System for gripping an elongated medical member

Abstract

A system for gripping an elongated medical member, the system comprising: a controller; a first motor; a first driving gear; a first gripper gear and a second gripper gear; and a gripper; wherein the controller is configured to output a first signal to drive the first motor; wherein the first motor is coupled to the first driving gear to rotate said first driving gear; wherein a tooth of the first driving gear is configured to interact with a tooth of at least one of the first and second gripper gears; wherein upon a rotation of the first driving gear, the first and / or second gripping gear is configured to rotate based on the interaction of the teeth of the first driving gear and the first and / or second gripping gear; wherein upon a first relative rotation of the first gripping gear with respect to the second gripping gear, a lumen of the gripper is configured to contract; wherein upon a second relative rotation of the first gripping gear with respect to the second gripping gear, the lumen of the gripper is configured to expand; and wherein the first and second relative rotations are relative rotations in opposite directions.

Description

[0001] UAB Inovatyvi medicina - 1 - 30A-167 724

[0002] SYSTEM FOR GRIPPING AN ELONGATED MEDICAL MEMBER

[0003] FIELD OF THE INVENTION

[0004] The present invention generally relates to a system for gripping an elongated medical member comprising a controller, a first motor, a first driving gear, a first and second gripping gear, and a gripper.

[0005] BACKGROUND TO THE INVENTION

[0006] Manually controlled Tuohy-Borst and hemostasis valves available on the market. The main purpose of these valves is to prevent backflow, typically back bleeding. These valves grip the endovascular device within these valves in order to prevent the aforementioned backflow. These valves are manually controlled endovascular device valves with O-rings inside of them, and manual rotation of one body part in relation to another tightens or loosens the inner silicone O-ring around the inserted endovascular device, thereby allowing for the device to be gripped and ungripped by the valve.

[0007] However, the skilled person understands that there is a need to improve the gripping of such devices, as present solutions ensure require a user to physically rotate a body part of the valves.

[0008] There is therefore a need for improved grippers for elongated medical members.

[0009] SUMMARY OF THE INVENTION

[0010] The invention is set out in the independent claim. Preferred embodiments of the invention are set out in the dependent claims.

[0011] According to a first aspect, we describe a system for gripping an elongated medical member, the system comprising: a controller; a first motor; a first driving gear; a first gripper gear and a second gripper gear; and a gripper; wherein the controller is configured to output a first signal to drive the first motor; wherein the first motor is coupled to the first driving gear to rotate said first driving gear; wherein a tooth of the first driving gear is configured to interact with a tooth of at least one of the first and second gripper gears; wherein upon a rotation of the first driving gear, the first and / or second gripping gear is configured to rotate based on the interaction of the UAB Inovatyvi medicina - 2 - 30A-167 724 teeth of the first driving gear and the first and / or second gripping gear; wherein upon a first relative rotation of the first gripping gear with respect to the second gripping gear, a lumen of the gripper is configured to contract; wherein upon a second relative rotation of the first gripping gear with respect to the second gripping gear, the lumen of the gripper is configured to expand; and wherein the first and second relative rotations are relative rotations in opposite directions.

[0012] The controller may be a custom-made (PCB) controller suitable to carry out the invention as described herein. Alternatively, the controller may be a pre-bought controller suitable to carry out the invention as described herein. The controller is coupled to the first motor via any suitable wired and / or wireless means. The first signal output by the controller may, in some examples, relate to an instruction for the first motor to undertake. The controller is activated, resulting in the gripping and ungripping of the elongated medical member, as described herein, when a signal is received from an external device. In some examples, this external device may be a second controller. Additionally or alternatively, this signal may be based on the actuation of a button, lever, switch, or other element on the module described herein.

[0013] The first motor is configured to receive the first signal from the controller. The first motor may be a stepper motor, but the skilled person understands that any suitable type of motor may be used. The first motor is coupled to the first driving gear by any suitable means.

[0014] The first driving gear may be any suitable type of gear which is rotatable. The first driving gear may comprise a plastic and / or metallic material, in particular aluminum or stainless steel. The first driving gear may comprise any suitable number of teeth with any suitable parameters such as, for example, tooth profile, pitch circle, tooth thickness, depth, and so on.

[0015] The first and second gripping gears may be any suitable type of gear that is rotatable. The first and second gripping gears preferably comprise a plastic material, but may additionally or alternatively comprise a metallic material. The first and second gripping gears may comprise any suitable number of teeth with any suitable parameters such as, for example, tooth profile, pitch circle, tooth thickness, depth, and so on. The teeth of at least one of these gears is configured to interact with the teeth of the first driving gear. In some examples, at least one of these parameters is different for each of the gripping gears. Upon a rotation of the first driving gear, at least one of the first and second gripping gears also rotates. In some examples, both gripping UAB Inovatyvi medicina - 3 - 30A-167 724 gears are rotated via a coupling to the first driving gear. The first driving gear may have more teeth, the same number of teeth, or fewer teeth than the first and / or second gripping gear. A diameter of the first driving gear may be larger, the same, or smaller than the first and / or second gripping gear.

[0016] The gripper, which is couplable to the first and / or second gripping gear, is described in more detail below.

[0017] Upon a relative rotation of the gripping gears in a first direction, a lumen of the gripped is configured to retract and upon a relative rotation in a second direction, the lumen is configured to expand. This contraction and expansion may lead to the gripping and ungripping of the elongated medical member. That is to say, if the second gripping gear is stationary and the first gripping gear is rotated in a first direction, the lumen contracts, and when the first gripping gear is rotated in a second direction, opposite to the first direction, the lumen expands. The same may occur if the first gripping gear is stationary and the second gripping gear is rotatable, of if both gripping gears rotate, but the rotational speed of the gripping gears differ.

[0018] In some examples, the first motor and the first driving gear are coupled to one another with a belt drive. This may allow for the motor and the driving gear to be located at a distance from one another. The use of a belt drive may also allow for easy replacement of the motor and / or driving gear should either of these become defective.

[0019] In some examples, the controller is configured to detect a rotational position of at least one of the first and second gripping gears. This may allow for the controller to detect the gripping force being applied to the elongated medical member and / or allow the controller to know the relative rotational positions of the gripping gears. This may, in turn, allow for the controller to output the first signal to the first motor in order to further contract the lumen, or to expand the lumen. This may allow for a more accurate control of the gripper, and the gripping of the elongated medical member.

[0020] In some examples, at least one of the first and second gripping gears a positioning sensor couplable to the controller. This may be achieved via a contactless magnetic sensor on a PCB, which may be part of the cassette and / or one of the gripping gears mentioned herein, and a magnet are used to sense the position between the nut and the first and / or second gripping gears. The magnet is preferably placed on one of the driving gears proximate to the lumen of the gripper, and facing towards the center of UAB Inovatyvi medicina - 4 - 30A-167 724 the gripper, but the skilled person understands that it may be placed in any suitable location on, or within the gripper.

[0021] In some examples, the first and / or second gripping gear further comprises a bearing, wherein the bearing is configured to interact with at least a first portion of the gripper. The bearing may be a plain bearing, a ball bearing, a fluid bearing, a rolling bearing, or any other suitable type of bearing, the bearing may allow for a smoother rotation of the respective gripping gear and / or allow for a smoother contraction / ex- pansion of the lumen of the gripper. In some examples, the first and second gripping gears may have different types of bearing. The first portion of the gripper may be any suitable part of the gripper such as, for example, the nut or the gripping body. In some examples, the bearing does not interact with the gripper, and aids the rotation of the respective gripping gear. There may be any suitable number of bearings comprised in the first and / or second gripping gear. In some examples, instead of a bearing, a slip ring is used.

[0022] In some examples, the controller is programmable based on the elongated medical member to be gripped. The controller may be couplable to an interface which may allow for a user of the system to input a parameter of the elongated medical member. The controller may then calculate a diameter of the elongated medical member based on this parameter, and then determine to which degree the lumen should be contracted in order to grip the elongated medical member within the gripper. The controller may additionally determine the present relative rotational positions of the gripping gears, in some examples by the positioning sensor, and then calculate how much the first and / or second gripping gear should be rotated with respect to the other gripping gear in order to grip the elongated medical member within the gripper. This may allow for the system to grip a number of different elongated medical members, each with different diameters, or other parameters.

[0023] In some examples, a parameter of the elongated medical member to be gripped is input into the controller by a user of the system. The parameter may be, for example, a diameter of the elongated medical member, a material of the outer surface of the elongated medical member, or any other suitable parameter.

[0024] In some examples, a rotation of at least one of the first and second gripper gears is unlimited. This may allow for an unlimited rotation of the elongated medical member, thereby improving the maneuverability of the elongated medical member. UAB Inovatyvi medicina - 5 - 30A-167 724

[0025] In some examples, the first and second gripping gears are rotatable in the same rotational direction, wherein the first gripping gear is rotatable at a first rotational speed, wherein the second gripping gear is rotatable at a second rotational speed different from the first rotational speed, wherein when the first rotational speed is greater than the second rotational speed, the lumen of the gripper is configured to contract, and wherein when the second rotational speed is greater than the first rotational speed, the lumen of the gripper is configured to expand. This contraction and expansion may lead to the gripping and ungripping of the elongated medical member.

[0026] In some examples, the gripper comprises: a gripper body comprising a first thread; a nut comprising a second thread configured to interact with the first thread and at least one of the first and second gripping gears; and a gripping element placed within the gripper body, wherein the gripping element is configured to grip the elongated medical member; wherein, if the nut is rotated in a first direction, by at least one of the first and second gripping gears, the first and second threads are configured to interact with each other to increase a force being exerted on the gripping element and contract the lumen of the gripper; wherein, if the nut is rotated in a second direction, by at least one of the first and second gripping gears, the first and second threads are configured to interact with each other to decrease the force being exerted on the gripping element and expand the lumen of the gripper; wherein the gripping element is configured to grip the elongated medical member if the force being exerted on the gripping element is above a predetermined threshold.

[0027] The gripper body may be of any suitable design that allows for the nut to be placed around the outside of the gripping body, and for the gripping element to be placed inside the gripping body. In some examples, the gripping body is at least partially comprised of a flexible material which flexes when the nut is rotated in the first and / or second direction. In particular, the gripping body may comprise a plastic and / or a metal that allows for the gripping body to flex, as described above. In some examples, the metallic material may not be able to flex. The gripping element may comprise silicone and / or rubber and / or an elastic material. Alternatively, a metal and / or plastic material may be used, which may not be elastic. The first thread may be of any suitable pitch and thread angle that allows for the gripper to function as described herein (e.g. a screw-type thread).

[0028] The nut may comprise any suitable material such as, for example, a plastic and / or a metal that may allow for the nut to flex under an external force exerted on the nut. UAB Inovatyvi medicina - 6 - 30A-167 724

[0029] In some examples, the metallic material may not be able to flex. The second thread is configured to interact with the first thread and so, may have corresponding characteristics. Upon rotating the nut in the first direction, pressure may be applied to the gripping element via the interaction between the first and second threads. This pressure may then cause the gripping element to decrease its inner diameter, thereby gripping the elongated medical member.

[0030] As described herein, the first and second directions are opposite directions of rotation for the nut. In particular, the first and second directions may be in relation to a rotation around a longitudinal axis of the elongated medical member and / or a longitudinal axis of the gripping body and / or a longitudinal axis along which the elongated medical member can pass through the gripping body. For example, the first direction may refer to a clockwise rotation of the nut, and the second direction may refer to an anti-clockwise rotation of the nut, or vice versa.

[0031] The gripping element is described in more detail below.

[0032] The force being exerted on the gripping element is preferably a force directed towards the center of the gripping element, but may additionally or alternatively be a force in any suitable direction that leads to the elongated medical member being gripped by the gripping element once the force reaches a predetermined threshold. The predetermined threshold may depend on a parameter of the elongated medical member. The predetermined threshold may be of such a level to allow for the elongated medical member to be gripped and held during the rotation and during the linear motion of the elongated medical member by the user. In other words, once gripped, the elongated medical member may be kept steady in place if a particular amount of force is applied to liner / rotational direction. The predetermined threshold may additionally or alternatively be determined to be such a threshold that, the elongated medical member is not compressed and / or an outer surface of the elongated medical member is not damaged. The force may, in some examples, be applied to the gripping element via compression of the gripping element by the gripping body and / or the nut insert (as described below) upon rotation of the nut in the first direction.

[0033] In some examples, the gripping element is an O-ring, wherein the O-ring preferably comprises silicone. Additionally or alternatively, the gripping element comprises a metallic material. The gripping element may comprise alternatively or additionally comprise rubber and / or an elastic material. Alternatively, a metal and / or plastic material may be used, which may not be elastic. This may allow for the thread, as UAB Inovatyvi medicina - 7 - 30A-167 724 described in more detail below, to be wound around the O-ring. The use of silicone may mean that the gripping element is contractible when pressure / force is applied to it, leading to a gripping element that more securely grips the elongated medical member. Additionally or alternatively, any other suitable material with elastic properties could be used.

[0034] In some examples, the gripping element is rotatable based on a rotation of the nut. That is to say, in some examples, if the elongated medical member is rotated while being gripped by the gripping element, the gripping element rotates with the nut. The gripping element preferably comprises brass to allow for a secure gripping of the elongated medical member. Alternatively, to reduce the chance of damage to the elongated medical member, the gripping element may not be rotatable based on a rotation of the nut.

[0035] In some examples, , the gripping element is configured to not rotate based on the rotation of the nut. The gripping element preferably comprises brass to allow for a secure gripping of the elongated medical member. This may lead to an improved gripping of the elongated medical member as there is a lower chance of the gripping element slipping. This leads to improved patient safety due to, for example, the above feature also leading to a prevention, or lower likelihood, of the elongated medical member being damaged while being gripped. If the elongated medical member is damaged, this, and insertion of a damaged elongated medical member into a patient, may lead to injury to the patient

[0036] In some examples, the controller is configured to detect that the gripping element is no longer rotating. In such a case, the first signal output by the controller may instruct the first motor to stop, or to reverse the rotation of the first driving gear, thereby leading to reversing the direction of rotation of the first and / or second gripping gear. This may lead to a lower likelihood of damage being inflicted on the elongated medical member and / or a lower likelihood of excess stresses being applied to the gripper and / or gripping gears. This may, in turn, extend the lifetime of the system.

[0037] In some examples, the system further comprises a nut insert placed within the gripping body. In particular, the nut insert may be placed within the gripping body which itself is surrounded, at least partially, by the nut. The nut insert may comprise any suitable material that allows for the nut insert to function as described herein. In particular, a plastic and / or metallic material may be used. Furthermore, it is preferred UAB Inovatyvi medicina - 8 - 30A-167 724 that the nut insert comprises a low coefficient of friction to allow for the rotation of the nut and / or application of force onto the gripping element. Upon rotation of the nut in the first direction, the nut insert may directly and / or indirectly apply the force on the gripping element leading to the gripping of the elongated medical member.

[0038] In some examples, as the nut is rotated in a first direction by a rotation of the first and / or second gripping gear, the gripping element is configured to be compressed by the nut and the nut insert. This may lead to an improved application of force on the gripping element as the force may be more evenly spread across the gripping element, leading to a longer lifespan of the gripping element.

[0039] In some examples, the nut comprises at least one protrusion configured to interact with at least one of the first and second gripping gears, and wherein upon a rotation of at least one of the first and second gripping gears, the nut is configured to rotate. The at least one protrusion may allow for easier tightening and / or loosening of the nut and / or for easier rotation of the nut in the first and / or second direction. The protrusion may be of any suitable design that allows for the first and / or second gripping gear to rotate the nut.

[0040] In some examples, the gripper further comprises at least one winding of thread comprised in or wound around the gripping element; and wherein the at least one winding is configured to contact the elongated medical member when the force is above the predetermined threshold. The thread preferably comprises a sterile and / or biocompatible material, the thread may be a monolite / single thread / monolithic thread, similar to fishing line, or made from thinner threads, such as, for example, cotton or synthetic threads. This thread is then wound around the gripping element so as to create a winding configured to contact the elongated medical member when the force is above the predetermined threshold. That is to say, the gripping body comprises, in some examples, an opening for the elongated medical member, and then the thread is wound around the gripping element in a direction substantially parallel to a longitudinal axis of the elongated medical member. The use of a such a thread increases the friction coefficient of the gripping element, thereby allowing for a more secure gripping of the elongated medical member while it is being gripped. The thread may also reduce the chance of the elongated medical member being damaged while it is being gripped.

[0041] In some examples, the nut is fixedly coupled to the at least one of the first and second gripping gears. This may allow for a "one-to-one" rotation of the nut with UAB Inovatyvi medicina - 9 - 30A-167 724 respect to the gripping gear(s). This may, in turn, allow for a more precise and accurate rotation of the nut and so, a more precise contraction and expansion of the lumen and gripping and ungripping of the elongated medical member.

[0042] In some examples, at least one of the first and second gripping gears comprises a recess for receiving the nut, and wherein the at least one of the first and second gripping gears is rotatable through a predetermined angle before a portion of the nut contacts a portion of the recess within said recess. This may allow for the first and / or second gripping gear to rotate through a predetermined angle such as, for example, 30°, 45° or 60° without affecting the nut and so, affecting the diameter of the lumen. This may allow for slight variations in the system to not affect the diameter of the lumen and so, the gripping of the elongated medical member.

[0043] In some examples, the system further comprises a second motor and a second driving gear, wherein the controller is configured to output a second signal to drive the second motor; wherein the second motor is coupled to the second driving gear to rotate said second driving gear; wherein the tooth of the first driving gear is configured to interact with a tooth of the first gripper gear; wherein a tooth of the second driving gear is configured to interact with a tooth the second gripper gear; wherein upon a rotation of the first driving gear, the first gripping gear is configured to rotate based on the interaction of the teeth of the first driving gear and the first gripping gear; and wherein upon a rotation of the second driving gear, the second gripping gear is configured to rotate based on the interaction of the teeth of the second driving gear and the second gripping gear.

[0044] The second motor and second driving gear may be similar, or the same, to the first motor and first driving gear described above. In some examples, these may be different in terms of type of motor, or parameters of the driving gears. Furthermore, the parameters of the gripping gears may be different to one another based on the parameters of the driving gears.

[0045] In some examples, the first and second motors are independently controllable from one another by the first and second signals output by the controller. This may allow for a more accurate control of the diameter of the lumen and so, a more accurate detection of gripping of the elongated medical member by the system. In particular, the independent control may allow for both gripping gears to be rotated, but at different speeds to one another, allow for both gripping gears to be rotated in a synchronous manner, allow for the rotational directions of the gripping gears to be UAB Inovatyvi medicina - 10 - 30A-167 724 opposite to one another, and allow for one gripping gear to be stationary while the other rotates.

[0046] In some examples, the system is configured to be placeable within an endovascular robotic system. This may allow for the system to be part of an endovascular procedure.

[0047] In some examples, at least the controller, the first motor and the first driving gear are located within a module of the endovascular robotic system, and wherein at least the first and second gripper gears and the gripper are located within a disposable cassette. The cassette may be couplable to the module via a snap-fit coupling, a rotatable coupling, or any other suitable coupling method. This may allow for easy replacement of the gripping gears and the gripper. The cassette may be a one-time- use cassette, or one that has a limited lifetime when compared to the module.

[0048] In some examples, the system further comprises the elongated medical member. The elongated medical member is described in more detail below.

[0049] In some examples, the elongated medical member is suitable for an endovascular procedure. The elongated medical member may be, for example, a guidewire, a catheter, a stent, a PTA balloon catheter, a stent balloon, or any other suitable elongated medical member.

[0050] Any advantages and features described in relation to the any of the above examples may be realized in any of the other examples described above.

[0051] The above aspect and examples may result in at least one of the following advantages:

[0052] - The system can be adaptive and allow for the gripping of endovascular devices with various diameters and parameters;

[0053] - The system may allow for unlimited rotation of the gripped elongated medical member and gripping during rotation of the elongated medical member;

[0054] - The system may ensure gripping of the elongated medical member by the relative rotational difference of the gripping gears;

[0055] - Different gripping elements can be used such as, for example, an O-ring type and / or metal inserts, thereby allowing for a more adaptable system. UAB Inovatyvi medicina - 11 - 30A-167 724

[0056] - The gripper may be in a disposable part of the system while the motors and controller can be in a permanent part of the system; and

[0057] - The gripping gear(s) can be steadily fixed with respect to the gripper nut, but alternatively may allow for some rotation of the gripping gear(s) without rotating the nut to avoid any load on the gripper.

[0058] Even if some of the aspects described above have been described in reference to the gripper, these aspects may also apply to a method for gripping an elongated medical member, preferably within an endovascular robotic system.

[0059] BRIEF DESCRIPTION OF THE DRAWINGS

[0060] These and other aspects of the invention will now be further described, by way of example only, with reference to the accompanying figures, wherein like reference numerals refer to like parts, and in which:

[0061] Figures 1 and 2 show perspective views of a system according to some example implementations as described herein;

[0062] Figures 3 to 5 show cut-away views of a portion of a system according to some example implementations as described herein;

[0063] Figures 6 to 9 show perspective and cross-sectional views of a gripper according to some example implementations herein; and

[0064] Figures 10 to 13 show perspective and cross-sectional views of a gripper according to some example implementations herein.

[0065] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0066] Figures 1 and 2 shows perspective views of a system according to some example implementations as described herein.

[0067] Figure 1 shows a module 201 of an endovascular robotic system, with the module 201 comprising a drive gear 204, and a cassette (see Figure 2) comprising a first and a second gripping gear 303, 304, and a gripper comprising a gripping body 101, a nut 102 and a gripping element 104 with a lumen 110 extending through, in this example, the center of the gripper, although the lumen may not extend through the UAB Inovatyvi medicina - 12 - 30A-167 724 center of the gripper in some examples. The gripper is described in more detail with respect to Figures 6 to 13.

[0068] Figure 2 shows the module 201 of the endovascular system from the other side, and here, it can be seen that the module 201 comprises a controller 206, a first and a second motor 203, 205, a second drive gear 202, with a cassette 300 coupled to the module 201, and the lumen 110 extending through the, in this example, center of the cassette 300.

[0069] The controller 201 is coupled to the first and second motors 203, 205 via any suitable wired and / or wireless means. The controller 206 may output a first signal which relates to an instruction for the first motor 203 to undertake, and output a second signal which relates to an instruction for the second motor 205 to undertake.

[0070] The first motor 205 is coupled to the first driving gear 202 by any suitable means and, in this example, is coupled via a belt drive. The same applies to the second motor 203 being coupled to the second drive gear 202.

[0071] The drive gears 202, 204 may be any suitable type of gear which is rotatable. They may comprise any suitable number of teeth with any suitable parameters such as, for example, tooth profile, pitch circle, tooth thickness, depth, and so on.

[0072] The first and second gripping gears 303, 304 may be any suitable type of gear that is rotatable. The first and second gripping gears 303, 304 may comprise any suitable number of teeth with any suitable parameters such as, for example, tooth profile, pitch circle, tooth thickness, depth, and so on. The teeth of at least one of these gears 303, 304 is configured to interact with the teeth of the drive gears 202, 204. In some examples, at least one of these parameters is different for each of the gripping gears 303, 304. Upon a rotation of one of the drive gears 202, 204, a respective gripping gears 303, 304 also rotates. That is to say, when the first drive gear 204 rotates, the first gripping gear 304 rotates, and when the second drive gear 202 rotates, the second gripping gear 303 rotates. The drive gears 202, 204 may have more teeth, the same number of teeth, or fewer teeth than their respective gripping gears 303, 304. A diameter of the drive gears 202, 204 may be larger, the same, or smaller than their respective gripping gears 303, 304.

[0073] The controller 206 is configured to detect a rotational position of at least one of the first and second gripping gears 303, 304. This may allow for the controller 206 to UAB Inovatyvi medicina - 13 - 30A-167 724 detect the gripping force being applied to the elongated medical member, should it be currently gripped by the gripper, and / or allow the controller 206 to know the relative rotational positions of the gripping gears 303, 304. This may, in turn, allow for the controller 206 to output the first and / or second signals to the first / second motor 203, 205 in order to further contract the lumen 110, or to expand the lumen 110.

[0074] The controller 206 may be programmable based on the elongated medical member to be gripped. The controller 206 may be couplable to an interface which may allow for a user of the system to input a parameter of the elongated medical member. The controller 206 may then calculate a diameter of the elongated medical member based on this parameter, and then determine to which degree the lumen 110 should be contracted in order to grip the elongated medical member within the gripper. The controller 206 may additionally determine the present relative rotational positions of the gripping gears 303, 304, via, for example, a positioning sensor, and then calculate how much the first and / or second gripping gear 303, 304 should be rotated with respect to the other gripping gear 303, 304 in order to grip the elongated medical member within the gripper.

[0075] The first and / or second gripping gear 303, 304, in some examples, further comprises a bearing, wherein the bearing is configured to interact with at least a first portion of the gripper. The bearing may be a plain bearing, a ball bearing, a fluid bearing, a rolling bearing, or any other suitable type of bearing, the bearing may allow for a smoother rotation of the respective gripping gear 303, 304, and / or allow for a smoother contraction / expansion of the lumen 110 of the gripper. In some examples, the first and second gripping gears 303, 304 may have different types of bearing. The first portion of the gripper may be any suitable part of the gripper such as, for example, the nut or the gripping body. In some examples, the bearing does not interact with the gripper, and aids the rotation of the respective gripping gear 303, 304. In some examples, instead of a bearing, a slip ring is used.

[0076] In some examples, the first and second motors 203, 205 are independently controllable from one another by the first and second signals output by the controller 206. This may allow for a more accurate control of the diameter of the lumen 110 and so, a more accurate detection of gripping of the elongated medical member by the system. In particular, the independent control may allow for both gripping gears 303, 304 to be rotated, but at different speeds to one another, allow for both gripping gears 303, 304 to be rotated in a synchronous manner, allow for the rotational UAB Inovatyvi medicina - 14 - 30A-167 724 directions of the gripping gears 303, 304 to be opposite to one another, and allow for one gripping gear 303, 304 to be stationary while the other rotates.

[0077] Figures 3 to 5 show cut-away views of a portion of a system according to some example implementations as described herein.

[0078] Here, the gripping gears 303, 304 are shown along with a gripping body 101, a nut 102, with the lumen 110 extending along the dashed line, and said line indicating an axis which the gripping gears 303, 304 rotate around.

[0079] Figure 4 shows that the first gripping gear 304 can be rotated in either direction about the dashed line via the independent properties of the gripping gears 303, 304 supplied by the two motors 203, 205 and the first and second signals output by the controller 206. In such a scenario, when the first gripping gear 304 is rotated in a first direction, a dimeter of the lumen 110 is contracted, thereby leading to a gripping of the elongated medical member within the gripper. Upon rotation of the first gripping gear 304 in the second direction, i.e. the other direction, the lumen 110 is expanded, thereby leading to the ungripping of the elongated medical member.

[0080] Figure 5 shows that both gripping gears 303, 304 can be rotated simultaneously, but at different rotational speeds, with the first gripping gear 304 being rotated faster than the second gripping gear 303. In such a scenario, due to the relative positioning of the gripping gears 303, 304 with respect to one another being key for the contraction and expansion of the lumen, the rate of contraction and expansion of the lumen 110 is dependent on the rotational speed differential between the gripping gears 303, 304.

[0081] Not shown within these figures is the option of the gripping gears 303, 304 being able to be rotated is opposite directions, thereby increasing the rate at which the diameter of the lumen is contracted and expanded, although this is a further possible result of the system described herein.

[0082] Figures 6 to 9 show perspective and cross-sectional views of a gripper according to some example implementations herein.

[0083] Figure 6 shows the gripper having a gripper body 101, a nut 102 and a nut insert 103. UAB Inovatyvi medicina - 15 - 30A-167 724

[0084] The gripper body 101 may be of any suitable design that allows for the nut 102 to be placed around the outside of the gripping body 101, and for the gripping element (see figure 7) to be placed inside the gripping body 101. In some examples, the gripping body 101 is at least partially comprised of a flexible material which flexes when the nut 102 is rotated in the first and / or second direction. The first thread may be of any suitable pitch and thread angle that allows for the gripper to function as described herein.

[0085] The second thread, on the nut 102, is configured to interact with the first thread and so, may have corresponding characteristics. Upon rotating the nut 102 in the first direction, pressure may be applied to the gripping element via the interaction between the first and second threads. This pressure may then cause the gripping element to decrease its inner diameter, otherwise described as the lumen 110 herein, thereby gripping the elongated medical member (described in more detail below).

[0086] The nut 102, in the example of Figure 8, comprises four protrusions, but the skilled person understands that any number of protrusions may be used. Such protrusions allow for the first and / or second gripping gear 303, 304 to grip the nut 102. The protrusions may allow for easier tightening and / or loosening of the nut 102 and / or for easier rotation of the nut 102 in the first and / or second direction based on the corresponding rotation of the first and / or second gripping gear 303, 304. The protrusion may be of any suitable design that allows for the first and / or second gripping gear 303, 304 to rotate the nut 102. The nut 102 may be fixedly coupled to the first and / or second gripping gear 303, 304. This may allow for a "one-to-one" rotation of the nut 102 with respect to the gripping gear(s) 303, 304. This may, in turn, allow for a more precise and accurate rotation of the nut 102 and so, a more precise contraction and expansion of the lumen 110 and gripping and ungripping of the elongated medical member. Alternatively, at least one of the first and second gripping gears 303, 304 comprises a recess for receiving the nut 102, and wherein the nut 102 is rotatable within the recess through a predetermined angle before a portion of the nut 102 contacts a portion of the recess. This may allow for the first and / or second gripping gear 303, 304 to rotate through a predetermined angle such as, for example, 30°, 45° or 60° without affecting the nut 102 and so, affecting the diameter of the lumen 110. This may allow for slight variations in the system to not affect the diameter of the lumen 110 and so, the gripping of the elongated medical member.

[0087] In some examples, the gripper further comprises a nut insert 103 placed within the gripping body 101. In particular, the nut insert 103 may be placed within the UAB Inovatyvi medicina - 16 - 30A-167 724 gripping body 101 which itself is surrounded, at least partially, by the nut 102. Upon rotation of the nut 102 in the first direction, the nut insert 103 may directly and / or indirectly apply the force on the gripping element leading to the gripping of the elongated medical member.

[0088] Figure 7 shows a cut-away view of a gripper according to some example implementations as described herein.

[0089] Here, it can be seen that the gripping element 104 is inside the gripping body 101 and is part of the overall gripper.

[0090] The gripping element 104 is, in this example, a brass and / or silicone element that contacts the elongated medical member when the lumen 110 is contracted to a sufficient degree to grip the elongated medical member. The skilled person understands that any suitable material may be used in order to construct the gripping element 104. The gripping element 104 may be any suitable shape, as long as there is an opening allowing for the elongated medical member to pass through the gripping element 104. The use of silicone may mean that the gripping element 104 is contractible when pressure / force is applied to it, leading to a gripping element 104 that more securely grips the elongated medical member.

[0091] The gripper further comprises an (elastic) O-ring 105 preferably comprising silicone. However, the skilled person understands that the O-ring 105 may be any element of any suitable shape, as long as there is an opening allowing for the elongated medical member to pass through the O-ring 105, and comprise any suitable material. The use of silicone may mean that the gripping element 104 and / or O-ring 105 is contractible when pressure / force is applied to it, leading to a gripping element 104 and / or O-ring 105 that more securely grips the elongated medical member. In particular, the O-ring 105 may help create elasticity and adjust the gripping force applied to the elongated medical member. In another gripper configuration, which may be compatible with the configurations and embodiments described herein, this O-ring 105 may help to create friction between the gripper body 101 and the nut insert 103, which may lead to the nut insert 103 not moving during the rotation of the gripper, and lead to the elongated medical member not moving while the gripper is rotated.

[0092] The force being exerted on the gripping element 104, as described herein, is preferably a force directed towards the center of the gripping element 104, but may additionally or alternatively be a force in any suitable direction that leads to the UAB Inovatyvi medicina - 17 - 30A-167 724 elongated medical member being gripped by the gripping element 104 once the force reaches a predetermined threshold.

[0093] Additionally or alternatively, the gripping element 104 is configured to not rotate. This may lead to an improved gripping of the elongated medical member as there is a lower chance of the gripping element 104 slipping.

[0094] Additionally or alternatively, as the nut 102 is rotated in the first direction by the first and / or second gripping gear 303, 304, the gripping element 104 is configured to be compressed by the nut 102 and the nut insert 103. This may lead to an improved application of force on the gripping element 104 as the force may be more evenly spread across the gripping element 104, leading to a longer lifespan of the gripping element 104.

[0095] Additionally or alternatively, when the force is above the predetermined threshold, the gripping element 104 is configured to create a watertight seal around an exterior of the elongated medical member. This may prevent liquids from flowing through the gripper, thereby improving patient safety. Preferably, this may cause the gripper to act as a hemostatic valve, which is particularly advantageous in medical procedures.

[0096] In addition to the above, there may be, in some examples, at least one winding of thread around the gripping element 104. The thread is thread that preferably comprises a sterile and / or biocompatible material and, in particular, may be suitable for surgeries and / or medical procedures. This thread is wound around the gripping element 104 so as to create a winding configured to contact the elongated medical member when the force is above the predetermined threshold. The thread is wound around the gripping element 104 in a direction substantially parallel to a longitudinal axis of the elongated medical member and lumen 110. The use of a thread increases the friction coefficient of the gripping element 104, thereby allowing for a more secure gripping of the elongated medical member while it is being gripped. The thread may also reduce the chance of the elongated medical member being damaged while it is being gripped.

[0097] Preferably, there is a plurality of windings of thread, wherein the windings are spaced equally around the gripping element 104. This may improve the friction coefficient of the gripping element 104 and so, lead to a more secure gripping of the elongated medical member while it is being gripped. The skilled person understands UAB Inovatyvi medicina - 18 - 30A-167 724 that alternatively, the windings may be unevenly spaced around at least a portion of the circumference of the gripping element 104.

[0098] In some examples, the gripping element 104 comprises a gripping layer between the gripping element 104 and the thread. This gripping layer may increase the friction coefficient of the gripping element 104, leading to a more secure gripping of the elongated medical member. The gripping layer, in some examples, comprises a synthetic material and / or cotton in a fabric or mesh form.

[0099] In some examples, the gripper further comprises a limiting element configured to limit a rotation of the nut 102. This limiting element is preferably coupled to the gripping body 101, but may alternatively be coupled to the nut insert 103. This may lead to a rotation of the nut 102 in, for example, the first direction being limited. This may therefore limit the force being applied to the gripping element 104 and so, the elongated medical member, preventing damage to, and extending the lifetime of, both elements. It may also lead to the nut 102 being prevented from overtightening, thereby extending the lifetime of the nut 102. This limiting of rotation may be detecting by the positioning sensor and be communicated to the controller 206, leading to the controller 206 outputting a signal for at least one of the motors 203, 205 to cease its functions.

[0100] The elongated medical member is suitable for an endovascular procedure. This elongated medical member is threaded through the aligned holes of the gripping body 101, nut 102, nut insert 103 and gripping element 104. Such alignment allows for a smooth movement of the elongated medical member through the gripper when the member is not being gripped. The elongated medical member may be, for example, a guidewire, a catheter, a stent, a PTA balloon catheter, a stent balloon, or any other suitable elongated medical member.

[0101] Figures 8 and 9 show a further variation of the gripper. Elements with the same reference signs as those in Figures 6 and 7 function the same with respect to the embodiment of Figures 8 and 9. In Figures 8 and 9, the different body geometry may aid the gripping of the elongated medical member and / or the stability of the elongated medical member while it is being gripped by the gripper.

[0102] The embodiment of Figures 8 and 9, shown in more detail with respect to Figure 9, further comprises an (elastic) O-ring washer 106 preferably comprising silicone. However, the skilled person understands that the washer 106 may be any element of any UAB Inovatyvi medicina - 19 - 30A-167 724 suitable shape, as long as there is an opening allowing for the elongated medical member to pass through the washer 106 and gripper, and comprise any suitable material. The use of silicone may mean that the gripping element 104 and / or O-ring 105 and / or washer 106 is contractible when pressure / force is applied to it, leading to a gripping element 104 and / or O-ring 105 and / or washer 106 that more securely grips the elongated medical member. This washer 106 may be used to reduce the rotational friction between the O-ring and the nut 102. This may lead to the elements of the gripper being kept in place during rotation of the gripper by the first and / or second gripping gears 303, 304.

[0103] Figures 10 to 13 show perspective and cross-sectional views of a gripper according to some example implementations herein. Elements with the same reference signs as those in Figures 6 to 9 function the same with respect to the embodiment of Figures 10 to 13.

[0104] In this embodiment, the opening of the gripping element 104 comprises at least two different diameters, wherein the opening is configured to be of the first diameter at a first side and a second side of the gripping element 104, wherein the first and second sides are opposite sides, and wherein the opening is configured to be of the second diameter between the first and second sides within the gripping element 104. When the first diameter is smaller than the second diameter, this creates a chamber within the gripping element 104. In some examples, the first diameter is greater than the second diameter, thereby creating an opening that closes and then opens along the length of said opening. This may result in an improved gripping of the elongated medical member.

[0105] Figure 12 differs to the embodiment of Figure 10 with respect to the extended nut insert. This may aid the gripping of the elongated medical member and / or the stability of the elongated medical member while it is being gripped by the gripper.

[0106] No doubt many other effective alternatives will occur to the skilled person. It will be understood that the invention is not limited to the described embodiments and encompasses modifications apparent to those skilled in the art and lying within the scope of the claims appended hereto.

Claims

UAB Inovatyvi medicina - 20 - 30A-167 724CLAIMS1. A system for gripping an elongated medical member, the system comprising: a controller; a first motor; a first driving gear; a first gripper gear and a second gripper gear; and a gripper; wherein the controller is configured to output a first signal to drive the first motor; wherein the first motor is coupled to the first driving gear to rotate said first driving gear; wherein a tooth of the first driving gear is configured to interact with a tooth of at least one of the first and second gripper gears; wherein upon a rotation of the first driving gear, the first and / or second gripping gear is configured to rotate based on the interaction of the teeth of the first driving gear and the first and / or second gripping gear; wherein upon a first relative rotation of the first gripping gear with respect to the second gripping gear, a lumen of the gripper is configured to contract; wherein upon a second relative rotation of the first gripping gear with respect to the second gripping gear, the lumen of the gripper is configured to expand; and wherein the first and second relative rotations are relative rotations in opposite directions.

2. The system of claim 1, wherein the first motor and the first driving gear are coupled to one another with a belt drive.

3. The system of claim 1 or 2, wherein the controller is configured to detect a rotational position of at least one of the first and second gripping gears.

4. The system of claim 3, wherein at least one of the first and second gripping gears comprises a positioning sensor couplable to the controller.

5. The system of any one of the preceding claims, wherein the first and / or second gripping gear further comprises a bearing, wherein the bearing is configured to interact with at least a first portion of the gripper.UAB Inovatyvi medicina - 21 - 30A-167 7246. The system of any one of the preceding claims, wherein the controller is programmable based on the elongated medical member to be gripped.

7. The system of claim 6, wherein a parameter of the elongated medical member to be gripped is input into the controller by a user of the system.

8. The system of any one of the preceding claims, wherein a rotation of at least one of the first and second gripper gears is unlimited.

9. The system of any one of the preceding claims, in particular claim 8, wherein the first and second gripping gears are rotatable in the same rotational direction, wherein the first gripping gear is rotatable at a first rotational speed, wherein the second gripping gear is rotatable at a second rotational speed different from the first rotational speed, wherein when the first rotational speed is greater than the second rotational speed, the lumen of the gripper is configured to contract, and wherein when the second rotational speed is greater than the first rotational speed, the lumen of the gripper is configured to expand.

10. The system of any one of the preceding claims, wherein the gripper comprises: a gripper body comprising a first thread; a nut comprising a second thread configured to interact with the first thread and at least one of the first and second gripping gears; and a gripping element placed within the gripper body, wherein the gripping element is configured to grip the elongated medical member; wherein, if the nut is rotated in a first direction, by at least one of the first and second gripping gears, the first and second threads are configured to interact with each other to increase a force being exerted on the gripping element and contract the lumen of the gripper; wherein, if the nut is rotated in a second direction, by at least one of the first and second gripping gears, the first and second threads are configured to interact with each other to decrease the force being exerted on the gripping element and expand the lumen of the gripper; wherein the gripping element is configured to grip the elongated medical member if the force being exerted on the gripping element is above a predetermined threshold.UAB Inovatyvi medicina - 22 - 30A-167 72411. The system of claim 10, wherein the gripping element is an O-ring, wherein the O-ring preferably comprises silicone.

12. The system of claim 10 or 11, wherein the gripping element comprises a metallic material.

13. The system of any one of claims 10 to 12, wherein the gripping element is rotatable based on a rotation of the nut.

14. The system of any one of claims 10 to 12, wherein the gripping element is configured to not rotate based on a rotation of the nut.

15. The system of claim 13, when dependent on claim 3 or 4, wherein the controller is configured to detect that the gripping element is no longer rotating.

16. The system of any one of claims 10 to 15, further comprising a nut insert placed within the gripping body.

17. The system of claim 16, wherein, as the nut is rotated in a first direction by a rotation of the first and / or second gripping gear, the gripping element is configured to be compressed by the nut and the nut insert.

18. The system of any one of claims 10 to 17, wherein the nut comprises at least one protrusion configured to interact with at least one of the first and second gripping gears, and wherein upon a rotation of at least one of the first and second gripping gears, the nut is configured to rotate.

19. The system of any one of claims 10 to 18, wherein the gripper further comprises at least one winding of thread comprised in or wound around the gripping element; and wherein the at least one winding is configured to contact the elongated medical member when the force is above the predetermined threshold.

20. The system of any one of claims 10 to 19, wherein the nut is fixedly coupled to the at least one of the first and second gripping gears.

21. The system of any one of claims 10 to 19, wherein at least one of the first and second gripping gears comprises a recess for receiving the nut, and wherein the atUAB Inovatyvi medicina - 23 - 30A-167 724 least one of the first and second gripping gears is rotatable through a predetermined angle before a portion of the nut contacts a portion of the recess within said recess.

22. The system of any one of the preceding claims further comprising a second motor and a second driving gear, wherein the controller is configured to output a second signal to drive the second motor; wherein the second motor is coupled to the second driving gear to rotate said second driving gear; wherein the tooth of the first driving gear is configured to interact with a tooth of the first gripper gear; wherein a tooth of the second driving gear is configured to interact with a tooth the second gripper gear; wherein upon a rotation of the first driving gear, the first gripping gear is configured to rotate based on the interaction of the teeth of the first driving gear and the first gripping gear; and wherein upon a rotation of the second driving gear, the second gripping gear is configured to rotate based on the interaction of the teeth of the second driving gear and the second gripping gear.

23. The system of claim 22, wherein the first and second motors are independently controllable from one another by the first and second signals output by the controller.

24. The system of any one of the preceding claims, wherein the system is configured to be placeable within an endovascular robotic system.

25. The system of claim 24, wherein at least the controller, the first motor and the first driving gear are located within a module of the endovascular robotic system, and wherein at least the first and second gripper gears and the gripper are located within a disposable cassette.

26. The system of any one of the preceding claims, further comprising the elongated medical member.

27. The system of claim 26, wherein the elongated medical member is suitable for an endovascular procedure.

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