Guide wire control device cassette and method of using the same

Abstract

Provided herein is a guidewire control device cassette for positioning a guidewire within a patient's body, the guidewire control device cassette including a housing having an internal space, a translation module received within the internal space and having an inlet side, an opposing outlet side, and a sidewall disposed therebetween, the translation module having a first guidewire path extending between the inlet side and the outlet side and configured to translate the guidewire along the first guidewire path, and a rotation module received within the internal space and mounted to the sidewall, the rotation module having an opening for receiving a proximal end of the guidewire, a rotation axis around which the proximal end of the guidewire can rotate, and a second guidewire path that is a loop path extending outward from the opening to the inlet side.

Description

Technical Field

[0001] This specification relates to medical devices and control methods used in minimally invasive interventional procedures, and more particularly, to the field of robotic control devices for endovascular intervention that use guidewires and catheters to apply a distal tip to its target site within a human body cavity.

Background Art

[0002] A guidewire is used to guide a secondary sheath (e.g., a catheter) to a desired location within the body, such as within a mammalian body, e.g., the human body. The secondary sheath covers the guidewire and is fed along it. As one application of minimally invasive interventional procedures, a guidewire is introduced into a body cavity, i.e., into a blood vessel, through an incision that penetrates the patient's skin and body cavity wall, and from there the introduction end of the guidewire, i.e., the distal end, is guided to a desired location within this body cavity or within a body cavity that branches off from or into the body cavity into which the guidewire is introduced.

[0003] One problem with guidewire introduction systems is the limited ability to conform the distal end of the guidewire to the geometry of the tortuous body cavity and to direct the distal end into an intersecting or branching body cavity that connects to the body cavity in which the distal end of the guidewire is disposed. To direct the distal end of the guidewire into a branching body cavity, the distal end of the guidewire must be moved under control from its alignment with the body cavity when the guidewire reaches the point of the body cavity where it branches to an alignment such that when the guidewire is moved further inside the body, the guidewire will enter and follow the branching body cavity. In some cases, the branching body cavity intersects the body cavity in which the distal end is present at a large angle, for example greater than 45 degrees and in some cases greater than 90 degrees, with the point of intersection being the target destination of the distal end of the guidewire. Also, in some cases, it may be difficult to direct the distal end of the guidewire into the sharp turns of the tortuous blood vessel without damaging the body cavity, because the guidewire tends to be pushed against the sidewall of the blood vessel by the fluid flow adjacent to those turns and sidewalls.

[0004] To overcome such problems, one way to facilitate control of the orientation of the distal end of the guide wire is the development of a robotic system for stably controlling the movement of the catheter and the guide wire covering them. For example, U.S. Patent No. 10,342,953 B2 discloses a robotic catheter system. The catheter system includes a housing and a drive mechanism supported by the housing. The drive mechanism includes an engagement structure configured to engage the catheter device and impart movement thereto. A cassette used with the robotic catheter system is also provided. The cassette includes a housing, a first axial drive mechanism supported by the housing that releasably engages the guide wire and drives the guide wire along its longitudinal axis, a second axial drive mechanism supported by the housing that releasably engages the working catheter and drives the working catheter along its longitudinal axis, and a rotational drive mechanism supported by the housing that rotates the guide wire about its longitudinal axis.

Summary of the Invention

[0005] To overcome the above-described problems, there is still a pressing need for a new robotic control system that is easy to guide, has excellent stability, and has the potential to obtain more uniform results that are less dependent on the operator while reducing radiation exposure to the patient and the surgeon.

[0006] Here, in one aspect, a guide wire control device cassette for moving a guide wire having a proximal end is provided. The guide wire control device includes a housing having an internal space, and a translation module received within the internal space and having an inlet side, an opposite outlet side, and side walls disposed therebetween, the translation module including a first guide wire path extending between the inlet side and the outlet side and configured to translate the guide wire along the first guide wire path, and a rotation module received within the internal space and attached to the side walls, the rotation module including an opening for receiving the proximal end of the guide wire, a rotation axis about which the proximal end of the guide wire can rotate, and a second guide wire path that is a loop path extending outward from the opening to the inlet side.

[0007] In another aspect, a method for moving a guide wire is provided. The method includes providing a guide wire control device including a cartridge having an internal space, a translation module received within the internal space and having an inlet side, an opposite outlet side, and side walls disposed therebetween, the translation module including a first guide wire path extending between the inlet side and the outlet side and configured to translate the guide wire along the first guide wire path, and a rotation module received within the internal space and attached to the side walls, the rotation module including an opening for receiving the proximal end of the guide wire, a longitudinal axis about which the proximal end of the guide wire can rotate, and a second guide wire path that is a loop path extending outward from the opening to the inlet side; engaging the guide wire with the rotation module and the translation module along the first guide wire path and the second guide wire path; and translating or rotating the guide wire along the first guide wire path and the second guide wire path in response to a control signal of the guide wire control device.

[0008] For a better understanding of the features listed above, reference is made to the detailed description which is to be construed in conjunction with the following accompanying drawings.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figures 3A - 3D

Figures 4A - 4D

Figures 5A - 5D

Figure 6

Figure 7A

Figures 7B - 7C

Figures 7D - 7G

Figures 8A - 8B

Figures 9A - 9C

Figure 10

Figures 11A - 11B

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

Figure 19

DETAILED DESCRIPTION OF THE INVENTION

[0010] The examples described herein generally relate to systems and methods for endovascular procedures. More specifically, some of the examples described herein enable a robotic system for endovascular procedures, and a method of operating such a robotic system. In some examples, a multi-axis catheter system may include a plurality of drive units each having a corresponding cassette. The plurality of drive units can collectively advance and rotate several catheters and guide wires. In such a system, the advancement and rotation of a catheter or guide wire can be performed independently of the advancement or rotation of any other catheter or guide wire. There are also examples that include a cassette capable of performing the advancement and / or rotation of a catheter or guide wire.

[0011] The examples described in this specification can achieve various benefits. The robotic system enables a surgeon performing an endovascular procedure to precisely control the guidance of an endovascular insertion device (e.g., a catheter and / or a guidewire). In an endovascular procedure, rotation of the endovascular insertion device allows the device to be guided through the tortuous vascular system within the body undergoing the endovascular procedure. Further, a rotation assembly configured to rotate the endovascular insertion device can maintain a mechanical connection to the endovascular insertion device (including, for example, while advancing the endovascular insertion device), thereby maintaining the direction of rotation of the endovascular insertion device.

[0012] Various features will be described below with reference to the figures. The illustrated examples do not necessarily have all the aspects or benefits shown. Aspects or benefits described in connection with a particular example are not necessarily limited to that example and can be implemented in any other example, even if not so illustrated or explicitly described as such. Further, the methods described in this specification may be described in a particular order of operations, but other methods according to other examples may be implemented in various other orders with more or fewer operations (e.g., different sequential or parallel executions of various operations). Although various figures are illustrated with three-dimensional coordinate axes for determining the direction of the figures relative to each other, such axes may not be explicitly described below. The three-dimensional coordinate axes indicate the directionality of the positive movement direction along each axis. More specifically, the three-dimensional coordinate axes indicate the positive X (+X) direction, the positive Y (+Y) direction, and the positive Z (+Z) direction.

[0013] FIG. 1 shows a perspective view of a simplified multi-axis catheter system 10 according to several examples. The multi-axis catheter system 10 includes a frame 12, a track 14, cassette platforms 22, 24, 26, 28, and drive units 32, 34, 36, 38. During operation, the multi-axis catheter system 10 utilizes a distal cassette 42, a first intermediate cassette 44, a second intermediate cassette 46, and a proximal cassette 48. The cassettes 42-48 may be single-use cassettes (e.g., usable for one intravascular procedure). The illustrated multi-axis catheter system 10 utilizes cassette platforms and drive units for two intermediate cassettes. In other examples, cassette platforms and drive units for fewer or more (e.g., one, three, four, etc.) intermediate cassettes may be utilized.

[0014] The frame 12 is a support structure to which various other components of the multi-axis catheter system 10 are mechanically coupled and supported. Although not shown, a casing or shroud may be included around the frame 12 together. The track 14 is below and mechanically coupled to the frame 12. The track 14 extends along the longitudinal axis of the frame 12, which is the X direction in FIG. 1. The track 14 enables translation of components mechanically coupled to and movable along the track 14 in a direction parallel to the longitudinal axis (e.g., the X direction).

[0015] The distal cassette platform 22 is shown as being integral with the frame 12. In other examples, the distal cassette platform 22 can be mechanically coupled to the frame 12 in other ways, such as by brackets and / or other frameworks. The distal drive unit 32 is below the distal cassette platform 22 and is mechanically coupled to the distal cassette platform 22 and / or the frame 12. The distal cassette platform 22 and the distal drive unit 32 are in a fixed position relative to the frame 12 (e.g., by mechanical coupling to the frame 12). During operation, the distal cassette 42 is disposed on the distal cassette platform 22 and can be mechanically attached to the distal cassette platform 22 and / or the distal drive unit 32.

[0016] The first intermediate cassette platform 24 and / or the first intermediate drive unit 34 are mechanically coupled to the track 14 and are movable along it. The first intermediate drive unit 34 is below the first intermediate cassette platform 24 and is mechanically coupled thereto. The first intermediate cassette platform 24 and the first intermediate drive unit 34 are configured to translate along a direction parallel to the longitudinal direction of the track 14 (e.g., the X direction) and are capable of being translated in such a manner. During operation, the first intermediate cassette 44 is disposed on the first intermediate cassette platform 24 and can be mechanically attached to the first intermediate cassette platform 24 and / or the first intermediate drive unit 34.

[0017] The second intermediate cassette platform 26 and / or the second intermediate drive unit 36 are mechanically coupled to and movable along the track 14. The second intermediate drive unit 36 is located below the second intermediate cassette platform 26 and is mechanically coupled thereto. The second intermediate cassette platform 26 and the second intermediate drive unit 36 are configured to translate along a direction parallel to the longitudinal direction of the track 14 (e.g., the X direction) and are capable of being translated in such a manner. During operation, the second intermediate cassette 46 is disposed on the second intermediate cassette platform 26 and may be mechanically attached to the second intermediate cassette platform 26 and / or the second intermediate drive unit 36.

[0018] The proximal cassette platform 28 and / or the proximal drive unit 38 are mechanically coupled to and movable along the track 14. The proximal drive unit 38 is located below the proximal cassette platform 28 and is mechanically coupled thereto. The proximal cassette platform 28 and the proximal drive unit 38 are configured to translate along a direction parallel to the longitudinal direction of the track 14 (e.g., the X direction) and are capable of being translated in such a manner. During operation, the proximal cassette 48 is disposed on the proximal cassette platform 28 and may be mechanically attached to the proximal cassette platform 28 and / or the proximal drive unit 38. The proximal cassette platform 28 and its components will be described in detail below.

[0019] As shown, the first intermediate cassette platform 24 (having a corresponding first intermediate drive unit 34) is disposed between the distal cassette platform 22 (having a corresponding distal drive unit 32) and the second intermediate cassette platform 26 (having a corresponding second intermediate drive unit 36), and is movable therebetween along track 14. Similarly, the second intermediate cassette platform 26 (having a corresponding second intermediate drive unit 36) is disposed between the first intermediate cassette platform 24 (having a corresponding first intermediate drive unit 34) and the proximal cassette platform 28 (having a corresponding proximal drive unit 38), and is movable therebetween along track 14. Further, the proximal cassette platform 28 (having a corresponding proximal drive unit 38) is disposed in a proximal position relative to the second intermediate cassette platform 26 (having a corresponding second intermediate drive unit 36), and is movable along track 14 within such relative proximal position.

[0020] During operation, each of the cassettes 42, 44, 46 is configured to cooperate with its respective drive unit 32, 34, 36 to advance its respective catheter (e.g., to feed each catheter into or out of the body). A given catheter advanced by a given cassette 42, 44, 46 has a proximal end that is mechanically coupled to a Y-connector that is fixed by the next more proximal cassette 44, 46, 48. For example, the catheter advanced by the distal cassette 42 has a proximal end that is mechanically coupled to a Y-connector that is fixed by the first intermediate cassette 44, the catheter advanced by the first intermediate cassette 44 has a proximal end that is mechanically coupled to a Y-connector that is fixed by the second intermediate cassette 46, and the catheter advanced by the second intermediate cassette 46 has a proximal end that is mechanically coupled to a Y-connector that is fixed by the proximal cassette 48. Thus, as a result of advancing a catheter by a cassette, translation of the next more proximal cassette as well as the corresponding cassette platform and drive unit can occur. The multi-axis catheter system 10 can further include one or more translation assemblies capable of cooperating to translate the cassettes (as well as the corresponding cassette platforms and drive units) when advancing a catheter having a proximal end fixed by a cassette, thereby reducing or preventing catheter tension and catheter buckling. Further, the proximal cassette 48 is configured to advance a guide wire.

[0021] Further, each of the cassettes 44, 46, 48 is configured to rotate its respective catheter having a proximal end that is mechanically coupled to a Y-connector that is fixed by that cassette 44, 46, 48. Further, the proximal cassette 48 is configured to rotate a guide wire.

[0022] In the multi-axis catheter system 10 of FIG. 1, each catheter and guide wire can be advanced independently of each other catheter and guide wire. Further, each catheter and guide wire can be rotated independently of each other catheter and guide wire. Details of such operations and details of the components for performing such operations will be described below in connection with various examples.

[0023] Further, each of the cassettes 44, 46, 48 is configured to rotate a respective catheter having a proximal end that is mechanically coupled to a Y-connector fixed by that cassette 44, 46, 48. Further, the proximal cassette 48 is configured to rotate a guide wire.

[0024] In the multi-axis catheter system 10 of FIG. 1, each catheter and guide wire can be advanced independently of each other catheter and guide wire. Further, each catheter and guide wire can be rotated independently of each other catheter and guide wire. Details of such operations and details of the components for performing such operations will be described below in connection with various examples.

[0025] FIG. 2 shows a perspective view of a multi-axis catheter system 100 according to several examples. The multi-axis catheter system 100 of FIG. 2 illustrates further details of the simplified multi-axis catheter system 10 of FIG. 1. The multi-axis catheter system 100 similarly includes a frame 112, a (hidden) track, cassette platforms 122, 124, 126, 128, and drive units 132, 134, 136, 138 (e.g., housed within respective housings attached to respective cassette platforms 122-128). Here, the distal drive unit 132 corresponds to the distal drive unit 32 of FIG. 1, the first intermediate drive unit 134 corresponds to the first intermediate drive unit 34 of FIG. 1, the second intermediate drive unit 136 corresponds to the second intermediate drive unit 36 of FIG. 1, and the proximal drive unit 48 corresponds to the proximal drive unit 48 of FIG. 1. FIG. 2 also shows cassettes 142, 144, 146, 148 mechanically attached to the corresponding cassette platforms 122, 124, 126, 128 and / or drive units 132, 134, 136, 138. The cassettes 142-148 may be single-use cassettes (e.g., usable for one intravascular procedure). One skilled in the art will readily understand the correspondence between these components of FIG. 2 and the above-described components shown in FIG. 1. FIG. 2 shows the cassettes 144-148 translated to a distal position along the track.

[0026] Figure 2 further shows catheters 152, 154, 156, guide wire 158, and Y connectors 162, 164, 166. The second catheter 154, which is supported on and driven by the second drive unit 134, advances through the hole of the first catheter 152, which is supported on and driven by the first drive unit 132. The third catheter 156, which is supported on and driven by the third drive unit 136, advances through the hole of the second catheter 154, which is supported on and driven by the second drive unit 135. The guide wire 158, which is supported on and driven by the fourth drive unit 138, advances through the hole of the third catheter 156, which is supported on and driven by the third drive unit 136. Here, the inner diameter (e.g., the diameter of the hole) of the first catheter 152 is larger than the outer diameter of the second catheter 154, the inner diameter (e.g., the diameter of the hole) of the second catheter 154 is larger than the outer diameter of the third catheter 156, and the inner diameter (e.g., the diameter of the hole) of the third catheter 156 is larger than the outer diameter of the guide wire 158. In some cases, the first catheter 152 may be referred to as a guide catheter, the second catheter 154 may be referred to as an intermediate catheter, and the third catheter 156 may be referred to as a micro catheter.

[0027] The first catheter 152 has a female Luer lock connector at its proximal end, which is mechanically coupled to the male Luer lock connector of the Y connector 162. The Y connector 162 is fixed by the first intermediate cassette 144. The second catheter 154 has a female Luer lock connector at its proximal end, which is mechanically coupled to the male Luer lock connector of the Y connector 164. The Y connector 164 is fixed by the second intermediate cassette 146. The third catheter 156 has a female Luer lock connector at its proximal end, which is mechanically coupled to the male Luer lock connector of the Y connector 166. The Y connector 166 is fixed by the proximal cassette 148. The female Luer lock connectors of the catheters can be mechanically coupled to the male Luer lock connectors of the Y connectors either by direct connection or by intervening components. Some examples will be described later.

[0028] The distal cassette 142 (cooperating with the distal drive unit 132) is configured to advance the first catheter 152, and the first intermediate cassette 144 (cooperating with the first intermediate drive unit 134) is configured to rotate the first catheter 152. The first intermediate cassette 144 (cooperating with the first intermediate drive unit 134) is configured to advance the second catheter 154, and the second intermediate cassette 146 (cooperating with the second intermediate drive unit 136) is configured to rotate the second catheter 154. The second intermediate cassette 146 (cooperating with the second intermediate drive unit 136) is configured to advance the third catheter 156, and the proximal cassette 148 (cooperating with the proximal drive unit 138) is configured to rotate the third catheter 156. The proximal cassette 148 (cooperating with the proximal drive unit 138) is configured to advance and rotate the guide wire 158.

[0029] Figures 3A, 3B, 3C, and 3D are perspective, side, top, and bottom views of a proximal drive unit 138 according to some examples. Figures 4A, 4B, 4C, and 4D are perspective, side, top, and bottom views of intermediate drive units (e.g., a first intermediate drive unit 134 and a second intermediate drive unit 136) according to some examples. Figures 5A, 5B, 5C, and 5D are perspective, side, top, and bottom views of a distal drive unit 132 according to some examples. The drive units shown from Figures 3A - 3D to Figures 5A - 5D include some common components. To avoid redundant descriptions, components in the figures are labeled with "-8", "-4", or "-2" to indicate whether a given component is included in the proximal drive unit 138, intermediate drive units 134, 136, or distal drive unit 132, respectively. However, descriptions of such components may be made without reference to the attached "-8", "-4", or "-2". It will be apparent to those skilled in the art that various modifications, including different orientations of such components, may be made between different drive units for purposes such as accommodating different catheters or guidewires corresponding to different components or different sizes of components.

[0030] Each of the drive units, the proximal drive unit 138, intermediate drive units 134, 136, and distal drive unit 132, includes a support plate 202. The support plate 202 mechanically supports and is mechanically coupled to the components of each drive unit. The support plate 202 can be modified in size, layout, or both between different drive units to accommodate different components and / or components of different sizes.

[0031] Each drive unit includes a pair of hooks 204 and fastener ribs 206 mounted on the side surface of a support plate 202 that will be adjacent to their respective cassette platforms during operation. Each hook 204 has an inner surface that is a partial cylinder, and this cylinder is defined by a radius extending from the longitudinal center of the cylinder. The hooks 204 are mounted such that the longitudinal centers of the partial cylinders defining the inner surfaces of the hooks 204 are aligned along the y-direction (as shown in the "B" side view), for example. The fastener ribs 206 are mounted on the support plate 202 such that the ribs 208 of the fastener ribs 206 face and are opposed to the openings of the hooks 204. The rib 208 has an inclined upper flat surface and a lower flat surface. As will become more apparent later, the hooks 204 and the fastener ribs 206 are configured to secure the cassette. When installing the cassette, each tab of the cassette engages the hook 204, and subsequently the spring-biased fastener of the cassette engages the fastener rib 206. The spring-biased fastener has an inversely inclined flat surface that first contacts the inclined upper flat surface of the rib 208, thereby causing displacement of the fastener of the cassette. As the fastener passes through the rib 208, the fastener is returned by the spring and pressed against the rib 208 to be fixed, thereby fixing the cassette.

[0032] Each drive unit includes a plurality of drive assemblies. FIG. 6 shows an exploded perspective view of a drive assembly 220 according to some examples. The drive assembly 220 of FIG. 6 is used as a drive assembly in a drive unit, but different drive assemblies may be implemented in the drive unit and / or modifications to the illustrated drive assembly 220 may be made. Various types of shafts and gears will be described below with respect to the drive assembly 220, but other types of shafts and gears may be implemented to achieve different configurations or orientations of the drive assembly.

[0033] The drive assembly 220 includes a rotary actuator 222. The rotary actuator 222 includes a drive shaft 224 (e.g., a shaft having a D-shaped cross-section orthogonal to the rotation axis of the shaft). The rotary actuator 222 is configured to rotate the drive shaft 224. In some examples, the rotary actuator 222 is a motor such as an electric motor. In some cases, the rotary actuator 222 can be a servo motor. The rotary actuator 222 is mechanically attached and mounted to a bracket 226, and the bracket 226 is mechanically attached and mounted to a support plate 202 (as shown in other figures). A screw gear 228 is mechanically attached to the drive shaft 224.

[0034] The drive assembly 220 further includes a lateral shaft 230 (e.g., a shaft having a D-shaped cross-section orthogonal to the rotation axis of the shaft). A gear 232 (e.g., a spur gear having a concave outward-facing surface) is mechanically attached to and surrounds the lateral shaft 230. A ball bearing 234 mechanically connects the lateral shaft 230 to the bracket 226. The lateral shaft 230 is mechanically connected to the support plate 202 through an opening in the support plate 202 by a ball bearing 236. The ball bearings 234, 236 are disposed on the lateral shaft 230 on both sides of the gear 232.

[0035] The screw gear 228 engages with the gear 232. The rotary actuator 222 is configured to rotate the drive shaft 224, whereby the screw gear 228 rotates about the drive axis. The rotation of the screw gear 228 causes the gear 232 to rotate about a lateral axis that is lateral to the drive axis. The rotation of the gear 232 causes the lateral shaft 230 to rotate about its lateral axis.

[0036] The drive assembly 220 also includes a coupling assembly 240. The coupling assembly 240 includes an end-opened hollow cylinder 242, a male connector 244, a spring 246, and a pin 248. The cylinder 242 (e.g., the closed end of the cylinder 242) is disposed on the end of the lateral shaft 230 opposite to the place where the lateral shaft 230 is mechanically connected to the bracket 226 (by the ball bearing 234). The longitudinal central axis of the cylinder 242 is collinear with the lateral axis. The male connector 244 includes a solid cylinder. The solid cylinder has a piston 250 extending from a (bottom) circular surface and also has a connecting protrusion 252 extending from another (top) circular surface on the opposite side. One or more of the protrusions 252 extend in a direction parallel to the lateral axis at a position offset or shifted from the lateral axis. As a result, rotation of the piston 250 causes movement on the protrusion within a circular path generally centered on the longitudinal axis of the piston 250. The spring 246 and the piston 250 are disposed within the hollow region of the cylinder 242. The piston 250 has an elongated opening 254 penetrating the piston 250 in a direction perpendicular to the lateral axis, and the elongated opening 254 is elongated in a direction along the lateral axis. The cylinder 242 has an opening 256 penetrating the side wall. With the spring 246 and the piston 250 positioned within the cylinder 242, the pin 248 is inserted through the opening 256 of the cylinder 242 and the elongated opening 254 of the piston 250 along a direction perpendicular to the lateral axis. The pin 248 thereby fixes the spring 246 and the piston 250 within the cylinder 242.

[0037] The elongated opening 254 is elongated in a direction along the lateral axis, enabling the piston 250, and thus the male connector 244, to translate along the lateral axis, i.e., to move in the direction of the lateral axis. When the pin 248 is inserted through the elongated opening 254, such translational movement is restricted within the range allowed by the length of the elongated opening 254. In the absence of other forces, the spring 246 exerts a force on the piston 250 in a direction away from the lateral shaft 230, causing the male connector 244 to reach as far as allowed from the lateral shaft 230. The allowed translation of the male connector 244 enables it to accommodate various tolerances when connecting the male connector 244 to the female connector of the cassette.

[0038] When the lateral shaft 230 rotates about the lateral axis, due to the mechanical connection between the lateral shaft 230 and the cylinder 242, the cylinder 242 rotates as well. When the pin 248 is inserted in a direction perpendicular to the lateral axis, the rotation of the cylinder 242 is transmitted to the piston 250, and thus to the male connector 244. When the protrusion 252 is located off-axis and mechanically connected as one, the rotation of the male connector 244 is transmitted to the female connector of the cassette.

[0039] Referring again to FIGS. 3A-3D through FIGS. 5A-5D, each of the proximal drive unit 138, the intermediate drive units 134, 136, and the distal drive unit 132 includes a forward drive assembly 220a and a clamping drive assembly 220b. Referring to FIGS. 3A-3D and FIGS. 4A-4D, the proximal drive unit 138 and the intermediate drive units 134, 136 each include a catheter rotation drive assembly 220c. Referring to FIGS. 3A-3D, the proximal drive unit 138 includes a guide wire rotation drive assembly 220d. Although the drive assemblies 220a, 220b, 220c, 220d are not explicitly specified in FIGS. 3A-3D through FIGS. 5A-5D, some components of the drive assemblies 220a, 220b, 220c, 220d are specified, and the corresponding reference numerals in FIG. 6 are appended with "a", "b", "c", or "d". The added "a", "b", "c", or "d" corresponds to the drive assemblies 220a, 220b, 220c, 220d, respectively. As shown, for each of the drive assemblies 220a, 220b, 220c, 220d, a corresponding bracket 226 to which a rotary actuator 222 is mechanically attached is mechanically attached and mounted to the bottom surface of the corresponding support plate 202. Each lateral shaft 230 extends through an opening passing through the support plate 202, and the male connector 244 extends away from the top surface of the support plate 202.

[0040] Each drive unit of the proximal drive unit 138, the intermediate drive units 134, 136, and the distal drive unit 132 includes an encoder 262 and an encoder coupler 264. The encoder 262 is mounted through an opening that penetrates the support plate 202 and includes a shaft. The encoder coupler 264 is mechanically attached to the shaft of the encoder 262. The encoder coupler 264 extends away from the top surface of the support plate 202. The encoder 262 is configured to detect the rotational position of the shaft of the encoder 262 that is rotated through the encoder coupler 264. As will be described in more detail later, the encoder 262 detects the rotational position of the shaft so that the control device can determine the length and direction by which the intravascular insertion device (e.g., a catheter or a guide wire) has been advanced by the corresponding cassette. The encoder 262 can be used as feedback for controlling the advancement of the intravascular insertion device.

[0041] Each drive unit may also include other components not shown in the figures. For example, each drive unit may include electrical components (e.g., a control device, a circuit board, wires, and connectors) to enable the operation of the rotary actuator 222. Each drive unit can include a sensor for sensing the point in time when the cassette is fixed to the drive unit. As a result, for example, while the sensor senses that the cassette is not fixed to the drive unit, the control device can prevent the operation of any rotary actuator 222. A spring-biased release device can be included to apply force to any fixed cassette, and this spring-biased release device can assist in disconnecting the cassette during removal of the cassette from the drive unit.

[0042] In the context of the multi-axis catheter system 100 shown in FIG. 2, the top surface of the support plate 202 of the drive unit is mechanically attached to the bottom surface of each of the cassette platforms 122, 124, 126, 128. The top surface of the support plate 202-2 of the distal drive unit 132 is mechanically attached to the bottom surface of the distal cassette platform 122. The top surface of the support plate 202 (e.g., support plate 202-4) of the first intermediate drive unit 134 is mechanically attached to the bottom surface of the first intermediate cassette platform 124. The top surface of the support plate 202 (e.g., support plate 202-4) of the second intermediate drive unit 136 is mechanically attached to the bottom surface of the second intermediate cassette platform 126. The top surface of the support plate 202-8 of the proximal drive unit 138 is mechanically attached to the bottom surface of the proximal cassette platform 128. For each drive unit and its respective cassette platform, the hook 204, the fastener rib 206, the male connector 244 of the drive assembly 220, and the encoder coupler 264 of the drive unit extend through the cassette platform and connect to the cassette.

[0043] FIG. 7A is a perspective view of a proximal cassette 148 according to some examples. FIGS. 7B and 7C are perspective views of the partially disassembled proximal cassette 148 of FIG. 7A according to some examples. FIGS. 7D, 7E, 7F, and 7G are rear, front, top, and bottom views, respectively, of the partially disassembled proximal cassette 148 of FIG. 7C. The cassettes shown in FIGS. 7A-7G include some common components. To avoid redundant descriptions, the components in the figures are each labeled with "-8", "-4", or "-2" to indicate whether a given component is included in the proximal cassette 148, the intermediate cassette, or the distal cassette 142, respectively. However, descriptions of such components may be made without reference to the attached "-8", "-4", or "-2". It will be apparent to those skilled in the art that various modifications may be made to such components, including different orientations, between different cassettes for purposes such as accommodating different sized catheters or guidewires corresponding to different components.

[0044] Each of the proximal cassette 148, the intermediate cassettes 144, 146, and the distal cassette 142 includes a base 302, a housing 304, and a lid 306. The base 302, the housing 304, and the lid 306 can be made of any suitable material such as molded plastic that mechanically supports various components and has structural integrity for mechanically supporting these components. The housing 304 is fixedly mechanically attached to the base 302, and the lid 306 is hingedly attached to the housing 304. A channel 308 extends through the housing 304. The channel 308 that extends through the housing 304 extends in the direction in which each intravascular insertion device advances (e.g., in the X direction when referring to FIG. 2). The channel 308 is configured to allow an intravascular insertion device, i.e., a guidewire or a catheter, to pass through it. For example, in the case of the distal cassette 142, up to three catheters are nested, the central guideware extends through the channel 308, and only the outer surface of the outermost catheter is exposed to the wall of the channel 308. The lid 306 includes a proximal limiting portion 310 and a distal limiting portion 312 that are configured to project into the channel 308 when the lid 306 is closed on the housing 304 and limit its vertical movement in the operation of the intravascular insertion device therein.

[0045] Each cassette includes a tab 314 and a fastener assembly. The tab 314 protrudes from the base 302 and is configured to engage with the hook 204 when the corresponding cassette is fixed to the appropriate drive unit. FIG. 10 shows an exploded perspective view of the fastener assembly according to some examples. The fastener assembly includes a fastener 322, a spring 324, and buttons 326 on both sides. The fastener 322 is generally a block having a rib 328 and a flange 330. The rib 328 has an inclined lower flat surface (for example, inclined in the opposite direction to the inclined flat surface of each rib 208) and an upper flat surface. When the rib 328 is fixed to the drive unit, it faces the fastener rib 206 of the appropriate drive unit. Each flange 330 has an elongated opening 332 passing through it. At least a part of the fastener 322 is disposed within an opening 334 passing through the base 302. Each screw 336 passes through the elongated opening 332 of the flange 330 of the fastener 322 and fixes the fastener 322 at least partially disposed within the opening 334. The elongated opening 332 allows the fastener 322 to translate laterally. The spring 324 is disposed between the wall 340 of the base 302 and the fastener 322 on the side opposite to the rib 328. The spring 324 is arranged and configured to exert a force opposing the wall 340 and the fastener 322.

[0046] Each of the buttons 326 has a tab 342 having an inclined surface protruding from the respective button 326. A limiting portion 344 protrudes from the tab 342 having the inclined surface. When assembled, the base 302 and the housing 304 have walls with openings through which the tab 342 having the corresponding inclined surface extends toward the fastener 322. The limiting portion 344 cooperates with these walls of the base 302 and the housing 304 to limit the movement of the button 326.

[0047] When assembled and in the absence of other forces, spring 324 exerts a force on fastener 322, causing fastener 322 to be disposed distally from wall 340 at opening 334. When the cassette is fixed to the drive unit, tab 314 is first engaged with hook 204, and the fastener assembly is lowered to fastener rib 206. The respective inclined surfaces of ribs 208, 328 contact each other, and as the cassette is lowered, fastener 322 is displaced proximally towards wall 340, enabling rib 328 to pass through rib 208. When rib 328 passes through, spring 324 displaces fastener 322 more distally, as a result of which ribs 208, 328 engage with each other. This fixes the cassette to the drive unit. To remove the cassette from the drive unit, button 326 is pressed towards the inside of the cassette, thereby displacing fastener 322 proximally towards wall 340 by tab 342 having an inclined surface. This enables rib 328 to pass through rib 208, thereby enabling the removal of the cassette.

[0048] Each cassette includes a clamping and advancing assembly. FIGS. 11A and 11B show exploded perspective views of respective parts of the clamping and advancing assembly according to some examples. The clamping and advancing assembly includes advancing rollers 352, 354, advancing spur gears 356, 358, and advancing shafts 360, 362. The roller surfaces of advancing rollers 352, 354 face each other. During operation, the intravascular insertion device is disposed between the roller surfaces of advancing rollers 352, 354. Channels 308 of housing 304 each have an opening in the wall forming channel 308, whereby the roller surfaces of advancing rollers 352, 354 contact the intravascular insertion device within channel 308, enabling the intravascular insertion device to be advanced.

[0049] In the illustrated example, the forward shaft 360 is integral with the forward spur gear 356, and the forward shaft 362 is integral with the forward spur gear 358. In other examples, one or both of the forward shafts 360, 362 can be separate components from their respective forward spur gears 356, 358. The forward spur gear 356 is disposed on and surrounds the forward shaft 360, and the forward spur gear 358 is disposed on and surrounds the forward shaft 362. The forward roller 352 is disposed on and surrounds the forward shaft 360, and the forward roller 354 is disposed on and surrounds the forward shaft 362. Each of the forward shafts 360, 362 can have one or more flat surfaces (e.g., having a D-shaped cross-section orthogonal to the axis of rotation of the forward shafts 360, 362), and the respective forward rollers 352, 354 are disposed thereon on the forward shafts 360, 362. Similarly, each of the forward rollers 352, 354 can have an opening having a cross-section corresponding to the cross-section of the corresponding forward shaft 360, 362 to assist in ensuring rotation of the forward rollers 352, 354 as the corresponding forward shafts 360, 362 rotate.

[0050] The female connector 364 is disposed on and mechanically attached to the forward shaft 360. The forward shaft 360 can have one or more flat surfaces (e.g., having a D-shaped cross-section orthogonal to the axis of rotation of the forward shaft 360), and the female connector 364 is disposed thereon on the forward shaft 360. Similarly, the female connector 364 can have an opening having a cross-section corresponding to the cross-section of the forward shaft 360 to assist in ensuring rotation of the forward shaft 360 as the female connector 364 rotates. The female connector 364 is exposed through and / or extends through the base 302 of the cassette.

[0051] The ball bearing 366 mechanically couples the forward shaft 360 to the base 302 of the cassette, and the ball bearing 368 mechanically couples the forward shaft 360 to the housing 304 of the cassette. The ball bearings 366, 368 allow free rotation of the forward shaft 360 while it is fixed within the cassette.

[0052] In the illustrated example, the clamping and advancing assembly includes a clamping support frame including a lower support frame 370, an intermediate support frame 372, and an upper support frame 374. The lower support frame 370 is mechanically attached to the lower surface of the intermediate support frame 372, and the upper support frame 374 is mechanically attached to the upper surface of the intermediate support frame 372. A ball bearing 376 mechanically connects the advancing shaft 362 to the lower support frame 370, and a ball bearing 378 mechanically connects the advancing shaft 362 to the upper support frame 374. The ball bearings 376, 378 allow free rotation of the advancing shaft 362 while being fixed between the lower support frame 370 and the upper support frame 374 of the clamping support frame.

[0053] A rack 380 is mechanically attached to the clamping support frame (e.g., to the intermediate support frame 372). The rack 380 extends laterally away from the clamping support frame in a direction perpendicular to the axis of rotation of the advancing shaft 362. A pinion 382 engages the rack 380. The pinion 382 is disposed on and surrounds a clamping shaft 384. In the illustrated example, the clamping shaft 384 is integral with the pinion 382. In other examples, the clamping shaft 384 can be a separate component from the pinion 382. A female connector 386 is disposed on and mechanically attached to the clamping shaft 384. The clamping shaft 384 can have one or more flat surfaces (e.g., having a D-shaped cross-section perpendicular to the axis of rotation of the clamping shaft 384), and the female connector 386 is disposed thereon on the clamping shaft 384. Similarly, the female connector 386 can have an opening having a cross-section corresponding to the cross-section of the clamping shaft 384 to assist in ensuring rotation of the clamping shaft 384 as the female connector 386 rotates. The female connector 386 is exposed through and / or extends through the base 302 of the cassette.

[0054] Ball bearing 388 mechanically couples the clamping shaft 384 to the base 302 of the cassette, and ball bearing 390 mechanically couples the clamping shaft 384 to the housing 304 of the cassette. Ball bearings 388, 390 allow free rotation of the clamping shaft 384 while it is fixed within the cassette.

[0055] When the cassette is fixed to each drive unit, female connector 364 engages male connector 244a of the forward drive assembly 220a of the drive unit, and female connector 386 engages male connector 244b of the clamping drive assembly 220b of the drive unit. In this exemplary configuration, the longitudinal axis of the forward shaft 360 (e.g., about which the forward shaft 360 rotates) is aligned with the lateral axis of the forward drive assembly 220a, and the longitudinal axis of the clamping shaft 384 (e.g., about which the clamping shaft 384 rotates) is aligned with the lateral axis of the clamping drive assembly 220b.

[0056] Rotation of the lateral shaft 230b of the clamping drive assembly 220b causes rotation of the clamping shaft 384 (e.g., via the male connector 244b and the female connector 386). Rotation of the clamping shaft 384 causes rotation of the pinion 382, which in turn causes lateral translation of the rack 380 along the direction in which the rack 380 extends. The lateral translation of the rack 380 causes lateral translation of the clamping support frame, thereby causing lateral translation of the forward shaft 362 and the forward roller 354. The walls and / or surfaces of the housing 304 and / or the base 302, and / or other components within the cassette can limit significant lateral and vertical movement of the clamping support frame in any direction perpendicular to the direction in which the rack 380 extends from the clamping support frame. Further, the walls, slots, tracks, and / or surfaces of the housing 304 and / or the base 302, and / or other components within the cassette can limit the amount of lateral movement of the clamping support frame in the direction in which the rack 380 extends from the clamping support frame, helping to prevent excessive movement of the clamping support frame.

[0057] In particular, the configuration of the clamping support frame, the rack 380, and the pinion 382 enables the forward roller 354 and the forward shaft 362 to assume at least two positions. In the release position of the forward roller 354 and the forward shaft 362, the forward roller 354 is distal to the forward roller 352. In the release position, the intravascular insertion device is released from between the forward rollers 352, 354. When the forward roller 354 is in the release position, no force is applied to the intravascular insertion device by the forward rollers 352, 354. Further, in the release position, the forward spur gear 358 may be disengaged from the forward spur gear 356. In the clamping position of the forward roller 354 and the forward shaft 362, the forward roller 354 is close to the forward roller 352. In the clamping position, the intravascular insertion device is clamped by the forward rollers 352, 354 and thus mechanically connected and fixed. The forward rollers 352, 354 can exert forces in opposite directions on the intravascular insertion device to clamp the intravascular insertion device. In the clamping position, the forward spur gear 358 engages with the forward spur gear 356.

[0058] In the clamping position, the clamping and forward assembly can advance the intravascular insertion device. Rotation of the lateral shaft 230a of the forward drive assembly 220a causes rotation of the forward shaft 360 (e.g., via the male connector 244a and the female connector 364). Rotation of the forward shaft 360 causes rotation of the forward spur gear 356, which in turn causes rotation of the forward spur gear 358 and the forward shaft 362 in the reverse rotational direction. Reverse rotation of the forward shafts 360, 362 causes reverse rotation of the forward rollers 352, 354. Since the forward rollers 352, 354 clamp the intravascular insertion device in this clamping position, rotation of the forward rollers 352, 354 advances the intravascular insertion device (e.g., to feed a corresponding catheter into the body or to remove a catheter from the body).

[0059] Each cassette includes a follower assembly. FIG. 12 shows an exploded perspective view of a follower assembly according to some examples. The follower assembly includes follower rollers 402, 404, follower spur gears 406, 408, follower shafts 410, 412, bevel gears 414, 416, a shaft 418, and an encoder coupler 420. The roller surfaces of the follower rollers 402, 404 face each other. During operation, the intravascular insertion device is disposed between the roller surfaces of the follower rollers 402, 404. The channel 308 of the housing 304 has an opening in the wall forming the channel 308, whereby the roller surfaces of the follower rollers 402, 404 can contact the intravascular insertion device.

[0060] In the illustrated example, follower shaft 410 is integral with follower spur gear 406, and follower shaft 412 is integral with follower spur gear 408. In other examples, one or both of follower shafts 410, 412 can be separate components from their respective follower spur gears 406, 408. Follower spur gear 406 is disposed on and surrounds follower shaft 410, and follower spur gear 408 is disposed on and surrounds follower shaft 412. Follower roller 402 is disposed on and surrounds follower shaft 410, and follower roller 404 is disposed on and surrounds follower shaft 412. Each of follower shafts 410, 412 can have one or more flat surfaces (e.g., having a D-shaped cross-section orthogonal to the axis of rotation of follower shafts 410, 412), and respective follower rollers 402, 404 are disposed thereon on follower shafts 410, 412. Similarly, each of follower rollers 402, 404 can have an opening having a cross-section corresponding to the cross-section of the corresponding follower shaft 410, 412 to assist in ensuring rotation of follower rollers 402, 404 as the corresponding follower shafts 410, 412 rotate. Bevel gear 414 is mechanically attached to follower spur gear 406 and / or follower shaft 410. As shown, bevel gear 414 is integral with follower spur gear 406, but in other examples, bevel gear 414 can be a separate component from follower spur gear 406. Brackets 422, 424 mechanically couple the assembled follower shaft 410, follower roller 402, follower spur gear 406, and bevel gear 414 to cassette base 302 and / or housing 304. Ball bearing 426 mechanically couples follower shaft 410 to bracket 422, and ball bearing 428 mechanically couples bevel gear 414 to bracket 424. Ball bearings 426, 428 allow free rotation of the assembled follower shaft 410, follower roller 402, follower spur gear 406, and bevel gear 414 while being fixed within the cassette.

[0061] In the illustrated example, the shaft 418 is integral with the bevel gear 416. In other examples, the shaft 418 can be a separate component from the bevel gear 416. The bevel gear 416 is disposed on the end of the shaft 418. The bevel gear 416 is engaged with the bevel gear 414. The encoder coupler 420 is disposed on and mechanically attached to the shaft 418. The shaft 418 can have one or more flat surfaces (e.g., having a D-shaped cross-section orthogonal to the axis of rotation of the shaft 418), and the encoder coupler 420 is disposed thereon on the shaft 418. Similarly, the encoder coupler 420 can have an opening having a cross-section corresponding to the cross-section of the shaft 418 to help ensure rotation of the shaft 418 as the encoder coupler 420 rotates. The encoder coupler 420 is exposed and / or extends through the base 302 of the cassette. The ball bearing 430 mechanically couples the shaft 418 to the base 302 of the cassette. The ball bearing 430 allows free rotation of the shaft 418 while being fixed within the cassette.

[0062] Frame 436 mechanically couples the assembled follower shaft 412, follower roller 404, and follower spur gear 408. The follower shaft 412 is mechanically coupled to the frame 436 by ball bearings 438, 440. The ball bearings 438, 440 allow free rotation of the assembled follower shaft 412, follower roller 404, and follower spur gear 408 while being fixed within the cassette. The frame 436 is mechanically coupled to the bracket 442. The bracket 442 is mechanically attached to the bottom surface of the lid 306 of the cassette. The frame 436 is vertically movable within the bracket 442. The frame 436 includes tabs 444 (one of which is hidden in FIG. 12) on both sides that project laterally from the frame 436 in opposite directions from each other, and the bracket 442 has elongated openings 446 that penetrate each side surface. Each tab 444 of the frame 436 is inserted into the corresponding elongated opening 446 of the bracket 442, thereby mechanically coupling the frame 436 to the bracket 442. The elongated openings 446 allow vertical movement of the tabs 444 within the elongated openings 446, thereby allowing vertical movement of the frame 436 relative to the bracket 442. A spring 448 is vertically disposed between the top surface of the frame 436 and the bottom surface of the bracket 442. In the absence of another force, the frame 436 is placed in a distal position relative to the bracket 442 by the spring 448.

[0063] When the cassette is fixed to the corresponding drive unit, the encoder coupler 420 engages with the encoder coupler 264 of the drive unit. By lifting or removing the cassette lid 306 and placing the intravascular insertion device in the channel 308 of the cassette, the intravascular insertion device can be placed between the follower rollers 402 and 404. When the lid 306 is lifted or removed, the follower roller 404, the follower shaft 412, the follower spur gear 408, the frame 436, and the bracket 442 are displaced, and the contact between the surface of the follower roller 404 and the follower roller 402 is eliminated by the channel 308, making it possible to place the intravascular insertion device in the channel 308 between the follower rollers 402 and 404. Then, by reinstalling or closing the lid 306, the follower roller 404, the follower shaft 412, the follower spur gear 408, the frame 436, and the bracket 442 move, and the surface of the follower roller 404 moves inward from the channel 308. At this time, the intravascular insertion device is disposed between the follower rollers 402 and 404. The spring 448 exerts forces in opposite directions on the follower rollers 402 and 404 to limit the vertical movement of the intravascular insertion device. The forces in opposite directions exerted on the intravascular insertion device by the follower rollers 402 and 404 are large enough to limit the vertical movement of the intravascular insertion device and to rotate the follower rollers 402 and 404 as the intravascular insertion device advances, and are small enough to allow the intravascular insertion device to rotate between the follower rollers 402 and 404. Usually, when the lid 306 is reinstalled or closed, the follower spur gear 408 engages with the follower spur gear 406.

[0064] During operation, as the intravascular insertion device is advanced by the cassette clamping and advancing assembly, the advancement of the intravascular insertion device causes the follower rollers 402, 404 to rotate in opposite directions. The rotation of the follower rollers 402, 404 causes the rotation of the follower shafts 410, 412 and, correspondingly, the rotation of the follower spur gears 406, 408. The rotation of the follower rollers 402, 404 and the follower shafts 410, 412 can operate cooperatively as a result of the engagement of the follower spur gear 408 with the follower spur gear 406. The rotation of the follower shaft 410 and / or the follower spur gear 406 causes the rotation of the bevel gear 414 about the axis of rotation that is the center of the rotation of the follower shaft 410. The rotation of the bevel gear 414 causes the rotation of the bevel gear 416 and the shaft 418. The rotation of the bevel gear 416 and the shaft 418 is about an axis of rotation that is transverse to the axes of rotation of the bevel gear 414, the follower shaft 410, the follower spur gear 406, and the follower roller 402. The shaft of the encoder 262 is rotated by the rotation of the shaft 418 (e.g., via the encoder couplers 264, 420). The rotation of the shaft of the encoder 262 is detected by the encoder 262 and used by a control device (e.g., a processor) to estimate the length, direction, and / or advancement speed of the intravascular insertion device. In this case, the follower assembly and the encoder 262 can be implemented for feedback control to advance the intravascular insertion device.

[0065] Each of the intermediate cassettes 144, 146 and the distal cassette 142 includes a catheter rotation assembly. FIG. 13 shows an exploded perspective view of a catheter rotation assembly according to some examples. The catheter rotation assembly includes a Y-connector housing, a bevel gear 452, and a rotating shaft 454. The Y-connector housing includes a base 456 and a lid 458. The base 456 is mechanically attached to the housing 304 of the cassette. The lid 458 is attached to the base 456 by a hinge. The base 456 and the lid 458 are configured to fix a Y-connector between the base 456 and the lid 458 when the lid 458 is closed on the base 456.

[0066] In the illustrated example, the rotating shaft 454 is integral with the bevel gear 452. In other examples, the rotating shaft 454 can be a separate component from the bevel gear 452. The bevel gear 452 is disposed on an end of the rotating shaft 454. A female connector 460 is disposed on and mechanically attached to the rotating shaft 454. The rotating shaft 454 can have one or more flat surfaces (e.g., having a D-shaped cross-section orthogonal to the axis of rotation of the rotating shaft 454), and the female connector 460 is disposed thereon on the rotating shaft 454. Similarly, the female connector 460 can have an opening having a cross-section corresponding to the cross-section of the rotating shaft 454 to help ensure rotation of the rotating shaft 454 as the female connector 460 rotates. The female connector 460 is exposed through and / or extends through the base 302 of the cassette. A ball bearing 462 mechanically connects the rotating shaft 454 to the base 302 of the cassette. The ball bearing 462 allows free rotation of the rotating shaft 454 while being fixed within the cassette.

[0067] When the cassette is fixed to the corresponding drive unit, the female connector 460 engages with the male connector 244c of the catheter rotation drive assembly 220c of the drive unit. In this exemplary configuration, the longitudinal axis of the rotary shaft 454 (e.g., about which the rotary shaft 454 rotates) is aligned with the lateral axis of the catheter rotation drive assembly 220c.

[0068] Rotation of the lateral shaft 230c of the catheter rotation drive assembly 220c causes rotation of the rotary shaft 454 (e.g., via the male connector 244c and the female connector 460). Rotation of the rotary shaft 454 causes rotation of the bevel gear 452. During operation, the bevel gear 452 engages with another bevel gear that is mechanically coupled to a catheter attached to a Y-connector fixed by a Y-connector housing (through an opening 464 that passes through the base 456). Rotation of the bevel gear 452 causes rotation of the bevel gear mechanically coupled to the catheter, thereby causing rotation of the catheter, which will be described in more detail later. Rotation of the bevel gear mechanically coupled to the catheter occurs about an axis that crosses an axis that is the center of rotation of the rotary shaft 454.

[0069] The proximal cassette 148 includes a guide wire rotation assembly. FIG. 14 shows an exploded perspective view of a guide wire rotation assembly according to some examples. The guide wire rotation assembly includes a drive bevel gear 482 and a rotating shaft 484. In the illustrated example, the rotating shaft 484 is integral with the drive bevel gear 482. In other examples, the rotating shaft 484 can be a separate component from the drive bevel gear 482. A female connector 486 is disposed on and mechanically attached to the rotating shaft 484. The rotating shaft 484 can have one or more flat surfaces (e.g., having a D-shaped cross-section orthogonal to the axis of rotation of the rotating shaft 484), and the female connector 486 is disposed thereon on the rotating shaft 484. Similarly, the female connector 486 can have an opening having a cross-section corresponding to the cross-section of the rotating shaft 484 to assist the rotating shaft 484 in rotating reliably as the female connector 486 rotates. The female connector 486 is exposed through and / or extends through the base 302 of the cassette. A ball bearing 488 mechanically couples the rotating shaft 484 to the base 302 of the cassette, and a ball bearing 490 mechanically couples the rotating shaft 484 to the housing 304 of the cassette. The ball bearings 488, 490 allow free rotation of the rotating shaft 484 while being fixed within the cassette.

[0070] The guide wire rotation assembly further includes a driven bevel gear 492 that meshes with the drive bevel gear 482, a first spur gear 494 and a second spur gear 496, and a bracket 498. The bracket 498 is mechanically attached to the base 302 of the proximal cassette 148. The bracket 498 has protrusions 500, 502. The first spur gear 494 is mechanically coupled to and rotatable about the protrusion 500, and the second spur gear 496 is mechanically coupled to and rotatable about the protrusion 502. The first spur gear 494 is engaged (meshed) with the second spur gear 496. The first bevel gear 492 is mechanically attached to the first spur gear 494. The respective axes of rotation of the first bevel gear 492 and the first spur gear 494 are collinear.

[0071] The guide wire rotation assembly includes a cap 512, a cap spur gear 514, a collet 516, a guide wire connector 518, and a clamp bracket 520. The cap spur gear 514 is mechanically attached to the end of the cap 512. In the illustrated example, the cap spur gear 514 is integral with the cap 512, but in other examples, the cap spur gear 514 and the cap 512 can be separate components. The cap 512 includes a female connector with threads (hidden in Figure 14). The guide wire connector 518 includes a male connector 522 with threads. When assembled, the female connector with threads of the cap 512 engages the male connector 522 with threads of the guide wire connector 518. The guide wire connector 518 has a recess with a tapered wall inside the male connector 522 with threads. The tapered wall of the guide wire connector 518 generally coincides with the angled surface of the collet 516. When assembled, the collet 516 is inserted into the recess of the guide wire connector 518, and at this time, the female connector with threads of the cap 512 is engaged with the male connector 522 with threads of the guide wire connector 518. When the cap 512 rotates on the guide wire connector 518 due to the thread engagement, the collet 516 is compressed. A guide wire can pass through the openings passing through the collet 516 and the cap 512. In that case, when the collet 516 is compressed, the guide wire will be clamped and fixed.

[0072] The clamp bracket 520 is mechanically attached to the housing 304 of the proximal cassette 148. The clamp bracket 520 is configured to hold the guide wire connector 518 while allowing rotation of the guide wire connector 518. The guide wire connector 518 has ribs 524 along the outer periphery of the guide wire connector 518. The clamp bracket 520 has a limiting portion 526. When the clamp bracket 520 holds the guide wire connector 518, the limiting portion 526 is disposed laterally between the ribs 524 of the guide wire connector 518, whereby a large lateral movement of the guide wire connector 518 can be restricted. The clamp bracket 520 allows rotation of the guide wire connector 518 about the longitudinal axis of the guide wire connector 518. When the clamp bracket 520 holds the guide wire connector 518 with the cap 512 disposed on the guide wire connector 518, the spur gear 514 engages with the spur gear 496.

[0073] When the proximal cassette 148 is fixed to the proximal drive unit 138, the female connector 486 engages with the male connector 244d of the guide wire rotation drive assembly 220d of the proximal drive unit 138. In this exemplary configuration, the longitudinal axis of the rotary shaft 484 (e.g., about which the rotary shaft 484 rotates) is aligned with the lateral axis of the guide wire rotation drive assembly 220d.

[0074] Rotation of the lateral shaft 230d of the guide wire rotation drive assembly 220d causes rotation of the rotation shaft 484 (e.g., via the male connector 244d and the female connector 486). Rotation of the rotation shaft 484 causes rotation of the drive bevel gear 482, which in turn causes rotation of the driven bevel gear 492 about an axis that is lateral to the lateral axis of the guide wire rotation drive assembly 220d. Rotation of the driven bevel gear 492 causes rotation of the first spur gear 494 in the same direction. Rotation of the first spur gear 494 causes rotation of the second spur gear 496 in the opposite direction, i.e., the opposing direction. Rotation of the second spur gear 496 causes rotation of the cap spur gear 514 in the opposing direction, which causes rotation of the guide wire when the collet 516 is clamped onto the guide wire extending therethrough.

[0075] Figures 15, 16, and 17 show a configuration diagram including a catheter and a Y-connector. In Figure 15, the Y-connector 602 includes a female Luer lock connector. The female Luer lock connector has a connector bevel gear 604 integral with the outer sheath of the female connector. The catheter 606 has a tab and a male Luer lock connector at its proximal end. The male connector of the catheter 606 is engaged with the female connector of the Y-connector 602 during operation. Rotation of the connector bevel gear 604 on the sheath of the female connector causes rotation of the catheter 606.

[0076] In FIG. 16, the Y connector 608 includes a female Luer lock connector. The catheter 606 has a tab and a male Luer lock connector at the proximal end of the catheter 606. The intermediate connector 610 has a female and a male Luer lock connector. The intermediate connector 610 has an intermediate connector bevel gear 612 integral with the outer sheath of the intermediate connector 610. During operation, the male connector of the catheter 606 engages with the female connector of the intermediate connector 610, and the male connector of the intermediate connector 610 engages with the female connector of the Y connector 608. Rotation of the intermediate connector bevel gear 612 on the intermediate connector 610 causes rotation of the catheter 606.

[0077] In FIG. 17, the Y connector 608 includes a female Luer lock connector. The catheter 614 has a tab and a male Luer lock connector at the proximal end of the catheter 614. The male connector of the catheter 614 has a Luer bevel gear 616 integral with the outer sheath of the male connector. The male connector of the catheter 614 is engaged with the female connector of the Y connector 608 during operation. Rotation of the Luer bevel gear 616 on the sheath of the male connector causes rotation of the catheter 614.

[0078] Referring again to FIG. 13, the Y connector housing (including the base 456 and the lid 458) can be configured to accommodate and fix the Y connector, including the Y connectors 602, 608 of FIGS. 15 - 17. The Y connector housing is configured such that when the Y connector housing fixes the Y connectors 602, 608, the bevel gears 604, 612, 616 mechanically connected to the Y connectors 602, 608 and / or the catheters 606, 614 engage with the Y connector bevel gear 452 of the catheter rotation assembly through the opening 464. As a result, rotation of the Y connector bevel gear 452 (due to rotation of the rotary shaft 454) causes rotation of the bevel gears 604, 612, 616 about an axis transverse to the axis of rotation of the rotary shaft 454, which in turn causes rotation of the catheters 606, 614.

[0079] Figures 18 and 19 are schematic diagrams depicting the rotation and advancement of a catheter, respectively, according to several examples. Figures 18 and 19 show a first cassette 702 and a second cassette 704. The first cassette 702 is disposed more proximally, and the second cassette 704 is disposed more distally. The first cassette 702 and the second cassette 704 can be a distal cassette 142 and a first intermediate cassette 144, respectively. The first cassette 702 and the second cassette 704 can be a first intermediate cassette 144 and a second intermediate cassette 146, respectively. The first cassette 702 and the second cassette 704 can be a second intermediate cassette 146 and a proximal cassette 148, respectively.

[0080] The first cassette 702 is shown including a Y-connector housing (including a base 456 and a lid 458) that secures a Y-connector 602 having a bevel gear 604. A catheter 606 is engaged with the Y-connector 602. The Y-connector housing can secure any Y-connector and bevel gear configuration and, in other examples, can implement any catheter. The bevel gear 604 is engaged with a bevel gear 452 of a catheter rotation assembly of the first cassette 702. The catheter 606 extends through a channel 308 (e.g., between forward rollers 352, 354) of the second cassette 704.

[0081] During operation, the clamping and advancement assembly of the second cassette 704 can secure the catheter 606 within the channel 308 of the second cassette 704 so as not to move or to advance laterally. When rotating the catheter 606, the clamping and advancement assembly of the second cassette 704 releases the catheter 606 for rotation. Regardless of the movement of the catheter 606 (e.g., rotation, advancement, and no movement), the catheter rotation assembly of the first cassette 702 configured to rotate the catheter 606 can maintain a mechanical connection with the catheter 606 (e.g., by the engagement of the bevel gear 452 with the bevel gear 604 mechanically coupled to the catheter 606).

[0082] First, assume that the first cassette 702 and the second cassette 704 are in their respective positions where the catheter 606 is not moving and the catheter 606 is fixed between the forward rollers 352, 354 of the second cassette 704 by the clamping and forward assembly of the second cassette 704. To rotate the catheter 606, the clamping and forward assembly of the second cassette 704 releases the catheter 606. The forward roller 354 of the second cassette 704 is translated laterally, in which case the opposing forward rollers 352, 354 do not apply forces in opposite directions to the catheter 606 (e.g., clamp it). Referring to FIGS. 11A and 11B, the pinion 382 is rotated by the clamping drive assembly 220b (e.g., via the male connector 244b and the female connector 386), and the rotation of the pinion 382 causes the translation of the rack 380, as a result of which the clamping support frame (including the lower support frame 370, the intermediate support frame 372, and the upper support frame 374) and the forward roller 354 are translated in a direction away from the forward roller 352 (e.g., in the -Y direction). Referring to FIG. 18, the forward roller 354 is translated to the release position in the direction 712 away from the forward roller 352.

[0083] With the clamping and forward assembly releasing the catheter 606, the catheter rotation assembly of the first cassette 702 can rotate the catheter 606. To rotate the catheter 606, the bevel gear 452 of the first cassette 702 is rotated 714 about the axis 716. The rotation 714 of the bevel gear 452 of the first cassette 702 causes the rotation of the bevel gear 604 about the lateral axis, thereby causing the rotation 718 of the catheter 606. Referring to FIG. 13, the bevel gear 452 is rotated by the catheter rotation drive assembly 220c (e.g., via the male connector 244c and the female connector 460). The axis 716 corresponds to the longitudinal axis of the rotation shaft 454, which is the center of the rotation of the rotation shaft 454 and the bevel gear 452.

[0084] To advance the catheter 606, referring to FIG. 19, the clamping and advancing assembly of the second cassette 704 clamps the catheter 606. The advancing roller 354 of the second cassette 704 is translated laterally, in which case the opposing advancing rollers 352, 354 apply forces in opposite directions to each other to the catheter 606 (e.g., clamp it). Referring to FIGS. 11A and 11B, the pinion 382 is rotated by the clamping drive assembly 220b (e.g., via the male connector 244b and the female connector 386), and the rotation of the pinion 382 causes the translation of the rack 380, as a result of which the clamping support frame (including the lower support frame 370, the intermediate support frame 372, and the upper support frame 374) and the advancing roller 354 are translated in the direction towards the advancing roller 352 (e.g., in the +Y direction). Referring to FIG. 19, the advancing roller 354 is translated to the clamping position in the direction 720 towards the advancing roller 352.

[0085] With the catheter 606 clamped by the clamping and advancing assembly, the clamping and advancing assembly of the second cassette 704 can advance the catheter 606 (e.g., insert it into or withdraw it from the body). To advance the catheter 606, the advancing shaft 360 of the second cassette 704 is rotated by the advancing drive assembly 220a (e.g., via the male connector 244a and the female connector 364) to rotate the advancing roller 352 by 722. Further, the rotation of the advancing shaft 360 of the second cassette 704 similarly causes the rotation of the advancing spur gear 356. At the clamping position, the advancing spur gear 356 engages with the advancing spur gear 358. As a result, the rotation of the advancing spur gear 356 causes the reverse rotation of the advancing spur gear 358, which in turn causes the reverse rotation 724 of the advancing roller 354. By the rotations 722, 724 of the advancing rollers 352, 354 shown in FIG. 19, the catheter 606 can be inserted into the body. By the rotations of the advancing rollers 352, 354 in the directions opposite to the respective rotations 722, 724 shown, the catheter can be withdrawn from the body.

[0086] When the clamping and advancing assembly of the second cassette 704 advances the catheter 606, the first cassette 702 follows the advancement of the catheter 606. As shown in FIG. 19, the first cassette 702 follows the lateral translation direction 726 (e.g., when the catheter 606 is being fed into the body). The first cassette 702 can follow the lateral translation direction opposite to the direction 726 (e.g., when the catheter 606 is being retrieved from the body). The tracking of the first cassette 702 can be performed by an independent translation assembly such as those described below. By the tracking of the first cassette 702, it is possible to cause little or no tension in the catheter 606 between the advancing rollers 352, 354 of the second cassette 704 that clamp the catheter 606 and the Y-connector 602 fixed to the Y-connector housing of the first cassette 702. The absence of such tension is shown in FIG. 19 by the presence of slack 728 in the catheter 606.

[0087] As shown in FIGS. 18 and 19, the catheter rotation assembly of the first cassette 702 can maintain the engagement or mechanical connection with the connector bevel gear 604 (e.g., by the bevel gear 452 engaging with the connector bevel gear 604) regardless of the movement of the catheter 606. In this case, the catheter rotation assembly can maintain the mechanical connection to the catheter 606 regardless of the movement of the operating catheter 606. In FIG. 19, the catheter rotation assembly is not operating to rotate the catheter 606, and the bevel gear 452 remains engaged with the bevel gear 604 while the catheter 606 is being advanced. Also, as shown in FIGS. 18 and 19, the clamping and advancing assembly of the second cassette 704 is released from or mechanically disconnected from the catheter 606 so that the catheter 606 can rotate through the channel 308 of the second cassette 704.

[0088] Figures 8A and 8B are schematic diagrams depicting the rotation and advancement of the guide wire 732, respectively, according to some examples. Figures 8A and 8B show the proximal cassette 148. The proximal cassette 148 is shown including the guide wire connector 518 and the cap 512. The guide wire 732 is fixed by the guide wire connector 518, the cap 512, and a collet 516 (not shown), as previously described. The cap spur gear 514 on the cap 512 engages with the spur gear 496. The guide wire 732 extends from the guide wire connector 518 and the cap 512 through the channel 308 of the proximal cassette 148 (e.g., between the advancement rollers 352, 354). The length of the guide wire 732 extending from the cap 512 to the housing 304 (e.g., through the housing 304 to the channel 308) may be referred to as the loopback of the guide wire 732.

[0089] During operation, the clamping and advancement assembly of the proximal cassette 148 can fix the guide wire 732 within the channel 308 of the proximal cassette 148 so as not to move or move laterally. When rotating the guide wire 732, the clamping and advancement assembly of the proximal cassette 148 releases the guide wire 732 for rotation. Regardless of the movement of the guide wire 732 (e.g., rotation, advancement, and no movement), the guide wire rotation assembly of the proximal cassette 148 can maintain a mechanical connection to the guide wire 732 (e.g., by the collet 516, the guide wire connector 518, and the cap 512).

[0090] First, assume that the proximal cassette 148 is in a position where the guide wire 732 is not moving and is fixed between the forward rollers 352, 354 of the proximal cassette 148 by the clamping and advancing assembly of the proximal cassette 148. To rotate the guide wire 732, the clamping and advancing assembly releases the guide wire 732. The forward roller 354 of the proximal cassette 148 is laterally translated to the release position in the direction 734, in which case, as described above with respect to FIG. 18, the opposing forward rollers 352, 354 do not apply forces in opposite directions to each other (e.g., clamp) the guide wire 732.

[0091] With the clamping and advancing assembly of the proximal cassette 148 releasing the guide wire 732, the catheter rotation assembly of the proximal cassette 148 can rotate the guide wire 732. To rotate the guide wire 732, the spur gear 496 of the proximal cassette 148 is rotated 736 about the axis 738. The rotation 736 of the spur gear 496 causes the rotation of the cap spur gear 514, and thus the rotation of the cap 512, the guide wire connector 518, and the collet 516, in the direction opposite to the rotation 736, thereby causing the rotation 740 of the guide wire 732. Referring to FIG. 14, the spur gear 496 is rotated by the guide wire rotation drive assembly 220d (e.g., via the male connector 244d and the female connector 486).

[0092] To advance the guide wire 732, referring to FIG. 21, the clamping and advancing assembly of the proximal cassette 148 clamps the guide wire 732. The forward roller 354 is laterally translated, in which case, as described with reference to FIG. 19, the opposing forward rollers 352, 354 apply forces in opposite directions to each other (e.g., clamp) the guide wire 732. The forward roller 354 is translated in the direction 742 towards the forward roller 352 to the clamping position.

[0093] With the guide wire 732 being clamped by the clamping and advancing assembly, the clamping and advancing assembly can advance the guide wire 732 (e.g., feed it into the body or retrieve it from the body). To advance the guide wire 732, the advancing shaft 360 of the proximal cassette 148 is rotated by the advancing drive assembly 220a (e.g., via the male connector 244a and the female connector 364) to rotate the advancing roller 352. Further, the rotation of the advancing shaft 360 similarly causes the rotation of the advancing spur gear 356. At the clamping position, the advancing spur gear 356 engages with the advancing spur gear 358. As a result, the rotation of the advancing spur gear 356 causes the reverse rotation of the advancing spur gear 358, which in turn causes the reverse rotation 746 of the advancing roller 354. By the rotations 744, 746 of the advancing rollers 352, 354 shown in FIG. 21, the guide wire 732 can be fed into the body. By the rotations of the advancing rollers 352, 354 in the directions opposite to the respective rotations 744, 746 shown, the catheter can be retrieved from the body.

[0094] When the clamping and advancing assembly of the proximal cassette 148 advances the guide wire 732, the loop-back of the guide wire 732 can change. As shown in FIG. 21, the length of the loop-back can become shorter as the guide wire 732 is advanced in the lateral translation direction 748 (e.g., when the guide wire 732 is fed into the body). Similarly, the length of the loop-back can become longer as the guide wire 732 is advanced in the lateral translation direction opposite to the direction 748 (e.g., when the guide wire 732 is retrieved from the body).

[0095] As shown in FIGS. 8A and 8B, the guide wire rotation assembly of the proximal cassette 148 can maintain engagement or mechanical connection with the guide wire 732 (e.g., by the guide wire connector 518, the collet 516, and the cap 512 fixing the guide wire 732) regardless of the movement of the guide wire 732. In this case, the guide wire rotation assembly can maintain a mechanical connection to the guide wire 732 regardless of the movement of the guide wire 732 during operation. In FIG. 21, the catheter rotation assembly is not operating to rotate the guide wire 732, the guide wire connector 518, the collet 516, and the cap 512 remain fixed to the guide wire 732, the spur gears 514, 496 remain engaged, while the guide wire 732 is advanced. Also, as shown in FIGS. 20 and 21, the clamping and advancing assembly of the proximal cassette 148 is released from or mechanically decoupled from the guide wire 732 to allow rotation of the guide wire 732 through the channel 308 of the proximal cassette 148.

[0096] FIGS. 9A-9C show exploded perspective views of a translation assembly mechanically coupled to a track according to some examples. Each of the first intermediate drive unit 134, the second intermediate drive unit 136, and the proximal drive unit 138 includes a respective translation assembly mechanically coupled thereto. The translation assemblies allow the respective drive units 134-138 to be translated along the track (e.g., in the X direction). Different translation assemblies may be implemented for the drive units and / or modifications to the illustrated translation assembly may be made. Various types of shafts and gears for the translation assembly are described below, but other types of shafts and gears may be implemented to achieve different configurations of the translation assembly.

[0097] The translation assembly includes a rotary actuator 802. The rotary actuator 802 includes a drive shaft 804 (for example, a shaft having a D-shaped cross-section orthogonal to the rotation axis of the shaft). The rotary actuator 802 is configured to rotate the drive shaft 804. In some examples, the rotary actuator 802 is a motor such as an electric motor. The rotary actuator 802 is mechanically attached and mounted on a bracket 806. A threaded gear 808 is mechanically attached to the drive shaft 804.

[0098] The translation assembly further includes a lateral shaft 810 (for example, a shaft having a D-shaped cross-section perpendicular to the rotation axis of the shaft). Each of a gear 812 (for example, a spur gear having a concave outer surface) and a pinion 814 is mechanically attached to and surrounds the lateral shaft 810. The threaded gear 808 engages with the gear 812. The rotary actuator 802 is configured to rotate the drive shaft 804, whereby the threaded gear 808 rotates about the drive axis. The rotation of the threaded gear 808 causes the gear 812 to rotate about a lateral axis that is lateral to the drive axis. The rotation of the gear 812 causes the lateral shaft 810 to rotate about the lateral axis, which in turn causes the pinion 814 to rotate about the lateral axis. The translation assembly may also include a slider 816. The slider 816 generally has a C-shaped cross-section as shown in FIG. 22B. The slider 816 is mechanically attached to the bracket 806.

[0099] The track includes a guide 818 and a rack 820. Although not shown in FIGS. 9A and 9B, the guide 818 and the rack 820 are mechanically coupled to and supported by the frame 112. The guide 818 has a groove on the top surface and a groove on the bottom surface. The slider 816 engages the grooves of the guide 818 such that the translational assembly is mechanically supported and translational movement of the translational assembly along the guide 818 is enabled. The pinion 814 engages the rack 820. Rotation of the pinion 814 by engaging the rack 820 causes translational movement of the translational assembly.

[0100] The translational assembly is mechanically coupled to respective drive units. In FIGS. 9A and 9B, a mounting plate 822 is mechanically attached to the bracket 806. The mounting plate 822 is mechanically attached to a spacer 824, and the spacer 824 is mechanically attached to a support plate 202 of the corresponding drive unit.

[0101] The translational assembly may also include a connecting conduit 826. In the illustrated example, an end of the connecting conduit 826 is mechanically attached to a bracket 828, and the bracket 828 is mechanically attached to the bracket 806. The other end of the connecting conduit 826 is mechanically coupled to the frame 112 (not shown). The connecting conduit 826 can carry wires and cables that transmit power and / or control signals to various electrical components within the translational assembly and the drive units. The end of the connecting conduit 826 that is mechanically coupled to the frame 112 can remain in a fixed position, while the end of the connecting conduit 826 that is mechanically attached to the bracket 828 can be movable with the translational movement of the translational assembly. The connecting conduit 826 can reduce kinking or tangling of the wires or cables carried by the connecting conduit 826.

[0102] FIG. 9C schematically shows a view of a proximal cassette in which the translational assemblies of FIGS. 9A and 9B are incorporated within its housing, according to some examples. Here, the proximal cassette 830 comprises a housing 832. A clamping and advancing assembly 834 as shown in FIG. 11A, a guide wire rotation assembly 834 as shown in FIG. 14, and a guide wire 838 are all received within the housing 832.

[0103] Although various examples have been described in detail, it should be understood that various changes, substitutions, and modifications can be made without departing from the scope defined by the appended claims.

Claims

1. A guide wire control device cassette for moving a guide wire having a proximal end, A housing having an internal space, A translation module received in the internal space and having a side wall disposed between an inlet side, an opposite outlet side, and these, the translation module including a first guide wire path extending between the inlet side and the outlet side, and configured to translate the guide wire along the first guide wire path, A rotation module received in the internal space and attached to the side wall, the rotation module including an opening for receiving the proximal end of the guide wire, a rotation axis about which the proximal end of the guide wire can rotate, and a second guide wire path that is a loop path extending outward from the opening to the inlet side, A guide wire control device cassette comprising the above.

2. The translation module includes at least one pair of rollers, each roller being disposed to face each other along the first guide wire path, each roller having an outer peripheral surface, and at least a part of the outer peripheral surface gripping the guide wire extending between the pair of rollers. The guide wire control device cassette according to claim 1.

3. The rotation module further includes a guide wire connector disposed along the rotation axis and having a collet received in a recess and an opening for receiving the proximal end of the guide wire. The guide wire control device cassette according to claim 1.

4. The rotation module further includes a first gear assembly disposed at the proximal end of the guide wire control device cassette and a second gear assembly engaged with the first gear assembly along a direction perpendicular to the rotation axis. The guide wire control device cassette according to claim 3.

5. The guide wire control device cassette according to claim 4, wherein the second gear assembly has a rotating shaft extending along the vertical direction of the rotating shaft.

6. A method for moving a guide wire, comprising: A cartridge having an internal space; A translation module received in the internal space and having a side wall disposed between an inlet side, an opposite outlet side, and these, the translation module having a first guide wire path extending between the inlet side and the outlet side, and configured to translate the guide wire along the first guide wire path; A rotation module received in the internal space and attached to the side wall, the rotation module having an opening for receiving a proximal end of the guide wire, a longitudinal axis about which the proximal end of the guide wire can rotate, and a second guide wire path that is a loop path extending outward from the opening to the inlet side; Providing a guide wire control device in which the guide wire is engaged with the rotation module and the translation module along the first guide wire path and the second guide wire path; The method, wherein the guide wire control device translates or rotates the guide wire along the first guide wire path and the second guide wire path by a control signal.

7. The method according to claim 6, wherein the translation module includes at least one pair of rollers, each roller is disposed to face each other along the first guide wire path, each roller has an outer peripheral surface, and at least a part of the outer peripheral surface grips the guide wire extending between the pair of rollers.

8. The method according to claim 6, wherein the guide wire is engaged to form a loop along the second guide wire path.

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