Management of long, slender medical devices

Abstract

The present invention provides a device and method for robotically controlling the movement and operation of elongated medical devices. [Solution] An EMD drive system including an on-device adapter 112 that is removably fixed to the axis of an EMD 102. The on-device adapter is received in a cassette 66. The cassette is removably fixed to a drive module. The drive module is operably coupled to the on-device adapter to move the on-device adapter and the EMD together.

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 an apparatus and method for robotically controlling the movement and operation of an elongated medical device.

Background Art

[0003] In diagnosing and treating various vascular diseases, catheters and other elongated medical devices (EMDs) are sometimes used to minimize invasiveness during medical procedures. Examples of such vascular diseases include neurovascular interventional procedures (NVI) or neurointerventional surgeries, percutaneous coronary interventions (PCI), and peripheral vascular intervention procedures (PVI). These procedures typically involve guiding a guidewire through the vascular structure and advancing a catheter along the guidewire to perform treatment. Such catheter procedures begin with gaining access to an appropriate blood vessel, such as an artery or vein, using a standard percutaneous technique with an introducer sheath. Next, the sheath or guide catheter is advanced through the introducer sheath to its primary position on the diagnostic guidewire. The target location is, for example, the internal carotid artery in NVI, the coronary artery orifice in PCI, or the surface of the femoral artery in PVI. Next, a guidewire suitable for the vascular structure is guided through the sheath or guide catheter to the target location within the vascular structure. In certain situations, such as when the anatomical structure is winding, a support catheter or microcatheter may be inserted on the guidewire to assist in its guidance. The physician or operator may use an imaging system (e.g., a fluoroscopy) to obtain images (cine) with contrast injection, which can then be used as a roadmap to select a fixed frame and guide the guidewire or catheter to the target location (e.g., lesion). When the physician is navigating the guidewire or catheter, contrast-enhanced images can also be obtained to confirm whether the device is moving along the correct path to the target location.The physician uses (X-ray) fluoroscopy to observe the anatomical structure and manipulates the proximal end of the guidewire or catheter to orient its distal end to the anatomical location of the lesion or target within the appropriate conduit, while avoiding branching (going to a side branch) of the distal end.

[0004] Robotic catheter-based treatment systems have been developed to assist physicians in performing catheter-based procedures (e.g., NVI, PCI, and PVI). Examples of NVI procedures include coil embolization of aneurysms, fluid embolization of arteriovenous malformations, and mechanical thrombectomy of large vessel occlusion in acute ischemic stroke. In NVI procedures, physicians use robotic systems to control the manipulation of neurovascular guidewires or microcatheters to gain access to the target lesion, transport the treatment area, and restore normal blood flow. Access to the target is made possible by a sheath or guide catheter. However, in more distal areas, an intermediate catheter may be required to allow for appropriate support of the microcatheter or guidewire. The distal end of the guidewire may be guided into or through the lesion, depending on the type of lesion and the treatment to be performed. Also, to treat multiple aneurysms, a microcatheter may be advanced to the lesion, the guidewire may be removed, and multiple thrombus coils may be deployed within the aneurysm through the microcatheter to block blood flow into the aneurysm. Furthermore, to treat arteriovenous malformations, a fluid embolization may be injected into the malformed area via a microcatheter. Mechanical thrombosis to treat vascular occlusion can be achieved by aspiration and / or the use of a stent retriever. Depending on the location of the thrombus, aspiration is performed through an aspiration catheter or, in the case of smaller arteries, through a microcatheter. Once the aspiration catheter reaches the lesion, negative pressure may be applied to remove the coagulation (thrombus) through the catheter. Alternatively, the coagulation may be removed by placing a stent retriever through a microcatheter. Once the thrombus is integrated with the stent retriever, the thrombus is retrieved by drawing the stent retriever and microcatheter (or intermediate catheter) into the guide catheter.

[0005] In PCI, physicians may use a robotic system to manipulate a coronary artery guidewire to gain access to the lesion, transport the treatment area, and restore normal blood flow. This access is made possible by placing a guide catheter in the coronary artery orifice. The distal end of the guidewire is guided through the lesion, but if the anatomical structure is complex, a microcatheter may be used to properly support the guidewire. Blood flow is restored by delivering and deploying a stent or balloon to the lesion. The lesion may require preparation before stent placement, for example, by delivering a balloon for pre-dilation of the lesion or by performing an atherectomy, such as using a laser or rotational atherectomy catheter and a balloon on the guidewire. Diagnostic imaging and physiological measurements may also be performed using imaging catheters or fractional flow reserve (FFR) measurements to determine the appropriate treatment.

[0006] In PVI, physicians use robotic systems to restore blood flow using techniques similar to NVI. The distal end of the guidewire is guided through the lesion, and a microcatheter may be used to provide appropriate support for the guidewire against complex anatomical structures. Blood flow can be restored by delivering and deploying a stent or balloon to the lesion. As with PCI, lesion preparation and imaging can also be used.

[0007] When support is required at the distal end of a catheter or guidewire, for example, to guide it through a winding or calcified vascular system to reach a distal anatomical location or to traverse a hard lesion, an over-the-wire (OTW) catheter or coaxial system may be used. Because the guidewire extends along the entire length of the catheter, an OTW catheter has a lumen (cavity). This provides a relatively stable system as the guidewire 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-replacement catheters (see below). Typically, to remove or replace an OTW catheter while maintaining the position of the embedded (implanted) guidewire, the exposed length of the guidewire (outside the patient) must be longer than that of the OTW catheter. For example, a 300 cm guidewire is usually sufficient for this purpose. This is sometimes called a replacement-length guidewire. However, due to the length of this guidewire, two operators are required to remove or replace the OTW catheter. This becomes even more difficult in the case of triple coaxial catheters, known in the art as a triaxial system (the use of quadruple coaxial catheters is also known). Nevertheless, OTW systems are often used in NVI and PVI procedures due to their stability. On the other hand, rapid exchange (or monorail) catheters are often used in PCI procedures. The guidewire lumen of a rapid exchange catheter runs only in the distal portion of the catheter, and this is also called the monorail or rapid exchange (RX) section. When using an RX system, the operator operates the intervention devices parallel to each other (in contrast to the OTW system, where the devices are operated in a series configuration), and the exposed length of the guidewire only needs to be slightly longer than the RX section of the catheter. The length of the rapid exchange guidewire is usually 180cm-200cm. When shorter guidewires and monorails are used, the RX catheter can be replaced by a single operator.However, when support is required at a more distal position, the RX catheter is often unsuitable. [Overview of the project] [Means for solving the problem]

[0008] The EMD drive system is provided, which includes an EMD shaft and a removably fixed on-device adapter. The on-device adapter is housed in a cassette. The cassette is removably fixed to the drive module. The drive module is operably coupled to the on-device adapter, moving the on-device adapter and the EMD together.

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

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

[0011] In one embodiment, the robot system includes a collet, the latter having a first part and a second part, the first part having a first collet coupler connected thereto, and the second part having a second collet coupler connected thereto. The EMD is removably positioned within the path defined by the collet. The robot drive unit, including a base, includes a first motor and a second motor, each always operably coupled to both the first and second collet couplers, respectively, to operately 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, the inner member defining a path for receiving the EMD. When the inner member is moved relative to the outer member, a plurality of engaging members releasably engage the EMD.

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

[0014] In another embodiment, an EMD robot drive system that rotates and moves the EMD using a reset command includes a drive module controlled by a control system. The drive module includes: a first actuator that movably rotates a first axis and / or a second axis; a second actuator that movably moves the first axis from a first position to a second position relative to the second axis along its longitudinal axis; a first tire assembly movably attached to the first axis; a second tire assembly movably attached to the second axis; and a third actuator that movably moves the first tire assembly toward and away from the second tire assembly to perform gripping and ungripping (not gripping) of the EMD having a longitudinal axis between the first and second tire assemblies. The movement (translation) of the first axis relative to the second axis rotates the EMD with respect to its longitudinal axis, and the rotation of the first axis and / or the second axis moves (translates) the EMD along its longitudinal axis. The control system provides a reset command to the third actuator to release the grip on the EMD; the second actuator moves the first tire assembly to the reset position relative to the second tire assembly; and the third actuator grips the EMD.

[0015] In yet another embodiment, an EMD robot drive system is provided that includes a drive module, the drive module comprising: a first actuator for operably rotating a first axis and / or a second axis; a second actuator for operably moving (translating) the first axis along its longitudinal axis relative to the second axis from a first position to a second position; a first tire assembly removably attached to the first axis; and a second tire assembly removably attached to the second axis. An EMD having a longitudinal axis is positioned at a first position between the first and second tire assemblies. Rotation of the first axis moves (translates) the EMD along its longitudinal axis between the first and second tire assemblies; rotation of the second axis rotates the EMD with respect to its longitudinal axis. A third actuator moves the first tire assembly toward and away from the second tire assembly, thereby gripping and releasing the EMD between the first and second tire assemblies. A retaining clamp releasably clamps a portion of the EMD that is separated from the first and second tires along the longitudinal axis of the EMD.

[0016] In one embodiment, an EMD robot drive system is provided, which includes a first actuator that movably rotates a first axis and / or a second axis. The second actuator movably moves (translates) the first axis relative to the second axis along its longitudinal axis from a first position to a second position. A first tire assembly is movably mounted to the first axis. A second tire assembly is movably mounted to the second axis. A third actuator moves the first tire assembly relative to and away from the second tire assembly to grip and release the EMD having a longitudinal axis between the first and second tire assemblies. The movement (translation) of the first axis relative to the second axis rotates the EMD with respect to its longitudinal axis, and the rotation of the first axis and / or the second axis moves (translates) the EMD along its longitudinal axis. As the first axis moves away from its home position along its longitudinal axis, the first actuator moves along with the first axis.

[0017] In one embodiment, a method is provided for moving an EMD robotically (by robotic drive), which includes pinching the axis of the EMD within an on-device adapter. The on-device adapter is removably fixed in a cassette. The cassette is removably fixed to a drive module. The on-device adapter and the EMD are then moved robotically together along the longitudinal axis of the EMD and / or rotated with respect to the longitudinal axis of the EMD. In a further embodiment, once the on-device adapter is fixed in the cassette, the method includes unpinching the EMD within the on-device adapter by an actuator. In a further embodiment, the method robotically controls the unpinching of the EMD by an actuator. [Brief explanation of the drawing]

[0018] [Figure 1] Figure 1 is a schematic diagram of an exemplary catheter treatment system according to one embodiment. [Figure 2]FIG. 2 is a schematic block diagram of an exemplary catheter treatment system according to one embodiment. [Figure 3] FIG. 3 is a perspective view of an exemplary bedside system of a catheter treatment system according to one embodiment. [Figure 4A] FIG. 4A is an exploded perspective view of a device module with a load sensing system and a cassette that receives an on-device adapter together with an EMD according to one embodiment. [Figure 4B] FIG. 4B is a perspective view of a cassette with an on-device adapter together with an EMD according to one embodiment. [Figure 4C] FIG. 4C is an exploded perspective view of a cassette showing a first part and a second part of separated components. [Figure 4D] FIG. 4D is an exploded perspective view of the lower part of the cassette and its connection to the drive module. [Figure 4E] FIG. 4E is a partial side view showing an on-device adapter together with an EMD supported within a separated component as part of the cassette. [Figure 4F] FIG. 4F is a cross-sectional view of the embodiment of FIG. 4A at the position where the EMD is in the cassette. [Figure 4G] FIG. 4G is a perspective view of the cassette and the device support. [Figure 4H] FIG. 4H is a close-up perspective view of the device module shown in FIG. 3. [Figure 5A] FIG. 5A is an exploded perspective view of a drive module with a drive module base component and a load sensing component. [Figure 5B] FIG. 5B is a close-up top view of FIG. 5A showing the load sensing component connected to a load sensor within the drive module base component. [Figure 5C] FIG. 5C is a top view of a drive module with a load sensing system, regarding an actuator that performs rotation and / or pinch / pinch release of an EMD arranged outside the load sensing component, and a bearing support of the load sensing component in at least one off-axis (non-measured) direction. [Figure 5D] FIG. 5D is a side view of a drive module equipped with a load sensing system, and relates to an actuator that performs rotation and / or pinch / pinch release of an EMD disposed outside a load sensing component, and a bearing support of the load sensing component in at least one off-axis (non-measured) direction. [Figure 5E] FIG. 5E is a perspective view of a drive module including a load sensing component and a drive module base component. [Figure 6A] FIG. 6A is an exploded side view showing an EMD-on device adapter according to one embodiment. [Figure 6B] FIG. 6B is a side view of the assembled EMD-on device adapter of FIG. 6A. [Figure 6C] FIG. 6C is an exploded perspective view of an EMD-on device adapter according to one embodiment. [Figure 6D] FIG. 6D is a side view of the assembled EMD-on device adapter of FIG. 6C. [Figure 7A] FIG. 7A is a view of an on-device adapter according to one embodiment. [Figure 7B] FIG. 7B is an exploded view of the on-device adapter of FIG. 7A. [Figure 7C] FIG. 7C is a perspective view of the on-device adapter of FIG. 7A viewed from a substantially proximal direction. [Figure 7D] FIG. 7D is a perspective view of the on-device adapter of FIG. 7A viewed from a substantially bottom direction. [Figure 7E] FIG. 7E is a cross-sectional view of the on-device adapter of FIG. 7A with the lever in the open position. [Figure 7F] FIG. 7F is a cross-section of the on-device adapter of FIG. 7A with the lever in the closed position. [Figure 8A] FIG. 8A is a perspective view of a device adapter equipped with a catheter. [Figure 8B] FIG. 8B is a schematic perspective view of an embodiment of a catheter used with the on-device adapter of FIG. 8A. [Figure 9A]Figure 9A is a perspective view of Colette. [Figure 9B] Figure 9B is a perspective view of the inner member of the collet shown in Figure 9A. [Figure 9C] Figure 9C is a diagram of the collet in Figure 9A, roughly along line 9C-9C. [Figure 9D] Figure 9D is a top plan view of the inner member of the collet in Figure 9A, roughly taken along the line 9D-9D in Figure 9B. [Figure 9E] Figure 9E is an enlarged view of the free end of the inner member shown in Figure 9D. [Figure 9F] Figure 9F is a top view of the inner member of the collet in Figure 9A, taken roughly along the line 9F-9F in Figure 9B. [Figure 9G] Figure 9G is a perspective view of another collet. [Figure 9H] Figure 9H is a diagram of the collet in Figure 9G, roughly along the line 9H-9H. [Figure 9I] Figure 9I is a perspective view of the inner member shown in Figure 9G. [Figure 10A] Figure 10A is a perspective view of a cam-operated collet. [Figure 10B] Figure 10B is an exploded perspective view (assembly) of Figure 10A. [Figure 10C.1] Figure 10C.1 is a longitudinal cross-sectional view of Figure 10A in the pinch-release configuration. [Figure 10C.2] Figure 10C.2 is a cross-sectional view of Figure 10A in the pinch-release configuration. [Figure 10D.1] Figure 10D.1 is a longitudinal cross-sectional view of Figure 10A in a pinch configuration. [Figure 10D.2] Figure 10D.2 is a cross-sectional view of Figure 10A in a pinch configuration. [Figure 11A] Figure 11A is a longitudinal cross-sectional view of the bending action collet. [Figure 11B] Figure 11B is an assembled cross-sectional view of the bending action collet shown in Figure 11A. [Figure 11C] Figure 11C is an exploded view (assembly) of the bending action collet shown in Figure 11A. [Figure 11D]Figure 11D is a cross-sectional perspective view of the bending action collet shown in Figure 11A. [Figure 11E] Figure 11E is a perspective view of the collar of the bending action collet shown in Figure 11A. [Figure 12A] Figure 12A is a perspective view of the system including the collet drive assembly of the double gear. [Figure 12B] Figure 12B is a side view of the double gear collet drive assembly shown in Figure 12A. [Figure 12C] Figure 12C is a perspective view of the double gear collet drive assembly shown in Figure 12A. [Figure 12D] Figure 12D is an exploded perspective view (clamshell) showing two viewpoints of the double gear collet drive assembly shown in Figure 12A. [Figure 12E] Figure 12E is a perspective view showing the selected components of the dual gear collet drive assembly shown in Figure 12A. [Figure 12F.1] Figure 12F.1 is a top cross-sectional view showing the internal components of the dual gear collet drive assembly of Figure 12A in the pinch release configuration. [Figure 12F.2] Figure 12F.2 is a top cross-sectional view showing the internal components of the double gear collet drive assembly of Figure 12A in a pinch configuration. [Figure 13A] Figure 13A is a perspective view of a dual gear slide collet drive system. [Figure 13B.1] Figure 13B.1 is a side view of the dual gear sliding collet drive system of Figure 13A in a proximal configuration. [Figure 13B.2] Figure 13B.2 is a side view of the dual gear sliding collet drive system of Figure 13A in a distal configuration. [Figure 13C] Figure 13C is an enlarged side view of the collet and rotary drive assembly shown in Figure 13A. [Figure 13D.1] Figure 13D.1 is a longitudinal cross-sectional side view showing the internal components of the dual gear sliding collet drive assembly of Figure 13A in a pinch-release configuration. [Figure 13D.2] Figure 13D.2 is a longitudinal cross-sectional side view showing the internal components of the double gear sliding collet drive assembly of Figure 13A in a pinch configuration. [Figure 14A] Figure 14A is a perspective view of a dual gear sliding collet drive system with a reset mechanism. [Figure 14B] Figure 14B is a bottom view of the dual gear sliding collet drive system with the reset mechanism shown in Figure 14A. [Figure 14C.1] Figure 14C.1 is a top view showing several key components of a dual gear sliding collet drive system, with the reset mechanism of Figure 14A engaged with the collet. [Figure 14C.2] Figure 14C.2 is a top view showing some key components of the dual gear sliding collet drive system with the reset mechanism shown in Figure 14A as the EMD moves forward. [Figure 14C.3] Figure 14C.3 is a top view showing several key components of the dual gear sliding collet drive system, with the reset mechanism of Figure 14A in the disengaged position of the collet. [Figure 14C.4] Figure 14C.4 is a top view showing some key components of the dual gear sliding collet drive system with the reset mechanism shown in Figure 14A, with the EMD in the retracted position. [Figure 15A] Figure 15A is a perspective view of the system including the bellows drive unit. [Figure 15B] Figure 15B is an enlarged perspective view of the drive block in Figure 15A in an open configuration. [Figure 15C] Figure 15C is an enlarged perspective view of the drive block in Figure 15A in a closed configuration. [Figure 15D] Figure 15D is a cross-sectional view of the device retainer of Figure 15A in an open configuration. [Figure 15E] Figure 15E is a cross-sectional view of the device retainer of Figure 15A in a closed configuration. [Figure 15F] Figure 15F is an enlarged perspective view of the retaining block in Figure 15A in an open configuration. [Figure 15G] Figure 15G is an enlarged perspective view of the holding block in Figure 15A in the drive configuration. [Figure 15H]Figure 15H is an enlarged perspective view of the holding block in Figure 15A in a pinch configuration. [Figure 16A] Figure 16A is an exploded perspective view of the compression-collet system. [Figure 16B] Figure 16B is an isometric assembly diagram of the compression-collet system shown in Figure 16A. [Figure 16C] Figure 16C is a cross-sectional view of the compression-collet system in Figure 16A under no-load conditions. [Figure 16D] Figure 16D is a cross-sectional view of the compression-collet system in Figure 16A under load. [Figure 17A] Figure 17A is a perspective view (including the dotted line) of the plunger-collet system. [Figure 17B] Figure 17B is a longitudinal cross-sectional view of the plunger collet system of Figure 17A, taken roughly along line 17B-17B in Figure 17A in the pinch-release configuration. [Figure 17C] Figure 17C is a longitudinal cross-sectional view of the plunger collet system of Figure 17A, taken roughly along line 17B-17B in Figure 17A in a pinch configuration. [Figure 18A] Figure 18A is an exploded perspective view of a plunger collet system with a circular disk housing. [Figure 18B] Figure 18B is a perspective view of a multi-plunger collet system. [Figure 18C] Figure 18C is a perspective view of a multi-plunger collet system with a single-plunger collet assembly removed. [Figure 18D] Figure 18D is a side view of a multi-plunger collet system with a phantom line taken roughly along line 18D-18D in Figure 18B. [Figure 18E] Figure 18E is a longitudinal cross-sectional view of a multiple plunger collet in a pinch-release configuration, taken roughly along line 18E-18E in Figure 18D. [Figure 18F] Figure 18F is a longitudinal cross-sectional view of a multiple plunger collet in a pinch configuration, taken roughly along line 18E-18E in Figure 18D. [Figure 18G] Figure 18G is a perspective view of a multi-plunger collet system with six plungers facing the same direction, and simultaneously shows a side view and a front view of the EMD in a pinch configuration. [Figure 18H] Figure 18H is a perspective view of a multi-plunger collet system with six plungers oriented alternately at 180-degree intervals, and simultaneously shows a side view and a front view of the EMD in a pinch configuration. [Figure 18I] Figure 18I is a perspective view of a multi-plunger collet system in which six plungers are spaced 60 degrees apart and rotated gradually, and simultaneously shows a side view and a front view of the EMD in a pinch configuration. [Figure 19A] Figure 19A is a perspective view of opposing pad collets having an inner housing and an outer housing. [Figure 19B] Figure 19B is a side cross-sectional view of opposing pad collets in a pinch-release configuration, taken roughly along line 19B-19B in Figure 19A. [Figure 19C] Figure 19C is a side cross-sectional view of opposing pad collets in a pinch configuration, taken roughly along line 19B-19B in Figure 19A. [Figure 19D] Figure 19D is a cross-sectional and end view of the collet in Figure 19A at the first position. [Figure 19E] Figure 19E is a cross-sectional and end view of the collet in Figure 19A at the second position. [Figure 19F] Figure 19F is a cross-sectional and end view of the collet in Figure 19A at the third position. [Figure 19G] Figure 19G is a cross-sectional and end view of the collet in Figure 19A at the fourth position. [Figure 20A] Figure 20A is a perspective view of a collet drive system having two drive modules. [Figure 20B] Figure 20B is a side view of the first drive module of the collet drive system, which has two drive modules as shown in Figure 20A, showing some internal components. [Figure 20C]Figure 20C is a plan view of the collet drive system having the two drive modules of Figure 20A in the driven state. [Figure 20D] Figure 20D is a plan view of a collet drive system having the two drive modules of Figure 20A with the collets engaged. [Figure 20E] Figure 20E is a plan view of the collet drive system with the two drive modules shown in Figure 20A, in a device replacement state. [Figure 20F] Figure 20F is a plan view of the collet drive system having the two drive modules shown in Figure 20A, with the collet pinched and the tire gripping. [Figure 20G] Figure 20G is a plan view of the collet drive system having the two drive modules shown in Figure 20A, in a tire-driven state. [Figure 21A] Figure 21A is a plan view of a collet drive system having an EMD support. [Figure 21B] Figure 21B is a plan view of the collet drive system having the EMD support of Figure 21A with a clamp. [Figure 21C] Figure 21C is a plan view of the collet drive system having the EMD support shown in Figure 21A, with a proximal tire. [Figure 21D] Figure 21D is a plan view of the collet drive system having the EMD support shown in Figure 21A, with a distal tire. [Figure 22A] Figure 22A is a right-hand perspective view of the drive mechanism that operates a pair of tires. [Figure 22B] Figure 22B is an exploded view of the drive mechanism shown in Figure 22A. [Figure 22C] Figure 22C is a left-side plan view of the drive mechanism shown in Figure 22A, with the tires in the neutral position. [Figure 22D] Figure 22D is a left-side plan view of the drive mechanism shown in Figure 22A, with the tires in the second position. [Figure 22E] Figure 22E is a left-side plan view of the drive mechanism of Figure 22A, with a housing for the tire. [Figure 22F]Figure 22F is a left perspective view of the drive mechanism of Figure 22A, which has an offset mechanism in the first configuration. [Figure 22G] Figure 22G is a top view of the mechanism shown in Figure 22F, where the engaging cam is in the released position and the tire is in the engaged position. [Figure 22H] Figure 22H is a top view of the mechanism shown in Figure 22F, where the engaging cam is in the clamping position and the tire is in the engaged position. [Figure 22I] Figure 22I is a top view of the mechanism shown in Figure 22F, where the engaging cam is in the clamped position and the tire is in the disengaged position. [Figure 22J] Figure 22J is a top view of the mechanism shown in Figure 22F, where the engaging cam is in the released position and the tire is in the released position. [Figure 22K] Figure 22K is a schematic diagram of an eccentric assembly in which the first and second tire assemblies grip the EMD. [Figure 22L] Figure 22L is a schematic diagram of an eccentric assembly in which the first and second tire assemblies release the grip on the EMD. [Figure 22M] Figure 22M is a perspective view of the tire assembly installed on the coupler. [Figure 22N] Figure 22N is a cross-sectional view of the tire assembly and coupler. [Figure 22O] Figure 22O is a partial cross-sectional view of the tire assembly and eccentric assembly. [Figure 22P] Figure 22P is a schematic cross-sectional view of a tire assembly having a conical shape. [Figure 22Q] Figure 22Q is a schematic cross-sectional view of a cone-shaped tire assembly in the engagement position. [Figure 22R] Figure 22R is a front view of the tire assembly, which is fixed to the coupler by the mounting member. [Figure 22S] Figure 22S is a front view of a tire assembly with one tire assembly detached from the coupler. [Figure 22T] Figure 22T is a magnified view of one tire assembly being removed from the coupler. [Figure 22U]Figure 22U is an enlarged perspective view of the tire assembly. [Figure 22V] Figure 22V is a schematic cross-sectional view of the tire assembly and EMD in the first position. [Figure 22W] Figure 22W is a schematic cross-sectional view of the tire assembly and EMD at the second position. [Figure 22X] Figure 22X is a schematic cross-sectional view of the tire assembly and EMD at the third position. [Modes for carrying out the invention]

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

[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 robotic drive unit 24 and a positioning system 22 positioned 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 robotic drive unit 24. The positioning system 22 may be, for example, a robotic arm, articulated arm, holder, etc. One end of the positioning system 22 can be attached to, for example, a rail, base, or cart on the patient table 18. The other end of the positioning system 22 is attached to the robotic drive unit 24. The positioning system 22 can be moved out of the way (together with the robotic drive unit 24) to allow the patient 12 to be placed on the patient table 18. Once the patient 12 is positioned on the patient table 18, the positioning system 22 can be used to position or position the robotic drive unit 24 relative to the patient 12 in order to perform the procedure. In one embodiment, the patient table 18 is movably supported by a base 17 fixed to the floor and / or ground. The patient table 18 can move with respect to the base 17 in a manner that has multiple degrees of freedom (e.g., roll, pitch, yaw). The bedside device 20 may also include a control device and a display (display device) 46 (shown in Figure 2). For example, the control device and display may be located on the housing of the robot drive unit 24.

[0021] Generally, the robotic drive unit 24 is equipped with appropriate percutaneous intervention devices and accessories 48 (see Figure 2) (e.g., guide wires, balloon catheters, stent delivery systems, stent retrievers, embolization coils, fluid embolization, suction pumps, contrast agent delivery devices, pharmaceuticals, hemostatic valve adapters, syringes, stopcocks, inflation devices, etc.) and performs various controls (controls and inputs located at the control station 26, etc.) to enable the user or operator 11 to perform catheter-based medical procedures via the robotic system. The bedside device 20, and in particular the robotic drive unit 24, may include any number and / or combination of components to provide the functions described herein to the bedside device 20. The user or operator 11 at the control station 26 may be referred to as the user of the control station or the operator of the control station, but herefore, they will be referred to as the user or operator. The user or operator of the bedside device 20 may also be referred to as the user of the bedside device or the operator of the bedside device. The robot drive unit 24 includes a plurality of device modules 32a-d attached to a rail or linear member (also called a linear member) 60 (shown in Figure 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 guidewire. For example, the robot drive unit 24 can be used to automatically supply a guidewire into a diagnostic catheter and into a guide catheter in the artery of the patient 12. One or more devices such as EMDs enter the body of the patient 12 (e.g., a conduit) at the insertion point 16, for example, via an introducer sheath.

[0022] The bedside device 20 communicates with the control station 26 and transmits signals generated by user input from the control station 26 to the bedside device 20 wirelessly or via a wired connection, enabling control of various functions of the bedside device 20. As described later, the control station 26 may include a control computer system 34 (see Figure 2), or may be coupled to the bedside device 20 via the control computer system 34. The bedside device 20 may also 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 Figure 2), or both. Communication between the control computer system 34 and the various components of the catheter-based treatment system 10 can be provided via a communication link, such as 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 system may be located at either a local site (e.g., the local control station 38 shown in Figure 2) or a remote site (e.g., the remote control station and computer system 42 shown in Figure 2). The catheterization system 10 may be operated simultaneously by the control station at the local site, the control station at the remote site, or both the local and remote control stations. At the local site, the user or operator 11 and the control station 26 are located in the same room as or adjacent to the patient 12 and the bedside device 20. In the examples used herein, the local site corresponds to the location of the bedside device 20 and the patient 12 or subject (e.g., an animal or cadaver), 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) and the bedside device 20 at the remote site can communicate using a communication system and service 36 (see Figure 2), for example, via the Internet.In one embodiment, the remote site and the local (patient) site are located far apart from each other, for example, in multiple rooms within the same building, multiple buildings within the same city, multiple buildings within multiple cities, or other locations where the remote site does not have physical access to the bedside device 20 and / or patient 12 at the local site.

[0023] The control station 26 generally includes one or more input modules 28 configured to receive user inputs that activate various components or systems of the catheter-based treatment system 10. In the illustrated embodiment, the control station 26 allows a user or operator 11 to control the bedside device 20 to perform a catheter-based medical procedure. For example, the input modules 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 guidewire; advancing, retracting, or rotating a catheter; inflating or deflating a balloon located on the catheter; positioning and / or deploying a stent; positioning and / or deploying a stent retriever; positioning and / or deploying a coil; injecting contrast agent into the catheter; injecting embolization into the catheter; injecting pharmaceuticals or saline solution into the catheter; aspirating with the catheter; or performing any other function that may be performed as part of a catheter-based medical procedure). The robot drive unit 24 includes various drive mechanisms to cause movement (for example, axial movement or rotational movement) of the components of the bedside device 20, including the transcutaneous 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 control units 44 (see Figure 2), such as foot switches and microphones, for voice commands, etc. The input module 28 may be configured to move various components and percutaneous intervention devices (e.g., guide wires and one or more catheters or microcatheters, etc.) forward, backward, or rotate. The buttons may include, for example, an emergency stop button, a multiplier button, a device selection button, and an auto-move button. When the emergency stop button is pressed, the power (e.g., electricity) is cut off or removed to the bedside device 20. In speed control mode, the multiplier button acts to increase or decrease the speed at which the relevant components move in response to the operation of the input module 28. In position control mode, the multiplier button changes the mapping between the input distance and the output command distance. A device selection button allows the user or operator 11 to select which of the percutaneous intervention devices loaded into the robot-driven device 24 will be controlled by the input module 28. An auto-movement button is used to enable the catheter-based treatment system 10 to perform algorithmic actions on the percutaneous intervention device without 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) that, when activated, trigger the operation of components of the catheter-based treatment system 10. The input module 28 may also 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 may include one or more buttons, scroll wheels, joysticks, touchscreens, etc., which enable the control of specific components or components to which dedicated control is 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 displays 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 displays 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 displays 30 may be configured to display procedure-specific information (e.g., procedure checklist, recommendations, duration of procedure, catheter or guidewire position, volume of delivered drug or contrast agent, etc.). Furthermore, the displays 30 may display information to provide functions related to the control computer system 34 (see Figure 2). The displays 30 may include touchscreen functionality to provide some of the user input functions of the system.

[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 conjunction with catheter-based medical procedures (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 communicating with a control station 26. In one embodiment, the imaging system 14 may include a C-shaped arm (see Figure 1) that can partially or completely rotate around the patient 12, thereby obtaining images at different angular positions relative to the patient 12 (e.g., sagittal view, caudal view, anterior-posterior view, etc.). In one embodiment, the imaging system 14 is a fluoroscopy system including a C-shaped arm having a detector 15, also known as an image intensifier, and an X-ray source 13.

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

[0028] To clarify the directions, a Cartesian coordinate system with X, Y, and Z axes is introduced. The positive X-axis is oriented in the longitudinal (axial) distal direction, i.e., from the proximal end to the distal end, and another method from the proximal to the distal direction is described. The Y and Z axes lie on a plane perpendicular to the X-axis, the positive Z-axis is oriented upward, i.e., in the opposite direction to 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. The control computer system 34 may be physically part of, for example, a control station 26 (see Figure 1). The control computer system 34 may generally be an electronic control unit suitable for providing the catheter-based treatment system 10 having various functions as described herein. For example, the control computer system 34 may be an implantable system, a dedicated circuit, a general-purpose system programmed to have the functions described herein, etc. The control computer system 34 communicates with bedside devices 20, communication systems and services 36 (e.g., the internet, firewall, cloud services, session manager, hospital network, etc.), a local control station 38, additional communication systems 40 (e.g., telepresence system), a remote control station and computer system 42, and patient sensors 56 (e.g., electrocardiogram (ECG) device, electroencephalogram (EEG) device, blood pressure monitor, temperature monitor, heart rate monitor, respiratory monitor, etc.). Furthermore, the control computer system communicates with the imaging system 14, the patient table 18, additional medical systems 50, the contrast agent (contrast) injection system 52, and additional devices 54 (e.g., IVUS, OCT, FFR, etc.). The bedside device 20 includes a robotic drive unit 24, a positioning system 22, and may also include further control devices and a display 46. As described above, the additional control devices and displays can be located on the housing of the robotic drive unit 24. Interventional devices and accessories 48 (e.g., guide wires, catheters, etc.) interface with the bedside system 20. According to one embodiment, the interventional devices and accessories 48 may include dedicated devices (e.g., IVUS catheters, OCT catheters, FFR wires, contrast diagnostic catheters, etc.) that interface with the respective additional devices 54, i.e., the IVUS system, OCT system, and FFR system, etc.

[0030] In various embodiments, the control computer system 34 is configured to generate control signals that enable medical procedures 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 a local control station 38 or a remote control station 42 (see Figure 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 an additional user control unit 44. The remote control station and computer system 42 may include similar components to the local control station 38. The remote control station 42 and the local control station 38 can be configured differently depending on the required functions. The additional user control unit 44 may include, for example, one or more foot input control units. The foot input control is configured to allow the user to select functions of the imaging system 14, for example, to enable imaging by turning X-rays on and off, or to scroll through various saved images. In another embodiment, the foot input device may be configured to allow the user to select which device is mapped to the scroll wheel included in the input module 28. Additional communication systems 40 (e.g., audio conferencing, video conferencing, telepresence, etc.) can be used to help the operator interact with the patient, medical staff (e.g., angiography staff), and / or equipment near the bedside.

[0031] The catheter-based treatment system 10 may be connected to or configured to include any other systems and / or devices not expressly shown herein. For example, the catheter-based treatment system 10 may include an image processing engine, a data storage and archiving system, an automated balloon and / or stent inflation system, a drug infusion system, a drug 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, and so on.

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

[0033] Each device module 32a-d includes a drive module 68a-d and a cassette 66a-d, the latter mounted and coupled to the drive module 68a-d. In the embodiment shown in Figure 3, each cassette 66a-d is mounted vertically to the drive module 68a-d. In other embodiments, each cassette 66a-d may be mounted to the drive module 68a-d in a different mounting direction. Each cassette 66a-d is configured to interface with and support the proximal portion of the EMD (not shown). In addition, each cassette 66a-d may include components that provide one or more degrees of freedom in addition to the linear motion resulting from the operation of the corresponding stage 62a-d, which 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 mechanism within each cassette 66a-d to provide additional degrees of freedom. Each cassette 66a-d also includes a channel in which the device supports 79a-d are positioned, and each device support 79a-d is used to prevent twisting (buckling) of the EMD. Support arms 77a, 77b, and 77c are attached to each device module 32a, 32b, and 32c, respectively, and provide fixed points for supporting the proximal ends of the device supports 79b, 79c, and 79d, respectively. The robot drive unit 24 may also include a device support connector 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, the introducer interface support (redirector) 74 may be connected to the device support connection part 72 and the EMD (e.g., introducer sheath or casing).By using an actuator on a single linear member, the configuration of this 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 housing the bedside device 20 and the patient 12 or subject (shown in Figure 1) to prevent the patient from being contaminated with pathogens. The room housing the bedside device 20 and the patient 12 may be, for example, a cathode ray room or angiography room. Aseptic techniques include sterile barriers, use of sterile equipment, proper patient preparation, environmental control, and contact guidelines. Thus, all EMDs and intervening accessories are sterilized and permitted to come into contact only with either sterile barriers or sterile instruments. In one embodiment, sterile drapes (not shown) are placed on a non-sterile robotic drive unit 24. Each cassette 66a-d is sterilized and acts as a sterile interface between the draped robotic drive unit 24 and at least one EMD. Each cassette 66a-d may be configured to be sterilized for single use, or it may be designed to be resterilized whole or partially 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 distinct features. With respect to the robotic drive unit, the terms distal and proximal are defined by the position of the robotic drive unit in its intended use relative 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 further along the path from the access point is considered distal to any 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 direction, a distal direction is the path along which something is moving, the path along which something is intended to move, or the path along which something is oriented or facing, when the robotic drive unit is in its intended use position, towards the distal feature or the patient. The proximal direction is the opposite direction of the distal direction. For example, referring to Figure 1, the robotic device is shown from the perspective of an operator facing the patient. In this configuration, the distal direction is along the positive X-axis, and the proximal direction is along the negative X-axis. Referring to Figure 3, the EMD is moving distally along a path toward 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 Figure 3, the furthest distal drive module is drive module 32a, which is closest to the distal end of the robotic drive unit 24. The furthest proximal drive module is drive module 32d, which is 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 to the distal end of the robotic drive unit. For example, drive module 32b is distal to drive module 32c. Referring to Figure 3, the portions of the cassette 66a and the drive module 68a are determined by their positions relative to the distal end of the robot drive unit.For example, when the cassette is in use on the drive module 68a, the distal end of cassette 66a is the part of the cassette closest to the distal end of the robot drive unit, and the proximal end of cassette 66a is the part of the cassette furthest from the distal end of the robot drive unit along the negative X-axis. In other words, the distal end of cassette 66a is the part of the cassette closest to the path leading to the patient in the position where the EMD is being used.

[0036] "Vertical axis (longitudinal axis)" The term longitudinal axis of a member (for example, an EMD or other element in a catheter-based treatment system) refers to a line or axis along the length of the member, passing through the center of the member's cross-section, in the direction from the proximal portion of the member to the distal portion of the member. For example, the longitudinal axis of a guidewire is the central axis in the direction from the proximal portion of the guidewire to the distal portion of the guidewire, even if the guidewire is nonlinear in the relevant portion.

[0037] "Axis movement" The term axial movement of a component refers to the movement (translation) of a component along its longitudinal axis. An EMD progresses when its distal end moves axially distally along its longitudinal axis, either entering or further entering the patient. An EMD is withdrawn when its distal end moves axially proximal along its longitudinal axis, either leaving or further leaving the patient.

[0038] "Rotational motion" The term rotational motion of a component refers to a change in the angular direction of the component around its local longitudinal axis. The rotational motion of an EMD corresponds to clockwise or counterclockwise rotation around the EMD's longitudinal axis, due to the applied torque.

[0039] "Axial insertion and lateral insertion" The term axial insertion refers to inserting a first component into a second component along the longitudinal axis of the second component. An EMD loaded axially in a collet is inserted axially into the collet. An example of axial insertion may be called back-loading a catheter onto the proximal end of a guidewire. The term lateral insertion refers to inserting a first component into a second component along a direction on a plane perpendicular to the longitudinal axis of the second component. This is also called radial loading or side loading. In other words, lateral insertion means inserting a first component into a second component along a direction parallel to the radius of the second component and perpendicular to its longitudinal axis.

[0040] "Pinch / Unpinch" The term "pinch" refers to a method of removably securing an EMD (Electromagnetic Device) to a component so that the EMD moves together with the component when the component moves. The term "pinch release" refers to a method of releasing the EMD from a component so that the EMD and the component move independently when the component moves.

[0041] "Clamp / Unclamp" The term "clamp" means to fix an EMD (Electromagnetic Modulator) to a member in a way that allows it to be released (removed) so that its movement is constrained by the member. The member can be fixed with respect to the global coordinate system or the local coordinate system. The term "unclamp" refers to releasing the EMD from the member so that it can move independently.

[0042] "Grip / Release Grip" The term "grip" refers to applying a force or torque from the drive mechanism to an EMD (Electromagnetic Mass Diode) to cause it to move without slipping in at least one degree of freedom. The term "ungrip" means releasing the force or torque from the drive mechanism to the EMD so that its position is no longer constrained. In one example, an EMD is gripped between the rotations of two tires about their longitudinal axes as the tires move longitudinally relative to each other. The rotational motion of the EMD is different from the motion of the two tires. The position of the gripped EMD is constrained by the drive mechanism.

[0043] "twist" The term torsion (buckling) refers to the tendency of a flexible EMD to bend away from its longitudinal axis or intended path when subjected to axial compression. In one embodiment, the axial compression arises in response to the resistance as it is guided within the vascular system. The distance the EMD travels along its longitudinal axis without support before twisting may be referred to herein as the device buckling distance. The device buckling distance is a function of the device's stiffness, shape (including, but not limited to, diameter), and the forces applied to the EMD. Buckling can cause the EMD to form an arched portion that deviates from its intended path. When the EMD deforms inelastically and the result is permanent, the buckling is referred to as a kink (twist).

[0044] "homing" The term "homing" refers to moving a component to a predetermined position. An example of a predetermined position is a reference position. Another example of a predetermined position is an initial position. The term "origin" refers to a predetermined position. This is typically used as the reference point for subsequent linear or rotational positions.

[0045] "Upper / Lower, Anterior / Backwards, Medial / Lateral" The terms top, top, and upper side refer to the general direction opposite to the direction of gravity. The terms bottom, bottom, 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 at the bedside, away from positioning systems such as articulated arms. The term rear refers to the side of the robot drive unit closest to positioning systems such as articulated arms. The term inside refers to the inner part of the feature. The term outside refers to the outer part of the feature.

[0046] "stage" The term "stage" refers to a component, feature, or device used to connect a device module to a robotic drive unit. For example, a stage can be used to connect a device module to a rail or linear component of a robotic drive unit.

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

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

[0049] "cassette" The term "cassette" generally refers to a part of a robotic drive system (a non-essential part, consumable, or sterilizable unit) that typically has a (direct) sterile interface between the drive module and at least one EMD, or an (indirect) sterile interface via an equipment adapter.

[0050] "Colette" The term collet refers to a device that can releasably fix a portion of an EMD. Here, "fixed" means that there is no intended relative movement between the collet and the EMD during operation. In one embodiment, the collet includes at least two members that rotate relative to each other, and the EMD is releasably fixed to at least one of these two members. In one embodiment, the collet includes at least two members that move axially (along the longitudinal axis) relative to each other, and the EMD is releasably fixed to at least one of these two members. In one embodiment, the collet includes at least two members that move both rotationally and axially relative to each other, and the EMD is releasably fixed to at least one of these two members.

[0051] "Fixed" The term "fixed" means that, during the operation, there is no intentional relative movement of the first member relative to the second member.

[0052] "On-device adapter" The term On-Device Adapter refers to a sterilization device that can repositionably pinch an EMD and provide a drive interface. An On-Device Adapter may also be called an End Effector or EMD Capture Device. In a non-limiting example, an On-Device Adapter is an operationally robotically controlled collet that rotates the EMD around its longitudinal axis, pinching and / or unpinching the EMD relative to the collet, and / or moving the EMD along its longitudinal axis. In one embodiment, the On-Device Adapter is a hub drive mechanism, including, for example, a driven gear located on the hub of the EMD.

[0053] "Tandem Drive" The term "tandem drive" refers to a drive unit or subsystem within a robotic drive unit that includes two or more EMD drive modules capable of operating 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, microcatheters, balloon / stent catheters), wire-based devices (e.g., guide wires, embolization coils, stent retrievers, etc.), and any combination thereof. In one example, a wire-based EMD includes, but is not limited to, guide wires, microwires, proximal pushers for embolization cocoils, stent retrievers, self-inflating stents, and flow diverters. Typically, a wire-based EMD does not have a hub or handle at the end of its proximal terminal. In one embodiment, the EMD is a catheter having a hub at the proximal end 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, its flexibility being intermediate between the two, and its stiffness being lower than the hub but higher than the shaft. In one embodiment, the intermediate portion is strain relief.

[0055] "Hub (proximal) drive" The terms hub-driven or proximal-driven refer to holding and manipulating the EMD from a proximal position (e.g., a geared adapter on the catheter hub). In one embodiment, hub-driven means applying force or torque to the catheter hub to move and / or rotate the catheter. Hub-driven often requires anti-buckling features because it may cause the EMD to buckle. For devices without a hub or other interface (e.g., a guidewire), 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 any mechanism for manipulating features within the catheter, such as a wire extending from the 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 operating the EMD along the shaft. For example, the on-device adapter is typically positioned very close to the Y-connector or hub into which the device is inserted. When the on-device adapter is located near the insertion point (of the main body or other catheters or valves), shaft drive usually does not require buckling prevention. (Buckling prevention may be included to improve drive capability.)

[0057] "Sterilizable device" Sterilizable equipment refers to equipment that can be sterilized (free from pathogenic microorganisms). This includes, but is not limited to, cassettes, consumable devices, drapes, device adapters, and sterilizable drive modules / devices (which may include electromechanical components). Sterilizable equipment may come into contact with patients, other sterilization equipment, or other items placed during aseptic techniques in medical procedures.

[0058] "Sterilization Interface" The term "sterilization interface" refers to the interface or boundary between a sterilizer and a non-sterilizer. 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 rearranging the drive mechanism from a first position to a second position, thereby enabling continuous rotation and / or axial movement of the EMD. During resetting, 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 rearranged. In one embodiment, a clamp fixes the position of the EMD while the drive mechanism is rearranged.

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

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

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

[0063] "Device support structure" The term "device support" refers to a component, function, or device that prevents buckling (torsion) of an EMD.

[0064] "Double Gear" The term double gear (also called dual gear or double gear) refers to two independently driven gears operably connected to two different parts of a device. Each of the two gears may be identical or of multiple designs. The term gear may be a bevel gear, spiral bevel gear, spur gear, miter gear, worm gear, helical gear, rack and pin-on, screw gear, sun gear, and other internal gears, involute spline shafts and bushings, or any other type of gear known in the art. In one example, a double gear includes a device such that the drive connection is maintained by two different parts of the device, which includes, but is not limited to, a belt, friction engagement, or other coupling known in the art.

[0065] Referring to Figures 3 and 4A, the EMD drive system includes an on-device adapter 112, the latter of which, in one embodiment, includes a collet releasably fixed to the EMD 102. The collet 112 is a device that releasably fixes the shaft portion of the EMD 102 to it. As detailed herein, the collet 112 pinches the shaft of the EMD 102 so that the rotation and / or movement of the entire collet 112 about its longitudinal axis is the same as the rotation and / or movement of the pinched shaft portion of the EMD 102. In one embodiment, the collet 112 may be a single molded part with an internal path defined within its body to allow a portion of the shaft of the EMD 102 to be fixed through it. As described herein, the shaft of the EMD 102 is positioned within the internal path of the collet and pinched therein. The shaft of the EMD 102 may be loaded radially or axially within the internal path of the collet. Radial loading can be called lateral loading or transverse loading because the EMD shaft 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). Radial loading, lateral loading, or transverse loading is in contrast to axial loading, in which the shaft portion is loaded into the internal path by first inserting the free end of the shaft into the proximal or distal opening within the internal path of the collet.

[0066] In one embodiment, the collet 112 includes at least two members that move relative to each other, thereby releasably securing the shaft portion of the EMD to at least one of the two members. In one embodiment, the two members acting together have a mechanical advantage because they 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 pinching force on the EMD using the collet can be greater than the force required to actuate the pinch. Once the shaft of the EMD is pinched, it is fixed such that there is relative movement between the collet and the EMD for an acceptable range of operating parameters of the EMD procedure.

[0067] The EMD 102 is fixed to the collet 112 and radially loaded into the robot drive unit, the latter also referred to herein as a device module 32 such as the 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 connected 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 into the robot drive unit 32.

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

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

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

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

[0072] In one embodiment, the EMD 102 is radially releasably received within the collet 112, and the collet 112 is releasably received and positioned within the cassette 66. As described herein, the collet 112 may have a slot extending from the outer circumference of the collet body to its internal path. A portion of the EMD 102, such as the shaft portion, may be inserted radially into the path through the slot. The shaft portion of the EMD 102 is a part of the EMD 102 and lies midway between the proximal and distal ends of the EMD 102. The radial loading of the shaft portion of the EMD 102 into the collet occurs while the proximal and distal ends of the EMD 102 remain outside the collet and path. Alternatively, 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 releasably received axially within a collet 112, and the collet 112 is releasably received within a cassette 66. In this embodiment, one of the distal or proximal ends of the EMD 102 is inserted into the distal or proximal opening of the collet 112 and moves along the longitudinal axis of the collet 112 until the distal or proximal end of the EMD exits the other distal or proximal end of the collet.

[0074] In one embodiment, the EMD 102 is received radially releasably within the collet 112, and the collet 112 is irremovably positioned within the cassette 66. In one embodiment, the EMD 102 is received axially releasably within the collet 112, and the collet 112 is irremovably positioned within the cassette 66. In one embodiment, the collet 112 includes a positioning feature 408 located within the cassette 66, and the positioning feature 133 enables radial loading and rotation of the collet within the cassette 66. In one embodiment, the collet 112 also includes a distal end located within the positioning mechanism within the cassette 66.

[0075] Referring to Figure 4F of one embodiment, the motor 124 is positioned within a base 68 which is operably coupled to a drive coupler 130. Once the cassette 66 is fixed to the base 68, the drive coupler 130 extends within the cassette 66. In one embodiment, the motor is located within the cassette 66. In one embodiment, the motor is located outside the base 68 but is operably connected to the drive coupler 130 within the base 68.

[0076] In one embodiment, the robot system includes a clamp that releasably grips 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 rotated clockwise and counterclockwise about its longitudinal axis.

[0078] As detailed herein, in one embodiment, the moving collet 112 selectively pinches and unpinches 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, in order to pinch and unpinch 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 a second direction opposite to the longitudinal axis of the EMD.

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

[0081] Referring to Figures 3, 4G, and 4H, the robot system 24 includes a plurality of device modules 32a-32d. In one embodiment, there are two or more distinct device modules. Figure 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 modules are the same, but some modules are different. As shown above, Figure 3 illustrates a system having four device modules 32. Each EMD device support 79a-79d includes a distal end and a proximal end that terminate in a distal connector 80. Referring to Figure 4H as an example, device module 32c has an EMD device support 79c having a proximal end 79c.1 and a distal end connector 79c.2 opposite it. The proximal end 79c.1 of the EMD device support 79c is fixed to the proximal end 77b.1 of the arm 77b. Arm 77b has a distal end 77b.2 fixed to device module 32b, which is distal to device module 32c. The terminal end 77b.2 of the EMD drive support device 77b is fixed to the proximal end of device module 32b, thereby preventing the terminal end 77b.2 from moving distally to the distal end of device module 32b. During operation, the distal end connector 80c is releasably connected to the proximal end connector 88b on device module 32b. In one embodiment, EMD supports 79a-79d include flexible tubes, the latter having longitudinal slits, which allow the EMD to be inserted into and removed from each EMD device support 79a-79d. In one embodiment, the EMD supports 79a-79d function as a flexible track described in U.S. Publication No. 2016 / 0271368, which is by the same applicant as the present applicant and is titled "Guide Catheter Control Flexible Track".Arm 77b moves linearly with drive module 32b, and therefore, in one mode, the proximal end 77c.1 and distal end 77c.2 move with drive module 32b relative to drive module 32c. The EMD device support 79c is releasably applied to the EMD 102, which is operated non-axially by device module 32c. The EMD 102, operated by device module 32c, moves in and out of the support 79c, in which case it does so through a longitudinal slit that extends from the outer circumference of the EMD device support to the internal cavity of the EMD support. In one embodiment, the EMD device support is a telescopic member, as described later herein, in which an axial or non-axial load is applied to the EMD within the EMD device support to provide a buckling-resistant support, and referring to Figure 3, each drive module 32a-32d operates different devices independently. Each EMD device support 79a-79d allows each device to move over a greater distance between two adjacent devices compared to when it moves without an EMD support. Without an EMD device support, the distance a device can move may be shorter than the device's buckling length. Therefore, each time the EMD moves by the buckling length, the system may need to reset the drive unit. The EMD support eliminates the need for resetting while a given device is used in relation to each other and / or in relation to a procedure. In other words, the EMD device support eliminates the need for collet resetting when using a given device. In one embodiment, the EMD support allows for fewer collet resets compared to when an EMD support is not used. Referring to Figure 4G, the device support 79 is guided through the cassette 66c, through the channel 138 and the proximal support member 82, the latter through a channel 84 extending therethrough.

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

[0083] This specification illustrates several robotic EMD drive systems. Furthermore, several 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 called pin vises, chucks, bushings, or guidewire torquers.

[0084] Referring to Figures 1, 4A, and 4D, the device module 32 includes a drive module 68 which includes a drive module base component 116 and a load sensing component 118. The EMD 102 is releasably coupled to a decoupling component 106. The decoupling component 106 is isolated from external loads other than the actual load acting on the EMD 102. The decoupling 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 detects the actual load acting on the EMD 102.

[0085] In one embodiment, the load sensor 120 is the sole support for the load sensing component 118 in at least one direction during load measurement. In one embodiment, the cassette housing 104 and the separator component 106 are internally connected so that they form a single component. In one embodiment, a flexible membrane 108 connects the cassette housing 104 and the separator component 106, in which case the flexible membrane 108 exerts a negligible force on the separator component 106 in the X direction (device direction). In one embodiment, the flexible membrane 108 is not a physical membrane but represents cassette interaction.

[0086] Referring to Figures 4A and 4B according to one embodiment, the device includes a cassette 66, the latter consisting of a cassette cover 105 and a cassette housing 104 that is removably attached to a drive module base component 116.

[0087] Referring to Figures 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 positioned 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 out-of-axis (non-measured) direction.

[0088] Referring to Figures 8A and 8B, in one embodiment, the EMD on-device adapter 510 is connected to a catheter 512. The on-device adapter 510 includes an integrally connected driven bevel gear 522, which is releasably connected to a Y-connector shown together with a hub 530, the hub of which can be releasably connected to a hemostatic valve on the proximal end. In one embodiment of the EMD on-device adapter 510, a catheter 512 is included that is releasably connected to the driven bevel gear 522. The catheter 512 includes a catheter hub 514 and a catheter shaft 516 integrally connected thereto. In one embodiment, the catheter hub 514 is not a handle that includes a mechanism for manipulating features or parts of the catheter. In one embodiment, the EMD includes a handle with a mechanism for manipulating features within the catheter, for example, a wire extending from the handle to the distal end of the catheter to manipulate or deflect the distal end of the catheter. In contrast, the hub is the rigid portion of the EMD at the proximal end, which does not contain any mechanism for manipulating features within the catheter.

[0089] Referring to Figures 4B and 4C, examples are shown of a separate component 106 located within the cassette housing 104 and a separate component 106 located away from the cassette housing 104, separated along at least one direction when the separate component 106 is connected to the load sensing component 118. The separate component 106 includes a first component 106a and a second component 106b attached thereto. Referring to Figures 4A to 4C, the first component 106a is located within a recess 143 of the cassette housing 104, in a first direction defined as the direction toward the drive module 68 in the usage position where the cassette 66 is fixed to the drive module 68. The second component 106b is located within the recess 143, but is located away from the load sensing component 118 toward the first component 106a. Referring to Figure 4C, in an alternative configuration, the first component 106a is located in the recess 143 from above the cassette housing 104 in the -z-axis direction, and the second component 106b is located in the recess 143 from below the cassette housing 104 in the +z-axis direction.

[0090] Referring to Figures 4C and 4F, the first part 106a and the second part 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 spaced apart from each other. The first part 106a is located on the upper surface of the rail 107 closest to the upper surface of the cassette housing 104, and the second part 106b is located on the lower surface of the rail 107 closest to the load sensing part 118. Note that the assembly direction of the first part 106a and the second part 106b of the separation part 106 is described in relation to their position in use, but it should be noted that the first and second parts of the separation part 106 are installed away from the drive module 68. In other words, the first part 106a of the separation part 106 is inserted into the recess 143 in a direction from the top surface of the cassette 66 toward the bottom surface of the cassette 66, and in a direction approximately perpendicular to the vertical axis of the cassette housing 104.

[0091] In one embodiment, the first part 106a is secured to the second part 106b of the separating part 106 by one or more mechanical fasteners. In one embodiment, the first part 106a and the second part 106b are fixed together using magnets. In one embodiment, the first part 106a and the second part 106b of the separating part 106 are fixed together with adhesive. In one embodiment, the first part 106a and the second part 106b are removably fixed to each other without the use of tools. In one embodiment, the first part 106a and the second part 106b are fixed to each other in a non-removable manner.

[0092] Referring to Figure 4F, in the usage position where the second part 106b of the separation part 106 is releasably fixed to the load sensing part 118, the first part 106a and the second part 106b are spaced apart from the rail 107 of the cassette housing 104, and therefore the first part 106a and the second part 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 separated from the cassette housing 104 and is not in contact with it. In one embodiment, the separation component 106 is separated from the cassette housing 104 in all directions. In one embodiment, the separation component 106 is separate from the cassette housing 104 and is in a non-contact relationship with it.

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

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

[0096] Referring to Figure 4D of one embodiment, the second component 106b of the separation component 106 is releasably fixed to the load sensing component 118 using a fastener. In one embodiment, the fastener includes a quick-release mechanism that allows the second component 106b of the separation component 106 to be releasably fixed to the load sensing component 118. In one embodiment, the fastener is a magnet.

[0097] Referring to Figures 5A-5E, the load sensing component 118 is located 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 separate 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 that make a mechanical connection. In one embodiment, the first fastener 115 and the second fastener 119 may be replaced with adhesive means to ensure a mechanical connection. In one embodiment, the first fastener 115 and the second fastener 119 are magnets.

[0098] Referring to Figure 5A according to one embodiment, the drive module base component 116 includes a recess for receiving a 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 a load sensor 120.

[0099] Referring to Figures 4B and 4D according to one embodiment, the cassette housing 104 is releasably 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, which is actuated by a latch release 123 that releasably engages with a quick-release locking 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 Figures 4C and 4F, the separator 106 is housed inside the cassette housing 104 by attaching the first part 106a of the separator 106 to the second part 106b around the rail 107 inside the cassette housing 104. In the operating position, the separator 106 does not come into contact with the rail 107. Therefore, the interaction of loads resulting from external forces and / or external torques 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 is able to rotate freely relative to the cassette housing 104 about an axis aligned with the coupler shaft 131 on which the coupler 130 of the drive module 68 rotates. Within the assembled device module 32, the cassette 66 is positioned 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 able to freely engage and disengage 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 Figures 1, 3, and 4, the EMD drive system includes an on-device adapter 112 that is removably fixed to the shaft of the EMD 102. The on-device adapter 112 is housed in a cassette 66 that is removably fixed to a 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 Figure 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 together. 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 Figure 20A, the drive module includes a reset function to move the on-device adapter and the EMD. When translated or moved, the components move distally and proximal along the longitudinal axes of the cassette and the on-device adapter.

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

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

[0106] Referring to Figures 6A and 6B according to one embodiment, the collet 400 includes a first member 402 that moves along and / or around the longitudinal axis 406 of a 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 substantially cylindrical shape. However, the second member 404 may have other geometric shapes, for example, a frustoconical shape, where the first portion is closer to the engaging portion 136 and has a cross-section, and the second portion is closer to the first member 402 and has a larger cross-section. In one embodiment, the first member 402 is called a nut, the second member 404 is called the 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 and unpinch the EMD 102. In one embodiment, the nut 402 engages with the main body 404 by screwing (engaging in a threaded manner).

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

[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 movement in the distal direction and a second portion 414 that prevents movement in the proximal direction. In one embodiment, the first portion 412 and the second portion 414 form a groove between them that defines a surface 408 supported by a 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 ISO 80369-7 standard referenced herein. In one embodiment, the Luer connector 416 is configured to allow the on-device adapter 112 to be cleaned with a cleaning solution. The Luer connector has a passage through which it is connected to a passage in the on-device adapter 112. In one embodiment, the passage is located in the Luer connector 416 and flows coaxially with the passage in the on-device adapter. In one embodiment, the passage in the on-device adapter 112 is a passage that receives the shaft of the EMD 102. In one embodiment, the Luer connector 41 is a general-purpose connector, which in one embodiment is a connector covered by the ISO 80369-7 standard. In one embodiment, the Luer connector is a Luer lock.

[0111] Referring to Figures 6C and 6D, the on-device adapter 112 includes a holder 418, the latter having an engaging surface or gear 136 formed thereon 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 that receives the proximal portion of a collet 424. In one embodiment, the collet 424 may be a torque device, which can be obtained from Merit as PinVise (trademark). The proximal portion 426 of the body of the collet 424 has an outer diameter larger than the inner diameter at the distal end of the channel of the holder 418. The proximal end of the body 426 is positioned within the channel of the holder 418, thereby causing the finger 422 to move outward and capture the collet 424 within the holder 418, so that the movement and / or rotation of the holder 418 becomes the movement and / or rotation of the collet 424. The second member 430 rotates around the threaded portion 432 of the collet body portion 426 by pinching the shaft of the EMD within the split member portion 428. The multiple split member portions 428 move toward each other and toward the body portion 426 by pinching the EMD 102 as the inner cone portion of the second member 430, so that the multiple split member portions 428 engage with each other and move toward each other.

[0112] Referring to Figures 7A and 7B, the on-device adapter 112 is an assembly including a quick clamp 450 that engages the collet 424, as described above. However, it is assumed that the quick clamp 450 engages with other collet configurations. In one embodiment, the quick clamp 450 rapidly connects and / or releases the collet 424. Referring to Figures 7E and 7F, a 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 Figures 7A and 7B, the quick clamp 450 includes a clamp body 454 therein that defines a channel and accepts 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 part 430 of the torquer, which rotates relative to the body 426, acts to pinch and unpinch the EMD within the channel defined by the body and the second part. Referring to Figures 7E and 7F, a lever 452 pivoted to the clamp body 454 moves from a first open position to a second closed position, in which case the clamp body moves from the unclamped position to the 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. When the lever is pivoted from the open position to the closed position, the gap 461 is eliminated by clamping the collet body against the quick clamp, and as a result the movement and / or rotation of the quick clamp causes the movement and / or rotation of the collet and EMD that are pinched to the collet. The gap 461 is eliminated because the cam portion 457 interacts with the surface 459 and forces the body 454 to act in such a way as to eliminate the gap 461.Referring to Figure 7B, the screw 455 connected to the pin 453 allows for variation within the gap 461 (see Figure 7E) before the lever 452 is engaged. This allows for further adjustment of the quick clamp to engage collets of various outer diameters (the lever handle may be adjusted to fine-tune the displacement for clamping force, while the screw handle may make larger displacements based on the size change).

[0113] Referring to Figure 7B, the lure connector 456 is operably coupled to the clamp body 454 together with the connector 464, and in one embodiment, the lure connector 456 is integrated with a portion of the clamp body 454. In one embodiment, the engaging portion 458 includes a gear 460 and a surface 462, the latter of which is housed in a cassette supported by bearings within the cassette.

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

[0115] Referring to Figure 4F, the drive module includes an actuator operably coupled to a drive coupler, which is operably coupled to a drive member in a 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 guidewire. In one embodiment, the EMD is a catheter having a hub at its proximal end and a flexible shaft extending from the hub toward 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, the intermediate portion being less rigid than the hub but more rigid than the shaft.

[0117] Referring to Figures 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, which has a cavity 520 extending inward from the proximal end of the body 518 to receive the hub 514. The catheter hub 514, which is adjacent to or near the proximal end of the catheter 512 and shaft 516, extends from a region adjacent to the hub 514 to a region adjacent to the distal end of the catheter 512. In one embodiment, the hub 514 is received into the cavity 520 by press-fit or other means of engagement 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 with a drive member 134 in a cassette 66. In one embodiment, the engaging feature 522 is a gear. The gear 522 may be similar to the gear 136 described herein. The on-device adapter 510 and catheter 512 are moved together with the cassette 66 and / or drive module 68. The on-device adapter 510 and catheter 512 are rotated around their longitudinal axis by an actuator operably rotating the gear 134, thereby rotating the gear 522 and the on-device adapter 510 and catheter 512.

[0118] The catheter hub 514 includes a hub body 524, which in one embodiment includes a pair of wings 526 extending radially outward from the hub body 524. Referring to Figures 8A and 8B, the wings 562 are received within a 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 section 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 section 532 has a proximal portion having a proximal diameter and a distal portion having a distal diameter, the latter being equal to or smaller than the proximal diameter of the shaft 516.

[0119] In one embodiment, the hub 514 includes a first port that provides access to the internal lumen 534 of the catheter shaft 516, either directly or through the hub shaft lumen (cavity) 534. In one embodiment, the hub 514 includes an additional port that flows through the catheter lumen, which may be used, for example, to inflate a balloon.

[0120] The shaft 516 includes a lumen (cavity) 534 through which fluid flows with the hub lumen 536. The connector 528 includes a cavity through which fluid flows 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 through therein into the interior of the shaft cavity 534 and the hub cavity 536. In one embodiment, the strain release section surrounds the proximal portion of the shaft lumen 534. The connector 528 also allows fluid to flow through it, enabling the introduction of fluid 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 catheter 512 interacts with another distal catheter, catheter 512 and its features may be referred to as the first catheter and its first features, and the distal catheter and its features may be referred to as the second catheter or its second features. The first shaft 516 has a predetermined outer diameter, which allows the first shaft 516 to enter the second lumen of the second catheter (not shown) and enter the patient's vascular structure for diagnosis or treatment. The outer diameter of the first shaft 516 is smaller than the inner diameter of the second lumen of the second catheter, and therefore it can be inserted into it. Note that the guide catheter is usually placed inside the insertion sheath and is not a separate catheter. Therefore, the hub of the guide catheter has a geometric shape that prevents it from entering the insertion sheath or the patient's vascular system.

[0122] In contrast, the first hub 514 is not configured to enter the second lumen of the second catheter, and therefore not to enter the lumen of the introducer sheath. In one embodiment, the outer circumference of the first hub 514 has a cross-section that, at a certain position perpendicular to the longitudinal axis of the hub and / or catheter, is larger than the inner diameter of the second lumen of the second catheter and / or the second lumen of the second catheter hub. Therefore, the first hub 514 cannot enter the second lumen of the second catheter. Furthermore, due to the geometric shape of the first hub 514, the proximal end of the catheter is not permitted to enter the vascular system.

[0123] The shaft 516 is sufficiently flexible to allow it to bend within the second lumen of the second catheter and / or to follow a non-linear path of the second catheter. In one embodiment, the shaft 516 is sufficiently flexible to allow it to bend within and follow a non-linear vascular structure.

[0124] In one embodiment, the shaft 516 may include a hypotube made of stainless steel, which has sufficient flexibility to allow its shaft to follow the nonlinear path of the second catheter and / or the patient's nonlinear angiographic agent.

[0125] In one embodiment, connector 528 is a Luer connector, and in one embodiment, the Luer connector is a female Luer connector. In one embodiment, the Luer connector has a lumen through which another EMD passes or through the Luer connector a fluid enters the hub and catheter.

[0126] In one embodiment, a hub wing 526 is used for an operator to manually hold the hub 524. The wing 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 manipulate a feature within the catheter 512 (e.g., a wire extending to the distal end of the catheter to deflect the tip). In one embodiment, the catheter 512 does not include any control used to manipulate a feature within the catheter (e.g., a wire extending 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 shaft outer diameter within a certain range. In one embodiment, a Merit Medical torque device is used as part of the on-device adapter, covering the following shaft diameter ranges: namely, 0.009″-0.018″, 0.018″-0.038″, 0.010″-0.020″, 0.013″-0.024″, or 0.025″-0.040″ (where `` represents inches). Note that the ranges of torque devices available from Merit Medical may overlap.

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

[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 guidewire with an outer diameter of 0.035″ or 0.038″, and the second on-device adapter is used to pinch a microwire with an outer diameter of approximately 0.014″. Angiographic guidewires are used to position a guide catheter and may be called diagnostic guidewires. Microwires may be called micro-guidewires or simply guidewires. For simplicity, the term "approximately" is used as an abbreviation for "approximately" in this specification (in English).

[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 accept a single torquer. The terms torquer and torque device are used interchangeably herein and may refer to a subset of collets used herein. In one embodiment, the on-device adapter may provide sufficient clamping force on the torque device to withstand axial forces as the on-device adapter moves forward and backward for a predetermined action, or to withstand torsional forces as 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 slip (axial or rotational) of the EMD as it moves forward 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 Figures 12A-12F.2, the robot system 910 includes a collet 964, which has a first part 965 having a first collet coupler 958 connected thereto, and a second part 966 having a second collet coupler 960 connected thereto. Referring to Figure 12F.1, the EMD 912 is removably positioned within the lumen (cavity) or path 996 defined by the collet 964. The robot drive unit includes a base 914 or drive module having a first motor 936 and a second motor 938, which is operably and continuously connected to both the first collet coupler 958 and the second collet coupler 960 to operably pinch and unpinch the EMD 914 within the cavity 996, thereby rotating the EMD 912. The first motor 936 and the second motor 938 described herein rotate the first collet coupler 958 and the second collet coupler 960 differentially. In other words, the first motor 936 and the second motor 938 rotate independently of each other at different rates (speeds) and in different directions. This includes cases where the first motor rotates and the second motor does not. 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 another embodiment, they may be separate components. In one embodiment, the second portion 966 and the second collet coupler 960 are formed as a single component, but in another embodiment, they may be separate components.

[0133] The EMD robot system 910 includes a collet, which employs 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 toward the distal end 913, the EMD 912 is advanced into the patient, and when the EMD 912 is moved from the distal end 913 toward the proximal end, the EMD 912 is retracted or withdrawn from the patient. To clarify the direction, a Cartesian coordinate system with X, Y, and Z axes can be introduced, where the positive (+) Z axis is oriented in the longitudinal (axial) distal direction, i.e., from the proximal end to the distal end. The X and Y axes lie on a plane perpendicular to the Z axis, with the positive Y axis pointing upward, i.e., in the opposite direction to gravity, and the X axis pointing forward (usually towards the surgeon / doctor at the bedside). The right-hand rule is used to determine the direction of rotation. In this rule, the direction is determined by pointing the right thumb along the positive X, Y, and Z axes, with the curl (bend) of the right fingers being associated with the clockwise direction. The opposite direction to the curl of the right fingers can be associated with the counterclockwise direction. As used herein, the terms clockwise and counterclockwise refer to a first direction of rotation and a second direction of rotation opposite to that first direction. Therefore, it should be noted that using either the clockwise or counterclockwise terms can refer to the first direction of rotation and the second opposite direction of rotation. The terms clockwise and counterclockwise are used to help understand the different directions of rotation of the devices provided herein, although it is possible to configure the devices with the clockwise and counterclockwise directions reversed.

[0134] The collet drive system 910 includes a drive module 914, which moves along the axial direction of the EMD 912 and is actuated by a drive module movement drive unit 916. The drive module 914 includes a drive module housing 918, a mounting bracket 920, a cassette 922, and a cassette cover 924. The cassette 922 includes a double-gear collet drive housing 926 and an EMD guide 928. The top of the double-gear collet drive housing 926 includes multiple openings 927 and multiple ribs 929. The EMD guide 928 includes multiple pairs of guides, which act as V-shaped notches and function as open channels for guiding the EMD 912 through the drive system. Note that the open channels are open for loading but may be covered when the cassette cover is closed. The guides function as buckling prevention features. In one embodiment, the EMD guide 928 includes a plurality of pairs of V-shaped notches or U-shaped channels to function as a guide. The tops of the V-shaped or U-shaped channels may be chamfered to assist in loading the EMD 912. In one embodiment, a pair of EMD guides 928 are used on the proximal side of the 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 robot system 910 includes a third motor 932 (not shown) operably coupled to a collet 964, thereby moving the collet 964 and the EMD 912 along the longitudinal axis of the collet 964. In one embodiment, a first motor 936 and a second motor 938 are fixed to the collet 964 during the 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 a 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 item. This means that the cassette 922 is discarded after being used on one patient. In one embodiment, the cassette 922 may be made of a sterilizable and reusable material.

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

[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 coupler bevel gear 946 are located distally within the drive module housing 918. The second motor 938, the second coupler 942, and the second coupler bevel gear 948 are located proximal 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 rotating bearings attached to the mount bracket 920.

[0139] The collet drive housing 926 includes a double gear collet drive assembly 944 as described herein.

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

[0141] In one embodiment, the upper surface 947 of the first coupler bevel gear 946 includes an open central hole that receives and drives the first coupler 940 along its central axis. In other words, the gear 946 has a hole along its longitudinal axis. In one embodiment, the upper surface 947 of the first coupler 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 coupler bevel gear 948 includes an open central hole that receives and drives the second coupler 942 along its central axis. In one embodiment, the upper surface 949 of the second coupler 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 releasably fixed to the base 914. The collet 964 is located within the cassette 922. The first collet coupler 958 and the second collet coupler 960 are coupled to the first motor 936 and the second motor 938, respectively, via the first drive coupler 940 and the second drive coupler 942, which are located 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 a gear 946, which 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 a gear 948, which is operably engaged with the second collet coupler 960.

[0143] The first composite assembly 958 includes radial and longitudinal slits 962 extending from its outer surface and terminating at its radial center. The second composite assembly 960 includes radial and longitudinal slits 963 extending from its outer surface and terminating at its radial center. These slits 962 and 963 allow for lateral or radial loading of the EMD 912. 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 assemblies 958 and 960 include V-shaped notches that are oriented along their central longitudinal axes and guided to the slits 962 and 963, respectively, to assist in guiding the EMD 912 for lateral or radial loading. Note that slit 962 extends through the first driven bevel gear 950, and slit 963 extends through the second driven bevel gear 952. The first coupler bevel gear 946 drives by meshing with the first driven bevel gear 950 having slit 962 without impairing its performance. The second coupler bevel gear 948 drives by meshing with the second driven bevel gear 952 having slit 963 without impairing its performance.

[0144] Referring to Figure 12A, the outer portions of the first wheel 954 and the second wheel 956 extend through the opening 927 of the housing 926, thereby allowing the wheels 954 and 956 to be operated manually 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, thereby allowing the operator to align the slots within the collet assembly and remove the EMD from the cassette. In one embodiment, the first wheel 954 and the second wheel 956 are circular discs with notches on their outer circumference. In one embodiment, the first wheel 954 and the second wheel 956 are circular discs with grooves on their outer circumference. In one embodiment, the first wheel 954 and the second wheel 956 are circular discs having knurling on their outer circumference. In another embodiment, the first wheel 954 and the second wheel 956 are circular discs having a feature on their outer circumference to assist manual operation. In yet another embodiment, the first wheel 954 and the second wheel 956 are circular discs without a feature on their outer circumference, for example, their outer circumference being a smooth wall.

[0145] Referring to Figures 12A, 12B, and 12C, the first composite assembly 958 and the second composite assembly 960 each rotate around a longitudinal axis aligned with the EMD 912, and each assembly is maintained in its longitudinal position by circular cutouts in a rib 929 that function as bearings. In one embodiment, open circular cutouts in the rib 929 are snapped to the first wheel 954 and the second wheel 956 on both sides of them. In other words, the first composite assembly 958 and the second composite assembly 960 may be snapped to open cutouts in the rib 929, which are partially enclosed by the first shaft distal end 951 and the first shaft proximal end 953 of the first composite assembly 958 and the second shaft proximal end 955 and the second shaft distal end 957 of the second composite assembly 960. The open notches in the rib 929 act like thrust bearings, preventing axial (longitudinal) movement while allowing rotational movement. The open notches in the rib 929 do not completely enclose the shafts 951, 953, 955, and 957. In one embodiment, the open notches in the rib 929 provide a 210-degree enclosure for each of the shafts 951, 953, 955, and 957. In one embodiment, the open notches provide 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 ribs having the open notches are made of a material such as plastic, according to specific criteria.

[0146] Referring to Figures 12A and 12D, the dual gear collet drive assembly 944 includes a first composite assembly 958, a collet 964 including an internal collet portion 965 and an outer collet portion 966 having a threaded spline, and a second composite assembly 960. Due to the snap-fit ​​feature provided by the open notch in the rib 929, the dual gear collet drive assembly 944 (excluding the first coupler bevel gear 946 or the second coupler bevel gear 948) can be manually removed from the housing 926 and reinstalled.

[0147] Referring to Figures 12D and 12E, the inner collet portion 965 includes a collet first portion 968 integrally connected to a tapered (tapering) collet second portion 970, the collet second portion 970 being divided into tapered cantilever jaws 972, each having a substantially semicircular 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-prism shape with a non-constant cross-section. The collet second portion 970 extends from the collet first portion 968 in a frustoconical manner, thereby 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, where the proximal end 974 is furthest 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 parts. For example, the tapered second collet portion 970 may be a metal insert pressed into the first collet portion 968. In one embodiment, the inner collet portion 965 and the first composite assembly 958 are combined as a single part. 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, the latter of 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, the latter of which meshes with an internal axial spline thread 982 of the second composite assembly 960, enabling relative movement along the longitudinal axis 988. The second portion 978 of the screw spline includes an external helical periphery screw thread 984, the latter of which meshes with an internal screw thread 986 of the first composite assembly 958, enabling relative rotational movement in a clockwise or counterclockwise direction 990. The screw spline 966 is configured to have both an axial spline thread 980 and a helical periphery screw thread 984, so that the screw spline 966 can rotate and move relative to the inner collet portion 965, while keeping the longitudinal distance between the first driven coupler bevel gear 950 and the second driven coupler bevel gear 952 fixed, so that they mesh with the first coupler bevel gear 946 and the second coupler bevel gear 948, respectively.

[0149] In one embodiment, the EMD912 does not rotate when it is pinched or released. The first collet portion 968 is the portion that releasely fixes the EMD912 to it. By keeping the first collet portion 968 stationary while the second portion 966 rotates, the EMD912 does not rotate. In other words, releasing the EMD from the collet 964 without rotating the EMD912 around the vertical axis of the collet 964 can be done by keeping the inner collet portion 965, which is in direct contact with and fixes the EMD912, stationary relative to the patient, and rotating the outer collet portion 966 relative to the inner collet portion 965, thereby releasing the EMD912 from its fixed relationship with the inner collet portion 965. In one embodiment, it may be desirable to keep the EMD912 rotating at the start of the release pinch process. In this embodiment, the first collet portion 968 rotates at a different speed than the outer collet portion 966.

[0150] Referring to Figures 12D and 12E, the inner collet portion 965 includes a radial longitudinal slit 992 within the first collet portion 968, thereby enabling lateral or radial loading of the EMD 912 into the lumen 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 EMD 912. The longitudinal slit 994 extends radially from the outer surface of the screw spline 966 and terminates at its center.

[0151] Referring to Figure 12F.1, the configuration of the double gear collet drive assembly 944 when it is unpinched is illustrated, in which case the jaws 972 of the tapered second portion 970 of the collet are open and do not lock down (engage) (pinch) the EMD 912. In the fully unpinched 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, preventing further movement within the longitudinal spline. Referring to Figure 12F.2, the configuration of the double gear collet drive assembly 944 when it is pinched is illustrated, in which case the jaws 972 of the tapered second portion 970 of the collet are closed to each other and lock down (engage) (pinch) the EMD 912. In a fully pinched configuration, the screw spline 966 is at its most distal position. In one embodiment, the screw spline 966 is restricted to its most distal position by a hard stop due to the cutting of the threads. That is, the threads are geometrically constrained so that it cannot be screwed in any further. In one embodiment, the screw spline 966 is restricted to its most distal position by a feature such as a flange or lip, preventing further movement.

[0152] Referring to Figures 12F.1 and 12F.2, the movement of the inner collet portion 965 in the direction of the screw spline 966 is illustrated, thereby causing the jaws 972 of the second portion 972 of the tapered collet to move toward each other and pinch the EMD 912. Moving the inner collet portion 965 toward away from the direction of the screw spline 966 causes the jaws 972 of the second portion 972 of the tapered collet to move toward each other, allowing the EMD 912 to be unpinched.

[0153] During operation, the dual gear collet drive assembly 944, using two degrees of rotational freedom provided by motors 936 and 938, enables four operations: pinching the EMD 912, unpinching the EMD 912, rotating the dual gear collet drive assembly 944 clockwise, and rotating the dual gear collet drive assembly 944 counterclockwise. These four operations are produced by the movement of the inner collet portion 965 relative to the screw spline 966, based on the rotational direction of the first coupler 940 and the rotational direction of the second coupler 942.

[0154] In the first operating mode, the double gear collet drive assembly 944 rotates clockwise, while the first coupler 940 rotates counterclockwise and the second coupler 942 rotates clockwise. In the second operating mode, the double gear collet drive assembly 944 rotates counterclockwise, while the first coupler 940 rotates clockwise and the second coupler 942 rotates counterclockwise. In the third operating mode, the EMD912 is released from the pinch, but the first coupler 940 does not rotate, while the second coupler 942 rotates counterclockwise. In the fourth operating mode, the EMD912 is pinched as a result, but the first coupler 940 does not rotate, while the second coupler 942 rotates clockwise. In the third and fourth operating modes, the collet is pinched and pinched, respectively. In one embodiment of the third and fourth operating modes, the movement continues until a hard stop is reached. In one embodiment of pinching, the hard stop is reached when the end of the spline thread on the first portion 976 of the screw spline is reached. In one embodiment of pinching, the hard stop is reached when the end of the thread on the second portion 978 of the screw spline is reached, where it aligns with the first portion 976 of the screw spline. In the fourth operating mode, to accelerate the start of rotation of the EMD while pinching is performed, 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. The current limit can be set to different values ​​in the third and fourth operating modes. For example, the current is limited to a lower value when pinching compared to when releasing the pinch, because static friction must be overcome when releasing the pinch.

[0156] In one embodiment, the dual gear collet drive system 910 includes a system at the proximal end 911 of the collet drive system for preventing buckling (torsion) of the EMD 912. In one embodiment, the dual gear collet drive system 910 incorporates a system at the distal end 913 of the collet drive system for preventing buckling of the EMD 912. In one embodiment, the buckling prevention system is a tube with an inner diameter slightly larger than the outer diameter of the EMD 912. In one embodiment, the buckling prevention system is a set of multiple expandable tubes, the smallest of which has an inner diameter slightly larger than the outer diameter of the EMD 912. In one embodiment, the buckling prevention system is a track that can be loaded on the sides.

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

[0158] The sliding 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 unit 1010 mounted on 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 unit 1010 includes a pinion gear 1020 integrally connected to the motor shaft (not shown) of a movement drive motor 1022. The movement drive motor 1022 rotates the pinion gear 1020, the latter meshing 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 carrier 1008 to movement only in the proximal and distal directions along the axial direction of the EMD 1002.

[0159] The carrier housing 1014 includes a flat base plate, but has vertical lateral extensions at its proximal and distal ends. In one embodiment, the carrier housing 1014 is a single integrated part 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 connected integrally. 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 connected integrally. The proximal and distal extensions of the carrier housing 1014 include holes for supporting a collet and a rotary drive system 1024 (described later). In one embodiment, rotary bearings are mounted in the holes between the proximal and distal extensions of the carrier housing 1014.

[0160] The first motor 1026 and the second motor 1028 are mounted to a fixed base 1012. In one embodiment, the first motor 1026 and the second motor 1028 are fixed to the base 1012 while the collet 1056 and EMD 1002 are moving. As described herein, the carrier 1008 moves with the collet 1056 independently of the base 1012, the first motor 1026 and the second motor 1028. In other words, while the collet 1056 moves along its longitudinal axis, the first motor 1026 and the second motor 1028 do not move with the collet 1056 during at least one operating mode. 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 proximal 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 rotating bearings and seals attached to the fixed base 1012.

[0161] In one embodiment, the mobile 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 envisioned. In one embodiment, the mobile drive motor 1022, the first motor 1026, and the second motor 1028 are servo motors. In one embodiment, the mobile drive motor 1022, the first motor 1026, and the second motor 1028 are rotary actuators powered by electricity, pneumatics, hydraulics, or other means.

[0162] Referring to Figures 13B.1 and 13B.2, the collet and rotary drive system 1024 (described later) move relative to the fixed base 1012. Referring to Figure 13B.1, the mobile drive motor 1022 rotates the pinion 1020 in one direction (clockwise) to move the rack 1018, and thus move the collet and rotary drive system 1024 toward the proximal end. Referring to Figure 13B, the mobile drive motor 1022 rotates the pinion 1020 in the opposite direction (counterclockwise) to move the rack 1018, and thus move the collet and rotary drive system 1024 toward the distal end. In one embodiment, the collet and rotary drive system 1024 move relative to the fixed base 1012 by a rack and pinion mechanism described herein. In one embodiment, the collet and rotary drive system 1024 move relative to the stationary base 1012 by a different mechanism, which may utilize a reciprocating mechanism such as a slider-crank or Scotch-yoke mechanism. An advantage of the reciprocating mechanism is that the drive motor 1022 does not need to change direction.

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

[0164] Referring to Figure 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 meshes with the first spur gear 1038, and all of these together form the first composite (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 meshes with the second spur gear 1046, and all of these together form the second composite (or cluster) gear assembly 1048. The first spur gear 1038 meshes with the first collet spur gear 1050, the latter of which is movable relative to the first spur gear 1038. The second spur gear 1046 meshes with the second collet spur gear 1052, the latter of which is movable relative to the second spur gear 1046. A short first shaft 1051 is provided at the distal end of the first collet spur gear 1050, which is coaxially aligned with and integrally connected to 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 with and integrally connected to the second collet spur gear 1052. In one embodiment, the first shaft 1051 is supported by a hole in the distal extension of the carrier housing 1014. In one embodiment, the first shaft 1051 is supported by a rotary bearing mounted in a hole in the distal extension of the carrier housing 1014. In one embodiment, the second shaft 1053 is supported by a hole in the proximal extension of the carrier housing 1014. In one embodiment, the second shaft 1053 is supported by a rotary bearing mounted 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 that are wider than the width 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 10 times the width of the first spur gear 1038 and the second spur gear 1046, respectively. In one embodiment, the widths of the first collet spur gear 1050 and the second collet spur gear 1052 are less than 10 times the width of the first spur gear 1038 and the second spur gear 1046, respectively. In one embodiment, the widths of the first collet spur gear 1050 and the second collet spur gear 1052 are greater than 10 times the width of the first spur gear 1038 and the second spur gear 1046, respectively.

[0166] The first composite gear assembly 1040 and the second composite gear assembly 1048 are supported on the base 1012 so that they are coaxially aligned and can rotate around a longitudinal axis. In one embodiment, the first shaft 1037 connecting the first driven bevel gear 1036 and the first spur gear 1038 extends from the base 1012 through a hole in the extension and is supported by it. In one embodiment, the first shaft 1037 connecting the first driven bevel gear 1036 and the first spur gear 1038 extends from the base 1012 through a rotating bearing in the extension and is supported by it. In one embodiment, the second shaft 1045 connecting the second driven bevel gear 1044 and the second spur gear 1046 extends from the base 1012 through a hole in the extension and is supported by it. In one embodiment, a second shaft 1045 connecting a second driven bevel gear 1044 and a second spur gear 1046 passes through a rotating bearing in an extension from the base 1012 and is supported thereby.

[0167] Referring to Figures 13A and 13C, the collet and rotary 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 longitudinal axis. In one embodiment, the collet and rotary drive unit 1024 can be manually removed from the carrier housing 1014 and reattached 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, a first collet spur gear 1050 is integrally connected to a first wheel (not shown) having a larger diameter than the spur gear 1050, and a second collet spur gear 1052 is integrally connected to a second wheel (not shown) having a larger diameter than the spur gear 1052. The first and second wheels are accessible for manual operation by an operator. For example, if a power loss occurs, the operator may manually rotate the first and second wheels to remove the EMD 1002. In one embodiment, the first and second wheels are circular discs with notches on their outer circumference. In one embodiment, the first and second wheels are circular discs having grooves on their outer circumference. In one embodiment, the first and second wheels are circular discs having teeth on their outer circumference. In one embodiment, the first and second wheels are circular discs having features that assist manual operation on their outer circumference. In one embodiment, the first wheel and the second wheel are circular discs having no distinctive features on their outer circumference, 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 assembled integrally, and the second collet spur gear 1052 and the second wheel are separate parts that are assembled integrally.

[0169] In one embodiment, the carrier arm 1016 can be manually removed from the proximal side of the carrier housing 1014 and reattached to the proximal side of the carrier housing 1014 by a snap-fit ​​feature built into the proximal side of the carrier housing 1014. In another embodiment, the carrier arm 1016 can be manually removed from the rack 1018 and reattached to the rack 1018 by a snap-fit ​​feature 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, the carrier housing 1014 and the carrier arm 1016 are consumables.

[0171] Referring to Figures 13D.1 and 13D.2, the first collet spur gear 1050 and the second collet spur gear 1052 are connected by components within a collet mechanism 1054. The collet mechanism 1054 includes an inner collet member 1056 and an outer collet member 1058. The inner collet member 1056 and the outer collet 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 consists 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 vertical axis is collinear with the axis of the EMD 1002, and its outer 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 its central vertical 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 an integrated part. In another 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 consists 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 vertical axis is collinear with the axis of the EMD 1002, and its outer 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 circumference, the center of its vertical axis is collinear with 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 an integrated part. 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 that are integrally connected.

[0174] The outer screw thread 1074 of the second portion 1068 of the outer collet member 1058 engages with the inner screw thread 1072 of the second portion 1062 of the inner collet member 1056. Because the inner screw thread 1072 engages with the outer screw thread 1074, the rotation of the inner collet member 1056 relative to the outer collet member 1058 around the longitudinal axis corresponds to the movement of the inner collet member 1056 relative to the outer collet member 1058 along the longitudinal axis. Since the first collet spur gear 1050 is integrally connected to the inner collet member 1056 and the second collet spur gear 1052 is integrally connected to the outer collet 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 while the collet 1054 moves. In other words, the first collet spur gear 1050 includes teeth with a sufficiently long face width so that the teeth of gear 1050 engage with gear 1038 when gear 1050 moves with collet 1054 relative to motor 1026. Similarly, the second collet spur gear 1052 includes teeth with a sufficiently long face width so that the teeth of gear 1052 engage with gear 1046 when gear 1052 moves with collet 1054 relative to motor 1028.

[0176] Referring to Figure 13D.1, in the pinch-unpinched configuration of the collet and rotary drive system 1024, the jaws of the second portion 1062 of the collet inner member 1056 are open and do not lock down (pinch) the EMD 1002. In the fully unpinched configuration, the collet outer member 1058 is in its most proximal position relative to the collet inner member 1056. In one embodiment, the collet outer member 1058 is limited to its most proximal position by a hard stop at the proximal end of its movement. In one embodiment, the collet outer member 1058 is limited to its most proximal position by a feature such as a flange or lip, stopping further movement in the longitudinal direction. Referring to Figure 13D.2, in the pinch configuration of the collet and rotary drive system 1024, the jaws of the second portion 1062 of the collet inner member 1056 are closed to each other and lock down (pinch) the EMD 1002. In a fully pinched configuration, the collet outer member 1058 is at its distal position relative to the collet inner member 1056. In one embodiment, the collet outer member 1058 is restricted to its distal position by a hard stop due to the cutting of the threads, i.e., constrained by its geometric shape, and cannot be screwed in any further. In one embodiment, the collet outer member 1058 is restricted to its distal position by a feature such as a flange or lip to prevent further longitudinal movement.

[0177] The operating principle of the collet and rotary drive system 1024 is similar to that of the collet of the dual gear collet drive assembly 944 illustrated with reference to Figures 12C and 12D. When the first collet spur gear 1050 and the second collet spur gear 1052 are rotated, they are screwed toward each other, and the inner surface of the second portion 1068 of the collet outer member 1058 is pressed against the second portion 1062 of the collet inner member 1056, pinching the EMD 1002. When the first collet spur gear 1050 and the second collet spur gear 1052 are rotated and they are screwed toward each other, the inner surface of the second portion 1068 of the collet outer member 1058 is released, stopping the press against the second portion 1062 of the collet inner member 1056 and releasing the pinch of the EMD 1002.

[0178] In operation, the dual gear collet and rotary drive system 1024 uses two rotational degrees of freedom from motors 1026 and 1028 to achieve four operations: pinching the EMD 1002, unpinching the EMD 1002, rotating the dual gear collet and rotary drive system 1024 clockwise, and rotating the dual gear collet and rotary drive system 1024 counterclockwise. These four operations are produced by the movement of the inner collet member 1056 relative to the outer collet member 1058, based on the rotational directions of the first coupler 1030 and the second coupler 1032.

[0179] In the first operating mode, the dual gear collet and rotary drive system 1024 rotate clockwise, with the first coupler 1030 rotating clockwise and the second coupler 1032 rotating counterclockwise. In the second operating mode, the double gear collet and rotary drive system 1024 rotate counterclockwise, with the first coupler 1030 rotating counterclockwise and the second coupler 1032 rotating clockwise. In the third operating mode, the EMD1002 is released from the pinch, during which the first coupler 1030 rotates clockwise and the second coupler 1032 rotates clockwise. In the fourth operating mode, the EMD1002 is pinched as a result, during which the first coupler 1030 rotates counterclockwise and the second coupler 1032 rotates counterclockwise. In the third and fourth operating modes, the collet inner member 1056 performs pinch release and pinch (knob) respectively until a hard stop is reached.

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

[0181] In one embodiment, a longitudinal slit (not shown) is included as a component of the double gear sliding collet drive system 1000 to allow radial or lateral 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, rotation mode, and movement mode may be performed individually or simultaneously. In one embodiment, the rotation mode and the movement mode occur simultaneously.

[0183] Referring to Figure 14A, one embodiment of a dual gear sliding collet drive system with a reset mechanism is shown. A disposable cassette 1080 is releasably mounted to a fixed base 1012 and includes a collet and rotary drive system 1024 (described above) located distally, and a reset mechanism 1082 located proximal. 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 rear hinge, allowing the cover to rotate and open from the front. In one embodiment, the cassette cover 1084 is connected to the cassette housing 1086 by a front hinge, allowing the cover to rotate and open from the rear. In one embodiment, the cassette cover 1084 is connected to the cassette housing 1086 by a hinge from the side, allowing the cover to be opened and closed. In one embodiment, the cassette cover 1084 is connected to the cassette housing 1086 by a fastener that allows the cover to be opened and closed by rotation, movement, or a combination of rotation and movement relative 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 opened and closed by rotation, movement, or a combination of rotation and movement relative 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 the housing 1086 and reattached to the housing 1086.

[0184] The proximal and distal ends of the cassette cover 1084 include cover notches 1088 to allow free passage of the EMD 1002. The proximal and distal ends of the cassette housing 1086 include housing notches 1090 aligned with the cover notches 1088. In one embodiment, the cover notches 1088 and housing notches 1090 are triangular cutouts to allow free passage of the EMD 1002. In one embodiment, the cover notches 1088 and housing notches 1090 are cutouts of arbitrary shape to allow free passage of the EMD 1002. The underside of the cassette cover 1084 includes cover ribs 1092. When the cassette cover 1084 is closed, the cover rib 1092 seats the EMD 1002 in the alignment notch 1090 of the cassette housing 1086, maintaining the vertical position of the EMD 1002 within the alignment groove or channel, and maintaining the lateral position of the EMD 1002.

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

[0186] Referring to Figure 14B, the underside of the fixed base 1012 is shown. The reset mechanism 1082 is housed in a reset mechanism frame 1098 which is integrally connected to the fixed base 1012. The reset mechanism coupler 1096 is integrally connected to the reset mechanism crank 1100, the latter of which is rotatable relative to the frame 1098 and the base 1012. In one embodiment, the reset mechanism coupler 1096 passes through a hole in the reset mechanism frame 1098. In one embodiment, the reset mechanism coupler 1096 passes through a rotating 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 motion (i.e., motion only along the axis of the EMD 1002) by the cross slider first linear bearing 1110 and the 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 relative to the first guide 1114, and the second linear bearing 1112 is a prism-shaped joint movable relative to the second guide 1116. The ends of the first guide 1114 and the second guide 1116 are integrally connected to the fixed base 1012, which fixes the guides 1114 and 1116, etc.

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

[0188] In one embodiment, the first coupler 1030 has a first coupler slotted end 1126, the latter seated in a slotted receiver on a shaft integrally connected to the first driver bevel gear 1034. The second coupler 1032 has a second coupler slotted end 1128, the latter seated in a slotted receiver on a shaft integrally connected to the second driver bevel gear 1042 (see Figure 13C).

[0189] Referring to Figures 14C.1, 14C.2, 14C.3, and 14C.4, the operation of the linear positioning mechanism 1082 is shown in a series of steps. The mechanism 1082 includes a rotatable reset clamp cam 1130 and a fixed clamp support 1132, the reset cam 1130 rotating around a vertical axis by a reset cam coupler 1134. In one embodiment, the reset cam coupler 1134 on which the reset cam 1130 rotates is driven by a motor (not shown). In one embodiment, the reset cam coupler 1134 on 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 which 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 arc shape. The retaining cam 1132 has a curved outer surface 1138. In one embodiment, the curved outer surface 1138 of the retaining cam 1132 has a convex shape. In one embodiment, the curved outer surface 1138 of the retaining cam 1132 has an arc shape.

[0190] Operationally, the reset cam 1130 can be in a closed or open position. In the closed position, the reset cam 1130 is positioned opposite the retaining cam 1132. In one embodiment in the closed position, there is no gap between the reset cam outer surface 1136 and the retaining cam outer surface 1138, and the two surfaces 1136 and 1138 are in contact. In one embodiment in the closed position, there is a gap between the reset cam outer surface 1136 and the retaining cam outer surface 1138 with a gap distance smaller than the diameter of the EMD 1002. In the closed position, the EMD 1002 is sandwiched between the reset cam outer surface 1136 and the retaining cam outer surface 1138, as a result of preventing the EMD 1002 from moving longitudinally. In one embodiment, the reset cam outer surface 1136 and the retaining cam outer surface 1138 include an elastomer material or other deformable or flexible material that deforms with respect to the EMD in the closed position. The open position reset cam 1130 rotates away from the retaining cam 1132 so that there is a gap between the outer surface 1136 of the reset cam and the outer surface 1138 of the retaining cam. The open position reset cam 1130 does not contact the EMD 1002, allowing the EMD 1002 to move longitudinally at the position of the retaining cam 1132. In one embodiment, the reset cam 1130 rotates 60 degrees away from the retaining cam 1132 to the open position. In one embodiment, the reset cam 1130 rotates less than 60 degrees away from the retaining cam 1132 to the open position. In one embodiment, the reset cam 1130 rotates more than 60 degrees away from the retaining cam 1132 to the open position.

[0191] Referring to Figure 14C.1, the collet and rotary drive system 1024 are pinched on the EMD 1002, the reset cam 1130 is in the open position, and the cross slider 1108 is in a position proximal to the reset mechanism frame 1098. As a result of this step, the EMD 1002 is gripped 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 gripped 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 has moved 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 Figure 17A, a single plunger collet system 1280 that is releasably engageable with the EMD includes a spring 1282 and a plunger 1284, which are movably positioned along the plunger axis 1286 within a receiving cavity 1288 of a housing 1290. In the embodiment of Figure 17A, the housing 1290 has a rectangular prism shape with a first lateral surface 1292, a second lateral surface 1294, and a convex upper surface 1296. The first lateral surface 1292 is parallel to the plane defined by the plunger axis 1286 and the EMD axis 1298. The second lateral surface 1294 is parallel to the plane defined by the plunger axis 1286 and the vertical axis 1302, 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, with a top surface 1296 and an opposing bottom surface being rectangular planes. In one embodiment, for example, in the embodiment of Figure 18A, the housing 1290 is cylindrical disc-shaped with a plunger axis 1286 aligned with the diameter axis of the disc, and the embodiment of Figure 17A is a portion removed from such a cylindrical disc. Referring to Figures 18B and 18D, the outer housing 1291 is located around the housing 1290. The outer housing 1291 includes a plurality of cam surfaces on its inner wall, which operably engage with each plunger 1284 as the outer housing 1291 rotates relative to the housing 1290 about its longitudinal axis. In one embodiment, the longitudinal axis of the housing 1290 is collinear with the longitudinal axis of the outer housing 1291. In one embodiment, at least one 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 that extends from the surface 1292 on a plane defined by the EMD axis 1298 and the perpendicular axis 1302 and is oriented to terminate at the EMD axis 1298, and 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, such as a V-shaped wall having a vertex facing the EMD axis 1298. In one embodiment, the slit 1300 has a chamfer on the first side surface 1292. In one embodiment, the slit 1300 does not have a chamfer 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, and 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, and 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 the alignment of multiple plunger assemblies.

[0198] Referring to Figure 17B, the plunger-collet system 1280 is shown in a pinch-release configuration, in which 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, pushing the plunger 1284 down within the cavity 1288 of the housing 1290, compressing the spring 1282 located beneath the plunger 1284, with its long axis oriented along the plunger axis 1286. In one embodiment, once the plunger 1284 is fully pushed down within the cavity 1288, the bottom outer surface 1326 of the plunger 1284 contacts the lip 1328 within the cavity 1288 of the housing 1290, thereby restricting further movement of the plunger 1284. Contact between the surface 1326 and the lip 1328 causes the plunger 1284 to reach its most depressed state, at which point the spring 1282 is in its maximum compression state. In this case, the plunger notch 1316 in the plunger 1284 is furthest from the housing notch 1318 in the housing 1290, and the EMD 1314 can move into the opening slit 1300 in the direction of the plunger axis 1286. In one embodiment, the plunger notch 1316 is a V-shaped channel or groove with its apex 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 substantially downward recess 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 substantially upward recess and can have any geometric shape.

[0199] When the EMD 1314 is fully inserted into the well of the slit 1300 on the plunger shaft 1286, the applied force 1310 is released. Referring to Figure 17C, the plunger collet system 1280 is shown in a pinch configuration, in which the EMD 1314 is trapped between the plunger notch 1316 and the housing notch 1318 in the well of the slit 1300 on the plunger shaft 1286 so that it cannot move freely relative to the collet, and this 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 bottom outer surface 1326 of the plunger 1284 and the lip 1328 in the cavity 1288 of the housing 1290. Furthermore, in the pinch configuration, a portion 1322 of the plunger 1284 protrudes outward from the top surface 1296 of the housing 1290 and is exposed.

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

[0201] The bottom of the compression spring 1282 contacts the bottom inner surface 1330 of the cavity 1288 in the housing 1290. The top of the compression spring 1282 contacts the bottom inner surface 1332 of the plunger 1284. In one embodiment, a pocket or cup exists on the bottom inner surface 1332 of the plunger 1284 to receive the top of the spring 1282, and the top of the spring 1282 is restrained by a lip 1328. The outer diameter of the spring 1282 is smaller than the inner diameter of the cavity 1288 at the bottom of the housing 1290, 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 spring buckling or bending, preventing spring buckling or bending. In one embodiment, a compression spring 1282 is used. In one embodiment, multiple springs may be used, for example, two nested springs.

[0202] The plunger 1284 includes a plunger slot 1324 oriented along the plunger axis 1286, allowing the plunger 1284 to move along the plunger axis 1286 relative 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 collet 1280, a force 1310 is applied to the upper surface 1312 of the plunger, pushing the plunger 1284 downward. During operation, the plunger 1284 is a cam follower, and its upper surface 1312 is a driven surface that contacts a cam (not shown), the latter of which pushes down on 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. The rotation of the outer member relative to the housing 1290 causes the internal cam of the outer member to push down on the upper surface 1312, thereby pushing down the plunger 1284 and releasing the EMD 1314 in the collet 1280.

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

[0204] Referring to Figure 18B, the multiple plunger collet system 1336 is shown assembled with six single plunger assemblies 1280, each of which is cascaded in series with respect to the EMD axis 1298, in the embodiment of Figure 18A, so that each rotates progressively (in stages) relative to the others. In one embodiment, each of the six series-connected single plunger assemblies 1280 is rotated progressively by 60 degrees relative to each other (i.e., rotated sequentially 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 connected in series. That is, if the first assembly is considered to be the 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. Therefore, 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 Figure 18C, a multi-plunger collet system 1336 is shown in the assembled configuration shown in Figure 8B, in which the first single-plunger assembly 1280 is separated. Similarly, system 1336 includes six single-plunger assemblies (1280), each cascaded in series in the embodiment shown in Figure 18A, each previously rotated progressively by 60 degrees with respect to the EMD axis 1298 relative to the assembly.

[0206] Referring to Figure 18D, Figure 18B shows an end view of the assembled multi-plunger system 1336, where the first single-plunger assembly 1280 is shown by a solid line, and the second to sixth single-plunger assemblies 1280 are shown by dashed lines (phantom lines). Each single-plunger assembly is rotated gradually by 60 degrees in front of the assembly, around the EMD axis 1298, so that the guide holes 1308 are aligned. The three visible single-plunger assemblies correspond to the first and fourth assemblies, the second and fifth assemblies, and the third and sixth assemblies, with each pair positioned in opposite directions (180 degrees apart). The central holes 1334 of these six single-plunger assemblies 1280 are aligned for axial loading of the EMD 1314. In one embodiment, six single plunger assemblies 1280 are used, each rotated 60 degrees increments relative to the assembly around the EMD axis 1298. In one embodiment, four single plunger assemblies 1280 can be used, each rotated 90 degrees increments relative to the assembly around the EMD axis 1298. In one embodiment, three single plunger assemblies 1280 can be used, each rotated 120 degrees increments relative to the assembly around the EMD axis 1298. In one embodiment, two single plunger assemblies 1280 can be used, in which case the second assembly rotates 180 degrees around the EMD axis 1298 relative to the first assembly. In one embodiment, two single plunger assemblies 1280 are used together, with the second assembly rotated less than 180 degrees around the EMD axis 1298 relative to the first assembly. In one embodiment, two single plunger assemblies 1280 are used together, with the second assembly rotated by more than 180 degrees around the EMD axis 1298 relative to the first assembly. In another embodiment, more than two single plunger assemblies 1280 are used, each of which is gradually rotated by an arbitrary number of degrees around the EMD axis 1298 relative to the first assembly.In this embodiment, if the first assembly is referenced at 0 degrees, when using four single plunger assemblies 1280, the second assembly is rotated 45 degrees clockwise relative to the first assembly, the third assembly is rotated 135 degrees clockwise relative to the first assembly, and the fourth assembly is rotated 180 degrees clockwise relative to the first assembly. This embodiment allows for radial loading of the EMD in the collet. In one embodiment, the single plunger assemblies 1280 in the multi-plunger collet system are identical. In one embodiment, the single plunger assemblies 1280 in the multi-plunger collet system do not have to be identical.

[0207] Referring to Figure 18E, the pinch-release configuration of the multiple plunger collet system 1336 is shown, in which the 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, there is no contact of the EMD 1314 between the plunger and the housing in any single plunger assembly 1280 within the multiple plunger system 1336.

[0208] Referring to Figure 18F, a pinch configuration of a multi-plunger collet system 1336 having six single-plunger assemblies 1280 is illustrated. In this pinch configuration, contact of the EMD 1314 exists between the plunger and the housing in each single-plunger assembly 1280 within the multi-plunger system 1336, due to the reaction force 1320 from each compression spring 1282. Since each single-plunger assembly 1280 is progressively rotated relative to the assembly in front of it, contact on the EMD 1314 occurs on different surfaces, giving the collet system 1336 more torque capacity. In the embodiment of Figure 18F, contact occurs on a portion of the bottom surface 1338 of the EMD 1314 in the first single-plunger assembly 1280 (shown on the left), and on a portion of the top surface 1340 of the EMD 1314 in the fourth single-plunger assembly 1280 (from the left). Contact occurring at different surface areas of the EMD 1314 in each single plunger assembly 1280 means that contact occurs at different points along the longitudinal direction of the EMD.

[0209] Referring to Figures 18G, 18H, and 18I, a multi-plunger collet system 1336 is illustrated in a pinch configuration, in which six single-plunger assemblies 1280 are shown in side and front views along with an EMD 1314. Referring to Figure 18G, in the multi-plunger collet system 1336, all six single-plunger assemblies 1280 are 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 point. Referring to Figure 18H, the multi-plunger collet system 1336 has six single-plunger assemblies 1280, each shown oriented 180 degrees away from the assembly in front of it. The side view of the EMD 1314 is shown as a roughly sinusoidal line on a plane, and the front view of the EMD 1314 is shown as a single point moving up and down along a vertical line. Referring to Figure 18I, the multiple plunger collet system 1336 has six single plunger assemblies 1280, each shown oriented 60 degrees away from the assembly before being shown. Before being shown, each is shown gradually changing orientation, moving 60 degrees away from the assembly. The side of the EMD 1314 is shown as a roughly sinusoidal line on a plane, and the front of the EMD 1314 is shown as a single point moving along the circumference of a circle.

[0210] Compared to the torque (transmission) capability of the multi-plunger collet system 1336 illustrated in Figure 18G in a pinch configuration, the multi-plunger collet system 1336 illustrated in Figure 18H exhibits increased torque (transmission) capability. Due to the 180-degree offset of the multiple single-plunger assemblies 1280 in the multi-plunger collet system illustrated in Figure 18H, the EMD 1314 has a curved configuration, with the torque being most resistant in the side view, moving up and down, and in the front view, at the top and bottom of the vertical line (the neutral device axis is at the center of the line). Compared to the torque (transmission) capability of the multi-plunger collet system 1336 illustrated in Figure 18H in a pinch configuration, the torque (transmission) capability of the multi-plunger collet system 1336 illustrated in Figure 18I in a pinch configuration is further improved. The 60-degree offset of the multiple single plunger assemblies 1280 in the multiple plunger collet system illustrated in Figure 18H results in the EMD 1314 forming a spiral path, i.e., a helical shape, in which the EMD is always far from its central axis 1298, providing the most resistant torque.

[0211] In the pinch configuration of the multiple plunger collet system 1336, the deformation of the EMD 1314 is 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 by the spring mechanism.

[0212] In one embodiment, a series of pinch (knob) components are located within a collet for robot drive, and these pinch components are operated independently. Instead of operating all of these components as a single unit, an operating mechanism, such as a cam, prevents them from operating together, and instead causes them to operate sequentially, for example. This feature acts to reduce the operating force.

[0213] In one embodiment, the multiple plunger collet system 1336 is composed of multiple pinch components that are rotatably clocked relative to each other to increase the overall torque capacity for holding the collet. Rotatically clocking (rotating clockwise) refers to arranging the pinch components at various angles on a plane perpendicular to the vertical axis of the collet 1336.

[0214] Referring to Figure 18B, the collet 1336 has an inner member and an outer member that define a path for receiving the EMD 1314, and a plurality of engaging members 1284 releasably engage with the EMD 1314 when the inner member is moved relative to the outer member. In one embodiment, a spring 1282 biases the engaging members 1284. In one embodiment, the spring 1282 biases the engaging members 1284 away from the path, and in one embodiment, the spring 1282 biases the engaging members 1284 toward the path. In one embodiment, the engaging members 1284 are normally closed or located inside the path and need to be moved to an open position in order to insert the EMD. In one embodiment, the engaging members 1284 are normally open or located outside the path and need to be moved to a closed position in order to engage with the EMD. In one embodiment, the engaging members 1284 engage with the EMD sequentially. In one embodiment, referring to Figure 18I, the engaging member 1284 is offset circumferentially around the EMD. In one embodiment, referring to Figure 18G, the engaging member 1284 is offset axially. In one embodiment, referring to Figure 18H, the first engaging member is positioned 180 degrees from the second engaging member. In one embodiment, the multiple engaging members 1284 are independent and not directly connected to one another. 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 movement of the inner and outer members relative to each other is performed robotically. In one embodiment, referring to Figures 18H and 18I, the engaging member 1284 is offset radially around the EMD forming a curved path. In one embodiment, referring to Figure 18H, the curved path lies on a single plane. In one embodiment, referring to Figure 18I, the curved path does not lie on a single plane.

[0215] Referring to Figures 19A, 19B, 19C, and 19E, an opposing pad collet system 1360 is illustrated, which releasably engages with an 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 the shape of a right cylindrical column, with its longitudinal axis 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 the shape of a right cylindrical column, with its longitudinal axis 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 with a wall thickness greater than 10 percent of its inner diameter and has a plurality of cam surfaces 1365a, b, c, ... on its inner surface. In another embodiment, the outer housing 1363 is a cylindrical tube with a wall thickness less than 10 percent of its inner diameter and has a plurality of cam surfaces 1365a, b, c, ... on its inner surface. (Referring to Figures 19A-19G, the wall thickness of the outer housing 1363 is shown as a representative example. Note that the geometric shape of the outer housing 1363 in Figure 19A differs from the cross-section of the representative example illustrated in Figures 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 positioned 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 levers 1366a, b, c, ... rotate around a single pivot pin 1368. In one embodiment, multiple pivot pins 1368a, b, c, ... are used, in which case lever 1366a rotates around pin 1368a, lever 1366b rotates around pin 1368b, and so on. In one embodiment, multiple cam surfaces 1365a, b, c, ... are arranged at gradually increasing intervals along the longitudinal axis around the inner circumference of the outer housing 1363. In one embodiment, the multiple cam surfaces 1365a, b, c, ... are grooves or recesses that are gradually spaced apart 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, different numbers of circumferential slits and corresponding numbers 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 on the inner surface of the internal 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 allowing the EMD 1388 to fit inside. 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 with vertices pointing toward the EMD axis 1370. In one embodiment, the radial and longitudinal slits 1367 have retractable chamfers on the outer surface of the outer housing 1363. In one embodiment, the radial and longitudinal slits 1367 do not have retractable chamfers 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, terminate at their 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 greater than the diameter of the EMD 1388, allowing the EMD 1388 to fit inside. 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 with vertices pointing toward the EMD axis 1370. In one embodiment, the radial and longitudinal slits 1374 have retractable chamfers on the outer surface of the inner housing 1362. In one embodiment, the radial and longitudinal slits 1374 do not have retractable chamfers on the outer surface of the inner housing 1362.

[0220] The springs 1364a, b, c, ... are compression springs, such as coil springs located within the internal cavity 1372 of the inner housing 1362. One end of each spring 1364a, b, c, ... is constrained by the internal wall 1378 of the cavity 1372 of the inner housing 1362. The other end of each spring 1364a, b, c, ... is seated above and extends to the projections 1380a, b, c, ... of the levers 1366a, b, c, ... In one embodiment, the projections 1380a, b, c, ... of the levers 1366a, b, c, ... extend into one end of the coil of each spring 1364a, b, c, ... In one embodiment, the projections 1380a, b, c, ... of levers 1366a, b, c, ... extend into the ends of more than one of the coils of springs 1364a, b, c, ... In one embodiment, the projections 1380a, b, c, ... of levers 1366a, b, c, ... are operably connected to one end of the coil of springs 1364a, b, c, ... In one embodiment, the projections 1380a, b, c, ... of levers 1366a, b, c, ... are operably connected to the ends of more than one of the coils of springs 1364a, b, c, ... In one embodiment, one compression spring 1364 is used. In one embodiment, multiple compression springs are used. In one embodiment, the number of springs is equal to the number of levers. In one embodiment, a collar or sleeve is used to surround each spring 1364a, b, c, ... to prevent the spring from buckling or bending.

[0221] In the assembled configuration, the springs 1364a, b, c, ... are in a compressed state. During operation, as the outer housing 1363 rotates relative to the inner housing 1362 about its longitudinal axis, the cam surfaces 1365a, b, c, ... on the inner surface (inner wall) of the outer housing 1363 operably engage with the respective arms 1384a, b, c, ... of the levers 1366a, b, c, ... exposed within the slits 1376a, b, c, ... Referring to Figure 19B, the opposing pad collet system 1360 is shown in a pinch-unpinched (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 so as to act on the arm 1384a of the lever 1366a, and as a result, the lever 1366a is rotated counterclockwise around the pivot pin 1368, and the spring 1364a in the cavity 1372 of the inner housing 1362 is compressed. Due to the position of the lever 1366a, the pad 1386a of the lever 1366a is oriented away from the EMD axis 1370 and away from the radial and longitudinal slits 1374 near the EMD axis 1370. In this pinch-release configuration, the EMD 1388 can move in the radial longitudinal slit 1374 and the radial longitudinal slit 1367 in the direction of the EMD axis 1370. In one embodiment, the outer housing 1363 is rotated relative to the inner housing 1362 by an actuator (not shown). In one embodiment, the actuator that rotates the outer housing 1363 relative to the inner housing 1362 is located in a drive module, and in another embodiment, it is located in a cassette.

[0222] To pinch or unpinch the opposing pad collet system 1360, the lever 1366a pivots around the pivot pin 1368 within a limited range of motion. In one embodiment, the range of motion of the lever 1366a is less than 10 degrees. In another embodiment, the range of motion is greater than 10 degrees. The lever 1366a acts as the primary lever and pivots between force and load. A force or input 1382a is applied to the arm 1384a of the lever 1366a. The load or output acts on 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 released. Referring to Figure 19C, the opposing pad collet system 1360 is shown in a pinch configuration, in which the EMD 1388 is trapped between the pad 1386a and the walls of the radial and longitudinal slits 1374 by the restoring force 1390a of the spring 1364a that pushes up on the arm 1384a of the lever 1366a, so that the EMD 1388 cannot move freely relative to the collet. In one embodiment of the pinch configuration, the outer end of the arm 1384a is exposed by protruding into the circumferential slit 1376a of the inner housing 1362.

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

[0225] The operating arm 1384a of the lever 1366a is a cam follower, in which the outer surface of the arm 1384a is a followed surface that contacts the cam (the inner surface of the outer housing 1363), and the cam pushes the cam follower with an applied force 1382a. The outer member 1363, which has an internal cam, contacts the outer surface of the arm 1384a. The rotation of the outer housing 1363 relative to the inner housing 1362 causes the internal cam of the outer member to push the outer surface of the arm 1384a, the latter of which is exposed by a circumferential slit 1376a, thereby rotating the lever 1366a and moving the pad 1386a of the lever 1366a away from the EMD shaft 1370, thereby unpinching the EMD 1388 in the collet 1360. In one embodiment having a single circumferential slit 1376a, the cam includes a finger-like portion or tab that acts to press against the outer surface of the arm 1384a. In one embodiment having multiple circumferential slits 1376a, b, c, ..., the cam includes multiple finger-like portions or tabs that act to press against the outer surfaces of multiple arms 1384a, b, c, .... In one embodiment, multiple levers 1366a, b, c, ... are used together with their pads 1386a, b, c, ... to pinch the EMD 1388 at multiple 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 Figures 19D-19G, a sequence of gradually increasing pinching by the opposing pad collet system 1360 is illustrated. (In the drawings, the right-side springs 1364a, b, c are present but not shown. Also, the left-side springs 1364a, b, c, ... are not numbered but are indicated by lightly dashed circles.) Referring to Figure 19D, the opposing pad collet system 1360 is shown in a pinch-release configuration for radial loading of the EMD 1388. In the configuration where the compression springs 1364a, b, c, ... are in a fully compressed 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 Figure 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 lever 1366a with the pad 1386a and the EMD 1388, which is the result of the rotation of the lever 1366a due to 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-unpinned configuration. In this first increment of rotation, the EMD 1388 cannot be disengaged from the opposing pad collet system 1360. The reason is that 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 Figure 19F, the second increment of rotation of the outer housing 1363 relative to the inner housing 1362 (corresponding to the 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 due to 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 state and are the source 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-unlocked configuration. Referring to Figure 19G, the third rotational increment of the outer housing 1363 relative to the inner housing 1362 (corresponding to the three clockwise arrows) corresponds to the engagement of pads 1386a,b,c with EMD 1388, which is the result of the rotation of levers 1366a,b,c due to the recesses of cams 1365a,b,c on the inner surface of the outer housing 1363. Springs 1364a,b,c are slightly relaxed from their maximum compression state and are the source of 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-unlocked configuration. (Note that in Figures 19E-19G, the deflection of EMD1388 is exaggerated at the engagement point.)

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

[0228] Referring to Figure 20A, the collet drive system 1500, which can rotate, move, and pinch the EMD 1502, includes a collet 1504, a collet engaging member 1506, a first drive module 1508, and a second drive module 1510. The collet drive system 1500 can also be called a quick-release collet having two linear drives and axial spline engagements.

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

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

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

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

[0233] Rotation of the first collet member 1512 relative to the second collet member 1516 in the engagement position in a first direction 1520 pinches the EMD 1502 in the collet 1504, while rotation of the first collet member 1512 relative to the second collet member 1516 in a 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 which extend circumferentially around at least a portion of the collet first member 1512. The second engaging portion 1518 includes a plurality of members which operably engage with the plurality of splines of the first engaging portion 1514.

[0235] In one embodiment, the second collet member 1516 meshes with a capstan bevel gear (capstan bevel gear) 1526 and is connected to a bevel gear 1524 driven by it. In one embodiment, the second collet 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, the latter extending longitudinally and engaging with the longitudinally extending external spline teeth of the plurality of splines of the first engagement portion 1514.

[0237] The collet engaging member 1506 is integrally connected to the first drive module 1508 and is oriented so that its centerline aligns longitudinally 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 as reference numeral 76 in Figure 3) and are independently driven by a first actuator 1530 and a second actuator 1532 (illustrated as a moving motor 64 in Figure 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, pneumatics, hydraulics, or other means. In one embodiment, the second actuator 1532 is a motor powered by electricity, pneumatics, hydraulics, or other means.

[0239] Referring to Figure 20A, the collet drive system 1500 is connected to the overall robot system 24. In particular, the connections of the lead screw 1528, the first actuator 1530, the second actuator 1532, the first drive module 1508, and the second drive module 1510 to the overall robot system are 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, the latter integrally connected to a first nut bearing assembly 1540, the latter meshing with a lead screw 1528 and 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 which drives a second nut pulley 1548, the latter integrally connected to a second nut bearing assembly 1550, the latter meshing with a lead screw 1528 and integrally connected to the second drive module 1510.

[0241] The first drive module 1508 includes a clamping and rotational drive mechanism that clamps / unclamps the EMD and moves 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, the latter of which is integrally connected to a drive tire capstan 1556, which is integrally connected to the drive tire 1558. It is also envisioned that other clamping and moving devices known in the art may be used similarly.

[0242] Referring to Figures 20A and 20B according to one embodiment, the drive (driver) gear 1552 is driven by a third actuator 1560 which is incorporated inside the first drive module 1508. In one embodiment, the third actuator 1560 is a motor powered by electricity, pneumatics, hydraulics, 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 actuating pulley 1562 (supported by a bearing), the latter of which drives a second belt 1564 that drives a drive gear pulley 1566 (supported by a bearing) 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 around a pivot 1574 parallel to the axes of the drive tire 1558 and idler tire 1568. The spring 1572 is a tension spring, one end of which is connected to a rocker end post 1575 integrally connected to the straddle rocker 1570, and the other end of which is 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. The other 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 1526 and a capstan 1527. The capstan-bevel gear 1526 is integrally connected to the capstan 1527, which is driven by an actuator (not shown). The second drive module 1510 is integrally connected to an extension link 1578, the latter extending from the far end of the second drive module 1510 (i.e., the end furthest from the lead screw 1528) toward 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, in which the length is greater than the width and the width is greater than the 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 projections, such as flanges, that are oriented upward and perpendicular to the extension link 1578. In one embodiment, the first lip 1580 is located at the proximal end of the extension link 1578, and the second lip 1581 is located near the proximal end of the extension link 1578, so 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) containing a collet 1504, a collet engaging member 1506, a drive tire 1558, and an idler tire 1568.

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

[0248] Referring to Figure 20C, the collet drive system 1500 is illustrated in the driven state (first state). In the driven state, the collet 1504 pinches the EMD 1502, causing the collet 1504 to rotate the EMD 1502, and the first drive module 1508 and the second drive module 1510 move together, maintaining the same separation distance, the spline teeth of the first engagement portion 1514 and the second engagement portion 1518 do not mesh (i.e., do not engage), and the drive tire 1558 and idler tire 1568 are separated and do not grip the EMD 1502. In the driven state, the distal rocker post 1575 is in contact with the inner surface of the first lip 1580, and the straddle rocker 1570 is positioned to keep the idler tire 1568 separated from the drive tire 1558.

[0249] Referring to Figure 20D, the collet drive system 1500 is illustrated in the collet locked state (second state). In the collet locked 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 decreasing their separation distance from each other (for example, the second drive module 1510 moves toward the fixed first drive module 1508), the spline teeth of the first engagement portion 1514 mesh with the spline teeth of the second engagement portion 1518 (i.e., they are engaged but not fully engaged), the drive tire 1558 and idler tire 1568 are slightly separated from each other and do not grip the EMD 1502. In the collet-locked state, the distal rocker post 1575 is in contact with the inner surface of the first lip 1580, and the straddle rocker 1570 rotates the idler tire 1568, which moves toward the drive tire 1558, but the tire does not grip the EMD 1502.

[0250] Referring to Figure 20E, the collet drive system 1500 is illustrated in the device replacement state (second alternative state). In the device replacement state, the collet 1504 does not pinch the EMD 1502, the first drive module 1508 and the second drive module 1510 move toward each other while decreasing their separation distance from each other (similar to the collet locked state), the spline teeth of the first engagement portion 1514 mesh with the spline teeth of the second engagement portion 1518 (i.e., they mesh but not fully mesh), and the drive tire 1558 and idler tire 1568 are separated from each other and do not grip the EMD 1502. In the replacement state, similar to the collet-lock state, the distal rocker 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 tire does not grip the EMD 1502.

[0251] In the replacement state, the rotation of the capstan bevel gear 1526 causes the collet 1504 not to pinch the EMD 1502, and the capstan bevel gear 1526 engages with the driven bevel gear 1524 and rotates, the latter of which rotates the second collet member 1516 relative to the first collet member 1512. The first collet member 1512 is locked (does not move) by the engagement of the spline teeth of the non-moving second engaging part 1518 with the spline teeth of the first engaging part 1514. When the collet 1504 is released from the pinch position, the EMD 1502 can be removed. In one embodiment, the EMD1502 can be removed by lateral or radial unloading (deloading), during which the collet slit 1582 in the collet 1504 and the collet engaging member slit 1584 in the collet engaging member 1506 are aligned. In another embodiment, the EMD1502 can be removed by axial unloading.

[0252] Referring to Figure 20A, the collet slit 1582 extends longitudinally from the outer circumferential surface and radially through the collet 1504 to its centerline, and the collet engagement member slit 1584 extends longitudinally from the outer circumferential surface and radially through the collet engagement member 1506 to its centerline. In one embodiment, the slits 1582 and 1584 have parallel walls. In one embodiment, the slits 1582 and 1584 have non-parallel walls, such as V-shaped walls with their vertices pointing towards the radial center. In one embodiment, the slits 1582 and 1584 have retractable chamfers on their outer surfaces. In one embodiment, the slits 1582 and 1584 do not have chamfers on their outer surfaces.

[0253] Referring to Figure 20F, the collet drive system 1500 is illustrated in a pinched-collet, tire-grip state (third state). In the pinched-collet, tire-grip state, collet 1504 pinches EMD 1502, and the first drive module 1508 and the second drive module 1510 move relative to each other to minimize their separation distance (for example, moving the second drive module 1510 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, and the drive tire 1558 and idle tire 1568 are not separated and grip EMD 1502. With the collet pinched, in a tire grip state, the distal rocker post 1575 contacts the inner surface of the second lip 1581, and the straddle rocker 1570 rotates the moving idle tire 1568 into the drive tire 1558 so that the tire grips the EMD 1502.

[0254] Referring to Figure 20G, the collet drive system 1500 is illustrated in the tire-driven state (fourth state). In the tire-driven state, the collet 1504 does not pinch (unpinch) the EMD 1502, the first drive module 1508 and the second drive module 1510 move such that their separation distance from each other is minimized (for example, the second drive module 1510 moves 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., fully engaged), the drive tire 1558 and idler tire 1568 are not separated and grip the EMD 1502. In the tire-driven state, as with the tire grip state with the collet pinched, the distal rocker post 1575 contacts the inner surface of the second lip 1581, and the straddle rocker 1570 rotates the moving idle tire 1568 into the drive tire 1558 so that the tire grips the EMD 1502.

[0255] In the tire-driven state, the rotation of the capstan bevel gear 1526 prevents the collet 1504 from pinching the EMD 1502. The bevel gear 1526 engages with the driven bevel gear 1524, which rotates the collet second member 1516 relative to the collet first member 1512, causing it to rotate. The engagement of the spline teeth of the non-moving second engaging portion 1518 with the spline teeth of the first engaging portion 1514 locks the collet first member 1512 in place (it does not move). Since the collet 1504 is in the released pinch state, the rotation of the drive tire 1558, which grips the EMD 1502 relative to the idler tire 1568, allows the EMD 1502 to move.

[0256] The collet drive system 1500 operates in either reset mode or replacement mode. In reset mode, the sequence of operations includes driving state (first state), collet locked state (second state), collet pinched, tire grip state (third state), tire driven state (fourth state), collet pinched, tire grip state (third state), collet locked state (second state), and then returning to the driving state (first state). In replacement mode, the sequence of operations includes driving state (first state), collet locked state (second state), device replacement state (second alternative state), collet locked state (second state), and then returning to the driving state (first state).

[0257] The collet drive system 1500 includes a collet 1504. To minimize the amount of movement required, the collet drive system 1500 can be configured such that half of the collet 1504 is locked to prevent rotational movement of that half, while the other half of the collet 1504 is given rotational freedom to pinch and unpinch the EMD 1502. There are several ways to lock half of the collet 1504. The term "lock" refers to keeping a component stationary and fixed to the patient. For the purposes described herein, if a component is stationary relative to the patient bed rail, then that component is stationary and fixed to the patient. In one embodiment, an engaging spline is included. In one embodiment, a step of inserting a locking pin into a hole is included. In one embodiment, a step of inserting a key into a keyway is included. In one embodiment, a means of mechanical interference to prevent rotation is included.

[0258] In one embodiment, the EMD1502 is not pinched (unpinched), and after the EMD is unpinched, various components are moved to a homing (return) position, allowing the EMD to be removed from the device through an aligned slot.

[0259] Referring to Figure 21A, the “collet drive system” 1600, which can rotate, move, and pinch (clasp) 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 relative to a fixed lead screw 1614 (shown as reference no. 76 in Figure 3) and is driven by an actuator 1616 (shown as a moving motor 64 in Figure 3). In one embodiment, the lead screw 1614 is a ball screw. In one embodiment, the actuator 1616 is a motor powered by electricity, pneumatics, hydraulics, or other means.

[0261] Referring to Figure 21A, the collet drive system 1600 is connected to the overall robot system 24. In particular, the connections of the lead screw 1614, actuator 1616, and drive module 1612 to the overall robot system are 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 Figure 20A. (Note that in Figures 21A, 21B, 21C, and 21D, some components that connect the drive module 1612 to the actuation system for movement are not shown.)

[0263] Referring to Figures 21A, 21B, 21C, and 21D, the collet drive system 1600 can pinch and unpinch the EMD 1602, 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 Figure 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 Figure 12D, which enables pinching and unpinching of the EMD 1602.

[0264] The EMD support 1606 is a limiting section that prevents the EMD 1602 from buckling (twisting) as it advances distally. In one embodiment, the EMD support 1606 is a system of telescopic sections having an inner diameter larger than the diameter of the EMD 1602. In one embodiment, the EMD support 1606 is a track that allows for radial loading of the device. In one embodiment, the EMD support 1606 is a tube. In one embodiment, the EMD support 1606 is an arbitrary system that prevents the EMD 1602 from buckling or bending as it advances.

[0265] Referring to Figure 21B, the collet drive system 1600 illustrated in Figure 21A is illustrated to have 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. The retaining clamp 1618 is a safety mechanism so that the EMD 1602 does not move when reset. In one embodiment, the retaining clamp 1618 includes two opposing blocks which can be in a clamped state that restrains the position of the EMD 1602 relative to the y-connector assembly 1608, or in an unclamped state that does not restrain the position of the EMD 1602, meaning that the two opposing blocks can move freely. In one embodiment, the retaining clamp 1618 includes two opposing pads which can be in a clamped or unclamped state. The actuation system for engaging (clamping) and disengaging (unengaging) the clamp 1618 is not illustrated.

[0266] Referring to Figure 21C, the collet drive system 1600 illustrated in Figure 21A is illustrated to include a first tire 1620 and a second tire 1622, which face each other and push 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. The actuation system for moving the first tire 1620 and the second tire 1622 in opposing and opposing directions is not shown. By rotating the first tire 1620 and the second tire 1622 at the same speed and in opposing directions, the EMD 1602 can be moved at a faster speed compared to when a lead screw drive is used. The use of the first tire 1620 and the second tire 1622 provides high-speed traverse of the EMD 1602 as well as unlimited movement. In one embodiment, the movement speed of the device drive unit 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. A reset method for using the collet drive system illustrated in Figure 21C involves gripping the EMD 1602 between the tires 1620 and 1622. The collet 964 then becomes unpinched, freeing the EMD 1602 which was fixed to it. The drive module 1612 is then moved in a first direction, rotating the tires 1620 and 1622, while maintaining the EMD in a fixed position relative to the ground and / or patient. When the drive module 1612 moves to the new desired position, the collet acts to pinch the EMD 1602 there, preventing the tires 1620 and 1622 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. In order to reset the drive module in order to continue driving the EMD 1602 distally, the drive module 1612 is moved proximal to the reset position.During a movement reset for continued distal drive, the first direction described above is the proximal direction. As the drive module 1612 moves proximal to maintain the EMD 1602 stationary relative to the patient, the tires 1620 and 1622 rotate to support the proximal movement of the drive module 1612, thereby maintaining the EMD 1602.

[0267] Referring to Figure 21D, the collet drive system 1600 illustrated in Figure 21A is shown together with a third tire 1624 and a fourth tire 1626, which, facing each other and pressing together as a whole, grip the EMD 1602. The third tire 1624 and the fourth tire 1626 are located proximal to the y-connector assembly 1608 and distal to the EMD support 1606. The EMD support 1606 is used between the y-connector assembly 1608 and the cassette 1610. The third tire 1624 and the fourth tire 1626 replace the retaining clamp 1618 illustrated in Figure 21B. An actuation system for moving the third tire 1624 and the fourth tire 1626 toward or away from each other is not shown.

[0268] "Colette" This specification provides several collet designs that may be used in the robotic systems described above. Referring to Figure 9A, the collet 800 releasably engages with the EMD (not shown). The collet 800 includes an inner member 802, which is movably positioned distally or proximal within a receiving sleeve having a tapered cavity 816 of an outer member 804. 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 multiple walls of the slit 805 are parallel. In one embodiment, the multiple walls of the slit 805 are non-parallel, for example, V-shaped walls with vertices toward the radial center. In one embodiment, a retractable chamfer is present 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 Figure 9B, the inner member 802 includes a first section 806 having a substantially constant radius, and a tapered second section 808 extending from the first section 806 in a frustoconical shape. Therefore, the diameter of the second section 808 decreases continuously from the region adjacent to the first section 806 to the distal free end 810 of the second section 808. The distal free end 810 of the second section 808 is located far from the region adjacent to the first section 806. In one embodiment, the length of the first section 806 and the length of the second section 808 are the same. In one embodiment, the length of the first section 806 is greater than the length of the second section 808. In one embodiment, the length of the first section 806 is shorter than the length of the second section 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 entire 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 the first outer surface region (on the opposite side). The second slit 814 may include a first plane and a second plane angled with respect to the first plane. In one embodiment, the multiple walls of the slit 812 are parallel, and in one embodiment, the multiple 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 Figure 9B, two cross-sections shown in Figures 9D and 9F are illustrated. In one embodiment, the slit 812 is located at the top of the inner member 802, and the slit 812 is not located at the bottom of the inner member 802.

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

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

[0274] Referring to Figure 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 another embodiment, this contact is greater than a longitudinal distance of 5 mm.

[0275] Referring to Figures 9D, 9E, and 9F, the two portions 818 and 820 of the second portion 808 of the inner member 802 are gradually separated toward the distal end 810 in the “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 toward each other, thereby causing the two opposing surfaces 819 and 821 of portions 818 and 820 to move toward each other and pinch the EMD. As the inner member 802 moves distally within the outer member 804, a compressive force is generated due to the contact between the inner member 802 and the outer member 804 (generating 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) 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, resulting in the two opposing surfaces 819 and 821 of portions 818 and 820 moving toward 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 gradually continue to contact the EMD proximal to 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, it is necessary to apply an external driving force distal to the inner member 802 from an operator or a robotic system (not shown). In one embodiment, the distal external driving force is applied at the proximal end of the inner member 802. In one embodiment, a rotational input engaging with a screw member rotates one of the inner member 802 and the outer member 804, causing the inner member to move relative to the outer member 804 and linearly move the inner member 802 relative to the outer member along the longitudinal axis of the collet.

[0279] In order to move the inner member 802 distally within the outer member 804, an increasing outward driving force is required to overcome the increasing compliance force (to move the two opposing surfaces 819 and 821 of portions 818 and 820 toward each other, respectively) and the increasing frictional force (as a result of increased contact between the inner surface of the tapered cavity 816 and the outer surface of the distal end of the second portion 808).

[0280] The load configuration is a locked configuration where the two opposing surfaces 819 and 821 of sections 818 and 820 respectively lock the EMD, preventing it from moving. In the locked configuration, no external driving force is required. The collet 800 is maintained in the locked configuration by frictional force (due to contact between the inner circumferential surface of the tapered cavity 816 and the outer circumferential surface of the distal end of the second section 808). In other words, in the locked configuration, the inner member 802 is locked to the outer member 804 by friction.

[0281] During operation, when the inner member 802 is withdrawn from the outer member 804, as the inner member 802 moves away from the tapered cavity 816 of the outer member 804, the two parts 818 and 820 of the second part 808 separate from each other, thereby causing the two opposing surfaces 819 and 821 of parts 818 and 820 to move away from each other, respectively, and pinch-free the EMD. When the inner member 802 is withdrawn from the outer member 804, the inherent compliance of the two parts of the second part 808 of the inner member restores the two opposing surfaces 819 and 821 of parts 818 and 820 to their normal open, unloaded (unloaded) configuration, respectively.

[0282] To move the inner member 802 away from the outer member 804, an external driving force must be applied proximal to the inner member 802 from the operator or robot system (not shown). The proximal external driving force must overcome the frictional force that maintains the collet mechanism 800 in a 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 a molded hinge, and due to its spring properties, the two portions are biased to move away from each other when the inner member is moved toward the open end of the outer member. In one embodiment, a separate spring may be used to bias the two portions apart.

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

[0285] In one embodiment, the inner member 802 is formed from 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 or other deformable or flexible (compliant) material, which can be deformed with respect to EMD during the pinch and lock configuration.

[0286] In one embodiment, when slits 805 and 812, 814 are aligned, the EMD is radially loaded through slit 805 of the outer member and slits 812, 814 of the inner member. This radial loading allows the user to position the EMD at the center of the collet without having to screw the free end of the EMD through the first end 823. Rather, a portion of the EMD is positioned directly at the radial center of the collet between the first and second ends of the EMD through the aligned slits 805, 812, and 814. 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, while a portion of the EMD between the first and second ends is inserted through slits 805, 812, and 814 to the radial center of the collet. The loading of the EMD as described in this paragraph may be referred to herein as side-loading or radial loading.

[0287] Referring to Figures 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, thus forcing the two portions 818 and 820 to face each other when the inner member is moved into the cavity 816 in the direction toward the second end of the outer member 804.

[0288] Referring to Figure 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 longitudinal axis of the center of the inner member 802. In another embodiment of the inner member 802, the longitudinal slit 812 extending from the outer surface of the first portion 806 terminates away from the longitudinal axis of the center of the inner member 802.

[0289] In one embodiment, the first portion 806 and the second portion 808 define two cantilever sections extending from the first portion of the inner member. The cantilever sections 818 and 820 vary the spring force along their respective longitudinal lengths, resulting in surfaces 819 and 821 that contact the EMD positioned between them conforming well to the EMD, keeping the pressure applied to the EMD low and spreading along surfaces 819 and 821. The spring force applied to the EMD can be varied by varying the cross-sectional thickness of the cantilever sections 818 and 820 along the longitudinal axis of the collet 800.

[0290] The collet 800 features increased rigidity to obtain a greater release force, due to the full 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.

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

[0292] Referring to Figures 9H and 9I, the inner member 828 has a longitudinal slit 830 that extends from a region 832 on the outer surface 834 of the inner member 828 through the inner member 828 and terminates in region 836, but is near the outer surface (opposite side) approximately 180 degrees away from the opening 838 of the slit 830, but does not pass through that outer surface.

[0293] Referring to Figure 9H, the vertical slit 830 forms two substantially semicircular cross-sections of the inner member 828, a first portion 840 and a second portion 842, allowing pivoting at the region 836 where the slit 830 terminates. In one embodiment, in the unloaded configuration, i.e., the unpinched state, the slit 830 forms opposing parallel walls from portions 840 and 842. In one embodiment, in the unloaded configuration, i.e., the unpinched state, the slit 830 forms opposing non-parallel walls from portions 840 and 842, 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 adjacent to the bottom of the slit 830 to minimize the effects of stress concentration and thereby minimize the possibility of failure. In one embodiment, other means for stress relief are used in the region of the inner member adjacent to the bottom of the slit 830.

[0294] Referring to Figure 9G, as the inner member 828 moves from the first end 844 of the cavity of the outer member toward 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 toward 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 toward the first open end 844 of the outer member, the first portion 840 and the second portion 842 of the inner member 828 pivot so that they move toward each other with respect to the line passing through the longitudinal slit 838, releasing the pinch of the EMD (not shown).

[0295] In one embodiment, a spring-like integrally molded hinge is provided in the region of the inner member 836 adjacent to the bottom of the slit 830, biasing the two parts apart as the inner member moves toward 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 frictional force (due to contact between the inner circumferential surface of the tapered cavity of the outer member 804 and the outer circumferential surface of the distal end of the second portion 834) holds the collet 826 in a locked configuration. 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 slits 830 that form the two parts of the inner member 828, the first part 840 and the second part 842, the collet can accommodate a wider range of EMD diameters compared to the collet illustrated in Figure F2A.

[0298] Referring to Figures 10A and 10B, the collet 852 comprises 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 prism-shaped internal cavity 862 that receives the internal components 856 and 858 oriented by the internal cavity 864 of the inner member 854. The outer member 860 has a circumferential retaining channel 863 on its inner surface toward its proximal end. The inner member 854 has a key 859 on its outer surface that is sized to fit within the channel 863. In one embodiment, the driven pad 856 and the driven finger 858 are separate components. 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 elastomer material and the driven finger 858 is made of a moldable plastic. In one embodiment, the driven pad 856 is made 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 elastomer 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, extending from the outer surface of the inner member and terminating at its radial center. The outer member 860 has a longitudinal slit 861 that extends along its entire length, extending from the outer surface of the outer member and terminating at its radial center. In one embodiment, the slits 855 and 861 have parallel walls. In one embodiment, the slits 855 and 861 have non-parallel walls, such as V-shaped walls whose vertices point toward the radial center. In one embodiment, the slits 855 and 861 have retractable chamfers on their outer surfaces. In one embodiment, the slits 855 and 861 do not have chamfers on their outer surfaces.

[0300] Referring to Figures 10C.1 and 10D.1, the diametrical cross-section of the assembled collet 852 is illustrated in both the pinch-release (unlocked) and pinch-closed configurations, respectively, based on the relative angular orientation of the inner member 854 with respect to the longitudinal axis with respect to the outer member 860. Referring to Figure 10C.2, a gap 866 exists between the outer surface of the driven pad 856 and the inner surface of the inner member 854, preventing the EMD 867 from being pinched. (The EMD 867 is not shown in Figure 10C.1.) In the default pinch-release configuration, a gap 866 exists due to the three-dimensional (dimensional) geometric shape of the internal cam 865 of the inner member 854, and therefore there is no contact between the internal cam surface 865 and the driven finger 858. Referring to Figure 10D.2, there is no gap 866 between the outer surface of the driven pad 856 and the inner surface of the inner member 854 because the relatively large dimensions of the inner cam 865 contact the driven finger 858, thus pinching the EMD 867. (The EMD 867 is not shown in Figure 10D.1.) In the pinch configuration, the collet 852 remains locked. In one embodiment, when the EMD 867 is captured 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 the EMD 867 is captured 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 made of a single material. For example, in one embodiment, the inner member 854 is made of 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 elastomer lining or covering thereon.

[0301] To transition from a pinched-off (not pinched) configuration to a pinched configuration, or from a pinched configuration to a pinched-off configuration, the user or drive system is required to apply relative angular motion with respect to the vertical axis between the inner member 854 and the outer member 860. In one embodiment, a 90-degree rotation of the inner member 854 with respect to the vertical axis relative to the outer member 860 corresponds to the transition from a pinched-off configuration to a pinched configuration. In one embodiment, a 180-degree rotation of the inner member 854 with respect to the vertical axis relative to the outer member 860 corresponds to the transition from a pinched-off configuration to a pinched configuration. In one embodiment, a rotation of the inner member 854 with respect to the outer member 860 by any value less than 360 degrees with respect to the vertical axis corresponds to the transition from a pinched-off configuration to a pinched configuration.

[0302] In one embodiment, the internal cam 865 is configured such that a pinch configuration is obtained by the clockwise rotation of the outer member 860 relative to the inner member 854 along the vertical axis. In another embodiment, the cam is configured such that a pinch configuration is obtained by the counterclockwise rotation of the outer member 860 relative to the inner member 854 along the vertical axis.

[0303] In one embodiment, the internal cam 865 is configured such that a pinch configuration is obtained at one position during the rotation of the inner member 854 relative to the outer member 860 with respect to the vertical axis. In another embodiment, the cam is configured such that a pinch configuration is obtained at two or more positions during the rotation of the inner member 854 relative to the outer member 860 with respect to the vertical axis.

[0304] In one embodiment, the internal cam 865 is configured to persist so that no change in state occurs as a result of relative rotation between the inner member 854 and the outer member 860, so that a pinched collet system 852 remains in a pinched configuration, or a pinched-unpinched collet system 852 remains in an unpinched configuration. This may be achieved by ensuring that the radial dimension of the contour of the internal cam 865 does not change over the range of relative rotation between the inner member 854 and the outer member 860. In one embodiment, the persistence is configured to accommodate possible errors in the displacement instructions to the motors that rotate the inner member 854 and the outer member 860, so that in the pinched configuration, the EMD 867 remains pinched, providing a certain tolerance for errors.

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

[0306] In one embodiment, the cam 865 is configured such that a rotation of the inner member 854 relative to the outer member 860 by 90 degrees with respect to the vertical axis maintains the EMD in a pinch-release configuration. In another embodiment, the cam 865 is configured such that a rotation of the inner member 854 relative to the outer member 860 by less than 90 degrees with respect to the vertical axis maintains the EMD in a pinch-release configuration. In yet another embodiment, the cam 865 is configured such that a rotation of the inner member 854 relative to the outer member 860 by 90 degrees or more with respect to the vertical axis maintains the EMD in a 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, allowing a degree of freedom of rotation of the inner member 854 relative to the outer member 860, while preventing a degree of freedom of rotational movement of the inner member 854 relative to the outer member 860. The key 859 trapped within the channel 863 ensures that the inner member 854 and the outer member 860 are aligned during assembly, so that the outer surface of the pad 856 of the driven finger 858 is positioned on the longitudinally opposite surface 857 within the inner member 854. The key 859 trapped within the channel 863 prevents the two members from being pulled apart in both the pinch configuration and the pinch-release configuration.

[0308] In the initial configuration, the slit 855 in the inner member 854 of the collet 852 aligns with the slit 861 in the outer member 860 to enable lateral or radial loading of the EMD as described herein.

[0309] Referring to Figure 11A, the collet 868 has an inner member 870, two internal parts 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, extending from the outer surface of the inner member and terminating at its radial center. The outer member 876 has a longitudinal slit 877 that extends along its entire length, extending from the outer surface of the outer member and terminating at its radial center. In one embodiment, the slits 871 and 877 have parallel walls. In one embodiment, the slits 871 and 877 have non-parallel walls, such as V-shaped walls whose vertices point toward the radial center. In one embodiment, the slits 871 and 877 have a retracted chamfer on their outer surface. In one embodiment, the slits 871 and 877 do not have a chamfer on their outer surface.

[0311] Referring to Figure 11B, the collet 868 is illustrated in a fully assembled configuration, in which 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 Figure 11C, the inner member 870 is a single, integral member consisting of four parts, having 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 portion having an internal cavity at its radial center. Distal to the first part 882 is the second part 884, which is a cylindrical portion having an internal cylindrical cavity. Distal to the second part 884 is the third part 886, which is a cylindrical portion having external threads 890 and an internal cylindrical cavity. Distal to the third part 886 is the 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 portion 884 is smaller than the outer diameter of the first portion 882. In one embodiment, the fourth portion 888 is a rhythmic extension having a rectangular (or quadrilateral) cross-section perpendicular to the longitudinal axis. In one embodiment, the fourth portion 888 is a prism-like extension having a non-rectangular cross-section perpendicular to the longitudinal axis. In one embodiment, the fourth portion 888 is a non-prism-like 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 extending from its outer surface to its radial center. Starting from the most proximal side, the first part 896 is a cylindrical cup portion with an internal thread 892 in its proximal portion and an internal cylindrical cavity in its distal portion. The internal thread 892 engages with the external thread 890 of the inner member 870. The cylindrical cavity in the distal portion of the first part 896 receives the collar 874. The second part 898 of the outer member 876 is a cylindrical portion with an internal cavity at its radial center.

[0314] Referring to Figures 11C, 11D, and 11E, the collar 874 is a cylindrical portion having a distal portion with a closed end, a proximal portion with an internal cavity, and a keyway pocket 875 removed from its outer surface along its entire length. In one embodiment, the collar 874 has a closed end having an outer circular surface perpendicular to the longitudinal axis and an internal cavity. In one embodiment, the collar 874 has a closed end having an arched edge relative to the outer circular surface perpendicular to the longitudinal axis and an internal cavity. In one embodiment, the closed end of the collar 874 has a lip or flange extending from the outer circular surface perpendicular to the longitudinal axis and an internal cavity. In one embodiment, the internal cavity of the collar 874 is centered with respect to the central longitudinal axis of its outer diameter plane. In one embodiment, the internal cavity of the collar 874 is not centered with respect to the central longitudinal axis of its outer diameter plane. In one embodiment, the internal cavity of the collar 874 is rectangular. In one embodiment, the internal cavity of the collar 874 is cylindrical. In one embodiment, the internal cavity of the collar 874 does not have a rectangular or cylindrical shape. In one embodiment, the internal cavity of the collar 874 has a corner pocket or hole (well) to receive the distal end of the bent portion 872.

[0315] The collar 874 has a vertical slit 894 which includes a radial slit that passes through the circumferential wall of the collar and reaches its center. In one embodiment, the slit 894 has a plurality of parallel walls. In one embodiment, the slit 894 has a plurality of non-parallel walls, such as a V-shaped wall whose vertex points toward the radial center. In one embodiment, the slit 894 has a retracted chamfer on its outer surface. In one embodiment, the slit 894 does not have a chamfer on its outer surface.

[0316] In one embodiment, an extension 888 of the inner member 870 positions the collar 874 in the distal portion of the internal cavity of the outer member 876. The extension 888 functions as a mechanical key, ensuring that the collar 874 rotates with the inner member 870, so that the ends of the bent portion 872 are not compressed together longitudinally and subjected to relative rotation or torque. In other words, the multiple ends of the curved portion 872 can move parallel to each other but do not rotate relative to each other. The extension 888 is rotationally constrained by a pocket 875 in the collar 874, the latter acting as a keyway, which moves freely longitudinally when the inner member 870 rotates relative to the outer member 868.

[0317] Referring to Figures 11A and 11C, in one embodiment, the proximal portion of the internal cavity of the inner member 870 has a corner pocket or well to receive the proximal end of the bent portion 872. The bent portion 872 is a rectangular prism having an axial length that is longer than either its width or height in a plane perpendicular to the axial direction. In one embodiment, the curved portion 872 is a rectangular prism with the same width and height in a plane perpendicular to the axial direction. This means that the curved portion 872 has a square cross-section. In one embodiment, the curved portion 872 is a rectangular prism with a width greater than its height in a plane perpendicular to the axial direction. This means that the curved portion 872 has a rectangular cross-section with a width greater than its height. In one embodiment, the curved portion 872 is a rectangular prism with a width less than its height in a plane perpendicular to the axial direction. This means that the curved portion 872 has a rectangular cross-section with a height greater than its width. In one embodiment, the curved portion 872 is a rectangular prism with a sharp end. In one embodiment, the curved portion 872 is a rectangular prism with rounded ends. In one embodiment, the curved portion 872 is a substantially rectangular prism. In one embodiment, the curved portion 872 is made of a moldable plastic or a flexible material (compliant material) such as acrylic. The curved portion 872 has elastic bending properties 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 direction so as to screw the outer thread 890 and the inner thread 892 together. Thus, the curved section 872 can be made to bend or deflect (having a small radius of curvature) and the outer surface 873 of the curved section 872 (the longitudinal axis center of the curved section and its vicinity) can be used to pinch the EMD878 against the inner surface 880 of the inner member 870. The longitudinal distance between the two ends of the curved section 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 (deflection). As 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 portion and the outer surface 873 of the curved portion 872. Since the lateral distance is constrained by the internal cavity, the EMD 878 is trapped between the outer surface 873 of the curved portion 872 and the inner surface 880 of the inner member 870.

[0319] Operationally, unpinching (not pinching) the EMD878 is achieved by rotating the inner member 870 relative to the outer member 876 in the longitudinal direction, so as not to screw the outer thread 890 and the inner thread 892 together. Thus, the curved portion 872 can be made to be non-flexible or non-bent (having a large radius of curvature), and the outer surface 873 of the curved portion 872 allows the EMD878 to be unpinched 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 change the amount of curvature (deflection). As the longitudinal distance between the two ends of the curved portion 872 increases, the deflection or bending 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 portion and the outer surface 873 of the 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 EMD 878, so the EMD 878 is free.

[0320] In one embodiment, when the EMD 878 is captured in a pinch configuration, the inner surface 880 of the inner member 870 that receives the curved portion 872 is concave and has a smaller contour than, for example, the contour of the outer surface 873 of the curved bend 872. This increases the surface area in contact with the EMD 878 and increases the resistance torque on the EMD 878 by moving it away from the rotational axis. In one embodiment, when the EMD 878 is captured in a pinch configuration, the inner surface 880 of the inner member 870 that receives the curved portion 872 is flat.

[0321] In one embodiment, the inner member 870 is made from a single material, for example, a moldable plastic. In one embodiment, the inner member 870 is composed of more than one material. For example, in one embodiment, the inner surface 880 of the inner member 870 that receives the curved portion 872 when capturing the EMD 878 in a pinch configuration has an elastomer lining or coating on a moldable plastic inner member 870.

[0322] In one embodiment, the curved portion 872 is made from a single material, for example, a moldable plastic. In one embodiment, the curved portion 872 is composed of more than one material. For example, in one embodiment, the curved portion 872 has an elastomer lining or coating on the moldable plastic inner portion.

[0323] In one embodiment of the collet 868, a single curved portion 872 is used. In another embodiment of the collet 868, more than one number of curved portions 872 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 EMD 878, in which case the relative rotation of the inner member 870 and the outer member 876 can be used using the technical concepts described herein.

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

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

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

[0327] Referring to Figure 15B, the drive block set 1156 is shown in an open configuration, in which case 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 and the configuration of the second drive block assembly 1172 are the same. In one embodiment, the configuration of the first block assembly 1170 and the configuration of the second drive block assembly 1172 are not the same.

[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 around the first spur gear pin 1176, the latter being 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 midway along its length, and the ends of the first spur gear pin 1176 on both sides of the first spur gear 1174 are supported within a hole and act as a rotating bearing 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 midway along its length, and the ends of the first spur gear pin 1176 on both sides of the first spur gear 1174 are supported by rotating 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 portion of the teeth 1182 of the first spur gear 1174. In one embodiment, the first drive block notch 1180 has a semicircular 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 around the second spur gear pin 1186, which is held within the side wall of the second drive block retainer 1188. In one embodiment, the second spur gear 1184 is integrally connected to the second spur gear pin 1186 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 act as rotating 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 rotating 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 semicircular convex cross section on a plane that intersects 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 clockwise or counterclockwise, 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 clockwise or counterclockwise, 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 moving drive system are included in a combined moving-rotating drive system (not shown) that simultaneously rotates the first spur gear 1174, rotates the second spur gear 1184, and moves the drive block set 1156. In one embodiment, the first spur gear drive system, the second spur gear drive system, and the drive system may be included in a combined motion-rotation drive system (not shown) that sequentially rotates the first spur gear 1174, rotates the second spur gear 1184, and moves the drive block set 1156.

[0331] Referring to Figure 15B, the device retainer 1152 includes a gear mechanism 1194, which is longitudinal and has external spur gear teeth, the latter oriented along the longitudinal axis of the device retainer 1152 and sized to mesh with the teeth of the first spur gear 1174 and the teeth of the second spur gear 1184. The gear mechanism 1194 is located proximal to the distal uniform section 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 distal to the gear mechanism 1194 and proximal to the distal uniform section 1164. The proximal drive collar 1198 is located proximal to the gear mechanism 1194 and distal to the flexible bellows 1160. The distal drive collar 1196 and the proximal drive collar 1198 have a flange or lip in their longitudinal section that extends outward from the device retainer 1152. In one embodiment, the device retainer 1152 includes a first intermediate uniform section 1200, which is located distal to the flexible bellows 1160 and proximal to the proximal drive collar 1198.

[0333] Referring to Figures 15B and 15D, in the open configuration of the device retainer 1152, an opening 1202 to a central channel 1204 is provided for the EMD 1154. In one embodiment, the cross section of the opening 1202 is a sector (part of a circle) with the circular cross section of the device retainer 1152 removed to expose a first surface 1206 and a second surface 1208. In one embodiment, the cross section of the central channel 1204 is a circular pocket that is open 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 Figure 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, so that 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 portion of the outer distal wall of the first drive block retainer 1178 and a portion of the outer distal wall of the second drive block retainer 1188 are in contact with or close to the distal drive collar 1196, preventing 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 components of the outer proximal wall of the first drive block retainer 1178 and the components of the outer proximal wall of the second drive block retainer 1188 are in contact with or close proximity to the proximal drive collar 1198, preventing proximal movement of the first drive block assembly 1170 and the second drive block assembly 1172 relative to the device retainer 1152. Thus, in the closed configuration, the drive block set 1156, constrained by the distal drive collar 1196 and the proximal drive collar 1198, acts like a thrust bearing, enabling rotational movement of the device retainer 1152 and preventing 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 moving forward and backward along the longitudinal direction), there is similarly corresponding movement of the device retainer 1152.

[0335] Referring to Figures 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 the EMD 1154. Thus, in the closed configuration, the EMD 1154 is pressed by the walls of the central cavity 1204 of the device retainer 1152 and cannot move relative to the device retainer 1152. In other words, if there is no movement of the device retainer 1152, there is no movement of the EMD 1154. If there is movement of the device retainer 1152 (e.g., forward and backward along the longitudinal direction), there is similar corresponding 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), then there is similar corresponding movement of the EMD 1154.

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

[0337] Referring to Figure 15F, the retaining block set 1158 is shown in an open configuration, in which there is no contact between the first retaining block 1212 and the device retainer 1152, and there is 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 and the configuration of the second retaining block 1214 are the same. In one embodiment, the configuration of the first retaining block 1212 and the configuration of the second retaining block 1214 are not the same.

[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 semicircular convex cross-section on a plane perpendicular 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 located proximal to the flexible bellows 1160 and distal to the uniform retaining portion 1224, the latter being a longitudinal portion of the device retainer 1152 with a uniform cross-section perpendicular to the longitudinal direction. The proximal retaining collar 1222 is located distal to the proximal uniform portion 1166 and distal to the uniform retaining portion 1224. The distal retaining collar 1220 and the proximal retaining collar 1222 are longitudinal portions having flanges or lips extending outward from the device retainer 1152. In one embodiment, the device retainer 1152 includes a second intermediate uniform portion 1226, which is located proximal to the flexible bellows 1160 and distal to the distal retaining collar 1220. The device retainer 1152 acts as a buckling prevention support, ensuring that the collet is longer than the distance the device buckles (twists).

[0340] Referring to Figure 15G, the retaining block set 1158 is shown in an intermediate configuration, in which the first retaining block 1212 and the second retaining block 1214 are moving toward each other in the direction of the central axis of the device retainer 1152. In the intermediate configuration, a portion of the outer distal wall of the first retaining block 1212 and a portion of the outer distal wall of the second retaining block 1214 are in contact with or close proximity to the distal retaining collar 1220, preventing distal movement of the retaining block set 1158 relative to the device retainer 1152. In the intermediate configuration, a portion of the outer proximal wall of the first retaining block 1212 and a portion of the outer proximal wall of the second retaining block 1214 are in contact with or close proximity to the proximal retaining collar 1222, preventing proximal movement of the retaining block set 1158 relative to the device retainer 1152. Thus, in the intermediate configuration, the retaining block set 1158 is constrained by the distal retaining collar 1220 and the proximal retaining collar 1222, acting as a thrust bearing to allow rotation of the device retainer 1152 while preventing movement of the device retainer 1152 relative to the retaining block set 1158. In the intermediate configuration, the retaining block set 1158 is constrained from movement, and the EMD 1154 is not completely pinched.

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

[0342] The retaining block set 1158 includes a retaining block actuation system (not shown) which allows the first retaining block 1212 and the second retaining block 1214 to move toward and away from the device retainer 1152 in a lateral direction with respect to the longitudinal axis. Referring to Figure 15F, the retaining block actuation system moves the first retaining block 1212 and the second retaining block 1214 to the open configuration position. Referring to Figure 15G, the retaining block actuation system moves the first retaining block 1212 and the second retaining block 1214 to the intermediate configuration position. Referring to Figure 15H, the retaining block actuation system moves the first retaining block 1212 and the second retaining block 1214 to the closed configuration position. In one embodiment, the retaining block operating system smoothly transitions the first retaining block 1212 and the second retaining block 1214 from an open configuration to an intermediate configuration, and from an intermediate configuration to a closed configuration, and also smoothly transitions them from a closed configuration to an intermediate configuration, and from an intermediate configuration to an open configuration. In one embodiment, the retaining block operating system discretely (discontinuously) positions the first retaining block 1212 and the second retaining block 1214 to an open configuration, an intermediate configuration, or a closed configuration.

[0343] Referring to Figures 16A and 16B, the compression collet system 1240 includes a plunger 1242, a donut (donut-shaped portion) 1244, and a receiver 1246. In one embodiment, the plunger 1242 is a rigid right-circular cylinder having a central cavity 1248 and a longitudinal axis of the cylinder, with the axial direction of the cavity aligned with the EMD longitudinal axis 1250. In one embodiment, the cavity 1248 has a circular cross-section on a plane intersecting the EMD longitudinal axis 1250, in which case the diameter of the cavity is larger than the outer diameter of the EMD 1252. The donut 1244 is a ring torus (annular ring) formed from a flexible material. In one embodiment, the donut 1244 is an O-shaped ring. In one embodiment, the donut 1244 is made of an elastic material. In its stationary state, i.e., in its unloaded state, the internal 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 and includes a well (hole) 1256 and an internal cavity 1258 aligned with the EMD longitudinal axis 1250, wherein the diameter of the cavity is larger than the outer diameter of the EMD 1252. In one embodiment, the receiver 1246 is a rectangular prism with a well 1256 on one face, the opening of which has the shape of a right cylindrical column. In one embodiment, the well 1256 has a straight wall. In one embodiment, the well 1256 has a conical wall that tapers inward.

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

[0345] Referring to Figure 16C, the compression collet system 1240 is shown in an unloaded configuration, in which the plunger 1242 is not pressed against the donut 1244 in the well 1256, i.e., no plunger force 1260 is applied to it. The donut 1244 is in its stationary state and undeformed, and the EMD 1252 moves freely relative to the receiver 1246. (As shown in Figure 16C, the donut has a circular cross-section in the poloidal plane.)

[0346] Referring to Figure 16D, the compression collet system 1240 is shown in a load configuration in which the plunger 1242 presses the donut 1244 in the well 1256 by a plunger force 1260. As a result, the donut 1244 is compressed and deformed (for example, as shown in Figure 16D, the donut 1244 is deformed from a circular cross-section to an elliptical cross-section on the poloidal plane). In this deformed state, a portion of the deformed surface wall 1262 of the donut hole 1254 pinches around the EMD 1252. Consequently, the EMD 1252 cannot move freely relative to the receiver 1246.

[0347] In one embodiment, a rotary drive system (not shown) rotates the compression collet system 1240 (clockwise and counterclockwise) around the vertical axis 1250 of the EMD 1252. In another embodiment, a mobile drive system (not shown) moves the compression collet system 1240 (forward and backward) along the vertical axis 1250 of the EMD 1252.

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

[0349] In one embodiment, the collet may include a first collet member and a second collet member, which move relative to each other to perform pinching and unpinching of the EMD. In one embodiment, the first collet member and the second collet member may be formed as a single part, in which case they may be compliantly connected (flexibly connected). In one non-limiting embodiment, the first collet member and the second collet member may be connected by a molded hinge, and they may be movable relative to each other by an accordion portion of the flexible part.

[0350] Referring to Figures 22A-22X, the drive mechanism 210 is a device that actsuates the tires and robotically controls the movement of the EMD. In one embodiment, the drive mechanism has a pair of tires that pinch the EMD between them. In one embodiment, to increase the grip of the EMD, multiple pairs of tires are provided to actuate together, for example, four pairs, but not limited to that number. When the multiple tires rotate around their longitudinal axes, they move the EMD linearly along its longitudinal axis, and when the multiple tires move axially in the opposite direction, they drive the rotating EMD along its longitudinal axis. As described herein, the drive mechanism 210 includes three integrated mechanisms for rotating the tires, moving the tires axially, and pinching and unpinching the tires. In addition, in one embodiment, a clamping mechanism operates away from the pair of tires to clamp and unclamp a portion of the EMD.

[0351] Referring to Figure 22A, the robot drive system includes a drive module 210 which uses at least one 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 which operably rotates a first shaft 272 and / or a second shaft 282. A second actuator 244 operably moves the first shaft 272 along its longitudinal axis relative to the second shaft 282 between a first position and a second position. The first tire assembly 222 is operably mounted on the first shaft 272, and the second tire assembly 224 is operably mounted on the second shaft 282. The third actuator 248 allows the first tire assembly 222 to be moved in a operable manner toward or away from the second tire assembly 224, thereby allowing the EMD 208 to be gripped and released from between the first tire assembly 222 and the second tire assembly 224 along its longitudinal axis. As detailed herein, the movement of the first shaft 272 relative to the second shaft 282 rotates the EMD 208 about the longitudinal axis of the EMD, and the rotation of the first shaft 272 and / or the second shaft 282 moves the EMD 208 along the longitudinal axis of the EMD. When the control system issues a reset command to the third actuator 248, it causes the EMD 208 to release its grip, the second actuator 244 moves the first tire assembly 222 relative to the second tire assembly 224 to the reset position, and then the third actuator 248 grips the EMD 208 again. In one embodiment, reset commands are provided sequentially.

[0352] The reset position is automatically determined as a function of one or more input device commands, the offset distance between the two tire assemblies, and the position of the EMD.

[0353] In one embodiment, when the second position reaches a predetermined distance from the first position, the control system provides a reset command. Referring to Figure 22V, the EMD208 is positioned at first positions 370 and 373 on the first tire assembly 222 and the second tire assembly 224, respectively. In one embodiment, the first positions 370 and 373 are centered between the first longitudinal ends 382, ​​392 and the second opposing longitudinal ends 386, 388 of the first tire assembly 222 and the second tire assembly 224, respectively. In one embodiment, when the second position reaches a predetermined distance from the first position, the control system provides a reset command.

[0354] When the operator gives a command via user input to rotate the EMD208 in a first direction around its longitudinal axis, the first tire assembly 222 and the second tire assembly 224 move in opposite directions along their longitudinal axes until the EMD208 reaches a second position 372 on the first tire assembly 222 and a third position 375 on the second tire assembly 224. The control device (controller) automatically resets the first tire assembly 222 and the second tire assembly 224 along their respective longitudinal axes 242 and 246 to their reset positions. If the first tire assembly and the second tire assembly reach their respective second and third positions, or if the user continues to provide commands to rotate the EMD 208 in the same first direction after they have reached those positions, the control unit automatically sets the reset position to the third position 374 on the first tire assembly 222 and the second position 371 on the second tire assembly 224. In this way, the tire assemblies 222 and 224 are in a position to continue rotating the EMD 208 in the first direction at a greater number of rotations than would have been possible if the reset position had been the center positions 370 and 373. In other words, the first tire assembly 222 and the second tire assembly move relative to each other along their corresponding longitudinal axes 242 and 246 between the first extended position illustrated in Figure 10B and the second extended position opposite to the first extended position illustrated in Figure 10C. In the first extended position, the upper part of the first tire assembly 222 is near the lower part of the second tire assembly 224. In the second extended position, the lower part of the first tire assembly 222 is near the upper part of the second tire assembly 224.

[0355] In one embodiment, the reset position is a function of the input device command, including the duration of the input device's inactivity. The controller detects the duration of time during which no instruction to rotate the EMD has been given. When...

Claims

1. An EMD drive system including an on-device adapter that is removably fixed to the axis of an EMD (elongated medical device), The aforementioned on-device adapter is received inside the cassette. The cassette is removably fixed to the drive module, and The drive module is operably coupled to the on-device adapter to move the on-device adapter and the EMD together. EMD drive system.

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

3. The EMD drive system according to claim 2, wherein the on-device adapter is moved by rotation with respect to the longitudinal axis of the on-device adapter.

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

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

6. The EMD drive system according to claim 4, wherein the on-device adapter includes an engaging portion, the engaging portion engages with a drive member in the cassette and is driven to rotate the on-device adapter.

7. The EMD drive system according to claim 6, wherein the on-device adapter includes a surface supported by a bearing member in the cassette.

8. The EMD drive system according to claim 7, wherein the on-device adapter includes a thrust bearing surface that prevents displacement and movement relative to the cassette portion.

9. The EMD drive system according to claim 6, wherein the on-device adapter includes a Luer connector.

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

11. The EMD drive system according to claim 10, wherein the quick clamp allows for rapid connection and / or disconnection of the collet.

12. The EMD drive system according to claim 10, wherein the quick clamp engages releasably with the collet without the need for tools.

13. The EMD drive system according to claim 10, wherein the quick clamp includes a lever that is movable from a first position to a second position, the lever clamping the collet in the first position and releasing the collet in the second position.

14. The EMD drive system according to claim 4, wherein the EMD is radially releasably received within the collet, and the collet is releasably received and arranged within the cassette.

15. The EMD drive system according to claim 4, wherein the EMD is releasably received in the axial direction within the collet, and the collet is releasably received within the cassette.

16. The EMD drive system according to claim 4, wherein the EMD is received radially releasably within the collet, and the collet is positioned so as not to be released within the cassette.

17. The EMD drive system according to claim 4, wherein the EMD is axially releasably received within the collet, and the collet is positioned so as not to be released within the cassette.

18. The drive module includes an actuator operably coupled to a drive coupler, The drive member in the cassette is operably coupled to the drive coupler. The drive module is operably coupled to a rail or linear member, and the rail Includes a second actuator that moves the drive module along the same line, The EMD drive system according to claim 1.

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

20. The EMD is a catheter having a hub at its proximal end and a shaft extending from the hub toward the distal portion of the catheter, wherein the shaft is more flexible than the hub, as described in claim 1.

21. A collet having a first part and a second part, wherein the first part is connected to a first collet connector, and the second part is connected to a second collet connector, An EMD is releasably positioned within the path defined by the collet, A robot drive unit having a base including a first motor and a second motor, wherein the first motor and the second motor are continuously and operably coupled to both the first collet coupler and the second collet coupler, and each operates to pinch and unpinch the EMD within the path and rotate the EMD, A robotic system that includes [a specific feature / function].

22. The robot system according to 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. The robot system according to claim 21, further comprising a base and a cassette releasably fixed thereto, wherein the collets are located within the cassette, and the first collet coupler and the second collet coupler are coupled to the first motor and the second motor via a first drive coupler and a second drive coupler located within the base, respectively.

24. The robot system according to claim 21, wherein the EMD does not rotate when the EMD is pinched or released.

25. The robot system according to claim 21, further comprising a third motor operably connected to the collet to move the collet and the EMD along the longitudinal axis of the collet.

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

27. The robot system according to claim 26, wherein the collet includes a first gear and a second gear, and remains engaged with the first motor and the second motor while the collet is moving.

28. The robot system according to claim 25, wherein the first motor and the second motor are fixed to the collet while the collet and the EMD are moving.

29. The robot system according to claim 21, wherein the robot system has a pinch / pinch release mode, a rotation mode, and a movement mode.

30. The robot system according to claim 29, wherein at least two of the pinch / pinch release mode, the rotation mode, and the movement mode occur simultaneously.

31. The robot system according to claim 30, further comprising a clamp for selectively clamping and unclamping the EMD, wherein during the exchange mode, the clamp is in the unclamped position and the collet is in the unpinched position.

32. The robotic system according to claim 31, wherein the clamp includes a pair of tires.

33. An internal member that defines a path for receiving EMD, Outer member and When the inner member moves relative to the outer member, the EMD engages in a releaseable manner. Multiple engaging members, Colette, which includes...

34. The collet according to claim 33, wherein the engaging member sequentially engages with the EMD.

35. The collet according to claim 33, wherein the engaging member is offset circumferentially with respect to the EMD.

36. The collet according to claim 33, wherein the engaging member is offset in the axial direction.

37. The collet according to claim 32, wherein the first engaging member is positioned 180 degrees from the second engaging member.

38. The collet according to claim 33, wherein the engaging members are independent and not directly connected to one another.

39. The collet according to claim 33, wherein the engaging member is biased by a spring member to move toward the path.

40. The collet according to claim 33, wherein the engaging member is biased by a spring member to move away from the path.

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

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

43. The collet according to claim 33, wherein the movement of the inner member and the outer member relative to each other is performed by a robot.

44. The collet according to claim 33, wherein the movement of the inner member and the outer member relative to each other is performed manually.

45. The collet according to claim 33, wherein the engaging member is offset radially with respect to the EMD.

46. An EMD drive system including a collet and a collet engaging member, The collet includes a first member of the collet having a first engaging portion, The collet includes a second member of the collet that is driven, The collet engaging member has a second engaging portion, The first member of the collet and the collet engaging member move between an engaged position and an unengaged position. As the first member of the collet and the collet engaging member move along the longitudinal axis of the collet toward the engagement position, the first engaging portion engages with the second engaging portion. At the engagement position, the rotation of the first member of the collet with respect to the second member of the collet in a first direction pinches the EMD within the collet, and the rotation of the first member of the collet with respect to the second member of the collet in a second direction opposite to the first direction releases the EMD within the collet. EMD drive system.

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

48. An EMD robot drive system that performs rotation and movement of the EMD using a reset command, and includes a drive module controlled by a control system, The aforementioned drive module is A first actuator that movably rotates the first axis and / or the second axis, A second actuator that moves the first axis along its longitudinal axis with respect to the second axis from a first position to a second position, A first tire assembly movably mounted to the first shaft, A second tire assembly movably mounted to the second shaft, A third actuator that movably moves the first tire assembly toward or away from the second tire assembly, thereby gripping and releasing the EMD, the EMD including the third actuator having a longitudinal axis between the first tire assembly and the second tire assembly, The movement of the first axis with respect to the second axis rotates the EMD with respect to the longitudinal axis of the EMD, and the rotation of the first axis and / or the second axis moves the EMD with respect to the longitudinal axis of the EMD. The control system provides the reset command, The third actuator releases the grip on the EMD. The second actuator moves the first tire assembly to the reset position with respect to the second tire assembly, and The third actuator grips the EMD. EMD robot drive system.

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

50. The EMD robot drive system according to claim 48, comprising an input device that operably provides input device commands for rotating the EMD, wherein the control system provides the reset command as a function of the input device commands.

51. The EMD robot drive system according to claim 50, wherein the input device command includes the rotation direction of the EMD.

52. The EMD robot drive system according to claim 50, wherein the input device command includes a period of inactivity of the preceding input device.

53. Furthermore, the EMD robot drive system according to claim 48, further comprising an eccentric seal assembly between one of the first shaft and the second shaft and a base, wherein the first shaft or the second shaft is operably sealed from the base when the first shaft or the second shaft moves away from or toward the other of the first shaft and the second shaft.

54. The EMD robot drive system according to claim 48, further comprising a retaining clamp that releasably clamps a portion of the EMD, away from the first tire assembly and the second tire assembly, along the longitudinal axis of the EMD.

55. An EMD robot drive system including a drive module, The aforementioned drive module is A first actuator that movably rotates the first axis and / or the second axis, A second actuator moves the first axis along its longitudinal axis with respect to the second axis from a first position to a second position, The first axle and the first tire assembly which is removably attached, The second axle and the second tire assembly which are removably attached, Includes, An EMD having a longitudinal axis is positioned at a first position between the first tire assembly and the second tire assembly, and the rotation of the first axis moves the EMD along its longitudinal axis between the first tire assembly and the second tire assembly, and the rotation of the second axis rotates the EMD with respect to its longitudinal axis. A third actuator is included, which moves the first tire assembly toward or away from the second tire assembly, thereby performing gripping and release of the EMD between the first tire assembly and the second tire assembly. Including a retaining clamp, the EMD is releasably clamped along its longitudinal axis, a portion of the EMD that is separated from the first tire assembly and the second tire assembly. EMD robot drive system.

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

57. The EMD robot drive system according to claim 56, wherein the third actuator operably moves the retaining clamp between a clamped position and a released position.

58. EMD robot drive system, A first actuator that movably rotates the first axis and / or the second axis, A second actuator moves the first axis along its longitudinal axis, in relation to the second axis, from a first position to a second position, A first axle and a first tire assembly that is movably mounted to it, A second axle and a second tire assembly that is movably attached, A third actuator moves the first tire assembly toward and away from the second tire assembly, and grips and releases the EMD having a longitudinal axis from between the first tire assembly and the second tire assembly. Includes, The movement of the first axis with respect to the second axis rotates the EMD with respect to its longitudinal axis, and the rotation of the first axis and / or the second axis moves the EMD along its longitudinal axis. As the first axis moves away from its home position along its longitudinal axis, the first actuator moves together with the first axis. EMD robot drive system.

59. EMD robot drive system, A first actuator that movably rotates the first axis and / or the second axis, A second actuator moves the first axis along its longitudinal axis with respect to the second axis from a first position to a second position, A first bearing having a first longitudinal axis that supports the first shaft, A second bearing having a second longitudinal axis that supports the second shaft, wherein the first longitudinal axis and the second longitudinal axis are not parallel, A first tire assembly that is removably attached to the first shaft, A second tire assembly is removably attached to the second shaft, A third actuator moves the second tire assembly toward and away from the first tire assembly, and performs gripping and releasing of the EMD having a longitudinal axis between the first tire assembly and the second tire assembly. EMD robot drive system, including

60. The EMD robot drive system according to claim 59, wherein the first longitudinal axis of the first bearing and the second longitudinal axis of the second bearing intersect at an intersection, forming an acute angle at that point, and in this case, the first tire assembly and the second tire assembly are located between the intersection and the first bearing and the second bearing.

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

62. EMD robot drive system, A base having a first actuator, A cassette housing that is removably connected to the base, The pair of tires inside the aforementioned cassette, EMD robot drive system, including a first actuator that moves a first axis and / or a second axis to extend a pair of tires on the first axis and the second axis, respectively, from the base into the cassette.

63. The EMD robot drive system according to claim 62, wherein the first actuator operably disengages the pair of tires from the first axis and / or the second axis.

64. Furthermore, the EMD robot drive system according to claim 62, further comprising at least a second pair of tires.

65. The EMD drive system according to claim 46, wherein the first member of the collet and the second member of the collet are formed as a single component, and in this case, the first member of the collet and the second member of the collet are compliantly connected.

66. A method for moving the EMD robotically, Within the on-device adapter, the axis of the EMD is pinched, The aforementioned on-device adapter is removably secured within the cassette. The cassette is removably fixed to the drive module, A method for robotically moving the on-device adapter and the EMD together to move along the longitudinal axis of the EMD and / or rotate the EMD with respect to the longitudinal axis of the EMD.

67. Furthermore, the method according to claim 66, wherein when the on-device adapter is fixed inside the cassette, an actuator is used to unpinch the EMD inside the on-device adapter.

68. The method according to claim 67, wherein the pinch release of the EMD is controlled robotically using an actuator.

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