ELONGATED MEDICAL DEVICE TORQUER SYSTEM AND APPARATUS - Patent application

Abstract

To provide an apparatus for supporting an elongated medical device.SOLUTION: An apparatus for supporting an elongated medical device includes a first jaw 120 having a first surface, a first pad 125 arranged on the first surface 130 of the first jaw, a second jaw 122 having a second surface 131 opposite the first surface, and a second pad 133 arranged on the second surface of the second jaw. The first pad defines at least one first recess extending along at least a portion of the length of the first pad. The first pad and the second pad are configured to engage the elongated medical device. The at least one first recess is configured to maintain the elongated medical device at a center portion of the at least one first recess during movement of the elongated medical device.SELECTED DRAWING: Figure 7A

Description

[Technical Field]

[0001] The present disclosure relates to systems and apparatus for elongated medical device torquers. [Background technology]

[0002] Catheters and other elongated medical devices (EMDs) can be used in minimally invasive medical procedures to diagnose and / or treat various vascular disorders. Examples of medical procedures include neurovascular intervention (NVI), also known as neurointerventional surgery, percutaneous coronary intervention (PCI), and peripheral vascular intervention (PVI). These procedures typically involve navigating a guidewire through the vascular system to advance a catheter and deliver the treatment. Robotically controlled catheter-based treatment systems can be used to assist physicians in performing such medical procedures. Summary of the Invention

[0003] At least one exemplary embodiment relates to an apparatus for supporting an elongated medical device, the apparatus including a first jaw having a first surface, a first pad disposed on the first surface of the first jaw, a second jaw having a second surface opposite the first surface, and a second pad disposed on the second surface of the second jaw, the first pad defining at least one first recess extending along at least a portion of the length of the first pad.

[0004] In at least one exemplary embodiment, the first pad and the second pad are configured to mate with an elongate medical device, and the at least one first recess is configured to maintain the elongate medical device in a central portion of the at least one first recess during movement of the elongate medical device.

[0005] In at least one exemplary embodiment, the movement of the elongate medical device includes one or more of axial movement, rotation, pinching, attachment, and clamping of the elongate medical device between the first jaw and the second jaw.

[0006] In at least one exemplary embodiment, the at least one first recess has a dimple or V-shape.

[0007] In at least one exemplary embodiment, the second pad defines at least one second recess extending along at least a portion of the length of the second pad.

[0008] In at least one exemplary embodiment, the at least one first recess includes a first curved surface extending longitudinally of the first pad, and the at least one second recess includes a second curved surface extending longitudinally of the second pad.

[0009] In at least one exemplary embodiment, the curvature of the first curved surface extends perpendicular to the longitudinal axis of the first pad, and the curvature of the second curved surface extends perpendicular to the longitudinal axis of the second pad.

[0010] In at least one exemplary embodiment, at least one of the first curved surface or the second curved surface has a constant radius of curvature.

[0011] In at least one exemplary embodiment, at least a portion of at least one of the first pad or the second pad has a contoured surface, the contoured surface having a periodic pattern.

[0012] In at least one exemplary embodiment, the periodic pattern decreases from the outer edge of the first pad toward the center of the first pad, and the periodic pattern decreases from the outer edge of the second pad toward the center of the second pad.

[0013] In at least one exemplary embodiment, the periodic pattern of the first pad is 180 degrees out of phase with the periodic pattern of the second pad.

[0014] In at least one exemplary embodiment, at least a portion of the first pad includes a first undulating surface extending along at least a portion of the length of the first pad, and at least one first recess is defined in the first undulating surface.

[0015] In at least one exemplary embodiment, at least a portion of the second pad includes a second undulating surface extending along at least a portion of the length of the second pad, and at least one second recess is defined in the second undulating surface.

[0016] In at least one exemplary embodiment, the first undulating surface includes a first plurality of waves and the second undulating surface includes a second plurality of waves, wherein the crests (peaks) of the first plurality of waves are configured to align with the troughs of the second plurality of waves and the crests of the second plurality of waves are configured to align with the troughs of the first plurality of waves.

[0017] In at least one exemplary embodiment, the device includes a plurality of first recesses extending along at least a portion of the length of the first pad, each of the plurality of first recesses including a curved or V-shaped groove.

[0018] In at least one exemplary embodiment, the device includes a plurality of second recesses extending along at least a portion of the length of the second pad, each of the plurality of second recesses including a curved or V-shaped groove.

[0019] In at least one exemplary embodiment, the plurality of first recesses is aligned with the plurality of second recesses.

[0020] In at least one exemplary embodiment, the plurality of first recesses are offset from the plurality of second recesses.

[0021] In at least one exemplary embodiment, the device includes a first housing portion defining a first cavity, a jaw assembly configured to operate within the first cavity, a second housing portion defining a second cavity, a pusher disposed within the second cavity and configured to extend into at least a portion of the first housing portion, a biasing member configured to engage with the pusher and apply a biasing force to the pusher, and an actuator engaged with the biasing member. The jaw assembly includes a first jaw, a first pad, a second jaw, and a second pad. The second housing portion is configured to be coupled to a proximal end of the first housing portion. The pusher is configured to actuate the jaw assembly between a first position and a second position. The biasing member is configured to engage with the pusher and apply a biasing force to the pusher. The actuator is configured to actuate the biasing member and the pusher in a first direction and a second direction.

[0022] At least one exemplary embodiment relates to an apparatus for supporting an elongated medical device. The apparatus includes a first jaw having a first surface, a second jaw having a second surface, a first pad disposed on the first surface of the first jaw, and a second pad disposed on the second surface of the second jaw. The second surface faces the first surface of the first jaw. The first surface of the first pad faces the second surface of the second pad. The first pad includes a first wall extending from at least a first outer edge of the first surface of the first pad toward the second surface of the second pad, and the second pad includes a second wall extending from at least a first outer edge of the second surface of the second pad toward the first surface of the first pad.

[0023] In at least one exemplary embodiment, the first pad includes a third wall extending from at least the second outer edge of the first surface of the first pad toward the second surface of the second pad, and the second pad includes a fourth wall extending from at least the second outer edge of the second surface of the second pad toward the first surface of the first pad.

[0024] In at least one exemplary embodiment, the first wall extends along at least a portion of a first outer edge of the first surface of the first pad, the second wall extends along at least a portion of a first outer edge of the second surface of the second pad, the third wall extends along at least a portion of a second outer edge of the first surface of the first pad, and the fourth wall extends along at least a portion of a second outer edge of the second surface of the second pad.

[0025] In at least one exemplary embodiment, the first wall, the second wall, the third wall, and the fourth wall are ramparts having a plurality of battlements.

[0026] In at least one exemplary embodiment, the device includes a first housing portion defining a first cavity, a jaw assembly configured to operate within the first cavity, a second housing portion defining a second cavity, a pusher disposed within the second cavity and configured to extend into at least a portion of the first housing portion, a biasing member configured to engage with the pusher and apply a biasing force to the pusher, and an actuator configured to engage with the biasing member and actuate the biasing member and the pusher in a first direction and a second direction. The jaw assembly includes a first jaw, a first pad, a second jaw, and a second pad. The second housing portion is configured to be coupled to a proximal end of the first housing portion. The pusher is configured to actuate the jaw assembly between a first position and a second position.

[0027] In at least one exemplary embodiment, the first pad and the second pad are configured to engage with the elongate medical device and maintain the elongate medical device in a central portion of the first pad and the second pad during movement of the elongate medical device.

[0028] At least one exemplary embodiment relates to an apparatus for supporting an elongate medical device. The apparatus includes a first jaw having a first surface, a first pad disposed on the first surface of the first jaw, a second jaw having a second surface, and a second pad disposed on the second surface of the second jaw. The second surface faces the first surface. The first and second pads are configured to maintain the elongate medical device in a central portion of the first and second pads when engaged with the elongate medical device. [Brief explanation of the drawings]

[0029] Various features and advantages of the non-limiting embodiments herein will become more apparent by reference to the detailed description in conjunction with the accompanying drawings. The accompanying drawings are provided for illustrative purposes only and should not be construed as limiting the scope of the claims. The accompanying drawings should not be considered to be drawn to scale unless expressly stated. Various dimensions of the drawings may be exaggerated for clarity. [Figure 1] 1 is a side perspective view of a treatment system according to at least one example embodiment. FIG. [Figure 2] 2 is a block diagram of the treatment system of FIG. 1 according to at least one example embodiment. [Figure 3A] 2 is an exploded view of a cassette assembly, a robotic drive, and a drive module of the treatment system of FIG. 1 according to at least one example embodiment. [Figure 3B] FIG. 3B is a side view of the torquer actuator and cassette of FIG. 3A according to at least one example embodiment. [Figure 3C] FIG. 3C is a cross-sectional view of the torquer actuator and cassette of FIG. 3B according to at least one example embodiment. [Figure 4] 3B-3C according to at least one example embodiment. FIG. [Figure 5] 5 is an exploded view of the torque actuator of FIG. 4 according to at least one example embodiment. [Figure 6]5 is a cross-sectional view of the torquer actuator of FIG. 4 according to at least one example embodiment. [Figure 7A] FIG. 6 is a perspective view of a jaw assembly of the torquer actuator of FIG. 5 according to at least one example embodiment. [Figure 7B] FIG. 7B is an end view of the jaw assembly of FIG. 7A according to at least one example embodiment. [Figure 7C] FIG. 10 is an end view of a jaw assembly according to at least one example embodiment. [Figure 8A] FIG. 6 is a perspective view of the jaw assembly of FIG. 5 according to at least one example embodiment. [Figure 8B] 8B is a perspective view of a second jaw of the jaw assembly of FIG. 8A according to at least one example embodiment. [Figure 8C] 8B is a cross-sectional view of the jaw assembly of FIG. 8A according to at least one example embodiment. [Figure 8D] 8B is a cross-sectional view of the jaw assembly of FIG. 8A according to at least one example embodiment. [Figure 9A] FIG. 6 is a perspective view of the jaw assembly of FIG. 5 according to at least one example embodiment. [Figure 9B] FIG. 9B is an end view of the jaw assembly of FIG. 9A according to at least one example embodiment. [Figure 9C] FIG. 9B is a bottom perspective view of a first jaw of the jaw assembly of FIG. 9A according to at least one example embodiment. [Figure 10A] FIG. 6 is a perspective view of the jaw assembly of FIG. 5 according to at least one example embodiment. [Figure 10B] FIG. 10B is a bottom perspective view of a first jaw of the jaw assembly of FIG. 10A according to at least one example embodiment. [Figure 10C] FIG. 10B is an end view of the jaw assembly of FIG. 10A according to at least one example embodiment. [Figure 11A] FIG. 6 is a perspective view of the jaw assembly of FIG. 5 according to at least one example embodiment. [Figure 11B] FIG. 11B is a bottom perspective view of a first jaw of the jaw assembly of FIG. 11A according to at least one example embodiment. [Figure 11C] FIG. 11B is an end view of the jaw assembly of FIG. 11A according to at least one example embodiment. [Figure 12A] FIG. 6 is a perspective view of the jaw assembly of FIG. 5 according to at least one example embodiment. [Figure 12B] FIG. 12B is an end view of the jaw assembly of FIG. 12A according to at least one example embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0030] Regardless of grammatical usage of the term, individuals of male, female, and other gender identities are included within the term.

[0031] Several detailed example embodiments are disclosed herein. However, the specific structural and functional details disclosed herein are merely representative for purposes of describing several example embodiments. That is, the example embodiments may be embodied in many alternative forms and should not be construed as being limited to only the example embodiments described herein.

[0032] Thus, while the exemplary embodiments are susceptible to various modifications and alternative forms, examples thereof have been shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that there is no intention to limit the exemplary embodiments to the particular forms disclosed, but on the contrary, the exemplary embodiments cover all modifications, combinations, equivalents, and alternatives falling within the scope of the exemplary embodiments. Like numbers refer to like elements throughout the description of the figures.

[0033] When an element or layer is said to be "on," "connected to," "coupled to," or "over" another element or layer, it should be understood that it can be directly on, connected to, coupled to, or directly overlying the other element or layer, or that intervening elements or layers may be present. In contrast, when an element is said to be "directly on," "directly connected to," or "directly coupled to" another element or layer, there are no intervening elements or layers present. Like numbers refer to like elements throughout the specification. As used herein, "and / or" includes any and all combinations of one or more of the associated listed items.

[0034] Although terms such as "first," "second," and "third" may be used herein to describe various elements, regions, layers, and / or sections, it should be understood that these elements, regions, layers, and / or sections are not limited by such modifications. Such modifications are used only to distinguish one element, region, layer, or section from another region, layer, or section. That is, a first element, region, layer, or section described below could be referred to as a second element, region, layer, or section without departing from the teachings of the examples.

[0035] Spatially relative terms (e.g., "below," "lower," "lower side," "upper," "upper," etc.) may be used herein to facilitate descriptions that describe the relationship of an element or portion (feature) to one or more other elements or portions (features), as illustrated in the figures. It should be understood that these spatially relative terms are intended to encompass other orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures were turned over, an element described as "below" or "below" another element or portion would now be oriented "above" that other element or portion. That is, "below" can encompass both an orientation of above and below. The device may also be otherwise oriented (e.g., rotated 90 degrees), and the spatially relative descriptions used herein should be interpreted accordingly.

[0036] The terminology used herein is for the purpose of describing various embodiments only and is not intended to limit the embodiments. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly dictates otherwise. As used herein, "comprises," "including," and / or "comprises," "consisting of," and / or "comprising" should be understood to specify the presence of listed parts, integers, steps, operations, and / or elements, but not to exclude the presence or addition of one or more other parts, integers, steps, operations, elements, and / or groups thereof.

[0037] The embodiments are described herein with reference to cross-sectional views that schematically illustrate the embodiments. As such, deviations from the shapes shown are contemplated. Accordingly, the embodiments should not be construed as limited to the shapes of the regions shown herein, but should be construed to include deviations and deviations in shapes.

[0038] When "about" and "substantially" are used herein in connection with numerical values, the associated numerical values ​​are intended to include a tolerance of ±10% around the stated numerical value unless otherwise expressly defined. Furthermore, when "approximately / generally" or "substantially" is used in connection with a geometric shape, exactness of the geometric shape is not required, and a tolerance of the shape is intended to be within the scope of the present disclosure. Furthermore, regardless of whether a numerical value or shape is modified according to "about," "approximately," or "substantially," it is understood that these numerical values ​​and shapes should be interpreted as including a tolerance of manufacturing or operation (e.g., ±10%) around the stated numerical value or shape.

[0039] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by a person of ordinary skill in the art to which the examples belong. Terms, including terms defined in commonly used dictionaries, should be interpreted to have a meaning consistent with their meaning in the context of the relevant art, and it is further understood that, unless explicitly defined herein, they should not be interpreted in an idealized or overly formal sense.

[0040] FIG. 1 is a side perspective view of a treatment system according to at least one embodiment.

[0041] In at least one embodiment, the treatment system 10 may be used to perform catheter-based medical procedures, such as percutaneous interventional procedures, including percutaneous coronary intervention (PCI) (e.g., to treat STEMI), neurovascular intervention (NVI) (e.g., to treat acute large vessel occlusion (ELVO)), and / or peripheral vascular intervention (PVI) (e.g., for critical limb ischemia (CLI), etc.). Catheter-based medical procedures may include diagnostic catheterization procedures in which one or more catheters or other elongated medical devices (EMDs) are used to aid in diagnosing a patient's condition. Catheter-based medical procedures may also include catheter-based therapeutic procedures in which catheters (or other EMDs) are used to treat a condition (e.g., angioplasty, stent placement, treatment of peripheral vascular disease, clot removal, arteriovenous malformation treatment, aneurysm treatment, etc.). The therapeutic procedure may be enhanced by including ancillary devices 54 (shown in FIG. 2), such as intravascular ultrasound (IVUS), optical coherence tomography (OCT), fractional flow reserve (FFR), etc. In at least one embodiment, the percutaneous interventional device or component (e.g., guidewire type, catheter type, etc.) may be selected based on the type of procedure to be performed.

[0042] In at least one embodiment, the treatment system 10 includes a bedside unit 20 and at least one control station. The control station can include one or more local or remote control stations, such as the local control station 38 and / or the remote control station 42 shown in FIG. 2 . The bedside unit 20 includes a robotic drive 24 and a positioning system 22 adjacent to the patient 12. The patient 12 is, for example, reclined on a patient table 18. A first end of the positioning system 22 is attached to the end of the patient table 18, as shown in FIG. 1 . In other embodiments, the first end of the positioning system 22 is attached to, for example, a base or cart. In at least one embodiment, the positioning system 22 is used to position and support the robotic drive 24. The robotic drive 24 is attached to a second end of the positioning system 22. The positioning system 22 can include a robotic arm, an articulated arm, a holder, or the like. The positioning system 22 and / or the robotic drive 24 can be retracted to allow the patient 12 to lie on the patient table 18. After the patient 12 is on the patient table 18, the positioning system 22 is used to secure or position the robotic drive 24 relative to the patient 12 for a procedure or treatment. In at least one embodiment, the patient table 18 is supported by a pedestal 17 that is mounted to the floor of a room. The patient table 18 is configured to move with multiple degrees of freedom, e.g., roll, pitch, and yaw, relative to the pedestal 17. In at least one embodiment, the bedside unit 20 can include a control and display 46, as shown in FIG. 2. For example, in some embodiments, the control and display 46 are located on the housing of the robotic drive 24.

[0043] In at least one embodiment, the robotic drive 24 can be equipped with one or more devices and accessories 48, as shown in FIG. 2 . For example, the devices and accessories 48 can include one or more guidewires, various types of catheters, and, by way of non-limiting example, balloon catheters, stent delivery systems, stent retrievers, embolic coils, liquid emboli, suction pumps, contrast media, drug delivery devices, hemostasis valve adapters, syringes, stopcocks, inflation devices, etc. The one or more devices and accessories 48 enable a user (or operator) to perform a procedure or therapy, such as a catheter-based medical procedure. In at least one embodiment, the bedside unit 20 and / or the robotic drive 24 can include several and / or combinations of components to provide the bedside unit 20 with the functionality described herein. For example, the robotic drive 24 includes one or more device modules, such as a plurality of device modules 32a-d, mounted on rails or linear members of the robotic drive 24. Each of the device modules 32a-d is used to drive an elongated medical device (EMD), such as a catheter or guidewire. For example, the robotic drive 24 may be used to automatically feed guidewires into diagnostic catheters and into guide catheters within the arteries of the patient 12. One or more devices, such as EMDs, enter the body (e.g., a blood vessel) of the patient 12 at an insertion point 16, for example, via an introducer sheath. Each of the device modules 32a-d includes a drive module and a cassette removably attached to the drive module, as described below with respect to FIG. 3A. Each drive module is configured to move along the longitudinal axis of the robotic drive 24 using a bracket or stage.

[0044] In at least one embodiment, the bedside unit 20 is in communication with a control station such that signals generated by user inputs at the control station are transmitted wirelessly or via wires to the bedside unit 20 for controlling various functions of the bedside unit 20. For example, as shown in FIG. 2, a control computing system 34 is provided between the bedside unit 20 and a local control station 38 and / or a remote control station 42. The bedside unit 20 also provides feedback signals (e.g., load, speed, operating conditions, warning signals, error codes, etc.) to the control computing system 34. Communication between the control computing system 34 and the various components of the treatment system 10 is provided via communication links, which may be wireless connections, wired connections, or other means or mechanisms capable of allowing communication to occur between the components.

[0045] In at least one embodiment, the control station can be located at a local site (e.g., a local control station 38 as shown in FIG. 2) or a remote site (e.g., a remote control station 42 as shown in FIG. 2). For example, the treatment system 10 is operated by the local control station 38, the remote control station 42, or both the local control station 38 and the remote control station 42. At a local site, the user (or operator) and the local control station 38 are located in the same room as or adjacent to the patient 12 and the bedside unit 20. For example, the local site is the location of the bedside unit 20 and the patient 12 or subject (e.g., an animal or cadaver). At a remote site, the user (or operator) uses the remote control station 42 to remotely control the bedside unit 20. For example, the remote site does not have physical access to the bedside unit 20 and / or the patient 12. The remote control station 42 is configured to communicate with the local site bedside unit 20 and / or control computing system 34 using communication systems and services 36 (shown in FIG. 2), for example, via the Internet, a local area network (LAN), a wide area network (WAN), or other network.

[0046] In at least one embodiment, the control station generally includes one or more input modules 28 configured to receive user inputs for operating various components or systems of the treatment system 10. For example, the input module 28 is configured to cause the bedside unit 20 to perform various tasks using percutaneous interventional devices (e.g., EMDs) that interact with the robotic drive 24 (e.g., to advance, retract, or rotate a guidewire, advance, retract, or rotate a catheter, inflate or deflate a balloon located on a catheter, place and / or deploy a stent, place and / or deploy a stent retriever, place and / or deploy a coil, inject contrast into a catheter, inject a liquid embolus into a catheter, inject a drug or saline into a catheter, aspirate with a catheter, or perform other functions that may be performed as part of a catheter-based medical procedure). The robotic drive 24 includes various drive mechanisms for moving (e.g., axially and / or rotationally) components of the bedside unit 20, including one or more devices and accessories 48.

[0047] In at least one embodiment, the input module 28 includes one or more touchscreens, joysticks, scroll wheels, and / or buttons. In addition to the input module 28, the control station can use additional user controls 44, such as a footswitch or a microphone for voice commands. The input module 28 is configured to advance, reverse, or rotate various components and one or more devices and accessories 48, such as a guidewire or one or more catheters or microcatheters. The buttons can include, for example, an emergency stop button, a magnification button, a device selection button, and an automatic activation button. When the emergency stop button is pressed, power (e.g., electrical power) is cut off or removed from the bedside unit 20. When in speed control mode, the magnification button acts to increase or decrease the speed at which the associated component operates in response to manipulation of the input module 28. When in position control mode, the magnification button changes the mapping between input distance and output commanded distance. The device selection button allows a user (or operator) to select which of the percutaneous interventional devices loaded on the robotic drive 24 will be controlled by the input module 28. The auto-activation button is used to enable algorithmic operations that the treatment system 10 executes on the percutaneous interventional device without a direct command from the user (or operator). In one embodiment, the input module 28 includes one or more controls or icons (not shown) displayed on a touchscreen (which may or may not be part of the display) that, when activated, operate components of the treatment system 10. The input module 28 may also include balloon or stent controllers configured to inflate or deflate balloons and / or deploy stents. Each of the input modules 28 can include one or more buttons, scroll wheels, joysticks, touchscreens, etc., that can be used to control the particular component or components for which the controller is dedicated.Additionally, one or more touchscreens display one or more icons (not shown) associated with various portions of the input module 28 or various components of the treatment system 10 .

[0048] In at least one embodiment, the treatment system 10 includes an imaging system 14. For example, the imaging system 14 may include one or more of non-digital x-ray, digital x-ray, computed tomography (CT), magnetic resonance imaging (MRI), ultrasound, etc. In at least one embodiment, the imaging system 14 includes a digital x-ray imaging device in communication with a control station. In at least one embodiment, the imaging system 14 includes a C-arm that allows the imaging system 14 to rotate partially or fully around the patient 12 to obtain images at different angular positions relative to the patient 12 (e.g., sagittal view, caudal view, anterior-posterior view, etc.). In at least one embodiment, the imaging system 14 is an x-ray fluoroscopy system that includes a C-arm having an x-ray source 13 and a detector 15, also known as an image intensifier.

[0049] In at least one embodiment, the imaging system 14 is configured to take X-ray images of a desired region of the patient 12 during a procedure. For example, the imaging system 14 is configured to take one or more X-ray images of the head to diagnose a neurovascular condition. The imaging system 14 is also configured to take one or more X-ray images (e.g., real-time images) during a catheter-based medical procedure to assist a user (or operator) at the control station in properly positioning a guidewire, guide catheter, microcatheter, stent retriever, coil, stent, balloon, etc. during the procedure. The one or more images are displayed on the display 30. For example, the images are displayed on the display 30 to enable the user (or operator) to accurately move a guide catheter or guidewire to an appropriate or desired location.

[0050] In at least one embodiment, the robotic drive 24 includes a housing having a top or first member 24a, a bottom or second member opposite and parallel to the first member 24a, a front or third member 24c extending substantially perpendicular between the first and second members 24a and 24c, and a fourth member opposite and parallel to the third member 24c and perpendicular to the first and second members 24a and 24c. The third member 24c is configured to face a user when the robotic drive 24 is in use. In at least one embodiment, the robotic drive 24 includes a distal region 24e and a proximal region 24f opposite the distal region 24e.

[0051] FIG. 2 is a block diagram of the treatment system of FIG. 1, according to at least one embodiment.

[0052] In at least one embodiment, the control computing system 34 is part of a control station, such as a local control station 38 and / or a remote control station 42. The control computing system 34 is typically an electronic control unit configured to provide the various functions described herein to the treatment system 10. For example, the control computing system 34 may be an embedded system, a dedicated circuit, a general-purpose system programmed with the functions described herein, etc. The control computing system 34 communicates with the bedside unit 20, communication systems and services 36 (e.g., via the Internet, firewalls, cloud services, session managers, hospital networks, etc.), the local control station 38, additional communication systems 40 (e.g., a telepresence system), the remote control station 42, and patient sensors 56 (e.g., an electrocardiogram (ECG) device, an electroencephalogram (EEG) device, a blood pressure monitor, a temperature monitor, a heart rate monitor, a respiratory monitor, etc.). The control computing system 34 also communicates with the imaging system 14, the patient table 18, additional medical systems 50, a contrast injection system 52, and auxiliary devices 54 (eg, IVUS, OCT, FFR, etc.).

[0053] In at least one embodiment, the control computing system 34 is configured to generate control signals based on user interactions with the input modules 28 (e.g., of a control station such as the local control station 38 or the remote control station 42) and / or based on information accessible to the control computing system 34 to perform a medical procedure using the treatment system 10. For example, the control computing system 34 communicates with the bedside unit 20, the robotic drive 24, the positioning system 22, and the additional controls and displays 46 and provides control signals to one or more of the bedside unit 20, the robotic drive 24, the positioning system 22, and the additional controls and displays 46 to control the operation of motors and drive mechanisms used to drive percutaneous interventional devices (e.g., guidewires, catheters, etc.). For example, the various drive mechanisms are part of the robotic drive 24. The local control station 38 can include one or more displays 30, one or more input modules 28, and the additional user controls 44.

[0054] The remote control station 42 and the control computing system 34 may include similar or comparable components as the local control station 38. The remote control station 42 and the local control station 38 may differ or be coordinated based on their required functionality. In at least one embodiment, the additional user controls 44 include one or more foot-input controls. The foot-input controls may be configured to allow a user to select functions of the imaging system 14, such as turning x-rays on and off and scrolling through multiple stored images. In another embodiment, the foot-input controls are configured to allow a user to select which device to map to a scroll wheel included in the input module 28. In at least one embodiment, an additional communication system 40, such as audio and / or video communications, is used to assist the operator in interacting with the patient, medical staff, and / or equipment near the bedside.

[0055] 3A is an exploded view of the cassette assembly, robotic drive, and drive module of the treatment system of FIG. 1 according to at least one embodiment.

[0056] 3A , in at least one embodiment, device module 32a includes first drive module 60 and first cassette 68, device module 32b includes second drive module 62 and second cassette 70, device module 32c includes third drive module 64 and third cassette 72, and device module 32d includes fourth drive module 66 and fourth cassette 74. First cassette 68, second cassette 70, third cassette 72, and fourth cassette 74 form a multi-unit cassette assembly 76. Each of first cassette 68, second cassette 70, third cassette 72, and fourth cassette 74 is configured to be removably coupled to first drive module 60, second drive module 62, third drive module 64, and fourth drive module 66, respectively.

[0057] In at least one embodiment, each of the plurality of device modules 32a-d is configured to operate independently of one another along a longitudinal axis 78 that extends the length of the robotic drive 24 from the distal region 24e to the proximal region 24f.

[0058] 3B and 3C are side and cross-sectional views of the torquer actuator and cassette of FIG. 3A, according to at least one embodiment;

[0059] 3B and 3C, in at least one embodiment, a torquer actuator 100 is configured to be disposed within one or more of the first cassette 68, the second cassette 70, the third cassette 72, and the fourth cassette 74. By way of example, FIG. 3B shows the torquer actuator 100 disposed within the second cassette 70. The torquer actuator 100 includes a guide tube 208 configured to receive an EMD 220. The torquer actuator 100 is configured to secure the EMD 220 within the first housing portion 110 and the second housing portion 108 of the torquer actuator 100, as described below with respect to FIGS. 4-6.

[0060] Figure 4 is a perspective view of the torquer actuator of Figures 3B-3C according to at least one embodiment, Figure 5 is an exploded view of the torquer actuator of Figure 4 according to at least one embodiment, and Figure 6 is a cross-sectional view of the torquer actuator of Figure 4 according to at least one embodiment.

[0061] 4-6 , in at least one embodiment, the torquer actuator includes a housing 106 including a first housing portion 110 and a second housing portion 108. A pusher 112 is received within the housing 106 for movement along a torquer longitudinal axis 114 between a proximal end 116 and a distal end 118 of the housing 106. In at least one embodiment, a jaw assembly 500 is disposed within the housing 106 and configured to releasably clamp the shaft of the EMD 220. For example, the jaw assembly 500 includes a first jaw 120 and a second jaw 122. The first jaw 120 and the second jaw 122 are configured to move between a first position and a second position, e.g., toward and away from each other, to clamp and unclamp the EMD 220.

[0062] In at least one embodiment, the pusher 112 is configured to actuate toward and away from the jaw assembly 500 to move the first jaw 120 and the second jaw 122 between the first and second positions. For example, movement of the pusher 112 from the proximal end 116 toward the distal end 118 moves the first jaw 120 and the second jaw 122 toward each other, e.g., toward the torquer longitudinal axis 114, and movement of the pusher 112 from the distal end 118 toward the proximal end 116 moves the first jaw 120 and the second jaw 122 away from each other, e.g., away from the torquer longitudinal axis 114. In other embodiments, movement of the pusher 112 from the proximal end 116 toward the distal end 118 moves the first jaw 120 toward the second jaw 122 (e.g., while the second jaw 122 remains stationary relative to the first jaw 120), or moves the second jaw 122 toward the first jaw 120 (e.g., while the first jaw 120 remains stationary relative to the second jaw 122).

[0063] In at least one embodiment, first jaw 120 includes a first surface 130 and second jaw 122 includes a second surface 131. First surface 130 is configured to face second surface 131. In at least one embodiment, first surface 130 has a first pad disposed thereon and second surface 131 has a second pad disposed thereon. Each surface of the first pad and second pad is configured to contact or engage with EMD 220. For clarity, the first pad and second pad are not shown in FIGS. 4-6. Examples of first and second pads are described in more detail below with respect to FIGS. 7A-12B.

[0064] In at least one embodiment, first housing portion 110 includes a first ramp 142 and a second ramp 144. Pusher 112 also includes a first ramp 146 and a second ramp 148. As pusher 112 moves from proximal end 116 toward distal end 118, first ramp 146 of pusher 112 contacts first proximal ramp 132 of first jaw 120, and second ramp 148 of pusher 112 contacts second proximal ramp 138 of second jaw 122. Similarly, first distal ramp 134 of first jaw 120 contacts first ramp 142 of first housing portion 110, and second distal ramp 140 of second jaw 122 contacts second ramp 144 of first housing portion 110. This contact causes the first jaw 120 and the second jaw 122 to move toward each other in a direction generally perpendicular to the torquer longitudinal axis 114, and is configured to pinch the EMD 220 between the first and second pads.

[0065] In at least one embodiment, the pusher 112 is configured to move within the first housing portion 110 through operation of the actuator 104. The actuator 104 includes a shaft 150 configured to threadably mate with the second housing portion 108. A distal end of the shaft 150 is configured to couple to at least a proximal end 158 of the pusher 112, such that movement of the shaft 150 in a distal direction moves the pusher 112 in a distal direction, toward the distal end 118 of the housing 106. Additionally, movement of the shaft 150 in a proximal direction moves the pusher 112 in a proximal direction, toward the proximal end 116 of the housing 106. In at least one embodiment, the pusher 112 includes a pair of arms 156 configured to engage the distal end of the shaft 150, such that movement of the shaft 150 in a proximal direction moves the pusher 112 in a proximal direction.

[0066] In at least one embodiment, actuator 104 includes knob 160 secured to a proximal end of shaft 150 opposite pusher 112. Knob 160 is secured to shaft 150 using fasteners 162. Rotation of knob 160 in a first direction rotates drive gear 172. Drive gear 172 engages the proximal end of shaft 150 such that rotation of knob 160 and drive gear 172 rotates shaft 150 in the first direction. In at least one embodiment, bias 178 is disposed between knob 160 and drive gear 172. Bias 178 is configured to bias drive gear 172 into engagement with shaft 150.

[0067] 4-6 , in at least one embodiment, when knob 160 is rotated in a first direction, shaft 150 moves distally, such as toward distal end 118 of housing 106. This distal movement moves pusher 112 distally toward distal end 118 of the housing, which causes first jaw 120 and second jaw 122 to move toward each other and pinch EMD 220. In at least one embodiment, knob 160, drive gear 172, and shaft 150 are each configured to rotate about torquer longitudinal axis 114.

[0068] In at least one embodiment, the first direction of rotation is clockwise. The knob 160, drive gear 172, and shaft 150 are also configured to rotate in a second direction, such as counterclockwise. Rotation of the knob 160 in the second or counterclockwise direction causes the shaft 150 to move proximally. This proximal movement also causes the pusher 112 to move proximally toward the proximal end 116 of the housing 106, thereby moving the first jaw 120 and the second jaw 122 away from each other. Moving the first jaw 120 and the second jaw 122 away from each other allows the EMD 220 to be inserted into or released from the torquer actuator 100.

[0069] In at least one embodiment, the biasing member 124 includes a base 190 having an opening 194. The opening 194 is configured to receive at least a portion of the shaft 150. The shaft 150 and the biasing member 124 are free to move along the torquer longitudinal axis 114 independently of one another. The biasing member 124 includes a first arm 196 and a second arm 198 spaced apart from one another and from the torquer longitudinal axis 114. The first arm 196 and the second arm 198 extend along an exterior side of the pusher 112. The first arm 196 includes a first branch 200 and a second branch 202 configured to engage a portion of the first jaw 120 and a portion of the second jaw 122, respectively, on a first side. Similarly, second arm 198 includes a first branch 204 and a second branch 206 configured to engage a portion of first jaw 120 and a portion of second jaw 122, respectively, on a second side opposite the first side. Branches 200, 202, 204, and 206 are configured to bias first jaw 120 and second jaw 122 toward and away from each other. For example, shaft 150 is configured to move biasing member 124, including branches 200, 202, 204, and 206, distally toward distal end 118 of housing 106 to move first jaw 120 and second jaw 122 toward each other, and to move biasing member 124 proximally toward proximal end 116 of housing 106 to move first jaw 120 and second jaw 122 away from each other.

[0070] Actuation of torquers in elongated medical devices, such as torquer actuator 100, is also described in International Patent Application Publication WO2022 / 154977, "TORQUER FOR AN ELONGATED MEDICAL DEVICE," filed January 14, 2021, the entire contents of which are incorporated herein by reference.

[0071] As described in more detail below, one or more embodiments provide a pad configuration for the jaw assembly of a torque actuator that reduces (e.g., substantial) lateral movement of the EMD, facilitates centering of the EMD along the longitudinal axis of the jaw assembly, and / or reduces the likelihood of contact of the EMD with surfaces of the jaw assembly other than the pad.

[0072] One or more embodiments allow for more economical manufacture of torquer devices that have relatively high torque / force capabilities while reducing adverse effects on the EMD being manipulated.

[0073] Figure 7A is a perspective view of a jaw assembly of the torquer actuator of Figure 5, according to at least one embodiment. Figure 7B is an end view of the jaw assembly of Figure 7A, according to at least one embodiment.

[0074] 7A and 7B , in at least one embodiment, jaw assembly 500 includes a first pad 125 disposed on first surface 130 of first jaw 120 and a second pad 133 disposed on second surface 131 of second jaw 122. Second surface 131 of second jaw 122 faces first surface 130 of first jaw 120. First pad 125 defines at least one first channel or recess 127 extending along at least a portion of the length of first pad 125. For example, first pad 125 defines recess 127 extending from first end 700 to second end 705 of first pad 125. Second pad 133 defines at least one second channel or recess 135 extending along at least a portion of the length of second pad 133. For example, at least one second recess 135 extends from the first end 710 to the second end 715 of the second pad 133 .

[0075] The first recess 127 includes a first curved surface (recessed surface) extending in the longitudinal direction of the first pad 125, and the second recess 135 includes a second curved surface (recessed surface) extending in the longitudinal direction of the second pad 133. The curvature of the first curved surface extends in a direction perpendicular to the longitudinal axis of the first pad 125, and the curvature of the second curved surface extends in a direction perpendicular to the longitudinal axis of the second pad 133. In at least one embodiment, the first curved surface and / or the second curved surface have a constant radius of curvature, which may be the same or different, as described below with respect to the embodiment shown in FIG. 8C. In another embodiment, the first curved surface and / or the second curved surface may be linear, as described below with respect to the embodiment shown in FIG. 8D. For example, the first curved surface of the first pad 125 and the second curved surface of the second pad 133 form a first angle and a second angle, respectively. In this case, one or more of the recesses may have a V-shape rather than being curved.

[0076] In one example, the first recess 127 and / or the second recess 135 extend continuously the entire length of the first pad 125 and / or the second pad 133, respectively. Alternatively, the first recess 127 and / or the second recess 135 are broken or discontinuous along the length of the first pad 125 and / or the second pad 133. In yet another example, the first recess 127 and / or the second recess 135 do not extend to the ends of the respective pads.

[0077] In at least one embodiment, the first end 700 and / or the second end 705 of the first pad 125 have a beveled or tapered edge that slopes down toward the first surface 130. Additionally, the first end 710 and / or the second end 715 of the second pad 133 have a beveled or tapered edge that slopes down toward the second surface 131, as shown in FIG.

[0078] In at least one embodiment, the first pad 125 and the second pad 133 are configured to mate with the EMD 220. In at least one embodiment, the at least one first recess 127 and the at least one second recess 135 are configured to maintain the EMD 220 in a central portion of the first pad 125 and the second pad 133 when the EMD 220 is in operation. For example, the at least one first recess 127 and the at least one second recess 135 are configured to pinch, attach, engage, and / or clamp the EMD 220 between a central portion of the first pad 125 of the first jaw 120 and a central portion of the second pad 133 of the second jaw 122. Operation of the EMD 220 includes one or more of pinching, attaching, and clamping the EMD 220 between the first jaw 120 and the second jaw 122. Movement of the EMD 220 includes axial or linear movement along the longitudinal axis of the EMD 220 and rotation of the EMD 220 during the procedure. In at least some embodiments described herein, the center or central portion of the first pad 125 and the second pad 133 refers to the central portion along the longitudinal axis of the jaw assembly.

[0079] In at least one embodiment, the outer surface of the EMD 220 may include a coating. For example, the EMD 220 may include a lubricious, hydrophilic coating on an elastomer-coated superelastic core. The coating may be slippery when wet, and together with the superelastic core, may cause the EMD 220 to move off-axis during operation. In other embodiments, the EMD 220 may include a polytetrafluoroethylene (PTFE) coating on a metal core. In yet other embodiments, the EMD 220 may be constructed from a metal or bare metal material. As described above, the at least one first recess 127 and the at least one second recess 135 are configured to maintain the EMD 220 in the center portion of the first pad 125 and the second pad 133 during operation of the EMD 220, regardless of the coating applied to the EMD 220 or the material composition of the EMD 220.

[0080] 7C is an end view of another jaw assembly according to at least one embodiment. The jaw assembly shown in FIG. 7C is similar to the jaw assembly shown in FIG. 7B, except that only one of the first and second pads includes a recess, while the other pad has a flat or substantially flat surface (no recess). Given the similarities between both embodiments, only the differences will be described here.

[0081] Referring to FIG. 7C , the first pad 125F includes a flat or substantially flat surface rather than the first recess 127 shown in FIG. 7B . The EMD 220 is disposed between the first pad 125F and at least one second recess 135 of the second pad 133, as shown in FIG. 7C . Although not shown, in another embodiment, the second pad 133 has a flat or substantially flat surface, and the first pad 125F includes a recess that is the same as or similar to the recess 127 shown in FIG. 7B . In this case, the second pad 133 is the same as or similar to the first pad 125F shown in FIG. 7C . In this embodiment, the second pad 133 does not include at least one second recess 135, and the EMD 220 is disposed between the first recess 127 and the flat surface of the second pad 133.

[0082] Figure 8A is a perspective view of the jaw assembly of Figure 5, according to at least one embodiment. Figure 8B is a perspective view of a second jaw of the jaw assembly of Figure 8A, according to at least one embodiment. Figure 8C is a cross-sectional view of the jaw assembly of Figure 8A, according to at least one embodiment. Figure 8D is a cross-sectional view of the jaw assembly of Figure 8A, according to at least one embodiment. According to at least this embodiment, the first jaw is the same as the second jaw, but may be oriented in a different manner.

[0083] 8A-8D, in at least one embodiment, jaw assembly 500 includes first pad 125A and second pad 133A. In at least one embodiment, first pad 125A and second pad 133A each include a contoured surface. For example, the contoured surface includes a periodic pattern. In at least one embodiment, first pad 125A includes a first undulating surface along at least a portion of the length of first pad 125A, and second pad 133A includes a second undulating surface along at least a portion of the length of second pad 133A. 8A-8B, for example, first pad 125A includes a first undulating surface extending from first end 700A to second end 705A of first pad 125A, and second pad 133A includes a second undulating surface extending from first end 710A to second end 715A of second pad 133A. In one example, the first undulating surface and / or the second undulating surface extend continuously along the entire length of first pad 125A and / or second pad 133A, respectively. In another example, the first undulating surface and / or the second undulating surface are discontinuous with breaks along the length of first pad 125A and / or second pad 133A. In at least one embodiment, the periodic pattern or first undulating surface of the first pad 125A is configured to be out of phase with the periodic pattern or second undulating surface of the second pad 133A. For example, the first undulating surface of the first pad 125A is approximately 180° out of phase with the second undulating surface of the second pad 133A. In other embodiments, the first undulating surface of the first pad 125A is less than approximately 180° out of phase with the second undulating surface of the second pad 133A. However, embodiments should not be limited to these examples.

[0084] According to at least some embodiments, the periodic pattern or first undulating surface of the first pad 125A gradually decreases from the outer edge of the first pad 125A toward the center of the first pad 125A, defining a first recess 127A. The periodic pattern or second undulating surface of the second pad 133A also gradually decreases from the outer edge of the second pad 133A toward the center of the second pad 133A, defining a second recess 135A. In at least one embodiment, the periodic pattern or first undulating surface of the first pad 125A and / or the periodic pattern or second undulating surface of the second pad 133A vary along the length of the first pad 125A and the second pad 133A. For example, one or more of the amplitude or wavelength of the first wavy surface of the first pad 125A varies along the length of the first pad 125A, and / or one or more of the amplitude or wavelength of the second wavy surface of the second pad 133A varies along the length of the second pad 133A.

[0085] In at least one embodiment, first recess 127A includes a first curved surface extending in the longitudinal direction of first pad 125A, and second recess 135A includes a second curved surface extending in the longitudinal direction of second pad 133A. The curvature of the first curved surface extends in a direction perpendicular to the longitudinal axis of first pad 125A, and the curvature of the second curved surface extends in a direction perpendicular to the longitudinal axis of second pad 133A. In one embodiment, the first curved surface and / or the second curved surface may be linear, as shown in FIG. 8D . For example, first curved surface 125A of first pad 125A and second curved surface 133A of second pad 133A form first angle 820 and second angle 825, respectively. In some embodiments, first angle 820 and second angle 825 are between about 6 degrees and about 9 degrees. In at least one embodiment, the first curved surface and / or the second curved surface have a constant radius of curvature, in which case the contact angle with the EMD remains constant moving away from the center of each surface.

[0086] In another embodiment, as shown in Figure 8C, the first curved surface and / or the second curved surface have a varying radius of curvature, in which case the contact angle with the EMD 220 increases or decreases as one moves away from the center of each surface.

[0087] In at least one embodiment, the first undulating surface of the first pad 125A includes a first plurality of waves having crests 800 and valleys 805. The second undulating surface of the second pad 133A includes a second plurality of waves having crests 810 and valleys 815. In at least one embodiment, the crests 800 of the first plurality of waves of the first pad 125A are configured to align with the valleys 815 of the second plurality of waves of the second pad 133A. The crests 810 of the second plurality of waves of the second pad 133A are also configured to align with the valleys 805 of the first plurality of waves of the first pad 125A.

[0088] In another embodiment, the first pad 125A including the first undulating surface and the second pad 133A including the second undulating surface are identical. In this example, when the first pad 125A is positioned above or resting on the second pad 133A, the first plurality of wave troughs 805 of the first pad 125A align with the second plurality of wave troughs 815 of the second pad 133A. In at least one embodiment, the first pad 125A and the second pad 133A each may include approximately five peaks and approximately five valleys. In other embodiments, the first pad 125A and the second pad 133A each include more or less than five peaks and more or less than five valleys.

[0089] 9A is a perspective view of the jaw assembly of FIG. 5 according to at least one embodiment, FIG. 9B is an end view of the jaw assembly of FIG. 9A according to at least one embodiment, and FIG. 9C is a bottom perspective view of a first jaw of the jaw assembly of FIG. 9A according to at least one embodiment.

[0090] 9A-9C, in at least one embodiment, the jaw assembly 500 includes a first pad 125B and a second pad 133B. In at least one embodiment, a first surface 901 of the first pad 125B faces a second surface 902 of the second pad 133B. The first pad 125B includes a first wall 900 extending from at least a portion of a first outer edge 905 of the first pad 125B toward the second surface 902 of the second pad 133B. The second pad 133B includes a second wall 915 extending from at least a portion of a first outer edge 920 of the second pad 133B toward the first surface 901 of the first pad 125B. As shown in FIGS. 9A-9C, for example, the first wall 900 extends from the first outer edge 905 toward the second surface 902 along substantially the entire length of the first pad 125B. Similarly, the second wall 915 extends from the first outer edge 920 toward the first surface 901 along substantially the entire length of the first pad 125B. In at least one embodiment, the first wall 900 and the second wall 915 are formed of the same material as the first pad 125B and the second pad 133B. For example, the first wall 900 and the first pad 125B are one piece, and the second wall 900 and the second pad 133B are one piece. In other embodiments, the first wall 900 and the second wall 915 are formed of the same material as the first jaw 120 and the second jaw 122.

[0091] In at least one embodiment, the first wall 900 and the second wall 915 define a channel 930. For example, the channel 930 is defined between the first surface 901 and first wall 900 of the first pad 125B and the second surface 902 and second wall 915 of the second pad 133B. The channel 930 is configured to receive at least a portion of the EMD 220 and maintain the EMD 220 in a central portion between the first pad 125B and the second pad 133B. For example, the channel 930 is configured to maintain the EMD 220 centrally between the first pad 125B and the second pad 133B and between the first wall 900 and the second wall 915 during operation of the EMD 220. Operation of the EMD 220 includes one or more of pinching, attaching, and clamping the EMD 220 between the first jaw 120 and the second jaw 122. Movement of the EMD 220 may include axial or linear movement along the longitudinal axis of the EMD 220, as well as rotation of the EMD 220 while performing a procedure.

[0092] In at least one embodiment, the first wall 900 extends along at least a portion of the longitudinal length of the first pad 125B. For example, the first wall 900 extends the length of the first pad 125B from the first end 700B to the second end 705B opposite the first end 700B, as shown in FIG. 9C. In other embodiments, the first wall 900 extends only a portion (e.g., only a portion) of the length of the first pad 125B from the first end 700B to the second end 705B or from the second end 705B to the first end 700B, as described below with respect to FIG. 10B. Similarly, the second wall 915 of the second pad 133B extends the longitudinal length of the second pad 133B from the first end 710B to the second end 715B opposite the first end 710B. In other embodiments, the second wall 915 of the second pad 133B extends over a portion (e.g., only a portion) of the length of the second pad 133B from the first end 710B to the second end 715B or from the second end 715B to the first end 710B.

[0093] In at least one embodiment, the inner surface of the first wall 900 is aligned with the second outer edge 925 of the second pad 133B, as shown in FIG. 9B . Similarly, the inner surface of the second wall 915 is aligned with the second outer edge 910 of the first pad 125B. In other embodiments, the first wall 900 extends toward the second surface 902 of the second pad 133B. For example, an end surface of the first wall 900 faces and / or contacts at least a portion of the second surface 902 of the second pad 133B. Similarly, the second wall 915 can extend toward the first surface 901 of the first pad 125B. For example, an end surface of the second wall 915 faces and / or contacts the first surface 901 of the first pad 125B.

[0094] In at least one embodiment, the first wall 900 has a first height 950, and the second wall 915 has a second height 955. The first height 950 and the second height 955 are the same, substantially the same, or equal in some embodiments. For example, the first height 950 and the second height 955 are between about 0.75 mm and about 1.5 mm. In other embodiments, the first height 950 and the second height 955 may be different. For example, the first height 950 may be taller than the second height 955, or the second height 955 may be taller than the first height 950, etc.

[0095] Figure 10A is a perspective view of the jaw assembly of Figure 5, Figure 10B is a bottom perspective view of a first jaw of the jaw assembly of Figure 10A, and Figure 10C is an end view of the jaw assembly of Figure 10A, according to at least one embodiment.

[0096] 10A-10C, in at least one embodiment, jaw assembly 500 includes first pad 125C and second pad 133C. In at least one embodiment, first pad 125C includes a first wall 900C extending from a portion of first surface 901C and a third wall 1000 extending from a portion of first surface 901C. Third wall 1000 is located on the opposite side of first wall 900C. For example, as shown in FIG. 10B, third wall 1000 is adjacent to second outer edge 910C of first pad 125C, and first wall 900C is adjacent to first outer edge 905C of first pad 125C. Additionally, first wall 900C and third wall 1000 are located at opposite ends of first pad 125C. 10B, the first wall 900C is adjacent to the second end 705C of the first pad 125C, and the third wall 1000 is adjacent to the first end 700C of the first pad 125C. In other embodiments, the first wall 900C is adjacent to the first end 700C, and the third wall 1000 is adjacent to the second end 705C of the first pad 125C.

[0097] In at least one embodiment, the second pad 133C includes a second wall 915C extending from a portion of the second surface 902C of the second pad 133C and a fourth wall 1005 extending from a portion of the second surface 902C. In at least one embodiment, the second wall 915C and the fourth wall 1005 of the second pad 133C are similar or analogous to the first wall 900C and the third wall 1000 of the first pad 125C. The fourth wall 1005 is opposite the second wall 915C. For example, the fourth wall 1005 is adjacent to the second outer edge 925C of the second pad 133C, and the second wall 915C is adjacent to the first outer edge 920C of the second pad 133C. Additionally, the second wall 915C and the fourth wall 1005 are disposed at opposite ends of the second pad 133C. 10A, the second wall 915C is adjacent to the second end 715C of the second pad 133C, and the fourth wall 1005 is adjacent to the first end 710C of the second pad 133C. In other embodiments, the second wall 915C is adjacent to the first end 710C, and the fourth wall 1005 is adjacent to the second end 715C of the second pad 133C.

[0098] 10A-10C show the first wall 900C, the second wall 915C, the third wall 1000, and the fourth wall 1005 extending approximately halfway along the length of their respective pads, but this example should not be construed as limiting the scope of the invention. Rather, in other examples, each of the walls 900C, 915C, 1000, and 1005 may extend more or less than halfway, as long as the combined length of the walls along the side edges of the first pad 125C and the second pad 133C is approximately the same as the length of the first pad 125C or the second pad 133C. Additionally, the walls need not extend to the ends of their respective pads.

[0099] In at least one embodiment, portions of the first pad 125C and the second pad 133C are removed or omitted to accommodate at least a portion of the second pad 133C and at least one of the walls of the first pad 125C, respectively. For example, as shown in FIG. 10B , a portion of the first pad 125C adjacent to the first wall 900C is removed or omitted to form a first recess 1010, and a portion of the first pad 125C adjacent to the third wall 1000 is removed or omitted to form a second recess 1015. The first recess 1010 is adjacent to a first end 700C of the first pad 125C opposite the first wall 900C, and the second recess 1015 is adjacent to a second end 705C of the first pad 125C opposite the third wall 1000. In at least one embodiment, the first recess 1010 is configured to receive the second wall 915C of the second pad 133C, and the second recess 1015 is configured to receive the fourth wall 1005 of the second pad 133C. In at least one embodiment, the second pad 133C is similar or analogous to the first pad 125C. For example, as shown in FIG. 10A , the second pad 133C defines a third recess 1020 adjacent the first end 710C of the second pad 133C opposite the second wall 915C and configured to receive the third wall 1000 of the first pad 125C. The second pad 133C also defines a fourth recess (not shown) adjacent the second end 715C of the second pad 133C opposite the fourth wall 1005 and configured to receive the first wall 900C of the first pad 125C.

[0100] In at least one embodiment, the first wall 900C and the third wall 1000 of the first pad 125C and the second wall 915C and the fourth wall 1005 of the second pad 133C define a channel 930C. For example, the channel 930C is defined between the first surface 901C, the first wall 900C, the third wall 1000, the second surface 902C, the second wall 915C, and the fourth wall 1005. The channel 930C is configured to receive at least a portion of the EMD 220 and maintain the EMD 220 in a central portion between the first pad 125C and the second pad 133C. For example, channel 930C is configured to maintain EMD 220 centered between first pad 125C and second pad 133C and between first wall 900C and second wall 915C during operation of EMD 220. Operation of EMD 220 includes one or more of pinching, attaching, and clamping EMD 220 between first jaw 120 and second jaw 122. Operation of EMD 220 also includes axial or linear movement along the longitudinal axis of EMD 220, and rotation of EMD 220 while performing a procedure.

[0101] 11A, 11B, and 11C are perspective, bottom, and end views of the jaw assembly of FIG. 5, according to at least one embodiment, and a first jaw of the jaw assembly of FIG. 11A, according to at least one embodiment, respectively.

[0102] 11A-11C, in at least one embodiment, the jaw assembly 500 includes a first pad 125D and a second pad 133D. In at least one embodiment, the first pad 125D includes a first wall 1100 adjacent to the first outer edge 905D and a second wall 1105 adjacent to the second outer edge 910D. The first wall 1100 extends along at least a portion of the first outer edge 905D, and the second wall 1105 extends along at least a portion of the second outer edge 910D. As shown in FIGS. 11A-11C, for example, the first wall 1100 and the second wall 1105 extend from the first end 700D to the second end 705D of the first pad 125D (e.g., substantially the entire length of the first pad 125D). However, embodiments should not be limited to this example. For example, the first wall 1100 and the second wall 1105 need not extend to the edge of the first pad 125D.

[0103] In at least one embodiment, the first wall 1100 and the second wall 1105 are ramparts, as shown in Figure 11B. For example, the ramparts of the first wall 1100 and the second wall 1105 include a plurality of battlements 1110 and a plurality of recesses 1113 between each of the battlements 1110.

[0104] In at least one embodiment, the second pad 133D includes a third wall 1115 and a fourth wall 1120. The third wall 1115 and the fourth wall 1120 of the second pad 133D are similar or analogous to the first wall 1100 and the second wall 1105 of the first pad 125D described above with respect to FIG. 11B. For example, the third wall 1115 and the fourth wall 1120 are ramparts having a plurality of battlements 1110 and a plurality of recesses 1113 between each of the plurality of battlements 1110.

[0105] In at least one embodiment, the ramparts of the first wall 1100 and the second wall 1105 are offset relative to the ramparts of the third wall 1115 and the fourth wall 1120, as shown in FIG. 11A. For example, the plurality of battlements 1110 of the first wall 1100 and the second wall 1105 are configured to be received in the plurality of recesses 1113 of the third wall 1115 and the fourth wall 1120. Also, the plurality of battlements 1110 of the third wall 1115 and the fourth wall 1120 are received in the plurality of recesses 1113 of the first wall 1100 and the second wall 1105.

[0106] In at least one embodiment, first pad 125D including first wall 1100 and second wall 1105 and second pad 133D including third wall 1115 and fourth wall 1120 define channel 930D. Channel 930D ​​is configured to receive at least a portion of EMD 220 and maintain the EMD 220 in a central portion between first pad 125D and second pad 133D. For example, channel 930D ​​is configured to maintain the EMD 220 centrally between first pad 125D and second pad 133D and between walls 1100, 1105, 1115, and 1120 during operation of the EMD 220. Operation of the EMD 220 includes one or more of pinching, attaching, and clamping the EMD 220 between first jaw 120 and second jaw 122. Movement of the EMD 220 includes axial or linear movement along the longitudinal axis of the EMD 220, and rotation of the EMD 220 while performing the procedure.

[0107] Figure 12A is a perspective view of the jaw assembly of Figure 5, according to at least one embodiment, and Figure 12B is an end view of the jaw assembly of Figure 12A, according to at least one embodiment.

[0108] In at least one embodiment, the jaw assembly 500 includes a first pad 125E and a second pad 133E. In at least one embodiment, the first pad 125E defines a plurality of first recesses 1200 extending along at least a portion of the length of the first pad 125E, and the second pad 133E defines a plurality of second recesses 1205 extending along at least a portion of the length of the second pad 133E. For example, as shown in FIGS. 12A-12B , the plurality of first recesses 1200 extend from a first end 700E to a second end 705E of the first pad 125E, and the plurality of second recesses 1205 extend from a first end 710E to a second end 715E of the second pad 133E. Each of the plurality of first recesses 1200 and each of the plurality of second recesses 1205 comprises a V-shaped groove, as shown in Figure 12B. In another embodiment, each of the plurality of first recesses 1200 and each of the plurality of second recesses 1205 comprises a U-shaped curved (or concave) groove.

[0109] In at least one embodiment, the plurality of first recesses 1200 are aligned with the plurality of second recesses 1205, as shown in FIG. 12B . In other embodiments, the plurality of first recesses 1200 are offset from the plurality of second recesses 1205. At least some of the plurality of first recesses 1200 and the plurality of second recesses 1205 are configured to maintain the EMD 220 in a central portion of the first pad 125E and the second pad 133E during operation of the EMD. Operation of the EMD 220 includes one or more of pinching, attaching, and clamping the EMD 220 between the first jaw 120 and the second jaw 122. Operation of the EMD 220 also includes axial or linear movement along the longitudinal axis of the EMD 220 and rotation of the EMD 220 during the procedure.

[0110] According to an embodiment, the plurality of first recesses 1200 and the plurality of second recesses 1205 extend continuously the entire length of the first pad 125E and / or the second pad 133E, respectively. In another example, the plurality of first recesses 1200 and the plurality of second recesses 1205 are discontinuous in that there are breaks along the length of the first pad 125E and / or the second pad 133E. In yet another example, the plurality of first recesses 1200 and the plurality of second recesses 1205 do not extend to the ends of their respective pads.

[0111] Although embodiments are described herein with respect to each of the pads of jaw assembly 500 including a particular pad configuration, embodiments should not be limited to these examples. That is, one pad of jaw assembly 500 can include a particular pad configuration described with respect to Figures 7A-12B, while another pad of jaw assembly 500 can have a different pad configuration from those described with respect to Figures 7A-12B. In another example, only one of the pads of jaw assembly 500 can have a pad configuration as described with respect to Figures 7A-12B, while the other pad has a flat or substantially flat surface, for example.

[0112] While several embodiments have been disclosed herein, it will be appreciated that other variations are possible, and such variations should not be considered a departure from the spirit and scope of the present disclosure, and all such variations that are apparent to those of ordinary skill in the art are intended to be included within the scope of the appended claims.

Claims

1. 1. An apparatus for supporting an elongated medical device, comprising: a first housing portion defining a first cavity; a second housing portion defining a second cavity, the second housing portion configured to be coupled to a proximal end of the first housing portion; a jaw assembly configured to operate within the first cavity; a pusher within the second cavity configured to actuate in a first direction and a second direction to actuate the jaw assembly between a first position and a second position; The jaw assembly includes: a first jaw having a first surface; a first pad disposed on the first surface of the first jaw, the first pad defining at least one first recess extending along at least a portion of a length of the first pad; a second jaw having a second surface opposite the first surface; a second pad disposed on the second surface of the second jaw.

2. the first pad and the second pad are configured to mate with the elongate medical device; The apparatus of claim 1 , wherein the at least one first recess is configured to maintain the elongate medical device in a central portion of the at least one first recess during operation of the elongate medical device.

3. The apparatus of claim 2 , wherein movement of the elongate medical device includes one or more of axial movement, rotation, pinching, attachment, and clamping of the elongate medical device between the first jaw and the second jaw.

4. The device of claim 1 , wherein the at least one first recess has a dimple shape or a V-shape.

5. The device of claim 1 , wherein the second pad defines at least one second recess extending along at least a portion of the length of the second pad.

6. the at least one first recess includes a first curved surface extending in a longitudinal direction of the first pad; The device of claim 5 , wherein the at least one second recess includes a second curved surface extending longitudinally of the second pad.

7. the curvature of the first curved surface extends in a direction perpendicular to the longitudinal axis of the first pad; The apparatus of claim 6 , wherein the curvature of the second curved surface extends perpendicular to a longitudinal axis of the second pad.

8. The apparatus of claim 6 , wherein at least one of the first curved surface or the second curved surface has a constant radius of curvature.

9. At least a portion of at least one of the first pad or the second pad has an contoured surface; The apparatus of claim 1 , wherein the contoured surface has a periodic pattern.

10. the periodic pattern decreases from an outer edge of the first pad toward a center of the first pad; 10. The apparatus of claim 9, wherein the periodic pattern decreases from an outer edge of the second pad toward a center of the second pad.

11. 11. The apparatus of claim 10, wherein the periodic pattern of the first pad is 180 degrees out of phase with the periodic pattern of the second pad.

12. at least a portion of the first pad includes a first undulating surface extending along at least the portion of the length of the first pad; The apparatus of claim 9 , wherein the at least one first recess is defined in the first undulating surface.

13. at least a portion of the second pad includes a second undulating surface extending along at least a portion of the length of the second pad; The apparatus of claim 12 , wherein the at least one second recess is defined in the second undulating surface.

14. the first corrugated surface includes a first plurality of waves; the second corrugated surface includes a second plurality of waves; the first plurality of wave crests are configured to align with the second plurality of wave troughs; The apparatus of claim 13 , wherein the second plurality of wave crests are configured to align with the first plurality of wave troughs.

15. 10. The device of claim 1, further comprising a plurality of first recesses extending along at least the portion of the length of the first pad, each of the plurality of first recesses being a curved or V-shaped groove.

16. 16. The device of claim 15, further comprising a plurality of second recesses extending along at least a portion of the length of the second pad, each of the plurality of second recesses being a curved or V-shaped groove.

17. The apparatus of claim 16 , wherein the plurality of first recesses are aligned with the plurality of second recesses.

18. The apparatus of claim 16 , wherein the first plurality of recesses are offset from the second plurality of recesses.

19. The pusher is configured to be within the second cavity and extend into at least a portion of the first cavity; The device comprises: a biasing member configured to engage the pusher and apply a biasing force to the first jaw and the second jaw; The device of claim 1 , further comprising: an actuator provided at a proximal end of the second housing portion and configured to actuate the pusher in the first direction and the second direction.

20. 1. An apparatus for supporting an elongated medical device, comprising: a first housing portion defining a first cavity; a second housing portion defining a second cavity, the second housing portion configured to be coupled to a proximal end of the first housing portion; a jaw assembly configured to operate within the first cavity; a pusher within the second cavity configured to actuate in a first direction and a second direction to actuate the jaw assembly between a first position and a second position; The jaw assembly includes: a first jaw having a first surface; a first pad disposed on the first surface of the first jaw; a second jaw having a second surface opposite the first surface; a second pad disposed on the second surface of the second jaw; The apparatus, wherein the first pad and the second pad are configured to maintain the elongated medical device in a central portion of the first pad and the second pad when engaged with the elongated medical device.

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