Device for controlling an intravascular system

Abstract

A human control unit for manipulating a remote elongate medical component, the human control unit comprising: a control unit comprising a transmitter and a receiver; a local elongated member configured to be manipulated by a user of the human control unit; a clamping unit configured to clamp the partially elongated member; and a device configured to enable and disable the transmitter.

Description

Technical Field

[0001] The present invention generally relates to a device for controlling the movement of an elongate member within a vascular system, the device including a first module and a second module, a movement unit, a clamping unit, a rotation unit, and multiple operating modes. In addition, the present invention generally relates to a system for controlling multiple elongate members, a system for controlling a single elongate member, and a manual control unit for manipulating a remote elongate medical member (which refers to a control unit that can be controlled by a person). Background Art

[0002] Endovascular specialists (such as (endovascular) surgeons, (interventional) cardiologists, (interventional) radiologists, etc.) train, practice, and enhance their intuitive skills in handling surgical tools. They also develop the mental imagery to evolve their skills by correlating the actions of the physician and the responses of the surgical tools within the human anatomy. Endovascular surgeons are typically guided by two senses: visual feedback from imaging devices and reaction force feedback via the tools. The surgeon's perception-action-visualization ability is tuned to the level where surgical decisions can be made even without observing the gestures.

[0003] Currently, existing robotic systems only focus on imaging feedback but ignore another source of information: tactile feedback from the surgical tools. Compared with the control of surgical instruments, the control of instruments using a joystick and a PC interface is more similar to a video game controller and provides less feedback information for the vascular surgeon to manually perform the surgery.

[0004] The inventors have recognized that existing vascular robotic systems are controlled via a computer interface, which is contrary to what vascular surgeons are trained to do using, for example, guidewires and catheters.

[0005] Therefore, there is a need to improve vascular (endovascular) robotic systems. Summary of the Invention

[0006] The present invention is set forth in the independent claims. Preferred embodiments of the present invention are set forth in the dependent claims.

[0007] According to a first aspect, we describe a medical device for controlling the movement of a first elongate medical member, the device comprising: a first module and a second module, wherein each of the first module and the second module includes a respective corresponding opening for the first elongate medical member to pass through the first module and the second module respectively; a moving unit configured to move at least one of the first module and the second module in a first direction and a second direction, wherein the first direction is opposite to the second direction; wherein at least one of the first module and the second module includes a first clamping unit configured to clamp the first elongate medical member passing through the opening of the respective module; wherein at least one of the first module and the second module includes a rotating unit configured to rotate the first elongate medical member passing through the opening of the respective module about the longitudinal axis of the first elongate medical member; wherein the device is configured to operate in a plurality of different operating modes, the plurality of different operating modes including: a) a first operating mode, the first operating mode including: clamping the first elongate medical member by the first clamping unit of at least one of the first module and the second module, and the moving unit moving at least one of the first module and the second module including the first clamping unit in the first direction; b) a second operating mode, the second operating mode including: clamping the first elongate medical member by the first clamping unit of at least one of the first module and the second module, and the moving unit moving at least one of the first module and the second module including the first clamping unit in the second direction; c) a third operating mode, the third operating mode including: clamping the first elongate medical member by the first clamping unit of at least one of the first module and the second module, and the rotating unit rotating the first elongate medical member about the longitudinal axis of the first elongate medical member; and d) a fourth operating mode, the fourth operating mode including: performing the first operating mode or the second operating mode simultaneously with the third operating mode.

[0008] As long as the device includes the above features, the device can have any suitable design and / or shape. This can enable the device to be modified to adapt to the situation and / or environment in which the device is located.

[0009] The first module and the second module can also have any suitable design and / or shape that enables the device to control the movement of the first elongate medical member. For example, the first module and / or the second module can be cubic, cylindrical, conical, prismatic or have any other suitable customized shape. The first module and the second module can have a design and / or shape different from that of the other module. This can enable the device to be modified to adapt to the situation and / or environment in which the device is located.

[0010] The first direction and the second direction can be directions relative to at least one module. For example, the first direction and the second direction can be related to the longitudinal axis or the axial axis of at least one module. In some examples, the first direction and the second direction can be related to the longitudinal axis or the axial axis of the first elongated medical member. If both the first module and the second module include a moving unit, the first module and the second module can move in the same first direction and second direction, or alternatively, the first module and the second module can move in different first directions and second directions. For example, the first module can move relative to the axial axis of the first module, while the second module can move relative to the longitudinal axis of the first elongated medical member. This can enable the manipulation of the elongated member in a desired manner. In some examples, the moving unit is included in the first module and / or the second module.

[0011] The opening can have any suitable cross-section and diameter such that the first elongated medical member can pass through the first module and the second module. For example, the opening can be circular, quadrilateral, triangular, or have other customized shapes. In some examples, the cross-section of the opening is the same throughout the first module and / or the second module. In some examples, the diameter of the opening can increase or decrease as the opening passes through the first module and / or the second module. In some examples, the cross-section of the opening can change as the opening passes through the first module and / or the second module. For example, the opening can be circular on one side of the first module and / or the second module, and the cross-section of the opening can change such that the opening is quadrilateral on the second side of the first module and / or the second module, where the first side is opposite to the second side. In some examples, the second side is not opposite to the first side. This can enable the holding of the elongated member in a sufficient manner such that the elongated member does not slip out / fall out of the opening.

[0012] The clamping unit will be described in more detail below. In particular, in addition to the description of the clamping unit below, the clamping unit can be configured to clamp the first elongated medical member by reducing the size of the opening of the module including the first clamping unit. In some examples, only the size of a part of the opening is reduced.

[0013] Preferably, the rotating unit is directly or indirectly coupled to the first elongated medical member, and the rotating unit is configured to rotate the first elongated medical member passing through the opening of the first module and / or the second module. The rotating unit can include a set of gears and / or synchronous pulleys and belts, a set of gears and / or synchronous pulleys and belts being coupled to a motor and / or a bearing and / or a shaft and / or any other suitable component that can be configured to rotate the first elongated medical member. This can enable the elongated member to rotate in small increments, similar to the manipulation of the elongated member by a human hand. In some examples, the rotating unit includes the clamping unit.

[0014] Additionally or alternatively, the first elongate medical member may be configured to rotate in any other suitable direction by a rotation unit.

[0015] Four control methods may enable the first elongate medical member to rotate and / or move in all directions required for the first elongate medical member to be fully controlled. This may enable the elongate member to be manipulated by the device in a manner similar to being manipulated by a human hand. This may eliminate the need for the surgeon to be in the room where the device is located during operation of the device. In some examples, the device is configured to perform only some of the operation modes, any combination of the operation modes, or all of the above operation modes.

[0016] In some examples, the first clamping unit is configured to be part of a cartridge, where the cartridge includes an opening adapted for the first elongate medical member. This may enable the clamping unit and the opening to be replaced when there is a change in the elongate geometry within the opening, and enable the cartridge to be replaced when the opening and / or the clamping unit needs repair. This may enable the clamping unit and / or the opening to be quickly exchanged, and enable the device to be used in combination with a wide range of elongate instruments. Preferably, the cartridge is removable and interchangeable with other cartridges including the clamping unit and the opening.

[0017] In some examples, the first clamping unit can be rotated by a rotation unit, and wherein when the first elongate medical member is clamped by the first clamping unit and the first clamping unit is rotated by the rotation unit, the first elongate medical member can rotate about the longitudinal axis of the first elongate medical member. The rotation unit may be directly or indirectly coupled to the clamping unit by a set of gears that are coupled to a motor and / or a bearing and / or a shaft and / or any other suitable component configured to rotate the clamping unit (such as a synchronous pulley and belt coupled to a motor). This may ensure that the elongate member does not slip out / fall out of the opening during rotation of the elongate member.

[0018] In some examples, the clamping unit is configured to clamp the first elongate medical member while at least one of the first module and the second module is moved by a respective movement unit of at least one of the first module and the second module. Again, this may ensure that the elongate member does not slip out / fall out of the opening during movement of the elongate member in the first and second directions.

[0019] In some examples, the first clamping unit includes a first clamping member configured to contact at least a first portion of the first elongate medical member on a first side of the first elongate medical member; a second clamping member configured to contact at least a first portion of the first elongate medical member on a second side of the first elongate medical member, wherein the first side is different from the second side; a guide configured to guide at least a first portion of the second clamping member during movement of the second clamping member; and an actuating member coupled to the second clamping member, wherein the second clamping member is movable between a first position and a second position based on an actuating force provided to the second clamping member by the actuating member, and wherein at least a first portion of the second clamping member can be guided by the guide during movement of the second clamping member between the first position and the second position; wherein the first clamping member is configured to remain fixed or substantially fixed relative to the guide, wherein the second clamping member includes a first surface opposite a first surface of the first clamping member, wherein when the second clamping member is in the first position, the first elongate medical member can be clamped between the first surface of the first clamping member and the first surface of the second clamping member, and wherein when the second clamping member is in the second position, the first elongate medical member cannot be clamped between the first surface of the first clamping member and the first surface of the second clamping member.

[0020] The first clamping member is configured to contact at least a first portion of the elongate member on a first side of the elongate member, and the second clamping member is configured to contact a second side of the elongate member, wherein the first side is different from the second side. This causes the elongate member to contact the clamping members on two different sides, enabling the elongate member to be clamped by the two clamping members. The clamping members can have any suitable shape (such as cubic, prismatic, or a customized design), and any suitable shape enables the clamping members to contact at least a first portion of the elongate member. The clamping members can include any suitable material, as will be described in more detail below.

[0021] The guide can have any suitable design, and any suitable design enables guiding the movement of the second clamping member during movement of the second clamping member. The guide can be U-shaped, L-shaped with two substantially vertical members, or have any other customized shape that enables the second clamping member to be guided.

[0022] The actuating member coupled to the second clamping member enables the second clamping member to move between a first position and a second position by an actuating force. The actuating force can be a mechanical force, elastic force, gravitational force, magnetic force, or any other type of force or a combination thereof.

[0023] The first clamping member is configured to be stationary or substantially stationary relative to the guide. If the guide is moved, this may enable the first clamping member to move simultaneously with the guide, and vice versa. The first clamping member may be directly or indirectly coupled to the guide by any suitable coupling means.

[0024] As described above, the second clamping member is capable of moving between a first position and a second position by an actuating force provided to the second clamping member via the actuating member. When the second clamping member is in the first position, the elongate member can be clamped between the first surface of the first clamping member and the first surface of the second clamping member. If an endovascular specialist or anyone is using the gripper, this enables the elongate member to be clamped in place. This enables the elongate member to be fixed in place. In the second position, the elongate member cannot be clamped between the first surface of the first clamping member and the first surface of the second clamping member. This enables the elongate member to move within the gripper, enables the elongate member to be completely removed from the gripper, or enables the elongate member to be inserted into the gripper.

[0025] Furthermore, since the elongate member can be clamped between the first surface of the first clamping member and the first surface of the second clamping member, this may mean that the elongate member can be clamped by a compressive force. This may enable the elongate member to be clamped and / or fixed more firmly, and may enable the lifespan of the elongate member to be increased because the elongate member is not subjected to shear or tensile forces.

[0026] In some examples, the first surface of the first clamping member includes a first recess configured to receive at least a first portion of the first elongate medical member on a first side of the first elongate medical member. The recess may have any suitable design that enables it to receive at least a first portion of the elongate member. The recess may be U-shaped, semi-cylindrical, prismatic, have different dimensions, or have any customized design. In some examples, the recess includes a plurality of shapes at different locations, and the plurality of shapes may correspond to different sections of the elongate member. This may enable the first clamping member to be designed such that the first clamping member can accommodate a plurality of different types of elongate members and / or the elongate member has different cross-sections at different sections. This may increase the versatility of the gripper.

[0027] In some examples, the first surface of the second clamping member includes a second recess configured to receive at least a first portion of the first elongated medical member on a second side of the first elongated medical member. The recess can have any suitable design that enables the reception of at least a first portion of the elongated member. The recess can be U-shaped, semi-cylindrical, prismatic, of different dimensions, or have any customized design. The recess includes a plurality of shapes that can correspond to different sections of the elongated member. This can enable the second clamping member to be designed such that the second clamping member can accommodate a plurality of different types of elongated members and / or the elongated member has different cross-sections at different sections. This can increase the versatility of the gripper.

[0028] In some examples, the first surface of the second clamping member includes a protrusion configured to contact at least a first portion of the first elongated medical member on a second side of the first elongated medical member. The protrusion can have any suitable design that enables the contact with at least a first portion of the elongated member. The protrusion can be cubic, semi-cylindrical, prismatic, of different dimensions, or have any customized design. In some examples, the protrusion includes a plurality of shapes that can correspond to different sections of the elongated member. This can enable the second clamping member to be designed such that the second clamping member can contact a plurality of different types of elongated members and / or the elongated member has different cross-sections at different sections.

[0029] In some examples, the actuating member includes an elastic member, particularly a spring. In some examples, the elastic member applies a biasing force on the second clamping member, wherein the biasing force biases the second clamping member towards a first position (i.e., the clamping position). This can enable the gripping of the elongated member by the gripper without the user of the gripper having to constantly hold the second clamping member in the first position. The elastic member can be any suitable elastic member, such as a spring, a rubber band, or any other suitable component that provides an elastic force.

[0030] In some examples, the guide includes a through-hole configured to receive the first elongated medical member between a first surface of the first clamping member and a first surface of the second clamping member. This can enable the accommodation of the elongated member through the guide, thereby providing an additional fixing method, as the movement of the elongated member can be restricted even when the second clamping member is in a second position (i.e., the non-clamping position). This can also enable a portion of the elongated member to extend beyond the guide and, in fact, beyond the gripper. More than one section of the guide can include a through-hole, such that the elongated member extends beyond the guide on at least two sides of the guide and beyond the gripper.

[0031] In some examples, when the second clamping member makes the said movement, based on the actuating force provided to the second clamping member by the actuating member, the first surface of the second clamping member can move towards the first surface of the first clamping member. This can enable the elongate member to withstand a compressive force when clamped between the first clamping member and the second clamping member. This can enable the elongate member to be clamped and / or fixed more firmly, and can increase the lifespan of the elongate member because the elongate member is not subjected to shear forces or tensile forces.

[0032] In some examples, the second clamping member at least partially houses the first clamping member. This can enable the travel of the second clamping member to be restricted. This in turn can extend the lifespan of the gripper because the components of the gripper may not be subjected to excessive stress, or experience unwanted stress or movement.

[0033] In some examples, the first clamping member and the second clamping member are at least partially located within an inner guide, where the inner guide is located within a guide, and where the inner guide is movable relative to the guide. The inner guide can serve as a form of suspension and cushioning for the elongate medical member when moving relative to the guide. This in turn can reduce the stress and shear forces experienced by the elongate medical member during use of the member, thereby extending the lifespan of the elongate medical member.

[0034] In some examples, the first clamping member and the second clamping member are offset from each other along the longitudinal axis of the first elongate medical member, and when the second clamping member moves between a first position and a second position, the second clamping member does not contact the first clamping member. This can enable the elongate medical member to be clamped in a particularly firm manner because the elongate medical member needs to wind through the gripper.

[0035] In some examples, the first clamping member and the second clamping member are arranged in a zip configuration. This can enable the elongate medical member to be clamped in a particularly firm manner because the elongate medical member needs to wind through the gripper.

[0036] In some examples, the first clamping member and / or the second clamping member has a truncated V shape. This can reduce the stress and shear forces experienced by the elongate medical member because the forces applied to the elongate medical member are distributed over a larger area compared to a V shape. This in turn can extend the lifespan of the elongate medical member.

[0037] In some examples, the first elongate medical member is an elongate medical device, particularly a catheter, a stent, a catheter balloon, a stent balloon, a thrombectomy device, a coil, a sizing system or a guide wire. The use of a catheter, a stent, a catheter balloon, a stent balloon, a thrombectomy device, a coil, a sizing system or a guide wire can be particularly useful in the field of intravascular systems.

[0038] In some examples, if the first module and the second module include mobile units, the first module and the second module can move independently of each other. This can mean that the mobile units can be activated and / or actuated independently of each other. This can enable the elongate member to move in a more refined manner, thus more closely reflecting the movement of the hand of the person who will manipulate the elongate member. In some examples, independent movement can enable the slack in the elongate member between the modules to be reduced, thereby increasing the lifespan of the elongate member, as the elongate member is not subjected to additional tension and / or stress. In some examples, independent movement can ensure that the elongate member does not slip out / fall out of the openings of the first module and the second module.

[0039] In some examples, if the first module and the second module include first clamping units, the operations of the first clamping units are independent of each other. This can mean that the clamping units can be activated and / or actuated independently of each other. This can enable the elongate member to be clamped in a more refined manner, thus more closely reflecting the movement of the hand of the person who will manipulate the elongate member. In some examples, independent clamping can enable the slack in the elongate member between the modules to be reduced, thereby increasing the lifespan of the elongate member, as the elongate member is not subjected to additional tension and / or stress. In some examples, independent clamping can ensure that the elongate member does not slip out / fall out of the openings of the first module and the second module.

[0040] In some examples, if the first module and the second module include rotating units, the operations of the rotating units are independent of each other. This can mean that the rotating units can be activated and / or actuated independently of each other. This can enable the elongate member to rotate in a more refined manner, thus more closely reflecting the movement of the hand of the person who will manipulate the elongate member. In some examples, independent rotation can enable the slack in the elongate member between the modules to be reduced, thereby increasing the lifespan of the elongate member, as the elongate member is not subjected to additional tension and / or stress. In some examples, independent rotation can ensure that the elongate member does not slip out / fall out of the openings of the first module and the second module.

[0041] In some examples, the device further includes a controller configured to control the first clamping unit and / or the mobile unit. This can enable the clamping unit and / or the mobile unit to be activated and / or actuated based on instructions executed by the controller. Additionally or alternatively, the controller can be configured to control the rotating unit. The controller can be coupled to the mobile unit and / or the first clamping unit and / or the rotating unit via a wired connection and / or via a wireless connection. In some examples, the controller can control the first clamping unit and / or the mobile unit such that the device can execute at least one operating mode, any combination of operating modes, or all of the above operating modes.

[0042] In some examples, the device further includes a sensor, the sensor including a movable member capable of moving between a first position and a second position; an elastic member coupled to or integral with the movable member, wherein the elastic member is configured to provide an elastic force when the movable member is in the second position to bias the movable member towards the first position; and a detection unit configured to detect a change in the position of the movable member from the first position to the second position and / or from the second position to the first position.

[0043] The movable member may enable a user of the sensor to move the member. The movable member may have any suitable design. The first position and the second position may be different positions. In some examples, the movable member is coupled to an intravascular medical device (such as a guide wire and / or a catheter) or any other suitable device. In some examples, the movable member is coupled to any suitable medical device. The coupling may enable the user to receive real-time tactile feedback from the elastic member.

[0044] The elastic member may be a component of the movable member and / or may be coupled to the movable member. The elastic member may provide tactile feedback to the user of the sensor. The elastic member may have any suitable design. In some examples, the elastic member is configured to provide an elastic force when the movable member is in the second position to bias the movable member towards the first position. In some examples, the elastic member is configured to provide an elastic force when the movable member is in the first position to bias the movable member towards the second position. The biasing position may be any suitable position.

[0045] The detection unit may enable the detection of the movement of the movable member. The detection unit may send the detected movement to an external source, such as a controller and / or a computer and / or a server and / or a second intravascular robotic system. The detection unit may use an optical device and / or a magnetic field device and / or any other suitable device to detect the movement of the movable member from the first position to the second position and / or from the second position to the first position.

[0046] In some examples, the detection unit includes an optical unit. The optical unit includes a light source for emitting light and a light sensor for detecting the light emitted by the light source. Wherein, at the first position and / or the second position of the movable member, a first portion of the movable member is disposed in the optical path of the emitted light between the light source and the light sensor to at least partially block the emitted light traveling in the optical path between the light source and the light sensor through the first portion of the movable member, and wherein, a first amount of the emitted light that can be blocked by the first portion of the movable member in the optical path between the light source and the light sensor is different between when the movable member is in the first position and when the movable member is in the second position. The optical unit may include any suitable light source and any suitable light sensor. The light sensor is capable of sensing the amount of light blocked by the movable member and / or the area where the movable member blocks the light. The optical unit may be configured to determine the amount of blocked light based on the total amount of light emitted by the light source and the amount of light detected by the light sensor, as will be further outlined below. In some examples, the amount of light blocked by the movable member may be different between the first position and the second position, and in some examples, it may not be different. The optical unit is capable of determining the position and / or orientation of the movable member in the optical path. In some examples, the light sensor is a linear camera with a 1500×1 pixel array. The pixel array may sense the position and / or amount of the blocked light.

[0047] In some examples, the optical unit further includes a lens. The lens is disposed in the optical path between the light source and the light sensor, and wherein, the lens is configured to propagate the light emitted by the light source. This in turn can enable a greater movement of the movable member in the optical path, such that the detectable range can be enhanced. The optical unit can also enable the light sensor to more accurately sense the amount of blocked light, because the proportion of the light blocked by the movable member in the optical path is smaller. This in turn can lead to a more precise determination of the position and / or orientation of the movable member.

[0048] In some examples, the light source includes a laser diode. This can enable a particularly efficient optical unit, because the laser diode provides a constant light intensity at a constant wavelength, resulting in a more accurate light sensor. Additionally or alternatively, any other suitable light source may be used.

[0049] In some examples, the sensor is configured to send data related to the sensed light originating from the light source to an external receiver. The external receiver may be any suitable receiver. The external receiver may receive data through a wired and / or wireless device. In some examples, the data is sent through an RS232 / RS485 physical connection with a proprietary protocol.

[0050] In some examples, the first elongate medical member can be removed from the device during use of the device, wherein the first elongate medical member can be removed by retracting the first elongate medical member through openings in the first module and the second module. This can enable the replacement of the elongate member during use of the device. This can enable the replacement of a damaged elongate member and / or the use of a different elongate member when the situation changes.

[0051] In some examples, the cartridge is removable and replaceable based on the first elongate medical member within the opening. This can enable the replacement of the clamping unit and the opening when the elongate geometry within the opening changes and enable the replacement of the cartridge when the opening and / or the clamping unit needs repair. This can enable the quick exchange of the clamping unit and / or the opening and enable the device to be used in combination with a wide range of elongate instruments.

[0052] In some examples, the rotating unit includes a gear to which the first elongate medical member can be coupled, and wherein the first elongate medical member can be rotated by the gear through an unlimited angle of rotation. The elongate member can be directly or indirectly coupled to the gear. This can enable the manipulation of the elongate member in a manner that facilitates the use of the device, which would not be possible when the elongate member is manipulated by a human hand. Thus, this can enable the device to be used in a greater range of applications compared to human manipulation. This can also enable the elongate member to be rotated more precisely, thereby reflecting the human manipulation of the elongate member.

[0053] In some examples, the first elongate medical member is a wire-type first elongate medical member. Those skilled in the art will understand that a wire-type elongate medical member enables endovascular surgery to be performed from start to finish. In some examples, a rapid exchange or RX system can be used in combination with the wire-type member and enables a faster procedure and / or additional assistance regarding additional devices / members. For example, for an RX procedure, the surgeon can start with a wire-type member, then switch to an RX-type member, and then switch back to a wire-type member.

[0054] According to a second aspect, we describe a system for controlling a plurality of first elongate medical members, the system comprising: a plurality of devices as described above; wherein each device is for controlling the movement of a separate first elongate medical member that is not controlled by any other of the plurality of devices.

[0055] This can enable the manipulation of multiple instruments simultaneously, resulting in a more accurate representation of the person manipulating the multiple components during use of the component. In some examples, the first instrument may not be the same. Using a catheter, a stent, a catheter balloon, a stent balloon, a thrombectomy device, a coil, a sizing system, or a guide wire, the first component of the multiple components may be a catheter, the second component of the multiple components may be a catheter, a stent, a balloon, a stent balloon, a thrombectomy device, a coil, or a sizing system device, and the third component may be a guide wire, a thrombectomy device, a coil, or a sizing system device.

[0056] In some examples, in the above operation mode, when the first elongate medical component can be moved and / or rotated by at least one of the first module and the second module of the first device, at least one of the first module and the second module of the second device moves relative to at least one of the first module and the second module of the first device. This can enable the reduction of the slack in the elongate component and can increase the lifespan of the elongate component because the elongate component is not subjected to shear forces or tensile forces. This can also enable the elongate component to be held within the opening of the module and prevent the elongate component from slipping out / falling out of the opening. This can also enable better refinement of the movement of the elongate component during system use and enable the movement of the elongate component to more closely reflect the movement of the elongate component manipulated by a human hand.

[0057] In some examples, if the first elongate medical component of the first device is clamped only by one of the first module and the second module of the first device via the first clamping unit, the other of the first module and the second module of the first device can move away from the module clamping the first elongate medical component, and at least one of the first module and the second module of the second device moves in response to the movement of the module of the first device that is not clamping the first elongate medical component. This can enable the module to move so that the module can re-clamp the elongate component at a position in the device that is away from the other module in the module, thereby enabling the elongate component to move in the first direction / second direction along its entire length. This can enable the reduction of the slack in the elongate component and can increase the lifespan of the elongate component because the elongate component is not subjected to shear forces or tensile forces. This can also enable the elongate component to be held within the opening of the module and prevent the elongate component from slipping out / falling out of the opening. This can also enable better refinement of the movement of the elongate component during system use and enable the movement of the elongate component to more closely reflect the movement of the elongate component manipulated by a human hand.

[0058] According to a third aspect, we describe a system for controlling the movement of a first elongate medical member, the system comprising: the device as described above; and a manual control unit including a control unit and a second elongate medical member configured to be manipulated by a person; wherein the manual control unit is located at a first position and the device is located at a second position; and wherein the first position and the second position are different positions.

[0059] The manual control unit may be located at a position remote from the device and may be connected to the device by a wired means and / or a wireless means. The second elongate medical member is configured to be manipulated by a person. In some examples, the second elongate medical member is a replica of the first elongate medical member or a representative of the first elongate medical member. This may enable a person to better understand the feel of the first elongate medical member, preferably because the second elongate medical member includes the same material and dimensions as the first elongate medical member.

[0060] In some examples, the manual control unit includes a second clamping unit configured to clamp the second elongate medical member. The second clamping unit may permanently clamp the second elongate medical member. This may reduce the chance of the second elongate medical member slipping out / falling out of the clamping unit. In some examples, the design of the second clamping unit is the same as that of the first clamping unit. In some examples, the second clamping unit may release the second elongate medical member for repair and / or cleaning purposes, but clamp the second elongate medical member during the use of the manual control unit.

[0061] In some examples, the control unit is configured to send a first control signal to a controller of the device, wherein the first control signal includes information related to the manipulation of a second elongate medical member. The information can be related to the distance the second elongate medical member has moved in a predetermined direction, the rotation of the second elongate medical member, the force applied to the second elongate medical member, or any other suitable information. This can enable the device to receive important information related to the manipulation of the second elongate medical member. In some examples, the information can include the measured positions of the first clamping unit and / or the second clamping unit relative to the first elongate medical member and the second elongate medical member, respectively. The measurement can include a timestamp of a particular event or moment and include information related to the distance and / or rotation of the first clamping unit and / or the second clamping unit relative to the first elongate medical member and the second elongate medical member, and / or the force measured by the sensors described herein. In some examples, a cyclic redundancy check (CRC) can be used to send the information to detect possible errors. Additionally or alternatively, any other error detection method can be used. In some examples, the distance, i.e., the linear distance, is measured by a linear encoder coupled to a motor and / or a linear gear that provides linear movement. In some examples, the rotation is measured by a rotary encoder coupled to a motor and / or a rotary gear that provides rotational movement. In some examples, the force is measured by a sensor as described herein.

[0062] In some examples, the controller of the device controls the first elongate medical member in a manner proportional to the manipulation of the second elongate medical member, wherein the controller controls the first elongate medical member based on the first control signal received from the control unit of the manual control unit. This can enable the first elongate medical member to be remotely manipulated by a person's manipulation of the second elongate medical member.

[0063] In some examples, the manual control unit further includes a haptic feedback unit configured to provide haptic feedback to a person manipulating the second elongate medical member based on sensor unit readings, wherein the haptic feedback is based on the sensor unit readings. This can enable the person at the manual control unit to sense what is happening at the device and be aware of whether the movement of the first elongate medical member has been blocked, for example, because the haptic feedback may suddenly increase significantly. In some examples, the sensor unit can include sensors as described herein.

[0064] In some examples, the manual control unit further includes a pedal that can be actuated by a person, wherein in a first position, the control unit is configured to send a first control signal, and in a second position, the control unit is configured not to send a first control signal, wherein the first position is different from the second position. The pedal can be used as a "dead man's switch" and ensure that an accidental movement of the second elongate medical member is not transmitted to the device via the first control signal. This in turn improves the safety of the system.

[0065] In some examples, the manual control unit further includes a touchable device configured to be touchable by a person. Wherein, upon the first touch of the touchable device, the control unit is configured to send a first control signal, and upon the second touch, the control unit is configured not to send the first control signal, wherein the first touch and the second touch occur at two different time points. This can also be used as a "dead man's switch" and ensure that an accidental movement of the second elongate medical member is not transmitted to the device via the first control signal.

[0066] In some examples, the manual control device further includes a visual indicator configured to indicate that the first control signal has not been sent. This can enable a person to easily see that the movement of the second elongate medical member is not transmitted, and thus, the person can freely move the second elongate medical member. In some examples, if the second elongate medical member is moved and the first control signal is not sent, an audio indicator and / or a vibration indicator may additionally or alternatively be used.

[0067] In some examples, upon the first touch, only information related to the axial or rotational manipulation of the second elongate medical member is sent, and upon the second touch, only information related to the axial or rotational manipulation of the second elongate medical member is not sent. This may be particularly helpful if a person wants to move the first elongate medical member only in a first direction and a second direction or wants to rotate the first elongate medical member only via the first control signal. This can further enhance the safety of the system as accidental movements are not transmitted to the device via the first control signal.

[0068] In some examples, the touchable device is a button and / or a lever and / or a touch screen. This can enable a person to easily realize whether the touchable device has been touched once or twice. In some examples, the touchable device includes the above-mentioned visual indicator. Preferably, the touchable device is within easy reach of a person, such that the person does not need to release the second elongate medical member in order to touch the touchable device.

[0069] According to a fourth aspect, we describe a system for controlling a plurality of first elongate medical members, the system comprising: the system of the second aspect; and a manual control unit including a control unit and at least a second elongate medical member and a third elongate medical member both configured to be manipulated by a person; wherein the manual control unit is located at a first position and the device is located at a second position; and wherein the first position and the second position are different positions. The system is herein described as the system of the second aspect, but the system can be any suitable type of system that needs to control a plurality of elongate members.

[0070] In some examples, the manual control unit includes a second clamping unit and a third clamping unit, and the second clamping unit and the third clamping unit are configured to clamp at least a second elongated medical member and a third elongated medical member, respectively. The second clamping unit and the third clamping unit may permanently clamp the second elongated medical member and the third elongated medical member, respectively. This may reduce the chance of the second elongated medical member and the third elongated medical member slipping out / falling out of the clamping unit. In some examples, the design of the second clamping unit and / or the third clamping unit is the same as that of the first clamping unit. In some examples, the second clamping unit and / or the third clamping unit may release the second elongated medical member and / or the third elongated medical member, respectively, for repair and / or cleaning purposes, but clamp the second elongated medical member and / or the third elongated medical member during the use of the manual control unit.

[0071] In some examples, the control unit is configured to send a first control signal to the main controller, wherein the first control signal includes information related to the manipulation of at least the second elongated medical member and the third elongated medical member. The information may be related to the distance that the second elongated medical member and / or the third elongated medical member has moved in a predetermined direction, the rotation of the second elongated medical member and / or the third elongated medical member, the force applied to the second elongated medical member and / or the third elongated medical member, or any other suitable information. This may enable the system to receive important information related to the manipulation of the second elongated medical member and / or the third elongated medical member. In some examples, the information may include the measured positions of the first clamping unit and / or the second clamping unit relative to the first elongated medical member and the second elongated medical member, respectively. The measurement may include a timestamp of a specific event or moment and include information related to the distance and / or rotation of the first clamping unit and / or the second clamping unit relative to the first elongated medical member and the second elongated medical member, and / or the force measured by the sensors described herein. In some examples, a cyclic redundancy check (CRC) may be used to send the information to detect possible errors. Additionally or alternatively, any other error detection method may be used. In some examples, the distance, i.e., the linear distance, is measured by a linear encoder coupled to a motor and / or a linear gear that provides linear movement. In some examples, the rotation is measured by a rotary encoder coupled to a rotary gear and / or a motor that provides rotational movement. In some examples, the force is measured by a sensor as described herein.

[0072] In some examples, the master controller controls the first elongate medical member in a manner proportional to the manipulation of the second elongate medical member, and controls another separate elongate member in a manner proportional to the manipulation of the third elongate medical member, wherein the controller controls the first elongate member and the other elongate member based on a first control signal received from the control unit of the manual control unit. This can enable the remote manipulation of the first elongate member and / or the other elongate member by a person's manipulation of the second elongate medical member and / or the third elongate medical member.

[0073] In some examples, the manual control unit further includes a haptic feedback unit configured to provide haptic feedback to a person manipulating at least the second elongate medical member and the third elongate medical member based on a second control signal sent by the detection unit of the sensor, wherein the haptic feedback is proportional to data related to the sensed data of the sensor. This can enable the person at the manual control unit to sense what is happening at the system and to be aware of whether the movement of the first elongate medical member has been blocked, for example, because the haptic feedback may suddenly increase significantly.

[0074] In some examples, the manual control unit further includes a pedal that can be actuated by a person, wherein in a first position, the control unit is configured to send a first control signal, and in a second position, the control unit is configured not to send a first control signal, wherein the first position is different from the second position. The pedal can be used as a "dead man's switch" and ensures that accidental movement of the second elongate medical member and / or the third elongate medical member is not transmitted to the device via the first control signal. This in turn improves the safety of the system.

[0075] In some examples, the manual control unit further includes a touchable device configured to be touchable by a person, wherein upon a first touch of the touchable device, the control unit is configured to send a first control signal, and upon a second touch, the control unit is configured not to send a first control signal, wherein the first touch and the second touch occur at two different time points. This can also be used as a "dead man's switch" and ensures that accidental movement of the second elongate medical member and / or the third elongate medical member is not transmitted to the device via the first control signal.

[0076] In some examples, upon the first touch, only information related to the axial or rotational manipulation of the second elongate medical member and / or the third elongate medical member is sent, and upon the second touch, only information related to the axial or rotational manipulation of the second elongate medical member and / or the third elongate medical member is not sent. This can be particularly helpful if a person wants to move the first elongate medical member only in a first direction and a second direction or wants to rotate the first elongate medical member only via the first control signal. This can further improve the safety of the system because accidental movement is not transmitted to the system via the first control signal.

[0077] In some examples, the manual control device further includes a visual indicator configured to indicate that the first control signal has not been sent. This can enable a person to easily see that the movement of the second elongate medical member and / or the third elongate medical member has not been transmitted, and thus, the person can freely move the second elongate medical member and / or the third elongate medical member. In some examples, if the second elongate medical member and / or the third elongate medical member are moved and the first control signal has not been sent, an audio indicator and / or a vibration indicator can be additionally or alternatively used.

[0078] In some examples, the touchable device is a button and / or a lever and / or a touch screen. This can enable a person to easily realize whether the touchable device has been touched once or twice. In some examples, the touchable device includes the above-mentioned visual indicator. Preferably, the touchable device is within easy reach of a person, such that the person does not need to release the second elongate medical member and / or the third elongate medical member in order to touch the touchable device.

[0079] As described above, as an example, a user on the user side (i.e., the side of the manual control unit) can start moving the second elongate medical member and / or the third elongate medical member (i.e., the local elongate medical members). Preferably, the second elongate member and / or the third elongate member are fixed relative to their respective clamping units, and preferably, the clamping units are coupled to a spring and / or a linear actuator and / or a rotary actuator such that the clamping units can move and rotate. To move the second elongate member and / or the third elongate member, the user applies a force sufficient to overcome the biasing force of the spring and moves the second elongate member and / or the third elongate member a specific distance. For example, a force of 1 N can cause a movement of 1 mm until the force between the springs and the force applied by the user become equal. At the same time, on the patient side of the system, the first elongate medical member (i.e., the remote elongate medical member) can also move 1 mm and stop moving when the forces on the user side are equal.

[0080] As another example, assume that there is a continuous, unbalanced force of 1 N at the user side. In this example, the first elongate medical member moves in a similar manner as described above but encounters an obstruction, and thus, the reading of the patient side sensor becomes 1 N. This can indicate to the user that there is an obstruction at the patient side of the system. If the user continuously increases the applied force to, for example, 3 N, the elongate members on the user side and the patient side translate until the forces are balanced, and thus until the force on the patient side also reaches 3 N.

[0081] At this time, if the user releases the second and / or third elongate medical member due to the spring connected to the clamping unit, the second and / or third elongate medical member moves backward at its zero point (i.e., its predetermined zero point) with a balanced force of 0N. As a result, the first elongate medical member also moves to its predetermined zero point. That is, the user attempts to apply a force on the second and / or third elongate medical member and feels the resistance from the spring. If a deadman switch is used, as described in the present application, when the switch is in the first position, the system remains in the situation of 3N = 3N, and when the switch is moved to the second position, the first elongate medical member and the second and / or third elongate medical member will return to their respective zero points. In some examples, if the deadman switch is in the first position that holds the elongate medical device in place, if the user wants to obtain control of the member from the system, the switch can be overcome by the user applying a greater force on the second and / or third elongate medical member. This additional force can vary depending on the usage of the system and / or user preferences.

[0082] The above-described system can also be used in any aspect described herein. Additionally or alternatively, although the above examples are described with respect to a force applied on the second and / or third elongate medical member on the user side, the same principle applies to a force applied to the first elongate medical member on the patient side.

[0083] According to a fifth aspect, we describe an artificial control unit for manipulating a remote elongate medical member, the artificial control unit comprising: a control unit, the control unit comprising a transmitter and a receiver; a local elongate member, the local elongate member being configured to be manipulated by a user of the artificial control unit; a clamping unit, the clamping unit being configured to clamp the local elongate member; and a device, the device being configured to enable and disable the transmitter. Preferably, the control unit can be the same control unit or a control unit of the same design as described above with respect to the third and fourth aspects. The local elongate member and / or the remote elongate member can be the same as the above-described first elongate medical member and / or the second elongate medical member, or of the same design and / or type. The clamping unit can be the same as or of the same design as the clamping unit disclosed above with respect to the first, second, and third aspects. In some examples, the control unit comprises a transmitter and / or a receiver.

[0084] In some examples, the device is a button and / or a lever and / or a touch screen, wherein the transmitter is enabled upon a first touch of the device and disabled upon a second touch of the device, where the first touch and the second touch occur at two different time points. The device can be used as a "dead man's switch" and ensure that an accidental movement of the elongate member is not transmitted to the device. This can also enable a person to easily realize whether the touchable device has been touched once or twice. In some examples, the touchable device includes the above-mentioned visual indicator. Preferably, the touchable device is within easy reach of a person, such that the person does not need to release the second elongate medical member and / or the third elongate medical member in order to touch the touchable device.

[0085] In some examples, the manual control unit further includes a display configured to display to the user the state of the remote elongate member. The state of the remote elongate member can be related to the following features: the distance the remote elongate member has moved from a zero point in a predetermined direction; and / or the angle of rotation of the remote elongate member from a predetermined zero point, and / or the force applied to the remote elongate member; and / or the rate of change of the speed and / or angle of the remote elongate member when the remote elongate member is rotated by the user; and / or any other suitable state that can be displayed to the user (such as the name and / or diameter of the remote elongate member). This can enable the user to determine the state of the local elongate member, better understand what the user has done so far, and can help the user plan future steps. If the user realizes that the state on the display does not match what they have done, this can also enable the user to check whether there are any problems with the local elongate member and / or the clamping unit. Additionally or alternatively, the state of the local elongate member can be displayed.

[0086] In some examples, the state includes the distance the remote elongate member has been manipulated from a predetermined position and / or the angle of rotation of the remote elongate member that has been manipulated from a predetermined position, as described above.

[0087] In some examples, the transmitter is configured to send a first control signal to an external device including a remote elongate medical member, wherein the first control signal includes information related to the manipulation of the local elongate member, wherein the manual control unit is located at a first position and the external device is located at a second position, where the first position and the second position are different positions. This can enable the external device to receive important information related to the manipulation of the local elongate member. The two positions being separate positions can eliminate the need for the surgeon to be in the room where the external device is located during the operation of the manual control unit.

[0088] In some examples, an external device receives a first control signal, and the external device manipulates a remote elongate medical member based on the received first control signal. This can enable remote manipulation of the remote elongate medical member by manual manipulation of a local elongate member at a manual control unit.

[0089] In some examples, a control unit is configured to receive a second control signal from the external device via a receiver, where the second control signal includes information related to the remote elongate medical member. This can enable the manual control unit to receive information related to the state of the remote elongate medical member. In some examples, the state can be displayed on a display. Thus, this can improve the safety of the manual control unit because the user can see on the display whether the remote elongate medical member has malfunctioned and / or whether the external device has not correctly received the first control signal. The receiver can be part of the control unit or alternatively can be located in a separate part of the manual control unit. In some examples, the information can include the measured positions of the first clamping unit and / or the second clamping unit relative to the first elongate medical member and the second elongate medical member, respectively. The measurement can include a timestamp of a particular event or moment and includes information related to the distance and / or rotation of the first clamping unit and / or the second clamping unit relative to the first elongate medical member and the second elongate medical member, and / or the force measured by the sensors described herein. In some examples, a cyclic redundancy check (CRC) can be used to transmit the information to detect possible errors. Additionally or alternatively, any other error detection method can be used. In some examples, the distance, i.e., the linear distance, is measured by a linear encoder coupled to a motor and / or a linear gear providing linear movement. In some examples, the rotation is measured by a rotary encoder coupled to a motor and / or a rotary gear providing rotational movement. In some examples, the force is measured by a sensor as described herein. In some examples, if there are multiple remote elongate medical members, the control unit can receive one or more of the above information possibilities from at least one of the remote elongate medical members.

[0090] In some examples, the manual control unit further includes a haptic feedback unit configured to provide haptic feedback to a user of the manual control unit based on the received second control signal. This can enable the user at the manual control unit to sense what is happening at the external device and to be aware of whether the movement of the remote elongate medical member has been blocked, e.g., because the haptic feedback may suddenly increase significantly.

[0091] In some examples, the clamping unit is movable and / or rotatable based on the manipulation of the local elongate member. Preferably, the local elongate member is fixed relative to the clamping unit, and the clamping unit is coupled to a spring and / or a linear drive and / or a rotary drive such that the clamping unit can move and rotate.

[0092] In some examples, the clamping unit is movable and / or rotatable based on the received second control signal. Preferably, the local elongate member is fixed relative to the clamping unit, and the clamping unit is coupled to a spring and / or a linear actuator and / or a rotary actuator such that the clamping unit can move and rotate.

[0093] In some examples, the manual control unit includes a plurality of local elongate members, and the manual control unit is configured to manipulate a plurality of remote elongate medical members. This can enable the simultaneous manipulation of a plurality of elongate members, resulting in a more accurate representation of the person manipulating the plurality of members during use of the members. In some examples, the local elongate members and / or the remote elongate members may be different. The use of a catheter, a stent, a catheter balloon, a stent balloon, a thrombectomy device, a coil, a glue application system, or a guide wire can be particularly useful in the field of intravascular systems. For example, the first of the plurality of remote members may be a catheter, the second of the plurality of remote members may be a stent, and the third member may be a guide wire.

[0094] In some examples, the plurality of local elongate members are telescopically foldable within each other. This can enable the device to be arranged closer to each other during use and / or storage and / or transportation of the system, as space is not required for each of the plurality of members but only for the longest local member of the plurality of local members. Additionally, this can enable, for example, a guide wire and / or a catheter to be arranged inside another catheter. This, in turn, can make the manipulation of the guide wire and / or the catheter easier as the guide wire and / or the catheter are already inside another catheter, thereby improving the usability of the system.

[0095] In some examples, there is an external device for each of the plurality of local elongate members. This can enable the remote manipulation of a plurality of different remote elongate medical members at a plurality of different remote locations.

[0096] In some examples, there is a device for each of the plurality of local elongate members. This can enable the first control signal to be sent or not sent individually for each of the plurality of local elongate members.

[0097] In some examples, the display is configured to display to a user the status of each of a plurality of local slender members. The status of the slender member may be related to the following characteristics: the distance the slender member has moved from a zero point in a predetermined direction; and / or the angle of rotation of the local slender member from a predetermined zero point; and / or the force applied to the local slender member; and / or the rate of change of the speed and / or angle of the local slender member when the local slender member is rotated by the user; and / or any other suitable status that may be displayed to the user (such as the name and / or diameter of a remote slender member). This may enable the user to determine the status of the local slender member, and better understand what the user has done so far, and may help the user plan future steps. If the user realizes that the status on the display does not match what they have done, this may also enable the user to check whether there are any problems with the local slender member and / or the gripping unit.

[0098] In some examples, the first control signal includes information related to the manipulation of each of a plurality of local slender members. This may enable the signals to be sent to different remote locations independently of each other. This may enable a plurality of remote slender medical members to be manipulated independently of each other.

[0099] In some examples, an external device receives the first control signal, and the external device manipulates a plurality of remote slender medical members based on the received first control signal. This may enable the remote manipulation of a plurality of remote slender medical members through the manipulation of a plurality of slender members by a human at a manual control unit.

[0100] In some examples, each of a plurality of local slender members corresponds to one of a plurality of remote slender medical members, where the number of local slender members and the number of remote slender medical members are equal. This may enable a local slender member at the manual control unit to be connected to a remote slender medical member. This may enable each remote slender medical member to be manipulated independently of the other remote slender medical members.

[0101] In some examples, the manual control unit further includes a plurality of tactile feedback units configured to provide tactile feedback to a user of the manual control unit based on a received second control signal, where each of the plurality of tactile feedback units is coupled to a different one of the plurality of local slender members. This may enable the user at the manual control unit to sense what is happening at one or more external devices, and to realize whether the movement of at least one of the plurality of remote slender medical members has been blocked, for example, because the tactile feedback may suddenly increase significantly.

[0102] In some examples, the manual control unit further includes a plurality of clamping units, wherein each clamping unit is configured to clamp a different one of the plurality of local elongated members. These clamping units can be the same as or designed the same as the clamping units disclosed above with respect to the first aspect, the second aspect, and the third aspect.

[0103] In some examples, at least one of the plurality of clamping units is movable and / or rotatable based on the manipulation of its corresponding local elongated member. Preferably, the local elongated member is fixed relative to the clamping unit, and the clamping unit is coupled to a spring and / or a linear actuator and / or a rotary actuator such that the clamping unit can move and rotate.

[0104] In some examples, at least one of the plurality of clamping units is movable and / or rotatable based on a received second control signal. Preferably, the local elongated member is fixed relative to the clamping unit, and the clamping unit is coupled to a spring and / or a linear actuator and / or a rotary actuator such that the clamping unit can move and rotate.

[0105] Any advantages and features described in connection with any of the above aspects and examples can be implemented in any of the other above aspects and examples.

[0106] Those skilled in the art will appreciate that certain features of the systems described herein can be implemented by using hardware (circuits), software means, or a combination thereof. The software means can be associated with a programmed microprocessor or a general-purpose computer, an ASIC (Application Specific Integrated Circuit), and / or a DSP (Digital Signal Processor). For example, the processing unit can be implemented at least in part as a computer, a logic circuit, an FPGA (Field Programmable Gate Array), a processor (e.g., a microprocessor, a microcontroller (μC), or an array processor) / chip / CPU (Central Processing Unit), an FPU (Floating Point Unit), an NPU (Numeric Processing Unit), an ALU (Arithmetic Logic Unit), a coprocessor (an additional microprocessor for supporting the main processor (CPU)), a GPGPU (General-Purpose Computing on Graphics Processing Units), a multi-core processor (for parallel computing, such as performing arithmetic operations simultaneously on multiple main processors and / or graphics processors), or a DSP.

[0107] Even though some of the above aspects have been described with reference to any one of the first aspect to the fifth aspect, these aspects can also be applied to methods (in particular, methods for controlling elongated members and / or remote elongated medical members), and vice versa. BRIEF DESCRIPTION OF THE DRAWINGS

[0108] These and other aspects of the invention will now be further described, by way of example only, and with reference to the accompanying drawings, in which like reference numerals refer to like parts, and in which:

[0109] Figure 1 A schematic diagram of a device for controlling the movement of a plurality of elongate members according to some example embodiments as described herein;

[0110] Figure 2 A schematic diagram of a device for controlling the movement of a plurality of elongate members according to some example embodiments as described herein;

[0111] Figure 3 A schematic diagram of a manual control unit for manipulating a remote elongate medical member according to some example embodiments as described herein;

[0112] Figure 4 A schematic diagram of a manual control unit for manipulating a remote elongate medical member according to some example embodiments as described herein;

[0113] Figure 5 A perspective view of a schematic diagram of a gripper according to some example embodiments as described herein;

[0114] Figure 6 A cross-sectional view of a schematic diagram of components of a gripper according to some example embodiments as described herein;

[0115] Figure 7 A sectional view of a schematic diagram of a gripper according to some example embodiments as described herein;

[0116] Figure 8 A cross-sectional view of a schematic diagram of components of a gripper according to some example embodiments as described herein;

[0117] Figure 9 A cross-sectional view of a schematic diagram of components of a gripper according to some example embodiments as described herein;

[0118] Figure 10 A schematic block diagram of an intravascular system according to some example embodiments as described herein;

[0119] Figure 11a and Figure 11b A cross-sectional view of a schematic diagram of components of a gripper according to some example embodiments as described herein;

[0120] Figure 12 A sectional view of a schematic diagram of a gripper according to some example embodiments as described herein;

[0121] Figure 13 A sectional view of a schematic diagram of a sensor according to example embodiments as described herein;

[0122] Figure 14 A perspective view of a schematic diagram of components of a sensor according to an example embodiment as described herein;

[0123] Figure 15a and Figure 15b A schematic block diagram of a resilient member according to an example embodiment as described herein;

[0124] Figure 16 A schematic block diagram of an optical unit according to an example embodiment as described herein;

[0125] Figure 17 A schematic block diagram of a light sensor and a processing unit according to some example embodiments as described herein;

[0126] Figure 18 A cross-sectional view of a schematic diagram of a sensor according to some example embodiments as described herein;

[0127] Figure 19 A perspective view of a schematic diagram of components of a sensor according to some example embodiments as described herein;

[0128] Figure 20 A perspective view of a schematic diagram of a gripper mechanism according to some example embodiments as described herein;

[0129] Figure 21 A schematic block diagram of a process for detecting the position of a movable member according to some example embodiments as described herein;

[0130] Figure 22 A schematic block diagram of an intravascular robotic system according to some example embodiments as described herein;

[0131] Figure 23 A schematic block diagram of a module according to some example embodiments as described herein; and

[0132] Figure 24 A schematic block diagram of a system according to some example embodiments as described herein. Detailed Description

[0133] Figure 1 A schematic diagram of a device for controlling the movement of a plurality of elongated members according to some example embodiments as described herein.

[0134] Figure 1The device 100 includes a linear drive 101 having three pairs of modules 102, 106, 107. In this example and throughout this specification, reference will be made to three pairs of modules 102, 106, 107. However, it should be understood that any desired number of pairs of modules 102, 106, 107 may be present. That is, there may be a single pair of modules 102, 106, 107, two pairs of modules 102, 106, 107, four pairs of modules 102, 106, 107, or any other suitable number of pairs of modules 102, 106, 107.

[0135] Each pair of modules 102, 106, 107 includes a first module 102A, 106A, 107A and a second module 102B, 106B, 107B. These modules 102A, 102B, 106A, 106B, 107A, 107B will be described in more detail below.

[0136] In the context of this application, the device 100 may also be referred to as the slave device 110. Additionally, for ease of reference, only the first pair of modules 102 will be referred to below, but it should be understood that the same features and capabilities may apply to the second pair of modules 106 and the third pair of modules 107. Further, terms such as "master device", "user device", "surgeon device", "master module", "user module", "surgeon module", etc. and terms such as "slave device", "patient device", "slave module", and "patient module" may be interchanged and have the same meaning.

[0137] Modules 102A and 102B are devices for holding the elongate medical devices 103, 104, and 105. Modules 102A and 102B include various additional components for actuating the elongate medical devices 103, 104, and 105. Specifically, each of modules 102A and 102B can be coupled to a track via a linear drive 101, which enables modules 102A and 102B to move along the track by a first motor to perform a linear movement toward and away from a patient (located near the device 100). This in turn causes the elongate medical devices 103, 104, and 105 to move toward and away from the patient. At least one of modules 102A and 102B within each pair of modules 102 that can be coupled to the elongate medical devices 103, 104, and 105 includes a second motor that enables the elongate medical devices 103, 104, and 105 to rotate, thereby providing a rotational movement of the elongate medical devices 103, 104, and 105. The linear movement and rotational movement by the first motor and the second motor enable the elongate medical devices 103, 104, and 105 to be operated in a realistic manner as if a surgeon were at the bedside. Additionally, at least one of modules 102A and 102B within each pair of modules 102 that can be coupled to the elongate medical devices 103, 104, and 105 can include a gripper configured to hold the elongate medical devices 103, 104, and 105 in place. This can enable the fixation of the elongate medical device during surgery. The gripper located within the gripper unit is described in more detail below with reference to Figures 5 to 12 describe the gripper located within the gripper unit in more detail.

[0138] Figure 19 、 Figure 20 and Figure 23 show an example of the interior of modules 102A and 102B.

[0139] Preferably, the first motor and / or the second motor as described above is a stepper motor. The use of a stepper motor can enable high-precision control of the axial movement and rotational movement of the elongate medical devices 103, 104, and 105 and enable improved movement repeatability. Preferably, both motors are also located within modules 102A and 102B. In some examples, the motor that enables the elongate medical devices 103, 104, and 105 to axially translate can be located on modules 102A and 102B but not within modules 102A and 102B.

[0140] Preferably, the linear drive 101 includes a track on a base, wherein modules 102A and 102B axially translate on the track by a motor that enables modules 102A and 102B and the elongate medical devices 103, 104, and 105 to axially translate.

[0141] Preferably, each module also has four operating modes. In the first operating mode, the clamping units of at least one of the first module 102A and the second module 102B clamp the elongate medical members 103, 104, 105, and a moving unit including an axially moving motor moves at least one of the first module 102A and the second module 102B including the clamping unit in a first direction. In the second operating mode, the first clamping units of at least one of the first module 102A and the second module 102B clamp the elongate medical members 103, 104, 105, and a moving unit including an axially moving motor moves at least one of the first module 102A and the second module 102B including the clamping unit in a second direction. In the third operating mode, the clamping units of at least one of the first module 102A and the second module 102B clamp the elongate medical members 103, 104, 105, and a rotating unit including a rotary motion motor rotates the elongate medical members 103, 104, 105 about the longitudinal axes of the elongate medical members 103, 104, 105. In the fourth operating mode, the first operating mode or the second operating mode is combined with the third operating mode.

[0142] Preferably, the first direction and the second direction are parallel to the longitudinal axes of the elongate medical members 103, 104, 105. This allows the elongate medical members 103, 104, 105 to advance towards the patient and retract away from the patient.

[0143] The above modes also allow the elongate medical members 103, 104, 105 to advance or retract without rotating the elongate medical members 103, 104, 105, and the above modes allow the elongate medical members 103, 104, 105 to rotate without advancing or retracting. The above modes also allow the elongate medical members 103, 104, 105 to advance or retract and rotate simultaneously.

[0144] In Figure 1 In the example shown, there are three elongate medical members 103, 104, 105, and each pair of modules 102, 106, 107 controls the movement and rotation of the corresponding elongate medical members 103, 104, 105. The elongate medical members 103, 104, 105 can be a catheter, a stent, a catheter balloon, a stent balloon, a thrombectomy device, a coil, a sizing system, or a guide wire. In a preferred example, the elongate medical members 103, 104, 105 are telescopically foldable within each other, where the outer member 103 is a guide wire, the middle member 104 is a catheter, and the inner member 105 is a balloon or a stent.

[0145] As Figure 1 shown, when via the first module 102A and / or the second module 102B through a controller (see Figure 24)When manipulating the elongate medical members 103, 104, 105, the first module 102A and / or the second module 102B are axially translated by the axial translation motor in the Figure 1 direction of the arrow shown. This enables the elongate medical members 103, 104, 105 to advance and retract towards and away from the patient. Additionally, the grippers of the gripping unit can rotate in the Figure 1 direction of the arrow shown. This enables the elongate medical members 103, 104, 105 to rotate. Additionally, as can be seen in Figure 1 , the second module 102B of each pair of modules 102 includes the sensors as described above and below, but it should be understood that alternatively, the first module 102A can have the sensor, or both the first module 102A and the second module 102B can have the sensor. Preferably, the controller mentioned herein can include a transmitter and / or a receiver.

[0146] The device 100 also includes a connector 109 for connecting to an external device. The connector 109 can be wired and / or wireless. In some examples, the information collected from the sensors can be sent to the external device through the connector 109. Additionally or alternatively, the device 100 can receive instructions from the external device through the connector 109. Examples of the external device are described in more detail below with reference to Figure 3 and Figure 4 .

[0147] Preferably, the device 100 uses "over-the-wire" catheter technology rather than monorail technology. However, monorail technology is also compatible with the examples of Figure 1 and Figure 2 . Each of the elongate medical members 103, 104, 105 can be individually controlled by a controller within the first module 102A and / or the second module 102B and / or by a master controller in the same pair of modules among multiple pairs of modules 102, 106, 107 (see Figure 24 ). For example, the outer guidewire 103 can be "fixed" in place, i.e., immovable, by the first module 102A and / or the second module 102B, and only the inner catheters 104, 105 are movable due to the manipulations described below with reference to Figure 3 and Figure 4 . Alternatively, the inner catheters 104, 105 can be "fixed" and the outer guidewire 103 can be manipulated.

[0148] In some examples, additionally or alternatively, the device 100 can be compatible with a rapid exchange (RX) function. For RX devices, a Y-shaped adapter can be used, where the adapter is interchangeable based on the application of the device 100 and / or the elongate medical members 103, 104, 105.

[0149] The linear drive 101 of the device 100 enables the modules 102A, 102B to move axially parallel to each other, and the linear drive 101 of the device 100 also serves as the form of the base of the device 100 for supporting the modules 102A, 102B. The modules 102A, 102B can move on axes parallel to each other, or preferably on coaxial axes with each other. Multiple pairs of modules 102, 106, 107 can also move coaxially with each other, so that the elongate medical members 103, 104, 105 remain coaxial with each other in the telescopic form described above.

[0150] The modules 102A, 102B can be made movable by ball nuts that can be coupled to guides within the linear drive 101. Additionally or alternatively, any other suitable method for axially moving the modules 102A, 102B can be used, such as rack and pinion and / or rack and roller and / or belt gear and / or piston and / or pneumatic ram and / or electromagnet.

[0151] As described above, the modules 102A, 102B can be coupled to the linear drive 101. Preferably, each module is made of two parts: a non-sterile module part that can be coupled to the linear drive 101 and a sterile part called a cartridge in this application. Each of the modules 102A, 102B can be identical to each other relative to the non-sterile part, but the sterile parts of each module can vary depending on the position of the module 102A, 102B relative to another module 102A, 102B and the elongate medical members 103, 104, 105 used (whether the elongate medical members are active, passive, larger or smaller). The non-sterile parts are not interchangeable, but the sterile parts are interchangeable based on the use of the device 100 and the use of the elongate medical members 103, 104, 105 by the device 100 and the modules 102A, 102B. Preferably, the first motor and the second motor are not located within the sterile parts of the modules 102A, 102B, but within the non-sterile parts that can be coupled to the linear drive 101.

[0152] In some examples, the clamping unit is located within the sterile part and / or the cartridge. This can mean that only the sterile parts of the modules 102A, 102B are in contact with the elongate medical members 103, 104, 105, thus ensuring that the elongate medical members 103, 104, 105 remain sterile. In some examples, the non-sterile parts of the modules 102A, 102B have sterile covers thereon. The sterile covers are removable and replaceable to keep the device 100 sterile. Other parts of the device 100 (such as the linear drive 101) can also include such sterile covers.

[0153] In this example, the cassette rotates together with the grasped elongate medical members 103, 104, 105, while the non-sterile components of the module do not rotate and only include linear movement. The cassette can be removed without removing the elongate medical members 103, 104, 105 from the patient. However, the rotation drive mechanism and the housing cannot be removed without removing the elongate medical members 103, 104, 105 from the patient.

[0154] The grasping unit and the gripper can be activated in different ways. In this example, the gripper is actuated by a compressed air mechanism. In some examples, alternatively or additionally, an electric motor can be used to actuate the gripper. To rotate the elongate medical members 103, 104, 105, the cassette rotates within the non-rotatable modules 102A, 102B. This can mean that the cassette rotates while the modules 102A, 102B do not rotate. The rotation motors in the modules 102A, 102B can enable the cassette to rotate via a belt mechanism. Additionally or alternatively, a gear mechanism can be used to assist the rotation of the cassette and thus assist the rotation of the elongate medical members 103, 104, 105. The cassette can be cylindrical, or in the form of a hexagonal prism, or in any other suitable form. The hexagonal prism can ensure that the cassette does not slide relative to the container of the non-sterile components of the receiving container. The modules 102A, 102B can also include slip rings for air transmission and / or rotary slip rings for communication / electrical signal transmission from the fixed non-sterile components to the rotating sterile components.

[0155] In this example, the device 100 is mounted on its own support, i.e., the device 100 is independent and can be attached to the operating table. However, in some examples, the device can be smaller, lighter in weight and can be mounted on the operating table. The mounting can be carried out by screws, nuts and bolts, magnets or any other attachment means.

[0156] In some examples, the device further includes an anti-buckling device that is coupled between each of the modules 102A, 102B of a pair of modules 102, 106, 107, and / or between the modules 102A, 102B, 106A, 106B or between different pairs of modules 102, 106, 107. The elongate medical members 103, 104, 105 can move through the center of the anti-buckling device. This can prevent buckling of the elongate medical members 103, 104, 105 during movement of the elongate medical members 103, 104, 105 and / or the modules 102, 106, 107, thereby enhancing the safety of the device 100. An "accordion"-type anti-buckling system is preferred. However, alternatively or additionally, the system can include guides, actuatable components, or any other device that enables reduction of buckling of the elongate medical members 103, 104, 105.

[0157] Figure 2 FIG. shows a schematic view of a device for controlling the movement of a plurality of elongate members according to some example embodiments as described herein.

[0158] Figure 2 The device 200 is the same as Figure 1 the device 100. Additionally, preferably, the modules 202A, 202B and a pair of modules 102 are the same as the modules 102A, 102B and a pair of modules 102 described above with respect to Figure 1 , and the numbers of these features should be interchangeable. In this example, the second module 202B is "re-centered". This occurs when the second module 202B has advanced towards the first module 202A and can no longer move towards the first module 202A. The gripper of the first module 202A grips the elongate medical members 103, 104, 105, and the gripper of the second module releases the elongate medical members 103, 104, 105. The second module 202B travels away from the first module 202A to a predetermined point and re-grips the elongate medical members 103, 104, 105. The first module 202A releases the elongate medical members 103, 104, 105, and then the processes of advancing, retracting, and rotating the elongate medical members 103, 104, 105 can occur as described with respect to Figure 1 . This process can also occur in reverse when the second module 202B has traveled too far from the first module 202A of the pair of modules 202.

[0159] In the presence of multiple pairs of modules 102, 106, 107, Figure 1 the movement of Figure 2 and the re-centering of

[0160] can be carried out in the following manner:

[0161] When the second module 102B of the first pair of modules 102 grips the elongate medical members 103, 104, 105 within its gripper, the second module 102B can move to advance the elongate medical members 103, 104, 105 towards the patient or retract them away from the patient, and can also rotate the elongate medical members 103, 104, 105. When the second module 102B of the first pair of modules 102 moves towards the first module 102A of the first pair of modules 102, the first module 106A of the second pair of modules 106 can move together with the second module 102B of the first pair of modules 102. This can enable the elongate medical members 103, 104, 105 to be sufficiently supported, thereby reducing the bending of the elongate medical members 103, 104, 105 and extending the lifespan of the elongate medical members 103, 104, 105. Again, if the second module 102B travels too far from the first module 102A of the pair of modules 202, this process can occur in reverse.When the second module 102B of the first pair of modules 102 is recentered, as Figure 2 it can be seen that the second module 106B of the second pair of modules 106 can move together with the second module 102B of the first pair of modules 102. This can enable the elongate medical members 103, 104, 105 to be sufficiently supported, thereby reducing the bending of the elongate medical members 103, 104, 105 and extending the lifespan of the elongate medical members 103, 104, 105.

[0162] Although the first modules 102A, 106A and the second modules 102B, 106B in the first pair of modules 102 and the second pair of modules 106 have been mentioned above, it should be understood that the second module 106B of the second pair of modules 106 can move during the advancement and retraction of the elongate medical members 103, 104, 105 and / or the first module 106A of the second pair of modules 106 can move during the recentering process.

[0163] During the advancement / retraction of the elongate medical members 103, 104, 105, at least one (preferably the first module 106A) of the modules 106A, 106B of the second pair of modules 106 can move in a 1:1 manner with the movement of the second module 102B of the first pair of modules 102, or can have a movement scale factor applied to the movement, so that the elongate medical members 103, 104, 105 can be sufficiently supported.

[0164] The modules 102A, 102B can include at least one of the following features and / or capabilities:

[0165] 1. A sterile cassette, wherein a sensor and / or a gripper is integrated into the sterile cassette;

[0166] 2. Each pair of modules 102, 106, 107 is configured to manipulate one elongate medical member 103, 104, 105, so any number of elongate medical members 103, 104, 105 can be manipulated simultaneously in the system; and

[0167] The device 100 can include at least one of the following features and / or capabilities:

[0168] 1. The device 100 can include more than one pair (preferably three pairs) of modules 102, 106, 107 for remotely manipulating a corresponding number of elongate medical members 103, 104, 105;

[0169] 2. The device has more than one pair of modules 102, 106, 107 for simultaneously remotely manipulating three elongate medical members 103, 104, 105, wherein the elongate medical members 103, 104, 105 have unrestricted rotational movement and linear movement;

[0170] 3. The device 100 is used to remotely manipulate three over the wire (OTW) elongated medical members 103, 104, 105 simultaneously; and

[0171] 4. The manipulation principle enables the modules 102A, 102B to clamp the elongated medical members 103, 104, 105, sense the elongated medical members 103, 104, 105, move the elongated medical members 103, 104, 105 in a linear direction, and rotate the elongated medical members 103, 104, 105.

[0172] Figure 3 and Figure 4 A schematic diagram of a human control unit for manipulating a remote elongated medical member is shown according to some example embodiments as described herein.

[0173] In particular, Figure 3 and Figure 4 Master devices 300, 310 are shown that may be used with the above described slave device 110. The master devices 300, 310 may be located in the same room or location as the slave device 110, or may be located remotely from the slave device 110 in a different room of the same building, or may be located in an entirely different location.

[0174] Furthermore, the master devices 300, 310 enable remote manipulation of elongated medical members, particularly intravascular elongated medical members, although any type of elongated medical member may additionally or alternatively be used.

[0175] The main device 300, 310 includes the above Figure 1 and Figure 2 The linear drive 101 is similar to the linear drive 301 .

[0176] In this example, the main device 300, 310 also has three modules 302, 306, 307 to communicate with Figure 1 and Figure 2 The master device 300, 310 is provided with three pairs of modules 102, 106, 107, wherein each module 302, 306, 307 corresponds to a pair of modules 102, 106, 107 of the slave device 110. At least one of the modules 302, 306, 307 includes a clamping unit configured to clamp the elongated member. In some examples, the clamping unit can release the elongated medical member 303, 304, 305 for repair and / or cleaning purposes, but clamp the elongated medical member 303, 304, 305 during use of the master device 300, 310. The clamping unit can be the same as described above with respect to Figure 1 and 2The described clamping unit and / or the gripper described below are the same or similar. In a preferred example, the elongated medical devices 103, 104, 105 at the slave device 110 are the same as the elongated members 303, 304, 305 at the master devices 300, 310. That is, if a guide wire 103 with a length of 300 cm, a diameter of 0.14 inches and made of a soft, flexible material suitable for insertion into a patient is used at the slave device 110, an exact replica of the guide wire 303 can be used at the master devices 300, 310. In an alternative example, the guide wire 303 at the master devices 300, 310 can be only 100 cm in length, 0.38 inches in diameter and made of a rigid material. In other words, the corresponding elongated members 103, 104, 105, 303, 304, 305 at the slave device 110 and the master devices 300, 310 can be the same, or can have different physical properties (e.g., stiffness, length, diameter and type of the elongated member) and / or different chemical properties (e.g., hardened material, hydrophobic coating and sterile coating). The same principle applies to Figure 3 the other two elongated members 304, 305 shown and Figure 1 and Figure 2 the other two elongated medical members 104, 105 shown. This can enable a surgeon or user at the master devices 300, 310 to receive realistic haptic feedback, as will be described below. In the example shown here, three elongated members 303, 304, 305 are mentioned, but it should be understood that any number of elongated members 303, 304, 305 can be present at the master devices 300, 310. In a preferred example, the number of elongated members 303, 304, 305 at the master devices 300, 310 is the same as the number of elongated medical members 103, 104, 105 at the slave device 110, with each master device member 303, 304, 305 coupled to one slave device member 103, 104, 105. In some examples, there can be fewer master device members 303, 304, 305, with one master device member 303, 304, 305 configured to manipulate multiple slave device members 103, 104, 105. In some examples, there can be fewer slave device members 103, 104, 105, with multiple master device members 303, 304, 305 configured to manipulate one slave device member 103, 104, 105. In some examples, the system can include one master device member 303, 304, 305 configured to manipulate multiple slave device members 103, 104, 105 and multiple master device members 303, 304, 305 configured to manipulate one slave device member 103, 104, 105.

[0177] Haptic feedback can be generated by sensors included in at least one of modules 302, 306, 307 of master devices 300, 310. In some examples, the sensors are included in a haptic feedback unit / module. The sensors can be the same as or similar to the sensors described above with respect to Figure 1 and 2 and / or with respect to the sensors described with respect to Figures 13 to 22 . Additionally or alternatively, the sensors can receive a control signal from slave device 110 that indicates the state of at least one of the elongate medical devices 103, 104, 105 at the slave device 110. The sensors of the modules can measure the difference between the axial force and / or rotational force between the received control signals and the axial force and / or rotational force applied by the user at the master devices 300, 310, and can advance or retract modules 302, 306, 307 and / or rotate the elongate members 303, 304, 305 to balance the measured forces between the slave device 110 and the master devices 300, 310. That is, the modules 302, 306, 307 of the master devices 300, 310 can have the same four operating modes as the four operating modes described above with respect to the slave device 110. In some examples, at least one of modules 302, 306, 307 has at least one of the above-described operating modes. The above can enable the user of the master devices 300, 310 to receive realistic haptic feedback from the slave device 110, can enable the user to accurately sense what is happening at the slave device 110, and can enable the user to receive haptic feedback that is the same as the haptic feedback the user would receive when at the bedside and manually manipulating the elongate medical members 103, 104, 105. In a similar manner, the sensors can send a control signal to the slave device 110, and as described above, the sensors at the slave device 110 can perform a similar force balancing to manipulate at least one of the elongate medical devices 103, 104, 105 at the slave device 110. The control signal can be sent and / or received through a connector 309 connected to the slave device 110. The connector 309 can be wired and / or wireless. In some examples, the information collected from the sensors can be sent to the slave device 110 through the connector 309. Additionally or alternatively, devices 300, 310 can receive instructions from the slave device 110 through the connector 309.

[0178] As described above, by way of example, a user on the user side (i.e., the side of the manual control units 300, 310) can start moving the local elongated medical members 303, 304, 305. Preferably, the local elongated members 303, 304, 305 are fixed relative to their respective clamping units 302, 306, 307, which are coupled to springs and / or linear drives and / or rotary drives (not shown) such that the clamping units 302, 306, 307 are capable of moving and rotating. To move the local elongated members 303, 304, 305, the user applies a force sufficient to overcome the biasing force of the spring and moves the local elongated members 303, 304, 305 a specific distance. For example, a force of 1 N can cause a movement of 1 mm until the force between the springs and the force applied by the user become equal. At the same time, on the patient side 100, 110, 200 of the system, the remote elongated medical members 103, 104, 105 can also move 1 mm and stop moving when the forces on the user side are equal.

[0179] As a further example, assume that there is a continuous, unbalanced force of 1 N at the user side 100, 110, 200. In this example, the local elongated medical members 303, 304, 305 move in a manner similar to that described above but encounter an obstruction, and thus the readings of the patient side sensors (see the sensors described below) become 1 N. This can indicate to the user that there is an obstruction at the patient side 100, 110, 200 of the system. If the user continuously increases the applied force to, for example, 3 N, the elongated members 103, 104, 105, 303, 304, 305 on the user side 300, 310 and the patient side 100, 110, 200 translate until the forces are balanced, and thus until the forces on the patient side 10, 110, 200 also reach 3 N.

[0180] At this time, if the user releases the local elongate medical members 303, 304, 305 due to the springs coupled to the clamping units 302, 306, 307, the local elongate medical members 303, 304, 305 move backward at their zero point (i.e., their predetermined zero point) with a balanced force of 0N. As a result, the remote elongate medical members 103, 104, 105 also move to their predetermined zero points. That is, the user attempts to apply a force on the local elongate medical members 303, 304, 305 and feels the resistance from the springs. If a deadman switch as described in the present application is used, when the switch is in the first position, the system remains in the situation of 3N = 3N, and when the switch is moved to the second position, the first elongate medical member and the second elongate medical member and / or the third elongate medical member will return to their respective zero points. In some examples, if the deadman switch is in the first position that holds the elongate medical device in place, if the user wants to obtain control of the members 303, 304, 305 from the system, the switch can be overcome by the user applying a greater force on the local elongate medical members 303, 304, 305. This additional force can vary depending on the usage of the system and / or the user's preference.

[0181] Additionally or alternatively, although the above examples are described with respect to the force applied on the local elongate medical members 303, 304, 305 at the user side 300, 310, the same principle applies to the force applied on the remote elongate medical members 103, 104, 105 at the patient side 100, 110.

[0182] In a preferred example, there is a system including master devices 300, 310 and at least one slave device 110. Preferably, the slave device 110 is used to manipulate the elongate medical members 103, 104, 105 in the surgical area, in the area near the patient that is affected by X-rays. Alternatively, the area may not be a surgical area, but an area where the patient is undergoing a non-surgical procedure. Additionally or alternatively, the area may be affected by an MRI machine and / or may be under the surveillance of a camera and / or any other suitable observation method. The master devices 300, 310 are used to manipulate the elongate members 303, 304, 305 at a remote location, where the remote location is a location different from the location where the slave device 110 is located. The slave device 110 and the master devices 300, 310 can be coupled by a wired connection (such as, LAN and / or Internet / Ethernet cable and / or any other suitable wired device) and / or by a wireless device (such as, Bluetooth and / or Wi-Fi and / or satellite and / or any other suitable wireless device). The system combining the slave device 110 and the master devices 300, 310 can cause the manipulation of the elongate members 303, 304, 305 at the master device 300 to be translated to a pair of modules 102, 106, 107, so that the remote manipulation of the elongate medical members 103, 104, 105 is carried out in accordance with the manipulation of the elongate members 303, 304, 305 by the user at the master device 300. This can enable the user of the master devices 300, 310 to receive tactile feedback and manipulate the elongate members 303, 304, 305 with two fingers. Generally, in manual operation, a surgeon / user can manipulate up to two instruments by himself / herself and can manipulate three elongate medical members with the help of a second user (such as a nurse). The present system enables a person to manipulate more than two elongate medical members, thereby improving the manipulation efficiency of the members, reducing the number of people required during the manipulation of the elongate medical members, and increasing the safety of the operation due to the need for no communication between multiple people, thus reducing the chance of miscommunication.

[0183] In this example, the system enables the simultaneous manipulation of up to three elongate medical members, where the elongate medical members are arranged telescopically one inside the other. The system can also enable the simultaneous receipt of haptic / tactual feedback from all three elongate medical members in a direction from the slave device 110 (operative position) to the master devices 300, 310 (remote position), and vice versa. As described above, although three elongate medical members are mentioned, it should be understood that any number of elongate medical members can be present at the slave device 110 and any number of elongate members can be present at the master devices 300, 310. Preferably, the system maintains an axial force and / or a rotational force balance at the slave device 110 and the master devices 300, 310 by the haptic feedback unit / module described above. In some examples, the force is balanced between a single pair of modules 102, 106, 107 at the slave device 110 configured to manipulate at least one of the elongate medical members 103, 104, 105, the corresponding modules 302, 306, 307 at the master devices 300, 310, and the elongate members 303, 304, 305. For example, a user manipulates the first elongate member 303, 304, 305 at the master devices 300, 310, and as a result, by measuring the axial force and / or rotational force caused by the manipulation, and by measuring the axial force and / or rotational force experienced by the corresponding elongate medical member 103, 104, 105 at the slave device 110, and by balancing the resultant forces, the first elongate medical member 103, 104, 105 at the slave device 110 can be remotely manipulated in the same manner as the user manipulates the elongate member 303, 304, 305 at the master devices 300, 310. If there is an obstacle in the path of the elongate medical members 103, 104, 150 at the slave device 110, the slave device 110 senses the obstacle through a sensor, and the slave device 110 provides haptic feedback to the haptic feedback module / unit of the master devices 300, 310 by the force balance principle working in a direction opposite to the above direction, and manipulates the elongate members 303, 304, 305 at the master devices 300, 310 in a similar manner.

[0184] In a preferred example, as described above, the user of the master devices 300, 310 has replicas of the elongate medical members 103, 104, 105 of the slave device 110 in front of the master device, such as catheters and guidewires. This can give the surgeon a more realistic feel for the ongoing procedure. In some examples, at least one of the modules 102A, 102B at the slave device 110 and / or at least one of the elongate medical members 103, 104, 105 at the slave device 110 can include a sensor configured to sense, in some examples, the resistance encountered by the elongate medical members 103, 104, 105 within the patient's body. This force can be sent to the master devices 300, 310 to give the user a realistic feel for the force being experienced by the sensor, even though the slave device 110 and the master devices 300, 310 are in different positions. However, the user interface is not limited to replicas of the elongate medical members at the slave device 110, but can be a general replacement that still enables the user to receive haptic feedback from the slave device 110.

[0185] In some examples, a scale factor can be applied between the movement of the elongate members 303, 304, 305 at the master devices 300, 310 and the movement of the elongate medical members 103, 104, 105 at the slave device 110. That is, there may be a difference in the factor of rotational movement and / or axial movement between the two devices 110, 300, 310. In one example, there may be a 10-fold scale factor with respect to axial movement. As a result, in order to produce a 10 mm axial movement at the slave device 110, the corresponding elongate members 303, 304, 305 at the master devices 300, 310 would need to axially move 100 mm. This can improve the manipulation accuracy of the members 103, 104, 105 at the slave device 110 while maintaining the haptic feedback characteristics of the system. The above principle can be applied to axial movement and / or rotational movement, and / or only to selected elongate medical devices 103, 104, 105.

[0186] As described above, preferably, the master devices 300, 310 have a user interface of this type such that the interface is similar to the actual use of an elongate endovascular instrument. Preferably, the interface has elongate members 303, 304, 305 placed in a comfortable position for the user. In some examples, the initial position of at least one of the elongate members 303, 304, 305 is adjustable according to the user's preference. The elongate members 303, 304, 305 can be the same as or different from the elongate medical members 103, 104, 105 of the slave device 110. In some examples, the elongate members 303, 304, 305 of the master devices 300, 310 can be cut and / or one can be mounted inside the other to make the elongate members easier for the user to use.

[0187] Near the user interface, a touch screen display may be provided such that the user can initiate the stop / immobilization of a particular elongated member position by touching the touch screen while manipulating the elongated members 303, 304, 305. In this example, the touch screen includes three sections, where the first section 311 corresponds to the first elongated member 303, the second section 312 corresponds to the second elongated member 304, and the third section 313 corresponds to the third elongated member 305. Preferably, the touch screen is located on a surface (such as the table 314). The movement of each of the elongated members 303, 304, 305 is indicated by Figure 4 the arrows 321, 322, 323. It should be understood that the number of sections 311, 312, 313 may vary according to the number of elongated members 303, 304, 305 at the master devices 300, 310. As described above, having such stop / fix buttons enables the user to safely and easily manipulate any number of elongated members 303, 304, 305 simultaneously. As an example, if the user wants to hold the second instrument 304 in a stable position, the user can press the second section 312 of the touch screen and continue to manipulate only the first elongated member 303 and the third elongated member 305. This stop / fix feature can be implemented in such a way that when the second section 312 of the touch screen is pressed, this stop / fix feature physically stops a particular instrument tip at its position at the slave device 110, or this stop / fix feature can virtually stop a particular position of the paired instrument tips at the slave device 110 such that each of the other modules 102A, 102B, 302 at the slave device 110 and the master modules 300, 310 move while keeping the fixed / stopped instrument end tip in a stable position.

[0188] The fix / immobilization feature can be implemented in two ways. The first way is that the master devices 300, 310 stop sending data related to the status of the immobilized / stopped elongated members 303, 304, 305 to the slave device 110. This can mean that the elongated members 303, 304, 305 are still rotatable and translatable, but this information is not sent. The second way is to fix the modules 302, 306, 307 associated with the fixed / stopped elongated members 303, 304, 305 in place so as not to allow the fixed / stopped elongated members 303, 304, 305 to be manipulated in any way. In some examples, the data related to the fixed / stopped elongated members 303, 304, 305 is not sent and the modules 302, 306, 307 are fixed in place.

[0189] At least one of the sections 311, 312, 313 of the touch screen may include information related to the state of the elongate members 303, 304, 305, which are associated with the sections 311, 312, 313. When a local elongate member is rotated by a user and / or any other suitable state can be displayed to the user, the state of the local elongate member may be related to the following characteristics: the distance that the elongate members 303, 304, 305 move from a zero point in a predetermined direction, and / or the rotational angle of the elongate members 303, 304, 305 from a predetermined zero point and / or the force applied to the elongate members 303, 304, 305, and / or the speed and / or the rate of change of the angle of the elongate members 303, 304, 305, and / or the name of the elongate members 303, 304, 305, and / or the diameter of the elongate members 303, 304, 305. Additionally or alternatively, the same or different states of the elongate members 103, 104, 105 of the slave device 110 may be displayed to the user. For example, axial translation can be measured by measuring the axial movement of the module 302 at the master device 300, 310 and / or the movement of the modules 102A, 102B at the slave device 110. The same principle also applies to rotational motion. In some examples, if the total movement and / or the rate of change of the movement approaches a predetermined limit, a visual and / or audio and / or tactile warning may be issued by the touch screen, or a speaker, or any other suitable device, thereby indicating to the user that the limit is about to be breached. This can enable the lifespan of the system to be extended because the members 103, 104, 105, 303, 304, 305 are not used beyond their limits, thereby reducing the stress applied to the members 103, 104, 105, 303, 304, 305.

[0190] Additionally, in some examples, each of the elongate members 303, 304, 305 may be controlled individually. For example, as described above, the outer guide wire 303 may be "fixed" in place, i.e., immovable, and due to the manipulations mentioned in this specification, only the inner catheters 304, 305 may move. Alternatively, the inner catheters 304, 305 may be "fixed" and the outer guide wire 303 may be manipulated.

[0191] The lengths of the sections 311, 312, 313 of the touch screen can be changed based on the lengths of the elongate members 303, 304, 305 that can be manipulated by the user. That is, when the user manipulates the elongate members 303, 304, 305, the stop / fix buttons will always remain nearby. As an example, in the case of two elongate members 303, 304, the first member 303 can occupy 50% of the user interface and the second member 304 can occupy the other 50% in the initial position. As a result, the first section 311 and the second section 312 of the touch screen are divided 50 / 50 between the two members 303, 304. If the first member 303 retracts such that the member 303 occupies 70% of the interface, correspondingly, the first section 311 of the touch screen automatically adjusts and will occupy 70% of the touch screen. Thus, during this movement of the first member 303, the area of the touch screen occupied by the second section 312 gradually decreases to 30% of the area of the touch screen. This same principle applies to any number of elongate members 303, 304, 305 and any number of sections 311, 312, 313 of the touch screen.

[0192] Although the touch screen is mentioned above, at least one of the sections 311, 312, 313 of the touch screen can be replaced or supplemented with at least one of any other suitable type of button, lever, trigger, position sensor, position tracker, camera view, or any other suitable mechanism that enables the user to fix the position of the elongate members 303, 304, 305 located at the main devices 300, 310.

[0193] The main device 300 can include at least one of the following features:

[0194] 1. The principle that the described user interface provides haptic feedback;

[0195] 2. The elongate members 303, 304, 305 stop / fix to hold the tips of the members 303, 304, 305 in a fixed position while enabling the manipulation of other elongate members 303, 304, 305;

[0196] 3. The elongate members 303, 304, 305 stop / fix to hold the tips of the members 303, 304, 305 in a fixed position while enabling the manipulation of at least one of the modules 302, 306, 307; and

[0197] 4. A touch screen, wherein the sections 311, 312, 313 of the touch screen change according to the states of the elongate members 303, 304, 305 assigned to the sections 311, 312, 313.

[0198] Figure 5A perspective view showing a schematic diagram of a gripper according to some example embodiments as described herein.

[0199] The gripper 1000 includes a guide 1001, a first gripping member 1002, a second gripping member 1003, and a plurality of assembly pins 1004.

[0200] The guide 1001 is configured to guide at least the second gripping member 1003, as will be described in more detail below. In this example, there are a plurality of assembly pins 1004, but there may be a single assembly pin 1004 or no assembly pins 1004. The number of assembly pins 1004 may vary according to the design of the gripper 1000. In some examples, the assembly pins 1004 are configured to couple the first gripping member 1002 to the guide 1001, thereby ensuring that the first gripping member is fixed relative to the guide 1001. In some examples, the assembly pins 1004 are configured to couple the first gripping member 1002 and / or the guide 1001 to an external component (not shown). The external component may be a sensor, a housing, an actuator, a part of an intravascular system, or any other suitable component.

[0201] The guide 1001 further includes a first portion 1010 and a second portion 1011. The first portion 1010 is configured to guide at least a portion of the second gripping member 1002. The guide 1001 may also guide an elongate member (see Figure 3 ). The second portion 1011 of the guide 1001 is separate from the first portion 1010, and the second portion 1011 of the guide 1001 extends outwardly from the first portion 1010 of the guide 1001. The second portion 1011 may also be configured to guide at least a portion of the elongate member, wherein the first portion 1010 and the second portion 1011 of the guide 1001 guide different portions of the elongate member. The first portion 1010 and the second portion 1011 of the guide 1001 are not limited to Figure 1 the design shown, but may be any suitable design, any suitable design enabling the guiding of the elongate member, and in the case of the first portion enabling the guiding of at least the second gripping member 1003.

[0202] Figure 6 A cross-sectional view showing a schematic diagram of components of a gripper according to some example embodiments as described herein.

[0203] In Figure 6As can be seen, the second clamping member 1003 is coupled to an elastic member 1005 (in this case a spring). Alternatively, the elastic member 1005 can be any suitable component that provides elastic force. The guide also includes a through-hole 1012 configured to receive the elongated member and enable the elongated member to travel through the gripper 1000. The second clamping member 1003 also includes an opening 1013 that extends outside the guide 1001. The opening 1013 can reduce the weight of the gripper 1000. This in turn can lead to an increase in performance because high inertia can reduce the performance of the gripper 1000.

[0204] In addition, in this example, the guide 1001 is configured to surround at least a portion of the spring 1005, the first clamping member 1002, and the second clamping member 1003. This can enable the components of the gripper 1000 to be guided in a manner that reduces unwanted stress and shear forces during the operation of the gripper 1000, thereby extending the life of the gripper 1000. In some examples, the guide 1001 only guides the second clamping member 1003 and / or the spring 1005.

[0205] The spring 1005 coupled to the second clamping member enables the second clamping member to move relative to the guide 1001. Preferably, the elastic force provided by the spring 1005 biases the first surface of the second clamping member 1003 toward the first surface of the first clamping member 1002, wherein the biasing causes the elongated member to be clamped between the first clamping member 1002 and the second clamping member 1003, as will be described in more detail below. In some examples, a force provided by a pneumatic cylinder and / or an electric motor and / or any other suitable component that resists the elastic force provided by the spring 1005 enables the first surface of the second clamping member 1003 and the first surface of the first clamping member 1002 to move away from each other, thereby enabling the elongated member to be released (unclamped) and enabling the elongated member to move within the gripper 1000 or be completely removed from the gripper 1000. This can also enable the elongated member to be inserted into the gripper 1000.

[0206] The size and dimensions of the through-hole 1012 enable the elongated member to be guided through the guide 1001 and also enable the elongated member to be inserted into and / or removed from the guide 1001. In some examples, there is only one hole in the guide 1001, i.e., the elongated member cannot extend through the guide 1001.

[0207] Figure 7 A cross-sectional view of a schematic diagram of a gripper according to some example embodiments as described herein is shown.

[0208] In Figure 7As can be seen, the elongate member 1006 extends through the guide 1001 of the gripper via the through-hole 1012 described above. This allows the length of the elongate member 1006 to be substantially longer than the distance between the through-holes 1012 in the guide 1001. This may be particularly advantageous in some scenarios. In particular, if the elongate member 1006 is moved through the hole 1012 via a "rearrangement" technique in which the elongate member 1006 passes through the hole 1012 in progressive steps, the elongate member 1006 being longer than the distance between the holes 1012 allows the elongate member to pass through the hole 1012 in progressive steps to implement the technique.

[0209] It can also be seen that Figure 7 the assembly pins 1004 are located within the first clamping member 1002, and these assembly pins 1004 will enable the first clamping member 1002 to be coupled to the guide 1001. In this example, the assembly pins 1004 are pins, but may alternatively or additionally be nuts and bolts, screws, hinges, bayonet couplings, welding, or any other suitable type of coupling, or any combination thereof.

[0210] Preferably, the elongate member 1006 can be any elongate member suitable for intravascular use, particularly a catheter or a guide wire. The elongate member 1006 is not limited to intravascular use and may alternatively be any type of elongate member that needs to be clamped.

[0211] In addition, in this example, there are two springs 1005 coupled to the second clamping member 1003. There may be a single spring 1005 or any number of springs 1005, and these springs enable the gripper 1000 to function as described in the present disclosure.

[0212] Figure 8 A cross-sectional view of a schematic diagram of the components of a gripper according to some example embodiments as described herein is shown.

[0213] In this example, the first clamping member 1002 and the second clamping member 1003 each include corresponding recesses 1014, 1015. The recesses are configured to receive at least a portion of the elongate member 1006 within the gripper 1000. In this example, the recesses 1014, 1015 are V-shaped, but may alternatively be any suitable shape, such as cubic, semi-cylindrical, or a custom shape.

[0214] In some examples, the first clamping member 1002 includes a metal portion, wherein the metal portion is configured to contact at least a portion of the elongated member 1002. Preferably, the metal portion includes aluminum, particularly 7075-t6 aluminum. Preferably, the elongated member includes plastic or polymer that can contact the metal portion. This can in turn provide a particularly firm clamping of the elongated member 1006, thereby reducing the likelihood that the elongated member 1006 moves when clamped by the gripper 1000.

[0215] In this example, the second clamping member 1003 partially houses the first clamping member 1002. This can enable restricting the movement of the second clamping member 1003 because the second clamping member 1003 can contact the first clamping member 1002. This can result in a reduction of the unwanted force applied to the second clamping member 1003, thereby extending the service life of the second clamping member 1003.

[0216] The second clamping member 1003 is configured to be able to slide past the guide 1001 and the first clamping member 1002. This can enable the second clamping member 1003 to be restricted to move on a single axis (i.e., the axis along which the biasing force is applied), thereby reducing the unwanted movement of the second clamping member 1003 during the movement of the second clamping member 1003 and when the elongated member 1006 is clamped. This can result in a reduction of the unwanted force applied to the elongated member 1006, thereby also increasing the life of the elongated member 1006.

[0217] In Figure 8 , the gripper 1000 is in the clamping position, i.e., the elongated member 1006 is clamped between the first clamping member 1002 and the second clamping member 1003. As described above, the spring 1005 provides a biasing force that biases the second clamping member 1003 towards the first clamping member 1002, thereby keeping the elongated member 1006 clamped. In some examples, a force resisting the biasing force applied by a pneumatic cylinder and / or an electric motor and / or any other suitable component enables the elongated member 1006 to be moved into the gripper, removed from the gripper, or inserted into the gripper. Once this force is removed, the biasing force biases the second clamping member 1003 and the elongated member 1006 is clamped by the gripper 1000 again. This also means that the elongated member 1006 is clamped by a compressive force. The use of the compressive force can enable a more firm clamping and / or fixing of the elongated member 1006, and can enable the life of the elongated member 6 to be increased because the elongated member is not subjected to shear force or tensile force.

[0218] The V-shaped recesses 1014, 1015 enable the elongated member 1006 to contact the recesses 1014, 1015 along four contact lines. The use of the contact lines enables a compressive force to be applied along the portions of the elongated member 1006 that contact the recesses 1014, 1015, thereby reducing the force applied to any single part of the elongated member 1006. This can enable the elongated member 1006 to have a longer lifespan because the compressive force is not concentrated at a single point. When the elongated member 1006 contacts the first clamping member 1002 and the second clamping member 1003 along a portion of the elongated member 1006, this can also enable the elongated member 1006 to be clamped more firmly, thereby increasing the contact area where the elongated member 1006 contacts the clamping members 1002, 1003.

[0219] Figure 9 A cross-sectional view of a schematic diagram of components of a gripper according to some example embodiments as described herein is shown.

[0220] In this example, as described above, the first clamping member 1002 includes a recess 1014, but the second clamping member alternatively includes a protrusion 1016. The protrusion can be formed by 3D printing, but can additionally or alternatively be produced by milling and / or electrical discharge machining (EDM). In this example, the protrusion 1016 has a truncated V-shape, where the truncated V-shape is configured to contact the elongated member 1006. Preferably, the inclined surfaces of the truncated V-shape are angled at the same angle as the surfaces of the V-shaped recess 1014. This can enable the elongated member 1006 to be clamped particularly firmly when the elongated member 1006 is clamped. The protrusion can additionally (at one or more other parts) or alternatively include other shapes, such as cubic, semi-cylindrical, prismatic, or custom shapes.

[0221] As can be seen in Figure 8 and Figure 9 the design of the gripper 1000 (particularly the first clamping member 1002 and the second clamping member 1003) can be changed according to the parameters of the elongated member 1006. The parameters can be, for example, the material of the elongated member 1006, the dimensions of the elongated member 1006, the use of the elongated member 1006, the elasticity of the elongated member 1006, or any other suitable parameter (or any combination thereof in the case of considering more parameters).

[0222] In addition, the biasing force provided by spring 1005 coupled to the second clamping member can be varied according to one of these parameters. In a non-limiting example, if the elongate member 1006 is a guide wire, a biasing force of up to 5 Newtons can be exerted by spring 1005 on the second clamping member, and if the elongate member 1006 is a catheter, the biasing force can be up to 15 Newtons. The biasing force can be changed by replacing the clamp 1000 with a second clamp, where the spring 1005 of the second clamp provides a biasing force suitable for the elongate member 1006. Additionally or alternatively, the clamp 1000 can further include a force sensor configured to sense the compressive force applied to the elongate member 1006. The force sensor can indicate to the user via an audio, visual, or tactile device that the compressive force is too great for the elongate member 1006. In some examples, the force sensor can automatically release (unclamp) the elongate member 1006, i.e., the force sensor can provide a force against the biasing force and / or prevent movement of the second clamping member 1003 to prevent the clamp 1000 from applying a greater force to the elongate member 6. The user can indicate a compressive force limit to the force sensor via an input display on the clamp 1000 and / or via a dial on the clamp 1000 and / or via any other suitable method. In some examples, the user can input the type of the elongate member 1006 (i.e., catheter or guide wire), and the force sensor can automatically determine the compressive force limit based on a predetermined input to the force sensor.

[0223] Figure 10 A schematic block diagram of an intravascular system in accordance with some example embodiments as described herein is shown.

[0224] The intravascular system 1300 includes a first intravascular instrument 1200 and a second intravascular instrument 1220. The first intravascular instrument 1200 and the second intravascular instrument 1220 can be in separate positions, and movement of the first intravascular instrument 1200 can be translated (simulated) into a corresponding movement of the second intravascular instrument 1220. In particular, movement of the clamp 1000 in the first intravascular instrument can be converted into movement of the instrument 1210 in the second intravascular instrument 1220. In some examples, the instrument 1210 is a second clamp.

[0225] Figure 11a and Figure 11b A cross-sectional view of a schematic diagram of components of a clamp in accordance with some example embodiments as described herein is shown.

[0226] In Figure 11a , Figure 11b and Figure 12 features that are substantially similar to features of the clamp of Figures 5 to 10 are denoted by the same reference numerals but with a prime (') appended to the reference numeral. For example, Figure 11a, Figure 11b and Figure 12 the springs are marked with 1005’. Regarding Figure 11a , Figure 11b and Figure 12 any features of these features mentioned can also be applied to Figures 5 to 10 the corresponding features, and vice versa.

[0227] In Figure 11a and Figure 11b the gripper 1000’, there is a guide 1001’ which is configured to guide not only the first gripping member 1002’ and the second gripping member 1003’, but also the inner guide 1020. This is described in detail below. In Figure 11a , Figure 11b and Figure 12 the embodiments, the first gripping member 1002’ and the second gripping member 1003’ are coupled to the spring 1005’, and thus, the first gripping member 1002’ and the second gripping member 1003’ can move in the same manner as Figures 5 to 10 the second gripping member 1003 of

[0228] The inner guide 1020 can move relative to the guide 1001' so that the elongated member 1006' can withstand less stress and shear force. In this case, the combination of the inner guide 1020 and the guide 1011' can be used as a form of suspension and cushioning for the elongated member 1006' clamped by the gripper 1000'. Alternatively, the inner guide 1020 can be fixedly coupled to the guide 1001' by a pin 1004 (such as the pin described above). Additionally or alternatively, the first clamping member 1002' and the second clamping member 1003' can be fixed or substantially fixed relative to the guide 1001'. This can be achieved by the pin 1004.

[0229] Additionally, the first clamping member 1002' and the second clamping member 1003' have respective recesses 1014', 1015' that enable the elongated member 1006' within the gripper 1000' to be clamped and are similar to the recesses 1014, 1015 described above. In some examples, as described above, there can be protrusions 1016 instead of the recesses 1014, 1015.

[0230] Similar to Figures 5 to 10 the gripper 1000, when at least one of the springs 1005' coupled to the first clamping member 1002' or the second clamping member 1003' is actuated by an actuating member (not shown in these figures), Figure 11a 、 Figure 11b and Figure 12 the gripper 1000' is configured to clamp the elongated member 1006' by at least a portion of the first clamping member 1002' and a portion of the second clamping member 1003'.

[0231] The first clamping member 1002' and the second clamping member 1003' coupled to their respective springs 1005' can have a substantially cubic or prismatic design. That is, the first clamping member can have a substantially prismatic design while the second clamping member can have a substantially cubic design, and vice versa. However, any suitable design in any suitable combination can be used for the first clamping member 1002' and the second clamping member 1003'. The recesses 1014', 1015' can be incorporated into such a design. In some examples, the first clamping member 1002' and the second clamping member 1003' can be of a cubic or prismatic design and be coupled to a secondary member that includes the recesses 1014', 1015'.

[0232] Figure 12 A cross-sectional view of a schematic diagram of a gripper according to some example embodiments as described herein is shown.

[0233] In Figure 12In the gripper 1000', when compared with Figure 11a and Figure 11b the grippers, most of the components are substantially the same. Figure 12 The gripper 1000' also includes a guide tube 1022. The guide tube 1022 can be sized to receive the elongate member 1006'. The elongate member 1006' can be guided towards the center of the gripper 1000' which includes, for example, a first gripping member 1002' and a second gripping member 1003'.

[0234] In Figure 12 the example, the first gripping member 1002' and the second gripping member 1003' are each coupled to a corresponding respective block 1024, which in turn is coupled to a plurality of springs 1005'. In some examples, there can be only one spring 1005' coupled to at least one of the blocks 1024.

[0235] The first gripping member 1002' and the second gripping member 1003' include a truncated V-shape similar to the protrusion 1016 described above, but can have any suitable design. In fact, at least one of the first gripping member 1002' and / or the second gripping member 1003' can include the recesses 1014', 1015' as described above. However, the first gripping member 1002' and the second gripping member 1003' are offset from each other such that the first gripping member 1002' and the second gripping member 1003' do not directly contact each other. That is, when the first gripping member 1002' and the second gripping member 1003' move towards each other through an extension of at least one of the springs 1005', the first gripping member 1002' and the second gripping member 1003' form a slot between them, similar to the teeth of two gears or similar to a zipper. This can enable the elongate member 1006' within the gripper 1000' to be gripped in a particularly secure manner. That is, in this configuration, when the elongate member is gripped, the elongate member is curled between the first gripping member 1002' and the second gripping member 1003'. Alternatively, the elongate member 1006' can be gripped such that the elongate member 1006' has the form of a sine wave or generally has a wavy form when viewed from the side. This can enable the elongate member 1006' to be gripped in a particularly secure and stable manner. This can also result in more contact points, thereby further fixing the elongate member 1006' within the gripper 1000'. Alternatively, the first gripping member 1002' and the second gripping member 1003' can contact each other.

[0236] The clamping force can be affected by the strength of spring 1005' and / or the distance that spring 1005' can extend when acted upon by an actuating member. That is, if the spring is fully extended and the elongate member 1006' has a form similar to a square wave when viewed from the side, the elongate member 1006' can be very rigid. However, this may cause damage to the elongate member 1006'. Thus, the extension of spring 1005' can be varied based on, for example, the material, brittleness, and diameter of the elongate member 1006' to be clamped.

[0237] Additionally, in Figure 12 there are six clamping members 1002', 1003', where three clamping members 1002' are coupled to one of the blocks 1024 and the other three clamping members 1003' are coupled to another block 1024. However, those skilled in the art will recognize that any number of clamping members 1002', 1003' can be present within the gripper 1000' and / or the number of clamping members 1002', 1003' coupled to each respective block 1024 can be unequal. That is, in a non-limiting example, there can be two clamping members 1002' coupled to one of the blocks 1024 and four clamping members 1003' coupled to another block 1024.

[0238] Figure 13 A cross-sectional view of a schematic diagram of a sensor 2100 according to an example embodiment as described herein is shown.

[0239] A movable member 2006 extends through the sensor. The movable member 2006 can be made of metal, plastic, carbon fiber, or any other suitable material. A wire gripper coupler 2005 is coupled to the movable member 2006 at one end of the movable member 2006. The wire gripper coupler 2005 can enable an elongate intravascular instrument to be coupled to the movable member 2006. The elongate intravascular instrument can be coupled to the movable member 2006 by any suitable means. Additionally or alternatively, the wire gripper coupler 2005 can couple any suitable instrument to the movable member 2006. In some examples, there is no wire gripper coupler 2005 and the movable member 2006 is the instrument itself. The wire gripper coupler 2005 can be located at any suitable position on the movable member 2006. Additionally or alternatively, the elongate intravascular instrument can be an intravascular medical device, such as a guide wire, stent, balloon, catheter, or any other suitable intravascular instrument.

[0240] When the movable member 2006 enters the sensor 2100, the movable member 2006 moves through the air bearing 2003. The air bearing 2003 is supplied with air via the compressed air inlet 2001. The air bearing 2003 is included within the air bearing housing 2002. The configuration of the air bearing 2003 is known to those skilled in the art. In some examples, the air bearing 2003 is replaced with a ball bearing, a roller bearing, a magnetic bearing, or any other suitable type of bearing. In some examples, there is more than one type of bearing at the entrance of the sensor 2100. In some examples, there is no bearing at the entrance of the sensor 2100. The air bearing can be arranged at any suitable location of the sensor 2100 and / or the movable member 2006.

[0241] The movable member 2006 includes a plurality of elastic members, and the plurality of elastic members include an elastic unit 2102, which will be described in further detail below.

[0242] At an end of the movable member 2006 opposite to the end including the wire gripper coupler 2005, the movable member 2006 includes a needle 2010. The needle 2010 includes two main sections. One section extends radially from the movable member 2006 towards the optical unit 2104, which will be described in further detail below. The second section extends radially from the movable member 2006 towards the oscillation damping pool 2019. The oscillation damping pool 2019 can reduce the unwanted movement of the movable member 2006. The oscillation damping pool 2019 can have any design and can include any fluid that enables the reduction of oscillation. In some examples, the needle 2010 is composed of two different parts connected by the movable member 2006. In some examples, the needle 2010 includes one element or is one element that travels through the movable member 2006 and is fixed in place in the movable member 2006 by any suitable means. The needle 2010 can have any suitable design that enables the operation of the sensor. In some examples, the needle 2010 does not extend radially from the movable member 2006 but extends in any suitable direction.

[0243] The sensor further includes a pulley 2016 coupled to a stepper motor 2023, which will be described in further detail below.

[0244] The sensor includes a plurality of roller bearings 2004, 2017. The roller bearings 2004, 2017 may enable the housing 2020 enclosing the sensor 2100 to rotate. The roller bearings 2004, 2017 around the housing 2020 enable the housing 2020 to rotate and dynamically measure the rotational torque of the housing 2020 during continuous rotation of the housing 2020. The rotation of the housing 2020 may also enable a user of the sensor 2100 to have finer control over the movable member 2006. The roller bearings 2004, 2017 may be any suitable bearings, such as air bearings, ball bearings, or magnetic bearings. The roller bearings 2004, 2017 may be coupled to the housing 2020 at any suitable location and / or by any suitable method. In some examples, there is only one of the roller bearings 2004, 2017. In some examples, there are no roller bearings 2004, 2017.

[0245] In this example, the sensor 2100 further includes a slip ring 2018. In some examples, the slip ring 2018 enables data from the optical unit to be transmitted to an external device, as will be described in more detail below. In some examples, there is no slip ring 2018.

[0246] Figure 14 A perspective view showing a schematic diagram of components of a sensor according to an example embodiment as described herein.

[0247] In this example, the sensor 2100 includes a zero positioning unit 2106 and a stepper motor 2023.

[0248] The zero - point positioning unit 2106 includes a zero - point position sensor 2021 and a zero - point position marking portion 2022. When the sensor is in the zero - point position, i.e., in the unbiased position, the zero - point position sensor 2021 indicates that the sensor 2100 is in the zero - point position. The zero - point position sensor 2021 may include a light - emitting diode and a photodiode. The zero - point position marking portion 2022 may be coupled to the housing 2020 and / or the movable member 2006. The zero - point position marking portion 2022 may be a protrusion from the movable member 2006 and / or the sensor 2100 and / or the sensor housing 2020, and the protrusion is configured to pass through the zero - point position sensor 2021 when the movable member 2006 and / or the sensor 2100 and / or the sensor housing 2020 rotates. When the marking portion 2022 rotates during the rotation of the housing 2020 and / or the movable member 2006, the marking portion 2022 will travel between the light - emitting diode and the photodiode at certain positions. When the marking portion 2022 is located between the light - emitting diode and the photodiode, the photodiode may send a signal to an indicator to indicate that the sensor is in the zero - point position. The indicator may emit light and / or noise and / or any other suitable emission method to indicate to the user that the sensor is in the zero - point position. Alternatively, the light - emitting diode may be any suitable light - emitting device. Alternatively, the photodiode may be any suitable electronic device capable of detecting the light emitted from the light - emitting device. The marking portion 2022 may have any suitable design capable of indicating the zero - point position. In some examples, there is no zero - point positioning unit 2106.

[0249] The stepper motor 2023 may be coupled to Figure 13 the pulley 2016 shown. The stepper motor 2023 rotates the sensor housing 2020 through the pulley 2016 to provide feedback torque to the user of the sensor 2100. For example, if the feedback torque is set to 0 Nm by the processor of the stepper motor 2023 and torque is applied to the movable member 2006, the stepper motor 2023 rotates the sensor housing 2020 to counteract the torque applied by the user and shift the sensor back to 0 Nm. The feedback torque may be set to any suitable torque by the processor. In some examples, the pulley 2016 is a timing belt.

[0250] Figure 15a and Figure 15b FIG. shows a schematic block diagram of the elastic member 2024 according to an example embodiment as described herein, wherein the elastic member 2024 is incorporated in Figure 13 and Figure 14 the sensor shown.

[0251] Figure 15aA schematic block diagram showing the rotational biasing member 2024 is presented. In this example, the movable member 2006 includes the biasing member 2024, and the biasing member 2024 is parallel to the rotational axis of the movable member 2006. On this biasing member 2024, there are four magnets 2009. Each of the magnets 2009 on the biasing member 2024 has a single polarity. In some examples, there are different numbers of magnets. In some examples, one or more of the magnets 2009 on the biasing member 2024 have multiple polarities. Another four magnets 2012 are mounted on the housing 2020 of the sensor 2100. In some examples, these magnets 2012 are only mounted to the section of the sensor 20100 that is not the movable member 2006. In this example, the magnets 2012 mounted to the housing 2020 are fixed and cannot move during the operation of the sensor 2100. In this example, each magnet 2012 mounted to the housing 2020 has a corresponding magnet 2009 mounted to the biasing member 2024 to form a pair of magnets. Each magnet 2009, 2012 in this pair of magnets has the same polarity, such that when the movable member 2006 rotates in the direction of the arrow, the magnets repel each other. This causes the user of the sensor 2100 to feel a non-linear biasing force. When the sensor 2100 is not in use, this also enables the movable member 2006 to be in an unbiased position, i.e., the zero position. The strength of the magnets can be changed according to the use of the sensor 2100. The distance between the magnets 2012 mounted to the housing 2020 and the magnets 2009 on the biasing member 2024 can be changed by any suitable method (such as a screw or a movable platform). In some examples, the strength of the magnets 2009, 2012 and / or the distance between the magnets 2009, 2012 are not the same for each pair of magnets. In some examples, the magnets 2009, 2012 in each pair of magnets have opposite polarities.

[0252] Figure 15bA schematic block diagram of a linear elastic member 2024' is shown. The linear elastic member 2024' is constructed in substantially the same manner as the rotary elastic member 2024. In this example, the movable member 2006 includes an elastic member 2024', which is perpendicular to the longitudinal axis of the movable member 2006 and extends radially from the movable member 2006. On this elastic member 2024', there are four magnets 2008. Each of the magnets 2008 on the elastic member 2024' has a single polarity. In some examples, there are different numbers of magnets. In some examples, one or more of the magnets 2008 on the elastic member 2024' have multiple polarities. Another four magnets 2011 are mounted on the housing 2020 of the sensor 2100. In some examples, these magnets 2011 are only mounted to the section of the sensor 2100 that is not the movable member 2006. In this example, the magnets 2011 mounted to the housing 2020 are fixed and cannot move during the operation of the sensor 2100. In this example, each magnet 2011 mounted to the housing 2020 has a corresponding magnet 2008 mounted to the elastic member 2024' to form a pair of magnets. Each magnet 2008, 2011 in this pair of magnets has the same polarity, so that when the movable member 2006 moves in the direction of the arrow, the magnets repel each other. This causes the user of the sensor to feel a non-linear elastic force. This also enables the movable member 2006 to be in an unbiased position, i.e., the zero position, when the sensor 2100 is not in use. The strength of the magnets can be changed according to the use of the sensor 2100. The distance between the magnets 2011 mounted to the housing 2020 and the magnets 2008 on the elastic member 2024 can be changed by any suitable method (such as a screw or a movable platform). In some examples, the strength of the magnets 2008, 2011 and / or the distance between the magnets 2008, 2011 are not the same for each pair of magnets. In some examples, the magnets 2008, 2011 in each pair of magnets have opposite polarities.

[0253] The elastic members 2024, 2024' can have any design that enables the operation of the sensor 2100. The elastic members 2024, 2024' can include plastics, metals, carbon fibers, or any other suitable materials. The above elastic members 2024, 2024' together include Figure 13 the elastic unit 2102 shown.

[0254] Figure 16 A schematic block diagram of an optical unit according to an example embodiment as described herein is shown.

[0255] In this example, the optical unit 2104 includes three main parts: a light source 2013, a calibration lens 2014, and a light sensor 2015. In this example, the light source 2013 is a light-emitting diode, but alternatively or additionally can be any suitable light-emitting device. The light source 2013 emits light along the optical path indicated by the arrow in Figure 16 . Thus, the optical path reaches the calibration lens 2014. The calibration lens 2014 is configured to calibrate the light of the optical path. The optical path reaches the light sensor 2015 after leaving the calibration lens 2014. Preferably, the light sensor 2015 is a linear camera with a 1500×1 pixel array, and can be any suitable light sensor 2015. The light sensor 2015 senses the light received by the sensor 2015 and sends the data to a processing unit (as shown in Figure 17 ). The processing unit can include a processor, a memory, a transceiver, or any other suitable components.

[0256] Located between the calibration lens 2014 and the light sensor is a pin 2010 (or generally a light-blocking element). The pin 2010 moves through the optical path according to the movement of a movable member 2006 to which the pin 2010 is coupled. Since the pin 2010 is in the optical path, a part of the optical path is blocked. The light sensor 2015 is capable of sensing the amount of light blocked by the pin 2010 in the optical path and / or the area where the light is blocked by the pin 2010 in the optical path. The light sensor 2015 senses the amount of light not blocked by the pin 2010, and the optical unit 2104 can calculate the amount of blocked light by knowing the total amount of light emitted by the light source 2013 and the amount of light sensed by the light sensor 2015. In some examples, the movement of the movable member 2006 can be (directly) based on the amount of light sensed by the light sensor 2015, rather than based on calculating the amount of light blocked by the pin 2010.

[0257] Figure 17 A schematic block diagram of a light sensor and a processing unit according to some example embodiments as described herein is shown.

[0258] The light sensor 2015 sends the sensed light data to the processing unit 2025. The processor of the processing unit 2025 can process the data to determine the position of the needle 2010. When the needle 2010 moves from the first position to the second position, the processor can also determine the change in the received data. Additionally or alternatively, the processor can also be able to calculate the elastic force applied to the movable member 2006 by processing the received data. Additionally or alternatively, further using only the amount of light sensed by the light sensor 2015 (and / or the amount of light blocked by the needle 2010 calculated based on the amount of light emitted by the light source 2013 and the amount of light sensed by the light sensor 2015) to provide feedback data related to the movement of the movable member 2006.

[0259] Figure 18 A cross-sectional view showing a schematic diagram of the sensor 2105 according to some example embodiments as described herein.

[0260] Figure 18 The illustrated sensor 2150 is a variant of the above-described sensor 2100. Figure 18 The sensor 2150 includes a front bearing 2152, an axially displaced elastic member 2154, a rotationally displaced elastic member 2156, a displacement needle 2158, an optical sensor 2160, a pulley 2162, a rear bearing 2164, and a slip ring 2166. In this example, the elastic force member is composed of the axially displaced elastic member 2154 and the rotationally displaced elastic member 2156.

[0261] The axially displaced elastic member 2154 and the rotationally displaced elastic member 2156 are located within an elastic member unit 2180, which will be described in more detail below.

[0262] The elastic force member, the displacement needle 2158, the optical sensor 160, the pulley 2162, and the slip ring 2166 can be (substantially) similar or identical to the corresponding components described above with respect to Figures 13 to 17 described.

[0263] In this example, the front bearing 2152 is not an air bearing but a roller bearing. In some examples, the roller front bearing can be a ball bearing, a magnetic bearing, or any other suitable type of bearing that enables the movable member 2006 to move substantially frictionlessly. The rear bearing 2164 can also be a roller bearing, but can alternatively be a ball bearing, a magnetic bearing, or any other suitable type of bearing that enables the movable member 6 to move substantially frictionlessly.

[0264] In this example, the axially displaceable resilient member 2154 includes two portions. The two portions of the axially displaceable resilient member 2154 are located at two different sections of the sensor and are positioned along the same axis. That is, the two portions are substantially positioned along the longitudinal axis of the sensor 2150.

[0265] In this example, the two portions of the axially displaceable resilient member 2154 include four plastic extensions. The four extensions are designed such that the four extensions extend in a cross shape (i.e., at right angles) from the center of the portion. Preferably, the extensions are made of plastic (specifically PETG), but can be made of any other suitable material (such as metal or carbon fiber). In some examples, only a section of one or more of the extensions includes plastic. Any number of extensions may be present in the portions of the axially displaceable resilient member 2154. The extensions may be located at any suitable position and any suitable orientation within the two portions of the axially displaceable resilient member 2154. In some examples, the extension design within each portion is different. In some examples, only one portion is present in the axially displaceable resilient member 2154, and in some examples, more than two portions are present in the axially displaceable resilient member 2154.

[0266] The extensions have a predetermined buckling that enables the extensions to elastically deform while providing non-linear haptic feedback to the user of the sensor 2150. That is, when the user "pushes" the movable member 2006, the two portions of the axially displaceable resilient member 2154 elastically deform to provide mechanical resistance to the user. In some examples, the axially displaceable resilient member 2154 further includes a limiting member configured to prevent the axially displaceable resilient member 2154 from deforming excessively. This can result in a safer sensor 2150 with a longer lifespan.

[0267] The rotationally displaceable resilient member 2156 performs in a similar manner to the axially displaceable resilient member 2154, but on the rotational axis rather than on the longitudinal axis.

[0268] In this example, the two portions of the rotationally displaceable resilient member 2156 include four plastic extensions that extend between the two portions of the axially displaceable resilient member 2154. The four extensions are designed such that the four extensions extend in a cross shape (i.e., at right angles) along the longitudinal axis of the sensor. Preferably, the extensions are made of plastic (specifically PETG), but can be made of any other suitable material (such as metal or carbon fiber). In some examples, only a section of one or more of the extensions includes plastic. Any number of extensions can be present in the portions of the rotationally displaceable resilient member 2156. The extensions can be located in any suitable position and any suitable orientation relative to the two portions of the axially displaceable resilient member 2154. In some examples, there are fewer than four extensions in the rotationally displaceable resilient member 2156, and in some examples, there are more than four extensions in the axially displaceable resilient member 2154.

[0269] The extensions have a predetermined buckling that enables the extensions to elastically deform while providing non-linear haptic feedback to the user of the sensor 2150. That is, when the user rotates the movable member 2006, one or more of the extensions of the rotationally displaceable resilient member 2156 elastically deform to provide mechanical resistance to the user. In some examples, the rotationally displaceable resilient member 2156 also includes a limiting member configured to prevent the rotationally displaceable resilient member 2156 from deforming excessively. This can result in a safer sensor 2150 with a longer lifespan.

[0270] In some examples, one or more of the extensions of the rotationally displaceable resilient member 2156 are directly coupled to one or more portions of the axially displaceable resilient member 2154. In some examples, one or more of the extensions of the rotationally displaceable resilient member 2156 are indirectly coupled to one or more portions of the axially displaceable resilient member 2154. In some examples, one or more of the extensions of the rotationally displaceable resilient member 2156 are coupled to the housing of the sensor 2150.

[0271] Figure 19 A perspective view showing a schematic diagram of the components of a sensor according to some example embodiments as described herein.

[0272] The resilient member unit 2180 includes the axially displaceable resilient member 2154 and the rotationally displaceable resilient member 2156 as described above. In some examples, the resilient member unit 2180 also includes a displacement pin 2158.

[0273] The resilient member unit 2180 also includes an actuation gripper member 2182, a static gripper member 2184, and a gripper housing 2186.

[0274] The actuating gripper member 2182 can comprise any suitable material, such as plastic, metal, or carbon fiber. The actuating gripper member 2182 is pushed downward by an actuator. The actuator can be a machine or a user that pushes the actuating gripper member 2182 downward. By pushing the actuating gripper member 2182 downward, one or more springs are compressed. In some examples, there is only a single spring and / or any other suitable elastic member, such as rubber.

[0275] The static gripper member 2184 is substantially the same as the actuating gripper member 2182, but in this example does not have the ability to be actuated.

[0276] The movable member 2006 is disposed within the gripper housing 2186 and passes through the actuating gripper member 2182 and the static gripper member 2184. When the actuating gripper member 2182 is released from the actuating movement applied by a machine or a user, the one or more springs are uncompressed, pushing the actuating gripper member 2182 upward, thereby fixing and clamping the movable member 2006 in place.

[0277] Depending on the design of the actuating gripper member 2182, the actuating gripper member 2182 can be actuated in any suitable direction (i.e., from the side or from below).

[0278] In some examples, the elastic member unit 2180 is replaceable. That is, the elastic member unit 2180 can be removed from the opening in the sensor 2150, and the elastic member unit 2180 can be replaced with another elastic member unit 2180. This can enable the easy change of the elasticity of the axially displaced elastic member 2154 and the rotationally displaced elastic member according to the parameters of the operation being performed by the sensor 2150.

[0279] Figure 20 A perspective view of a schematic diagram of a gripper mechanism according to some example embodiments as described herein is shown.

[0280] As described above, the gripper includes an actuating gripper member 2182 and a stationary gripper member 2184. The actuating gripper member 2182 is biased to a "closed" position by a pair of springs 2188, i.e., the movable member 2006 is fixed in place. The springs 2188 can have any suitable strength and include any suitable material. In some examples, there is only one spring 2188 or more than three springs 2188. In some examples, there is no spring 2188. In some examples, the springs 2188 are replaced with any suitable elastic member. When the actuating gripper member 2182 needs to be opened, the first cylindrical member 2189a engages the actuating gripper member 2182 to provide support, and the second cylindrical member 2189b contacts the actuating gripper member 2182 to force the actuating gripper member 2182 into an "open" position, i.e., such that the movable member 2006 moves through the actuating gripper member 2182. The cylindrical members 2189a, 2189b can have any suitable design, such as prismatic or cubic. In this embodiment, the cylindrical members 2189a, 2189b are pneumatic cylindrical members 2189a, 2189b. Additionally or alternatively, the cylindrical members 2189a, 2189b can be moved by an electric motor, a generator, an electromagnetic device, or any other suitable device.

[0281] Figure 21 A schematic block diagram showing a process for detecting the position of a movable member according to some example embodiments as described herein.

[0282] Figure 21 An alternative method / process 2190 for detecting the position and / or orientation of the movable member 2006 is shown. In this example, a first magnet 2192 is directly coupled to the movable member. The magnetic field measurement unit 2193 includes a second magnet 2194, which is itself coupled to the outside of the housing 2020 of the sensors 2100, 2150. Additionally or alternatively, this method for detecting the position and / or orientation of the movable member 2006 can be used in methods involving the shift pins 2010, 2158 described above.

[0283] The second magnet 2194 can be replaced with a Hall effect sensor, particularly a Hall effect sensor compliant with the AS5013 international standard. Inside the magnetic field measurement unit 2193, there is a processing unit including a microcontroller and a transmitter. The connection between the processing unit and the second magnet 2194 is similar to that described above regarding Figure 17 the connection between the light sensor 2015 and the processing unit 2025.

[0284] In some examples, the first magnet 2192 is not directly coupled to the movable member 2006, but rather to an extension of the movable member 2006. In some examples, the magnetic field measurement unit 2193 and the second magnet 2194 are coupled to the housing 2020, but are located inside the housing 2020. In some examples, the magnetic field measurement unit 2193 and the second magnet 2194 are not part of the housing 2020 to which the sensor is coupled.

[0285] Figure 22 An intravascular robotic system according to some example embodiments as described herein is shown.

[0286] As described above with respect to Figure 17 The processor of the processing unit 2025 described above sends the position data of the needle 2010 to the transceiver of the processing unit 2025, which in turn sends the data to the external device 2210. The external device 2210 can be a computer, a server, a device having sensors similar (or identical) to the sensors 2100 described above, or any other suitable device. The transceiver can send data via a wired and / or wireless connection. If the sensor housing 2020 is rotatable and the connection is a wired connection, the data can be sent via a slip ring 2018, which enables safe data transmission between a rotatable object and a stationary object. If the data is sent to a device having sensors similar (or identical) to the sensors 2100 described above, the position data from the sensors 2100 described above can be simulated in the sensors within the external device 2210. That is, in particular, based on data related to the amount of light blocked by the needle 2010 (the amount of light calculated based on the amount of light emitted by the light source 2013 minus the amount of light sensed by the light sensor 2015) and / or the amount of light sensed by the light sensor 2015, the movement of the movable member 2006 can be converted into the movement of the movable member of another sensor. This can enable a user to perform operations from an external location. Preferably, the data is sent via an RS232 / RS485 physical connection with a proprietary protocol, but any suitable method can be used.

[0287] In Figure 21In an example embodiment, the external receiver 2210 is a transceiver located in the second intravascular robotic instrument 2220, and the sensor 2100 is located in the first intravascular robotic instrument 2200. This results in an intravascular robotic system 2300 that includes the sensor 2100, the external device 2210, and the two intravascular robotic instruments 2200, 2220. By the above method, the movement of the movable member 2006 within the sensor 2100 is converted into the movement of a movable member within a second sensor in the second intravascular robotic instrument 2220. This can enable a user to perform operations from an external location. In some examples, the movement of the movable member 2006 can be converted into the movement of a plurality of movable members within corresponding sensors in a corresponding plurality of intravascular robotic instruments.

[0288] In some examples, the above-described sensor 2100 is located on the patient side of the surgery. Additionally or alternatively, the sensor 2100 (or the additional said sensor) can be located on the surgeon side of the surgery.

[0289] In some examples, when the sensor 2100 is located on the patient side, the sensor 2100 senses the wire load within the patient. The results are then displayed to the surgeon on a screen, and the surgeon controls the guide wire coupled to the movable member 2006 with a joystick. In some examples, the surgeon has a sensor 2100 that is the same as or substantially the same as the sensor on the patient side, and the surgeon controls the patient-side sensor through this same or substantially the same sensor.

[0290] Figure 23 A schematic diagram of a module according to some example embodiments as described herein is shown.

[0291] Figure 23 A schematic diagram shows that modules 102A, 102B include a moving unit 4001, two motors 4002, 4003, a sensor 4004, and a rotating unit 4005. These items can be the same as the items mentioned in the description regarding Figures 1 to 4 In some examples, modules 102A, 102B include only some of these features.

[0292] Figure 24 A schematic diagram of a system according to some example embodiments as described herein is shown.

[0293] Figure 24 A schematic diagram shows that each pair of modules 102, 106, 107 can communicate with its own controller 5102, 5106, 5107, and the controllers 5102, 5106, 5107 can in turn communicate with the main controller 6000. This can enable the sending and / or receiving of signals, as described regarding Figures 1 to 4As described. In some examples, there may be no master controller 6000, and signals are sent directly to an external device and / or received directly from an external device and / or received from the respective controllers 5102, 5106, 5107 of a pair of modules. Alternatively, at least a pair of modules 102, 106, 107 may not have their own controllers 5102, 5107, 5108, but instead send and / or receive signals directly to and / or from the master controller 6000.

[0294] The present disclosure also encompasses the following examples, which may be incorporated into the embodiments in whole or in part.

[0295] 1. A medical device for controlling the movement of a first elongate medical member, the device comprising:

[0296] A first module and a second module, wherein each of the first module and the second module includes a corresponding respective opening for passing the first elongate medical member through the first module and the second module, respectively;

[0297] A moving unit configured to move at least one of the first module and the second module in a first direction and a second direction, wherein the first direction is opposite to the second direction;

[0298] Wherein at least one of the first module and the second module includes a first clamping unit configured to clamp the first elongate medical member passing through the opening of the corresponding module;

[0299] Wherein at least one of the first module and the second module includes a rotating unit configured to rotate the first elongate medical member passing through the opening of the corresponding module about the longitudinal axis of the first elongate medical member;

[0300] Wherein the device is configured to operate in a plurality of different operating modes, the plurality of different operating modes including:

[0301] a) A first operating mode, the first operating mode including: clamping the first elongate medical member by a first clamping unit of at least one of the first module and the second module, and the moving unit moving at least one of the first module and the second module including the first clamping unit in the first direction;

[0302] b) A second operating mode, the second operating mode including: clamping the first elongate medical member by a first clamping unit of at least one of the first module and the second module, and the moving unit moving at least one of the first module and the second module including the first clamping unit in the second direction;

[0303] c) A third operating mode, the third operating mode comprising: gripping a first elongate medical member by a first gripping unit of at least one of the first module and the second module, and a rotating unit rotating the first elongate medical member about a longitudinal axis of the first elongate medical member; and

[0304] d) A fourth operating mode, the fourth operating mode comprising: performing the first operating mode or the second operating mode simultaneously with the third operating mode.

[0305] 2. The device according to clause 1, wherein the first gripping unit is configured as part of a cartridge, and wherein the cartridge includes an opening adapted for the first elongate medical member.

[0306] 3. The device according to clause 1 or 2, wherein the first gripping unit can be rotated by the rotating unit, and wherein when the first elongate medical member is gripped by the first gripping unit and the first gripping unit is rotated by the rotating unit, the first elongate medical member can rotate about a longitudinal axis of the first elongate medical member.

[0307] 4. The device according to any one of the preceding clauses, the first gripping unit includes a first gripping member configured to contact at least a first portion of the first elongate medical member on a first side of the first elongate medical member;

[0308] a second gripping member configured to contact at least a first portion of the first elongate medical member on a second side of the first elongate medical member, wherein the first side is different from the second side;

[0309] a guide configured to guide at least a first portion of the second gripping member during movement of the second gripping member; and

[0310] an actuating member coupled to the second gripping member, wherein the second gripping member can move between a first position and a second position based on an actuating force provided to the second gripping member by the actuating member, and wherein at least a first portion of the second gripping member can be guided by the guide during movement of the second gripping member between the first position and the second position;

[0311] wherein the first gripping member is configured to remain fixed or substantially fixed relative to the guide,

[0312] wherein the second gripping member includes a first surface opposite to a first surface of the first gripping member,

[0313] wherein when the second gripping member is in the first position, the first elongate medical member can be gripped between the first surface of the first gripping member and the first surface of the second gripping member, and

[0314] Wherein, when the second clamping member is in the second position, the first elongated medical member cannot be clamped between the first surface of the first clamping member and the first surface of the second clamping member.

[0315] 5. The device according to clause 4, wherein the first surface of the first clamping member includes a first recess configured to receive at least a first portion of the first elongated medical member on a first side of the first elongated medical member.

[0316] 6. The device according to clause 4 or 5, wherein the first surface of the second clamping member includes a second recess configured to receive at least a first portion of the first elongated medical member on a second side of the first elongated medical member.

[0317] 7. The device according to clause 4 or 5, wherein the first surface of the second clamping member includes a protrusion configured to contact at least a first portion of the first elongated medical member on a second side of the first elongated medical member.

[0318] 8. The device according to any one of clauses 4 to 7, wherein the actuating member includes an elastic member, particularly a spring.

[0319] 9. The device according to any one of clauses 4 to 8, wherein the guide includes a through hole configured to receive the first elongated medical member between the first surface of the first clamping member and the first surface of the second clamping member.

[0320] 10. The device according to any one of clauses 4 to 9, wherein when the second clamping member makes the movement, based on the actuating force provided to the second clamping member by the actuating member, the first surface of the second clamping member can move towards the first surface of the first clamping member.

[0321] 11. The device according to any one of clauses 4 to 10, wherein the second clamping member at least partially houses the first clamping member.

[0322] 12. The device according to any one of clauses 4 to 10, wherein the first clamping member and the second clamping member are at least partially located within an inner guide, wherein the inner guide is located within the guide, and wherein the inner guide is movable relative to the guide.

[0323] 13. The device according to clause 12, wherein the first clamping member and the second clamping member are offset from each other such that when the second clamping member moves between the first position and the second position, the second clamping member does not contact the first clamping member.

[0324] 14. The device according to any one of the preceding clauses, wherein the first elongated medical member is an elongated medical device, in particular a catheter, a stent, a catheter balloon, a stent balloon, a thrombectomy device, a coil, a sizing system or a guide wire.

[0325] 15. The device according to any one of the preceding clauses, wherein if the first module and the second module include mobile units, the first module and the second module are capable of moving independently of each other.

[0326] 16. The device according to any one of the preceding clauses, wherein if the first module and the second module include first clamping units, the operations of the first clamping units are independent of each other.

[0327] 17. The device according to any one of the preceding clauses, wherein if the first module and the second module include rotating units, the operations of the rotating units are independent of each other.

[0328] 18. The device according to any one of the preceding clauses, further comprising a controller configured to control the first clamping unit and / or the mobile unit.

[0329] 19. The device according to any one of the preceding clauses, further comprising a sensor including a movable member capable of moving between a first position and a second position,

[0330] a resilient member coupled to or integral with the movable member, wherein the resilient member is configured to provide a resilient force when the movable member is in the second position to bias the movable member towards the first position, and

[0331] a detection unit configured to detect a change in position of the movable member from the first position to the second position and / or from the second position to the first position.

[0332] 20. The device according to clause 19, wherein the detection unit includes an optical unit including a light source for emitting light and a light sensor for detecting the light emitted by the light source,

[0333] wherein, at the first position and / or the second position of the movable member, a first portion of the movable member is disposed in the optical path of the emitted light between the light source and the light sensor to at least partially block the emitted light traveling in the optical path between the light source and the light sensor, and

[0334] wherein a first amount of the emitted light that can be blocked by the first portion of the movable member in the optical path between the light source and the light sensor is different between when the movable member is in the first position and when the movable member is in the second position.

[0335] 21. The device according to clause 20, wherein the optical unit further includes a lens disposed in the optical path between the light source and the light sensor, and wherein the lens is configured to propagate the light emitted by the light source.

[0336] 22. The device according to clause 20 or 21, wherein the light source includes a laser diode.

[0337] 23. The device according to any one of clauses 20 to 22, wherein the sensor is configured to send data related to the sensed light from the light source to an external receiver.

[0338] 24. The device according to any one of the foregoing clauses, wherein the first elongated medical member can be removed from the device during use of the device, and wherein the first elongated medical member can be removed by retracting the first elongated medical member through the openings of the first module and the second module.

[0339] 25. The device according to any one of the foregoing clauses in combination with clause 2, wherein the cartridge is removable and replaceable based on the first elongated medical member in the opening.

[0340] 26. The device according to any one of the foregoing clauses, wherein the rotating unit includes a gear to which the first elongated medical member can be coupled, and wherein the first elongated medical member can be rotated by the gear through an unlimited rotation angle.

[0341] 27. The device according to any one of the foregoing clauses, wherein the first elongated medical member is a wire-type first elongated medical member.

[0342] 28. A system for controlling a plurality of first elongated medical members, the system comprising:

[0343] a plurality of devices according to clause 1;

[0344] wherein each device is configured to control the movement of a separate first elongated medical member that is not controlled by any other device among the plurality of devices.

[0345] 29. The system according to clause 28, wherein the devices are coaxial with each other.

[0346] 30. The system according to clause 28 or 29, wherein the openings of the first module and the second module of each device are coaxial with each other.

[0347] 31. The system according to any one of clauses 28 to 30, wherein the first elongated medical members are telescopically foldable within each other.

[0348] 32. The system according to any one of clauses 29 to 31, when subordinate to clause 18, wherein the controller of each device is coupled to the main controller.

[0349] 33. The system according to clause 32, wherein the mobile unit and / or the first clamping unit of each device is configured to be controlled by the main controller.

[0350] 34. The system according to clause 32 or 33, wherein the mobile unit of any device, the first clamping unit of any device, and the rotating unit of any device are independently controllable relative to the mobile unit, the first clamping unit, and the rotating unit of any other device.

[0351] 35. The system according to any one of clauses 28 to 34, wherein there are three devices.

[0352] 36. The system according to any one of clauses 28 to 35, wherein in the operating mode of clause 1, when the first elongated medical member can be moved and / or rotated by at least one of the first module and the second module of the first device, at least one of the first module and the second module of the second device moves relative to at least one of the first module and the second module of the first device.

[0353] 37. The system according to any one of clauses 28 to 36, wherein if the first elongated medical member of the first device is clamped only by one of the first module and the second module of the first device via the first clamping unit, the other of the first module and the second module of the first device can move away from the module clamping the first elongated medical member, and at least one of the first module and the second module of the second device moves in response to the movement of the module of the first device that is not clamping the first elongated medical member.

[0354] 38. A system for controlling the movement of a first elongated medical member, the system comprising:

[0355] The device according to clause 1; and

[0356] A manual control unit, the manual control unit including a control unit and a second elongated medical member configured to be manipulated by a person;

[0357] wherein the manual control unit is located at a first position and the device is located at a second position; and

[0358] wherein the first position and the second position are different positions.

[0359] 39. The system according to clause 38, wherein the manual control unit includes a second clamping unit configured to clamp the second elongated medical member.

[0360] 40. The system according to clause 38 or 39, when subordinate to clause 18, wherein the control unit is configured to send a first control signal to the controller of the device, wherein the first control signal includes information related to the manipulation of the second elongate medical member.

[0361] 41. The system according to clause 40, wherein the controller of the device controls the first elongate medical member in a manner proportional to the manipulation of the second elongate medical member, and wherein the controller controls the first elongate medical member based on the first control signal received from the control unit of the manual control unit.

[0362] 42. The system according to any one of clauses 38 to 41, when subordinate to clause 23, wherein the manual control unit further includes a haptic feedback unit configured to provide haptic feedback to the person manipulating the second elongate medical member based on the sensor unit readings, wherein the haptic feedback is based on the sensor unit readings.

[0363] 43. The system according to any one of clauses 38 to 42, when subordinate to clause 40, wherein the manual control unit further includes a pedal that can be actuated by a person, wherein in a first position, the control unit is configured to send a first control signal, and in a second position, the control unit is configured not to send a first control signal, wherein the first position is different from the second position.

[0364] 44. The system according to any one of clauses 38 to 43, when subordinate to clause 40, wherein the manual control unit further includes a touchable device configured to be touchable by a person, wherein upon a first touch of the touchable device, the control unit is configured to send a first control signal, and upon a second touch, the control unit is configured not to send a first control signal.

[0365] 44. The system according to clause 43, wherein upon the first touch, only information related to the axial or rotational manipulation of the second elongate medical member is sent, and upon the second touch, only information related to the axial or rotational manipulation of the second elongate medical member is not sent.

[0366] 45. A system for controlling a plurality of first elongate medical members, the system comprising:

[0367] The system according to clause 28; and

[0368] A manual control unit including a control unit and at least a second elongate medical member and a third elongate medical member configured to be manipulated by a person;

[0369] wherein the manual control unit is located at a first position and the device is located at a second position; and

[0370] Wherein, the first position and the second position are different positions.

[0371] 47. The system according to clause 46, wherein the manual control unit includes a second clamping unit and a third clamping unit, and the second clamping unit and the third clamping unit are configured to clamp at least a second elongated medical member and a third elongated medical member, respectively.

[0372] 48. The system according to clause 46 or 47, when subordinate to clause 32, wherein the control unit is configured to send a first control signal to the main controller, and the first control signal includes information related to the manipulation of at least the second elongated medical member and the third elongated medical member.

[0373] 49. The system according to clause 48, wherein the main controller controls the first elongated medical member in a manner proportional to the manipulation of the second elongated medical member, and controls another separate elongated medical member in a manner proportional to the manipulation of the third elongated medical member, and the controller controls the first elongated medical member and the other elongated medical member based on the first control signal received from the control unit of the manual control unit.

[0374] 50. The system according to any one of clauses 46 to 49, when subordinate to clause 23, wherein the manual control unit further includes a haptic feedback unit, and the haptic feedback unit is configured to provide haptic feedback to a person manipulating at least the second elongated medical member and the third elongated medical member based on a second control signal sent by the detection unit of the sensor, and the haptic feedback is proportional to data related to the sensed data of the sensor.

[0375] 51. The system according to any one of clauses 46 to 50, when subordinate to clause 48, wherein the manual control unit further includes a pedal that can be actuated by a person, and in the first position, the control unit is configured to send the first control signal, and in the second position, the control unit is configured not to send the first control signal, and the first position is different from the second position.

[0376] 52. The system according to any one of clauses 46 to 51, when subordinate to clause 48, wherein the manual control unit further includes a touchable device configured to be touchable by a person, and when the touchable device is touched for the first time, the control unit is configured to send the first control signal, and when it is touched for the second time, the control unit is configured not to send the first control signal.

[0377] 53. The system according to clause 52, wherein, upon a first touch, only information related to the axial or rotational manipulation of the second and / or third elongate medical members is transmitted, and upon a second touch, only information related to the axial or rotational manipulation of the second and / or third elongate medical members is not transmitted.

[0378] 54. The system according to clause 44 or 52, wherein the touchable device is a button and / or a lever and / or a touch screen.

[0379] 55. An artificial control unit for manipulating a remotely located elongate medical member, the artificial control unit comprising:

[0380] A control unit, the control unit comprising a transmitter and a receiver;

[0381] A local elongate member, the local elongate member being configured to be manipulated by a user of the artificial control unit;

[0382] A clamping unit, the clamping unit being configured to clamp the local elongate member; and

[0383] A device, the device being configured to enable and disable the transmitter.

[0384] 56. The artificial control unit according to clause 55, wherein the device is a button and / or a lever and / or a touch screen, wherein upon a first touch of the device, the transmitter is enabled, and upon a second touch of the device, the transmitter is disabled.

[0385] 57. The artificial control unit according to clause 55 or 56, further comprising a display, the display being configured to display to the user the status of the remotely located elongate member.

[0386] 58. The artificial control unit according to clause 57, wherein the status includes the distance by which the remotely located elongate member has been manipulated from a predetermined position and / or the rotational angle by which the remotely located elongate member has been manipulated from a predetermined position.

[0387] 59. The artificial control unit according to any one of clauses 55 to 58, wherein the transmitter is configured to transmit a first control signal to an external device including the remotely located elongate medical member, wherein the first control signal includes information related to the manipulation of the local elongate member, wherein the artificial control unit is located at a first position and the external device is located at a second position, and wherein the first position and the second position are different positions.

[0388] 60. The artificial control unit according to clause 59, wherein the external device receives the first control signal and the external device manipulates the remotely located elongate medical member based on the received first control signal.

[0389] 61. The manual control unit according to any one of clauses 55 to 60, wherein the control unit is configured to receive a second control signal from an external device via a receiver, and wherein the control signal includes information related to a remote elongate medical member.

[0390] 62. The manual control unit according to any one of clauses 55 to 60, when subordinate to clause 59, further comprising a haptic feedback unit configured to provide haptic feedback to a user of the manual control unit based on the received second control signal.

[0391] 63. The manual control unit according to any one of clauses 55 to 62, wherein the clamping unit is movable and / or rotatable based on the manipulation of the local elongate member.

[0392] 64. The manual control unit according to any one of clauses 55 to 63, when subordinate to clause 61, wherein the clamping unit is movable and / or rotatable based on the received second control signal.

[0393] 65. The manual control unit according to any one of clauses 55 to 64, wherein the manual control unit includes a plurality of local elongate members, and the manual control unit is for manipulating a plurality of remote elongate medical members.

[0394] 66. The manual control unit according to clause 65, wherein the plurality of local elongate members are telescopically foldable within each other.

[0395] 67. The manual control unit according to any one of clauses 55 to 66, wherein there is an external device for each local elongate member of the plurality of local elongate members.

[0396] 68. The manual control unit according to any one of clauses 65 to 67, when subordinate to clause 57, wherein the display is configured to display the state of each local elongate member of the plurality of local elongate members to the user.

[0397] 69. The manual control unit according to any one of clauses 65 to 68, when subordinate to clause 59, wherein the first control signal includes information related to the manipulation of each local elongate member of the plurality of local elongate members.

[0398] 70. The manual control unit according to clause 69, wherein the external device receives the first control signal, and the external device manipulates the plurality of remote elongate medical members based on the received first control signal.

[0399] 71. The manual control unit according to clause 70, wherein each of the plurality of local elongated members corresponds to one of the plurality of remote elongated medical members, and the number of local elongated members is equal to the number of remote elongated medical members.

[0400] 72. The manual control unit according to any one of clauses 65 to 71, when subordinate to clause 62, further comprising a plurality of haptic feedback units configured to provide haptic feedback to a user of the manual control unit based on a received second control signal, wherein each of the plurality of haptic feedback units is coupled to a different one of the plurality of local elongated members.

[0401] 73. The manual control unit according to any one of clauses 65 to 72, further comprising a plurality of clamping units, wherein each clamping unit is configured to clamp a different one of the plurality of local elongated members.

[0402] 74. The manual control unit according to clause 73, wherein at least one of the plurality of clamping units is movable and / or rotatable based on the manipulation of its corresponding local elongated member.

[0403] 75. The manual control unit according to clause 73 or 74, wherein at least one of the plurality of clamping units is movable and / or rotatable based on a received second control signal.

[0404] Additionally, the present disclosure encompasses the following examples, which may be incorporated into the embodiments in whole or in part.

[0405] 1. A gripper for gripping an elongated member of an intravascular system, wherein the gripper comprises:

[0406] A first clamping member configured to contact at least a first portion of the elongated member on a first side of the elongated member;

[0407] A second clamping member configured to contact at least a first portion of the elongated member on a second side of the elongated member, wherein the first side is different from the second side;

[0408] A guide configured to guide at least a first portion of the second clamping member during movement of the second clamping member; and

[0409] An actuating member is coupled to a second clamping member, wherein the second clamping member is movable between a first position and a second position based on an actuating force provided to the second clamping member by the actuating member, and wherein at least a first portion of the second clamping member can be guided by a guide member during the movement of the second clamping member between the first position and the second position;

[0410] wherein the first clamping member is configured to be fixed or substantially fixed relative to the guide member,

[0411] wherein the second clamping member includes a first surface opposite to a first surface of the first clamping member,

[0412] wherein when the second clamping member is in the first position, the elongate member can be clamped between the first surface of the first clamping member and the first surface of the second clamping member, and

[0413] wherein when the second clamping member is in the second position, the elongate member cannot be clamped between the first surface of the first clamping member and the first surface of the second clamping member.

[0414] 2. The gripper according to clause 1, wherein the first surface of the first clamping member includes a first recess configured to receive at least a first portion of the elongate member on a first side of the elongate member.

[0415] 3. The gripper according to clause 2, wherein the first recess is V-shaped.

[0416] 4. The gripper according to any one of the preceding clauses, wherein the first surface of the second clamping member includes a second recess configured to receive at least a first portion of the elongate member on a second side of the elongate member.

[0417] 5. The gripper according to clause 4, wherein the second recess is V-shaped.

[0418] 6. The gripper according to clause 4 or 5, when dependent on clause 2 or 3, wherein at least a first portion of the elongate member can contact at four contact lines on the first surface of the first clamping member on the first side of the elongate member and on the first surface of the second clamping member on the second side of the elongate member, through the first recess and the second recess.

[0419] 7. The gripper according to clause 6, wherein the four contact lines are each separated by 90°, and wherein the four contact lines are parallel to each other.

[0420] 8. The gripper according to clause 4 or 5, when dependent on clause 2 or 3, wherein at least a first portion of the elongate member can contact at four contact points through a first surface of a first clamping member on a first side of the elongate member and a first surface of a second clamping member on a second side of the elongate member, through a first recess and a second recess.

[0421] 9. The gripper according to clause 8, wherein the four contact points are each separated by 90°, and wherein the four contact points span around a central longitudinal axis of the elongate member to form a quadrilateral.

[0422] 10. The gripper according to any one of clauses 1 to 3, wherein the first surface of the second clamping member includes a protrusion configured to contact at least a first portion of the elongate member on a second side of the elongate member.

[0423] 11. The gripper according to clause 10, wherein the protrusion is frustum V-shaped.

[0424] 12. The gripper according to clause 10 or 11, when dependent on clause 2 or 3, wherein at least a first portion of the elongate member can contact at two contact lines through a first recess and one contact line through the protrusion, through a first surface of a first clamping member on a first side of the elongate member and a first surface of a second clamping member on a second side of the elongate member.

[0425] 13. The gripper according to clause 12, wherein the three contact lines are each separated by 120°, and wherein the three contact lines are parallel to each other.

[0426] 14. The gripper according to clause 10 or 11, when dependent on clause 2 or 3, wherein at least a first portion of the elongate member can contact at two contact points through a first recess and one contact point through the protrusion, through a first surface of a first clamping member on a first side of the elongate member and a first surface of a second clamping member on a second side of the elongate member.

[0427] 15. The gripper according to clause 14, wherein the three contact points are each separated by 120°, and wherein the three contact points span around a central longitudinal axis of the elongate member to form a triangle.

[0428] 16. The gripper according to any one of the preceding clauses, wherein the actuating member includes an elastic member, in particular a spring.

[0429] 17. The gripper according to any one of the preceding clauses, wherein the guide includes a through-hole configured to receive the elongate member between a first surface of the first clamping member and a first surface of the second clamping member.

[0430] 18. The gripper according to any one of the preceding clauses, wherein at least a first portion of the elongated member is capable of being clamped between a first surface of a first clamping member and a first surface of a second clamping member.

[0431] 19. The gripper according to any one of the preceding clauses, wherein the second clamping member and / or the guide includes a photopolymer and / or includes a 3D printed portion.

[0432] 20. The gripper according to any one of the preceding clauses, wherein the first clamping member includes a metal portion, and at least a portion of the metal portion is configured to contact at least a first portion of the elongated member.

[0433] 21. The gripper according to any one of the preceding clauses, wherein when the second clamping member makes the movement, based on the actuating force provided to the second clamping member by the actuating member, the first surface of the second clamping member is capable of moving towards the first surface of the first clamping member.

[0434] 22. The gripper according to any one of the preceding clauses, further comprising an assembly pin, the assembly pin being configured to:

[0435] (i) couple the first clamping member and the guide to each other, and / or

[0436] (ii) couple the first clamping member and a component external to the gripper to each other, and / or

[0437] (iii) couple the guide and a component external to the gripper to each other.

[0438] 23. The gripper according to any one of the preceding clauses, wherein the guide includes a first portion and a second portion, the first portion being configured to guide at least a first portion of the second clamping member and at least a first portion of the elongated member, the second portion of the guide including a section configured to guide at least a second portion of the elongated member, and wherein the first portion and the second portion of the elongated member are different portions.

[0439] 24. The gripper according to any one of the preceding clauses, wherein the gripper is located in a disposable cartridge.

[0440] 25. The gripper according to any one of the preceding clauses, wherein the first clamping member and / or the second clamping member and / or the guide is at least partially coated with a polymer.

[0441] 26. The gripper according to any one of the preceding clauses, wherein the actuating force provided to the second clamping member by the actuating member depends on at least one parameter of the elongated member.

[0442] 27. The gripper according to any one of the preceding clauses, wherein the elongated member is a guide wire and / or a catheter.

[0443] 28. The gripper according to any one of the preceding clauses, when subordinate to clause 22, further comprising a sensor configured to indicate to an external component the actuation of the actuating component.

[0444] 29. The gripper according to any one of the preceding clauses, wherein the second clamping member at least partially houses the first clamping member.

[0445] 30. The gripper according to any one of the preceding clauses, wherein the guide is further configured to guide at least a portion of the actuating component and / or at least a first portion of the first clamping member.

[0446] 31. The gripper according to any one of the preceding clauses, wherein the second clamping member is able to slide past the first clamping member and the guide during the movement of the second clamping member between the first position and the second position and / or between the second position and the first position.

[0447] 32. The gripper according to any one of the preceding clauses, wherein the movement of the second clamping member towards the second position is restricted when there is contact between the first clamping member and the second clamping member.

[0448] 33. The gripper according to any one of the preceding clauses, wherein the movement of the second clamping member towards the first position is restricted when there is contact between the second clamping member and the elongated member.

[0449] 34. The gripper according to any one of the preceding clauses, when subordinate to any one of clauses 2 to 5, wherein when the second clamping member is in the second position, the movement of the elongated member can be restricted by the first recess and / or the second recess.

[0450] 35. The gripper according to any one of the preceding clauses, when subordinate to clause 20, wherein the metal part comprises 7075 - t6 aluminum.

[0451] 36. An intravascular system, the intravascular system comprising:

[0452] A first intravascular instrument; and

[0453] A second intravascular instrument;

[0454] wherein the first intravascular instrument and / or the second intravascular instrument comprises a gripper according to any one of clauses 1 to 35.

[0455] 37. The intravascular system according to clause 36 further includes an elongate member, wherein the elongate member is a guide wire and / or a catheter.

[0456] 38. The intravascular system according to clause 36 or 37, wherein the first intravascular device is a first robotic intravascular device and / or the second intravascular device is a second robotic intravascular device.

[0457] 39. A sensor for an intravascular robotic system, wherein the sensor includes:

[0458] A movable member capable of moving between a first position and a second position,

[0459] A resilient member coupled to or integral with the movable member, wherein the resilient member is configured to provide a resilient force when the movable member is in the second position to bias the movable member toward the first position, and

[0460] A detection unit configured to detect a change in position of the movable member from the first position to the second position and / or from the second position to the first position.

[0461] 40. The sensor according to clause 39, wherein the detection unit includes an optical unit, the optical unit including a light source for emitting light and a light sensor for detecting the light emitted by the light source,

[0462] wherein, at the first position and / or the second position of the movable member, a first portion of the movable member is disposed in the optical path of the emitted light between the light source and the light sensor to at least partially block the emitted light traveling in the optical path between the light source and the light sensor by the first portion of the movable member, and

[0463] wherein a first amount of the emitted light that can be blocked by the first portion of the movable member in the optical path between the light source and the light sensor is different between when the movable member is in the first position and when the movable member is in the second position.

[0464] 41. The sensor according to clause 40, wherein the sensor is configured to determine that the movable member is in the first position and / or the second position based on a second amount of the emitted light that is not blocked by the first portion of the movable member in the optical path between the light source and the light sensor when the movable member is in the first position and / or the second position and is sensed by the light sensor.

[0465] 42. The sensor according to clause 41, wherein the sensor is configured to determine the magnitude of the resilient force based on the second amount of the emitted light sensed by the light sensor.

[0466] 43. The sensor according to any one of clauses 40 to 42, wherein the sensor is configured to determine that the movable member is in

[0467] a first transition between a first position and a second position, and / or

[0468] a second transition between the second position and the first position, based on a change in the amount of the emitted light that cannot be blocked by the first part of the movable member in the optical path between the light source and the light sensor.

[0469] 44. The sensor according to any one of clauses 39 to 43, wherein the elastic force is a non-linear elastic force, and wherein the non-linear elastic force is configured to vary non-linearly as the movable member moves between the first position and the second position and / or between the second position and the first position.

[0470] 45. The sensor according to any one of clauses 39 to 44, wherein the elastic force is a continuous elastic force, and wherein the continuous elastic force is configured to vary continuously as the movable member moves between the first position and the second position and / or between the second position and the first position.

[0471] 46. The sensor according to any one of clauses 40 to 43 or clause 44 or 45, when subordinate to clause 40, wherein the optical unit further includes a lens, the lens is arranged in the optical path between the light source and the light sensor, and wherein the lens is configured to propagate the light emitted by the light source.

[0472] 47. The sensor according to any one of clauses 39 to 46, wherein the movable member is capable of moving in two degrees of freedom.

[0473] 48. The sensor according to clause 47, wherein the first degree of freedom is along the axial direction of the movable member, and wherein the second degree of freedom is related to the axis of rotation about the axial direction.

[0474] 49. The sensor according to any one of clauses 39 to 48, wherein the elastic force member includes a plurality of magnets, wherein a first magnet among the plurality of magnets is coupled to the movable member, and wherein a second magnet among the plurality of magnets is coupled to a part of the sensor different from the movable member, and wherein the elastic force includes a magnetic force between the first magnet and the second magnet.

[0475] 50. The sensor according to clause 49, wherein the plurality of magnets are arranged such that in a pair of magnets, the magnets repel or attract each other, and wherein the pair of magnets biases the movable member towards the first position.

[0476] 51. The sensor according to clause 49 or 50, wherein the distance between at least two of the plurality of magnets is configured to vary based on the movement of the movable member, and wherein the change in the distance between at least two of the plurality of magnets is configured to cause a change in the elastic force.

[0477] 52. The sensor according to any one of clauses 49 to 51, when subordinated to clause 9 or 10, wherein a first plurality of the plurality of magnets is configured to provide a change in the elastic force in a first direction with respect to a first degree of freedom when the movable member moves between a first position and a second position and / or between the second position and the first position, and wherein a second plurality of the plurality of magnets is configured to provide a change in the elastic force in a second direction with respect to a second degree of freedom when the movable member moves between a first position and a second position and / or between the second position and the first position.

[0478] 53. The sensor according to any one of clauses 40 to 43 or 46 or clause 44 or 45 or 47 to 52, when subordinated to clause 40, wherein the light source includes a laser diode.

[0479] 54. The sensor according to any one of clauses 39 to 53, wherein a first portion of the elastic member is coupled to the movable member, and wherein the first portion of the elastic member is configured to contact a first elastic member that is coupled to a portion of the sensor different from the movable member, and wherein the elastic force includes the mechanical resistance between the first portion of the elastic member and the first elastic member.

[0480] 55. The sensor according to clause 54, wherein the first portion of the elastic member and the first elastic member are arranged such that the first portion of the elastic member and the first elastic member bias the movable member toward the first position.

[0481] 56. The sensor according to clause 54 or 55, when subordinated to clause 47 or 48, wherein the first portion of the elastic member and the first elastic member are configured to provide a change in the elastic force in a first direction with respect to a first degree of freedom when the movable member moves between a first position and a second position and / or between the second position and the first position, and wherein a second portion of the elastic member and a second elastic member are configured to provide a change in the elastic force in a second direction with respect to a second degree of freedom when the movable member moves between a first position and a second position and / or between the second position and the first position.

[0482] 57. The sensor according to any one of clauses 39 to 56, wherein a second portion of the movable member is disposed within an oscillation damping pool, and wherein the oscillation damping pool is configured to provide oscillation damping to the movable member.

[0483] 58. The sensor according to any one of clauses 39 to 57 further includes an air bearing, wherein a third portion of the movable member is at least partially disposed in the air bearing, and wherein the air bearing is configured such that the movable member can move in a substantially frictionless manner.

[0484] 59. The sensor according to any one of clauses 39 to 58 further includes a zero-point positioning unit, wherein the zero-point positioning unit includes a positioning sensor, a positioning mark portion, and an indicator configured to indicate that the sensor is in a zero position, and wherein the movable member does not encounter a net force at the zero position.

[0485] 60. The sensor according to any one of clauses 39 to 59 further includes a sensor housing and a sensor bearing coupled to the sensor housing, and wherein the sensor bearing is configured such that the sensor housing can rotate about the longitudinal axis of the sensor housing.

[0486] 61. The sensor according to any one of clauses 39 to 60, wherein the movable member is coupled to a first intravascular robotic device or includes a first intravascular robotic device.

[0487] 62. The sensor according to any one of clauses 39 to 61 in combination with clause 40, wherein the sensor is configured to send data related to the sensed light from a light source to an external receiver.

[0488] 63. The sensor according to clause 62, wherein the external receiver is included in a second intravascular robotic device, and the second intravascular robotic device can be controlled based on the received data.

[0489] 64. The sensor according to clause 62 or 63 further includes a slip ring, wherein the slip ring is configured such that data corresponding to the sensed light can be sent to the external receiver substantially continuously.

[0490] 65. The sensor according to clause 63 or 64, when dependent on clause 61, wherein the second intravascular robotic device is the same as or substantially the same as the first intravascular robotic device, and / or wherein the function of the second intravascular robotic device is the same as the function of the first intravascular robotic device.

[0491] 66. The sensor according to any one of clauses 39 to 65, wherein the detection unit includes a magnetic field measurement unit configured to detect a change in a magnetic field.

[0492] wherein, at the first position and / or the second position of the movable member, the characteristics of the magnetic field can be detected by the magnetic field measurement unit, and

[0493] Among them, the characteristics of the magnetic field that can be detected by the magnetic field measurement unit are a first value when the movable member is in the first position and a second value when the movable member is in the second position, where the first value is different from the second value.

[0494] 67. The sensor according to clause 66, wherein the sensor is configured to determine that the movable member is in the first position and / or the second position based on the characteristics that can be detected by the magnetic field measurement unit when the movable member is in the first position and / or the second position.

[0495] 68. The sensor according to clause 67, wherein the sensor is configured to determine the magnitude of the elastic force based on the characteristics that can be detected by the magnetic field measurement unit when the movable member is in the second position.

[0496] 69. The sensor according to any one of clauses 66 to 68, wherein the sensor is configured to determine that the movable member is in

[0497] a first transition between the first position and the second position, and / or

[0498] a second transition between the second position and the first position.

[0499] 70. The sensor according to any one of clauses 66 to 69, wherein the magnetic field measurement unit is configured to send data related to the detected characteristics to a microcontroller coupled to the magnetic field measurement unit.

[0500] 71. The sensor according to clause 70, wherein the magnetic field measurement unit includes a first magnet.

[0501] 72. The sensor according to any one of clauses 66 to 71, wherein the magnetic field measurement unit includes a Hall effect sensor.

[0502] 73. The sensor according to clause 71 or 72, further including a second magnet coupled to the movable member, and wherein the characteristics that can be detected by the magnetic field measurement unit are based on the magnetic field interaction between the first magnet and the second magnet.

[0503] 74. A sensor for an intravascular robotic system, wherein the sensor includes:

[0504] a movable member that can move between a first position and a second position, and

[0505] an optical unit that includes a light source for emitting light and a light sensor for detecting the light emitted by the light source,

[0506] Wherein, at the first position and / or the second position of the movable member, a part of the movable member is disposed in the optical path of the emitted light between the light source and the light sensor, for at least partially blocking the emitted light traveling in the optical path between the light source and the light sensor by a part of the movable member, and

[0507] wherein a first amount of the emitted light that can be blocked by a part of the movable member in the optical path between the light source and the light sensor is different between when the movable member is in the first position and when the movable member is in the second position, and

[0508] wherein the light sensor is configured to determine that the movable member is in the first position and / or the second position based on a second amount of the emitted light that is sensed by the light sensor and that cannot be blocked by a part of the movable member in the optical path when the movable member is in the first position and / or the second position.

[0509] 75. A sensor for an intravascular robotic system, wherein the sensor comprises:

[0510] a movable member that is movable between a first position and a second position, and

[0511] a magnetic field measurement unit including a first magnet, wherein the magnetic field measurement unit is configured to detect a change in a magnetic field,

[0512] wherein at the first position and / or the second position of the movable member, a characteristic of the magnetic field can be detected by the magnetic field measurement unit,

[0513] wherein the characteristic of the magnetic field that can be detected by the magnetic field measurement unit is a first value when the movable member is in the first position and a second value when the movable member is in the second position, wherein the first value is different from the second value, and

[0514] wherein the sensor is configured to determine that the movable member is in the first position and / or the second position based on the characteristic of the magnetic field that can be detected by the magnetic field measurement unit when the movable member is in the first position and / or the second position.

[0515] 76. An intravascular robotic system, the intravascular robotic system comprising:

[0516] a first intravascular robotic instrument located at a first position, and

[0517] a second intravascular robotic instrument located at a second position different from the first position,

[0518] wherein the first intravascular robotic instrument is communicatively coupled to the second intravascular robotic instrument, and

[0519] Wherein, the first intravascular robotic device and / or the second intravascular robotic device includes a sensor according to any one of Clauses 39 to 75.

[0520] 77. The intravascular robotic system according to Clause 76, wherein a first function of the first intravascular robotic device is the same as a second function of the second intravascular robotic device,

[0521] Wherein, the first intravascular robotic device includes a first haptic feedback unit configured to generate first haptic feedback data according to a first movement of the first intravascular robotic device for implementing the first function,

[0522] Wherein, the first intravascular robotic device is configured to send the first haptic feedback data to the second intravascular robotic device, and

[0523] Wherein, the second intravascular robotic device is configured to simulate the first movement of the first intravascular robotic device based on the first haptic feedback data received from the first intravascular robotic device to implement the second function.

[0524] 78. The intravascular robotic system according to Clause 77, wherein the first intravascular robotic device includes a sensor according to any one of Clauses 39 to 75, and wherein the first intravascular robotic device is configured to generate the first haptic feedback data based on an amount of transmitted light detected by an optical sensor.

[0525] It should be understood that terms such as "control", "send", "receive", "manipulate", etc. in this specification should also be understood to mean that a feature is configured to be controlled and / or manipulated, and a signal is configured to be sent and / or received, etc.

[0526] Without doubt, those skilled in the art will also think of many other effective alternatives. It should be understood that the present invention is not limited to the described embodiments and includes modifications that are obvious to those skilled in the art and fall within the scope of the appended claims.

Claims

1. An artificial control unit for manipulating a remote slender medical member, the artificial control unit comprising: A control unit, the control unit including a transmitter; A local slender member configured to be manipulated by a user of the artificial control unit; A clamping unit configured to clamp the local slender member; And A device configured to enable and disable the transmitter.

2. The artificial control unit according to claim 1, wherein, The device is a button and / or a lever and / or a touch screen, wherein when the device is touched for the first time, the transmitter is configured to be enabled, and when the device is touched for the second time, the transmitter is configured to be disabled, wherein the first touch and the second touch occur at two different time points.

3. The artificial control unit according to claim 1 or 2, the artificial control unit further comprising a display configured to display the state of the remote slender member to the user.

4. The artificial control unit according to claim 3, wherein, The state includes the distance by which the remote slender member is manipulated from a predetermined position and / or the rotational angle by which the remote slender member is manipulated from a predetermined position.

5. The artificial control unit according to any one of claims 1 to 4, wherein, The transmitter is configured to send a first control signal to an external device, the external device including the remote slender medical member or being coupled to the remote slender medical member, wherein the first control signal includes information related to the manipulation of the local slender member, wherein the artificial control unit is located at a first position and the external device is located at a second position, wherein the first position and the second position are different positions.

6. The artificial control unit according to claim 5, wherein, The external device is configured to receive the first control signal and is configured to manipulate the remote slender medical member based on the received first control signal.

7. The artificial control unit according to any one of claims 1 to 6, wherein, The control unit is configured to receive a second control signal from the external device through a receiver, wherein the control signal includes information related to the remote slender medical member.

8. The artificial control unit according to claim 7, the artificial control unit further comprising a haptic feedback unit configured to provide haptic feedback to a user of the artificial control unit based on the received second control signal.

9. The manually controlled unit according to any one of claims 1 to 8, wherein, The clamping unit is movable and / or rotatable based on the manipulation of the local slender member.

10. The artificial control unit according to any one of claims 1 to 9, when dependent on claim 7, wherein, The clamping unit is capable of moving and / or rotating based on the received second control signal.

11. The artificial control unit according to any one of claims 1 to 10, wherein, The artificial control unit includes a plurality of local slender members, the artificial control unit being configured to manipulate a plurality of remote slender medical members.

12. The artificial control unit according to claim 11, wherein, The plurality of local slender members are telescopically foldable within each other.

13. The artificial control unit according to any one of claims 1 to 12, wherein, There is an external device for each local slender member of the plurality of local slender members.

14. The artificial control unit according to any one of claims 11 to 13, when dependent on claim 3, wherein The display is configured to display the state of each local slender member of the plurality of local slender members to the user.

15. The artificial control unit according to any one of claims 11 to 14, when dependent on claim 5, wherein, The first control signal includes information related to the manipulation of each local slender member of the plurality of local slender members.

16. The artificial control unit according to claim 15, wherein, The external device is configured to receive the first control signal and is configured to manipulate a plurality of remote slender medical members based on the received first control signal.

17. The artificial control unit according to claim 16, wherein, Each of a plurality of local slender members corresponds to one of a plurality of remote slender medical members, wherein the number of local slender members is equal to the number of remote slender medical members.

18. The manual control unit according to any one of claims 11 to 17, when dependent on claim 8, further comprises a plurality of haptic feedback units configured to provide haptic feedback to a user of the manual control unit based on a received second control signal, wherein, Each of the plurality of haptic feedback units is capable of being coupled to a different one of the plurality of local slender members.

19. The artificial control unit according to any one of claims 11 to 18, wherein the artificial control unit further comprises a plurality of clamping units, Each clamping unit is configured to clamp a different one of the plurality of local slender members.

20. The artificial control unit according to claim 19, wherein At least one of the plurality of clamping units is capable of moving and / or rotating based on the manipulation of its corresponding local slender member.

21. The artificial control unit according to claim 19 or 20, wherein At least one of the plurality of clamping units is capable of moving and / or rotating based on a received second control signal.

22. A system for controlling the movement of a first slender medical member, the system comprising: An external device; And A manual control unit, the manual control unit including a control unit and a second slender medical member configured to be manipulated by a person, wherein the manual control unit includes a first clamping unit configured to clamp the second slender medical member; Wherein the manual control unit is located at a first position and the device is located at a second position; and Wherein the first position and the second position are different positions.

23. The system according to claim 22, wherein the external device includes a controller configured to control the second clamping unit and / or the moving unit of the external device, where The control unit is configured to send a first control signal to the controller of the external device, wherein the first control signal includes information related to the manipulation of the second slender medical member.

24. The system according to claim 23, wherein The controller of the external device is configured to manipulate the first slender medical member in a manner proportional to the manipulation of the second slender medical member, wherein the controller is configured to control the first slender medical member based on the first control signal received from the control unit of the manual control unit.

25. The system according to any one of claims 22 to 24, wherein the external device includes a sensor configured to send sensed data to the control unit, where The manual control unit further includes a haptic feedback unit configured to provide haptic feedback to a person manipulating the second slender medical member based on a second control signal sent by a detection unit of the sensor, wherein the haptic feedback is proportional to the sensed data.

26. The system according to claim 23 or 24 or claim 25 in combination with claim 23 or 24, wherein, The manual control unit further includes a pedal that can be actuated by a person, wherein in a first position, the control unit is configured to send the first control signal, and in a second position, the control unit is prohibited from sending the first control signal, wherein the first position is different from the second position.

27. The system according to claim 23, 24 or 26 or claim 25 in combination with claim 23 or 24, wherein, The manual control unit further includes a touch device, wherein upon a first touch of the touch device, the control unit is configured to send the first control signal, and upon a second touch, the control unit is prohibited from sending the first control signal, wherein the first touch and the second touch occur at two different time points.

28. The system according to claim 27, wherein Upon the first touch, only information related to the axial or rotational manipulation of the second slender medical member can be sent, and upon the second touch, only information related to the axial or rotational manipulation of the second slender medical member cannot be sent.

29. A system for controlling a plurality of first slender medical members, the system comprising: External device; and a manual control unit, the manual control unit including a control unit and at least a second elongated medical member and a third elongated medical member both configured to be manipulated by a person; wherein, the manual control unit is located at a first position and the external device is located at a second position; and wherein, the first position and the second position are different positions.

30. The system according to claim 29, wherein The manual control unit includes a first clamping unit and a second clamping unit, the first clamping unit and the second clamping unit being configured to clamp the at least second elongated medical member and the third elongated medical member respectively.

31. The system according to claim 29 or 30, wherein, The external system includes a main controller, wherein, the control unit is configured to send a first control signal to the main controller, wherein, the first control signal includes information related to the manipulation of the at least second elongated medical member and the third elongated medical member.

32. The system according to claim 31, wherein, The main controller is configured to control the first elongated medical member in a manner proportional to the manipulation of the second elongated medical member, and to control another separate elongated medical member in a manner proportional to the manipulation of the third elongated medical member, wherein, the main controller is configured to control the first elongated medical member and the other elongated medical member based on the first control signal received from the control unit of the manual control unit.

33. The system according to any one of claims 29 to 32, when dependent on claim 21, wherein, The external device includes a sensor, the sensor being configured to send sensed data to the control unit, wherein, the manual control unit further includes a haptic feedback unit, the haptic feedback unit being configured to provide haptic feedback to a person manipulating the at least second elongated medical member and the third elongated medical member based on a second control signal sent by a detection unit of the sensor, wherein, the haptic feedback is proportional to the sensed data.

34. The system according to claim 31 or 32 or claim 33 in combination with claim 31 or 32, wherein The manual control unit further includes a pedal that can be actuated by a person, wherein, at the first position, the control unit is configured to send the first control signal, and at the second position, the control unit is prohibited from sending the first control signal, wherein, the first position is different from the second position.

35. The system according to claim 31, 32 or 34, or claim 33 in combination with claim 31 or 32, wherein The manual control unit further includes a touch device configured to be touchable by a person, wherein, upon a first touch of the touch device, the control unit is configured to send the first control signal, and upon a second touch, the control unit is prohibited from sending the first control signal.

36. The system according to claim 35, wherein, Upon the first touch, only information related to the axial or rotational manipulation of the second elongated medical member and / or the third elongated medical member can be sent, and upon the second touch, only information related to the axial or rotational manipulation of the second elongated medical member and / or the third elongated medical member cannot be sent.

37. The system according to claim 27 or 35, wherein, The touch device is a button and / or a lever and / or a touch screen.

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