourth operating modes, the collet inner member 1056 releases or clamps the sub-EMD 1002 respectively until reaching a hard stop.

[0316] In one embodiment, the clamping and releasing collet mechanism 1054 is synchronized with the rotational position of the shaft of the translational drive motor 1022.

[0317] In one embodiment, the components of the dual gear sliding collet drive system 1000 include longitudinal slits (not shown) to enable radial or lateral loading of the EMD 1002 into the collet inner cavity 1076.

[0318] The robotic system 1000 includes a clamping / releasing mode, a rotation mode, and a translation mode in one embodiment. The clamping / releasing mode, the rotation mode, and the translation mode can occur individually or simultaneously. In one embodiment, the rotation mode and the translation mode occur simultaneously.

[0319] Reference Figure 14A, showing an embodiment of a dual gear collet drive system with a reset mechanism. The disposable cartridge 1080 is releasably mounted to the fixed base 1012 and includes a distal collet and a rotary drive system 1024 (described above) and a proximal reset mechanism 1082. The reset mechanism 1082 (described below) is designed to advance, retract, and hold the EMD 1002. The cartridge 1080 includes a top cartridge lid 1084 and a bottom cartridge housing 1086. In one embodiment, the cartridge lid 1084 is connected to the cartridge housing 1086 by a hinge at the rear, the hinge allowing the lid to rotate open and closed from the front. In one embodiment, the cartridge lid 1084 is connected to the cartridge housing 1086 by a hinge at the front, the hinge allowing the lid to rotate open and closed from the rear. In one embodiment, the cartridge lid 1084 is connected to the cartridge housing 1086 by a hinge to allow the lid to rotate open and closed from the side. In one embodiment, the cartridge lid 1084 is connected to the cartridge housing 1086 by a fastener, the fastener allowing 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 cartridge lid 1084 is connected to the cartridge housing 1086 by a press-fit feature, the press-fit feature allowing 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 cartridge lid 1084 is connected to the cartridge housing 1086 by a press-fit feature, the press-fit feature allowing the lid to be removed from the housing 1086 and repositioned onto the housing 1086.

[0320] The proximal and distal sides of the cartridge lid 1084 include lid notches 1088 that allow the EMD 1002 to pass freely. The proximal and distal sides of the cartridge housing 1086 include housing notches 1090 that match the positions of the lid notches 1088. In one embodiment, the lid notches 1088 and the housing notches 1090 are triangular cutouts that allow the EMD 1002 to pass freely. In one embodiment, the lid notches 1088 and the housing notches 1090 are cutouts of any shape that allow the EMD 1002 to pass freely. The bottom side of the cartridge lid 1084 includes lid ribs 1092. When the cartridge lid 1084 is closed, the lid ribs 1092 seat the EMD 1002 into the aligned notches 1090 in the cartridge housing 1086 and maintain the vertical position of the EMD 1002 in the aligned grooves or channels that maintain the lateral position of the EMD 1002.

[0321] As described above, the collet and rotary drive system 1024 is actuated by driving the first coupler 1030 with the first motor 1026 and the second coupler 1032 with the second motor 1028. The reset mechanism 1082 is actuated by the reset mechanism motor 1094 of the drive reset mechanism coupler 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.

[0322] Reference Figure 14B , showing the underside of the fixed base 1012. The reset mechanism 1082 is constructed into a reset mechanism frame 1098 integrally connected to the fixed base 1012. The 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 one 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 cross slider 1108 by a second rotary joint 1106. The cross slider 1108 is constrained to longitudinal translational motion (i.e., translational motion only along the axis of the EMD 1002) by a cross slider first linear bearing 1110 and a cross slider second linear bearing 1112, both of which are integrally connected to the cross-slider 1108. The first linear bearing 1110 is a prism joint that is translatable relative to a first guide 1114, and the second linear bearing 1112 is a prism joint that is translatable relative to a second guide 1116. The distal ends of the first guide 1114 and the second guide 1116 are integrally connected to the fixed base 1012 and thus the guides 1114 and 1116 are fixed.

[0323] The proximal first linear bearing 1118 and the distal first linear bearing 1120 are integrally mounted to the front corners of the reset mechanism frame 1098. The proximal second linear bearing 1122 and the distal second linear bearing 1124 are integrally mounted to the rear corners 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. Since the four bearings 1118, 1120, 1122, and 1124 are integrally mounted to the reset mechanism frame 1098, the reset mechanism 1082 is longitudinally translatable relative to the fixed base 1012.

[0324] In one embodiment, the first coupler 1030 has a first coupler slotted end 1126 that seats in a slotted receiver on a shaft integrally connected to the first drive bevel gear 1034, and the second coupler 1032 has a second coupler slotted end 1128 that seats in a slotted receiver on a shaft integrally connected to the second drive bevel gear 1042 (see Figure 13C ).

[0325] Reference Figure 14C.1 , Figure 14C.2 , Figure 14C.3 and Figure 14C.4 , a series of steps illustrate the operation of a linear positioning mechanism 1082 that includes a rotatable reset clamping cam 1130 and a stationary clip 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 a 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 an arcuate 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 arcuate geometry.

[0326] 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 a relative position with respect to the holding cam 1132. In one embodiment, in the closed position, there is no gap between the outer surface 1136 of the reset cam and the outer surface 1138 of the holding cam and the two surfaces 1136 and 1138 are in contact. In one embodiment, in the closed position, there is a gap between the outer surface 1136 of the reset cam and the outer surface 1138 of the holding cam and the gap distance is less than the diameter of the EMD 1002. In the closed position, the EMD 1002 is clamped between the outer surface 1136 of the reset cam and the outer surface 1138 of the holding cam so as to prevent the longitudinal translation of the EMD 1002. In one embodiment, the outer surface 1136 of the reset cam and the outer surface 1138 of the holding cam include 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 rotates away from the holding cam 1132 so that there is a gap between the outer surface 1136 of the reset cam and the outer surface 1138 of the holding cam. In the open position, the reset cam 1130 does not contact the EMD 1002 so that the EMD 1002 is not constrained to translate longitudinally at the position of the holding cam 1132. In one embodiment, the reset cam 1130 rotates 60 degrees away from the holding cam 1132 in the open position. In one embodiment, the reset cam 1130 rotates less than 60 degrees away from the holding cam 1132 in the open position. In one embodiment, the reset cam 1130 rotates more than 60 degrees away from the holding cam 1132 in the open position.

[0327] Reference Figure 14C.1 , the collet and the rotary drive system 1024 are clamped to the EMD 1002, the reset cam 1130 is in the open position, and the cross slider 1108 is in the proximal position relative to the reset mechanism frame 1098. Due to this step, the EMD 1002 is clamped in the collet and the rotary drive system 1024.

[0328] Reference Figure 14C.2 , the collet and the rotary drive system 1024 are clamped to the EMD 1002, the reset cam 1130 is in the open position, and the cross slider 1108 translates distally from the proximal position relative to the reset mechanism frame 1098. In one embodiment, the cross slider 1108 translates distally due to the reset mechanism motor 1094 causing the reset mechanism crank 1100 to rotate clockwise. Due to this step, the collet and the rotary drive system 1024 advance distally, meaning the EMD 1002 advances distally.

[0329] Reference Figure 14C.3, the collet and the rotary drive system 1024 release the EMD 1002, the reset cam 1130 is in the closed position, and the cross slider 1108 is in its outermost position relative to the reset mechanism frame 1098. Due to this step, the EMD 1002 is released in the collet and the rotary drive system 1024.

[0330] Reference Figure 14C.4 , the collet and the rotary drive system 1024 are released from the EMD 1002, the reset cam 1130 is in the closed position, and the cross slider 1108 translates proximally relative to the reset mechanism frame 1098. In one embodiment, the cross slider 1108 translates proximally due to the reset mechanism motor 1094 causing the reset mechanism crank 1100 to rotate counterclockwise. Due to this step, the collet and the rotary drive system 1024 advance proximally and the system is reset and can then be restarted (to Figure 14C.1 ).

[0331] Reference Figure 17A , a single plunger collet system 1280 capable of releasably engaging the EMD includes a spring 1282 and a plunger 1284 that is movably positioned along a plunger axis 1286 within a receiving cavity 1288 of a housing 1290. In Figure 17A embodiments, the housing 1290 is a rectangular prism having a first side face 1292, a second side face 1294, and a convex top face 1296. The first side face 1292 is parallel to the plane defined by the plunger axis 1286 and the EMD axis 1298. The second side face 1294 is parallel to the plane defined by the plunger axis 1286 and a vertical axis 1302, where 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 face 1296 that is a rectangular plane and an opposite bottom face. In one embodiment, Figure 18A embodiments, the housing 1290 is a cylindrical disk having a plunger axis 1286 that is aligned with the diameter axis of the disk, where Figure 17A embodiments are sections removed from such a cylindrical disk. Reference Figure 18B and Figure 18D , an outer housing 1291 surrounds the housing 1290. The outer housing 1291 includes a plurality of cam surfaces on its inner wall that operatively engage corresponding plungers 1284 as the outer housing 1291 rotates about its longitudinal axis relative to the housing 1290. In one embodiment, the longitudinal axis of the housing 1290 is collinear with the longitudinal axis of the outer housing 1291. In one embodiment, at least a portion of the outer housing 1291 and / or a portion of the housing 1290 is arcuate and / or circular.

[0332] The first lateral face 1292 of the housing 1290 has a slit 1300 oriented in a plane defined by the EMD axis 1298 and the vertical axis 1302, which extends from the face 1292 and terminates at the EMD axis 1298, passing through the housing 1290 from the second lateral face 1294 to its opposite face. In one embodiment, the walls of the slit 1300 are parallel. In one embodiment, the walls of the slit 1300 are non-parallel, such as having V-shaped walls with a vertex facing the EMD axis 1298. In one embodiment, the slit 1300 has an entrance chamfer at the first lateral face 1292. In one embodiment, the slit 1300 has no entrance chamfer at the first lateral face 1292.

[0333] The second lateral face 1294 of the housing 1290 includes a plunger pin hole 1304 for a plunger pin 1306 ( Figure 17A not shown in the figure) and a guide hole 1308 for an alignment pin (not shown). The plunger pin hole 1304 is aligned with a plunger pin axis 1307 parallel to the EMD axis 1298 in a plane defined by the plunger axis 1286 and the EMD axis 1298, so as to extend through the housing 1290 from the second lateral face 1294 and terminate at the opposite outer lateral face. The guide hole 1308 is aligned with an axis parallel to the EMD axis 1298 in a plane defined by the plunger axis 1286 and the EMD axis 1298, so as to extend through the housing wall from the second lateral face 1294 and terminate at the inner face of the opposite wall of the cavity 1288 in the housing 1290. In one embodiment, the guide hole 1308 is a well hole or a cover hole in the second lateral face 1294 and does not terminate at the inner face of the opposite wall of the cavity 1288 in the housing 1290. In Figure 17A the embodiment of the single plunger cartridge system 1280, the guide hole 1308 is not required. The guide hole 1308 is used to align the multi-plunger assembly.

[0334] Reference Figure 17B, the plunger collet system 1280 is shown in a released configuration where the EMD 1314 is not operatively fixed to the collet 1280. A force 1310 is applied on the top surface 1312 of the plunger 1284, pushing the plunger 1284 downward in the cavity 1288 of the housing 1290, thereby compressing the spring 1282 located beneath the plunger 1284, the long axis of which is oriented along the plunger axis 1286. In the case where the plunger 1284 is fully pressed into the cavity 1288, in one embodiment, the bottom outer surface 1326 of the plunger 1284 touches the lip 1328 in the cavity 1288 of the housing 1290, thereby restricting further movement of the plunger 1284. When the surface 1326 and the lip 1328 are in contact, the plunger 1284 reaches its maximum pressed configuration where the spring 1282 is in its maximum compressed state. In this case, the plunger notch 1316 in the plunger 1284 is furthest from the housing notch 1318 in the housing 1290, and the EMD 1314 can 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 with any geometric shape. 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 with any geometric shape.

[0335] When the EMD 1314 is fully inserted into the well of the slit 1300 at the plunger axis 1286, the applied force 1310 is removed. Refer to Figure 17C , the plunger collet system 1280 is shown in a clamped configuration where, due to the restoring force 1320 of the spring 1282 pushing on the plunger 1284, the EMD 1314 cannot move freely relative to the collet and is captured in the well of the slit 1300 at the plunger axis 1286 between the plunger notch 1316 and the housing notch 1318. 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.

[0336] Refer to Figure 17B and Figure 17C , the plunger collet system 1280 is a normally closed collet, meaning that the collet is in the clamped configuration without the application of the applied force 1310.

[0337] The bottom of the compression spring 1282 contacts the inner surface 1330 of the bottom of the cavity 1288 of the housing 1290. The top of the compression spring 1282 contacts the inner surface 1332 of the bottom of the plunger 1284. In one embodiment, at the inner surface 1332 of the bottom of the plunger 1284, there is a cavity or cup that receives the top of the spring 1282 and constrains the top of the spring 1282 through a lip 1328. The outer diameter of the spring 1282 is smaller than the inner diameter of the cavity 1288 at the bottom of the housing 1290 to allow freedom of compression. In one embodiment, the outer diameter of the spring 1282 is smaller than the inner diameter of the cavity 1288 at the bottom of the housing 1290 and larger than the diameter corresponding to buckling or bending of the spring, thereby preventing buckling or bending of the spring. In one embodiment, one compression spring 1282 is utilized. In one embodiment, multiple springs, such as two nested springs, are used.

[0338] The plunger 1284 includes a plunger groove 1324 oriented along the plunger axis 1286, thereby allowing the plunger 1284 to translate relative to the housing 1290 along the plunger axis 1286 due to the constraint of the plunger pin 1306 and the wall of the cavity 1288 in the housing 1290. To release the collet 1280, by applying a force 1310 to the top surface 1312 of the plunger, the plunger 1284 is pushed down. In operation, the plunger 1284 is a cam follower and its top surface 1312 is a follower surface that contacts a cam (not shown) so as to push down the cam follower 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 internal cam of the outer member pushes down the top surface 1312, thereby pressing the plunger 1284 and releasing the EMD 1314 in the collet 1280.

[0339] Reference Figure 18A , a single plunger collet system 1280 operates on the same principle, where the housing 1290 is a circular disk having a central hole 1334 for the EMD 1314 (not shown). Figure 18A The embodiment of

[0340] Reference Figure 18B , the multi-plunger collet system 1336 is shown in an assembled configuration of six single plunger assemblies 1280, each assembly being Figure 18AEmbodiments that are cascaded in series with each other and rotate one by one relative to each other about the EMD axis 1298. In one embodiment, each of the six individual plunger assemblies 1280 in series rotates one by one (i.e., rotates successively in the same direction) 60 degrees apart from each other so that the guide holes 1308 are aligned. In this embodiment, each individual plunger assembly rotates 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 rotates 60 degrees clockwise relative to the first assembly, the third assembly rotates 120 degrees clockwise relative to the first assembly, the fourth assembly rotates 180 degrees clockwise relative to the first assembly, the fifth assembly rotates 240 degrees clockwise relative to the first assembly, and the sixth assembly rotates 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).

[0341] Reference Figure 18C , the multi-plunger collet system 1336 is shown in the assembled configuration shown in 18B, where the first individual plunger assembly 1280 is separated. Also, the system 1336 includes six individual plunger assemblies (1280), each of which is Figure 18A an embodiment that is cascaded in series with each other and rotates 60 degrees one by one relative to the assembly before it about the EMD axis 1298.

[0342] Reference Figure 18D , Figure 18BThe end view of the assembled multi-plunger system 1336 is shown as a solid line for the first single plunger assembly 1280 and as a dashed line for the second through sixth single plunger assemblies 1280, where each single plunger assembly is rotated 60 degrees relative to its previous assembly one by one about the EMD axis 1298 so that the guide holes 1308 are aligned. The three visible single 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 (separated by 180 degrees). The central holes 1334 of the six single plunger assemblies 1280 are aligned for axially loading the EMD 1314. In one embodiment, six single plunger assemblies 1280 are used, where each assembly is rotated 60 degrees relative to its previous assembly one by one about the EMD axis 1298. In one embodiment, four single plunger assemblies 1280 are used, where each assembly is rotated 90 degrees relative to its previous assembly one by one about the EMD axis 1298. In one embodiment, three single plunger assemblies 1280 are used, where each assembly is rotated 120 degrees relative to its previous assembly one by one about the EMD axis 1298. In one embodiment, two single plunger assemblies 1280 are used, where the second assembly is rotated 180 degrees relative to the first assembly about the EMD axis 1298. In one embodiment, two single plunger assemblies 1280 are used, where the second assembly is rotated less than 180 degrees relative to the first assembly about the EMD axis 1298. In one embodiment, two single plunger assemblies 1280 are used, where the second assembly is rotated more than 180 degrees relative to the first assembly about the EMD axis 1298. In one embodiment, more than two single plunger assemblies 1280 are used, where each assembly is rotated any number of degrees relative to its previous assembly one by one about the EMD axis 1298. In an example of this embodiment using four single plunger assemblies 1280, if the first assembly is considered as a reference at 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. This embodiment allows for radially loading the EMD within the collet. In one embodiment, the single plunger assemblies 1280 in the multi-plunger collet system are the same. In one embodiment, the single plunger assemblies 1280 in the multi-plunger collet system are different.

[0343] Reference Figure 18E , the release configuration of the multi-plunger collet system 1336 having six single plunger assemblies 1280 requires an externally applied force 1310 that is applied to each plunger 1284 from an outer member cam (not shown). In the release configuration, there is no contact between the EMD 1314 and the plunger and the housing at any single plunger assembly 1280 in the multi-plunger system 1336.

[0344] Reference Figure 18F, showing the clamping configuration of a multi-plunger collet system 1336 having six individual plunger assemblies 1280. In the clamping configuration, due to the reaction force 1320 from each compression spring 1282, there is contact between the EMD 1314 and the housing at each individual plunger assembly 1280 in the multi-plunger system 1336. Since each individual plunger assembly 1280 rotates successively relative to its previous assembly, the contact on the EMD 1314 occurs at different surfaces, resulting in a greater torque capacity of the collet system 1336. In Figure 18F the embodiment, the 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 side), and the contact occurs at a portion of the top surface 1340 of the EMD 1314 in the fourth (counting from the left) individual plunger assembly 1280. The contact at different surface portions of the EMD 1314 occurs at each individual plunger assembly 1280, which means that there is contact at different portions longitudinally along the EMD.

[0345] Reference Figure 18G , Figure 18H and Figure 18I , showing the multi-plunger collet system 1336 in the clamping configuration having six individual plunger assemblies 1280, where the EMD 1314 is in a side view and a front view. Reference Figure 18G , showing the 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. Reference Figure 18H , showing the multi-plunger collet system 1336 having six individual plunger assemblies 1280, each assembly being oriented 180 degrees apart from its previous assembly. The side view of the EMD 1314 is an approximate sine curve in a plane, and the front view of the EMD 1314 is a single point moving up and down along a vertical line. Reference Figure 18I , showing the multi-plunger collet system 1336 having six individual plunger assemblies 1280, each assembly being oriented 60 degrees apart from its previous assembly one by one. The side view of the EMD 1314 is an approximate sine curve in a plane, and the front view of the EMD 1314 is a single point moving along the circumference of a circle.

[0346] Compared with the torque-carrying capacity of the multi-plunger collet system 1336 when Figure 18G clamped, the torque-carrying capacity of the multi-plunger collet system 1336 when Figure 18H clamped is increased. Since in Figure 18HFor the 180-degree offset of a single plunger assembly 1280 in a multi-plunger collet system, the EMD 1314 adopts a meandering configuration that moves up and down in a side view and has maximum resistance torque at the top and bottom of the vertical line in the front view (where the neutral device axis is at the center of the line). As compared to when being clamped Figure 18H the torque-carrying capacity of the multi-plunger collet system 1336, when being clamped Figure 18I the torque-carrying capacity of the multi-plunger collet system 1336 is further increased. Due to the 60-degree offset of a single plunger assembly 1280 in Figure 18H the multi-plunger collet system, the EMD 1314 adopts a configuration with a spiral path (i.e., a spiral shape), where the EMD is always away from the central axis 1298 of the EMD, thereby generating maximum resistance torque.

[0347] The deformation of the EMD 1314 in the clamping configuration of the multi-plunger collet system 1336 is a function of the through-hole diameter at the center of the plunger housing, the clearance (gap) between the plunger and the plunger housing, and the force applied by the spring mechanism.

[0348] In one embodiment, a series of clamping elements in a robot-actuated collet, where the clamping elements are actuated independently. An actuation mechanism such as a cam causes them not to be actuated all together, instead of actuating all elements together, such as being actuated successively. This feature is used to reduce the actuation force.

[0349] In one embodiment, multi-plunger collet systems 1336 composed of multiple clamping elements are rotationally locked to each other to increase the overall torque retention 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.

[0350] Refer to Figure 18B , the collet 1336 includes an inner member that defines a path for receiving the EMD 1314 and an outer member. 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. 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 need to move to an open position to insert the EMD. In one embodiment, the engagement members 1284 are normally open or located outside the path and need to move to a closed position to engage the EMD. In one embodiment, the engagement members 1284 engage the EMD successively. Refer to Figure 18I , in one embodiment, the engagement members 1284 are circumferentially offset around the EMD. Refer to Figure 18G, in one embodiment, the engagement member 1284 is axially offset. Refer to Figure 18H , in one embodiment, the first engagement member is positioned 180 degrees from the second engagement member. In one embodiment, the engagement 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 rotational. In one embodiment, the movement of the inner member relative to the outer member is translational. In one embodiment, the movement of the inner member and the outer member relative to each other is robotically controlled. In one embodiment, the movement of the inner member and the outer member relative to each other is manual. Refer to Figure 18H and Figure 18I , in one embodiment, the engagement member 1284 is radially offset about the EMD to form a serpentine path. Refer to Figure 18H , in one embodiment, the serpentine path is in a single plane. Refer to Figure 18I , in one embodiment, the serpentine path is not in a single plane.

[0351] Refer to Figure 19A 、 Figure 19B 、 Figure 19C and Figure 19E , a collet system 1360 capable of releasably engaging the opposite pads of the 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 pivot pins 1368. In one embodiment, the inner housing 1362 of the collet system 1360 is a regular cylindrical shape and its longitudinal axis is oriented along the EMD axis 1370. The inner housing 1362 includes an internal cavity 1372, radial longitudinal slits 1374 and a plurality of circumferential slits 1376a, b, c.... In one embodiment, the outer housing 1363 is a regular cylindrical shape and its longitudinal axis is oriented along the EMD axis 1370. The outer housing 1363 includes radial longitudinal slits 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 housing 1363 is a cylindrical tube whose wall thickness is greater than ten percent of the inner diameter and has a plurality of cam surfaces 1365a, b, c,... on the inner surface. In one embodiment, the outer housing 1363 is a cylindrical tube whose wall thickness is less than ten percent of the inner diameter and has a plurality of cam surfaces 1365a, b, c,... on the inner surface. (Refer to Figures 19A - 19G , the wall thickness of the outer housing 1363 is representative. Note that the geometric configuration of the outer housing 1363 in Figure 19A is different from the representative cross-section of Figures 19B - 19G .) The outer diameter of the inner housing 1362 is less than the diameter of the internal cavity 1369 of the outer housing 1363, so that in the assembled embodiment, the inner housing 1362 is located inside the outer housing 1363.

[0352] In one embodiment, the longitudinal axis of the inner housing 1362 is collinear with the longitudinal axis of the outer housing 1363. In one embodiment, at least a portion of the outer housing 1363 and / or a portion of the inner housing 1362 is arcuate and / or circular. In one embodiment, all of the joysticks 1366a, b, c, …… rotate about a single pivot pin 1368. In one embodiment, a plurality of pivot pins 1368a, b, c, …… are used, where the joystick 1366a rotates about the pin 1368a, the joystick 1366b rotates about the pin 1368b, and so on. In one embodiment, the plurality of cam surfaces 1365a, b, c, …… are incrementally spaced apart along the longitudinal axis around the inner circumferential portion of the outer housing 1363. In one embodiment, the plurality of cam surfaces 1365a, b, c, …… are grooves or recesses that are incrementally spaced apart along the longitudinal axis around the inner circumferential portion of the outer housing 1363.

[0353] The circumferential slits 1376a, b, c, …… of the inner housing 1362 are oriented parallel to a plane perpendicular to the EMD axis 1370. In Figure 19A the embodiment shown, nine circumferential slits 1376a, b, c, …… i are shown, where nine arms 1384a, b, c, …… i of the joysticks 1366a, b, c, …… i are correspondingly exposed. In other embodiments, different numbers of circumferential slits are used and a corresponding number of arms are exposed. For example, in one embodiment, one circumferential slit 1376a is used, where the arm 1384a of the joystick 1366a is exposed. In one embodiment, two circumferential slits 1376a, b are used, where the arms 1384a, b of the joysticks 1366a, b are correspondingly exposed. In one embodiment, more than one circumferential slit 1376 is used. In one embodiment, the circumferential slits 1376a, b, c, …… extend radially inwards from the outer surface of the inner housing 1362 to the internal cavity 1372 of the inner housing 1362. In one embodiment, the circumferential slits 1376a, b, c, …… extend radially inwards from the outer surface of the inner housing 1362 to the interior of the inner housing 1362 that is not part of the cavity 1372. In one embodiment, the circumferential slits 1376a, b, c, …… extend radially inwards from the outer surface of the inner housing 1362 through to the internal cavity 1372 of the inner housing 1362 and extend through to the interior of the inner housing 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 not parallel. In one embodiment, the circumferential slits 1376a, b, c, …… have an entry chamfer at the outer surface of the inner housing 1362. In one embodiment, the circumferential slits 1376a, b, c, …… do not have an entry chamfer at the outer surface of the inner housing 1362.

[0354] The radial longitudinal slit 1367 of the outer housing 1363 extends from the outer surface of the outer housing 1363 and terminates at the inner surface of the inner cavity 1369 of the outer housing 1363. The gap between the walls of the radial longitudinal slit 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 slit 1367 are parallel. In one embodiment, the walls of the radial longitudinal slit 1367 are non-parallel, such as having a V-shaped wall with a vertex towards the EMD axis 1370. In one embodiment, the radial longitudinal slit 1367 has an entrance chamfer at the outer surface of the outer housing 1363. In one embodiment, the radial longitudinal slit 1367 does not have an entrance chamfer at the outer surface of the outer housing 1363.

[0355] The radial longitudinal slit 1374 of the inner housing 1362 extends from the outer surface of the inner housing 1362 and terminates at its radial center corresponding to the EMD axis 1370 and extends longitudinally through the inner housing 1362. The gap distance between the walls of the radial longitudinal slit 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 slit 1374 are parallel. In one embodiment, the walls of the radial longitudinal slit 1374 are non-parallel, such as having a V-shaped wall with a vertex towards the EMD axis 1370. In one embodiment, the radial longitudinal slit 1374 has an entrance chamfer at the outer surface of the outer housing 1362. In one embodiment, the radial longitudinal slit 1374 does not have an entrance chamfer at the outer surface of the outer housing 1362.

[0356] The springs 1364a, b, c, … are compression springs, such as disc springs, within the internal cavity 1372 of the inner housing 1362. One end of the springs 1364a, b, c, … is constrained by the inner wall 1378 of the cavity 1372 of the inner housing 1362. The other end of the springs 1364a, b, c, … sits on and extends into the protrusions 1380a, b, c, … of the actuators 1366a, b, c, …. In one embodiment, the protrusions 1380a, b, c, … of the actuators 1366a, b, c, … extend into one end coil of the springs 1364a, b, c, …. In one embodiment, the protrusions 1380a, b, c, … of the actuators 1366a, b, c, … extend into more than one end coil of the springs 1364a, b, c, …. In one embodiment, the protrusions 1380a, b, c, … of the actuators 1366a, b, c, … are operatively connected to one end coil of the springs 1364a, b, c, …. In one embodiment, the protrusions 1380a, b, c, … of the actuators 1366a, b, c, … are operatively connected to more than one end coil of the springs 1364a, b, c, …. In one embodiment, one 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 actuators. In one embodiment, collars or sleeves are used around each of the springs 1364a, b, c, … to prevent buckling or bending of the springs.

[0357] In the assembled configuration, the springs 1364a, b, c, … are in compression. In operation, as the outer housing 1363 rotates relative to the inner housing 1362 about its longitudinal axis, the cam surfaces 1365a, b, c, … on the inner surface (inner wall) of the outer housing 1363 operatively engage the respective arms 1384a, b, c, … of the actuators 1366a, b, c, … exposed in the slots 1376a, b, c, …. Refer to Figure 19B, the opposing pad collet system 1360 is shown in a released configuration, where the EMD 1388 is not operatively secured to the collet 1360. In this configuration, the radially longitudinal slit 1367 of the outer housing 1363 is aligned with the radially longitudinal slit 1374 of the inner housing. The 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 being compressed within the cavity 1372 of the inner housing 1362. Due to the position of the lever 1366a, the pad 1386a of the lever 1366a is oriented away from the EMD axis 1370 and away from the radially longitudinal slit 1374 near the EMD axis 1370. In the released configuration, the EMD 1388 can move in the direction of the EMD axis 1370 into the radially longitudinal slit 1367 and the radially longitudinal slit 1374. In one embodiment, an actuator (not shown) causes the outer housing 1363 to rotate relative to the inner housing 1362. The actuator that causes the outer housing 1363 to rotate relative to the inner housing 1362 is in the drive module in one embodiment and is in the cartridge in one embodiment.

[0358] To clamp and release the opposing pad collet system 1360, the lever 1366a rotates 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 one embodiment, the angular range of motion is greater than 10 degrees. The lever 1366a serves 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.

[0359] In the case where the EMD 1388 is fully inserted into the radially longitudinal slit 1374, the applied force 1382a is removed. Refer to Figure 19C , the opposing pad collet system 1360 is shown in a clamped configuration, where the EMD 1388 cannot move freely relative to the collet and is captured between the pad 1386a and the wall of the radially longitudinal slit 1374 due to the restoring force 1390a pushing on the arm 1384a of the lever 1366a from the spring 1364a. In one embodiment, the outer end of the arm 1384a protrudes into the circumferential slit 1376a of the inner housing 1362 and is exposed in the clamped configuration.

[0360] Refer to Figure 19B and Figure 19C , the opposing pad collet system 1360 is a normally closed collet, meaning that the collet is in the clamped configuration without the applied force 1382a being applied.

[0361] In operation, the arm 1384a of the joystick 1366a is a cam follower, where the outer surface of the arm 1384a is the follower surface that contacts the cam (the inner surface of the outer housing 1363), so that the applied force 1382a is pushed against the cam follower. The outer member 1363 with the internal cam contacts the outer surface of the arm 1384a. By the rotation of the outer housing 1363 relative to the inner housing 1362, the internal cam of the outer member is pushed against the outer surface of the arm 1384a and is exposed in the circumferential slit 1376a, thereby rotating the joystick 1366a and moving the pad 1386a of the joystick 1366a away from the EMD axis 1370 and releasing the EMD 1388 in the collet 1360. In one embodiment with a single circumferential slit 1376a, the cam includes a finger or lug that presses against the outer surface of the arm 1384a. In one embodiment with multiple circumferential slits 1376a, b, c,... the cam includes multiple fingers or lugs that press against the outer surfaces of the multiple arms 1384a, b, c,.... In one embodiment, multiple joysticks 1366a, b, c,... are used and their pads 1386a, b, c,... clamp the EMD 1388 at multiple longitudinal positions. In one embodiment, the contact of the EMD 1388 occurs between the pads 1386a of a single joystick 1366a along the length of the collet system.

[0362] Reference Figures 19D - 19G , shows a sequence of increasing clamping of the opposing pad collet system 1360. (In the drawing, springs 1364a, b, c,... are present but not shown on the right side; on the left side in the drawing, the springs 1364a, b, c,... are not numbered but are shown by lightly dashed circles.) Reference Figure 19D , the opposing pad collet system 1360 is shown in a released configuration for radially loading the EMD 1388. Since the inner wall of the outer housing 1363 maintains the arms 1384a, b, c,... of the joysticks 1366a, b, c,... in a configuration that compresses the springs 1364a, b, c,... to the maximum compressed state during operation, there is no contact between the pads 1386a, b, c,... and the EMD 1388. Reference Figure 19E, due to the grooves of the cams 1365a on the inner surface of the outer housing 1363, due to the rotation of the lever 1366a, the 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. The spring 1364a is slightly released from its maximum compressed 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 levers 1366b, c, … remain in the released configuration. During this first rotational increment, it is not possible to remove the EMD 1388 from the opposing 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. Refer to Figure 19F , due to the grooves of the cams 1365a and 1365b on the inner surface of the outer housing 1363, due to the rotation of the levers 1366a and 1366b, the second rotational increment of the outer housing 1363 relative to the inner housing 1362 (corresponding to two clockwise arrows) corresponds to the engagement of the pads 1386a and 1386b with the EMD 1388. The springs 1364a and 1364b are slightly released from their maximum compressed state and are the source of the force between the pads 1386a and 1386b and the EMD 1388. During this second rotational increment, all other pads 1386c, d, … of the levers 1366c, d, … remain in the released configuration. Refer to Figure 19G , due to the grooves of the cams 1365a, b, c on the inner surface of the outer housing 1363, due to the rotation of the levers 1366a, b, c, the third rotational increment of the outer housing 1363 relative to the inner housing 1362 (corresponding to three clockwise arrows) corresponds to the engagement of the pads 1386a, b, c with the EMD 1388. The springs 1364a, b, c are slightly released from their maximum compressed state and are the source of the 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 the released configuration (Note: In Figures 19E - 19G , the EMD 1388 is shown as being exaggeratedly offset where there is engagement.).

[0363] In one embodiment, for the engagement of the pads 1386a, b, c, … corresponding to the joysticks 1366a, b, c, … with the EMD 1388, a 20-degree rotation of the outer housing 1363 relative to the inner housing 1362 corresponds to a rotational increment. In one embodiment, for the engagement of the pads 1386a, b, c, … corresponding to the joysticks 1366a, b, c, … with the EMD 1388, a rotation of the outer housing 1363 relative to the inner housing 1362 that is less than 20 degrees corresponds to a rotational increment. In one embodiment, for the engagement of the pads 1386a, b, c, … corresponding to the joysticks 1366a, b, c, … with the EMD 1388, a rotation of the outer housing 1363 relative to the inner housing 1362 that is greater than 20 degrees corresponds to a rotational increment.

[0364] Reference Figure 20A , a collet drive system 1500 capable of rotating, translating, and clamping the 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 drivers and an axial spline engagement.

[0365] The collet 1504 has a collet first member 1512 having a first engagement portion 1514. The collet 1504 has a driven collet second member 1516.

[0366] The collet engagement member 1506 has a second engagement portion 1518.

[0367] The collet first member 1512 and the collet engagement member 1506 move between an engaged position and a disengaged position. Reference Figure 20C , the collet first member 1512 and the collet engagement member 1506 are shown in the disengaged position.

[0368] 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. Reference Figures 20C - 20G , the collet first member 1512 and the collet engagement member 1506 are shown in the engaged position.

[0369] In the engaged position, a rotation of the collet first member 1512 relative to the collet second member 1516 in the first direction 1520 will clamp the EMD 1502 within the collet 1504, and a rotation of the collet first member 1512 relative to the collet second member 1516 in the second direction 1522 opposite to the first direction 1520 will release the EMD 1502 within the collet 1504.

[0370] In the collet drive system 1500, the first engagement portion 1514 includes a plurality of splines that circumferentially extend 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.

[0371] In one embodiment, the collet second member 1516 is connected to a bevel gear 1524 that meshes with and is driven by a winch bevel gear 1526. In one embodiment, the collet second member 1516 is driven by a coupler.

[0372] 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 longitudinally extend and mesh with the longitudinally extending external spline teeth of the plurality of splines of the first engagement portion 1514.

[0373] The collet engagement member 1506 is integrally connected to the first drive module 1508 and is oriented such that its centerline is longitudinally aligned with the axis of the EMD 1502.

[0374] The first drive module 1508 and the second drive module 1510 (as Figure 3 shown by reference numeral 76 in the drawings) longitudinally translate relative to a fixed lead screw 1528 and are respectively and independently driven by a first actuator 1530 and a second actuator 1532 (shown as translation motors 64 in Figure 3 the drawings). 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.

[0375] Refer to Figure 20A , the collet drive system 1500 is connected to the entire robotic system 24. Specifically, 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.

[0376] In one embodiment, the translation of the first drive module 1508 is implemented as described below. The drive shaft of the first actuator 1530 is integrally connected to the first actuating pulley 1534, which drives the first belt 1536. The first belt 1536 drives the first nut pulley 1538, which is integrally connected to the first nut bearing assembly 1540. The first nut bearing assembly 1540 engages the lead screw 1528 and is integrally connected to the first drive module 1508. Similarly, in one embodiment, the translation of the second drive module 1510 is implemented as described below. The drive shaft of the second actuator 1532 is integrally connected to the second actuating pulley 1544, which drives the second belt 1546. The second belt 1546 drives the second nut pulley 1548, which is integrally connected to the second nut bearing assembly 1550. The second nut bearing assembly 1550 engages the lead screw 1528 and is integrally connected to the second drive module 1510.

[0377] The first drive module 1508 includes a clamp and a rotational drive mechanism for clamping / disengaging the EMD and for translating the EMD along its longitudinal axis. In one embodiment, the clamp and the rotational drive mechanism include a drive tire 1558 and an idler tire 1568. In one embodiment, the drive tire 1558 is driven as described below. The drive gear 1552 engages the drive tire gear 1554, which is integrally connected to the drive tire winch 1556. The drive tire winch 1556 is integrally connected to the drive tire 1558. It is contemplated that other clamps and translation devices known in the art may also be used.

[0378] Reference Figure 20A and Figure 20B , in one embodiment, the drive gear 1552 is driven by a third actuator 1560 incorporated within the first drive module 1508. In one embodiment, the third actuator 1560 is an electric, pneumatic, hydraulic, or other means powered motor.

[0379] In one embodiment, the rotation of the drive gear 1552 is implemented as described below. The drive shaft of the third actuator 1560 is integrally connected to the third actuating pulley 1562 (which is supported by bearings), which drives the second belt 1564. The second belt 1564 drives the drive gear pulley 1566 (which is supported by bearings), which is integrally connected to the drive gear 1552.

[0380] The 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. The spring 1572 is a tension spring and one end thereof is connected to a rocker distal post 1575 that is integrally connected to the straddle rocker 1570 and one end thereof is connected to a drive gear extension post 1576 that extends from the drive 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.

[0381] 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 that is driven by an actuator (not shown). The second drive module 1510 is integrally connected to an extension link 1578 that extends from the distal end (i.e., the end furthest 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 bar 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 bar protrusions, such as flanges, that point upward and are 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 there is a gap between the inner sides of the first lip 1580 and the second lip 1581.

[0382] In one embodiment, the collet drive system 1500 includes a cartridge (not shown) that includes a collet 1504, a collet engagement member 1506, a drive tire 1558, and an idler tire 1568.

[0383] As described herein, the operation of the collet drive system 1500 consists of multiple states.

[0384] Reference Figure 20C, the collet drive system 1500 is shown in a driving state (first state). In the driving 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 do not engage (i.e., are not joined), and the drive tire 1558 and the idler tire 1568 are separated and do not grip the EMD 1502. In the driving state, the rocker distal post 1575 contacts the inner surface of the first lip 1580, and the straddle rocker 1570 is positioned to keep the idler tire 1568 separated from the drive tire 1558.

[0385] Reference Figure 20D , the collet drive system 1500 is shown in a collet lock state (second state). In the collet lock state, the collet 1504 clamps the EMD 1502, the first drive module 1508 and the second drive module 1510 move towards each other to reduce their separation distance (e.g., the second drive module 1510 moves towards 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 joined, although not fully), 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 lock state, the rocker distal post 1575 contacts the inner surface of the first lip 1580, and the straddle rocker 1570 rotates so that the idler tire 1568 moves towards the drive tire 1558 but the tires do not grip the EMD 1502.

[0386] Reference Figure 20E , the collet drive system 1500 is shown in a device exchange state (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 towards each other to reduce their separation distance (the same as in the collet lock state), the spline teeth of the first engagement portion 1514 engage the spline teeth of the second engagement portion 1518 (i.e., they are joined, although not fully), 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 like in the collet lock state, the rocker distal post 1575 contacts the inner surface of the first lip 1580, and the straddle rocker 1570 rotates so that the idler tire 1568 moves towards the drive tire 1558 but the tires do not grip the EMD 1502.

[0387] In the exchange state, by rotating the winch bevel gear 1526 that meshes with and rotates the driven bevel gear 1524, the driven bevel gear 1524 causes the collet second member 1516 to rotate relative to the collet first member 1512, so that the collet 1504 releases the EMD 1502. Note that due to the engagement of the spline teeth of the first engagement portion 1514 with the spline teeth of the non-moving second engagement portion 1518, the collet first member 1512 is locked (does not move). When the collet 1504 is in the released state, the EMD 1502 can be removed. In one embodiment, the EMD 1502 can be removed by side or radial unloading when the collet slit 1582 in the collet 1504 and the collet engagement member slit 1584 in the collet engagement member 1506 are aligned. In one embodiment, the EMD 1502 can be removed by axial unloading.

[0388] Reference Figure 20A , the collet slit 1582 extends longitudinally from the outer circumference to the surface and extends radially through the collet 1504 to its center line, and the collet engagement member slit 1584 extends circumferentially longitudinally from the outer surface and extends radially through the collet engagement member 1506 to its center line. 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 vertices facing the radial center. In one embodiment, the slits 1582 and 1584 have lead chamfers at their outer surfaces. In one embodiment, the slits 1582 and 1584 do not have chamfers at the outer surfaces.

[0389] Reference Figure 20F , the collet drive system 1500 is shown in the collet-clamping tire-gripping state (third state). In the collet-clamping tire-gripping state, the collet 1504 clamps the EMD 1502, the first drive module 1508 and the second drive module 1510 move towards each other to their minimum separation distance (e.g., the second drive module 1510 moves towards the fixed first drive module 1508), the spline teeth of the first engagement portion 1514 are fully engaged with 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 collet-clamping tire-gripping state, the rocker distal post 1575 contacts the inner side surface of the second lip 1581, and the straddle rocker 1570 rotates, so that the idler tire 1568 moves into the drive tire 1558 so that the tires grip the EMD 1502.

[0390] Reference Figure 20G, the collet drive system 1500 is shown in the 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 towards each other to their minimum separation distance (e.g., the second drive module 1510 moves towards 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 clamping tire gripping state, the rocker distal post 1575 contacts the inner surface of the second lip 1581, and the straddle rocker 1570 rotates, causing the idler tire 1568 to move into the drive tire 1558 so that the tire grips the EMD 1502.

[0391] In the tire drive state, by rotating the winch bevel gear 1526 that meshes with and rotates the driven bevel gear 1524, the driven bevel gear 1524 causes the collet second member 1516 to rotate relative to the collet first member 1512, so that the collet 1504 releases the EMD 1502. Note that due to the engagement of the spline teeth of the first engagement portion 1514 with the non-moving spline teeth of the second engagement portion 1518, the collet first member 1512 is locked (does not move). In the case where the collet 1504 is in the released state, the EMD 1502 can be translated by rotating the drive tire 1558 to grip the EMD 1502 against the idler tire 1568.

[0392] The collet drive system 1500 operates in a reset mode or a swap mode. In the reset mode, the operation sequence is the drive state (first state), the collet locked state (second state), the collet clamping tire gripping state (third state), the tire drive state (fourth state), the collet clamping tire gripping state (third state), the collet locked state (second state), and returns to the drive state (first state). In the swap mode, the operation sequence is the drive state (first state), the collet locked state (second state), the device swap state (second alternative alternate state), the collet locked state (second state), and returns to the drive state (first state).

[0393] The collet drive system 1500 includes a collet 1504. To minimize the actuation required, the collet drive system 1500 is designed to lock half of the collet 1504, thereby preventing rotational movement of this half while providing rotational freedom to the half collet 1504 to loosen and clamp the EMD 1502. There are various ways to lock half of the collet 1504. The term "lock" refers to maintaining a component stationary and fixed relative to the patient. If a component is stationary relative to the hospital bed track, 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 means for mechanical interference to prevent rotation.

[0394] In one embodiment, the EMD 1502 is loosened and after the EMD is loosened, various components move to their home positions to allow removal of the EMD from the device through the aligned slots.

[0395] Reference Figure 21A , the "collet drive system" 1600 capable of rotating, translating, and clamping the EMD 1602 includes a device driver 1604, an EMD support 1606, and a y - connector assembly 1608. The device driver 1604 includes a housing 1610 and a drive module 1612.

[0396] The drive module 1612 translates longitudinally relative to a fixed lead screw 1614 (shown as reference numeral 76 in Figure 3 and is driven by an actuator 1616 (shown as a translation motor 64 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.

[0397] Reference Figure 21A , the collet drive system 1600 is connected to the overall robotic system 24. In particular, the connection of the lead screw 1614, the actuator 1616, and the drive module 1612 to the overall robotic system is shown.

[0398] In one embodiment, the translation of the drive module 1612 is implemented as described for the drive module in Figure 20A (note that in Figure 21A , Figure 21B , Figure 21C and Figure 21D , some components for connecting the drive module 1612 to the actuation system for translation are not shown.).

[0399] Reference Figure 21A , Figure 21B , Figure 21C and Figure 21D, the collet drive system 1600 is capable of clamping and releasing 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 the same as the Figure 12A cartridge 922 and includes a double - taper collet and a rotary drive for clamping and releasing the EMD 1602 and rotating the EMD 1602 within the clamped collet. In other words, the collet drive system 1600 includes a collet, such as the Figure 12D collet 964, which is capable of clamping and releasing the EMD 1602.

[0400] The EMD support 1606 is a restraint that prevents the EMD 1602 from buckling as the EMD 1602 advances distally. In one embodiment, the EMD support 1606 is a system of telescoping segments, the inner diameter of which is greater than the diameter of the EMD 1602. In one embodiment, the EMD support 1606 is a rail that allows the device to be radially loaded. In one embodiment, the EMD support 1606 is a tube. In one embodiment, the EMD support 1606 is any system that prevents the EMD 1602 from buckling or bending during advancement.

[0401] Referring to Figure 21B , Figure 21A the collet drive system 1600 is shown to have a retaining clip 1618 as part of a y - shaped connector assembly 1608. The EMD support 1606 is used between the y - shaped connector assembly 1608 and the cartridge 1610. The retaining clip 1618 is a safety mechanism so that the EMD 1602 does not move during reset. In one embodiment, the retaining clip 1618 includes two opposing blocks that can be in a clamped state that restricts the position of the EMD 1602 relative to the y - shaped connector assembly 1608, or in a disengaged state that does not restrict the position of the EMD 1602, meaning it is free to move. In one embodiment, the retaining clip 1618 includes two opposing pads that can be in a clamped state or a disengaged state. An actuation system for engaging (clamping) and disengaging (un - engaging) the retaining clip 1618 is not shown.

[0402] Referring to Figure 21C , Figure 21AThe collet drive system 1600 is shown as having a first tire 1620 and a second tire 1622 that are opposed to each other and pressed together to grip the EMD 1602. The first tire 1620 and the second tire 1622 are located proximal to the cartridge 1610. The EMD support 1606 is used between the Y-shaped connector assembly 1608 and the cartridge 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 would allow the EMD 1602 to translate at a higher speed than can be achieved using a lead screw drive. Using the first tire 1620 and the second tire 1622 provides for rapid traversing of the EMD 1602 as well as an unlimited stroke. In one embodiment, the translation speed of the device driver 1604 is synchronized with the rotational speed of the first tire 1620 and the second tire 1622 such that the EMD 1602 does not move. Using Figure 21C A method for resetting the collet drive system includes gripping the EMD 1602 between the tires 1620 and 1622. The collet 964 is then loosened, thereby releasing the EMD 1602 that is fixed 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 the 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 travel. In one embodiment, the reset occurs when the drive module can no longer move in the distal direction while translating the EMD 1602 in the distal direction. To reset the drive module to continue driving the EMD 1602 in the distal direction, the drive module 1612 moves in the proximal direction to the reset position. During the translation reset to continue distal driving, the first direction described above is the proximal direction. As the drive module 1612 moves proximally to maintain the EMD 1602 stationary relative to the patient, the tires 1620 and 1622 rotate in a manner that maintains the EMD 1602 to compensate for the proximal movement of the drive module 1612.

[0403] Reference Figure 21D , Figure 21A The collet drive system 1600 is shown as having a third tire 1624 and a fourth tire 1626 that are opposed to each other and pressed together to grip the EMD 1602. The third tire 1624 and the fourth tire 1626 are located proximal to the Y-shaped connector assembly 1608 and distal to the EMD support 1606. The EMD support 1606 is used between the Y-shaped connector assembly 1608 and the cartridge 1610. The third tire 1624 and the fourth tire 1626 replace Figure 21BRetention clip 1618. An actuation system for causing the third tire 1624 and the fourth tire 1626 to move towards and away from each other is not shown.

[0404] Collet: Multiple collet designs that can be used in the robot system are provided herein. Refer to Figure 9A , the collet 800 releasably engages an EMD (not shown). The collet 800 includes an inner member 802 that is movably positioned within a receiving sleeve of an outer member 804 having a tapered cavity 816 in a distal or proximal direction. 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 not parallel, such as v-shaped walls having a vertex towards the radial center. In one embodiment, a chamfer is introduced at the outer surface of the slit 805. In one embodiment, there is no chamfer at the outer surface of the slit 805.

[0405] Refer to Figure 9B , the inner member 802 includes a first section 806 having a generally constant radius and a second tapered section 808 that extends from the first section 806 in a frustoconical manner such that the diameter of the second section continuously decreases from the region adjacent to the first section to the distal free end 810 of the second section 808, where the distal free end 810 of the second section 808 is away from the region of the second section adjacent to the first section 806. In one embodiment, the length of the first section 806 and the length of the second section 808 are the same. In one embodiment, the length of the first section 806 is greater than the length of the second section 808. In one embodiment, the length of the first section 806 is less than the length of the second section 808.

[0406] The first section 806 has a longitudinal slit 812 that extends from the outer surface of the first section and terminates at the radial center of the inner member 802. The second tapered section 808 has a longitudinal slit 814 that extends from a portion of the outer surface of the second section that is collinear with the slit 812 in the first section 808 through the entire second section 808 to a portion of the outer surface of the second section 180 degrees from the first outer surface region. The second slit 814 defines a first plane and a second plane that is angled with respect to the first plane. In one embodiment, the walls of the slit 812 are parallel and the walls of the slit 814 are not parallel. In one embodiment, the walls of the slit 812 and the slit 814 are parallel. In one embodiment, the walls of the slit 812 and the slit 814 are not parallel.

[0407] Refer to Figure 9B , in Figure 9D and Figure 9FTwo cross-sections are shown. 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.

[0408] Reference Figure 9C , the first section 806 and the second section 808 are connected along a connecting portion at the lower part of the inner member 802 at the seam line 807.

[0409] Reference Figure 9A , the movement of the inner member 802 from the first end 823 of the outer member cavity towards the tapered end 825 of the outer member cavity causes the two sections 818 and 820 to move towards each other to clamp the EMD (not shown). Similarly, the movement of the inner member 802 in the direction from the second tapered end 825 of the outer member 804 towards the first open end 823 of the outer member causes the two sections 818 and 820 to move away from each other and thus pivot about a line passing through the seam 807.

[0410] Reference Figure 9D , in one embodiment, contact 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 between the inner member 802 and the outer member 804. In one embodiment, this contact is limited to a longitudinal distance of 1 to 5 millimeters. In one embodiment, this contact is a longitudinal distance greater than 5 millimeters.

[0411] Reference 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.

[0412] 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 section or portion 808 towards each other, thereby causing the two facing surfaces 819 and 821 of the portions 818 and 820 to move towards each other respectively to clamp the EMD. As the inner member 802 moves distally into the inner member 804, compressive forces (which occur between the inner circumferential surface of the tapered cavity 816 and the outer circumferential surface of the distal end of the inner second section 808) generated by the contact between the inner member 802 and the outer member 804 act on the two sections of the second section 808 of the inner member. These forces overcome the inherent compliance of the two sections of the second section 808 of the inner member, thereby causing the two facing surfaces 819 and 821 of the portions 818 and 820 to move towards each other respectively to the loaded configuration.

[0413] In one embodiment, in the loading 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 slots 814 of the tapered second section 808 of the inner member.

[0414] An external driving force needs to be applied by an operator or a robotic system (not shown) in the distal direction to move the inner member 802 into the outer member 804. 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, by using a rotational input to rotate one of the inner member 802 and the outer member 804, the rotational input engages a screw member so that the inner member 802 linearly translates relative to the outer member 804 along the longitudinal axis of the collet, thereby the inner member moves relative to the outer member.

[0415] An increasing external driving force is needed to gradually move the inner member 802 distally into the outer member 804 to overcome the increasing compliance force (to gradually move the two facing surfaces 819 and 821 of the portions 818 and 820 towards each other respectively), and to overcome the increasing frictional force (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).

[0416] When the two facing surfaces 819 and 821 of the portions 818 and 820 clamp on the EMD such that the EMD cannot move, the loading configuration becomes a locking configuration. In the locking configuration, no external driving force is needed. The frictional force (caused by the 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 locking configuration. In other words, in the locking configuration, the inner member 802 is locked to the outer member 804 due to friction.

[0417] 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 to move away from each other respectively 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 second section 808 of the inner member restores the two facing surfaces 819 and 821 of the portions 818 and 820 to their normally open unloaded configurations respectively.

[0418] To move the inner member 802 away from the outer member 804, an external driving force must be applied by an operator or a robotic system (not shown) in the proximal direction to the inner member 802. The external driving force in the proximal direction must overcome the frictional force to hold 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.

[0419] In one embodiment, the two segments of the inner member second segment 808 are actively hinged, and the active hinge has spring properties that push the two segments away from each other when the inner member moves towards the open end of the outer member. In one embodiment, a separate spring is operative to bias the two segments apart.

[0420] In one embodiment, the outer surface of the inner member tapered second segment 808 has a smooth wall. In one embodiment, the outer surface of the inner member tapered second segment 808 has a non-smooth wall, for example, there is one or more cavities or holes on the outer surface. Compared with the design having a smooth wall, the design having a non-smooth wall allows the two segments of the inner member tapered second segment 808 to have non-uniformity and generally less inherent compliance.

[0421] In one embodiment, the inner member 802 is made of moldable plastic. In one embodiment, the inner surfaces 819 and 821 of the second segment 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.

[0422] In one embodiment, when the slots 805, 812, and 814 are aligned, the EMD is radially loaded through the outer member slot 805 and the inner member slots 812 and 814. Radial loading allows the user to place the EMD at the center of the collet without threading the free end of the EMD through the first end 823. Instead, a portion of the EMD between the first end and the second end of the EMD is directly placed at the radial center of the collet by aligning the slots 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 between the first end and the second end of the EMD is inserted through the slots 805, 812, and 814 to the radial center of the collet. The loading of the EMD described in this paragraph is herein referred to as side loading or radial loading.

[0423] Reference Figure 9A and Figure 19DThe 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, so that as the inner member moves into the cavity 816 in the direction towards the second end of the outer member 804, the two parts 818 and 820 are pushed towards each other.

[0424] Referring to 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 deviating from the central longitudinal axis of the inner member 802.

[0425] In one embodiment, the first part 818 and the second part of the second section 808 define two cantilever parts extending from the first section of the inner member. The cantilever parts 818 and 820 have a varying spring force along their respective longitudinal lengths, so that the surfaces 819 and 821 in contact with the EMD positioned therebetween conform well to the EMD to keep the pressure applied to the EMD low and spread along the surfaces 819 and 821. The spring force applied to the EMD can be varied by changing the cross-sectional thickness of the cantilever parts 818 and 820 along the longitudinal axis of the collet 800.

[0426] The collet 800 is characterized by increasing the rigidity to obtain a greater release force in the case where there are 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.

[0427] Referring to Figure 9G , the collet 826 has an inner member 828 and an outer member 804. The outer member 804 has the same geometric configuration as the outer member 804 described above and as Figure 9A shown. The operating principle of the collet 826 is similar to Figure 9A that of the collet 800.

[0428] Referring to Figure 9H and Figure 9I , the inner member 828 has a longitudinal slit 830 that extends from a region 832 on the outer surface 834 of the inner member 828 and extends through the inner member 828, thus terminating at a region 836 that is close to but does not pass through the outer surface and is approximately 180 degrees from the opening 838 of the slit 830.

[0429] Referring to Figure 9H, the longitudinal slit 830 forms two approximately semi-circular cross-sectional segments of the inner member 828, namely a first segment 840 and a second segment 842, which pivot about the region 836 where the slit 830 terminates. In one embodiment, in the unloaded configuration, i.e., in the relaxed state, the slit 830 results in facing parallel walls by segments 840 and 842. In one embodiment, in the unloaded configuration, i.e., in the relaxed state, the slit 830 results in facing non-parallel walls by segments 840 and 842, such as V-shaped walls. In one embodiment, a stress relief portion 848 is used at the region of the inner member near the bottom of the slit 830 to minimize the effect of stress concentration and thus minimize the likelihood of failure. In one embodiment, other stress relief means are used at the region of the inner member near the bottom of the slit 830.

[0430] Reference Figure 9G , the translational movement of the inner member 828 from the first end 844 of the outer member cavity towards the tapered end 846 of the outer member cavity causes the first segment 840 and the second segment 842 of the inner member 828 to move towards each other to clamp the EMD (not shown). Similarly, the translational movement of the inner member 828 in the direction from the second tapered end 846 of the outer member 804 towards the first open end 844 of the outer member causes the first segment 840 and the second segment 842 of the inner member 828 to move away from each other and thus pivot about the line passing through the longitudinal slit 838 to release the EMD (not shown).

[0431] In one embodiment, the region of the inner member 836 near the bottom of the slit 830 is a living hinge having spring properties that push the two segments away from each other when the inner member moves towards the open end of the outer member. In one embodiment, a separate spring is operative to bias the two segments 838 and 840 apart.

[0432] (Due to the 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 segment 834), the frictional force 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.

[0433] Compared with the collet of Figure F2A, based on the dimensions and angles of the longitudinal slit 830 forming the two segments (the first segment 840 and the second segment 842) of the inner member 828, the collet accommodates a larger diameter range of the EMD.

[0434] Reference Figure 10A And Figure 10B, the collet 852 has an inner member 854, two internal components including a follower pad 856 and follower fingers 858, and an outer member 860. The outer member 860 has a prismatic internal cavity 862 that receives the internal components 856 and 858 oriented by the internal cavity 864 of the inner member 854. The outer member 860 includes a circumferential retaining channel 863 on its inner surface toward its proximal end. The inner member 854 includes a key 859 on its outer surface sized to fit within the channel 863. In one embodiment, the follower pad 856 and the follower fingers 858 are separate pieces. In one embodiment, the follower pad 856 and the follower fingers 858 are integrally connected into a single piece. In one embodiment, the follower pad 856 and the follower fingers 858 are made of the same material. In one embodiment, the follower pad 856 and the follower fingers 858 are made of different materials. For example, in one embodiment, the follower pad 856 is made of an elastomeric material and the follower fingers 858 are 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.

[0435] The inner member 854 has a longitudinal slit 855 along its entire length that extends from the outer surface of the inner member and terminates at its radial center. The outer member 860 has a longitudinal slit 861 along its entire length that extends from the outer surface of the outer member and terminates at its radial center. In one embodiment, the slits 855 and 861 have parallel walls. In one embodiment, the slits 855 and 861 have non-parallel walls, such as V-shaped walls with their vertices toward the radial center. In one embodiment, the slits 855 and 861 have an entrance chamfer at their outer surfaces. In one embodiment, the slits 855 and 861 do not have a chamfer at their outer surfaces.

[0436] Reference Figure 10C.1 and Figure 10D.1 , diametrical cross-sections of the assembled collet 852 in the released (open) and clamped (closed) configurations are shown to have configurations that depend on the relative angular orientation of the inner member 854 relative to the outer member 860 about the longitudinal axis. Reference 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 such that the EMD 867 is not clamped. (In Figure 10C.1EMD 867 is not shown in [].) In the default release configuration, due to the dimensional geometry of the internal cam 865 of the inner member 854, there is a gap 866 such that there is no contact between the internal cam surface 865 and the follower finger 858. Refer to Figure 10D.2 , since the internal 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, so as to clamp the EMD 867. (In Figure 10D.1 EMD 867 is not shown in [].) In the clamping configuration, the collet 852 is held in the locked state. In one embodiment, the inner surface 857 of the inner member 854 that receives the follower pad 856 when the EMD 867 is trapped in the clamping configuration is flat. In one embodiment, the inner surface 857 of the inner member 854 that receives the follower pad 856 when the EMD 867 is trapped in the clamping 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 one material. For example, in one embodiment, the inner member 854 is made of moldable plastic. In one embodiment, the inner member 854 is made of more than one material. For example, in one embodiment, the inner 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.

[0437] Changing from the release to the clamping configuration or from the clamping to the release configuration requires the user or the drive system to apply a relative angular movement 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 the change from the release to the clamping 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 the change from the release to the clamping configuration. In one embodiment, a rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis by any value less than 360 degrees corresponds to the change from the release to the clamping configuration.

[0438] In one embodiment, the internal cam 865 is designed to achieve clamping when the outer member 860 rotates clockwise relative to the inner member 854 about the longitudinal axis. In one embodiment, the cam is designed to achieve clamping when the outer member 860 rotates counterclockwise relative to the inner member 854 about the longitudinal axis.

[0439] In one embodiment, the internal cam 865 achieves clamping at a single position where the inner member 854 rotates relative to the outer member 860 about the longitudinal axis. In one embodiment, the cam achieves clamping at two or more positions where the inner member 854 rotates relative to the outer member 860 about the longitudinal axis.

[0440] In one embodiment, the internal cam 865 is designed to have a dwell such that relative rotation between the inner member 854 and the outer member 860 does not cause a change in state, i.e., if the collet system 852 is in the clamped configuration it remains in the clamped configuration or if the collet system 852 is in the unclamped configuration it remains in the unclamped configuration. The dwell is achieved by the radial dimension of the profile of the internal cam 865 not changing over a certain range of relative rotation between the inner member 854 and the outer member 860. In one embodiment, in the clamped configuration, the dwell accommodates errors that may occur in the displacement command of the motor that rotationally drives the inner member 854 and the outer member 860, thereby providing some tolerance for errors while the EMD 867 remains clamped.

[0441] In one embodiment, the cam 865 is designed such that a 90-degree 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 a rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis of less than 90 degrees maintains the EMD in the clamped configuration. In one embodiment, the cam is designed such that a rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis of greater than 90 degrees maintains the EMD in the clamped configuration.

[0442] In one embodiment, the cam 865 is designed such that a 90-degree rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis maintains the EMD in the unclamped configuration. In one embodiment, the cam is designed such that a rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis of less than 90 degrees maintains the EMD in the unclamped configuration. In one embodiment, the cam is designed such that a rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis of greater than 90 degrees maintains the EMD in the unclamped configuration.

[0443] In the assembled collet 852, the key 859 of the inner member 854 is held in the channel 863 of the outer member 860, thereby 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 outer member 860. The key 859 captured in the channel 863 ensures alignment of the inner member 854 and the outer member 860 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 the clamped or unclamped configurations.

[0444] In the initial configuration, the slit 855 in the inner member 854 of the collet 852 is aligned with the slit 861 in the outer member 860 to allow lateral or radial loading of the EMD as described herein.

[0445] Reference Figure 11A, the collet 868 has an inner member 870, two internal components consisting of a flexure member 872 and a collar 874, and an outer member 876.

[0446] The inner member 870 has a longitudinal slit 871 along its entire length, which extends from the outer surface of the inner member and terminates at its radial center. The outer member 876 has a longitudinal slit 877 along its entire length, which extends from the outer surface of the outer member and terminates at its radial center. In one embodiment, the slits 871 and 877 have parallel walls. In one embodiment, the slits 871 and 877 have non-parallel walls, such as V-shaped walls with their vertices facing the radial center. In one embodiment, the slits 871 and 877 have an entry chamfer at their outer surfaces. In one embodiment, the slits 871 and 877 do not have a chamfer at their outer surfaces.

[0447] Reference Figure 11B , the collet 868 is shown in a fully assembled configuration where the slit 871 of the inner member 870 and the slit 877 of the outer member 876 are aligned for side or radial loading of the EMD 878.

[0448] Reference Figure 11C , the inner member 870 is a single integral member composed of four parts and has a longitudinal slit 871 from its outer surface to its radial center. Starting from the nearest side, the first part 882 is a cylindrical section with an internal lumen at its radial center. Distal to the first part 882, the second part 884 is a cylindrical section with an internal cylindrical cavity. Distal to the second part 884, the third part 886 is a cylindrical section with an external thread 890 and an internal cylindrical cavity. Distal to the third part 886, the fourth part 888 is an extension extending from the third part 886. In one embodiment, the outer diameter of the second part 884 is greater than the outer diameter of the first part 882. In one embodiment, the outer diameter of the second part 884 is the same as the outer diameter of the first part 882. In one embodiment, the outer diameter of the second part 884 is less than the outer diameter of the first part 882. In one embodiment, the fourth part 888 is a prismatic extension with a rectangular cross-section perpendicular to the longitudinal axis. In one embodiment, the fourth part 888 is a prismatic extension with a non-rectangular cross-section perpendicular to the longitudinal axis. In one embodiment, the fourth part 888 is a non-prismatic extension with a non-rectangular cross-section perpendicular to the longitudinal axis.

[0449] The outer member 876 is a single integral member consisting of two parts and has a longitudinal slit 877 from its outer surface to its radial center. Starting from the nearest side, the first part 896 is a cylindrical cup-shaped section and has internal threads 892 at its proximal part and an internal cylindrical cavity at its distal part. The internal threads 892 engage the external threads 890 of the inner member 870. The cylindrical cavity at the distal part of the first part 896 receives the collar 874. The second part 898 of the outer member 876 is a cylindrical section having an internal lumen at its radial center.

[0450] Reference Figure 11C 、 Figure 11D and Figure 11E , the collar 874 is a cylindrical component and includes a distal part having a closed end, a proximal part having 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 to the outer circular surface perpendicular to the longitudinal axis and 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 an internal cavity. In one embodiment, the internal cavity of the collar 874 is centered with respect to the central longitudinal axis of its outer diameter plane. In one embodiment, the internal cavity of the collar 874 is not centered with respect 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 internal cavity of the collar 874 has corner pockets or wells for receiving the distal end of the flexure 872.

[0451] The collar 874 has a longitudinal slit 894 passing through the circumferential wall of the collar and a radial slit to its center. In one embodiment, the slit 894 has parallel walls. In one embodiment, the slit 894 has non-parallel walls, such as V-shaped walls having their vertex towards the radial center. In one embodiment, the slit 894 has an entrance chamfer at the outer surface. In one embodiment, the slit 894 does not have a chamfer at the outer surface.

[0452] In one embodiment, the collar 874 is placed in the distal portion of the internal cavity of the outer member 876 by the extension 888 of the inner member 870. The extension 888 serves as a mechanical key to ensure that the collar 874 rotates with the inner member 870 so that the ends of the flexure 872 can be longitudinally squeezed together and not exposed to relative rotation or torque. In other words, the ends of the flexure 872 can translate relative to each other but not rotate relative to each other. The extension 888 is rotationally constrained by the aperture 875 in the collar 874 that serves as a keyway and freely translates longitudinally as the inner member 870 rotates relative to the outer member 868.

[0453] Reference Figure 11A and Figure 11C , in one embodiment, the proximal portion of the internal cavity of the inner member 870 has angular apertures or wells to receive the proximal ends of the flexures 872. The flexures 872 are rectangular prisms and their length along the axial direction is greater than their width or height in a plane perpendicular to the axial direction. In one embodiment, the flexures 872 are rectangular prisms and their width and height in a plane perpendicular to the axial direction are the same, meaning that the flexures 872 have a square cross-section. In one embodiment, the flexures 872 are rectangular prisms and their width is greater than their height in a plane perpendicular to the axial direction, meaning that the flexures 872 have a rectangular cross-section that is wider than their height. In one embodiment, the flexures 872 are rectangular prisms and their width is less than their height in a plane perpendicular to the axial direction, meaning that the flexures 872 have a rectangular cross-section that is taller than their width. In one embodiment, the flexures 872 are rectangular prisms with sharp edges. In one embodiment, the flexures 872 are rectangular prisms with rounded edges. In one embodiment, the flexures 872 are approximately rectangular prisms. In one embodiment, the flexures 872 are made of a compliant material such as a molding compound or acrylic. The flexures 872 have elastic bending properties that depend on their geometric configuration (length, width, and height) and their material properties (primarily their modulus of elasticity).

[0454] In operation, clamping of 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 the external threads 892 and the internal threads 892 together. Accordingly, the flexure portion 872 can be made to flex or bend (such that it has a smaller radius of curvature), and the outer surface 873 of the flexure portion 872 (at or near the longitudinal center of the flexure portion) 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 portion 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 portion 872 decreases, the flexure or bend of the flexure portion increases, such that the flexure portion has a smaller radius of curvature and a greater lateral distance, which is defined as the distance perpendicular to the longitudinal axis at the longitudinal center of the flexure portion between the outer surface 873 of the non-flexed flexure portion 872 and the outer surface 873 of the flexed flexure portion 872. Because the lateral distance is constrained by the internal cavity, the EMD 878 is trapped between the outer surface 873 of the flexure portion 872 and the inner surface 880 of the inner member 870.

[0455] In operation, loosening of 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 unscrew the external threads 892 and the internal threads 892. Accordingly, the flexure portion 872 can be made to be non-flexed or non-bent (such that it has a larger radius of curvature), and the outer surface 873 of the flexure portion 872 allows the EMD 878 to be released from the inner surface 880 of the inner member 870. The longitudinal distance between the two ends of the flexure portion 872 is determined by rotating the inner member 870 relative to the outer member 876 and can be used to vary the amount of bend. As the longitudinal distance between the ends of the flexure portion 872 increases, the flexure or bend of the flexure portion decreases, such that the flexure portion has a larger radius of curvature and a smaller lateral distance, which is defined as the distance perpendicular to the longitudinal axis at the longitudinal center of the flexure portion between the outer surface 873 of the non-flexed flexure portion 872 and the outer surface 873 of the flexed flexure portion 872. In the loosened configuration, the lateral distance between the outer surface 873 of the flexure portion 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.

[0456] In one embodiment, the inner surface 880 of the inner member 870 that receives the flexure 872 in the clamping configuration for trapping the EMD 878 is concave, e.g., having a profile similar to the profile of the outer surface 873 of the flexed flexure 872. This will increase the surface area contacting the EMD 878 and be able to increase the drag torque on the EMD 878 by moving it away from the central axis of rotation. In one embodiment, the inner surface 880 of the inner member 870 that receives the flexure 872 in the clamping configuration for trapping the EMD 878 is flat.

[0457] In one embodiment, the inner member 870 is made of one material, e.g., made of a moldable plastic. In one embodiment, the inner member 870 is made of more than one material. For example, in one embodiment, the inner surface 880 of the inner member 870 that receives the flexure 872 in the clamping configuration for trapping the EMD 878 has an elastomeric lining or coating on the moldable plastic inner member 870.

[0458] In one embodiment, the flexure 872 is made of one material, e.g., made of 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 the inner portion of the moldable plastic.

[0459] 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 clamp and release the EMD 878 based on the relative rotation of the inner member 870 and the outer member 876 using the principles described herein.

[0460] In the initial configuration, the slit 871 in the inner member 870 of the collet 868 is aligned with the slit 877 in the outer member 876 to allow lateral or radial loading of the EMD as described herein.

[0461] Reference Figure 15A, a flexible bellows collet drive system 1150 capable of rotating, translating, and clamping an EMD 1154 includes a device retainer 1152, a drive block group 1156, and a retaining block group 1158. The device retainer 1152 is a device support including a longitudinal section of a flexible bellows 1160 located between the drive block group 1156 and the retaining block group 1158. The flexible bellows 1160 is a device support that allows translational movement between the drive block group 1156 and the retaining block group 1158. In one embodiment, the drive block group 1156 is located distal to the flexible bellows 1160, and the retaining block group 1158 is located proximal to the flexible bellows 1160. In one embodiment, the drive block group 1156 is located proximal to the flexible bellows 1160, and the retaining block group 1158 is located distal to 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 a distal constant section 1164 and a proximal constant section 1166 without a distal tapered section 1162 and a proximal tapered section 1168.

[0462] Reference Figure 15A , the flexible bellows collet drive system 1150 includes a translational drive system (not shown) that can longitudinally translate (advance and retract) the drive block group 1156 relative to the retaining block group 1158.

[0463] Reference Figure 15B , the drive block group 1156 is shown in an open configuration where 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 a first drive block assembly 1170 and no second drive block assembly 1172. In one embodiment, the design of the first block assembly 1170 is the same as the design of the second drive block assembly 1172. In one embodiment, the design of the first block assembly 1170 is different from the design of the second drive block assembly 1172.

[0464] 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 held 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 rotary 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 by rotary bearings mounted in the outer wall of the first drive block retainer 1178. In one embodiment, the first drive block retainer 1178 includes a first drive block cutout 1180 that exposes a section of the first spur gear teeth 1182 of the first spur gear 1174. In one embodiment, the first drive block cutout 1180 has a semi-circular convex cross-section in a plane transverse to the longitudinal axis.

[0465] 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 held 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 rotary 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 by rotary bearings mounted in the outer wall of the second drive block retainer 1188. In one embodiment, the second drive block retainer 1188 includes a second drive block cutout 1190 that exposes a section of the second spur gear teeth 1192 of the second spur gear 1184. In one embodiment, the second drive block cutout 1190 has a semi-circular convex cross-section in a plane transverse to the longitudinal axis.

[0466] The first spur gear 1174 is driven by a first spur gear drive system (not shown) that is capable of rotating the first spur gear 1174 in a clockwise direction or in a 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) that is capable of rotating the second spur gear 1184 in a clockwise direction or in a 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 translational-rotational 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 assembly 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 translational-rotational 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 assembly 1156.

[0467] Reference Figure 15B , the device retainer 1152 includes a gear drive section 1194, which is a longitudinal section having external spur gear teeth that are oriented along the longitudinal axis of the device retainer 1152 and sized to mesh with the teeth of the first spur gear 1174 and the teeth of the second spur gear 1184. The gear drive section 1194 is located proximal to the distal constant section 1164 and distal to the flexible bellows 1160. The length of the gear drive 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 gear drive 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 gear drive section 1194 is less than ten times the width of the first spur gear 1174 or less than ten times the width of the second spur gear 1184. In one embodiment, the length of the gear drive section 1194 is greater than ten times the width of the first spur gear 1174 or greater than ten times the width of the second spur gear 1184. In one embodiment, the spur gear teeth of the gear drive section 1194 are molded into the section of the device retainer 1152.

[0468] 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 distal to the gear drive section 1194 and proximal to the distal constant section 1164. The proximal drive collar 1198 is located proximal to the gear drive 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 that is located distal to the flexible bellows 1160 and proximal to the proximal drive collar 1198.

[0469] Reference Figure 15B and Figure 15D , in the open configuration of the device retainer 1152, there is an opening 1202 to the central passage 1204 of the EMD 1154. In one embodiment, the cross-section of the opening 1202 is a sector removed from the circular cross-section of the device retainer 1152, which exposes a first face 1206 and a second face 1208. In one embodiment, the cross-section of the central passage 1204 is an open circular cavity in which the EMD 1154 can be placed or held. In one embodiment, the center of the central passage 1204 is aligned with the center of the device retainer 1152.

[0470] Reference Figure 15C, the drive block group 1156 is shown in a closed configuration, in which both the first drive block assembly 1170 and the second drive block assembly 1172 move towards 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 drive block retainer 1178 and a portion of the outer distal wall of the second drive block retainer 1188 contact or are in close proximity to contact the distal drive collar 1196, thereby preventing the first drive block assembly 1170 and the second drive block assembly 1172 from moving distally 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 are in close proximity to contact the proximal drive collar 1198, thereby preventing the first drive block assembly 1170 and the second drive block assembly 1172 from moving proximally relative to the device retainer 1152. Thus, in the closed configuration, the drive block group 1156 constrained by the distal drive collar 1196 and the proximal drive collar 1198 functions as a thrust bearing, thereby allowing rotational movement of the device retainer 1152 and preventing translational movement of the device retainer 1152 relative to the drive block group 1156. In other words, if the drive block group 1156 does not have translational movement, then the device retainer 1152 does not have translational movement. If the drive block group 1156 has translational movement (such as advancing and retracting along the longitudinal direction), then the device retainer 1152 has the same corresponding translational movement.

[0471] Reference Figure 15C and Figure 15E , 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 the EMD 1154 and clamps around the EMD 1154. Thus, in the closed configuration, the EMD 1154 is pressed by the wall of the central cavity 1204 of the device retainer 1152 and cannot move relative to the device retainer 1152. In other words, if the device retainer 1152 does not have translational movement, then the EMD 1154 does not have translational movement. If the device retainer 1152 has translational movement (such as advancing and retracting along the longitudinal direction), then the EMD 1154 has the same corresponding translational movement. Therefore, if the drive block group 1156 does not have translational movement, then the EMD 1154 does not have translational movement. If the drive block group 1156 has translational movement (such as advancing and retracting along the longitudinal direction), then the EMD 1154 has the same corresponding translational movement.

[0472] The drive block group 1156 includes a drive block opening and closing actuation system (not shown) that moves the first drive block assembly 1170 and the second drive block assembly 1172 toward and away from the device retainer 1152 in a direction transverse to the longitudinal axis. Refer to 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. Refer to 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 to 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 separately positions the first drive block assembly 1170 and the second drive block assembly 1172 in the open configuration or the closed configuration.

[0473] Refer to Figure 15F , the retainer block group 1158 is shown in the open configuration, where there is no contact between the first retainer block 1212 and the device retainer 1152 and no contact between the second retainer block 1214 and the device retainer 1152. In one embodiment, the retainer block group 1158 includes the first retainer block 1212 and the second retainer block 1214. In one embodiment, the retainer block group 1158 includes the first retainer block 1212 and does not include the second retainer block 1214. In one embodiment, the design of the first retainer block 1212 is the same as the design of the second retainer block 1214. In one embodiment, the design of the first retainer block 1212 is different from the design of the second retainer block 1214.

[0474] In one embodiment, the first retainer block 1212 includes a first retainer block notch 1216, and the second retainer block 1214 includes a second retainer block notch 1218. In one embodiment, both the first retainer block notch 1216 and the second retainer block 1214 have a semi-circular convex cross-section in a plane transverse to the longitudinal axis.

[0475] In one embodiment, the device retainer 1152 includes a distal retaining collar 1220 and a proximal retaining collar 1222. The distal retaining collar 1220 is located proximal to the flexible bellows 1160 and distal to the constant retaining section 1224, which is a longitudinal section of the device retainer 1152 having a constant cross-section transverse to the longitudinal direction. The proximal retaining collar 1222 is located distal to the proximal constant section 1166 and distal to the constant retaining section 1224. The distal retaining collar 1220 and the proximal retaining collar 1222 are longitudinal sections having flanges or lips extending outward from the device retainer 1152. In one embodiment, the device retainer 1152 includes a second intermediate constant section 1226, which is located proximal to the flexible bellows 1160 and distal to the distal retaining collar 1220. The device retainer 1152 functions as an anti-buckling support, allowing the collet to have a longer stroke than the device buckling distance.

[0476] Reference Figure 15G , the retaining block group 1158 is shown in an intermediate configuration in which both the first retaining block 1212 and the second retaining block 1214 move towards 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 are in close proximity to contact the distal retaining collar 1220, thereby preventing the distal movement of the retaining block group 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 are in close proximity to contact the proximal retaining collar 1222, thereby preventing the proximal movement of the retaining block group 1158 relative to the device retainer 1152. Thus, in the intermediate configuration, the retaining block group 1158 constrained by the distal retaining collar 1220 and the proximal retaining collar 1222 functions as a thrust bearing, allowing the rotational movement of the device retainer 1152 and preventing the translational movement of the device retainer 1152 relative to the retaining block group 1158. In the intermediate configuration, the retaining block group 1158 is constrained against translational movement and the EMD 1154 is not fully clamped.

[0477] Reference Figure 15H, the retention block group 1158 is shown in a closed configuration, in which the first retention block 1212 and the second retention block 1214 both move towards each other in the direction of the central axis of the device retainer 1152. In the closed configuration, a portion of the outer distal sidewall of the first retention block 1212 and a portion of the outer distal sidewall of the second retention block 1214 contact or are in close proximity to contacting the distal retention collar 1220, thereby preventing the retention block group 1158 from moving distally relative to the device retainer 1152. In the closed configuration, a portion of the outer proximal sidewall of the first retention block 1212 and a portion of the outer proximal sidewall of the second retention block 1214 contact or are in close proximity to contacting the proximal retention collar 1222, thereby preventing the retention block group 1158 from moving proximally relative to the device retainer 1152. Thus, in the closed configuration, the retention block group 1158 constrained by the distal retention collar 1220 and the proximal retention collar 1222 functions as a thrust bearing, thereby allowing rotational movement of the device retainer 1152 and preventing translational movement of the device retainer 1152 relative to the retention block group 1158. In the closed configuration, the retention block group 1158 is constrained against translational movement and the EMD 1154 is fully clamped.

[0478] The retention block group 1158 includes a retention block actuation system (not shown) that causes the first retention block 1212 and the second retention block 1214 to move towards and away from the device retainer 1152 in a direction transverse to the longitudinal axis. Refer Figure 15F , the retention block actuation system has moved the first retention block 1212 and the second retention block 1214 to a position in an open configuration. Refer Figure 15G , the retention block actuation system has moved the first retention block 1212 and the second retention block 1214 to a position in an intermediate configuration. Refer Figure 15H , the retention block actuation system has moved the first retention block 1212 and the second retention block 1214 to a position in a closed configuration. In one embodiment, the retention block actuation system smoothly transitions the first retention block 1212 and the second retention 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 retention block actuation system discretely positions the first retention block 1212 and the second retention block 1214 in the open configuration, the intermediate configuration, or the closed configuration.

[0479] Refer 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 cylinder having a central lumen 1248 and the longitudinal axis of the cylinder and the axis of the lumen are aligned with the EMD longitudinal axis 1250. In one embodiment, the lumen 1248 has a circular cross-section in a plane transverse to the EMD longitudinal axis 1250 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 rest state, i.e., the unloaded state, the donut 1244 has an internal hole 1254 and the hole diameter is greater than the outer diameter of the EMD 1252. The receiver 1246 is a rigid container that includes a well 1256 and an internal lumen 1258 aligned with the EMD longitudinal axis 1250 and the lumen diameter is greater than the outer diameter of the EMD 1252. In one embodiment, the receiver 1246 is a rectangular prism having a well 1256 on one face and an opening having a right cylindrical shape. In one embodiment, the well 1256 has straight walls. In one embodiment, the well 1256 has tapered walls that taper into the well.

[0480] Reference 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 applies a plunger force 1260.

[0481] Reference Figure 16C , the compression collet system 1240 is shown in an unloaded configuration where the plunger 1242 is not pressed against the donut 1244 in the well 1256, i.e., no plunger force 1260 is applied to it. Thus, the donut 1244 is in its rest state and is not deformed, and the EMD 1252 is free to translate relative to the receiver 1246 (the donut has a circular cross-section in the polar plane, as Figure 16C shown.).

[0482] Reference Figure 16D , the compression collet system 1240 is shown in a loaded configuration where the plunger 1242 is pressed against the donut 1244 in the well 1256 by the plunger force 1260. Thus, 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 polar plane, as Figure 16D shown.). In the deformed state, a portion of the deformed surface wall 1262 of the donut hole 1254 clamps around the EMD 1252. Thus, the EMD 1252 cannot translate freely relative to the receiver 1246.

[0483] 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.

[0484] In one embodiment, the compression collet system 1240 includes a slit (not shown) to allow side or radial loading of the EMD 1252.

[0485] In one embodiment, the collet can include a collet first member and a collet second member that clamp and release the EMD when moving relative to each other. In one embodiment, the collet first member and the collet second member can be formed as a single piece, where the collet first member and the collet second member are compliantly connected. In a non-limiting example, the collet first member and the collet second member can be connected to a living hinge, a bellows portion of a flexible portion movable relative to each other.

[0486] Reference Figures 22A - 22X , the drive mechanism 210 is a device for actuating the tire to robotically control the movement of the EMD. In one embodiment, the drive mechanism has a pair of tires that clamp the EMD 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 tires rotate about their longitudinal axes to cause the EMD to linearly translate along its longitudinal axis, and the tires move axially in opposite directions to drive the EMD to rotate about its longitudinal axis. As discussed herein, the drive mechanism 210 includes three integrated mechanisms to rotate the tires, axially translate the tires, and clamp and release the tires. Additionally, in one embodiment, the clip mechanism operates to grip and disengage a portion of the EMD at a distance from the paired tires.

[0487] Reference Figure 22A, the robot drive system includes a drive module 210 that rotates the EMD 208 about its longitudinal axis, translates the EMD 208 along its longitudinal axis, and resets the tire assemblies during the manipulation of the EMD 208 by using at least a pair of tire assemblies 222 and 224. The drive module 210 is controlled by a control system. The drive module 210 includes a first actuator 240 that operatively rotates the first shaft 272 and / or the 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 to grip and release 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, the translation of the first shaft 272 relative to the second shaft 282 causes the EMD 208 to rotate about the longitudinal axis of the EMD, and the rotation of the first shaft 272 and / or the second shaft 282 causes the EMD 208 to translate along the longitudinal axis of the EMD. The control system provides a reset command to the third actuator 248 to release the EMD 208, to the second actuator 244 to move the first tire assembly 222 relative to the second tire assembly 224 to a reset position, and to the third actuator 248 to grip the EMD 208. In one embodiment, the reset commands are provided sequentially.

[0488] The reset position is automatically determined based on one or more of the input device command, the offset distance of the two tire assemblies, and the position of the EMD.

[0489] In one embodiment, when the second position reaches a predetermined distance from the first position, the control system provides a reset command. Refer to Figure 22V , the EMD 208 is correspondingly positioned at the first positions 370 and 373 on the first tire assembly 222 and the second tire assembly 224. In one embodiment, the first positions 370 and 371 are respectively centered between the first longitudinal ends 382, 392 and the second opposite longitudinal ends 386, 388 of the first tire assembly 222 and the second tire assembly 224. In one embodiment, when the second position reaches a predetermined distance from the first position, the control system provides a reset command.

[0490] When the operator provides an instruction via user input to cause the EMD 208 to rotate about its longitudinal axis in a first direction, the first tire assembly 222 and the second tire assembly 224 move along their longitudinal axes in opposite directions until the EMD 208 reaches a second position 372 on the first tire assembly 222 and a third position 375 on the second tire assembly 224. The controller automatically resets the first tire assembly 222 and the second tire assembly 224 along their respective longitudinal axes 242, 246 to a reset position. If the user continues to provide an instruction to cause the EMD 208 to rotate in the same first direction when the first tire assembly and the second tire assembly reach the second and third positions, respectively, or thereafter, the controller automatically sets the reset position to a third position 374 on the first tire assembly and a second position 372 on the second tire assembly. In this way, the tire assemblies 222 and 224 are in a position such that the EMD 208 can rotate in the first direction for a greater number of turns than if the reset positions were the central positions 370 and 371. In other words, the first tire assembly 222 and the second tire assembly move relative to each other between a first extended position shown in Figure 10B and a second extended position opposite the first extended position shown in FIG. 10C along their respective longitudinal axes 242 and 246. In the first extended position, an upper portion of the first tire assembly 222 is close to a lower portion of the second tire assembly 224. In the second extended position, a lower portion of the first tire assembly 222 is close to an upper portion of the second tire assembly 224.

[0491] In one embodiment, the reset position is a function of the input device instructions (including the duration of input device idleness). The controller detects the duration during which no instruction 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 an idle reset position. In one embodiment, the idle reset position is a central position where a central portion of the first tire assembly 222 is close to a central portion of the second tire assembly 224 such that a first position 370 of the first tire assembly 222 is adjacent to a first position 371 of the second tire assembly 224. However, other idle reset positions may be used.

[0492] Reference Figure 22A and Figure 22B describe the drive mechanism 210 in more detail. The drive mechanism 210 includes a base 212, an actuation assembly 214, and an EMD engagement mechanism 216. The base 212 includes reusable drive mechanism 210 components. The actuation assembly 214 is operatively fixed within a cavity defined by the base 212. A coupler mechanism 218 operatively connects the actuation assembly 214 to the EMD engagement mechanism 216. In one embodiment, the base 212 includes a top plate AA and a bottom plate BB.

[0493] The coupler mechanism 218 includes a first support member 268 and a second support member 280 that extend outwardly from the base 212 via a shaft 272 and a shaft 282, respectively. The EMD engagement mechanism 216 includes a first tire assembly 222 and a second tire assembly 224. The 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 a first tire assembly 222 and a 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 about an outer surface of the hub 226. Similarly, the second tire assembly 224 includes a hub 227 that supports a tire 229 positioned about an outer surface of the hub 227. Each of the tires 228 and 229 includes a roller having a longitudinal axis about which the tire rotates. The 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 at a midpoint between the two ends of the tire is greater than the radius of the outer center at each of the two 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, where the tire has a greater 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 pressing against the EMD are substantially parallel to each other, while the tire surfaces not pressing against the EMD are not parallel. Reference Figure 22P , the tires 228 and 229 having a conical shape compensate for deflections and clearances present in the shafts 272, 282 and the bearings (not shown but to be positioned in the bores of the first housing coupler 266 and the second housing coupler 268). In the released state, the conical tires will have parallel axes, which means 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 by which the axes deviate fr...

Claims

1. A system for driving an elongate medical device (EMD), which comprises: a fixed base having a proximal end and a distal end; a disposable cartridge designed to be releasably mounted to the fixed base, the cartridge comprising: a collet and a rotational drive system designed to clamp and release the EMD; and a reset mechanism designed to advance, retract, and hold the EMD.

2. The system according to claim 1, wherein, the collet and the rotational drive system are designed to move distally and proximally.

3. The system according to claim 1, wherein, the reset mechanism is capable of being in a closed position or an open position.

4. The system according to claim 1, wherein, the reset mechanism moves between the open and closed positions and the closed and open positions by the movement of a reset cam.

5. The system according to claim 4, wherein, the reset cam is rotatable.

6. The system according to claim 4, wherein, in the closed position, the reset mechanism clamps the EMD, preventing the EMD from moving in the longitudinal direction, and in the open position, the reset mechanism releases the EMD, allowing the EMD to move in the longitudinal direction.

7. The system according to claim 4, wherein, the reset mechanism includes a reset cam outer surface and a holding cam outer surface, wherein, in the closed position, the reset cam outer surface and the holding cam outer surface are in contact, and wherein, in the open position, there is a gap between the reset cam outer surface and the holding cam outer surface.

8. The system according to claim 7, wherein, the reset cam outer surface is curved.

9. The system according to claim 8, wherein, when the collet and the rotational drive system clamp the EMD, the reset cam is in the open position and the cross slider is in the proximal position relative to the reset mechanism frame.

10. The system according to claim 8, wherein, when the collet and the rotational drive system release the EMD, the reset cam is in the closed position and the cross slider is in the distal position relative to the reset mechanism frame.

11. The system according to claim 8, wherein, when the collet and the rotational drive system release the EMD, the reset cam is in the closed position and the cross slider translates proximally relative to the reset mechanism frame, wherein the collet and the rotational drive system 1024 advance proximally and the system resets and is capable of restarting.

12. A disposable cartridge designed to be releasably mounted to a fixed base of a robotic drive system for driving at least one elongate medical device (EMD), the cartridge comprises: a collet and a rotational drive system, which are designed to move distally and proximally and clamp and release the EMD; and a reset mechanism, which is designed to advance, retract, and hold the EMD, and includes a reset mechanism frame and a reset cam, which is designed to be in an open or closed position.

13. The cartridge according to claim 12, wherein, The collet and the rotary drive system are located distally, and the reset mechanism is located proximally.

14. The cartridge according to claim 12, wherein, the reset mechanism includes a cross slider that is designed to move proximally and distally.

15. The cartridge according to claim 12, wherein, when the collet and the rotary drive system clamp the EMD, the reset cam is in the open position.

16. The cartridge according to claim 12, wherein, when the collet and the rotary drive system clamp the EMD, the reset cam is in the open position, and the cross slider translates distally from the proximal position relative to the reset mechanism frame.

17. The cartridge according to claim 16, wherein, the collet and the rotary drive system advance distally.

18. The cartridge according to claim 17, wherein, when the collet and the rotary drive system release the EMD, the reset cam is in the closed position.

19. The cartridge according to claim 16, wherein, the cross slider is in its farthest distal position relative to the reset mechanism frame, and the collet and the rotary drive system release the EMD.

20. The cartridge according to claim 16, wherein, when the collet and the rotary drive system release from the EMD, the reset cam is in the closed position, and the cross slider translates proximally relative to the reset mechanism frame, and wherein the collet and the rotary drive system advance proximally and the system resets and is capable of restarting.

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