Manipulation of elongated medical device

Abstract

To provide apparatus and methods for robotically controlling the movement and operation of elongated medical devices.SOLUTION: An EMD drive system is provided, including an on-device adapter removably fixed to a shaft of an EMD (Elongated medical device). The on-device adapter is received in a cassette. The cassette is removably secured to a drive module. The drive module is operatively coupled to the on-device adapter to move the on-device adapter and the EMD together.SELECTED DRAWING: Figure 4A

Description

Technical Field

[0001] "Cross - Reference to Related Applications" This application claims priority based on U.S. Provisional Application No. 62 / 874,173, filed on June 15, 2019, the title of which is Manipulation of an elongated medical device.

[0002] The present invention generally relates to the field of robotic medical treatment systems, and more particularly, to devices and methods for robotically controlling the movement and operation of an elongated medical device.

Background Art

[0003] When diagnosing and treating various vascular diseases, catheters and other elongated medical devices (EMDs) may be used for minimally invasive medical procedures. Such vascular diseases include, for example, those known as neurovascular interventional procedures (NVIs) or neurointerventional surgeries, percutaneous coronary interventions (PCIs), and peripheral vascular intervention procedures (PVIs). In these procedures, typically, a guide wire is guided through the vasculature, and a catheter is advanced through the guide wire to perform the treatment. Such catheter procedures begin with accessing an appropriate blood vessel such as an artery or vein, and at that time, an introducer sheath is used by standard percutaneous techniques. Next, a sheath or guide catheter is advanced over the diagnostic guide wire through the introducer sheath to a primary position. The position is, for example, the internal carotid artery in NVI, the coronary ostium in PCI, the surface of the femoral artery in PVI, etc. Next, a guide wire suitable for the vasculature is guided through the sheath or guide catheter to a target position within the vasculature. In certain situations such as when the anatomical structure is tortuous, a support catheter or microcatheter may be inserted over the guide wire to assist in guiding the guide wire. The doctor or operator may obtain an image (cine) with contrast injection using an imaging system (e.g., a fluoroscope), and thereby select a fixed frame to be used as a roadmap for guiding the guide wire or catheter to the target (e.g., lesion) position. When the doctor transfers the guide wire or catheter, an image enhanced with contrast can also be obtained, thereby allowing confirmation of whether the device is moving along the correct path to the target position.While observing the anatomical structure using (X-ray) fluoroscopy, the doctor manipulates the proximal end of the guide wire or catheter to orient the distal end at the anatomical position of the lesion or target within an appropriate conduit, while avoiding the distal end from branching (proceeding to the side branch).

[0004] The robotic catheter-based treatment system has been developed to assist physicians during catheter treatments (e.g., NVI, PCI, and PVI, etc.). Examples of NVI treatments include coil embolization of aneurysms, liquid embolization of arteriovenous malformations, and mechanical thrombectomy of large vessel occlusions in the context of acute ischemic stroke. In NVI treatment, the physician uses the robotic system to control the operation of neurovascular guide wires and micro-catheters to gain access to the target lesion, transfer the treatment part, and restore normal blood flow. Access to the target is enabled by a sheath or guide catheter. However, in more distal regions, an intermediate catheter may be required to enable proper support of the micro-catheter and guide wire. The distal end of the guide wire may be guided into or through the lesion depending on the type of lesion and treatment. Also, to treat multiple aneurysms, the micro-catheter may be advanced to the lesion, the guide wire removed, and multiple thrombotic coils deployed within the aneurysm through the micro-catheter to block blood flow into the aneurysm. Also, to treat arteriovenous malformations, liquid embols may be injected into the malformation through the micro-catheter. Mechanical thrombectomy for treating vascular occlusions can be achieved by suction and / or the use of a stent retriever. Depending on the location of the thrombus, suction may be performed through a suction catheter or, in the case of smaller arteries, through a micro-catheter. Once the suction catheter reaches the lesion, negative pressure may be applied to remove the clot (thrombus) through the catheter. Alternatively, the clot may be removed by placing a stent retriever through the micro-catheter. When the thrombus is integrated with the stent retriever, the thrombus is retrieved by pulling the stent retriever and the micro-catheter (or intermediate catheter) into the guide catheter.

[0005] In PCI, the physician may use a robotic system to manipulate a coronary guide wire to access the lesion, deliver the treatment section, and restore normal blood flow. This access is made possible by attaching a guide catheter within the coronary ostium. The distal end of the guide wire is guided through the lesion, and a microcatheter may be used to properly support the guide wire when the anatomical structure is complex. Blood flow is restored by delivering and deploying a stent or balloon to the lesion site. The lesion may require preparation prior to stent implantation, such as delivering a balloon for pre-dilation of the lesion or performing an atherectomy, for example, using a laser or rotational atherectomy catheter and a balloon on the guide wire. Diagnostic imaging and physiological measurements may also be performed to determine the appropriate treatment by using an imaging catheter or fractional flow reserve (FFR) measurement.

[0006] In PVI, the physician uses a robotic system to restore blood flow by similar techniques as in NVI for treatment purposes. The distal end of the guide wire is guided through the lesion site, and a microcatheter may be used to provide proper support for the guide wire against complex anatomical structures. Blood flow can be restored by delivering and deploying a stent or balloon to the lesion site. Similar to PCI, lesion preparation and imaging diagnosis can also be used in the same way.

[0007] When support is required at the distal end of a catheter or guide wire, for example, to navigate a tortuous or calcified vasculature to reach a distal anatomical location or to cross a hard lesion, an over-the-wire (OTW) catheter or coaxial system may be used. Since the guide wire extends over the entire length of the catheter, the OTW catheter has a lumen (hollow portion). This provides a relatively stable system as the guide wire is supported along its entire length. However, this system has several drawbacks. For example, it has higher friction and a longer overall length compared to rapid or quick exchange catheters (see below). Typically, to remove or exchange an OTW catheter while maintaining the position of the indwelling guide wire, the exposed length of the guide wire (outside the patient) must be longer than the OTW catheter. For example, a guide wire with a length of 300 cm is usually sufficient for this purpose. This is sometimes referred to as an exchange length guide wire. However, due to the length of this guide wire, two operators are required to remove or exchange the OTW catheter. This becomes even more difficult in the case of triple coaxial (also known as a 3-axis system in the art, and the use of quadruple coaxial catheters is also known). However, due to its stability, the OTW system is often used in NVI and PVI procedures. On the other hand, in PCI procedures, rapid exchange (or monorail) catheters are often used. The guide wire lumen of a rapid exchange catheter runs only through the distal portion of the catheter, which is also referred to as the monorail or rapid exchange (RX) section. When using an RX system, the operator manipulates the interventional devices parallel to each other (in contrast to the OTW system where the devices are manipulated in a serial configuration), and the exposed length of the guide wire only needs to be slightly longer than the RX section of the catheter. The length of a rapid exchange guide wire is typically 180 cm - 200 cm. When a shorter length guide wire and monorail are used, the RX catheter can be exchanged by a single operator.However, when more distal support is required, the RX catheter is often incompatible. SUMMARY OF THE INVENTION MEANS FOR SOLVING THE PROBLEM

[0008] An EMD drive system is provided that includes an on-device adapter removably fixed to the axis (shaft) of the EMD. The on-device adapter is received within a cassette. The cassette is removably fixed to a drive module. The drive module is operably coupled to the on-device adapter and moves the on-device adapter and the EMD together.

[0009] In one embodiment, the EMD drive system includes a collet removably fixed to the EMD. The EMD fixed to the collet is radially loaded (loaded) within a robot drive unit. An EMD support is removably applied to the EMD from a non-axial direction. And the robot drive unit is operably coupled to the collet to move (translate or advance) and / or rotate the collet and the EMD.

[0010] In one embodiment, a robot system includes a robot drive unit that includes a base having a drive coupler. A cassette is removably fixed to the base. A collet within the cassette is removably fixed to the EMD. The collet has a driven member operably coupled to the drive coupler. The robot drive unit includes a motor that is operably coupled to the collet to move the collet.

[0011] In one embodiment, the robotic system includes a collet, which has a first part and a second part. In the first part, a first collet connector is connected thereto, and in the second part, a second collet connector is connected thereto. An EMD is removably disposed within the path defined by the collet. The robot drive unit including the base operably couples a first motor and a second motor to both the first collet connector and the second collet connector at all times, and is operable to pinch and unpinch the EMD within the path and to rotate the EMD.

[0012] In one embodiment, the collet includes an inner member and an outer member, and the inner member defines a path for receiving the EMD. When the inner member is moved relative to the outer member, the EMD is removably engaged by a plurality of engagement members.

[0013] In one embodiment, the EMD drive system includes a collet having a first collet member with a first engagement portion. The collet has a second member that is driven. The collet engagement member has a second engagement portion. The first collet member and the collet engagement member move between an engaged position and a disengaged position. When the first member of the collet and the collet engagement portion move to the engaged position, the first engagement portion engages the second engagement portion. Rotation of the first collet member relative to the second collet member in a first direction at the engaged position pinches the EMD within the collet, and rotation of the first collet member relative to the second collet member in a second direction opposite the first direction unpinches (does not pinch) the EMD within the collet.

[0014] In another embodiment, an EMD robot drive system that uses a reset command to rotate and move the EMD includes a drive module controlled by a control system. The drive module includes a first actuator that operably rotates the first axis and / or the second axis; a second actuator that operably moves the first axis from a first position to a second position along its longitudinal axis (vertical axis) relative to the second axis; a first tire assembly operably attached to the first axis; a second tire assembly operably attached to the second axis; and a third actuator that operably moves the first tire assembly toward and away from the second tire assembly to perform blip and ungrip of the EMD having a longitudinal axis between the first tire assembly and the second tire assembly. By moving (translating) the first axis relative to the second axis, the EMD is rotated about its longitudinal axis, and by rotating the first axis and / or the second axis, the EMD is moved (translated) along its longitudinal axis. The control system provides a reset command to the third actuator to ungrip the EMD, moves the first tire assembly to the reset position relative to the second tire assembly by the second actuator, and grips the EMD by the third actuator.

[0015] In yet another embodiment, an EMD robot drive system including a drive module is provided. The drive module includes a first actuator operably rotating a first axis and / or a second axis; a second actuator operably moving (translating) the first axis along its longitudinal axis from a first position to a second position relative to the second axis; a first tire assembly removably attached to the first axis; and a second tire assembly removably attached to the second axis. An EMD having a longitudinal axis is disposed at a first position between the first tire assembly and the second tire assembly. Rotation of the first axis moves (translates) the EMD along its longitudinal axis between the first tire assembly and the second tire assembly; rotation of the second axis rotates the EMD about its longitudinal axis. A third actuator moves the first tire assembly toward and away from the second tire assembly to grip and release the EMD between the first tire assembly and the second tire assembly. A holding clamp removably clamps a portion of the EMD remote from the first tire and the second tire along the longitudinal axis of the EMD.

[0016] In one embodiment, an EMD robot drive system is provided, which includes a first actuator that operably rotates a first axis and / or a second axis. By a second actuator, the first axis is operably moved (translated) along its longitudinal axis from a first position to a second position with respect to the second axis. A first tire assembly is operably attached to the first axis. A second tire assembly is operably attached to the second axis. By a third actuator, the first tire assembly is moved away from and with respect to the second tire assembly to perform gripping and releasing of an EMD having a longitudinal axis between the first tire assembly and the second tire assembly. By the movement (translation) of the first axis with respect to the second axis, the EMD is rotated about its longitudinal axis, and by the rotation of the first axis and / or the second axis, the EMD is moved (translated) along its longitudinal axis. When the first axis moves away from the home position along its longitudinal axis, the first actuator moves with the first axis.

[0017] In one embodiment, a method for robotically (robot drive) moving an EMD is provided, which includes pinching the axis of the EMD within an on-device adapter. The on-device adapter is removably fixed within a cassette. The cassette is removably fixed to a drive module. And robotically, the on-device adapter and the EMD are integrally moved along the longitudinal axis of the EMD and / or rotated about the longitudinal axis of the EMD. In a further aspect, the method includes releasing the pinch of the EMD within the on-device adapter by an actuator when the on-device adapter is fixed within the cassette. In a further aspect, the method robotically controls the release of the pinch of the EMD by an actuator.

Brief Description of the Drawings

[0018]

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Embodiments for Carrying Out the Invention

[0019] FIG. 1 is a perspective view of an exemplary catheter-based treatment system 10 according to one embodiment. The catheter-based treatment system 10 is used to perform catheter-based medical treatments, such as, for example, percutaneous coronary intervention (PCI) (e.g., treating STEMI), neurovascular interventional procedure (NVI) (e.g., treating emergent large vessel occlusion (ELVO)), peripheral vascular intervention procedure (PVI) (e.g., treating critical limb ischemia (CLI)), etc. Catheter-based medical treatments can include diagnostic catheter procedures, during which one or more catheters or other elongated medical devices (EMDs) are used to assist in diagnosing a patient's illness. For example, in one embodiment of a catheter-based diagnostic procedure, a contrast agent is injected into one or more arteries through a catheter while an image of the patient's vascular structure is taken. Medical treatments using a catheter can also include treatment procedures using a catheter (e.g., angioplasty, stent placement, treatment of peripheral vascular lesions, blood clot removal, arteriovenous fistula therapy, treatment of aneurysms, etc.), during which a catheter (or other EMD) is used to treat a lesion. The treatment procedure may be enhanced by including additional devices 54 (see FIG. 2), such as, for example, intravascular ultrasound (IVUS), optical coherence tomography (OCT), fractional flow reserve (FFR), etc. However, those skilled in the art should understand that they can select specific percutaneous intervention devices or components (e.g., type of guide wire, type of catheter, etc.) based on the type of procedure being performed.The catheter-based treatment system 10 can perform catheter-based medical treatments any number of times with minor adjustments to adapt to the specific percutaneous intervention device used in the treatment.

[0020] The catheter-based treatment system 10 includes, among other things, a bedside device (bedside unit) 20 and a control station 26. The bedside device 20 includes a robot drive unit 24 and a positioning system 22 disposed near the patient 12. The patient 12 is supported on a patient table 18. The positioning system 22 is used for positioning and supporting the robot drive unit 24. The positioning system 22 may be, for example, a robotic arm, a multi-joint arm, a holder, etc. The positioning system 22 can be attached at one of its ends, for example, to a rail, a base, or a cart on the patient table 18. The other end of the positioning system 22 is attached to the robot drive unit 24. The positioning system 22 can move out of the way (along with the robot drive unit 24) to enable the patient 12 to be placed on the patient table 18. Once the patient 12 is placed on the patient table 18, the positioning system 22 can be used to position or place the robot drive unit 24 relative to the patient 12 for performing the treatment. According to one embodiment, the patient table 18 is operably supported by a pedestal 17 fixed to the floor and / or the ground. The patient table 18 can move with multiple degrees of freedom (e.g., roll, pitch, yaw) relative to the pedestal 17. Also, the bedside device 20 can include a control device and a display (display device) 46 (shown in FIG. 2). For example, the control device and the display can be disposed on the housing of the robot drive unit 24.

[0021] Generally, the robot drive unit 24 includes a suitable percutaneous intervention device and accessories 48 (see FIG. 2) (e.g., guide wire, balloon catheter, stent delivery system, stent retriever, embolization coil, liquid embolization, suction pump, contrast agent delivery device, pharmaceutical, hemostatic valve adapter, syringe, stopcock, inflation device, etc.), and performs various controls (such as control and input arranged at the control station 26), so that the user or operator 11 can perform catheter-based medical procedures via the robot system. The bedside device 20, particularly the robot drive unit 24, can include components (parts) in any number and / or combination to provide the functions described herein to the bedside device 20. The user or operator 11 at the control station 26 can be referred to as the user or operator of the control station, but in this specification, it is referred to as the user or operator. The user or operator of the bedside device 20 can also be referred to as the user or operator at the bedside device. The robot drive unit 24 includes a plurality of device modules 32a-d attached to a rail or linear member (also referred to as a linear member) 60 (shown in FIG. 3). The rail or linear member 60 guides and supports the device modules. Each of the device modules 32a-d can be used to drive an EMD such as a catheter or guide wire. For example, using the robot drive unit 24, a guide wire can be automatically supplied into the diagnostic catheter and into the guide catheter in the artery of the patient 12. One or more devices (apparatuses) such as an EMD enter the body (e.g., catheter) of the patient 12 at the insertion point 16, for example, via an introducer sheath.

[0022] The bedside device 20 communicates with the control station 26 and can receive signals generated by user input at the control station 26, either wirelessly or via a wired connection, and transmit them to the bedside device 20 to control various functions of the bedside device 20. As will be described later, the control station 26 may include a control computer system 34 (see FIG. 2), or may be coupled to the bedside device 20 via the control computer system 34. Further, the bedside device 20 may provide feedback signals (e.g., loading, speed, operating conditions, warning signals, error codes, etc.) to the control station 26, the control computer system 34 (see FIG. 2), or both. Communication between the control computer system 34 and various components of the catheter-based treatment system 10 can be provided via a communication link, such as, for example, a wireless connection, a cable (wired) connection, or any other means that enables communication between the components. The control station 26 or other similar control systems may be located at either a local site (e.g., the local control station 38 shown in FIG. 2) or a remote site (e.g., the remote (telemetry) control station and computer system 42 shown in FIG. 2). The catheter treatment system 10 may be operated simultaneously by a control station at the local site, a control station at the remote site, or both a local control station and a remote control station. At the local site, the user or operator 11 and the control station 26 are located in the same room as the patient 12 and the bedside device 20 or in an adjacent room. In the examples used in this specification, the local site corresponds to the location of the bedside device 20 and the patient 12 or subject (e.g., an animal or cadaver for dissection), and the remote site corresponds to the location of the user or operator 11 and the control station 26 used to remotely control the bedside device 20. The control computer system at the local site and / or the control station 26 (and control computer system) at the remote site and the bedside device 20 can communicate, for example, via the Internet, using the communication system and services 36 (see FIG. 2).According to one embodiment, the remote site and the local (patient) site are separated from each other, for example, multiple rooms within the same building, multiple buildings within the same city, multiple buildings within multiple cities, or other multiple locations where the remote site does not have physical access to the bedside device 20 and / or the patient 12 at the local site.

[0023] The control station 26 generally includes one or more input modules 28 configured to receive user input for operating various components or systems of the catheter-based treatment system 10. In the illustrated embodiment, the control station 26 enables a user or operator 11 to control the bedside device 20 to perform a catheter-based medical treatment. For example, the input module 28 may be configured to cause the bedside device 20 to perform various tasks using a percutaneous intervention device (e.g., EMD) interfaced with the robotic drive unit 24 (e.g., advancing, retracting, or rotating a guide wire, advancing, retracting, or rotating a catheter, inflating or deflating a balloon located on the catheter, positioning and / or deploying a stent, positioning and / or deploying a stent retriever, positioning and / or deploying a coil, injecting a contrast agent into the catheter, injecting a liquid embolism (embolic) into the catheter, injecting a pharmaceutical or saline into the catheter, aspirating with the catheter, or performing any other function that can be performed as part of a catheter-based medical treatment). The robotic drive unit 24 includes various drive mechanisms to cause movement (e.g., axial movement, rotational movement) of components of the bedside device 20 including the percutaneous intervention device.

[0024] In one embodiment, the input module 28 may include one or more touchscreens, joysticks, scroll wheels, and / or buttons. In addition to the input module 28, the control station 26 may use additional user controls 44 (see FIG. 2), such as foot switches and microphones, for voice commands and the like. The input module 28 may be configured to advance, retract, or rotate various components and percutaneous intervention devices (such as guide wires and one or more catheters or micro-catheters, etc.). The buttons may include, for example, an emergency stop button, a multiplication button, a device selection button, and an automatic movement button. When the emergency stop button is pressed, the power supply (such as electricity) is cut off or removed from the bedside device 20. In the speed control mode, the multiplication button acts to increase or decrease the speed at which the associated components move in response to the operation of the input module 28. In the position control mode, the multiplication button changes the mapping between the input distance and the output command distance. The device selection button allows the user or operator 11 to select which of the percutaneous intervention devices loaded in the robot drive device 24 is to be controlled by the input module 28. The automatic movement button is used to enable the catheter-based treatment system 10 to perform algorithmic operations on the percutaneous intervention device without a direct command from the user or operator 11. In one embodiment, the input module 28 may include one or more control devices or icons (not shown) displayed on a touchscreen (which may or may not be part of the display 30), which, when actuated, cause the operation of the components of the catheter-based treatment system 10. Also, the input module 28 may include a balloon or stent control unit configured to inflate or deflate a balloon and / or deploy a stent. Each of the input modules 28 includes one or more buttons, scroll wheels, joysticks, touchscreens, etc., which are used to enable control of specific components or components to which dedicated controls are assigned.Furthermore, one or more touchscreens can display one or more icons (not shown) related to various parts of the input module 28 or one or more icons (not shown) related to various components of the catheter-based treatment system 10.

[0025] The control station 26 may include a display 30. In other embodiments, the control station 26 may include two or more displays 30. The display 30 can be configured to display information or patient-specific data to a user or operator 11 located at the control station 26. For example, the display 30 may be configured to display image data (e.g., X-ray images, MRI images, CT images, ultrasound images, etc.), hemodynamic data (e.g., blood pressure, heart rate, etc.), patient record information (e.g., medical history, age, weight, etc.), lesion or treatment evaluation data (e.g., IVUS, OCT, FFR, etc.). Furthermore, the display 30 may be configured to display procedure-specific information (e.g., procedure checklists, advisories, duration of the procedure, position of the catheter or guide wire, volume of the administered pharmaceutical or contrast agent, etc.). Additionally, the display 30 may display information for providing functions related to the control computer system 34 (see FIG. 2). The display 30 may include a touchscreen function to provide a part of the system's user input function.

[0026] The catheter-based treatment system 10 also includes an imaging system 14. The imaging system 14 may be any medical imaging system that can be used in connection with catheter-based medical treatments (e.g., non-digital X-ray, digital X-ray, CT, MRI, ultrasound, etc.). In an exemplary embodiment, the imaging system 14 is a digital X-ray imaging device that communicates with a control station 26. In one embodiment, the imaging system 14 can include a C-shaped arm (see FIG. 1) that is capable of partially or fully rotating around the patient 12, thereby obtaining images at different angular positions (e.g., sagittal view, caudal view, anteroposterior view, etc.) with respect to the patient 12. In one embodiment, the imaging system 14 is a fluoroscopy system that includes a detector 15, also known as an image intensifier, and an X-ray source 13 in a C-shaped arm.

[0027] The imaging system 14 may be configured to take X-ray images of the appropriate area of the patient 12 during the treatment. For example, the imaging system 14 may be configured to take one or more X-ray images of the head to diagnose a neurovascular condition. Also, the imaging system 14 may take one or more X-ray images (e.g., real-time images) during the catheter-based medical treatment to assist the user or operator 11 at the control station 26 in properly positioning a guide wire, guide catheter, microcatheter, stent retriever, coil, stent, balloon, etc. during the treatment. One or more images can be displayed on the display 30. For example, an image may be displayed on the display 30 to enable the user or operator 11 to accurately move the guide catheter or guide wire to the appropriate position.

[0028] To clarify the directions, an orthogonal coordinate system with X, Y, and Z axes is introduced. The positive X-axis is oriented in the longitudinal (axial) distal direction, i.e., the direction from the proximal end to the distal end, and another way from the proximal direction to the distal direction is described. The Y-axis and Z-axis are in a plane perpendicular to the X-axis, the positive Z-axis is oriented upward, i.e., in the opposite direction of gravity, and the Y-axis is assumed to be automatically determined by the right-hand rule.

[0029] Figure 2 is a block diagram of a catheter-based treatment system 10 according to an exemplary embodiment. The catheter treatment system 10 may include a control computer system 34. Physically, the control computer system 34 may be, for example, part of a control station 26 (see FIG. 1). The control computer system 34 may generally be an electronic control unit suitable for providing the catheter-based treatment system 10 with various functions described herein. For example, the control computer system 34 may be an embedded system, a dedicated circuit, a general-purpose system programmed to include the functions described herein, etc. The control computer system 34 communicates with a bedside device 20, a communication system and service 36 (e.g., the Internet, a firewall, a cloud service, a session manager, a hospital network, etc.), a local control station 38, an additional communication system 40 (e.g., a telepresence system), a remote control station and computer system 42, and a patient sensor 56 (e.g., an electrocardiogram (ECG) device, an electroencephalogram (EEG) device, a blood pressure monitor, a temperature monitor, a heart rate monitor, a respiratory monitor, etc.). Also, the control computer system communicates with an imaging system 14, a patient table 18, an additional medical system 50, a contrast agent injection system 52, and an additional device 54 (e.g., IVUS, OCT, FFR, etc.). The bedside device 20 includes a robot drive unit 24, a positioning system 22, and may further include an additional control device and display 46. As described above, the additional control device and display may be disposed on the housing of the robot drive unit 24. An interventional device and accessories 48 (e.g., a guide wire, a catheter, etc.) interface with the bedside system 20. According to one embodiment, the intervening device and accessories 48 may include dedicated devices (e.g., an IVUS catheter, an OCT catheter, an FFR wire, a diagnostic catheter for contrast, etc.) that interface with their respective additional devices 54, i.e., an IVUS system, an OCT system, an FFR system, etc.

[0030] In various embodiments, the control computer system 34 is configured to generate control signals that enable a medical procedure to be performed using the catheter-based treatment system 10 based on user interaction with an input module 28 (e.g., a control station 26 such as the local control station 38 or the remote control station 42 in FIG. 1) and / or information accessible to the control computer system 34. The local control station 38 includes one or more displays 30, one or more input modules 28, and additional user controls 44. The remote control station and computer system 42 can include components similar to those of the local control station 38. The remote control station 42 and the local control station 38 can be adjusted to be different according to the required functions. The additional user control device 44 can include, for example, one or more foot input control devices. The foot input control is configured such that the user can select the functions of the imaging system 14, for example, turn X-rays on and off for imaging, or enable scrolling through various stored images. In another embodiment, the foot input device can be configured such that the user can select which device is mapped to the scroll wheel included in the input module 28. An additional communication system 40 (e.g., audio conferencing, video conferencing, telepresence, etc.) can be used to assist an operator in interacting with the patient, medical staff (e.g., staff in an angiography suite), and / or equipment near the bedside.

[0031] The catheter-based treatment system 10 may be connected or configured to include any other systems and / or devices not explicitly shown herein. For example, the catheter-based treatment system 10 may include an image processing engine, a data storage and archival system, an automated balloon and / or stent inflation system, a pharmaceutical injection system, a pharmaceutical tracking and / or logging system, a user log, an encryption system, a system that restricts access to or use of the catheter-based treatment system 10, etc.

[0032] As described above, the control computer system 34 includes the robot drive unit 24 and the positioning system 22, and communicates with the bedside device 20 that can include additional control devices and a display 46, and can supply a control signal to the bedside device 20 to control the operation of the motors and drive mechanisms used to drive a percutaneous intervention device (e.g., a guide wire, a catheter, etc.). Various drive mechanisms can be provided as part of the robot drive unit 24. FIG. 3 is a perspective view of a robot drive unit (robot drive device) for a catheter-based treatment system 10 according to an embodiment. In FIG. 3, the robot drive unit 24 includes a plurality of device modules 32a-d connected to a linear member 60. Each device module 32a-d is coupled to the linear member 60 via a stage 62a-d movably attached to the linear member 60. The device modules 32a-d may be connected to the stages 62a-d using connectors such as offset brackets 78a-d. In another embodiment, the device modules 32a-d may be directly attached to the stages 62a-d. Each stage 62a-d can operate independently to move linearly along the linear member 60. Accordingly, each stage 62a-d (and the corresponding device module 32a-d coupled to the stage 62a-d) can move independently of each other and relative to the linear member 60. A drive mechanism is used to operate each stage 62a-d. In the embodiment shown in FIG. 3, the drive mechanism includes independent stage movement motors 64a-d coupled to each stage 62a-d and a stage drive mechanism 76, the latter being, for example, a lead screw via a rotating nut, a rack via a pinion, a belt via a pinion or a pulley, a chain via a sprocket, or the stage movement motors 64a-d may be linear motors. In some embodiments, the stage drive mechanism 76 may be a combination of these mechanisms, for example, each stage 62a-d can use different types of stage drive mechanisms.In an embodiment where the stage drive mechanism is a lead screw and a rotating nut, the lead screw may be rotated to disengage each stage 62a-d from the lead screw and move it forward or backward, for example. In the embodiment shown in FIG. 3, the stages 62a-d and the device modules 32a-d have a serial drive configuration.

[0033] Each device module 32a-d includes a drive module 68a-d and a cassette 66a-d, the latter being attached to and coupled with the drive module 68a-d. In the embodiment shown in FIG. 3, each cassette 66a-d is attached to the drive module 68a-d in the vertical direction. In other embodiments, each cassette 66a-d may be attached to the drive module 68a-d in other attachment directions. Each cassette 66a-d interfaces with and is configured to support the proximal portion of an EMD (not shown). In addition, each cassette 66a-d can include components that provide one or more degrees of freedom in addition to the linear motion resulting from the actuation of the corresponding stages 62a-d that can move linearly along the linear member 60. For example, the cassette 66a-d may include components that can be used to rotate the EMD when the cassette is coupled to the drive module 68a-d. Each drive module 68a-d includes at least one coupler, thereby providing a drive interface to the mechanisms within each cassette 66a-d to provide additional degrees of freedom. Also, each cassette 66a-d includes a channel in which a device support 79a-d is positioned, and each device support 79a-d is used so that no torsion (buckling) occurs in the EMD. Support arms 77a, 77b, and 77c are respectively attached to each device module 32a, 32b, and 32c, and respectively provide a fixed point for supporting the proximal ends of device supports 79b, 79c, and 79d. Also, the robot drive unit 24 can include a device support connection 72 connected to the device support 79a, a distal support arm 70, and a support arm 77o. The support arm 77o is used to provide a fixed point for supporting the proximal end of the most distal device support 79a housed within the most distal device module 32a. In addition, an introducer interface support (redirector) 74 may be connected between the device support connection 72 and an EMD (e.g., an introducer sheath or cannula).By using an actuator on a single linear member, the configuration of the robot drive unit 24 has the advantage of reducing the volume and weight of the robot drive unit 24.

[0034] Medical staff use aseptic techniques in the room that houses the bedside device 20 and the patient 12 or subject (shown in FIG. 1) to prevent the patient from being contaminated by pathogens. The room that houses the bedside device 20 and the patient 12 may be, for example, a cath lab or an angiography suite. Aseptic techniques include aseptic barriers, use of aseptic devices, proper patient preparation, environmental management, and contact guidelines. Accordingly, all EMDs and intervening accessories are sterilized and are permitted to contact only either a sterilization barrier or a sterilization instrument. In one embodiment, a sterile drape (not shown) is placed over the non-sterile robot drive unit 24. Each cassette 66a-d is sterilized and acts as a sterile interface between the draped robot drive unit 24 and at least one EMD. Each cassette 66a-d may be configured to be sterilized for single use or may be designed to be resterilized in whole or in part so that the cassette 66a-d and its components can be used in multiple procedures.

[0035] "Distal and proximal" The terms "distal" and "proximal" define the relative positions of two different features. With respect to a robotic drive unit, the terms "distal" and "proximal" are defined by the position of the robotic drive unit in its intended use with respect to the patient. When used to define relative position, a distal feature is a feature of the robotic drive unit that is closer to the patient than a proximal feature when the robotic drive unit is in its intended use position. Within the patient, any angiographic landmark that is further along the path from the access point is considered to be distal to a landmark closer to the access point. Here, the access point is the point (location) where the EMD enters the patient. Similarly, a proximal feature is a feature that is further from the patient than a distal feature when the robotic drive unit is in its intended use position. When used to define a direction, the distal direction is the path along which something is moving, is intended to move, or is oriented or facing when moving from a proximal feature to a distal feature or towards the patient when the robotic drive unit is in its intended in-use position. The proximal direction is the opposite direction of the distal direction. As an example, referring to FIG. 1, a robotic device is shown from the perspective of an operator facing the patient. In this arrangement, the distal direction is along the positive X coordinate axis and the proximal direction is along the negative X coordinate axis. Referring to FIG. 3, the EMD is being moved in the distal direction along a path towards the patient through the introducer interface support 74, which defines the distal end of the robotic drive unit 24. The proximal end of the robotic drive unit 24 is the point furthest from the distal end along the negative X axis. Referring to FIG. 3, the most distal drive module is the drive module 32a closest to the distal end of the robotic drive unit 24. The most proximal drive module is the drive module 32d positioned furthest from the distal end of the robotic drive unit 24 along the negative X axis. The relative positions of the drive modules can be determined by their relative positions with respect to the distal end of the robotic drive unit. For example, drive module 32b is distal to drive module 32c. Referring to FIG. 3, the cassette 66a and the portion of the drive module 68a are defined by their positions with respect to the distal end of the robotic drive unit.For example, when the cassette is in the use position on the drive module 68a, the distal end of the cassette 66a is the portion of the cassette closest to the distal end of the robotic drive unit, and the proximal end of the cassette 66a is the portion of the cassette farthest from the distal end of the robotic drive unit along the negative X-axis. In other words, the distal end of the cassette 66a is the portion of the cassette closest to the path to the patient where the EMD is in use.

[0036] "Longitudinal axis" The term longitudinal axis or longitudinal direction axis of a member (e.g., the EMD or other element in a catheter-based treatment system) is a line or axis along the length of the member passing through the center of the cross-section of the member in the direction from the proximal portion of the member to the distal portion of the member. For example, the longitudinal axis of a guide wire is the central axis in the direction from the proximal portion of the guide wire to the distal portion of the guide wire, even if the guide wire is non-linear in the relevant portion.

[0037] "Axial movement" The term axial movement of a member refers to the movement (translation) of the member along the longitudinal axis of the member. When the distal end of the EMD moves axially in the distal direction so as to enter into the patient or further into the patient along its longitudinal axis, the EMD advances. When the distal end of the EMD exits from the patient or further exits from the patient and is axially moved in the proximal direction along its longitudinal axis, the EMD is withdrawn.

[0038] "Rotational movement" The term rotational movement of a member refers to the angular change of the member about the local longitudinal axis of the member. The rotational movement of the EMD corresponds to a clockwise or counterclockwise rotation about the longitudinal axis of the EMD by the applied torque.

[0039] "Axial insertion and lateral insertion" The term "axial insertion" refers to inserting the first member into the second member along the longitudinal axis of the second member. The EMD loaded axially within the collet is inserted axially into the collet. An example of axial insertion may be referred to as back-loading (reverse loading) a catheter onto the proximal end of a guide wire. The term "lateral insertion" refers to inserting the first member into the second member along a direction on a plane perpendicular to the longitudinal axis of the second member. This is also referred to as a radial load or side load (lateral loading). In other words, lateral insertion means inserting the first member into the second member along a direction parallel to the radius of the second member and perpendicular to the longitudinal axis.

[0040] "Pinch / Unpinch" The term "pinch" refers to removably fixing the EMD to the member such that the EMD moves integrally with the member when the member moves. The term "unpinch" refers to releasing the EMD from the member such that the EMD and the member move independently when the member moves.

[0041] "Clamp / Unclamp" The term "clamp" means removably fixing the EMD to the member such that the movement of the EMD is restricted with respect to the member. The member can be fixed with respect to the global coordinate system or with respect to the local coordinate system. The term "unclamp" refers to releasing the EMD from the member such that the EMD can move independently.

[0042] "Grip / Ungrip" The term "grip" refers to applying a force or torque from a drive mechanism to an EMD so as to cause movement of the EMD without slipping (slipping) with at least one degree of freedom. The term "ungrip" means releasing the application of force or torque from the drive mechanism to the EMD so that the position of the EMD is no longer constrained. In one example, when the tires move longitudinally relative to each other, the EMD is gripped during the rotation of the two tires about their longitudinal axes. The rotational movement of the EMD is different from the movement of the two tires. The position of the gripped EMD is constrained by the drive mechanism.

[0043] "Twist" The term "twist (buckling / back buckling)" refers to the tendency of a flexible EMD to bend away from the longitudinal axis or intended path along which it is moving when the flexible EMD is subjected to axial compression. In one embodiment, the axial compression occurs in response to the resistance when guided within the vasculature. Prior to the EMD twisting, the distance that the EMD moves along its longitudinal axis without being supported can be referred to herein as the device buckling distance. The device buckling distance is a function of the rigidity of the device, the shape (including but not limited to the diameter), and the force applied to the EMD. Buckling can cause the EMD to form an arcuate portion different from the intended path. If the EMD deforms inelastically and the result is permanent, that buckling is called a kink (twist).

[0044] "Homing" The term "homing" refers to moving a member to a defined position. Examples of defined positions include a reference position. Another example of a defined position is an initial position. The term "origin" refers to a defined position. This is typically used as a reference for subsequent linear or rotational positions.

[0045] "Upward / Downward, Forward / Backward, Inside / Outside" The terms "top", "upper", and "upper side" refer to the general direction opposite to the direction of gravity. The terms "bottom", "lower", and "lower side" refer to the general direction of gravity. The term "front" refers to the side of the robot drive unit facing the user on the bedside, away from the positioning system such as the joint arm at that time. The term "rear" refers to the side of the robot drive unit closest to the positioning system such as the joint arm. The term "inner" refers to the inner part of the feature. The term "outer" refers to the outer part of the feature.

[0046] "Stage" The term "stage" refers to a member, feature, or device (apparatus) used to couple a device module to a robot drive unit. For example, a stage can be used to couple a device module to a rail or linear member of a robot drive unit.

[0047] "Drive module" The term "drive module" generally refers to a part (e.g., a main part) of a robot drive system, but usually includes one or more motors and a drive coupler that interfaces with a cassette.

[0048] "Device module" The term "device module" refers to a combination of a drive module and a cassette.

[0049] "Cassette" The term "cassette" generally refers to a part (a non-main part, a consumable or a sterilizable unit) of a robot drive system, but usually interfaces aseptically (directly) between a drive module and at least one EMD, or (indirectly) through a device adapter.

[0050] "Collet" The term "collet" refers to a device that can removably secure a portion of an EMD. By "secured" here is meant that during operation there is no intended relative movement between the collet and the EMD. In one embodiment, the collet includes at least two members that rotate relative to each other, and removably secures the EMD to at least one of the two members. In one embodiment, the collet includes at least two members that move axially (along the longitudinal axis) relative to each other, and removably secures the EMD to at least one of the two members. In one embodiment, the collet includes at least two members that move both rotationally and axially relative to each other, and removably secures the EMD to at least one of the two members.

[0051] "Secured" The term "secured" means that during operation there is no intentional relative movement of the first member with respect to the second member.

[0052] "On-Device Adapter" The term "On-Device Adapter" refers to a sterilization device that can removably pinch an EMD and provide a drive interface. The On-Device Adapter may also be referred to as an end effector or an EMD capture device. By way of non-limiting example, the On-Device Adapter is a collet that is operatively robotically controlled to rotate the EMD about its longitudinal axis to pinch and / or unpinch the EMD with respect to the collet and / or move the EMD along its longitudinal axis. In one embodiment, the On-Device Adapter is a hub drive mechanism that includes, for example, a driven gear located on the hub of the EMD.

[0053] "Tandem Drive" The term "tandem drive" refers to a drive device (drive unit) or subsystem within a robotic drive that includes two or more EMD drive modules that can operate one or more EMDs.

[0054] "EMD" The term "elongated medical device" (EMD) refers to medical devices including, but not limited to, catheters (e.g., guide catheters, micro catheters, balloon / stent catheters), wire-based devices (e.g., guide wires, embolization coils, stent retrievers, etc.), and any combination thereof. In one example, wire-based EMDs include, but are not limited to, guide wires, micro wires, proximal pushers for embolization coils, stent retrievers, self-expanding stents, and flow diverters. Typically, wire-based EMDs do not have a hub or handle at the end of their proximal terminus. In one embodiment, the EMD is a catheter having a hub at the proximal end of the catheter and a flexible shaft extending from the hub toward the distal end of the catheter, the shaft being more flexible than the hub. In one embodiment, the catheter includes an intermediate portion that transitions between the hub and the shaft, the flexibility of which is intermediate between the two, and the stiffness of which is lower than the hub but higher than the shaft. In one embodiment, the intermediate portion is a strain relief.

[0055] "Hub (Proximal) Drive" The term "hub drive" or "proximal drive" refers to holding and operating the EMD from a proximal location (e.g., a toothed adapter on a catheter hub). In one embodiment, hub drive refers to applying a force or torque to the hub of a catheter to move and / or rotate the catheter. Since hub drive may cause the EMD to buckle, hub drive often requires an anti-buckling function. In the case of a device without a hub or other interface (e.g., a guide wire), a device adapter may be added to the device to act as an interface for the device module. In one embodiment, the EMD does not include a mechanism for operating a feature within the catheter, such as a wire extending from a handle to the distal end of the catheter to deflect the distal end of the catheter.

[0056] "Shaft (distal) drive" The term "shaft (distal) drive" refers to holding and manipulating the EMD along the shaft. In one example, the on-device adapter is typically placed very close to the Y-connector or hub into which the device is inserted. When the position of the on-device adapter is near the insertion point (of the body or other catheter or valve), the shaft drive usually does not require an anti-buckling feature. (An anti-buckling feature may be included to improve the driving ability.)

[0057] "Sterilizable device" A sterilizable device refers to a device that can be sterilized (free of pathogenic microorganisms). This includes, but is not limited to, cassettes, disposable devices, drapes, device adapters, and sterilizable drive modules / devices (which can include electromechanical components). Sterilizable devices may come into contact with the patient, other sterilized devices, or other items placed during the aseptic technique of a medical procedure.

[0058] "Sterilization interface" The term "sterilization interface" refers to the interface or boundary between a sterilized device and a non-sterilized device. For example, a cassette may be a sterile interface between a robotic drive unit and at least one EMD.

[0059] "Reset" The term "reset" means repositioning the drive mechanism from a first position to a second position, thereby enabling continuous rotation and / or axial movement of the EMD. During reset, the EMD is not actively moved by the drive mechanism. In one embodiment, the EMD is released by the drive mechanism before the drive mechanism is repositioned. In one embodiment, during repositioning of the drive mechanism, a clamp fixes the position of the EMD.

[0060] "Continuous movement" The term "continuous movement (motion)" refers to movement that does not require a reset and is uninterrupted.

[0061] "Discrete movement" The term discrete movement (motion) refers to a movement that requires resetting and is interrupted.

[0062] "Consumable" The term consumable typically refers to a sterilizable device (unit) that is used only once in a medical procedure. This device may be a reusable consumable that undergoes a sterilization process again for use in another medical procedure.

[0063] "Device support" The term device support refers to a member, function, or device that prevents buckling (twisting) of the EMD.

[0064] "Double gear" The term double gear (also known as double spur gear, double gear) refers to two independent drive gears operably connected to two different parts of a device. Each of the two gears may have the same or multiple designs. The term gear may be a bevel gear, spiral bevel gear, spur gear, helical (miter) gear, worm gear, helical gear (helical gear), rack and pinion, screw gear (screw gear), internal gear such as a sun gear, involute spline shaft and bushing, or any other type of gear known in the art. In one example, the double gear includes a device such that a drive connection is maintained by two different parts of the device, which includes, for example, a belt, frictional engagement, or other couplers known in the art, but is not limited thereto.

[0065] Referring to FIGS. 3 and 4A, the EMD drive system includes an on-device adapter 112 which, in one embodiment, includes a collet removably fixed to the EMD 102. The collet 112 is a device for removably fixing the shaft portion (shaft part) of the EMD 102 thereto. As detailed herein, the collet 112 pinches (grips) the shaft of the EMD 102 such that rotation and / or movement of the collet 112 as a whole about its longitudinal axis results in the same rotation and / or movement as the pinched shaft portion of the EMD 102. In one embodiment, the collet 112 may be a single molded part that defines an internal passageway within its body through which a portion of the shaft of the EMD 102 can be fixed. As described herein, the shaft of the EMD 102 is disposed within the internal passageway of the collet and is pinched therein. The shaft of the EMD 102 may be loaded radially within the internal passageway of the collet or axially loaded. Radial loading can be referred to as side loading or lateral loading because the shaft of the EMD is loaded into the collet 112 through the longitudinal side of the collet body (i.e., the side of the collet body extending from the proximal end to the distal end of the collet body). Radial loading, side loading, or lateral loading is in contrast to axial loading where the shaft portion is loaded into the internal passageway by first inserting the free end of the shaft into a proximal or distal opening within the internal passageway of the collet.

[0066] In one embodiment, the collet 112 includes at least two members that move relative to each other, thereby releasably fixing the shaft portion of the EMD to at least one of the two members. In one embodiment, there is a mechanical advantage to the two members that operate integrally, as it can increase the torque and / or force that can be transmitted from the collet body to the shaft of the EMD without the shaft of the EMD moving relative to the collet body. The pinch force on the EMD using the collet can be made greater than the force required to operate the pinch. When the shaft of the EMD is pinched, it is fixed such that there is relative movement between the collet and the EMD during the acceptable operating parameters of the EMD procedure.

[0067] The EMD 102 is fixed relative to the collet 112 and radially loaded within the robot drive unit, which in this specification is also referred to as a device module 32 such as an EMD drive unit. The EMD support 79 is releasably applied to the EMD 102 from a non-axial direction. The robot drive unit 32 is operably coupled to the collet 112 to move and / or rotate the collet 112 and the EMD 102. In one embodiment, the EMD 102 is movably or releasably loaded within the robot drive unit 32.

[0068] In one embodiment, when the EMD 102 is radially loaded within the robot drive unit 32, the collet 112 is within the robot drive unit 32. In one embodiment, together with the EMD 102 fixed to the collet 112, the collet 112 is releasably inserted within the robot drive unit 32.

[0069] In one embodiment, when the EMD 102 is moved and / or rotated, the EMD support 79 limits buckling along the length of the EMD 102 and prevents kinking.

[0070] In one embodiment, the robot system includes a robot drive unit 32 or a device module, which includes a drive module 68 or a base having a drive coupler (connector) 130, and a cassette 66 removably fixed to the drive module 68. A collet 112 in the cassette 66 is removably fixed to the EMD 102. The collet 112 has a driven member (driven member) 136 operably coupled to the drive coupler (drive cup) 130. The robot drive unit 32 includes a motor or an actuator, which is operably coupled to the collet 112 to move the collet 112. In one embodiment, the cassette 66 is removably fixed to the base 68 by directly connecting the cassette 66 to the base 68. In one embodiment, the cassette 66 is removably fixed to the base 68 indirectly, with an intermediate member disposed between the cassette 66 and the base 68.

[0071] Before the collet 112 is positioned within the cassette 66, the EMD 102 can be loaded radially or axially within the collet 112, such that the EMD 102 and the collet 112 are both loaded into the cassette 66. When the collet 112 is already disposed within the cassette 66, the EMD 102 may be loaded radially or axially into the collet 112.

[0072] In one embodiment, the EMD 102 is removably received radially within the collet 112, and the collet 112 is removably received and disposed within the cassette 66. As described herein, the collet 112 may have slots extending from the outer periphery of the collet body to its internal passageway. A portion of the EMD 102, such as a shaft portion, may be inserted radially into the path through its slot. The shaft portion of the EMD 102 is a part of the EMD 102 and is intermediate the proximal end and the distal end of the EMD 102. The radial loading of the shaft portion of the EMD 102 into the collet is performed while the proximal end and the distal end of the EMD 102 remain outside the collet and the path. In other ways, the shaft portion of the EMD 102 may be loaded in a direction substantially perpendicular to the longitudinal axis of the collet 112.

[0073] In one embodiment, the EMD 102 is removably received axially within the collet 112, and the collet 112 is removably received within the cassette 66. In this embodiment, one of the distal end or the proximal end of the EMD 102 is inserted into the distal or proximal opening of the collet 112 and moved along the longitudinal axis of the collet 112 until the distal or proximal end of the EMD exits the other of the distal or proximal end of the collet.

[0074] In one embodiment, the EMD 102 is removably received radially within the collet 112, and the collet 112 is non-removably (non-releasably) positioned within the cassette 66. In one embodiment, the EMD 102 is removably received axially within the collet 112, and the collet 112 is non-removably positioned within the cassette 66. In one embodiment, the collet 112 includes positioning features 408 positioned within the cassette 66, and the positioning features 133 enable radial loading and rotation of the collet within the cassette 66. In one embodiment, the collet 112 also includes a distal end positioned within a positioning mechanism within the cassette 66.

[0075] Referring to FIG. 4F according to an embodiment, the motor 124 is positioned within a base 68 operably coupled to the drive coupler 130. When the cassette 66 is fixed to the base 68, the drive coupler 130 extends within the cassette 66. In one embodiment, the motor is disposed within the cassette 66. In one embodiment, the motor is located outside the base 68 but is operably connected to the drive coupler 130 within the base 68.

[0076] In one embodiment, the robotic system includes a clamp that releasably clamps the shaft portion of the EMD independently of the collet. In one embodiment, the clamp includes at least one tire.

[0077] As detailed herein, in one embodiment, the moving collet 112 rotates the collet and the EMD. In one embodiment, the EMD 102 is selectively rotatable clockwise and counterclockwise about the longitudinal axis of the EMD 102.

[0078] As detailed herein, in one embodiment, the moving collet 112 selectively pinches and releases the EMD within the collet. In one embodiment detailed herein, the moving collet 112 includes moving only one or more portions of the collet 112, rather than the entire collet, to pinch and release the EMD.

[0079] As detailed herein, in one embodiment, the moving collet 112 selectively moves the collet and the EMD in a first direction and an opposite second direction along the longitudinal axis of the EMD.

[0080] As detailed herein, in one embodiment, the moving collet 112 rotates the collet and the EMD, moves the collet and the EMD, and selectively pinches and releases the EMD within the collet.

[0081] Referring to FIGS. 3, 4G and 4H, the robot system 24 includes a plurality of device modules 32a-32d. In one embodiment, there are two or more separate device modules. FIG. 3 illustrates a system having four device modules 32. In one embodiment, the plurality of modules are the same. In one embodiment, each device module is different. In one embodiment, some of the modules are the same while some of the modules are different. In FIG. 3 described above, a system having four device modules 32 is illustrated. Each EMD device support 79a-79d includes a distal end and a proximal end that terminate within the distal connector 80. By way of example, referring to FIG. 4H, the device module 32c has an EMD device support 79c having a proximal end 79c.1 and a distal end connector 79c.2 opposite thereto. The proximal end 79c.1 of the EMD device support 79c is fixed to the proximal end 77b.1 of the arm 77b. The arm 77b has a distal end 77b.2 that is fixed to the device module 32b on the distal side of the device module 32c. The terminal end 77b.2 of the EMD drive support device 77b is fixed to the proximal end of the device module 32b, thereby preventing the end terminal 77b.2 from moving distally to the distal end of the device module 32b. In operation, the distal end connector 80c is releasably connected to the proximal end connector 88b on the device module 32b. In one embodiment, the EMD supports 79a-79d include flexible tubes, the latter having longitudinal slits that allow the EMDs to be inserted into and removed from their respective EMD device supports 79a-79d. In one embodiment, the EMD supports 79a-79d operate as the flexible track described in U.S. Published Application No. 2016 / 0271368, which is by the same applicant as this application and has the name "Guide Catheter Control Flexible Track".The arm 77b moves linearly with the drive module 32b, and thus, in one mode, the proximal end 77c.1 and the distal end 77c.2 move relative to the drive module 32c with the drive module 32b. The EMD device support 79c is removably applied to the EMD 102 that is operated non-axially by the device module 32c. The EMD 102 operated by the device module 32c enters and exits the support 79c, but in so doing, through a longitudinal slit extending from the outer periphery of the EMD device support to the internal cavity of the EMD support. In one embodiment, the EMD device support is a telescoping member (telescope member) described later herein, and in so doing, an axial or non-axial load is applied to the EMD within the EMD device support to provide a buckling prevention support. Referring to FIG. 3, each drive module 32a - 32d operates different devices independently. By each EMD device support 79a - 79d, each device can move with a greater distance between two adjacent devices compared to when moving without an EMD support. In the absence of an EMD device support, the distance that the device can move can be shorter than the buckling length of the device. Thus, each time the EMD moves at the buckling length, the system may need to reset the drive unit. The EMD support can obviate the need for a reset while using a given device in relation to each other and / or in relation to a treatment. In other words, the EMD device support obviates the need for a collet reset when using a given device. In one embodiment, the EMD support enables fewer collet resets compared to when the EMD support is not used. Referring to FIG. 4G, the device support 79 is guided through the cassette 66c, and in so doing, through the channel 138 and the proximal support member 82, and in the latter case, through a channel 84 extending therethrough.

[0082] EMD102 is rotated and moved robotically by manually operating the collet 112 to pinch with an on-device adapter and / or the collet 112, and then the collet and the EMD are rotated and moved robotically. In one embodiment, the EMD102 is robotically rotated and moved by being pinched and unpinched robotically by the collet 112 and by rotating and moving the collet 112.

[0083] Multiple robotic EMD drive systems are illustrated herein. Further, multiple collet configurations are also illustrated. Not only the specific collet configurations described herein, but also collet configurations known in the art can be used in the various EMD drive systems described herein. The collets described herein are also referred to as pin vises, chucks, bushings, or guidewire torquers.

[0084] Referring to FIGS. 1, 4A, and 4D, the device module 32 includes a drive module 68 that includes a drive module base component 116 and a load sensing component 118. The EMD102 is releasably coupled to the separation component 106. The separation component 106 is separated from external loads in addition to the actual load acting on the EMD102. The separation component 106 is releasably coupled to the load sensing component 118. The load sensor 120 is fixed to the drive module base component 116, and the load sensing component 118 senses the actual load acting on the EMD102.

[0085] In one embodiment, the load sensor 120 is the sole support of the load sensing component 118 in at least one direction during load measurement. In one embodiment, the cassette housing 104 and the separation component 106 are internally connected so that they form one component. In one embodiment, the cassette housing 104 and the separation component 106 are connected by a flexible membrane 108, where the flexible membrane 108 exerts a negligible force on the separation component 106 in the X direction (device direction). In one embodiment, the flexible membrane 108 represents cassette interaction rather than a physical membrane.

[0086] Referring to FIGS. 4A and 4B according to one embodiment, the apparatus includes a cassette 66, which is composed of a cassette housing 104 removably attached to a cassette cover 105 and a drive module base component 116.

[0087] Referring to FIGS. 5C - 5E according to one embodiment, the drive module base component 116 includes a load sensing component 118 and a load sensor 120. The drive module 68 includes the drive module base component 116 and the load sensing component 118 as separate components, which are connected by a load sensor 120 disposed between the drive module base component 116 and the load sensing component 118. The bearing 128 of the load sensing component 118 supports the load sensing component in at least one off-axis (non-measurement) direction.

[0088] Referring to FIGS. 8A and 8B, in one embodiment, the EMD on-device adapter 510 is connected to the catheter 512. The on-device adapter 510 includes a driven bevel gear 522 that is integrally connected, which is removably connected to a Y-connector shown with the hub 530, and the hub can be removably connected to a hemostatic valve on the proximal end. In one embodiment of the EMD on-device adapter 510, it includes a catheter 512 that is removably connected to the driven bevel gear 522. The catheter 512 includes a catheter hub 514 and a catheter shaft 516 that is integrally connected thereto. In one embodiment, the catheter hub 514 is not a handle that includes a mechanism for operating a feature or part of the catheter. In one embodiment, the EMD includes a handle with a mechanism for operating features within the catheter, for example, it may operate a wire or the like that extends from the handle to the distal end of the catheter to operate or deflect the distal end of the catheter. In contrast, the hub is a rigid portion of the EMD at the proximal end that does not include a mechanism for operating features within the catheter.

[0089] Referring to FIGS. 4B and 4C, a separation component 106 disposed within the cassette housing 104 and a separation component 106 disposed remotely from the cassette housing 104 are illustrated, being separated along at least one direction when the separation component 106 is connected to the load sensing component 118. The separation component 106 includes a first component 106a and a second component 106b attached thereto. Referring to FIGS. 4A-4C, the first component 106a is disposed within the recess 143 of the cassette housing 104, and is disposed in a first direction defined as the direction towards the drive module 68 in the use position where the cassette 66 is fixed to the drive module 68. The second component 106b is disposed within the recess 143, but is disposed in a direction away from the load sensing component 118 towards the first component 106a. Referring to FIG. 4C, in another way, the first component 106a is disposed within the recess 143 in the -z axis direction from above the cassette housing 104, and the second component 106b is disposed within the recess 143 in the +z axis direction from below the cassette housing 104.

[0090] Referring to FIGS. 4C and 4F, the first component 106a and the second component 106b are fixed to each other. The cassette housing 104 includes two longitudinally oriented and spaced parallel rails 107 located within the recess 143. These rails 107 are also referred to herein as linear guides. These rails 107 are substantially parallel to each other and are spaced apart from each other. The first component 106a is located on the upper surface of the rail 107 closest to the upper surface of the cassette housing 104, and the second component 106b is located on the bottom surface of the rail 107 closest to the load sensing component 118. It should be noted that the assembly direction of the first component 106a and the second component 106b of the separation component 106 is described in relation to the position during use, but the first component and the second component of the separation component 106 are installed remotely from the drive module 68. In other words, the first component 106a of the separation component 106 is inserted into the recess 143 in a direction substantially perpendicular to the longitudinal axis of the cassette housing 104 in a direction from the upper surface of the cassette 66 towards the bottom surface of the cassette 66.

[0091] In one embodiment, the first component 106a is fixed to the second component 106b of the separable component 106 by one mechanical fastener or a plurality of fasteners. In one embodiment, the first component 106a and the second component 106b are integrally fixed using magnets. In one embodiment, the first component 106a and the second component 106b of the separable component 106 are fixed with an adhesive. In one embodiment, the first component 106a and the second component 106b are releasably fixed to each other without using tools. In one embodiment, the first component 106a and the second component 106b are non-removably fixed to each other.

[0092] Referring to FIG. 4F, in the use position where the second component 106b of the separable component 106 is releasably fixed to the load sensing component 118, the first component 106a and the second component 106b are spaced apart from the rail 107 of the cassette housing 104, and thus, the first component 106a and the second component 106b are in a non-contact relationship with the cassette housing 104.

[0093] In one embodiment, when the on-device adapter 112 is coupled to the load sensing component 118, the on-device adapter 112 is spaced apart from and non-contact with the cassette housing 104. In one embodiment, the separable component 106 is separated from the cassette housing 104 in all directions. In one embodiment, the separable component 106 is separate from the cassette housing 104 and in a non-contact relationship.

[0094] Referring to FIGS. 4B and 4C, in one embodiment, the cassette 66 includes a cassette cover 105, which is separated from the cassette housing 104 and is rotatably coupled by a hinge 103 to a separable component 106 that is non-contact. In one embodiment, the cassette cover 105 is rotatably coupled by the hinge 103 to a first component 106a of the separable component 106. In one embodiment, the cassette cover 105 is connected to the first component 106a of the separable component 106 using other means such as snap fitting.

[0095] Referring to FIGS. 1 and 4C, in one embodiment, the drive module 68 moves the EMD 102 in a first direction, and the separable component 106 is separated from the cassette housing 104 in the first direction. In one embodiment, the drive module 68 moves the EMD 102 in a second direction, and the separable component 106 is separated from the cassette housing 104 in the first and second directions.

[0096] Referring to FIG. 4D according to one embodiment, a second component 106b of the separable component 106 is removably fixed to the load sensing component 118 using a fastener. In one embodiment, the fastener includes a quick release mechanism that can removably fix the second component 106b of the separable component 106 to the load sensing component 118. In one embodiment, the fastener is a magnet.

[0097] Referring to FIGS. 5A - 5E, the load sensing component 118 is disposed within the drive module base component 116 and is fixed to the drive module base component 116 together with the load sensor 120. In one embodiment, the load sensor 120 includes a first portion fixed to the drive module base component 116 using a first fastener 115 and a second portion fixed to the load sensing component 118 using a second fastener 119. In one embodiment, the first portion of the load sensor 120 is separable from the second portion of the load sensor 120. In one embodiment, the first fastener 115 and the second fastener 119 are bolts. In one embodiment, the first fastener 115 and the second fastener 119 are mechanical fastening components known in the art for making mechanical connections. In one embodiment, the first fastener 115 and the second fastener 119 may be replaced with adhesive means for ensuring a mechanical connection. In one embodiment, the first fastener 115 and the second fastener 119 are magnets.

[0098] Referring to FIG. 5A according to one embodiment, the drive module base component 116 includes a recess for receiving the load sensing component 118. In one embodiment, the drive module base component 116 further defines a cavity extending from the recess for receiving a portion of the load sensor 120.

[0099] Referring to FIGS. 4B and 4D according to one embodiment, the cassette housing 104 is removably connected to the drive module base component 116 via a quick release mechanism 121. In one embodiment, the quick release mechanism 121 includes a spring - biased member within the cassette housing 104, and the member is actuated by a latch release 123 that releasably engages a quick release lock pin 117a fixed to the drive module base component 116. In one embodiment, the cassette housing 104 is aligned with the drive module base component 116 by an alignment pin 117b fixed to the drive module base component 116.

[0100] Referring to FIGS. 4C and 4F, the separation component 106 is received inside the cassette housing 104 by attaching the first component 106a of the separation component 106 to the second component 106b around the rail 107 within the cassette housing 104. In the use position, the separation component 106 does not contact the rail 107. For this reason, the interaction of the load caused by the external force and / or external torque acting on the EMD 102 occurs in one component (part) within the cassette 66.

[0101] The cassette housing 104 includes a cradle 132 configured to receive the EMD on-device adapter 112 together with the EMD 102. The cassette bevel gear 134 within the cassette housing 104 can rotate freely with respect to the cassette housing 104 about an axis aligned with the coupler shaft 131 about which the coupler 130 of the drive module 68 rotates. Within the assembled device module 32, the cassette 66 is disposed on the mounting surface of the drive module 68, and the cassette bevel gear 134 receives the coupler 130 along the coupler shaft 131 and is freely engaged and disengaged along the coupler shaft 131 and is integrally (non-freely) connected around the coupler shaft 131 such that the rotation of the coupler 130 corresponds equally to the rotation of the cassette bevel gear 134. In other words, when the coupler 130 rotates clockwise at a given speed, the cassette bevel gear 134 rotates clockwise at the same given speed, and when the coupler 130 rotates counterclockwise at a given speed, the cassette bevel gear 134 rotates counterclockwise at the same given speed.

[0102] Referring to FIGS. 1, 3, and 4, the EMD drive system includes an on-device adapter 112 removably fixed to the shaft of the EMD 102. The on-device adapter 112 is received within the cassette 66 removably fixed to the drive module 68. The drive module 68 is operably coupled to the on-device adapter 112 to move the on-device adapter 112 and the EMD 102 together.

[0103] In one embodiment, the on-device adapter 112 is translated or moved. Referring to FIG. 3, the drive module 68 is moved along the X-axis to move the cassette 68, the on-device adapter 112, and the EMD 102 integrally. In one embodiment, the movement along the X-axis is coaxial with the longitudinal axis of the on-device adapter 112, the longitudinal axis of the cassette, and the longitudinal axis of the EMD 102. Referring to FIG. 20A, the drive module includes a reset function for moving the on-device adapter and the EMD. When translated or moved, the above components move in the distal and proximal directions along the longitudinal axes of the cassette and the on-device adapter.

[0104] In one embodiment, the on-device adapter rotates and moves about the vertical axis of the on-device adapter.

[0105] In one embodiment, the on-device adapter 112 includes a collet. The collet is not limited to the collets described herein and can include various collet configurations. See FIGS. 6A, 6B, 9A-9I, and 10A-11E.

[0106] Referring to FIGS. 6A and 6B according to an embodiment, the collet 400 includes a first member 402 that moves along and / or around the longitudinal axis 406 of the second member 404, thereby pinching the shaft of the EMD 102 within the third member 405. In one embodiment, the second member 404 has a generally cylindrical shape. However, the second member 404 can have other geometric shapes, for example, frustoconical, where the first portion is closer to the engagement portion 136, has a cross-section, and the second portion is closer to the first member 402 and may have a larger cross-section. In one embodiment, the first member 402 is called a nut, the second member 404 is called a collet body or sleeve, and the third member 405 is called a chuck. The nut 402 is fixed to the body 404 to open and close the chuck 405 to pinch or release the pinch on the EMD 102. In one embodiment, the nut 402 is screwed (threadedly engaged) with the body 404.

[0107] The on-device adapter 112 includes an engagement portion 136 that engages with a drive member 134 within the cassette 66 and is thereby rotated. In one embodiment, the engagement portion 136 is a gear. However, other engagement portions driven by the drive member are also contemplated.

[0108] In one embodiment, the on-device adapter 112 includes a surface 408 supported by a bearing member within the cassette.

[0109] In one embodiment, the on-device adapter 112 includes a thrust bearing surface 410 that prevents movement relative to a portion of the cassette 66. In one embodiment, the thrust bearing surface 410 includes a first portion 412 that prevents distal movement and a second portion 414 that prevents proximal movement. In one embodiment, the first portion 412 and the second portion 414 form a groove while defining a surface 408 supported by the bearing member 133 within the cassette 66.

[0110] In one embodiment, the on-device adapter 112 includes a luer connector 416. In one embodiment, the luer connector 416 is covered by the ISO80369-7 standard referred to herein. In one embodiment, the luer connector 416 is configured to enable the on-device adapter 112 to be cleaned with a cleaning fluid. The luer connector has a passage through which it is connected to the passage within the on-device adapter 112. In one embodiment, the passage is within the luer connector 416 and is coaxially flowed with the passage within the on-device adapter. In one embodiment, the passage within the on-device adapter 112 is a passage for receiving the shaft of the EMD 102. In one embodiment, the luer connector 41 is a common connector and, in one embodiment, is a connector covered by the ISO80369-7 standard. In one embodiment, the luer connector is a luer lock.

[0111] Referring to FIGS. 6C and 6D, the on-device adapter 112 includes a holder 418, which has an engagement surface or gear 136 formed or attached thereto. The holder 418 has a plurality of slits 420 in its distal portion, which extend to the distal end of the holder 418 forming a plurality of fingers 422. The holder 418 has a channel for receiving the proximal portion of a collet 424. In one embodiment, the collet 424 may be a torque device that can be obtained from Merit (trademark) as PinVise (trademark). The proximal body portion 426 of the collet 424 has an outer diameter that is larger than the inner diameter at the distal end of the channel of the holder 418. The proximal end portion of the body 426 is disposed within the channel of the holder 418, whereby the fingers 422 move outwardly to capture the collet 424 within the holder 418 such that movement and / or rotation of the holder 418 results in movement and / or rotation of the collet 424. By pinching the shaft of the EMD within the split member portion (split member portion) 428, the second member 430 rotates about the threaded portion 432 of the collet body portion 426. The plurality of split member portions 428 move towards each other and pinch the EMD 102 as the inner conical portion of the second member 430, thereby moving towards the body portion 426. Thus, the plurality of split member portions 428 engage with each other and move towards each other.

[0112] Referring to FIGS. 7A and 7B, the on-device adapter 112 is an assembly that includes a quick clamp 450 that engages the collet 424, as described above. However, it is contemplated that the quick clamp 450 engages other collet configurations. In one embodiment, the quick clamp 450 rapidly connects and / or releases the collet 424. Referring to FIGS. 7E and 7F, the lever 452 moves from a first unclamped position to a second clamped position to clamp the collet. In one embodiment, no additional tool is required to releasably engage the quick clamp onto the collet. Referring to FIGS. 7A and 7B, the quick clamp 450 includes a clamp body 454 that defines a channel therein and receives the collet 424, such as the torquer described above. In one embodiment, the torquer 424 includes a proximal end 427 that is inserted into the distal opening 429 of the channel 431. A second portion 430 of the torquer that rotates relative to the body 426 acts to pinch and unpinch the EMD within the channel defined by the body and the second portion. Referring to FIGS. 7E and 7F, the lever 452 pivotally attached to the clamp body 454 moves from a first open position to a second closed position, where the clamp body moves from an unclamped position to a clamped position. The lever 452 includes a cam portion 457 that interacts with a portion 459 on the body 454. In the first open position, a gap 461 exists between the outer surface of the body 454 and the surface of the clamp channel. The gap 461 allows the quick clamp 450 to secure various commercially available collets, which may have various outer body diameters. As the lever pivots from the open position to the closed position, the gap 461 is eliminated by clamping the collet body against the quick clamp, such that movement and / or rotation of the quick clamp results in movement and / or rotation of the collet and the EMD pinched by the collet. The gap 461 is eliminated because the cam portion 457 interacts with the surface 459 to force the body 454 to eliminate the gap 461.Referring to FIG. 7B, the screw 455 connected to the pin 453 allows for changes within the gap 461 (see FIG. 7E) before the lever 452 is engaged. This enables further adjustment of the quick clamp to engage collets having various outer diameters (the lever handle may be adjusted to finely tune the displacement for the clamping force, and the screw handle may effect large displacements based on size changes).

[0113] Referring to FIG. 7B, the luer connector 456 is operably coupled to the clamp body 454 together with the connector 464. In one embodiment, the luer connector 456 is integrated with a portion of the clamp body 454. In one embodiment, the engagement portion 458 includes a gear 460 and a surface 462, the latter being received within a cassette supported by bearings within the cassette.

[0114] In one embodiment, the EMD 102 is removably received radially within the collet 112, and the collet 112 is removably received and disposed within the cassette. In one embodiment, the EMD 102 is removably received axially within the collet 112, and the collet is removably received within the cassette. In one embodiment, the EMD is removably received radially within the collet 112, and the collet 112 is non - removably positioned within the cassette. In one embodiment, the EMD 102 is removably received axially within the collet 112, and the collet 112 is non - removably positioned within the cassette.

[0115] Referring to FIG. 4F, the drive module includes an actuator operably coupled to a drive coupler. This is operably coupled to a drive member within the cassette. The drive module is operably coupled to a rail or linear support, and a second actuator moves the drive module along the rail or linear support.

[0116] In one embodiment, the EMD is a guide wire. In one embodiment, the EMD is a catheter having a hub at its proximal end and a flexible shaft extending from the hub towards the distal end of the catheter. The shaft is more flexible than the hub. In one embodiment, the catheter includes an intermediate portion between the hub and the shaft, which is less rigid than the hub and higher than the shaft.

[0117] Referring to FIGS. 8A and 8B, the on-device adapter 510 holds the EMD 512, which in one embodiment is a catheter. The catheter 512 includes a hub 514 and a shaft 516. The on-device adapter 510 includes a body 518 having a cavity 520 that extends inwardly from the proximal end of the body 518 to receive the hub 514. The proximal end of the catheter 512 and shaft 516 or the catheter hub 514 adjacent thereto extends from a region proximate the hub 514 to a region proximate the distal end of the catheter 512. In one embodiment, the hub 514 is received within the cavity 520 by press-fit or other engagement means to prevent the catheter 516 from moving and / or rotating independently of the on-device adapter 510. The on-device adapter 510 includes an engagement feature 522 that engages a drive member 134 within the cassette 66. In one embodiment, the engagement feature 522 is a gear. The gear 522 may be similar to the gear 136 described herein. The on-device adapter 510 and the catheter 512 are moved together with the cassette 66 and / or the drive module 68. By the actuator operably rotating the gear 134, thereby rotating the gear 522, the on-device adapter 510, and the catheter 512, the on-device adapter 510 and the catheter 512 are rotated about the longitudinal axis of the on-device adapter 510 and the catheter 512.

[0118] The catheter hub 514 includes a hub body 524, and in one embodiment, it includes a pair of wings 526 that extend radially outward from the hub body 524. Referring to FIGS. 8A and 8B, the wings 562 are received within the cavity 520 of the on-device adapter 510. In one embodiment, the catheter 512 includes a connector 528 at its proximal end. In one embodiment, the catheter 510 includes a strain relief 532 between the hub 514 and the shaft 516, which transitions between the hub 514 and the shaft 516. In one embodiment, the strain relief 532 has a proximal portion with a proximal diameter and a distal portion with a distal diameter, and the latter is equal to or smaller than the proximal diameter of the shaft 516.

[0119] In one embodiment, the hub 514 includes a first port, which provides access to the internal lumen 534 of the catheter shaft 516, either directly or through a hub-shaft lumen 534. In one embodiment, the hub 514 includes additional ports that communicate with the lumen of the catheter, which can be used, for example, for balloon inflation.

[0120] The shaft 516 includes a lumen 534 that communicates with the hub lumen 536. The connector 528 includes a cavity that communicates with the hub lumen 536 and / or the shaft lumen 534. Another EMD, such as a guide wire, may enter the opening of the connector 528 and extend therethrough into the interior of the shaft cavity 534 and the hub cavity 536. In one embodiment, the strain relief surrounds the proximal portion of the shaft lumen 534. Also, the connector 528 allows fluid to flow therethrough to enable fluid to be introduced into the hub lumen 536 and the shaft cavity 534 to flush the catheter and / or supply fluid to the distal end of the catheter shaft 516.

[0121] To explain how the catheter 512 interacts with another distal catheter, the catheter 512 and its features are referred to as the first catheter and the first features, and the distal catheter and its features can be referred to as the second catheter or the second features. The first shaft 516 has a predetermined outer diameter, whereby the first shaft 516 can enter into the second lumen of a second catheter (not shown) and into the patient's vascular structure for diagnosis or treatment. Since the outer diameter of the first shaft 516 is smaller than the inner diameter of the second lumen of the second catheter, it can be inserted therein. Note that it should be noted that a guide catheter usually enters into an introducer sheath (sheath) and is not another catheter. Therefore, the hub of the guide catheter has a geometric shape such that it cannot enter into the introducer sheath or the patient's vascular system.

[0122] In contrast, the first hub 514 is not configured to enter into the second lumen of the second catheter, and thus is not configured to enter into the lumen of the introducer sheath. In one embodiment, at the outer periphery of the first hub 514, its cross-section is larger than the inner diameter of the second lumen of the second catheter and / or the second lumen of the second catheter hub at a position perpendicular to the longitudinal axis of the hub and / or the catheter. Therefore, the first hub 514 cannot enter into the second lumen of the second catheter. Further, due to the geometric shape of the first hub 514, the proximal end of the catheter is not allowed to enter into the vascular system.

[0123] The shaft 516 has sufficient flexibility to allow the shaft 516 to bend within the second lumen of the second catheter and / or to allow the shaft to follow a non-linear path of the second catheter. In one embodiment, the shaft 516 has sufficient flexibility to allow the shaft to bend and follow its path within a non-linear vascular structure.

[0124] In one embodiment, the shaft 516 can include a stainless-steel hypotube, which has sufficient flexibility to allow the shaft to follow the non-linear path of the second catheter and / or the non-linear blood vessels of the patient.

[0125] In one embodiment, the connector 528 is a luer connector, and in one embodiment the luer connector is a female luer connector. In one embodiment, the luer connector has a lumen that communicates with the lumen of the hub, thereby allowing another EMD to pass therethrough or allowing fluid to enter the hub and catheter through the luer connector.

[0126] In one embodiment, hub wings 526 are used for an operator to manually hold on the hub 524. The wings 526 can be used as a positioning device within the cavity 520 of the on-device adapter 510.

[0127] In one embodiment, the hub 514 may be used without control to operate a feature within the catheter 512 (e.g., a wire that extends to the distal end of the catheter to deflect the tip). In one embodiment, the catheter 512 does not include the control used to operate a feature within the catheter (e.g., a wire that extends to the distal end of the catheter to deflect the tip).

[0128] In one embodiment, the on-device adapter 510 is configured to pinch an EMD having a range of shaft outer diameters. In one embodiment, a torque device from Merit Medical is used as part of the on-device adapter and it covers the following shaft diameter ranges. That is, it covers any of 0.009″ - 0.018″, 0.018″ - 0.038″, 0.010″ - 0.020″, 0.013″ - 0.024″, or 0.025″ - 0.040″ (where the symbol ″ represents inches). Note that the torque devices available from Merit Medical may have overlapping ranges.

[0129] In one embodiment, depending on the outer diameter of the shaft of the EMD to be pinched, one or more on-device adapters can be used together with a robotic drive system.

[0130] In one embodiment, a robotic system controls one or more EMDs, where a first on-device adapter is used for a first EMD having a first outer diameter and a second on-device adapter is used for a second EMD having a second outer diameter different from the first outer diameter of the first EMD. For example, the first on-device adapter is used to pinch an angiographic guide wire having an outer diameter of 0.035″ or 0.038″, and the second on-device adapter is used to pinch a micro wire having an outer diameter of approximately (approx.) 0.014″. An angiographic guide wire is used to place a guide catheter in a predetermined position and can be called a diagnostic guide wire. Also, a micro wire can be called a micro guide wire or simply a guide wire. For simplicity, in this specification (in English), the term "approx." is used as an abbreviation for "approximately".

[0131] In one embodiment, the on-device adapter may not be designed to be separable (disassembled). In one embodiment, the on-device adapter may be designed to receive a single torquer. Note that the terms torquer and torque device or torque device are used interchangeably herein and may be a subset of the collets used herein. In one embodiment, the on-device adapter provides sufficient clamping force onto the torque device to withstand axial forces when the on-device adapter advances and retracts for a given procedure, and / or to withstand torsional forces when the on-device adapter is rotated to rotate the EMD. The pinch or clamping force applied to the torquer by the on-device adapter is sufficient to resist slippage (axial or rotational) of the EMD that advances and / or rotates with the on-device adapter. In one embodiment, the on-device adapter penetrates the outer surface of the body of the torque device and / or deforms the surface of the torque device.

[0132] Referring to FIGS. 12A - 12F.2, the robotic system 910 includes a collet 964, which has a first portion 965 having a first collet coupler 958 connected thereto and a second portion 966 having a second collet coupler 960 connected thereto. Referring to FIG. 12F.1, the EMD 912 is removably disposed within a lumen (void) or path 996 defined by the collet 964. The robotic drive includes a base 914 or drive module having a first motor 936 and a second motor 938, and is operably continuously coupled to both the first collet coupler 958 and the second collet coupler 960 to operably pinch or unpinch the EMD 914 within the cavity 996 and rotate the EMD 912. The first motor 936 and the second motor 938 described herein differentially rotate the first collet coupler 958 and the second collet coupler 960. In other words, the first motor 936 and the second motor 938 rotate independently of each other at different rates (speeds) and in different directions. It is to be included that the first motor rotates while the second motor does not rotate. In one embodiment, both motors rotate at the same speed. In one embodiment, the first motor and the second motor are continuously engaged with the first collet coupler 958 and the second collet coupler 960, respectively. In one embodiment, the first portion 965 and the first collet coupler 958 are formed as a single component, but in one embodiment, they may also be separate components. In one embodiment, the second portion 966 and the second collet coupler 960 are formed as a single component, but in one embodiment, they may also be separate components.

[0133] The EMD robot system 910 includes a collet, which uses a double gear configuration that releasably engages with the EMD 912 to rotate and translate the EMD 912. In one embodiment, the double gear configuration includes a double bevel gear. The double gear collet drive system 910 has a proximal end 911 and a distal end 913. When the EMD 912 is moved from the proximal end 911 towards the distal end 913, the EMD 912 is advanced into the patient, and when the EMD 912 is moved from the distal end 913 towards the proximal end, the EMD 912 is retracted or withdrawn outside the patient. To clarify the directions, a Cartesian coordinate system with X, Y, and Z axes can be introduced. Here, the positive (+) Z-axis is oriented in the longitudinal (axial) distal direction, i.e., the direction from the proximal end to the distal end. The X and Y axes are on a plane perpendicular to the Z-axis, the positive Y-axis is upward, i.e., in the opposite direction of gravity, and the X-axis can correspond to the direction facing the front (usually towards the surgeon / doctor on the bedside). The right-hand rule is used to determine the direction of rotation. At this time, the direction is determined by pointing the right thumb along the positive X, Y, and Z axes, and the curl of the right fingers is associated with the clockwise direction. The direction opposite to the curl of the right fingers can be associated with the counterclockwise direction. The terms clockwise and counterclockwise used in this specification are relative terms indicating a first direction of rotation and a second direction of rotation opposite to the first direction of rotation. Therefore, it should be noted that either the term clockwise or counterclockwise can mean the first direction of rotation and the second opposite direction of rotation. The terms clockwise and counterclockwise are used in this specification to assist in understanding the different directions of rotation of the device provided herein, but it is possible to configure the device with the clockwise and counterclockwise directions reversed.

[0134] The collet drive system 910 includes a drive module 914 that moves along the axial direction of the EMD 912 and is actuated by a drive module moving drive unit 916. The drive module 914 includes a drive module housing 918, a mount (attachment) bracket 920, a cassette 922, and a cassette cover 924. The cassette 922 includes a double gear (duplex gear) collet drive housing 926 and an EMD guide 928. The top of the double gear collet drive housing 926 includes a plurality of openings 927 and a plurality of ribs 929. The EMD guide 928 includes a plurality of pairs of guides that function as V-shaped notches and function as open channels for guiding the EMD 912 through the drive system. The open channels are open for loading, but note that they can be covered when the cassette cover is closed. The guides function as anti-buckling features. In one embodiment, the EMD guide 928 includes a plurality of pairs of V-shaped notches or U-shaped channels so as to function as guides. The top of the V-shaped or U-shaped channel may be chamfered to assist in loading the EMD 912. In one embodiment, a pair of EMD guides 928 are used on the proximal side of the double gear collet drive housing 926 and a pair of EMD guides 928 are used on the distal side of the double gear collet drive housing 926. In one embodiment, a plurality of pairs of EMD guides 928 are used on the proximal side of the double gear collet drive housing 926 and a plurality of pairs of EMD guides 928 are used on the distal side of the double gear collet drive housing 926.

[0135] In one embodiment, the robotic system 910 includes a third motor 932 (not shown) operably coupled to the collet 964, thereby moving the collet 964 and the EMD 912 along the longitudinal axis of the collet 964. In one embodiment, the first motor 936 and the second motor 938 are fixed relative to the collet 964 during movement or translation of the collet and the EMD. The drive module movement drive unit 916 includes a lead screw 930, which is driven by a screw drive motor 932 (not shown) inside the screw drive (screw drive) housing 934. The screw drive unit 930 is used to move the drive module 914 relative to the fixed housing 934. In one embodiment, the screw drive motor 932 is a stepper motor. In one embodiment, the screw drive motor 932 is a servo motor. In one embodiment, the screw drive motor 932 is a rotary actuator powered by electrical, pneumatic, hydraulic, or other means.

[0136] In one embodiment, the drive module housing 918 and its contents are reusable. In one embodiment, the cassette 922 is a consumable. This means that the cassette 922 is discarded after being used for one patient. In one embodiment, the cassette 922 may be made of a sterilizable and reusable material.

[0137] Referring to FIGS. 12A and 12B, the drive module housing 918 is operably connected to a first coupler 940 to drive a first motor 936, and is operably connected to a second coupler 942 to drive a second motor 938. In one embodiment, the first motor 936 and the second motor 938 are stepper motors. In one embodiment, the first motor 936 and the second motor 938 are servo motors. In one embodiment, the first motor 936 and the second motor 938 are rotary actuators powered by electrical, pneumatic, hydraulic, or other means.

[0138] The first coupler 940 extends through the drive module housing 918 and is integrally connected to the first coupler bevel gear 946. The second coupler 942 extends through the mount bracket 920 and is integrally connected to the second bevel gear 948. The first motor 936, the first coupler 940, and the first coupling bevel gear 946 are located on the distal side within the drive module housing 918. The second motor 938, the second coupler 942, and the second coupler bevel gear 948 are located on the proximal side within the drive module housing 918. In one embodiment, the first coupler 940 and the second coupler 942 pass through holes in the mount bracket 920. In one embodiment, the first coupler 940 and the second coupler 942 pass through a rotary bearing attached to the mount bracket 920.

[0139] The collet drive housing 926 includes the dual gear collet drive assembly 944 described herein.

[0140] Referring to FIGS. 12B and 12C, the first driven bevel gear (spur gear) 950 meshes with the first coupler bevel gear 946 and is thereby driven. The first driven bevel gear 950 is integrally connected to the first shaft tip 951, the first shaft tip 951 is integrally connected to the first wheel 954, and the first wheel 954 is integrally connected to the first shaft proximal end 953, all of which form the first composite (or cluster) assembly 958. The second driven bevel gear 952 meshes with the second coupler bevel gear 948 and is thereby driven. The second driven bevel gear 952 is integrally connected to the second shaft proximal end 955, the second shaft proximal end 955 is integrally connected to the second wheel 956, and the second wheel 956 is integrally connected to the second shaft tip 957, all of which form the second composite (or cluster) assembly 960.

[0141] In one embodiment, the upper surface 947 of the first coupling bevel gear 946 includes an open central hole, along the central axis of which, the first coupling 940 is received and driven. In other words, the gear 946 has a hole along its longitudinal axis. In one embodiment, the upper surface 947 of the first coupling bevel gear 946 is not open and is sealed to prevent fluid from moving from the cassette to the base. In one embodiment, the upper surface 949 of the second coupling bevel gear 948 includes an open central hole, along the central axis of which, the second coupling 942 is received and driven. In one embodiment, the upper surface 949 of the second coupling bevel gear 948 is not open and is sealed to prevent fluid from moving from the cassette to the base.

[0142] In one embodiment, the cassette 922 is removably fixed to the base 914. The collet 964 is disposed within the cassette 922. The first collet coupler 958 and the second collet coupler 960 are respectively coupled to the first motor 936 and the second motor 938, but in this case, via the first drive coupler 940 and the second drive coupler 942 disposed within the base 914. In one embodiment, the first drive coupler 940 includes a shaft operably connected to the motor 936, which extends from the base in a sealed manner and is operably connected to the gear 946, and this gear 946 is operably engaged with the first collet coupler 958. Similarly, the second drive coupler 942 includes a shaft operably connected to the motor 938, which extends from the base in a sealed manner and is operably connected to the gear 948, and this gear 948 is operably engaged with the second collet coupler 960.

[0143] The first composite part assembly 958 includes radial and longitudinal slits 962 that extend from the outer surface of the assembly and terminate at its radial center. The second composite part assembly 960 includes radial and longitudinal slits 963 that extend from the outer surface of the assembly and terminate at its radial center. These slits 962 and 963 enable side or radial loading of the EMD912. In one embodiment, the slits 962 and 963 form a radial opening using opposing non-parallel walls. In one embodiment, the slits 962 and 963 form a substantially radial opening using opposing parallel walls. In one embodiment, the outer surfaces of the assemblies 958 and 960 include V-shaped notches that are directed towards their central longitudinal axes and are each led to the slits 962 and 963 to assist in guiding the side or radial loading of the EMD912. Note that the slit 962 extends through the first driven bevel gear 950 and the slit 963 extends through the second driven bevel gear 952. The first connector bevel gear 946 meshes with and drives the first driven bevel gear 950 having the slit 962 without sacrificing performance. The second connector bevel gear 948 meshes with and drives the second driven bevel gear 952 having the slit 963 without sacrificing performance.

[0144] Referring to FIG. 12A, the outer portions of the first wheel 954 and the second wheel 956 extend through the opening 927 of the housing 926, thereby enabling the wheels 954 and 956 to be manually operated by an operator. For example, in the event of a power loss, the operator can manually rotate the wheels 954 and 956 to remove the EMD 912. In one embodiment, the operator can remove the collet assembly including the wheels 954 and 956 from the cassette by removing the double bevel - collet drive housing 926 from the cassette, whereby the operator can align the slots in the collet assembly and remove the EMD from the cassette. In one embodiment, the first wheel 954 and the second wheel 956 are circular disks having notches on their outer circumferences. In one embodiment, the first wheel 954 and the second wheel 956 are circular disks having grooves on their outer circumferences. In one embodiment, the first wheel 954 and the second wheel 956 are circular disks having knurls (rolled threads) on their outer circumferences. In one embodiment, the first wheel 954 and the second wheel 956 are circular disks having features on their outer circumferences to assist manual operation. In one embodiment, the first wheel 954 and the second wheel 956 are circular disks having no features on their outer circumferences, for example, their outer circumferences are smooth walls or the like.

[0145] Referring to FIGS. 12A, 12B, and 12C, the first composite component assembly 958 and the second composite component assembly 960 each rotate about a vertical axis aligned with the EMD 912, and each assembly is maintained in a vertical position by a circular notch (cutout) in a rib 929 that functions as a bearing. In one embodiment, the open circular notch in the rib 929 is snap - fastened to the first wheel 954 and the second wheel 956 on both sides thereof. In other words, the first composite component assembly 958 and the second composite component assembly 960 may be snap - fastened within a notch opened within the rib 929 that is partially surrounded by the first shaft distal end 951 and the first shaft proximal end 953 of the first composite component assembly 958, and the second shaft proximal end 955 and the second shaft distal end 957 of the second composite component assembly 960. The open notch in the rib 929 acts like a thrust bearing to prevent axial (longitudinal) movement and allow rotational movement. The open notch in the rib 929 does not completely surround the shafts 951, 953, 955, and 957. In one embodiment, the open notch in the rib 929 provides a 210 - degree enclosure for each of the shafts 951, 953, 955, and 957. In one embodiment, the open notch provides an enclosure greater than 180 degrees and less than 360 degrees for each of the shafts 951, 953, 955, and 957. In one embodiment, the rib having the open notch is made of a material such as plastic according to a specific standard.

[0146] Referring to FIGS. 12A and 12D, the double - gear collet drive assembly 944 includes a collet 964 that includes the first composite component assembly 958, an internal collet portion 965, and an outer collet portion 966 having a screw spline, and the second composite component assembly 960. Due to the snap - fit feature provided by the open notch in the rib 929, the double - gear collet drive assembly 944 (not including the first coupling bevel gear 946 or the second coupling bevel gear 948) can be manually removed from and reinstalled into the housing 926.

[0147] Referring to FIGS. 12D and 12E, the inner collet portion 965 includes a collet first portion 968 integrally connected to a tapered (tapered) collet second portion 970, and the collet second portion 970 is divided into tapered cantilever jaws 972, each having a substantially semi-circular cross-section. In one embodiment, the collet first portion 968 has a prism shape with a substantially constant radius. In one embodiment, the collet first portion 968 has a prism shape with a square cross-section. In one embodiment, the collet 968 has a non-prismatic shape with a non-uniform cross-section. The collet second portion 970 extends frustoconically from the collet first portion 968, whereby the diameter of the second portion continuously decreases from the region adjacent to the first portion to the proximal free end 974 of the second portion 970. Note that the proximal end 974 is the farthest from the region of the second portion adjacent to the first portion 968. In one embodiment, the inner collet portion 965 and the first composite assembly 958 are separate components. For example, the tapered collet second portion 970 may be a metal insert pressed into the collet first portion 968. In one embodiment, the inner collet portion 965 and the first composite assembly 958 are combined as one component. The collet 964 may be any collet device known in the art and is not limited to the embodiments of the collet described herein.

[0148] The screw spline 966 includes a first portion 976 of the screw spline, which is integrally connected to a second portion 978 of the screw spline. The first portion 976 of the screw spline includes an external axial spline thread 980, which engages with an internal axial spline thread 982 of the second composite assembly 960 to enable relative movement along the longitudinal axis 988. The second portion 978 of the screw spline includes an external helical circumferential screw thread 984, which engages with an internal screw thread 986 of the first composite assembly 958 to enable relative rotational movement clockwise or counterclockwise 990. The screw spline 966, by virtue of its configuration with both an axial spline thread 980 and a helical circumferential screw thread 984, can rotate and move relative to the inner collet portion 965, while maintaining a fixed longitudinal distance between the first driven coupling bevel gear 950 and the second driven coupling bevel gear 952, such that they engage with the first coupling bevel gear 946 and the second coupling bevel gear 948, respectively.

[0149] In one embodiment, when the EMD912 is pinched and when the pinch is released, the EMD912 does not rotate. The collet first portion 968 is a portion that releasably fixes the EMD912 thereto. By keeping the collet first portion 968 stationary during the rotation of the second portion 966, the EMD912 does not rotate. In other words, releasing the pinch of the EMD from the collet 964 without rotating the EMD912 about the longitudinal axis of the collet 964 keeps the inner collet portion 965 of the collet that directly fixes and abuts the EMD912 stationary with respect to the patient, rotates the outer collet portion 966 with respect to the inner collet portion 965, and releases the EMD912 from the fixed relationship with respect to the inner collet portion 965. In one embodiment, at the start of the pinch release process, it may be desirable to continue rotating the EMD912. In this embodiment, the first collet portion 968 rotates at a different speed from the outer collet portion 966.

[0150] Referring to FIGS. 12D and 12E, the inner collet portion 965 includes a radial longitudinal slit 992 within the first portion 968 of the collet, thereby enabling lateral or radial loading of the EMD912 into the lumen (cavity) 996. The longitudinal slit 992 extends radially from the outer surface of the first portion 968 and terminates at the radial center of the inner collet portion 965. The longitudinal slit 992 extends longitudinally through the seam of the jaw 972 to the second tapered portion 970. The screw spline 966 includes a radial longitudinal slit 994, thereby enabling lateral or radial loading of the EMD912. The longitudinal slit 994 extends radially from the outer surface of the screw spline 966 and terminates at its center.

[0151] Referring to FIG. 12F.1, the configuration at the time of pinch release of the double gear collet drive assembly 944 is illustrated, wherein the jaws 972 of the tapered collet second portion 970 are open and do not lock down (engage) the EMD 912 (do not pinch). In the fully pinch - released configuration, the screw - spline 966 is in its most proximal position. In one embodiment, the screw - spline 966 is restricted to its most proximal position by a hard stop at the proximal end of its longitudinal spline. In one embodiment, the screw - spline 966 is restricted to its most proximal position by a feature such as a flange or lip, stopping further movement within the longitudinal spline. Referring to FIG. 12F.2, the configuration at the time of pinch of the double gear collet drive assembly 944 is illustrated, wherein the jaws 972 of the tapered collet second portion 970 are closed against each other to lock down (engage) the EMD 912 (pinch). In the fully pinched configuration, the screw - spline 966 is in its most distal position. In one embodiment, the screw - spline 966 is restricted to its most distal position by a hard stop due to thread breakage. That is, since the threads are geometrically constrained, further screwing in is not possible. In one embodiment, the screw - spline 966 is restricted to its most distal position by a feature such as a flange or lip, stopping further movement.

[0152] Referring to FIGS. 12F.1 and 12F.2, the movement of the inner collet portion 965 in the direction of the screw - spline 966 is illustrated, whereby the jaws 972 of the second portion 972 of the tapered collet move towards each other, pinching the EMD 912. Moving the inner collet portion 965 away from the direction of the screw - spline 966 causes the jaws 972 of the second portion 972 of the tapered collet to move away from each other, enabling the release of the pinch on the EMD 912.

[0153] During operation, the double gear collet drive assembly 944 enables four operations using two rotational degrees of freedom by means of motors 936 and 938, namely, pinching (gripping) the EMD 912, releasing the pinch on the EMD 912, rotating the double gear collet drive assembly 944 clockwise, and rotating the double gear collet drive assembly 944 counterclockwise. These four operations are caused by the movement of the inner collet portion 965 relative to the screw spline 966 based on the rotational directions of the first coupler 940 and the second coupler 942.

[0154] In the first operating mode, as a result, the double gear collet drive assembly 944 rotates clockwise, during which the first coupler 940 rotates counterclockwise and the second coupler 942 rotates clockwise. In the second operating mode, as a result, the double gear collet drive assembly 944 rotates counterclockwise, during which the first coupler 940 rotates clockwise and the second coupler 942 rotates counterclockwise. In the third operating mode, as a result, the pinch on the EMD 912 is released, during which the first coupler 940 does not rotate and the second coupler 942 rotates counterclockwise. In the fourth operating mode, as a result, the EMD 912 is pinched, during which the first coupler 940 does not rotate and the second coupler 942 rotates clockwise. In the third and fourth operating modes, the collet is respectively unpinched and pinched (gripped). In one embodiment of the third and fourth operating modes, the movement continues until a hard stop is reached. In one embodiment of unpinching, when reaching the end of the spline thread on the first part 976 of the screw spline, a hard stop is reached. In one embodiment of pinching, when reaching the end of the thread on the second part 978 of the screw spline, a hard stop is reached, where it meets the first part 976 of the screw spline. During the fourth operating mode, in order to start the rotation of the EMD earlier while pinching, the first coupler 940 is rotated clockwise.

[0155] The first motor 936 and the second motor 938 can be controlled by limiting the amount of torque applied to each motor. In one embodiment, the first motor 936 and the second motor 938 are servo motors, and each motor can be controlled by current limiting in order to restrict the torque applied to each motor. In the third and fourth operating modes, the current limit can be set to different values. For example, when pinching compared to when unpinching, the current is limited to a lower value because it is necessary to overcome static friction when unpinching.

[0156] In one embodiment, the double gear collet drive system 910 includes a system for preventing buckling (twisting) of the EMD 912 at the proximal end 911 of the collet drive system. In one embodiment, the double gear collet drive system 910 incorporates a system for preventing buckling of the EMD 912 at the distal end 913 of the collet drive system. In one embodiment, the system for preventing buckling is a tube having an inner diameter slightly larger than the outer diameter of the EMD 912. In one embodiment, the system for preventing buckling is a set of a plurality of telescopic tubes, among which the inner diameter of the smallest tube is slightly larger than the outer diameter of the EMD 912. In one embodiment, the system for preventing buckling is a track capable of being loaded on the side.

[0157] Referring to FIG. 13A, a double gear slide type collet drive system 1000 releasably engages with an elongated medical device (EMD) 1002 to rotate and move the EMD 1002. The double gear slide type collet drive system 1000 includes a proximal end 1004 and a distal end 1006. As the EMD 1002 is moved from the proximal end 1004 towards the distal end 1006, the EMD 1002 is advanced into the patient, and as the EMD 1002 is moved from the distal end 1006 towards the proximal end 1004, the EMD 1002 is retracted or withdrawn from the patient.

[0158] The slide type collet drive system 1000 includes a carrier 1008 that moves along the axial direction of the EMD 1002, which is actuated by a carrier movement drive device 1010 attached to a fixed base 1012. The carrier 1008 includes a carrier housing 1014, a carrier arm 1016, and a rack 1018, all three of which are integrally connected. The carrier movement drive device 1010 includes a pinion gear 1020 integrally connected to a motor shaft (not shown) of a movement drive motor 1022. The movement drive motor 1022 rotates the pinion gear 1020, which meshes with the rack 1018 to move the carrier 1008. A linear guide or linear bearing (not shown) integrally connected to the base 1012 restricts the movement of the carrier 1008 to only proximal and distal directions along the axial direction of the EMD 1002.

[0159] The carrier housing 1014 includes a flat base plate having vertical side extensions at its proximal and distal ends. In one embodiment, the carrier housing 1014 is one integrated piece having a base plate, a proximal extension, and a distal extension, all made of the same material. In one embodiment, the carrier housing 1014 includes a base plate, a proximal extension, and a distal extension as three separate pieces made of the same material, which are integrally connected. In one embodiment, the carrier housing 1014 includes a base plate, a proximal extension, and a distal extension as three separate pieces made of different materials, which are integrally connected. The proximal and distal extensions of the carrier housing 1014 include holes for supporting a collet and a rotary drive system 1024 (described below). In one embodiment, a rotary bearing is mounted within the holes of the proximal and distal extensions of the carrier housing 1014.

[0160] The first motor 1026 and the second motor 1028 are attached to the fixed base 1012. In one embodiment, the first motor 1026 and the second motor 1028 are fixed relative to the base 1012 during the movement of the collet 1056 and the EMD 1002. As described herein, independently of the base 1012, the first motor 1026, and the second motor 1028, the carrier 1008 moves with the collet 1056. In other words, when the collet 1056 moves along its longitudinal axis, during at least one operating mode, the first motor 1026 and the second motor 1028 do not move with the collet 1056. The first motor 1026 drives the first coupler 1030. The second motor 1028 drives the second coupler 1032. The first motor 1026 and the first coupler 1030 are located below or inside the base 1012. The second motor 1028 and the second coupler 1032 are located proximally below the fixed base 1012. In one embodiment, the first coupler 1030 and the second coupler 1032 pass through holes in the fixed base 1012. In one embodiment, the first coupler 1030 and the second coupler 1032 pass through rotary bearings and seals attached to the fixed base 1012.

[0161] In one embodiment, the movement drive motor 1022, the first motor 1026, and the second motor 1028 are stepper motors. However, the use of other types of motors known in the art is also contemplated. In one embodiment, the movement drive motor 1022, the first motor 1026, and the second motor 1028 are servo motors. In one embodiment, the movement drive motor 1022, the first motor 1026, and the second motor 1028 are rotary actuators powered by electricity, pneumatic, hydraulic, or other means.

[0162] Referring to FIGS. 13B.1 and 13B.2, the collet and rotational drive system 1024 (described below) moves relative to the fixed base 1012. Referring to FIG. 13B.1, the movement drive motor 1022 rotates the pinion 1020 in one direction (clockwise) to move the rack 1018, and thus moves the collet and rotational drive system 1024 in the proximal direction. Referring to FIG. 13B, the movement drive motor 1022 rotates the pinion 1020 in the opposite direction (counterclockwise) to move the rack 1018, and thus moves the collet and rotational drive system 1024 in the distal direction. In one embodiment, the collet and rotational drive system 1024 moves relative to the fixed base 1012 by the rack and pinion mechanism described herein. In one embodiment, the collet and rotational drive system 1024 moves relative to the fixed base 1012 by a different mechanism, and for example, a reciprocating movement mechanism such as a slider-crank or a Scotch-yoke mechanism may be utilized. An advantage of the reciprocating movement mechanism is that the movement drive motor 1022 does not need to change direction.

[0163] The movement of the collet and rotational drive system 1024 is achieved without the need to move the first motor 1026 (and the first coupler 1030 and the first drive (driver) bevel gear 1034) and the second motor 1028 (and the second coupler 1032 and the second drive bevel gear 1042), both of which are attached to the fixed base 1012. Thus, the problems of inertia of movement acceleration and movement deceleration of the first motor 1026 and the second motor 1028 are avoided.

[0164] Referring to FIG. 13C, the first coupler 1030 is integrally connected to the first drive bevel gear 1034, which meshes with the first driven bevel gear 1036. The first driven bevel gear 1036 is integrally connected to the first shaft 1037, which is integrally connected to the first spur gear 1038, all of which form the first compound (or cluster) gear assembly 1040. The second coupler 1032 is integrally connected to the second drive bevel gear 1042, which meshes with the second driven bevel gear 1044. The second driven bevel gear 1044 is integrally connected to the second shaft 1045, which is integrally connected to the second spur gear 1046, all of which form the second compound (or cluster) gear assembly 1048. The first spur gear 1038 meshes with the first collet spur gear 1050, which is movable relative to the first spur gear 1038. The second spur gear 1046 meshes with the second collet spur gear 1052, which is movable relative to the second spur gear 1046. A short first shaft (axis) 1051 is provided at the distal end of the first collet spur gear 1050, which is coaxially aligned and integrally connected with the first collet spur gear 1050. A short second shaft 1053 is provided at the proximal end of the second collet spur gear 1052, which is coaxially aligned and integrally connected to the second collet spur gear 1052. In one embodiment, the first shaft 1051 is supported by a hole in the distal extension of the carrier housing 1014. In one embodiment, the first shaft 1051 is supported by a rotary bearing attached to a hole in the distal extension of the carrier housing 1014. In one embodiment, the second shaft 1053 is supported by a hole in the proximal extension of the carrier housing 1014. In one embodiment, the second shaft 1053 is supported by a rotary bearing installed in a hole in the proximal extension of the carrier housing 1014.

[0165] The first collet spur gear 1050 and the second collet spur gear 1052 are wide gears, that is, long gears wider than the widths of the first spur gear 1038 and the second spur gear 1046. In one embodiment, the widths of the first collet spur gear 1050 and the second collet spur gear 1052 are each 10 times the widths of the first spur gear 1038 and the second spur gear 1046. In one embodiment, the widths of the first collet spur gear 1050 and the second collet spur gear 1052 are each less than 10 times the widths of the first spur gear 1038 and the second spur gear 1046. In one embodiment, the widths of the first collet spur gear 1050 and the second collet spur gear 1052 are each greater than 10 times the widths of the first spur gear 1038 and the second spur gear 1046.

[0166] The first compound gear assembly 1040 and the second compound gear assembly 1048 are supported with respect to the base 1012 such that they are coaxially aligned and can rotate about the longitudinal axis. In one embodiment, the first shaft 1037 that connects the first driven bevel gear 1036 and the first spur gear 1038 passes through a hole in the extension from the base 1012 and is thereby supported. In one embodiment, the first shaft 1037 that connects the first driven bevel gear 1036 and the first spur gear 1038 passes through a rotary bearing within the extension from the base 1012 and is thereby supported. In one embodiment, the second shaft 1045 that connects the second driven bevel gear 1044 and the second spur gear 1046 passes through a hole in the extension from the base 1012 and is thereby supported. In one embodiment, the second shaft 1045 that connects the second driven bevel gear 1044 and the second spur gear 1046 passes through a rotary bearing within the extension from the base 1012 and is thereby supported.

[0167] Referring to FIGS. 13A and 13C, the collet and rotation drive unit 1024 includes a first collet spur gear 1050 having a first shaft 1051, a collet mechanism 1054 (described later), and a second collet spur gear 1052 having a second shaft 1053, all of which are coaxially aligned along the vertical axis. In one embodiment, the collet and rotation drive unit 1024 can be manually removed from the carrier housing 1014 and can be reinstalled within the carrier housing 1014 by snap-fit features provided on the proximal and distal sides of the carrier housing 1014.

[0168] In one embodiment, the first collet spur gear 1050 is integrally connected to a first wheel (not shown) having a diameter larger than that of the spur gear 1050, and the second collet spur gear 1052 is integrally connected to a second wheel (not shown) having a diameter larger than that of the spur gear 1052. The first wheel and the second wheel are accessible for manual operation by an operator. For example, in the event of a power loss, the operator may manually rotate the first wheel and the second wheel to remove the EMD 1002. In one embodiment, the first wheel and the second wheel are circular disks provided with notches on their outer peripheries. In one embodiment, the first wheel and the second wheel are circular disks having grooves on their outer peripheries. In one embodiment, the first wheel and the second wheel are circular disks having teeth on their outer peripheries. In one embodiment, the first wheel and the second wheel are circular disks having features on their outer peripheries to assist in manual operation. In one embodiment, the first wheel and the second wheel are circular disks having no features on their outer peripheries, for example, smooth walls. In one embodiment, the first collet spur gear 1050 and the first wheel are a single integrated part made of the same material, and the second collet spur gear 1052 and the second wheel are a single integrated part made of the same material. In one embodiment, the first collet spur gear 1050 and the first wheel are separate parts that are integrally combined, and the second collet spur gear 1052 and the second wheel are separate parts that are integrally combined.

[0169] In one embodiment, the carrier arm 1016 can be manually removed from the proximal side of the carrier housing 1014 and reconnected to the proximal side of the carrier housing 1014 by snap-fit features built into the proximal side of the carrier housing 1014. In one embodiment, the carrier arm 1016 can be manually removed from the rack 1018 and reconnected to the rack 1018 by snap-fit features built into the distal side of the rack 1018.

[0170] In one embodiment, the collet and the rotary drive unit 1024 are consumables. In one embodiment, the collet and the rotary drive unit 1024, and the carrier 1008 are consumables. In one embodiment, the collet and the rotary drive unit 1024, and the carrier housing 1014 are consumables. In one embodiment, the collet and the rotary drive unit 1024, and the carrier housing 1014, and the carrier arm 1016 are consumables.

[0171] Referring to FIGS. 13D.1 and 13D.2, the first collet spur gear 1050 and the second collet spur gear 1052 are connected by components inside the collet mechanism 1054. The collet mechanism 1054 includes a collet inner member 1056 and a collet outer member 1058. The collet inner member 1056 and the outer member 1058 may be any collet device known in the art and are not limited to the collet embodiments described herein.

[0172] The collet inner member 1056 is composed of a first portion 1060 and a second portion 1062. The first portion 1060 of the collet inner member 1056 has a cylindrical collar or sleeve shape, the center of its longitudinal axis is on the same straight line as the axis of the EMD 1002, and its outer peripheral surface is integrally connected to the inner wall 1064 of the first collet spur gear 1050. The second portion 1062 of the collet inner member 1056 has a tapered shape with respect to the central longitudinal axis and has an internal cavity (lumen). In one embodiment, the second portion 1062 of the collet inner member 1056 includes two separate, tapered jaws. In one embodiment, the second portion 1062 of the collet inner member 1056 includes more than two separate, tapered jaws. In one embodiment, the first portion 1060 and the second portion 1062 of the collet inner member 1056, and the first collet spur gear 1050 are integrated components. In one embodiment, the first portion 1060 and the second portion 1062 of the collet inner member 1056, and the first collet spur gear 1050 are separate pieces that are integrally connected.

[0173] The collet outer member 1058 is composed of a first portion 1066 and a second portion 1068. The first portion 1066 of the collet outer member 1058 has a cylindrical collar or sleeve shape, the center of its longitudinal axis is on the same straight line as the axis of the EMD 1002, and its outer peripheral surface is integrally connected to the inner wall 1070 of the second collet spur gear 1052. The second portion 1068 of the collet outer member 1058 has a cylindrical collar or sleeve shape with an external screw thread 1074 on its outer periphery, and the center of its longitudinal axis is on the same line as the axis of the EMD 1002. In one embodiment, the first portion 1066 and the second portion 1068 of the collet outer member 1058, and the second collet spur gear 1052 are integrated parts. In one embodiment, the first portion 1066 and the second portion 1068 of the collet outer member 1058, and the second collet spur gear 1052 are separate parts and are integrally connected.

[0174] The outer screw thread 1074 of the second portion 1068 of the collet outer member 1058 meshes with the inner screw thread 1072 of the second portion 1062 of the collet inner member 1056. Since the inner screw thread 1072 meshes with the outer screw thread 1074, the rotation of the collet inner member 1056 relative to the collet outer member 1058 around the longitudinal axis corresponds to the movement of the collet inner member 1056 relative to the collet outer member 1058 along the longitudinal axis. Since the first collet spur gear 1050 is integrally connected to the collet inner member 1056 and the second collet spur gear 1052 is integrally connected to the collet outer member 1058, the rotation of the first collet spur gear 1050 relative to the second collet spur gear 1052 around the longitudinal axis corresponds to the movement of the first collet spur gear 1050 relative to the second collet spur gear 1052 along the longitudinal axis. The rotation of the first collet spur gear 1050 is achieved by its meshing with the first spur gear 1038. The rotation of the second collet spur gear 1052 is achieved by its meshing with the second spur gear 1046.

[0175] To ensure continuous meshing between the first collet spur gear 1050 and the first spur gear 1038, the first collet spur gear 1050 is wider than the first spur gear 1038. This is necessary to accommodate (cover) the movement of the first collet spur gear 1050 when rotated by the first spur gear 1038 and to accommodate the movement of the first collet spur gear 1050 when moved by the carrier 1008. To ensure continuous meshing between the second collet spur gear 1052 and the second spur gear 1046, the second collet spur gear 1052 is wider than the second spur gear 1046. This is necessary to accommodate the movement of the second collet spur gear 1052 when rotated by the second spur gear 1046 and to accommodate the movement of the second collet spur gear 1052 when moved by the carrier 1008. In one embodiment, the first collet spur gear 1050 and the second collet spur gear 1052 remain engaged with the first motor 1026 and the second motor 1028 during the movement of the collet 1054. In other words, the first collet spur gear 1050 includes teeth with a sufficient face width such that when the gear 1050 is moved with the collet 1054 relative to the motor 1026, the teeth of the gear 1050 can engage with the gear 1038. Similarly, the second collet spur gear 1052 includes teeth with a sufficient face width such that when the gear 1052 is moved with the collet 1054 relative to the motor 1028, the teeth of the gear 1052 can engage with the gear 1046.

[0176] Referring to FIG. 13D.1, in the pinch release configuration of the collet and the rotary drive system 1024, the jaws of the second portion 1062 of the inner collet member 1056 are open and do not lock down (pinch) the EMD 1002. In a fully pinch released configuration, the outer collet member 1058 is in the position closest to the inner collet member 1056. In one embodiment, the outer collet member 1058 is limited to its most proximal position by a hard stop at the proximal end of its movement. In one embodiment, the outer collet member 1058 is limited to its most proximal position by features such as flanges or lips and stops further longitudinal movement. Referring to FIG. 13D.2, in the pinch configuration of the collet and the rotary drive system 1024, the jaws of the second portion 1062 of the inner collet member 1056 are closed against each other and lock down (pinch) the EMD 1002. In a fully pinched configuration, the outer collet member 1058 is in the position farthest from the inner collet member 1056. In one embodiment, the outer collet member 1058 is limited to its most distal position by a hard stop due to thread breakage, i.e., constrained by the geometry and cannot be screwed in further. In one embodiment, the outer collet member 1058 is limited to its most distal position by features such as flanges or lips to stop further longitudinal movement.

[0177] The operating principle of the collet and the rotary drive system 1024 is similar to the operating principle of the collet of the double gear collet drive assembly 944 illustrated with reference to FIGS. 12C and 12D. When the first collet spur gear 1050 and the second collet spur gear 1052 are rotated, they are screwed towards each other, and the inner surface of the second portion 1068 of the outer collet member 1058 is pressed against the second portion 1062 of the inner collet member 1056 to pinch the EMD 1002. When the first collet spur gear 1050 and the second collet spur gear 1052 are rotated and unscrewed from each other, the inner surface of the second portion 1068 of the outer collet member 1058 is released, the pressing against the second portion 1062 of the inner collet member 1056 is stopped, and the pinch on the EMD 1002 is released.

[0178] In operation, the double gear collet and the rotary drive system 1024 use two rotational degrees of freedom from the motors 1026 and 1028 to achieve four operations. That is, pinching the EMD 1002, releasing the pinch of the EMD 1002, rotating the double gear collet and the rotary drive system 1024 clockwise, and rotating the double gear collet and the rotary drive system 1024 counterclockwise are achieved. These four operations are caused by the movement of the inner collet member 1056 relative to the outer collet member 1058 based on the rotational direction of the first coupler 1030 and the rotational direction of the second coupler 1032.

[0179] In the first operating mode, as a result, the double gear collet and the rotary drive system 1024 will rotate clockwise, at which time the first coupler 1030 rotates in the clockwise direction and the second coupler 1032 rotates in the counterclockwise direction. In the second operating mode, as a result, the double gear collet and the rotary drive system 1024 will rotate counterclockwise, at which time the first coupler 1030 rotates counterclockwise and the second coupler 1032 rotates clockwise. In the third operating mode, as a result, the EMD 1002 is released from being pinched, at which time the first coupler 1030 rotates clockwise and the second coupler 1032 rotates clockwise. In the fourth operating mode, as a result, the EMD 1002 is pinched, at which time the first coupler 1030 rotates counterclockwise and the second coupler 1032 rotates counterclockwise. In the third and fourth operating modes, until reaching the hard stop, the inner collet member 1056 performs releasing the pinch and pinching (pinching the knob), respectively.

[0180] In one embodiment, the pinching and releasing of the collet mechanism 1054 are synchronized with the rotational position of the shaft of the movement drive motor 1022.

[0181] In one embodiment, as a component of the double gear slide type collet drive system 1000, a vertical slit (not shown) is included to enable radial or side loading of the EMD 1002 into the collet cavity (lumen) 1076.

[0182] A robot system 1000 according to one embodiment includes a pinch / pinch release mode, a rotation mode, and a movement (translation) mode. The pinch / pinch release mode, the rotation mode, and the movement mode may be performed individually or simultaneously. In one embodiment, the rotation mode and the movement mode occur simultaneously.

[0183] Referring to FIG. 14A, an embodiment of a double gear slide type collet drive system with a reset mechanism is shown. A disposable cassette 1080 is removably attached to a fixed base 1012 and includes a collet and a rotary drive system 1024 (described above) disposed distally, and a reset mechanism 1082 disposed proximally. The reset mechanism 1082 (described later) is configured to advance, retract, and hold the EMD 1002. The cassette 1080 includes an upper cassette cover 1084 and a bottom cassette housing 1086. In one embodiment, the cassette cover 1084 is connected to the cassette housing 1086 by a hinge on the back to allow the cover to rotate and open and close from the front. In one embodiment, the cassette cover 1084 is connected to the cassette housing 1086 by a hinge on the front to allow the cover to rotate and open and close from the back. In one embodiment, the cassette cover 1084 is connected to the cassette housing 1086 by a hinge from the side to allow the cover to open and close. In one embodiment, the cassette cover 1084 is connected to the cassette housing 1086 by a fastener that can open and close the cover by rotation, movement, or a combination of rotation and movement with respect to the housing 1086. In one embodiment, the cassette cover 1084 is connected to the cassette housing 1086 by a press-fit feature that can open and close the cover by rotation, movement, or a combination of rotation and movement with respect to the housing 1086. In one embodiment, the cassette cover 1084 is connected to the cassette housing 1086 by a press-fit feature that allows the cover to be removed from and reinstalled on the housing 1086.

[0184] The proximal and distal sides of the cassette cover 1084 include cover notches 1088 to allow free passage of the EMD 1002. The proximal and distal sides of the cassette housing 1086 include housing notches 1090 that align with the positions of the cover notches 1088. In one embodiment, the cover notches 1088 and the housing notches 1090 are triangular cutouts (cutouts) to allow free passage of the EMD 1002. In one embodiment, the cover notches 1088 and the housing notches 1090 are cutouts of any shape to allow free passage of the EMD 1002. The lower side of the cassette cover 1084 includes cover ribs 1092. When the cassette cover 1084 is closed, the cover ribs 1092 seat the EMD 1002 within the alignment notch 1090 of the cassette housing 1086, maintain the vertical position of the EMD 1002 within its alignment groove or channel, and maintain the lateral position of the EMD 1002.

[0185] As described above, the collet and rotary drive system 1024 is actuated by a first motor 1026 that drives a first coupler 1030 and a second motor 1028 that drives a second coupler 1032. The reset mechanism 1082 is actuated by a reset mechanism motor 1094 that drives a coupler 1096 of the reset mechanism. In one embodiment, the reset mechanism motor 1094 is a stepper motor. In one embodiment, the reset mechanism motor 1094 is a servo motor. In one embodiment, the reset mechanism motor 1094 is a rotary actuator powered by electrical, pneumatic, hydraulic, or other means.

[0186] Referring to FIG. 14B, the underside of the fixed base 1012 is shown. The reset mechanism 1082 is built into a reset mechanism frame 1098 that is integrally connected to the fixed base 1012. The coupler 1096 of the reset mechanism is integrally connected to a reset mechanism crank 1100, which is rotatable with respect to the frame 1098 and the base 1012. In one embodiment, the coupler 1096 of the reset mechanism passes through a hole in the reset mechanism frame 1098. In one embodiment, the coupler 1096 of the reset mechanism passes through a rotary bearing mounted within the reset mechanism frame 1098. The reset mechanism crank 1100 is connected to a connecting link 1104 by a first joint 1102. The connecting link 1104 is connected to a cross-slider 1108 by a second joint 1106. The cross-slider 1108 is constrained to longitudinal movement (i.e., movement only along the axis of the EMD 1002) by a cross-slider first linear bearing 1110 and a cross-slider second linear bearing 1112, both of which are integrally connected to the cross-slider 1108. The first linear bearing 1110 is a prism-shaped joint movable with respect to a first guide 1114, and the second linear bearing 1112 is a prism-shaped joint movable with respect to a second guide 1116. The tips of the first guide 1114 and the second guide 1116 are integrally connected to the fixed base 1012, fixing the guides 1114 and 1116 and the like.

[0187] The proximal first linear bearing 1118 and the distal first linear bearing 1120 are integrally attached to the front corner of the reset mechanism frame 1098. The proximal second linear bearing 1122 and the distal second linear bearing 1124 are integrally attached to the rear corner of the reset mechanism frame 1098. The first guide 1114 is movable relative to the proximal first linear bearing 1118 and the distal first linear bearing 1120. The second guide 1116 is movable relative to the proximal second linear bearing 1122 and the distal second linear bearing 1124. Since the four bearings 1118, 1120, 1122, and 1124 are integrally attached to the reset mechanism frame 1098, the reset mechanism 1082 is longitudinally movable relative to the fixed base 1012.

[0188] In one embodiment, the first coupler 1030 has a first coupler slotted end 1126, which seats within a slotted receiver of a shaft integrally connected to the first drive bevel gear 1034. The second coupler 1032 has a second coupler slotted end 1128, which seats within a slotted receiver of a shaft integrally connected to the second drive bevel gear 1042 (see FIG. 13C).

[0189] Referring to FIGS. 14C.1, 14C.2, 14C.3, and 14C.4, the operation of the linear positioning mechanism 1082 is shown in a series of steps. This mechanism 1082 includes a rotatable reset clamp cam 1130 and a fixed clamp support 1132. The reset cam 1130 rotates about a vertical axis by a reset cam coupler 1134. In one embodiment, the reset cam coupler 1134 by which the reset cam 1130 rotates is driven by a motor (not shown). In one embodiment, the reset cam coupler 1134 by which the reset cam 1130 rotates is driven by a mechanism actuated by a reset mechanism motor 1094. In one embodiment, the reset cam coupler 1134 has a slotted end that seats within a receiver in the cam 1130. The reset cam 1130 has a curved outer surface 1136. In one embodiment, the curved outer surface 1136 of the reset cam 1130 has a convex shape. In one embodiment, the curved outer surface 1136 of the reset cam 1130 has an arcuate shape. The holding cam 1132 has a curved outer surface 1138. In one embodiment, the curved outer surface 1138 of the holding cam 1132 has a convex shape. In one embodiment, the curved outer surface 1138 of the holding cam 1132 has an arcuate shape.

[0190] In operation, the reset cam 1130 can be in a closed position or an open position. The reset cam 1130 in the closed position is in an opposing position relative to the holding cam 1132. In one embodiment in the closed position, there is no gap between the reset cam outer surface 1136 and the holding cam outer surface 1138, and the two surfaces 1136 and 1138 are in contact. In one embodiment in the closed position, there is a gap having a gap distance smaller than the diameter of the EMD 1002 between the reset cam outer surface 1136 and the holding cam outer surface 1138. In the closed position, the EMD 1002 is sandwiched between the reset cam outer surface 1136 and the holding cam outer surface 1138, and as a result, the longitudinal movement of the EMD 1002 is prevented. In one embodiment, the reset cam outer surface 1136 and the holding cam outer surface 1138 include an elastomeric material or other deformable or flexible material, and deform with respect to the EMD in the closed position. The open position reset cam 1130 rotates away from the holding cam 1132 so that there is a gap between the reset cam outer surface 1136 and the holding cam outer surface 1138. In the open position reset cam 1130, it does not contact the EMD 1002, allowing the EMD 1002 to move longitudinally at the position of the holding cam 1132. In one embodiment, the reset cam 1130 rotates 60 degrees away from the holding cam 1132 to the open position. In one embodiment, the reset cam 1130 rotates less than 60 degrees away from the holding cam 1132 to the open position. In one embodiment, the reset cam 1130 rotates more than 60 degrees away from the holding cam 1132 to the open position.

[0191] Referring to FIG. 14C.1, the collet and rotary drive system 1024 pinches on the EMD 1002, the reset cam 1130 is in the open position, and the cross slider 1108 is in a proximal position relative to the reset mechanism frame 1098. As a result of this step, the EMD 1002 is grasped by the collet and rotary drive system 1024.

[0192] Referring to FIG. 14C.2, the collet and rotary drive system 1024 pinches the EMD 1002, the reset cam 1130 is in the open position, and the cross slider 1108 has moved distally from its proximal position relative to the reset mechanism frame 1098. In one embodiment, the cross slider 1108 is moving in the distal direction by the clockwise rotation of the reset mechanism crank 1100 by the reset mechanism motor 1094. As a result of this step, the collet and rotary drive system 1024 advances distally, i.e., the EMD 1002 advances distally.

[0193] Referring to FIG. 14C.3, the collet and rotary drive system 1024 releases the pinch on the EMD 1002, the reset cam 1130 is in the closed position, and the cross slider 1108 is at its most distal position relative to the reset mechanism frame 1098. As a result of this step, the EMD 1002 is not being grasped by the collet and rotary drive system 1024.

[0194] Referring to FIG. 14C.4, the collet and rotary drive system 1024 releases the pinch on the EMD 1002, the reset cam 1130 is in the closed position, and the cross slider 1108 is moving proximally relative to the reset mechanism frame 1098. In one embodiment, the cross slider 1108 translates proximally by the counterclockwise rotation of the reset mechanism crank 1100 by the reset mechanism motor 1094. As a result of this step, the collet and rotary drive system 1024 advances in the proximal direction, the system is reset, and can then resume (return to FIG. 14C.1).

[0195] Referring to FIG. 17A, a single plunger - collet system 1280 that is releasably engagable with the EMD includes a spring 1282 and a plunger 1284, which are movably disposed along a plunger axis 1286 within a receiving cavity 1288 of a housing 1290. In the embodiment of FIG. 17A, the housing 1290 has a rectangular prism shape with a first side surface 1292, a second side surface 1294, and a convex upper surface 1296. The first side surface 1292 is parallel to a plane defined by the plunger axis 1286 and the EMD axis 1298. The second side surface 1294 is parallel to a plane defined by the plunger axis 1286 and a vertical axis 1302, and the vertical axis 1302 is perpendicular to the plunger axis 1286 and the EMD axis 1298. In one embodiment, the housing 1290 has a rectangular prism shape where the upper surface 1296 and the opposing bottom surface are rectangular planes. In one embodiment, for example, in the embodiment of FIG. 18A, the housing 1290 is a cylindrical disk - shaped having a plunger axis 1286 aligned with the diameter axis of the disk, and the embodiment of FIG. 17A is a portion removed from such a cylindrical disk. Referring to FIGS. 18B and 18D, an outer housing 1291 is positioned around the housing 1290. The outer housing 1291 includes a plurality of cam surfaces on its inner wall, and when the outer housing 1291 rotates about its longitudinal axis relative to the housing 1290, it operably engages with each plunger 1284. In one embodiment, the longitudinal axis of the housing 1290 is in the same straight line as the longitudinal axis of the outer housing 1291. In one embodiment, at least a portion of the outer housing 1291 and / or a portion of the housing 1290 is arcuate and / or circular.

[0196] The first side surface 1292 of the housing 1290 has a slit 1300, which extends from the surface 1292 on a plane defined by the EMD axis 1298 and the vertical axis 1302 and is oriented to terminate at the EMD axis 1298. The EMD axis 1298 passes through the housing 1290 from the second side surface 1294 to the opposite surface. In one embodiment, the walls of the slit 1300 are non-parallel, for example, a V-shaped wall having a vertex facing the EMD axis 1298. In one embodiment, the slit 1300 has a chamfered lead-in on the first side surface 1292. In one embodiment, the slit 1300 does not have a chamfered lead-in on the first side 1292.

[0197] The second side 1294 of the housing 1290 includes a plunger pin hole 1304 for a plunger pin 1306 (not shown in FIG. 17A) and a guide hole 1308 for an alignment pin (not shown). The plunger pin hole 1304 is aligned with a plunger pin axis 1307 parallel to the EMD axis 1298 on a plane defined by the plunger axis 1286 and the EMD axis 1298. The EMD axis 1298 extends through the housing 1290 from the second side surface 1294 and terminates at the opposite outer surface. The guide hole 1308 is aligned with an axis parallel to the EMD axis 1298 on a plane defined by the plunger axis 1286 and the EMD axis 1298. The EMD axis 1298 extends through the wall portion of the housing from the second side surface 1294 and terminates at the inner wall surface of the opposite wall of the cavity 1288 within the housing 1290. In one embodiment, the guide hole 1308 is a hole (well) or a cap hole in the second lateral surface 1294 and does not terminate at the inner wall surface of the opposite wall of the cavity 1288 within the housing 1290. In the embodiment of the single plunger collet system 1280 of FIG. 17A, the guide hole 1308 is not required. The guide hole 1308 is used for aligning a plurality of plunger assemblies.

[0198] Referring to FIG. 17B, the plunger - collet system 1280 is shown in the pinch - release configuration, wherein the EMD 1314 is not operably fixed to the collet 1280. The applied force 1310 acts on the upper surface 1312 of the plunger 1284 to push the plunger 1284 down within the cavity 1288 of the housing 1290, compressing the spring 1282 located below the plunger 1284, with its major axis oriented along the plunger axis 1286. In one embodiment, when the plunger 1284 is fully pushed down within the cavity 1288, the bottom outer surface 1326 of the plunger 1284 abuts against the lip 1328 within the cavity 1288 of the housing 1290, thereby restricting further movement of the plunger 1284. Due to the contact between the surface 1326 and the lip 1328, the plunger 1284 reaches its most pushed - down form, with the spring 1282 in its maximum compressed state. In this case, the plunger notch 1316 within the plunger 1284 is farthest from the housing notch 1318 within the housing 1290, and the EMD 1314 can be moved into the opening slit 1300 in the direction of the plunger axis 1286. In one embodiment, the plunger notch 1316 is a V - shaped channel or groove with its apex facing downward. In one embodiment, the plunger notch 1316 is a well with its recess facing downward. In one embodiment, the plunger notch 1316 is a generally downward - facing depression and can have any geometric shape. In one embodiment, the housing notch 1318 is a V - shaped channel or groove with its apex facing upward. In one embodiment, the housing notch 1318 is a well with its recess facing upward. In one embodiment, the housing notch 1318 is a generally upward - facing depression and can have any geometric shape.

[0199] With the plunger shaft 1286, when the EMD 1314 is fully inserted into the well of the slit 1300, the applied force 1310 is removed. Referring to FIG. 17C, the plunger - collet system 1280 is shown in a pinch configuration, where the EMD 1314 is captured between the plunger notch 1316 and the housing notch 1318 in the well of the slit 1300 by the plunger shaft 1286 such that it cannot move freely relative to the collet, which is due to the restoring force 1320 of the spring 1282 that pushes up on the plunger 1284. In the pinch configuration, there is a gap between the outer bottom surface 1326 of the plunger 1284 and the lip 1328 within the cavity 1288 of the housing 1290. Further, in the pinch configuration, a portion 1322 of the plunger 1284 protrudes outside the upper surface 1296 of the housing 1290 and is exposed.

[0200] Referring to FIGS. 17B and 17C, the plunger - collet system 1280 is a normally - closed collet, which means that the force 1310 is not applied and the collet is in the pinch configuration.

[0201] The bottom of the compression spring 1282 contacts the inner bottom surface 1330 of the cavity 1288 of the housing 1290. The upper part of the compression spring 1282 contacts the inner bottom surface 1332 of the plunger 1284. In one embodiment, at the inner bottom surface 1332 of the plunger 1284, there is a pocket or cup to receive the upper part of the spring 1282 and the lip 1328 restrains the upper part of the spring 1282. The outer diameter of the spring 1282 is smaller than the inner diameter of the cavity 1288 at the bottom of the housing 1290, thereby allowing free compression. In one embodiment, the outer diameter of the spring 1282 is smaller than the inner diameter of the cavity 1288 at the bottom of the housing 1290 and larger than the diameter corresponding to buckling or bending of the spring, preventing buckling or bending of the spring. In one embodiment, a compression spring 1282 is utilized. In one embodiment, a plurality of springs can be used, for example, two nested springs etc. may be utilized.

[0202] The plunger 1284 includes a plunger slot 1324 oriented along a plunger shaft 1286, which enables the plunger 1284 to move along the plunger shaft 1286 with respect to the housing 1290 and is constrained by the wall of the cavity 1288 within the housing 1290 and the plunger pin 1306. To release the pinch on the collet 1280, a force 1310 is applied to the upper surface 1312 of the plunger, and the plunger 1284 is pushed downward. During operation, the plunger 1284 is a cam follower, and its upper surface 1312 is a follower surface that contacts a cam (not shown), and the latter is pushed down over the cam follower by the applied force 1310. An outer member (not shown) having an internal cam contacts the upper surface 1312 of the plunger 1284. Rotation of the outer member with respect to the housing 1290 causes the internal cam of the outer member to push down over the upper surface 1312, thereby pushing down the plunger 1284 to release the pinch on the EMD 1314 within the collet 1280.

[0203] Referring to FIG. 18A, a single plunger - collet system 1280 operates on the same principle as a housing 1290, which is a circular disk having a central hole 1334 for the EMD 1314 (not shown). The embodiment of FIG. 18A includes six guide holes 1308, which are arranged symmetrically with respect to the EMD axis 1298 at the same radial distance from the EMD axis 1298.

[0204] Referring to FIG. 18B, the multiple plunger - collet system 1336 is shown with six single plunger assemblies 1280 assembled, each of which is in the embodiment of FIG. 18A and is cascaded in series such that, with respect to the EMD axis 1298, they are each rotated successively (step - by - step) relative to one another. In one embodiment, each of the six single plunger assemblies 1280 in series is rotated successively by 60 degrees relative to one another (i.e., rotated in order in the same direction) so that the guide holes 1308 are aligned. In this embodiment, each single plunger assembly is rotated 60 degrees from the assembly before being in series. That is, if the first assembly is considered as a reference at 0 degrees, the second assembly is rotated 60 degrees clockwise relative to the first assembly, the third assembly is rotated 120 degrees clockwise relative to the first assembly, the fourth assembly is rotated 180 degrees clockwise relative to the first assembly, the fifth assembly is rotated 240 degrees clockwise relative to the first assembly, and the sixth assembly is rotated 300 degrees clockwise relative to the first assembly. Thus, the plungers of the first and fourth assemblies are in opposite directions (180 degrees apart), the plungers of the second and fifth assemblies are in opposite directions (180 degrees apart), and the plungers of the third and sixth assemblies are in opposite directions (180 degrees apart).

[0205] Referring to FIG. 18C, the multiple plunger - collet system 1336 is shown in the assembled configuration shown in FIG. 8B, with the first single plunger assembly 1280 separated. Similarly, the system 1336 includes six single plunger assemblies (1280), each of which is in the embodiment shown in FIG. 18A and is cascaded in series, and each of which was previously rotated successively by 60 degrees with respect to the EMD axis 1298 relative to the assembly.

[0206] Referring to FIG. 18D, it is an end view of the assembled plurality of plunger systems 1336 shown in FIG. 18B. At this time, the first single plunger assembly 1280 is shown by a solid line, and the second to sixth single plunger assemblies 1280 are shown by broken lines (phantom lines). Each single plunger assembly is sequentially rotated by 60 degrees about the EMD axis 1298 in front of the assembly so that the guide holes 1308 are aligned. The three visible single plunger assemblies correspond to the first and fourth assemblies, the second and fifth assemblies, and the third and sixth assemblies, and each pair is arranged in opposite directions (180 degrees apart). The central holes 1334 of these six single plunger assemblies 1280 are aligned for the axial loading of the EMD 1314. In one embodiment, six single plunger assemblies 1280 are used, and each is sequentially rotated by 60 degrees about the EMD axis 1298 with respect to the assembly in front of it. In one embodiment, four single plunger assemblies 1280 can be used, each of which is sequentially rotated by 90 degrees about the EMD axis 1298 with respect to the assembly in front of it. In one embodiment, three single plunger assemblies 1280 can be used, each of which is sequentially rotated by 120 degrees about the EMD axis 1298 with respect to the assembly in front of it. In one embodiment, two single plunger assemblies 1280 can be used. In this case, with respect to the first assembly, the second assembly is rotated 180 degrees about the EMD axis 1298. In one embodiment, for two single plunger assemblies 1280, with respect to the first assembly, the second assembly is rotated by less than 180 degrees about the EMD axis 1298 and they are used together. In one embodiment, for two single plunger assemblies 1280, with respect to the first assembly, the second assembly is rotated by 180 degrees or more about the EMD axis 1298 and they are used together. In one embodiment, more than two single plunger assemblies 1280 are used, and each is sequentially rotated by an arbitrary degree about the EMD axis 1298 with respect to the assembly in front of it and then used.In the example of this embodiment, assuming that the first assembly is at the reference at 0 degrees, when using four single plunger assemblies 1280, the second assembly is rotated 45 degrees clockwise with respect to the first assembly, the third assembly is rotated 135 degrees clockwise with respect to the first assembly, and the fourth assembly is rotated 180 degrees clockwise with respect to the first assembly. This embodiment enables the radial loading of the EMD within the collet. In one embodiment, the single plunger assemblies 1280 of the multi-plunger collet system are identical. In one embodiment, the single plunger assemblies 1280 of the multi-plunger collet system do not have to be identical.

[0207] Referring to FIG. 18E, the pinch release configuration of the multi-plunger collet system 1336 is shown, where six single plunger assemblies 1280 require the application of an external force 1310, which is applied to each plunger 1284 from an outer member cam (not shown). In the pinch release configuration, in any single plunger assembly 1280 within the multi-plunger system 1336, there is no contact of the EMD 1314 between the plunger and the housing.

[0208] Referring to FIG. 18F, a pinch configuration of a multiple plunger - collet system 1336 having six single plunger assemblies 1280 is illustrated. In this pinch configuration, in each single plunger assembly 1280 within the multiple plunger system 1336, there is an abutment of the EMD 1314 between the plunger and the housing, which is due to the reaction force 1320 from each compression spring 1282. Since each single plunger assembly 1280 is successively rotated with respect to the assembly before it, the contact on the EMD 1314 occurs on different surfaces, imparting more torque capacity to the collet system 1336. In the embodiment of FIG. 18F, contact occurs at a part of the bottom surface 1338 of the EMD 1314 within the first single plunger assembly 1280 (shown on the left side), and at a part of the upper surface 1340 of the EMD 1314 within the fourth single plunger assembly 1280 (from the left side). The occurrence of contact at different surface portions of the EMD 1314 in each single plunger assembly 1280 means that contact occurs at different portions longitudinally along the EMD.

[0209] Referring to FIGS. 18G, 18H, and 18I, a multiple plunger - collet system 1336 is illustrated in a pinch configuration, where six single plunger assemblies 1280 are shown in side and front views together with the EMD 1314. Referring to FIG. 18G, in the multiple plunger - collet system 1336, the six single plunger assemblies 1280 are all shown oriented in the same direction. The side view of the EMD 1314 is shown as a straight line, and the front view of the EMD 1314 is shown as a dotted pattern. Referring to FIG. 18H, the multiple plunger - collet system 1336 has six single plunger assemblies 1280, each of which is shown oriented 180 degrees away from the assembly before. The side of the EMD 1314 is shown as a substantially sinusoidal line on a plane, and the front of the EMD 1314 is shown as a single dotted pattern moving up and down along a vertical line. Referring to FIG. 18I, the multiple plunger - collet system 1336 has six single plunger assemblies 1280, each of which is shown oriented 60 degrees away from the assembly before. Before being shown, each is gradually (step - by - step) shown with its orientation changing by 60 degrees away from the assembly. The side of the EMD 1314 is shown as a substantially sinusoidal line on a plane, and the front of the EMD 1314 is shown as a single dotted pattern moving along the circumference of a circle.

[0210] When compared with the torque (transmission) capacity of the multiple plunger - collet system 1336 illustrated in FIG. 18G in the pinch configuration, in the case of the multiple plunger - collet system 1336 illustrated in FIG. 18H, the torque (transmission) capacity is increased. Due to the 180 - degree offset of the multiple single - plunger assemblies 1280 in the multiple plunger - collet system illustrated in FIG. 18H, the EMD1314 has a bent configuration. In a side view, it advances vertically, and in a front view, it has the most resistant torque at the upper and lower parts of the vertical line (the neutral device axis is at the center of the line). When compared with the torque (transmission) capacity of the multiple plunger - collet system 1336 illustrated in FIG. 18H in the pinch configuration, the torque (transmission) capacity of the multiple plunger - collet system 1336 illustrated in FIG. 18I during pinching is further improved. Due to the 60 - degree offset of the multiple single - plunger assemblies 1280 in the multiple plunger - collet system illustrated in FIG. 18H, the EMD1314 has a spiral - shaped path configuration, that is, a helical shape. At this time, the EMD is always away from the central axis 1298 of the EMD and provides the most resistant torque.

[0211] In the pinch configuration of the multiple plunger - collet system 1336, the deformation of the EMD1314 is based on a function of the diameter of the through - hole at the center of the plunger housing, the gap (clearance) between the plunger and the plunger housing, and the force applied from the spring mechanism.

[0212] In one embodiment, a series of pinch (for gripping) parts are present within the collet for robot drive, and at this time, those pinch parts are operated independently. Instead of operating all of those parts integrally, by an operating mechanism such as a cam, for example, those parts are not all operated integrally, but are operated continuously, for example. This feature acts to reduce the operating force.

[0213] In one embodiment, the plurality of plunger-collet systems 1336 is composed of a plurality of pinch parts, which are rotationally clocked relative to each other to increase the overall torque capacity for holding the collet. Note that rotationally clocking (clockwise during rotation) refers to arranging the pinch parts at various angles on a plane perpendicular to the longitudinal axis of the collet 1336.

[0214] Referring to FIG. 18B, the collet 1336 has an inner member and an outer member that define a path for receiving the EMD 1314. When the inner member is moved relative to the outer member, a plurality of engagement members 1284 releasably engage the EMD 1314. In one embodiment, a spring 1282 biases the engagement members 1284. In one embodiment, the spring 1282 biases the engagement members 1284 away from the path. In one embodiment, the spring 1282 biases the engagement members 1284 toward the path. In one embodiment, the engagement members 1284 are normally closed or located inside the path and need to be moved to an open position to insert the EMD. In one embodiment, the engagement members 1284 are normally open or located outside the path and need to be moved to a closed position to engage the EMD. In one embodiment, the engagement members 1284 engage the EMD sequentially. In one embodiment, referring to FIG. 18I, the engagement members 1284 are circumferentially offset around the EMD. In one embodiment, referring to FIG. 18G, the engagement members 1284 are axially offset. In one embodiment, referring to FIG. 18H, the first engagement member is disposed 180 degrees from the second engagement member. In one embodiment, the plurality of engagement members 1284 are independent and not directly connected to each other. In one embodiment, the movement of the inner member relative to the outer member is performed by rotation. In one embodiment, the movement of the inner member relative to the outer member is performed by translation. In one embodiment, the relative movement of the inner and outer members is performed in a robot-driven manner. In one embodiment, the relative movement of the inner and outer members is performed manually. In one embodiment, referring to FIGS. 18H and 18I, the engagement members 1284 are radially offset around the EMD that forms a curved path. In one embodiment, referring to FIG. 18H, the curved path is on a single plane. In one embodiment, referring to FIG. 18I, the curved path is not on a single plane.

[0215] Referring to FIGS. 19A, 19B, 19C and 19E, an opposed pad - collet system 1360 is illustrated, which releasably engages with the EMD 1388 and includes an inner housing 1362, an outer housing 1363, a plurality of springs 1364a, b, c, …, a plurality of levers 1366a, b, c, …, and a pivot pin 1368. In one embodiment, the inner housing 1362 of the collet system 1360 has a straight cylindrical shape and its longitudinal axis is oriented along the EMD axis 1370. The inner housing 1362 includes an internal cavity 1372, radial and longitudinal slits 1374, and a plurality of circumferential slits 1376a, b, c, …. In one embodiment, the outer housing 1363 has a straight cylindrical shape and its longitudinal axis is oriented along the EMD axis 1370. The outer housing 1363 includes radial and longitudinal slits 1367, an internal cavity 1369, and a plurality of cam surfaces 1365a, b, c, … on the inner surface (inner wall) of the outer housing 1363. In one embodiment, the outer housing 1363 is a cylindrical tube, and its wall thickness is greater than 10 percent of the inner diameter and it has a plurality of cam surfaces 1365a, b, c, … on its inner surface. In one embodiment, the outer housing 1363 is a cylindrical tube, and its wall thickness is less than 10 percent of the inner diameter and it has a plurality of cam surfaces 1365a, b, c, … on its inner surface. (Note that referring to FIGS. 19A - 19G, the geometric shape of the outer housing 1363 shown as a representative example in FIG. 19A is different from the cross - sections of the representative examples illustrated in FIGS. 19B - 19G.) Since the outer diameter of the inner housing 1362 is smaller than the diameter of the internal cavity 1369 of the outer housing 1363, in the assembled form, the inner housing 1362 is disposed inside the outer housing 1363.

[0216] In one embodiment, the longitudinal axis of the inner housing 1362 is collinear with the longitudinal axis of the outer housing 1363. In one embodiment, at least a portion of the outer housing 1363 and / or a portion of the inner housing 1362 is arcuate and / or circular. In one embodiment, all of the levers 1366a, b, c, … rotate about a single pivot pin 1368. In one embodiment, a plurality of pivot pins 1368a, b, c, … are used, with the relationship that lever 1366a rotates about pin 1368a, lever 1366b rotates about pin 1368b, and so on. In one embodiment, the plurality of cam surfaces 1365a, b, c, … are disposed at gradually increasing intervals along the longitudinal axis around the inner circumference of the outer housing 1363. In one embodiment, the plurality of cam surfaces 1365a, b, c, … are grooves or recesses at gradually increasing intervals along the longitudinal axis around the inner circumference of the outer housing 1363.

[0217] The circumferential slits 1376a, b, c, … of the inner housing 1362 are oriented parallel to a plane perpendicular to the EMD axis 1370. In the embodiment of FIG. 19A, nine circumferential slits 1376a, b, c, …, i are shown, and at that time, nine arms 1384a, b, c, … i of the levers 1366a, b, c, … i are correspondingly exposed. In other embodiments, a different number of circumferential slits and a corresponding number of exposed arms are used. For example, in one embodiment, one circumferential slit 1376a is used to expose the arm 1384a of the lever 1366a. In one embodiment, two circumferential slits 1376a, b are used to correspondingly expose the arms 1384a, b of the levers 1366a, b. In one embodiment, a number of circumferential slits 1376 greater than one are used. In one embodiment, the circumferential slits 1376a, b, c, … extend radially inward from the outer surface of the inner housing 1362 to the internal cavity 1372 of the inner housing 1362. In one embodiment, the circumferential slits 1376a, b, c, … extend radially inward from the outer surface of the inner housing 1362 to the interior of the inner housing 1362 that is not part of the cavity 1372. In one embodiment, the circumferential slits 1376a, b, c, … extend radially inward from the outer surface of the inner housing 1362 to the internal cavity 1372 of the inner housing 1362 and to the interior of the inner housing 1362 that is not part of the cavity 1372. In one embodiment, the walls of the slits 1376a, b, c, … are parallel. In one embodiment, the walls of the circumferential slits 1376a, b, c, … are non-parallel. In one embodiment, the circumferential slits 1376a, b, c, … have lead-in chamfers on the outer surface of the inner housing 1362. In one embodiment, the circumferential slits 1376a, b, c, … do not have lead-in chamfers on the outer surface of the inner housing 1362.

[0218] The radial and longitudinal slits 1367 of the outer housing 1363 extend from the outer surface of the outer housing 1363 and terminate at the inner surface of the inner cavity 1369 of the outer housing 1363. The gap between the two walls of the radial and longitudinal slits 1367 is larger than the diameter of the EMD 1388, thus enabling the EMD 1388 to enter therein. In one embodiment, the multiple walls of the radial and longitudinal slits 1367 are parallel. In one embodiment, the walls of the radial and longitudinal slits 1367 are non-parallel, for example, V-shaped walls having a vertex facing the EMD axis 1370. In one embodiment, the radial and longitudinal slits 1367 have a chamfer on the outer surface of the outer housing 1363. In one embodiment, the radial and longitudinal slits 1367 do not have a chamfer on the outer surface of the outer housing 1363.

[0219] The radial and longitudinal slits 1374 of the inner housing 1362 extend from the outer surface of the inner housing 1362 and terminate at its radial center (corresponding to the EMD axis 1370) and extend longitudinally through the inner housing 1362. The gap distance between the two walls of the radial and longitudinal slits 1374 is larger than the diameter of the EMD 1388, thus enabling the EMD 1388 to enter therein. In one embodiment, the multiple walls of the radial and longitudinal slits 1374 are parallel. In one embodiment, the multiple walls of the radial and longitudinal slits 1374 are non-parallel, for example, V-shaped walls having a vertex facing the EMD axis 1370. In one embodiment, the radial and longitudinal slits 1374 have a chamfer on the outer surface of the inner housing 1362. In one embodiment, the radial and longitudinal slits 1374 do not have a chamfer on the outer surface of the inner housing 1362.

[0220] Springs 1364a, b, c, … are compression springs, for example, coil springs disposed within the internal cavity 1372 of the inner housing 1362. One end of the springs 1364a, b, c, … is constrained by the inner wall 1378 of the cavity 1372 of the inner housing 1362. The other end of the springs 1364a, b, c, … is seated upward and extends to the protrusions 1380a, b, c, … of the levers 1366a, b, c, …. In one embodiment, the protrusions 1380a, b, c, … of the levers 1366a, b, c, … extend within one end of the coils of the springs 1364a, b, c, …. In one embodiment, the protrusions 1380a, b, c, … of the levers 1366a, b, c, … extend within the ends of more than one coil of the springs 1364a, b, c, …. In one embodiment, the protrusions 1380a, b, c, … of the levers 1366a, b, c, … are operably connected to one end of the coils of the springs 1364a, b, c, …. In one embodiment, the protrusions 1380a, b, c, … of the levers 1366a, b, c, … are operably connected to the ends of more than one coil of the springs 1364a, b, c, …. In one embodiment, one compression spring 1364 is used. In one embodiment, a plurality of compression springs are used. In one embodiment, the number of springs is equal to the number of levers. In one embodiment, a collar or sleeve is used to surround each spring 1364a, b, c, … to prevent buckling or bending of the spring.

[0221] In the assembled configuration, springs 1364a, b, c, … are in a compressed state. During operation, when the outer housing 1363 is rotated about its longitudinal axis relative to the inner housing 1362, the cam surfaces 1365a, b, c, … on the inner surface (inner wall) of the outer housing 1363 are operably engaged with the respective arms 1384a, b, c, … of the levers 1366a, b, c, … that are exposed within the slits 1376a, b, c, …. Referring to FIG. 19B, the opposed pad - collet system 1360 is shown in a pinch - released (not pinched) configuration, in which case the EMD 1388 is not operably fixed to the collet 1360. In this configuration, the radial and longitudinal slits 1367 of the outer housing 1363 are aligned with the radial and longitudinal slits 1374 of the inner housing. A force 1382a is applied to act on the arm 1384a of the lever 1366a, as a result of which the lever 1366a is rotated counter - clockwise about the pivot pin 1368, and the spring 1364a within the cavity 1372 of the inner housing 1362 is under compression. Due to the position of the lever 1366a, the pad 1386a of the lever 1366a is directed away from the EMD axis 1370 and away from the radial and longitudinal slits 1374 near the EMD axis 1370. In this pinch - released configuration, the EMD 1388 can move in the direction of the EMD axis 1370, within the radial longitudinal slit 1374 and within the radial longitudinal slit 1367. In one embodiment, the outer housing 1363 is rotated relative to the inner housing 1362 by an actuator (not shown). The actuator that rotates the outer housing 1363 relative to the inner housing 1362 is, in one embodiment, within a drive module and, in one embodiment, it is within a cassette.

[0222] To pinch or release the pinch of the opposing pad - collet system 1360, the lever 1366a pivots about the pivot pin 1368 within a limited range of motion. In one embodiment, the angular range within which the lever 1366a moves is less than 10 degrees. In one embodiment, the angular range within which it moves is greater than 10 degrees. The lever 1366a acts as the main lever and pivots between the force and the load. A force or input 1382a is applied to the arm 1384a of the lever 1366a. The load or output acts at the pad 1386a of the lever 1366a.

[0223] When the EMD 1388 is fully inserted into the radial and longitudinal slits 1374, the applied force 1382a is removed. Referring to FIG. 19C, the opposing pad - collet system 1360 is shown in the pinched configuration, in which the restoring force 1390a of the spring 1364a pushing up on the arm 1384a of the lever 1366a captures the EMD 1388 between the pad 1386a and the walls of the radial and longitudinal slits 1374, and the EMD 1388 cannot move freely relative to the collet. In one embodiment in the pinched configuration, the outer end of the arm 1384a protrudes into and is exposed within the circumferential slit 1376a of the inner housing 1362.

[0224] Referring to FIGS. 19B and 19C, the opposing pad - collet system 1360 is a normally - closed collet, that is, even without the application of the force 1382a, the collet is in the pinched (gripped) configuration.

[0225] The operating arm 1384a of the lever 1366a is a cam follower, where the outer surface of the arm 1384a is a follower surface that abuts against the cam (the inner surface of the outer housing 1363), and the cam presses the cam follower with the applied force 1382a. The outer member 1363 with an internal cam abuts against the outer surface of the arm 1384a. By the rotation of the outer housing 1363 relative to the inner housing 1362, the internal cam of the outer member presses the outer surface of the arm 1384a, but the latter is exposed by the circumferential slit 1376a, thereby rotating the lever 1366a and moving the pad 1386a of the lever 1366a away from the EMD axis 1370 to release the pinch on the EMD 1388 in the collet 1360. In one embodiment having a single circumferential slit 1376a, the cam includes fingers or tabs that act to press against the outer surface of the arm 1384a. In one embodiment having a plurality of circumferential slits 1376a, b, c, …, the cam includes a plurality of fingers or tabs that act to press against the outer surfaces of the plurality of arms 1384a, b, c, …. In one embodiment, a plurality of levers 1366a, b, c, … are used with their pads 1386a, b, c, … to pinch the EMD 1388 at a plurality of positions along the longitudinal direction. In one embodiment, contact of the EMD 1388 occurs between the pads 1386a of a single lever 1366a along the length of the collet system.

[0226] Referring to FIGS. 19D - 19G, a sequence of pinching that gradually increases by the opposing pad - collet system 1360 is illustrated. (In the drawings, the right - hand springs 1364a, b, c are present but not shown. Also in the drawings, the left - hand springs 1364a, b, c,... are not numbered but are shown by lightly dashed circles.) Referring to FIG. 19D, the opposing pad - collet system 1360 is shown in a pinch - release configuration for the radial loading of the EMD 1388. In a configuration where the compression springs 1364a, b, c,... are in their maximum - compression state during operation, the inner wall of the outer housing 1363 holds the arms 1384a, b, c,... of the levers 1366a, b, c,..., so there is no contact between the pads 1386a, b, c,... and the EMD 1388. Referring to FIG. 19E, the first rotational increment of the outer housing 1363 relative to the inner housing 1362 (corresponding to one clockwise arrow) corresponds to the engagement of the pad 1386a of the lever 1366a with the EMD 1388, which is the result of the rotation of the lever 1366a by the recess of the cam 1365a on the inner surface of the outer housing 1363. The spring 1364a is slightly relaxed from its maximum - compression state and is the source of the force between the pad 1386a and the EMD 1388. In this first increment of rotation, all other pads 1386b, c,... of the levers 1366b, c,... remain in the pinch - release configuration. In this first increment of rotation, the EMD 1388 cannot be removed from the opposing pad - collet system 1360 because the radial and longitudinal slits 1367 of the outer housing 1363 are not aligned with the radial and longitudinal slits 1374 of the inner housing 1362. Referring to FIG. 19F, the second rotational increment of the outer housing 1363 relative to the inner housing 1362 (corresponding to two clockwise arrows) corresponds to the engagement of the pads 1386a and 1386b with the EMD 1388, which is the result of the rotation of the levers 1366a and 1366b by the recesses of the cams 1365a and 1365b on the inner surface of the outer housing 1363. The springs 1364a and 1364b are slightly relaxed from their maximum - compression states and are the sources of the force between the pads 1386a and 1386b and the EMD 1388.In this second increment of rotation, all other pads 1386c, d, … of levers 1366c, d, … remain in the pinch release configuration. Referring to FIG. 19G, a third rotational increment of outer housing 1363 relative to inner housing 1362 (corresponding to the three clockwise arrows) corresponds to the engagement of pads 1386a, b, c with EMD 1388, which is the result of the rotation of levers 1366a, b, c by the recesses of cams 1365a, b, c on the inner surface of outer housing 1363. Springs 1364a, b, c are slightly relaxed from their maximum compressed state and are the source of the force between pads 1386a, b, c and EMD 1388. In this third increment of rotation, all other pads 1386d, e, … of levers 1366d, e, … remain in the pinch release configuration. (Note that in FIGS. 19E - 19G, EMD 1388 is shown with exaggerated deflection at the engagement location.).

[0227] In one embodiment, a 20 - degree rotation of outer housing 1363 relative to inner housing 1362 corresponds to an increment of rotation for the engagement of pads 1386a, b, c, … of corresponding levers 1366a, b, c, … with EMD 1388. In one embodiment, a rotation of outer housing 1363 relative to inner housing 1362 of less than 20 degrees corresponds to an increment of rotation for the engagement of pads 1386a, b, c, … of corresponding levers 1366a, b, c, … with EMD 1388. In one embodiment, a rotation of outer housing 1363 relative to inner housing 1362 of more than 20 degrees corresponds to an increment of rotation for the engagement of pads 1386a, b, c, … of corresponding levers 1366a, b, c, … with EMD 1388.

[0228] Referring to FIG. 20A, a collet drive system 1500 capable of rotating, moving, and pinching an EMD 1502 includes a collet 1504, a collet engagement member 1506, a first drive module 1508, and a second drive module 1510. The collet drive system 1500 can also be referred to as a quick release collet having two linear drives and an axial spline engagement.

[0229] The collet 1504 has a collet first member 1512 having a first engaging portion 1514. The collet 1504 has a collet second member 1516 that is driven.

[0230] The collet engaging member 1506 has a second engaging portion 1518.

[0231] The collet first member 1512 and the collet engaging member 1506 move between an engaged position and a disengaged position. Referring to FIG. 20C, the collet first member 1512 and the collet engaging member 1506 are shown in the disengaged position.

[0232] When the collet first member 1512 and the collet engaging member 1506 move to the engaged position, the first engaging portion 1514 engages with the second engaging portion 1518. Referring to FIGS. 20C-20G, the collet first member 1512 and the collet engaging member 1506 are shown in the engaged position.

[0233] Rotation of the collet first member 1512 relative to the collet second member 1516 in the first direction 1520 at the engaged position pinches the EMD 1502 in the collet 1504, and rotation of the collet first member 1512 relative to the collet second member 1516 in the second direction 1522 opposite to the first direction 1520 does not pinch the EMD 1502 in the collet 1504.

[0234] In the collet drive system 1500, the first engaging portion 1514 includes a plurality of splines that extend circumferentially around at least a portion of the collet first member 1512. The second engaging portion 1518 includes a plurality of members that are operably engaged with the plurality of splines of the first engaging portion 1514.

[0235] In one embodiment, the collet second member 1516 is engaged with a capstan bevel gear 1526 and is connected to a bevel gear 1524 that is thereby driven. In one embodiment, the collet second member 1516 is driven by a coupler.

[0236] In one embodiment, the plurality of splines of the first engagement portion 1514 include longitudinally extending external spline teeth. In one embodiment, the plurality of members of the second engagement portion 1518 include internal spline teeth that longitudinally extend and mesh with the longitudinally extending external spline teeth of the plurality of splines of the first engagement portion 1514.

[0237] The collet engagement member 1506 is integrally connected to the first drive module 1508 and is oriented such that its centerline is longitudinally aligned with the axis of the EMD 1502.

[0238] The first drive module 1508 and the second drive module 1510 move longitudinally relative to a fixed lead screw 1528 (illustrated by reference numeral 76 in FIG. 3) and are independently driven by a first actuator 1530 and a second actuator 1532 (illustrated as a movement motor 64 in FIG. 3), respectively. In one embodiment, the lead screw 1528 is a ball screw. In one embodiment, the first drive module 1508 and the second drive module 1510 are independently driven by a belt drive. In one embodiment, the first actuator 1530 is a motor powered by electricity, pneumatic pressure, hydraulic pressure, or other means. In one embodiment, the second actuator 1532 is a motor powered by electricity, pneumatic pressure, hydraulic pressure, or other means.

[0239] Referring to FIG. 20A, the collet drive system 1500 is connected to the overall robot system 24. In particular, the connection of the lead screw 1528, the first actuator 1530, the second actuator 1532, the first drive module 1508, and the second drive module 1510 to the overall robot system is illustrated.

[0240] In one embodiment, the movement of the first drive module 1508 is achieved as follows. The drive shaft of the first actuator 1530 is integrally connected to a first actuating pulley 1534 that drives a first belt 1536. The first belt 1536 drives a first nut pulley 1538, which is integrally connected to a first nut bearing assembly 1540. The latter meshes with a lead screw 1528 and is integrally connected to the first drive module 1508. Similarly, in one embodiment, the movement of the second drive module 1510 is achieved as follows. The drive shaft of the second actuator 1532 is integrally connected to a second actuating pulley 1544 that drives a second belt 1546. The second belt 1546 drives a second nut pulley 1548, which is integrally connected to a second nut bearing assembly 1550. The latter meshes with the lead screw 1528 and is integrally connected to the second drive module 1510.

[0241] The first drive module 1508 includes a clamping and rotational drive mechanism that functions to clamp and unclamp the EMD and to move the EMD along its longitudinal axis. In one embodiment, the clamping and rotational drive mechanism includes a drive tire 1558 and an idler tire 1568. In one embodiment, the drive tire 1558 is driven as follows. The drive tire 1552 meshes with a drive tire gear 1554, which is integrally connected to a drive tire capstan 1556 that is integrally connected to the drive tire 1558. It is contemplated that other clamping and moving devices known in the art may be used as well.

[0242] Referring to FIGS. 20A and 20B according to one embodiment, the drive (driver) gear 1552 is driven by a third actuator 1560 incorporated within the first drive module 1508. In one embodiment, the third actuator 1560 is a motor powered by electricity, pneumatic pressure, hydraulic pressure, or other means.

[0243] In one embodiment, the rotation of the drive gear 1552 is achieved as follows. The drive shaft of the third actuator 1560 is integrally connected to a third drive pulley 1562 (supported by bearings), which drives a second belt 1564 that drives a drive gear pulley 1566 (supported by bearings) integrally connected to the drive gear 1552.

[0244] The first drive module 1508 includes a straddle rocker 1570 and a spring 1572. The straddle rocker 1570 rotates about a pivot 1574 parallel to the axes of the drive tire 1558 and the idler tire 1568. The spring 1572 is a tension spring having one end connected to a rocker end post 1575 integrally connected to the straddle rocker 1570 and the other end connected to a driver gear extension post 1576 extending from the driver gear 1552. The straddle rocker 1570 is a spring-loaded bell crank, i.e., a spring-loaded lever having two arms and a pivot 1574. One arm of the straddle rocker 1570 is integrally connected at its free end to the rocker distal post 1575. One arm of the straddle rocker 1570 supports the idler tire 1568 at its free end.

[0245] The second drive module 1510 includes a driven capstan bevel gear (miter gear) 1526 and a capstan 1527. The capstan bevel gear 1526 is integrally connected to a capstan 1527 driven by an actuator (not shown). The second drive module 1510 is integrally connected to an extension link 1578 which extends from the distal end of the second drive module 1510 (i.e., the end furthest from the lead screw 1528) towards the first drive module 1508 and in a direction parallel to the lead screw 1528 and the EMD 1502. In one embodiment, the extension link 1578 is a rectangular bar, where its length is greater than its width, and its width is greater than its height (thickness). The extension link 1578 includes a first lip 1580 and a second lip 1581. In one embodiment, the first lip 1580 and the second lip 1581 are rectangular bar protrusions directed upward and perpendicular to the extension link 1578, such as flanges. In one embodiment, the first lip 1580 is located at the proximal end of the extension link 1578, and the second lip 1581 is located in the vicinity of the proximal end of the extension link 1578, such that there is a gap between the inner surface of the first lip 1580 and the second lip 1581.

[0246] In one embodiment, the collet drive system 1500 includes a cassette (not shown) including a collet 1504, a collet engagement member 1506, a drive tire 1558, and an idler tire 1568.

[0247] The operation of the collet drive system 1500 consists of a plurality of states (stages) as described herein.

[0248] Referring to FIG. 20C, the collet drive system 1500 is illustrated in a driving state (a first state). In the driving state, the collet 1504 pinches the EMD 1502, the collet 1504 rotates the EMD 1502, the first drive module 1508 and the second drive module 1510 move integrally to maintain the same separation distance, and the spline teeth of the first engaging portion 1514 and the second engaging portion 1518 do not mesh (i.e., do not engage), the drive tire 1558 and the idler tire 1568 are separated, and do not grip (hold) the EMD 1502. In the driving state, the rocker distal post 1575 contacts the inner surface of the first lip 1580, and the straddle rocker 1570 is positioned to keep the drive tire 1558 separated from the idler tire 1568.

[0249] Referring to FIG. 20D, the collet drive system 1500 is illustrated in a collet locking (locking) state (a second state). In the collet locking state, the collet 1504 pinches the EMD 1502, and the first drive module 1508 and the second drive module 1510 move toward each other while reducing their separation distance from each other (e.g., the second drive module 1510 moves toward the fixed first drive module 1508), the spline teeth of the first engaging portion 1514 mesh with the spline teeth of the second engaging portion 1518 (i.e., they are engaged, but not fully engaged), the drive tire 1558 and the idler tire 1568 are slightly separated from each other, and do not grip the EMD 1502. In the collet locking state, the rocker distal post 1575 contacts the inner surface of the first lip 1580, and the straddle rocker 1570 rotates the idler tire 1568 that moves toward the drive tire 1558, but the tire does not grip the EMD 1502.

[0250] Referring to FIG. 20E, the collet drive system 1500 is illustrated in a device exchange state (second alternative state). In the device exchange state, the collet 1504 does not pinch the EMD 1502, and the first drive module 1508 and the second drive module 1510 move toward each other while reducing their separation distance (similar to the collet lock state), and the spline teeth of the first engagement portion 1514 mesh with the spline teeth of the second engagement portion 1518 (i.e., they are meshed but not fully meshed), the drive tire 1558 and the idler tire 1568 are separated from each other and do not grip the EMD 1502. In the exchange state, similar to the collet lock state, the rocker distal post 1575 contacts the inner surface of the first lip 1580, and the straddle rocker 1570 rotates the moving idler tire 1568 toward the drive tire 1558, but the tires do not grip the EMD 1502.

[0251] In the exchange state, due to the rotation of the capstan bevel gear (miter gear) 1526, the collet 1504 does not pinch the EMD 1502, and the capstan bevel gear 1526 meshes with the driven bevel gear 1524 and rotates it, and the latter rotates the collet second member 1516 relative to the collet first member 1512. Note that due to the engagement of the spline teeth of the non-moving second engagement portion 1518 and the spline teeth of the first engagement portion 1514, the collet first member 1512 is locked (non-moving). When the collet 1504 is released from pinching, the EMD 1502 can be removed. In one embodiment, the removal of the EMD 1502 can be performed by lateral or radial unloading, in which case the collet slit 1582 in the collet 1504 and the collet engagement member slit 1584 in the collet engagement member 1506 are aligned. In one embodiment, the EMD 1502 can be removed by axial unloading.

[0252] Referring to FIG. 20A, the collet slit 1582 extends longitudinally from the outer peripheral surface and extends radially through the collet 1504 to its center line, and the collet engagement member slit 1584 extends longitudinally from the outer peripheral surface and extends radially through the collet engagement member 1506 to its center line. In one embodiment, the slits 1582 and 1584 have parallel walls. In one embodiment, the slits 1582 and 1584 have non-parallel walls, for example, V-shaped walls with vertices facing the radial center. In one embodiment, the slits 1582 and 1584 have chamfers on the outer surface. In one embodiment, the slits 1582 and 1584 do not have chamfers on the outer surface.

[0253] Referring to FIG. 20F, the collet drive system 1500 is illustrated in a tire-grip state (third state) where the collets are pinched. In the tire-grip state where the collets are pinched, the collet 1504 pinches the EMD 1502, and the first drive module 1508 and the second drive module 1510 move relative to each other to minimize their separation distance (e.g., move the second drive module 1510 toward the fixed first drive module 1508), the spline teeth of the first engagement portion 1514 are fully meshed with (i.e., fully engaged with) the spline teeth of the second engagement portion 1518, the drive tire 1558 and the idler tire 1568 are not separated, and the EMD 1502 is gripped. In the tire-grip state where the collets are pinched, the rocker distal post 1575 contacts the inner surface of the second lip 1581, and the straddle rocker 1570 rotates the idler tire 1568 that moves into the drive tire 1558 so that the tire grips the EMD 1502.

[0254] Referring to FIG. 20G, the collet drive system 1500 is illustrated in the tire drive state (the fourth state). In the tire drive state, the collet 1504 does not pinch (releases the pinch on) the EMD 1502, and the first drive module 1508 and the second drive module 1510 move so that the separation distance between them is minimized (for example, the second drive module 1510 is moved toward the fixed first drive module 1508). The spline teeth of the first engagement portion 1514 are fully engaged with the spline teeth of the second engagement portion 1518 (i.e., are fully engaged). The drive tire 1558 and the idler tire 1568 are not separated and grip the EMD 1502. Similar to the tire grip state where the collet is pinched, in the tire drive state, the rocker distal post 1575 contacts the inner surface of the second lip 1581, and the straddle rocker 1570 rotates the idler tire 1568 that moves into the drive tire 1558 so that the tire grips the EMD 1502.

[0255] In the tire drive state, due to the rotation of the capstan bevel gear (miter gear) 1526, the collet 1504 does not pinch the EMD 1502, and the bevel gear 1526 meshes with and rotates the driven bevel gear 1524 that rotates the collet second member 1516 relative to the collet first member 1512. Note that due to the engagement of the spline teeth of the non-moving second engagement portion 1518 and the spline teeth of the first engagement portion 1514, the collet first member 1512 is locked (does not move). Since the collet 1504 is in the pinch release state, the EMD 1502 can be moved by the rotation of the drive tire 1558 that grips the EMD 1502 relative to the idler tire 1568.

[0256] The collet drive system 1500 operates in a reset mode or an exchange mode. In the reset mode, as the sequence of operations, it includes returning to the drive state (the first state) after going through the drive state (the first state), the collet lock state (the second state), the tire grip state with the collet pinched (the third state), the tire drive state (the fourth state), the tire grip state with the collet pinched (the third state), the collet lock state (the second state). In the exchange mode, as the sequence of operations, it includes returning to the drive state (the first state) after going through the drive state (the first state), the collet lock state (the second state), the device exchange state (the second alternative state), the collet lock state (the second state).

[0257] The collet drive system 1500 includes a collet 1504. To minimize the amount of actuation required, the collet drive system 1500 can be configured such that half of the collet 1504 is locked to prevent its rotational movement, while the other half of the collet 1504 is given rotational freedom to perform pinch release and pinch of the EMD1502. There are multiple ways to lock half of the collet 1504. Note that the term "lock" refers to keeping a component (constituent element) stationary and fixing it to the patient. For the purposes described in this specification, when a component is stationary with respect to the patient bed rail, the component is stationary and fixed to the patient. In one embodiment, an engagement spline is included. In one embodiment, it includes the step of inserting a locking pin into a hole. In one embodiment, it includes the step of inserting a key into a keyway. In one embodiment, it includes means of mechanical interference that prevent rotation.

[0258] In one embodiment, the EMD1502 is not pinched (is in a pinch - released state), and after the EMD is pinch - released, various components are moved to their homing (return) positions to enable removal of the EMD through an aligned slot from the device.

[0259] Referring to FIG. 21A, a "collet drive system" 1600 capable of rotating, moving, and pinching (clamping) the EMD 1602 includes a device drive unit 1604, an EMD support 1606, and a y-connector assembly 1608. The device drive unit 1604 includes a cassette 1610 and a drive module 1612.

[0260] The drive module 1612 moves longitudinally with respect to a fixed lead screw 1614 (shown by reference numeral 76 in FIG. 3) and is driven by an actuator 1616 (shown as a movement motor 64 in FIG. 3). In one embodiment, the lead screw 1614 is a ball screw. In one embodiment, the actuator 1616 is a motor powered by electricity, pneumatics, hydraulics, or other means.

[0261] Referring to FIG. 21A, the collet drive system 1600 is connected to the overall robot system 24. In particular, the connection of the lead screw 1614, the actuator 1616, and the drive module 1612 to the overall robot system is illustrated.

[0262] In one embodiment, the movement (translation) of the drive module 1612 is achieved in the same manner as the drive module illustrated in FIG. 20A. (Note that in FIGS. 21A, 21B, 21C, and 21D, some components connecting the drive module 1612 to the operating system for movement are not shown.)

[0263] Referring to FIGS. 21A, 21B, 21C, and 21D, the collet drive system 1600 can pinch and unpinch the EMD 1602 to rotate the EMD 1602 clockwise and counterclockwise, and further move the EMD 1602 forward and backward (i.e., move it back and forth). In one embodiment, the cassette 1610 is the same as the cassette 922 illustrated in FIG. 12A and includes a double bevel collet and a rotary drive unit to enable pinching and unpinching of the EMD 1602 and rotation of the EMD 1602 within the pinched collet. In other words, the collet drive system 1600 includes a collet, for example, the collet 964 illustrated in FIG. 12D, and enables pinching and unpinching of the EMD 1602.

[0264] The EMD support 1606 is a limiting part that prevents the EMD 1602 from buckling (twisting) when the EMD 1602 moves forward distally. In one embodiment, the EMD support 1606 is a telescoping system with an inner diameter larger than the diameter of the EMD 1602. In one embodiment, the EMD support 1606 is a track that enables applying a radial load to the device. In one embodiment, the EMD support 1606 is a tube. In one embodiment, the EMD support 1606 is any system that prevents the EMD 1602 from buckling or bending when moving forward.

[0265] Referring to FIG. 21B, the collet drive system 1600 illustrated in FIG. 21A is illustrated as having a retaining clamp 1618 as part of the y-connector assembly 1608. The EMD support 1606 is used between the y-connector assembly 1608 and the cassette 1610. Since the retaining clamp 1618 is a safety mechanism, the EMD 1602 does not move during reset. In one embodiment, the retaining clamp 1618 includes two opposing blocks that can be placed in a clamped state that restricts the position of the EMD 1602 relative to the y-connector assembly 1608, or in an unclamped state that does not restrict the position of the EMD 1602, i.e., the two opposing blocks are free to move. In one embodiment, the retaining clamp 1618 includes two opposing pads that can be placed in a clamped or unclamped state. An actuation system for engaging (clamping) and disengaging (unclamping) the clamp 1618 is not illustrated.

[0266] Referring to FIG. 21C, the collet drive system 1600 illustrated in FIG. 21A is illustrated as including a first tire 1620 and a second tire 1622 that face each other and press against each other to grip the EMD 1602. The first tire 1620 and the second tire 1622 are located proximal to the cassette 1610. The EMD support 1606 is used between the y-connector assembly 1608 and the cassette 1610. An actuation system for moving the first tire 1620 and the second tire 1622 in directions toward and away from each other is not shown. By rotating the first tire 1620 and the second tire 1622 at the same speed and in opposite directions, the EMD 1602 can be moved at a faster speed compared to using a lead screw drive. The use of the first tire 1620 and the second tire 1622 provides for a high-speed traversal of the EMD 1602 and provides for unlimited travel. In one embodiment, the movement speed of the device drive 1604 can be synchronized with the rotational speed of the first tire 1620 and the second tire 1622, thereby preventing the EMD 1602 from moving. The reset method for the use of the collet drive system illustrated in FIG. 21C includes gripping the EMD 1602 between the tires 1620 and 1622. The collet 964 then becomes de-pinched, freeing the EMD 1602 fixed thereto. The drive module 1612 is then moved in a first direction while rotating the tires 1620 and 1622, maintaining the EMD in a position fixed relative to the ground and / or the patient. When the drive module 1612 has moved to a new desired position, the collet is actuated to pinch the EMD 1602 there and the tires 1620 and 1622 are prevented from gripping the EMD 1602. In this way, the collet drive module is reset for continued movement. In one embodiment, a reset occurs when the EMD 1602 is moved distally and the drive module can no longer move distally. To reset the drive module to continue driving the EMD 1602 distally, the drive module 1612 is moved proximally to a reset position.During movement reset for continuous distal drive, the above-described first direction is the proximal direction. To maintain the EMD1602 stationary relative to the patient, as the drive module 1612 moves proximally, the tires 1620 and 1622 rotate to maintain the EMD1602 and compensate for the proximal movement of the drive module 1612.

[0267] Referring to FIG. 21D, the collet drive system 1600 illustrated in FIG. 21A is shown with a third tire 1624 and a fourth tire 1626, which face each other and press together to grip the EMD1602. The third tire 1624 and the fourth tire 1626 are located on the proximal side of the y-connector assembly 1608 and the distal side of the EMD support 1606. The EMD support 1606 is used between the y-connector assembly 1608 and the cassette 1610. The third tire 1624 and the fourth tire 1626 replace the retaining clamp 1618 illustrated in FIG. 21B. An actuation system for moving the third tire 1624 and the fourth tire 1626 towards each other or away from each other is not shown.

[0268] "Collet" In this specification, a plurality of collet designs that can be used in the above-described robotic system are provided. Referring to FIG. 9A, the collet 800 releasably engages an EMD (not shown). The collet 800 includes an inner member 802, which is movably positioned in a receiving sleeve having a tapered (tapered) cavity 816 of the outer member 804 in the distal or proximal direction. The outer member 804 has a longitudinal slit 805, which extends from the outer surface of the outer member and terminates at its radial center. In one embodiment, the plurality of walls of the slit 805 are parallel. In one embodiment, the plurality of walls of the slit 805 are non-parallel, for example, a V-shaped wall having a vertex towards the radial center. In one embodiment, there is a chamfer on the outer surface of the slit 805. In one embodiment, there is no chamfer on the outer surface of the slit 805.

[0269] Referring to FIG. 9B, the inner member 802 includes a first portion (section) 806 having a substantially constant radius and a second tapered portion 808 extending frustoconically from the first portion 806. Thus, the diameter of the second portion 808 continuously decreases from the region adjacent to the first portion 806 to the distal free end 810 of the second portion 808. The distal free end 810 of the second portion 808 is remote from the region of the second portion 808 adjacent to the first portion 806. In one embodiment, the length of the first portion 806 is the same as the length of the second portion 808. In one embodiment, the length of the first portion 806 is greater than the length of the second portion 808. In one embodiment, the length of the first portion 806 is less than the length of the second portion 808.

[0270] The first portion 806 has a longitudinal slit 812 that extends from the outer surface of the first portion and terminates at the radial center of the inner member 802. The tapered second portion 808 has a longitudinal slit 814 that extends through the second portion 808 and extends from a portion of the outer surface of the second portion that aligns with the slit 812 in the first portion 806 to a portion of the outer surface of the second portion that is 180 degrees away from (opposite) the first outer surface region. The second slit 814 may include a first plane and a second plane angled with respect to the first plane. In one embodiment, the plurality of walls of the slit 812 are parallel. In one embodiment, the plurality of walls of the slit 814 are non-parallel. In one embodiment, the walls of the slit 812 and the walls of the slit 814 are parallel. In one embodiment, the walls of the slit 812 and the walls of the slit 814 are non-parallel.

[0271] Referring to FIG. 9B, it is illustrated with respect to the two cross-sections shown in FIGS. 9D and 9F. In one embodiment, the slit 812 is present at the top of the inner member 802 and the slit 812 is not present at the bottom of the inner member 802.

[0272] Referring to FIG. 9C, the first portion 806 and the second portion 808 are connected along the lower connection portion of the inner member 802 at the seam line 807.

[0273] Referring to FIG. 9A, when the inner member 802 moves from the first end 823 of the outer member cavity towards the tapered end 825 of the outer member cavity (hollow), two portions 818 and 820 move towards each other to pinch an EMD (not shown). Similarly, when the inner member 802 moves from the second tapered end 825 of the outer member 804 towards the first open end 823 of the outer member, as a result, the two portions 818 and 820 pivot about a line passing through the joint 807 and move away from each other.

[0274] Referring to FIG. 9D, in one embodiment, contact occurs between the inner member 802 and the outer member 804 between the inner circumferential surface of the tapered cavity 816 and the outer circumferential surface of the distal end 810 of the second portion 808. In one embodiment, this contact is limited to a longitudinal distance of 1 - 5 mm. In one embodiment, this contact is greater than a 5 mm longitudinal distance.

[0275] Referring to FIGS. 9D, 9E, and 9F, the two portions 818 and 820 of the second portion 808 of the inner member 802 are gradually separating in the direction of the distal end 810 in a "normally open", unloaded configuration.

[0276] During operation, the movement of the inner member 802 into the tapered cavity 816 of the outer member 804 forces the two portions 818 and 820 of the second portion 808 to move towards each other, thereby moving the two opposing surfaces 819 and 821 of the portions 818 and 820 towards each other to pinch the EMD. Moving the inner member 802 distally within the outer member 804 causes a compressive force to occur (between the inner circumferential surface of the tapered cavity 816 and the outer circumferential surface of the distal end of the inner second portion 808) due to the contact between the inner member 802 and the outer member 804, acting on the two portions of the second portion 808 of the inner member. These forces overcome the inherent compliance of the two portions of the second portion 808 of the inner member, and as a result, the two opposing surfaces 819 and 821 of the portions 818 and 820 move towards each other respectively to form a loaded configuration.

[0277] In one embodiment of the load configuration, the inner surfaces 819 and 821 of the second portion 808 of the inner member 802 first contact the EMD at the distal free end 810 and then continue to gradually contact the EMD proximally at the slit 814 of the tapered second portion 808 of the inner member.

[0278] To move the inner member 802 into the outer member 804, an external driving force in the distal direction is required to be applied to the inner member 802 from an operator or a robot system (not shown). In one embodiment, the external driving force in the distal direction is applied at the proximal end of the inner member 802. In one embodiment, by rotating one of the inner member 802 and the outer member 804 by a rotational input engaging with a screw member, the inner member is moved relative to the outer member 804 to linearly move the inner member 802 relative to the outer member along the longitudinal axis of the collet.

[0279] To further move the inner member 802 distally within the outer member 804, an increasingly greater external driving force is required, which is to overcome the increasing compliance force (to move the two opposing surfaces 819 and 821 of the portions 818 and 820 towards each other) and the increasing frictional force (as a result of the increasing contact between the inner peripheral surface of the tapered cavity 816 and the outer peripheral surface of the distal end of the second portion 808).

[0280] The load configuration becomes a locking configuration when the two opposing surfaces 819 and 821 of the portions 818 and 820 lock the EMD respectively so that the EMD cannot move. In the locking configuration, an external driving force is not required. The frictional force (due to the contact between the inner peripheral surface of the tapered cavity 816 and the outer peripheral surface of the distal end of the second portion 808) maintains the collet 800 in the locking configuration. In other words, in the locking configuration, the inner member 802 is locked to the outer member 804 by friction.

[0281] When pulling out the inner member 802 from the outer member 804 during operation, when the inner member 802 is moved away from the tapered cavity 816 of the outer member 804, the two portions 818 and 820 of the second portion 808 are separated from each other, whereby the two opposing surfaces 819 and 821 of the portions 818 and 820 move away from each other, respectively, to pinch - release the EMD. When the inner member 802 is pulled out from the outer member 804, due to the inherent compliance of the two portions of the second portion 808 of the inner member, the two opposing surfaces 819 and 821 of the portions 818 and 820 are restored to their normal open unloaded (unloaded) configurations, respectively.

[0282] To move the inner member 802 away from the outer member 804, it is necessary to apply an external driving force in the proximal direction from an operator or a robot system (not shown) to the inner member 802. The external driving force in the proximal direction needs to overcome the frictional force that maintains the collet mechanism 800 in the locked configuration. In one embodiment, the external driving force is applied to the proximal end of the inner member 802.

[0283] In one embodiment, the two portions of the second portion 808 of the inner member are connected by an integrally - formed hinge, and due to its spring characteristics, when the inner member is moved towards the open end of the outer member, the two portions are biased to move away from each other. In one embodiment, a separate spring may be used to bias the two portions to separate.

[0284] In one embodiment, the outer surface of the tapered second portion 808 of the inner member has a smooth wall. In one embodiment, the outer surface of the tapered second portion 808 of the inner member has a non - smooth wall, for example, having one or more concave pockets or holes (wells) on the outer surface. In the case of a design with a non - smooth wall, compared with a design with a smooth wall, the inherent compliance of the two portions of the tapered second portion 808 of the inner member is generally more non - uniform and lower.

[0285] In one embodiment, the inner member 802 is formed using a moldable plastic. In one embodiment, the inner surfaces 819 and 821 of the second portion 808 of the inner member 802 include an elastomer (elastic) or other deformable material or a flexible (compliant) material, whereby it can deform with respect to the EMD during the pinch and lock configurations.

[0286] In one embodiment, when the slits 805, 812, and 814 are aligned, the EMD is loaded radially through the slit 805 of the outer member and the slits 812 and 814 of the inner member. This radial loading allows the user to place the EMD at the center of the collet without having to screw in the free end of the EMD through the first end 823. Rather, through the aligned slits 805, 812, and 814, a portion of the EMD is placed directly at the radial center of the collet between the first and second ends of the EMD. During radial loading, the first terminal end of the EMD remains distal to the distal end of the collet, and the second terminal end of the EMD on the opposite side remains proximal to the proximal end of the collet, with a portion of the EMD intermediate the first and second ends of the EMD being inserted through the slits 805, 812, and 814 to the radial center of the collet. The loading of the EMD described in this paragraph can be referred to herein as side loading or radial loading.

[0287] Referring to FIGS. 9A and 9D, the taper angle (α1) 822 of the inner cavity 816 of the outer member 804 is greater than the taper angle (α2) 824 of the outer surface of the second portion 814 of the inner member, such that when the inner member is moved into the cavity 816 in the direction towards the second end of the outer member 804, the two portions 818 and 820 are forced towards each other.

[0288] Referring to FIG. 9C, in one embodiment of the inner member 802, the longitudinal slit 812 extending from the outer surface of the first portion 806 terminates at the central longitudinal axis of the inner member 802. In one embodiment of the inner member 802, the longitudinal slit 812 extending from the outer surface of the first portion 806 terminates away from the central longitudinal axis of the inner member 802.

[0289] In one embodiment, the first portion 806 and the second portion 808 define two cantilever beam sections extending from the first portion of the inner member. The cantilever beam portions 818 and 820 vary the spring force along their respective longitudinal lengths, such that the surfaces 819 and 821 contacting the EMD disposed therebetween conform well to the EMD, keeping the pressure applied to the EMD low and spreading along the surfaces 819 and 821. By varying the cross-sectional thickness of the cantilever beam portions 818 and 820 along the longitudinal axis of the collet 800, the spring force applied to the EMD can be varied.

[0290] The collet 800 is characterized by an increase in rigidity due to the complete slit 814 in the second portion 808 of the inner member 802 and the partial slit 812 in the first portion 806 of the inner member 802 to obtain a greater release force.

[0291] Referring to FIG. 9G, the collet 826 has an inner member 828 and an outer member 804. The outer member 804 has the same geometric shape as the outer member 804 illustrated in FIG. 9A and described above. The operating principle of the collet 826 is similar to the operation of the collet 800 illustrated in FIG. 9A.

[0292] Referring to FIGS. 9H and 9I, the inner member 828 has a longitudinal slit 830 which extends through the inner member 828 from a region 832 on the outer surface 834 of the inner member 828 and terminates at a region 836, where it is near but does not pass through the outer surface approximately 180 degrees away from the opening 838 of the slit 830.

[0293] Referring to FIG. 9H, the longitudinal slit 830 forms two substantially semi-circular cross-sections of the inner member 828, a first portion 840 and a second portion 842, and enables pivoting at the region 836 where the slit 830 terminates. In one embodiment, the slit 830 forms opposing parallel walls from portions 840 and 842 in the unloaded configuration, i.e., the pinch-release (unpinched) state. In one embodiment, the slit 830 forms opposing non-parallel walls from portions 840 and 842 in the unloaded configuration, i.e., the pinch-release state, for example generating a V-shaped wall. In one embodiment, a stress relief portion 848 may be used in the region of the inner member proximate to the bottom of the slit 830 to minimize the effect of stress concentration, thereby minimizing the possibility of breakage. In one embodiment, other means for stress relief are used in the region of the inner member proximate to the bottom of the slit 830.

[0294] Referring to FIG. 9G, as the inner member 828 moves from the first end 844 of the cavity of the outer member towards the tapered end 846 of the cavity of the outer member, the first portion 840 and the second portion 842 of the inner member 828 move towards each other, pinching the EMD (not shown). Similarly, as the inner member 828 moves from the second tapered end 846 of the outer member 804 towards the first open end 844 of the outer member, the first portion 840 and the second portion 842 of the inner member 828 pivot away from each other with respect to the line passing through the longitudinal slit 838, releasing the pinch on the EMD (not shown).

[0295] In one embodiment, the region of the inner member 836 proximate to the bottom of the slit 830 is provided with an integrally molded hinge having spring characteristics that biases the two portions away from each other when the inner member is moved towards the open end of the outer member. In one embodiment, a separate spring may be provided to act to separate the two sections 838 and 840.

[0296] The collet 826 is maintained in a (locked) configuration locked by frictional force (due to contact between the inner peripheral surface of the tapered cavity of the outer member 804 and the outer peripheral surface of the distal end of the second portion 834). In other words, in the locked configuration, the inner member 828 is locked to the outer member 804 by friction.

[0297] Based on the dimensions and angles of the longitudinal slit 830 that forms the two portions of the first portion 840 and the second portion 842 of the inner member 828, the collet can accommodate a larger range of diameters of the EMD compared to the collet illustrated in FIG. F2A.

[0298] Referring to FIGS. 10A and 10B, the collet 852 has an inner member 854, two internal components including a driven pad 856 and a driven finger 858, and an outer member 860. The outer member 860 has a prismatic internal cavity 862 and receives the internal components 856 and 858 oriented by the internal cavity 864 of the inner member 854. The outer member 860 has a circumferential retaining channel 863 on the inner surface of the outer member, toward its proximal end. The inner member 854 has a size that fits into the channel 863 and has a key 859 on the outer surface of the inner member. In one embodiment, the driven pad 856 and the driven finger 858 are separate parts. In one embodiment, the driven pad 856 and the driven finger 858 are integrally connected to an integrated component. In one embodiment, the driven pad 856 and the driven finger 858 are made of the same material. In one embodiment, the driven pad 856 and the driven finger 858 are made of different materials. For example, in one embodiment, the driven pad 856 is made of an elastomeric material and the driven finger 858 is made of a moldable plastic. In one embodiment, the driven pad 856 is composed of one material. In one embodiment, the driven pad 856 is made of more than one material, for example, using a moldable plastic with an elastomeric coating. In one embodiment, the driven pad 856 has two parallel flat surfaces. In one embodiment, the driven pad 856 has two non-parallel flat surfaces. In one embodiment, the driven pad 856 has one flat surface and one curved surface such as a convex surface.

[0299] The inner member 854 has a longitudinal slit 855 that extends along its entire length so as to extend from the outer surface of the inner member and terminate at its radial center. The outer member 860 has a longitudinal slit 861 that extends along its entire length so as to extend from the outer surface of the outer member and terminate at its radial center. In one embodiment, the slits 855 and 861 have parallel walls. In one embodiment, the slits 855 and 861 have non-parallel walls, for example, V-shaped walls whose apexes face the radial center. In one embodiment, the slits 855 and 861 have chamfers that are recessed into the outer surface. In one embodiment, the slits 855 and 861 do not have chamfers on the outer surface.

[0300] Referring to FIGS. 10C.1 and 10D.1, diametrical cross-sections of the assembled collet 852 are illustrated in a pinch release (open) configuration and a pinch (closed) configuration, respectively, based on the relative angular orientation of the inner member 854 with respect to the longitudinal axis of the outer member 860. Referring to FIG. 10C.2, a gap 866 exists between the outer surface of the driven pad 856 and the inner surface of the inner member 854, and the EMD 867 is not pinched. (EMD 867 is not shown in FIG. 10C.1.) In the default pinch release configuration, the gap 866 exists due to the three-dimensional (dimensional) geometric shape of the internal cam 865 of the inner member 854, and thus there is no contact between the internal cam surface 865 and the driven finger 858. Referring to FIG. 10D.2, no gap 866 exists between the outer surface of the driven pad 856 and the inner surface of the inner member 854, which is because the relatively large size dimension of the internal cam 865 abuts the driven finger 858, and thus the EMD 867 is pinched. (EMD 867 is not shown in FIG. 10D.1.) In the pinch configuration, the collet 852 remains locked. In one embodiment, when capturing the EMD 867 in the pinch configuration, the inner surface 857 of the inner member 854 that receives the driven pad 856 is flat. In one embodiment, when capturing the EMD 867 in the pinch configuration, the inner surface 857 of the inner member 854 that receives the driven pad 856 is concave, for example, having a contour similar to the contour of the outer surface of the driven pad 856. In one embodiment, the inner member 854 is composed of one material. For example, in one embodiment, the inner member 854 is composed of a moldable plastic. In one embodiment, the inner member 854 is composed of more than one material. For example, in one embodiment, the inner surface 857 of the inner member 854 that receives the driven pad 856 has a moldable plastic inner member 854 and an elastomeric backing or coating thereon.

[0301] To transition from a pinch release (not pinched) configuration to a pinch configuration, or from a pinch configuration to a pinch release configuration, it is required that the user or the drive system impart relative angular motion about the longitudinal axis between the inner member 854 and the outer member 860. In one embodiment, a 90-degree rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis corresponds to the transition from the pinch release configuration to the pinch configuration. In one embodiment, a 180-degree rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis corresponds to the transition from the pinch release configuration to the pinch configuration. In one embodiment, a rotation of the inner member 854 relative to the outer member 860 at any value less than 360 degrees about the longitudinal axis corresponds to the transition from the pinch release configuration to the pinch configuration.

[0302] In one embodiment, the internal cam 865 is configured to obtain a pinch configuration by a clockwise rotation of the outer member 860 relative to the inner member 854 about the longitudinal axis. In one embodiment, the cam is configured to obtain a pinch configuration by a counterclockwise rotation of the outer member 860 relative to the inner member 854 about the longitudinal axis.

[0303] In one embodiment, the internal cam 865 is configured to obtain a pinch configuration by one position during the rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis. In one embodiment, the cam is configured to obtain a pinch configuration by two or more positions during the rotation of the inner member 854 relative to the outer member 860 about the longitudinal axis.

[0304] In one embodiment, the internal cam 865 is configured to be persistent so that no state change occurs as a result of relative rotation between the inner member 854 and the outer member 860, such that the collet system 852 remains in the pinch configuration or the collet system 852 in the pinch release configuration remains in the pinch release configuration. This may be achieved by no change occurring in the radial dimension of the profile of the internal cam 865 over the range of relative rotation between the inner member 854 and the outer member 860. In one embodiment, the above persistence is such that in the displacement indication to the motor that rotationally drives the inner member 854 and the outer member 860, an error that may occur can be accommodated, and in the case of the pinch configuration, a certain tolerance for the error is provided so that the EMD 867 remains pinched.

[0305] In one embodiment, with respect to the longitudinal axis, the cam 865 is configured such that a 90-degree rotation of the inner member 854 relative to the outer member 860 maintains the EMD in the pinch configuration. In one embodiment, with respect to the longitudinal axis, the cam 865 is configured such that a rotation of the inner member 854 relative to the outer member 860 of less than 90 degrees maintains the EMD in the pinch configuration. In one embodiment, with respect to the longitudinal axis, the cam 865 is configured such that a rotation of the inner member 854 relative to the outer member 860 of 90 degrees or more maintains the EMD in the pinch configuration.

[0306] In one embodiment, with respect to the longitudinal axis, the cam 865 is configured such that a 90-degree rotation of the inner member 854 relative to the outer member 860 maintains the EMD in the pinch release configuration. In one embodiment, with respect to the longitudinal axis, the cam 865 is configured such that a rotation of the inner member 854 relative to the outer member 860 of less than 90 degrees maintains the EMD in the pinch release configuration. In one embodiment, with respect to the longitudinal axis, the cam 865 is configured such that a rotation of the inner member 854 relative to the outer member 860 of 90 degrees or more maintains the EMD in the pinch release configuration.

[0307] In the assembled collet 852, the key 859 of the inner member 854 is held within the channel 863 of the outer member 860 to allow freedom of rotation of the inner member 854 relative to the outer member 860 while preventing freedom of rotational movement of the inner member 854 relative to the outer member 860. The key 859 captured within the channel 863 ensures that the inner member 854 and the outer member 860 are aligned during assembly such that the outer surface of the pad 856 of the follower finger 858 is disposed on the longitudinally opposite surface 857 within the inner member 854. The key 859 captured within the channel 863 prevents both members from being pulled apart in both the pinch configuration and the pinch release configuration.

[0308] In an initial configuration, the slit 855 in the inner member 854 of the collet 852 is aligned with the slit 861 within the outer member 860 to allow for lateral or radial loading of the EMD as described herein.

[0309] Referring to FIG. 11A, the collet 868 has an inner member 870, two internal components consisting of a curved portion 872 and a collar 874, and an outer member 876.

[0310] The inner member 870 has a longitudinal slit 871 that extends along its entire length such that it extends from the outer surface of the inner member and terminates at its radial center. The outer member 876 has a longitudinal slit 877 that extends along its entire length such that it extends from the outer surface of the outer member and terminates at its radial center. In one embodiment, the slits 871 and 877 have parallel walls. In one embodiment, the slits 871 and 877 have non-parallel walls, for example, V-shaped walls whose apexes face the radial center. In one embodiment, the slits 871 and 877 have chamfers on the outer surface. In one embodiment, the slits 871 and 877 do not have chamfers on the outer surface.

[0311] Referring to FIG. 11B, the collet 868 is illustrated in a fully assembled configuration, where the slit 871 of the inner member 870 and the slit 877 of the outer member 876 are aligned for lateral or radial loading of the EMD 878.

[0312] Referring to FIG. 11C, the inner member 870 is a single integral member consisting of four parts and has a longitudinal slit 871 extending from its outer surface to its radial center. Starting from the most proximal side, the first part 882 is a cylindrical part having an internal cavity at its radial center. Distal to the first part 882 is a second part 884, which is a cylindrical part having an internal cylindrical cavity. Distal to the second part 884 is a third part 886, which is a cylindrical part having an external thread 890 and an internal cylindrical cavity. Distal to the third part 886 is a fourth part 888, which is an extension from the third part 886. In one embodiment, the outer diameter of the second part 884 is larger than the outer diameter of the first part 882. In one embodiment, the outer diameter of the second part 884 is the same as the outer diameter of the first part 882. In one embodiment, the outer diameter of the second part 884 is smaller than the outer diameter of the first part 882. In one embodiment, the fourth part 888 is a rhythm-shaped extension having a rectangular (elongated or square) cross-section perpendicular to the longitudinal axis. In one embodiment, the fourth part 888 is a prism-shaped extension having a non-rectangular cross-section perpendicular to the longitudinal axis. In one embodiment, the fourth part 888 is a non-prismatic extension having a non-rectangular cross-section perpendicular to the longitudinal axis.

[0313] The outer member 876 is a single integral member consisting of two parts and has a longitudinal slit 877 that extends from its outer surface to its radial center. Starting at the most proximal side, the first part 896 is a cylindrical cup part that has an internal thread (female thread) 892 at its proximal part and an internal cylindrical cavity at its distal part. The internal thread 892 meshes with the external thread 890 of the inner member 870. The cylindrical cavity at the distal part of the first part 896 receives the collar 874. The second part 898 of the outer member 876 is a cylindrical part that has an internal cavity at its radial center.

[0314] Referring to FIGS. 11C, 11D, and 11E, the collar 874 is a cylindrical part that has a distal part with a closed end, a proximal part with an internal cavity, and a keyway pocket 875 removed from its outer peripheral surface over its entire length. In one embodiment, the collar 874 has a closed end with a planar outer circular surface perpendicular to the longitudinal axis and an internal cavity. In one embodiment, the collar 874 has a closed end with an arcuate edge with respect to the outer circular surface perpendicular to the longitudinal axis and an internal cavity. In one embodiment, the closed end of the collar 874 has a lip or flange extending from the outer circular surface perpendicular to the longitudinal axis and an internal cavity. In one embodiment, the internal cavity of the collar 874 is centered with respect to the central longitudinal axis of the plane of its outer diameter. In one embodiment, the internal cavity of the collar 874 is not centered with respect to the central longitudinal axis of the plane of its outer diameter. In one embodiment, the internal cavity of the collar 874 has a rectangular shape. In one embodiment, the internal cavity of the collar 874 has a cylindrical shape. In one embodiment, the internal cavity of the collar 874 does not have a rectangular or cylindrical shape. In one embodiment, the internal cavity of the collar 874 has a corner pocket or well for receiving the distal end of the bend 872.

[0315] Color 874 has longitudinal slits 894, which include radial slits that pass through the color circumferential wall and reach its center. In one embodiment, the slits 894 have a plurality of parallel walls. In one embodiment, the slits 894 have a plurality of non-parallel walls, for example, V-shaped walls whose vertices point towards the radial center. In one embodiment, the slits 894 have chamfers drawn on the outer surface. In one embodiment, the slits 894 do not have chamfers on the outer surface.

[0316] In one embodiment, the extension 888 of the inner member 870 positions the color 874 at the distal portion of the internal cavity of the outer member 876. The extension 888 functions as a mechanical key to ensure that the color 874 rotates with the inner member 870, so that the ends of the bending (curved) portion 872 are compressed longitudinally together and are not exposed to relative rotation or torque. In other words, the plurality of ends of the curved portion 872 can translate relative to each other and do not rotate relative to each other. The extension 888 is rotationally constrained by a pocket 875 in the color 874, which acts as a keyway and moves freely longitudinally when the inner member 870 is rotated relative to the outer member 868.

[0317] Referring to FIGS. 11A and 11C, in one embodiment, the proximal portion of the internal cavity of the inner member 870 has a corner pocket or hole (well) for receiving the proximal end of the bending portion 872. The bending portion 872 is a rectangular prism and has a length along the axial direction that is longer than either its width or height on a plane perpendicular to the axial direction. In one embodiment, the bending portion 872 is a rectangular prism and its width and height are the same on a plane perpendicular to the axial direction. This means that the bending portion 872 has a square cross-section. In one embodiment, the bending portion 872 is a rectangular prism and its width is larger than its height on a plane perpendicular to the axial direction. This means that the bending portion 872 has a rectangular cross-section and its width is larger than its height. In one embodiment, the bending portion 872 is a rectangular prism and its width is smaller than its height on a plane perpendicular to the axial direction. This means that the bending portion 872 has a rectangular cross-section and its height is larger than its width. In one embodiment, the bending portion 872 is a rectangular prism and has a sharp end. In one embodiment, the bending portion 872 is a rectangular prism and has a rounded end. In one embodiment, the bending portion 872 is a substantially rectangular prism. In one embodiment, the bending portion 872 is made of a flexible material (compliant material) such as moldable plastic or acrylic. The bending portion 872 has elastic bending characteristics that are a function of its geometric shape (length, width, and height) and its material properties (mainly its elastic modulus).

[0318] Operationally, pinching the EMD878 is achieved by rotating the inner member 870 relative to the outer member 876 in the longitudinal axis direction such that the outer screw (thread) 890 and the inner screw 892 are screwed together integrally. Therefore, the curved portion 872 can be made flexible or bendable (having a small radius of curvature), and using the outer surface 873 of the curved portion 872 (the longitudinal axis center of the curved portion and its vicinity), it becomes possible to pinch the EMD878 against the inner surface 880 of the inner member 870. The longitudinal distance between the two ends of the curved portion 872 is determined by the rotation of the inner member 870 relative to the outer member 876 and can be used to vary the amount of curvature (bending). When the longitudinal distance between the two ends of the curved portion 872 decreases, the deflection or bending of the curved portion increases, giving the curved portion a smaller radius of curvature and a larger lateral distance, which is determined by the distance perpendicular to the longitudinal axis at the longitudinal axis center of the curved portion between the outer surface 873 of the non-curved curved portion and the outer surface 873 of the curved curved portion 872. Since the lateral distance is restricted by the internal cavity, the EMD878 is captured between the outer surface 873 of the curved portion 872 and the inner surface 880 of the inner member 870.

[0319] Operationally, releasing the pinch on the EMD878 (not pinching) is achieved by rotating the inner member 870 relative to the outer member 876 in the longitudinal axis direction so as not to thread the outer screw (thread) 890 and the inner screw 892 together. Therefore, the curved portion 872 can be made not to bend or flex (to have a large radius of curvature), and the outer surface 873 of the curved portion 872 enables releasing the pinch on the EMD878 from the inner surface 880 of the inner member 870. The longitudinal distance between the two ends of the curved portion 872 is determined by the rotation of the inner member 870 relative to the outer member 876 and can be used to vary the amount of curvature (flexure). As the longitudinal distance between the two ends of the curved portion 872 increases, the flexure or bend of the curved portion decreases, giving the curved portion a larger radius of curvature and a smaller lateral distance, which is determined by the distance perpendicular to the longitudinal axis at the longitudinal axis center of the curved portion between the outer surface 873 of the non - curved curved portion and the outer surface 873 of the curved curved portion 872. In the pinch - release configuration, the lateral distance between the outer surface 873 of the curved portion 872 and the inner surface 880 of the inner member 870 is greater than the diameter of the EMD878, so the EMD878 is free.

[0320] In one embodiment, when in the pinch configuration, the inner surface 880 of the inner member 870 that receives the curved portion 872 when capturing the EMD878 is concave, for example, having a smaller contour relative to the contour of the outer surface 873 of the curved bend portion 872. This can increase the surface area in contact with the EMD878 and, by moving it away from the center of the rotation axis, increase the resistive torque on the EMD878. In one embodiment, the inner surface 880 of the inner member 870 that receives the curved portion 872 when capturing the EMD878 in the pinch configuration is flat.

[0321] In one embodiment, the inner member 870 is made of one material, such as a moldable plastic. In one embodiment, the inner member 870 is composed of a number of materials greater than one. For example, in one embodiment, the inner surface 880 of the inner member 870 that receives the curved portion 872 when capturing the EMD878 during the pinch configuration has an elastomeric backing or coating on the moldable plastic inner member 870.

[0322] In one embodiment, the curved portion 872 is made of one material, such as a moldable plastic. In one embodiment, the curved portion 872 is composed of a number of materials greater than one. For example, in one embodiment, the curved portion 872 has an elastomeric backing or coating on the moldable plastic inner portion.

[0323] In one embodiment of the collet 868, a single curved portion 872 is used. In one embodiment of the collet 868, a number of curved portions 872 greater than one are used. For example, two curved portions oriented 180 degrees apart with respect to the central longitudinal axis may be used to pinch or unpinch the EMD878, in which case it can be based on the relative rotation of the inner member 870 and the outer member 876 using the technical idea described herein.

[0324] The slit 871 within the inner member 870 of the collet 868, in the initial configuration, aligns with the slit 877 within the outer member 876 to enable lateral or radial loading of the EMD as described herein.

[0325] Referring to FIG. 15A, a flexible bellows collet drive system 1150 that enables rotation, movement, and pinching of the EMD 1154 includes a device retainer 1152, a drive block set 1156, and a retaining block set 1158. The device retainer 1152 is a device support and includes a longitudinal portion of a flexible bellows 1160 disposed between the drive block set 1156 and the retaining block set 1158. The flexible bellows 1160 is a device support that enables movement between the drive block set 1156 and the retaining block set 1158. In one embodiment, the drive block set 1156 is located on the distal side of the flexible bellows 1160, and the retaining block set 1158 is located on the proximal side of the flexible bellows 1160. In one embodiment, the drive block set 1156 is located on the proximal side of the flexible bellows 1160, and the retaining block set 1158 is located on the distal side of the flexible bellows 1160. In one embodiment, the device retainer 1152 includes a distal taper portion 1162, a distal uniform portion 1164, a proximal uniform portion 1166, and a proximal taper portion 1168. In one embodiment, the device retainer 1152 includes a distal uniform portion 1164 and a proximal uniform portion 1166 and does not have a distal taper section 1162 and a proximal taper section 1168.

[0326] Referring to FIG. 15A, the flexible bellows collet drive system 1150 includes a drive system (not shown) that longitudinally moves (advances and retracts) the drive block set 1156 relative to the retaining block set 1158.

[0327] Referring to FIG. 15B, the drive block set 1156 is shown in an open configuration, where there is no contact between the drive block set 1156 and the device retainer 1152. In one embodiment, the drive block set 1156 includes a first drive block assembly 1170 and a second drive block assembly 1172. In one embodiment, the drive block set 1156 includes the first drive block assembly 1170 but does not include the second drive block assembly 1172. In one embodiment, the configuration of the first block assembly 1170 is the same as the configuration of the second drive block assembly 1172. In one embodiment, the configuration of the first block assembly 1170 is not the same as the configuration of the second drive block assembly 1172.

[0328] The first drive block assembly 1170 includes a first spur gear 1174, a first spur gear pin 1176, and a first drive block retainer 1178. In one embodiment, the first spur gear 1174 rotates about the first spur gear pin 1176, which is held within the side wall of the first drive block retainer 1178. In one embodiment, the first spur gear 1174 is integrally connected to the first spur gear pin 1176 in the middle of its length, and the ends of the first spur gear pin 1176 on both sides of the first spur gear 1174 are supported in holes and operate as rotary bearings within the outer wall of the first drive block retainer 1178. In one embodiment, the first spur gear 1174 is integrally connected to the first spur gear pin 1176 in the middle of its length, and the ends of the first spur gear pin 1176 on both sides of the first spur gear 1174 are supported by rotary bearings attached to the outer wall of the first drive block retainer 1178. In one embodiment, the first drive block retainer 1178 includes a first drive block notch 1180, which exposes a part of the teeth 1182 of the first spur gear of the first spur gear 1174. In one embodiment, the first drive block notch 1180 has a semi-circular convex cross-section on a plane transverse to the longitudinal axis.

[0329] The second drive block assembly 1172 includes a second spur gear 1184, a second spur gear pin 1186, and a second drive block retainer 1188. In one embodiment, the second spur gear 1184 rotates about a second spur gear pin 1186 held within the sidewall of the second drive block retainer 1188. In one embodiment, the second spur gear 1184 is integrally connected to the second spur gear pin 1186 midway along its length, and the ends of the second spur gear pin 1186 on both sides of the second spur gear 1184 are supported within holes and operate as rotary bearings within the outer wall of the second drive block retainer 1188. In one embodiment, the second spur gear 1184 is integrally connected to the second spur gear pin 1186 midway along its length, and the ends of the second spur gear pin 1186 on both sides of the second spur gear 1184 are supported by rotary bearings attached to the outer wall of the second drive block retainer 1188. In one embodiment, the second drive block retainer 1188 includes a second drive block notch 1190 that exposes a portion of the second spur gear teeth 1192 of the second spur gear 1184. In one embodiment, the second drive block notch 1190 has a semi-circular convex cross-section on a plane transverse to the longitudinal axis.

[0330] The first spur gear 1174 is driven by a first spur gear drive system (not shown) to rotate the first spur gear 1174 in a clockwise direction or a counterclockwise direction, or to prevent the first spur gear 1174 from rotating. The second spur gear 1184 is driven by a second spur gear drive system (not shown) to rotate the second spur gear 1184 in a clockwise direction or a counterclockwise direction, or to prevent the second spur gear 1184 from rotating. In one embodiment, the first spur gear drive system, the second spur gear drive system, and the movement drive system are included in an integrated movement-rotation drive system (not shown) and may perform the rotation of the first spur gear 1174, the rotation of the second spur gear 1184, and the movement of the drive block set 1156 simultaneously. In one embodiment, the first spur gear drive system, the second spur gear drive system, and the drive system are included in an integrated movement-rotation drive system (not shown) and may perform the rotation of the first spur gear 1174, the rotation of the second spur gear 1184, and the movement of the drive block set 1156 in sequence.

[0331] Referring to FIG. 15B, the device retainer 1152 includes a gear mechanism 1194, which is a longitudinal section and has external spur gear teeth, the latter being sized to mesh with the teeth of the first spur gear 1174 and the teeth of the second spur gear 1184 and being oriented along the longitudinal axis of the device retainer 1152. The gear mechanism 1194 is located proximal to the distal uniform portion 1164 and distal to the flexible bellows 1160. The length of the gear mechanism 1194 is greater than the width of the first spur gear 1174 or the width of the second spur gear 1184. In one embodiment, the length of the gear mechanism 1194 is 10 times the width of the first spur gear 1174 or the width of the second spur gear 1184. In one embodiment, the length of the gear mechanism 1194 is less than 10 times the width of the first spur gear 1174 or the width of the second spur gear 1184. In one embodiment, the length of the gear mechanism 1194 is greater than 10 times the width of the first spur gear 1174 or the width of the second spur gear 1184. In one embodiment, the spur gear teeth of the gear mechanism 1194 are formed within a portion of the device retainer 1152.

[0332] In one embodiment, the device retainer 1152 includes a distal drive collar 1196 and a proximal drive collar 1198. The distal drive collar 1196 is located on the distal side of the gear mechanism 1194 and on the proximal side of the distal uniform portion 1164. The proximal drive collar 1198 is located on the proximal side of the gear mechanism 1194 and on the distal side of the flexible bellows 1160. The distal drive collar 1196 and the proximal drive collar 1198 are longitudinal sections and have a flange or lip that extends outward from the device retainer 1152. In one embodiment, the device retainer 1152 includes a first intermediate uniform portion 1200, which is located on the distal side of the flexible bellows 1160 and on the proximal side of the proximal drive collar 1198.

[0333] Referring to FIGS. 15B and 15D, in the open configuration of the device retainer 1152, an opening 1202 to the central channel 1204 is provided for the EMD 1154. In one embodiment, the cross-section of the opening 1202 is a sector (a part of a circle) obtained by removing the circular cross-section of the device retainer 1152 so as to expose the first surface 1206 and the second surface 1208. In one embodiment, the cross-section of the central channel 1204 is a circular pocket that is opened so as to seat or hold the EMD 1154. In one embodiment, the center of the central channel 1204 is aligned with the center of the device retainer 1152.

[0334] Referring to FIG. 15C, the drive block set 1156 is shown in a closed configuration, in which the first drive block assembly 1170 and the second drive block assembly 1172 move toward each other in the direction of the central axis of the device retainer, and as a result, the exposed teeth 1182 of the first spur gear 1174 mesh with the teeth of the gear mechanism 1194, and the exposed teeth 1192 of the second spur gear 1184 mesh with the teeth of the gear mechanism 1194. In the closed configuration, a part of the outer distal wall of the first drive block retainer 1178 and a part of the outer distal wall of the second drive block retainer 1188 contact or approach the distal drive collar 1196 to prevent the distal movement of the first drive block assembly 1170 and the second drive block assembly 1172 relative to the device retainer 1152. In the closed configuration, the parts of the outer proximal wall of the first drive block retainer 1178 and the parts of the outer proximal wall of the second drive block retainer 1188 contact or are close to the proximal drive collar 1198 to prevent the proximal movement of the first drive block assembly 1170 and the second drive block assembly 1172 relative to the device retainer 1152. Thus, in the closed configuration, the drive block set 1156 constrained by the distal drive collar 1196 and the proximal drive collar 1198 acts in a thrust bearing manner to enable the rotational movement of the device retainer 1152 and prevent the movement of the device retainer 1152 relative to the drive block set 1156. In other words, if there is no movement of the drive block set 1156, there is no movement of the device retainer 1152. If there is movement of the drive block set 1156 (such as advancing and retreating along the longitudinal direction), there is a corresponding movement of the device retainer 1152 as well.

[0335] Referring to FIGS. 15C and 15E, in the closed configuration of the device retainer 1152, the first surface 1206 and the second surface 1208 face each other and meet at a closed seam 1210, and the central channel 1204 surrounds and pinches around the EMD 1154. Thus, in the closed configuration, the EMD 1154 is pressed by the wall of the central cavity 1204 of the device retainer 1152 and cannot move relative to the device retainer 1152. In other words, if there is no movement of the device retainer 1152, there is no movement of the EMD 1154. If there is movement of the device retainer 1152 (such as moving forward and backward along the longitudinal direction), there is a corresponding similar movement of the EMD 1154. Therefore, if there is no movement of the drive block set 1156, there is no movement of the EMD 1154. If there is movement of the drive block set 1156 (such as moving forward and backward along the longitudinal direction), there is a corresponding similar movement of the EMD 1154.

[0336] The drive block set 1156 includes a drive block opening and closing operation system (not shown), which can move the first drive block assembly 1170 and the second drive block assembly 1172 in a direction transverse to the longitudinal axis, toward and away from the device retainer 1152. Referring to FIG. 15B, the drive block opening and closing operation system moves the first drive block assembly 1170 and the second drive block assembly 1172 to the open configuration position. Referring to FIG. 15C, the drive block opening and closing operation system moves the first drive block assembly 1170 and the second drive block assembly 1172 to the closed configuration position. In one embodiment, the drive block opening and closing operation system smoothly transitions the first drive block assembly 1170 and the second drive block assembly 1172 from the open configuration to the closed configuration, or from the closed configuration to the open configuration. In one embodiment, the drive block opening and closing operation system discretely (discontinuously) positions the first drive block assembly 1170 and the second drive block assembly 1172 to the open configuration or the closed configuration.

[0337] Referring to FIG. 15F, the retaining block set 1158 is shown in an open configuration, where there is no contact between the first retaining block 1212 and the device retainer 1152 and no contact between the second retaining block 1214 and the device retainer 1152. In one embodiment, the retaining block set 1158 includes the first retaining block 1212 and the second retaining block 1214. In one embodiment, the retaining block set 1158 includes the first retaining block 1212 but does not include the second retaining block 1214. In one embodiment, the configuration of the first retaining block 1212 is the same as the configuration of the second retaining block 1214. In one embodiment, the configuration of the first retaining block 1212 is not the same as the configuration of the second retaining block 1214.

[0338] In one embodiment, the first retaining block 1212 includes a first retaining block notch 1216, and the second retaining block 1214 includes a second retaining block notch 1218. In one embodiment, the first retaining block notch 1216 and the second retaining block notch 1218 each have a semi-circular convex cross-section on a plane transverse to the longitudinal axis.

[0339] In one embodiment, the device retainer 1152 includes a distal retaining collar 1220 and a proximal retaining collar 1222. The distal retaining collar 1220 is proximal to the flexible bellows 1160 and is located distally of the uniform retaining portion 1224, which is a longitudinal portion of the device retainer 1152 and has a uniform cross-section perpendicular to the longitudinal direction. The proximal retaining collar 1222 is distal to the proximal uniform portion 1166 and is located distally of the uniform retaining portion 1224. The distal retaining collar 1220 and the proximal retaining collar 1222 are longitudinal portions and have a flange or lip extending outwardly from the device retainer 1152. In one embodiment, the device retainer 1152 includes a second intermediate uniform portion 1226, which is proximal to the flexible bellows 1160 and is located distally of the distal retaining collar 1220. The device retainer 1152 functions as a buckling prevention support to allow the collet to be longer than the buckling (twisting) distance of the device.

[0340] Referring to FIG. 15G, the retention block set 1158 is shown in an intermediate configuration, in which the first retention block 1212 and the second retention block 1214 are moving toward each other in the direction of the central axis of the device retainer 1152. In the intermediate configuration, a part of the outer distal wall of the first retention block 1212 and a part of the outer distal wall of the second retention block 1214 contact or are close to the distal retention collar 1220 to prevent distal movement of the retention block set 1158 relative to the device retainer 1152. In the intermediate configuration, a part of the outer proximal wall of the first retention block 1212 and a part of the outer proximal wall of the second retention block 1214 contact or are close to the proximal retention collar 1222 to prevent proximal movement of the retention block set 1158 relative to the device retainer 1152. Thus, in the intermediate configuration, the retention block set 1158 is constrained by the distal retention collar 1220 and the proximal retention collar 1222 to act as a thrust bearing, enabling rotation of the device retainer 1152 and preventing movement of the device retainer 1152 relative to the retention block set 1158. In the intermediate configuration, the retention block set 1158 is restricted from movement so that the EMD 1154 is not fully pinched.

[0341] Referring to FIG. 15H, the retention block set 1158 is shown in a closed configuration, where the first retention block 1212 and the second retention block 1214 are moving towards each other in the direction of the central axis of the device retainer 1152. In the closed configuration, a portion of the outer distal wall of the first retention block 1212 and a portion of the outer distal wall of the second retention block 1214 contact or are proximate to the distal retention collar 1220, preventing distal movement of the retention block set 1158 relative to the device retainer 1152. In the closed configuration, a portion of the outer proximal wall of the first retention block 1212 and a portion of the outer proximal wall of the second retention block 1214 contact or are proximate to the proximal retention collar 1222, preventing proximal movement of the retention block set 1158 relative to the device retainer 1152. Thus, in the closed configuration, the retention block set 1158 constrained by the distal retention collar 1220 and the proximal retention collar 1222 acts as a thrust bearing, allowing rotation of the device retainer 1152 and preventing movement of the device retainer 1152 relative to the retention block set 1158. In the closed configuration, the retention block set 1158 is constrained from movement and the EMD 1154 is fully pinched.

[0342] The retention block set 1158 includes a retention block actuation system (not shown), which enables the first retention block 1212 and the second retention block 1214 to move laterally with respect to the longitudinal axis, both towards and away from the device retainer 1152. Referring to FIG. 15F, the retention block actuation system is moving the first retention block 1212 and the second retention block 1214 to the open configuration position. Referring to FIG. 15G, the retention block actuation system is moving the first retention block 1212 and the second retention block 1214 to the intermediate configuration position. Referring to FIG. 15H, the retention block actuation system is moving the first retention block 1212 and the second retention block 1214 to the closed configuration position. In one embodiment, the retention block actuation system smoothly transitions the first retention block 1212 and the second retention block 1214 from the open configuration to the intermediate configuration, and from the intermediate configuration to the closed configuration, and also smoothly transitions them from the closed configuration to the intermediate configuration, and from the intermediate configuration to the open configuration. In one embodiment, the retention block actuation system discretely positions the first retention block 1212 and the second retention block 1214 in the open configuration, the intermediate configuration, or the closed configuration.

[0343] Referring to FIGS. 16A and 16B, a compression collet system 1240 includes a plunger 1242, a donut (donut-shaped portion) 1244, and a receiver (receiving portion) 1246. In one embodiment, the plunger 1242 is a rigid straight cylinder having a central cavity 1248 and a longitudinal axis of the cylinder, and the axial direction of the cavity is aligned with the EMD longitudinal axis 1250. In one embodiment, the cavity 1248 has a circular cross-section on a plane transverse to the EMD longitudinal axis 1250, with the cavity diameter being larger than the outer diameter of the EMD 1252. The donut 1244 is a ring torus (annulus) formed from a flexible material. In one embodiment, the donut 1244 is an O-shaped ring. In one embodiment, the donut 1244 is composed of an elastic material. In its stationary state, i.e., its unloaded state, the inner hole 1254 of the donut 1244 has a hole diameter larger than the outer diameter of the EMD 1252. The receiver 1246 is a rigid receptacle including a well (hole) 1256 and an internal cavity 1258 that aligns with the EMD longitudinal axis 1250, with the diameter of the cavity being larger than the outer diameter of the EMD 1252. In one embodiment, the receiver 1246 is a rectangular prism having a well 1256 on one face, the opening of which has the shape of a straight cylinder. In one embodiment, the well 1256 has straight walls. In one embodiment, the well 1256 has conical walls and is tapered within the well.

[0344] Referring to FIGS. 16C and 16D, a plunger actuation system (not shown) moves the plunger 1242 along the EMD longitudinal axis 1250 relative to the receiver 1246 and applies a plunger force 1260.

[0345] Referring to FIG. 16C, the compression collet system 1240 is shown in an unloaded configuration, where the plunger 1242 is not pressed against the donut 1244 in the well 1256, i.e., no plunger force 1260 is applied thereto. The donut 1244 is in its rest state and not deformed, and the EMD 1252 is free to move relative to the receiver 1246. (As shown in FIG. 16C, the donut has a circular cross-section in the toroidal plane.)

[0346] Referring to FIG. 16D, the compression collet system 1240 is shown in a loaded configuration, where the plunger 1242 presses the donut 1244 in the well 1256 by the plunger force 1260. As a result, the donut 1244 is compressed and deformed (e.g., as shown in FIG. 16D, the donut 1244 is deformed from a circular cross-section to an elliptical cross-section on the toroidal plane). In its deformed state, a part of the wall 1262 of the deformed surface of the donut hole 1254 pinches around the EMD 1252. As a result, the EMD 1252 cannot move freely relative to the receiver 1246.

[0347] In one embodiment, a rotational drive system (not shown) rotates the compression collet system 1240 (clockwise and counterclockwise) about the longitudinal axis 1250 of the EMD 1252. In one embodiment, a translational drive system (not shown) translates (advances and retracts) the compression collet system 1240 along the longitudinal axis 1250 of the EMD 1252.

[0348] In one embodiment, the compression collet system 1240 includes a slit (not shown) to enable lateral or radial loading of the EMD 1252.

[0349] In one embodiment, the collet can include a collet first member and a collet second member, which, when moving relative to each other, perform pinching and unpinching of the EMD. In one embodiment, the collet first member and the collet second member can be formed as a single part, and in this case, the collet first member and the collet second member may be compliantly connected (flexible connection). By way of one non-limiting example, the collet first member and the collet second member may be connected by an integrally molded hinge and made movable relative to each other by an accordion portion of a flexible portion.

[0350] Referring to FIGS. 22A-22X, the drive mechanism 210 is a device that actuates the tire and robotically controls the movement of the EMD. In one embodiment, the drive mechanism has a pair of tires that pinch the EMD therebetween. In one embodiment, to increase the grip of the EMD, it is provided to operate a plurality of pairs of tires integrally, for example, four pairs, but not limited to that number. When the plurality of tires rotate about their longitudinal axes, they linearly move the EMD along its longitudinal axis, and when the plurality of tires move axially in opposite directions, they drive the rotating EMD about its longitudinal axis. As described herein, the drive mechanism 210 includes three integrated mechanisms for rotating the tires, moving the tires axially, and performing pinching and unpinching of the tires. Additionally, in one embodiment, the clamping mechanism operates to perform clamping and unclamping of a portion of the EMD away from the pair of tires.

[0351] Referring to FIG. 22A, the robot drive system includes a drive module 210, which uses at least a pair of tire assemblies 222 and 224 to rotate the EMD 208 about its longitudinal axis, move the EMD 208 along its longitudinal axis, and reset the tire assemblies during operation of the EMD 208. The drive module 210 is controlled by a control system. The drive module 210 includes a first actuator 240 that operably rotates the first shaft 272 and / or the second shaft 282. By a second actuator 244, the first shaft 272 is operably moved along its longitudinal axis relative to the second shaft 282 between a first p...

Claims

1. 1. An elongated medical device (EMD) drive system including an on-device adapter releasably secured to a shaft of the EMD, the on-device adapter is received within a cassette; the cassette is releasably secured to a drive module; and the drive module is operatively coupled to the on-device adapter to move the on-device adapter and the EMD together; EMD drive system.

2. The EMD drive system of claim 1 , wherein the on-device adapter is displaced and moved.

3. The EMD drive system of claim 2 , wherein the on-device adapter is moved rotationally about a longitudinal axis of the on-device adapter.

4. The EMD drive system of claim 3 , wherein the on-device adapter includes a collet.

5. 5. The EMD drive system of claim 4, wherein the collet includes a first member and a second member, the first member moving along and / or relative to a longitudinal axis of the second member to pinch the EMD.

6. 5. The EMD drive system of claim 4, wherein the on-device adapter includes an engagement portion that engages and is driven by a drive member in the cassette to rotate the on-device adapter.

7. The EMD drive system of claim 6 , wherein the on-device adapter includes a surface that is supported by a bearing member within the cassette.

8. 8. The EMD drive system of claim 7, wherein the on-device adapter includes a thrust bearing surface that prevents the on-device adapter from displacing and moving relative to portions of the cassette.

9. The EMD actuation system of claim 6 , wherein the on-device adapter includes a luer connector.

10. The EMD drive system of claim 2 , wherein the on-device adapter includes a quick clamp that releasably engages a collet.

11. The EMD drive system of claim 10 , wherein the quick clamp quickly connects and / or releases the collet.

12. The EMD drive system of claim 10 , wherein the quick clamp releasably engages the collet without tools.

13. 11. The EMD drive system of claim 10, wherein the quick clamp includes a lever movable from a first position to a second position, the lever clamping the collet in the first position and unclamping the collet in the second position.

14. The EMD drive system of claim 4 , wherein the EMD is radially releasably received within the collet, and the collet is releasably received and disposed within the cassette.

15. The EMD drive system of claim 4 , wherein the EMD is releasably axially received within the collet, and the collet is releasably received within the cassette.

16. The EMD drive system of claim 4 , wherein the EMD is radially releasably received within the collet, and the collet is non-releasably positioned within the cassette.

17. The EMD drive system of claim 4 , wherein the EMD is axially releasably received within the collet, and the collet is non-releasably disposed within the cassette.

18. the drive module includes an actuator operably coupled to a drive coupler; a drive member within the cassette operatively coupled to the drive coupler; The drive module is operably coupled to a rail or linear member, and the rail a second actuator for moving the drive module along The EMD drive system of claim 1 .

19. The EMD drive system of claim 1 , wherein the EMD is a guide wire.

20. 2. The EMD drive system of claim 1, wherein the EMD is a catheter having a hub at a proximal end of the catheter and a shaft extending from the hub toward a distal portion of the catheter, the shaft being more flexible than the hub.

21. a collet having a first portion and a second portion, the first portion connecting with a first collet connector and the second portion connecting with a second collet connector; an EMD releasably positioned within a path defined by said collet; a robot drive having a base including a first motor and a second motor, the first motor and the second motor being operatively coupled to both the first collet coupler and the second collet coupler in series to operatively pinch and unclip the EMD within the path and rotate the EMD, respectively; A robot system comprising:

22. 22. The robotic system of claim 21, wherein the first motor and the second motor rotate the first collet coupler and the second collet coupler at different speeds and / or in different directions.

23. 22. The robot system of claim 21, further comprising a cassette releasably secured to the base, the collet being disposed within the cassette, and the first collet coupler and the second collet coupler being coupled to the first motor and the second motor, respectively, via first drive coupler and second drive coupler disposed within the base.

24. 22. The robotic system of claim 21, wherein the EMD does not rotate when the EMD is pinched or unpinched.

25. 22. The robotic system of claim 21, further comprising a third motor operatively coupled to the collet to move the collet and the EMD along a longitudinal axis of the collet.

26. 26. The robotic system of claim 25, wherein the first motor and the second motor are fixed relative to the base during movement of the collet and the EMD.

27. 27. The robotic system of claim 26, wherein the collet includes a first gear and a second gear that remain engaged with the first motor and the second motor during movement of the collet.

28. 26. The robotic system of claim 25, wherein the first motor and the second motor are fixed relative to the collet during movement of the collet and the EMD.

29. 22. The robotic system of claim 21, wherein the robotic system has a pinch / unpinch mode, a rotation mode, and a translation mode.

30. 30. The robotic system of claim 29, wherein at least two of the pinch / unpinch mode, the rotation mode, and the translation mode occur simultaneously.

31. 31. The robotic system of claim 30, further comprising a clamp for selectively clamping and unclamping the EMD, wherein during an exchange mode, the clamp is in an unclamped position and the collet is in an unclamped state.

32. 32. The robotic system of claim 31, wherein the clamp comprises a pair of tires.

33. an inner member defining a passage for receiving the EMD; An outer member; The inner member releasably engages the EMD when the inner member is moved relative to the outer member. A plurality of engaging members; Including, Colette.

34. The collet of claim 33, wherein the engagement members sequentially engage the EMD.

35. 34. The collet of claim 33, wherein the engagement member is circumferentially offset with respect to the EMD.

36. 34. The collet of claim 33, wherein the engagement members are axially offset.

37. 33. The collet of claim 32, wherein the first engagement member is positioned 180 degrees from the second engagement member.

38. 34. The collet of claim 33, wherein the engagement members are independent and not directly connected to one another.

39. 34. The collet of claim 33, wherein the engagement member is biased toward the path by a spring member.

40. 34. The collet of claim 33, wherein the engagement member is biased away from the path by a spring member.

41. 34. The collet of claim 33, wherein the movement of the inner member relative to the outer member is rotational.

42. 34. The collet of claim 33, wherein the movement of the inner member relative to the outer member is translation.

43. 34. The collet of claim 33, wherein movement of the inner and outer members relative to one another is accomplished robotically.

44. 34. The collet of claim 33, wherein movement of the inner and outer members relative to one another is effected manually.

45. 34. The collet of claim 33, wherein the engagement member is radially offset with respect to the EMD.

46. 1. An EMD drive system including a collet and a collet engagement member, the collet includes a collet first member having a first engagement portion; the collet includes a driven collet second member; The collet engagement member has a second engagement portion, the collet first member and the collet engagement member move between an engaged position and a disengaged position; when the collet first member and the collet engagement member move along a longitudinal axis of the collet toward the engaged position, the first engagement portion engages the second engagement portion; in the engaged position, rotation of the collet first member relative to the collet second member in a first direction pinches the EMD within the collet, and rotation of the collet first member relative to the collet second member in a second direction opposite the first direction pinches the EMD within the collet. EMD drive system.

47. 47. The EMD drive system of claim 46, wherein the first engagement portion includes a plurality of splines extending circumferentially around at least a portion of the collet first member, and the second engagement portion includes a plurality of members operably engaging with the plurality of splines.

48. An EMD robot drive system for rotating and moving an EMD using a reset command, the system including a drive module controlled by a control system; The drive module includes: a first actuator operatively rotating the first axis and / or the second axis; a second actuator operatively moving the first shaft along its longitudinal axis relative to the second shaft from a first position to a second position; a first tire assembly operably attached to the first shaft; a second tire assembly operably attached to the second shaft; and a third actuator operatively moving the first tire assembly toward or away from the second tire assembly, thereby gripping and ungrip- ing an EMD, the EMD having a longitudinal axis between the first tire assembly and the second tire assembly; a movement of the first axis relative to the second axis to rotate the EMD relative to the longitudinal axis of the EMD, and a rotation of the first axis and / or the second axis to move the EMD relative to the longitudinal axis of the EMD; The control system provides the reset command to: The third actuator causes the EMD to ungrip; the second actuator moves the first tire assembly to a reset position relative to the second tire assembly; and The third actuator grips the EMD. EMD robot drive system.

49. 49. The EMD robot drive system of claim 48, wherein the control system provides the reset command when the second position reaches a predetermined distance from the first position.

50. 49. The EMD robot drive system of claim 48 including an input device operatively providing an input device command to rotate the EMD, the control system providing the reset command as a function of the input device command.

51. 51. The EMD robotic drive system of claim 50, wherein the input device command includes a direction of rotation of the EMD.

52. 51. The EMD robotic drive system of claim 50, wherein the input device instructions include a duration of inactivity of a previous input device.

53. 49. The EMD robot drive system of claim 48, further comprising an eccentric seal assembly between one of the first shaft and the second shaft and a base, operatively sealing the first shaft or the second shaft from the base as the first shaft or the second shaft moves away from or towards the other of the first shaft and the second shaft.

54. 49. The EMD robotic drive system of claim 48, further comprising a holding clamp for releasably clamping a portion of the EMD away from the first and second tire assemblies along the longitudinal axis of the EMD.

55. 1. An EMD robot drive system including a drive module, The drive module includes: a first actuator operatively rotating the first axis and / or the second axis; a second actuator operatively moving the first shaft along its longitudinal axis relative to the second shaft from a first position to a second position; a first tire assembly releasably attached to the first shaft; a second tire assembly releasably attached to the second axle; and Including, positioning an EMD having a longitudinal axis at a first location between the first tire assembly and the second tire assembly, moving the EMD along its longitudinal axis between the first tire assembly and the second tire assembly by rotating the first axis, and rotating the EMD about its longitudinal axis by rotating the second axis; a third actuator for moving the first tire assembly toward or away from the second tire assembly to grip and ungrip the EMD between the first tire assembly and the second tire assembly; a retaining clamp for releasably clamping a portion of the EMD away from the first tire assembly and the second tire assembly along a longitudinal axis of the EMD. EMD robot drive system.

56. 56. The EMD robot drive system of claim 55, wherein the third actuator automatically moves the first axis away from the second axis, the second actuator automatically moves the first axis back to a reset position when the first axis reaches a predetermined distance from the first position, and the holding clamp automatically clamps the EMD when the first axis moves away from the second axis.

57. 57. The EMD robot drive system of claim 56, wherein the third actuator operatively moves the holding clamp between a clamped position and an unclamped position.

58. 1. An EMD robot drive system comprising: a first actuator operatively rotating the first axis and / or the second axis; a second actuator operatively moving the first shaft along its longitudinal axis relative to the second shaft from a first position to a second position; a first tire assembly operably attached to the first axle; a second tire assembly operably attached to the second axle; and a third actuator operatively moving the first tire assembly toward and away from the second tire assembly to grip and ungrip an EMD having a longitudinal axis from between the first tire assembly and the second tire assembly; and Including, movement of the first axis relative to the second axis rotates the EMD about its longitudinal axis, and rotation of the first axis and / or the second axis translates the EMD along its longitudinal axis; as the first shaft moves along its longitudinal axis away from a home position, the first actuator moves with the first shaft. EMD robot drive system.

59. 1. An EMD robot drive system comprising: a first actuator operatively rotating the first axis and / or the second axis; a second actuator operatively moving the first shaft along its longitudinal axis relative to the second shaft from a first position to a second position; a first bearing having a first longitudinal axis supporting the first shaft; a second bearing having a second longitudinal axis supporting the second shaft, the second bearing being non-parallel to the first longitudinal axis; a first tire assembly releasably mounted to the first shaft; a second tire assembly releasably mounted to the second shaft; a third actuator operatively moving the second tire assembly toward and away from the first tire assembly to grip and ungrip an EMD having a longitudinal axis between the first tire assembly and the second tire assembly; and An EMD robot drive system comprising:

60. 60. The EMD robot drive system of claim 59, wherein the first longitudinal axis of the first bearing and the second longitudinal axis of the second bearing intersect at an intersection point and form an acute angle at that point, with the first tire assembly and the second tire assembly being between the intersection point and the first bearing and the second bearing.

61. 60. The EMD robotic drive system of claim 58, wherein the first tire assembly and the second tire assembly include an outer surface having a conical shape.

62. 1. An EMD robot drive system comprising: a base having a first actuator; a cassette housing releasably connected to the base; a pair of tires in said cassette; a first actuator that moves a first axis and / or a second axis to extend pairs of tires on the first axis and the second axis, respectively, from the base into the cassette.

63. 63. The EMD robot drive system of claim 62, wherein the first actuator operatively disengages the pair of tires from the first shaft and / or the second shaft.

64. 63. The EMD robot drive system of claim 62, further comprising at least a second pair of tires.

65. 47. The EMD drive system of claim 46, wherein the collet first member and the collet second member are formed as a single piece, wherein the collet first member and the collet second member are compliantly connected.

66. 1. A method for robotically moving an EMD, comprising: Pinch the shaft of the EMD within the on-device adapter; releasably securing the on-device adapter within a cassette; releasably securing the cassette to a drive module; A method of robotically moving the on-device adapter and the EMD together to translate along and / or rotate about a longitudinal axis of the EMD.

67. 67. The method of claim 66, further comprising using an actuator to unclip an EMD within the on-device adapter when the on-device adapter is secured within the cassette.

68. 68. The method of claim 67, wherein the unpinching of the EMD is robotically controlled using an actuator.

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