System for rotating an elongated medical member

Abstract

A system for rotating an elongated medical member, the system comprising: a first module and a second module, wherein each module comprises: a controller configured to output a signal to drive a motor; a driving gear, wherein the motor is coupled to the driving gear to rotate the driving gear; at least one gripper gear wherein a tooth of the driving gear is configured to interact with a tooth of the at least one gripper gear; wherein upon a rotation of the driving gear, the gripping gear is configured to rotate based on the interaction of the teeth of the driving gear and the at least one gripping gear; wherein at least one of the modules comprises a gripper for gripping the elongated medical member; and wherein the second module further comprises: a rotatable component comprising a luer adapter configured torotate upon a rotation of the at least one gripper gear, wherein upon a rotation of the at least one gripper gear in a first rotational direction, the rotatable component is configured to rotate in a first rotational direction; wherein upon a rotation of the at least one gripper gear in a second rotational direction, the rotatable component is configured to rotate in a second rotational direction; and wherein the first and second rotational directions are rotations in opposite directions; and a stationary component configured to not rotate upon a rotation of the first and / or second gripper gear.

Description

[0001] UAB Inovatyvi medicina - 1 - 30A-168 160

[0002] SYSTEM FOR ROTATING AN ELONGATED MEDICAL MEMBER

[0003] FIELD OF THE INVENTION

[0004] The present invention generally relates to a system for rotating an elongated medical member comprising a first and a second module each comprising a controller, a motor, a driving gear, a first and second gripping gear, and a gripper, with the second module further comprising a rotatable component and a stationary component.

[0005] BACKGROUND TO THE INVENTION

[0006] There are different hemostasis (HVA) valves in the market. These valves typically have side connection ports and a valve on the back to prevent back-bleeding when attached to the back end of endovascular catheters.

[0007] A hemostasis valve adapter and a rotator adapter can be coupled to one another to form an HVA adapter. The rotator adapter allows for the adapter to be rotated after it is connected with the endovascular device end hub luer.

[0008] The problem with such an HVA adaptor is that if it is attached to the catheter distal part, and the catheter is attempted to be rotated, and in addition the rotation of the catheter is to be sensed by a sensor / system the catheter is coupled to, the friction of this rotator adapter is too large to allow the sensor to sense parameters relating to the catheter. This friction is higher than proximal side fixed catheter rotation of at least 180 degrees. Having such an HVA adaptor attached to the catheter and sensing of smaller degrees of catheter rotations are not possible.

[0009] There is therefore a need for the improvement of sensing the positioning of elongated medical members while still allowing for these members to be rotated.

[0010] SUMMARY OF THE INVENTION

[0011] The invention is set out in the independent claim. Preferred embodiments of the invention are set out in the dependent claims.

[0012] According to a first aspect, we describe a system for rotating an elongated medical member, the system comprising: a first module and a second module, wherein each UAB Inovatyvi medicina - 2 - 30A-168 160 module comprises: a controller configured to output a signal to drive a motor; a driving gear, wherein the motor is coupled to the driving gear to rotate the driving gear; at least one gripper gear, wherein a tooth of the driving gear is configured to interact with a tooth of the at least one gripper gear; wherein upon a rotation of the driving gear, the first and / or second gripping gear is configured to rotate based on the interaction of the teeth of the driving gear and the first and / or second gripping gear; wherein at least one of the modules comprises a gripper for gripping the elongated medical member; and wherein the second module further comprises: a rotatable component comprising a luer adapter configured to rotate upon a rotation of the at least one gripper gear, wherein upon a rotation of the at least one gripper gear in a first rotational direction, the rotatable component is configured to rotate in a first rotational direction; wherein upon a rotation of the at least one gripper gear in a second rotational direction, the rotatable component is configured to rotate in a second rotational direction; and wherein the first and second rotational directions are rotations in opposite directions; and a stationary component configured to not rotate upon a rotation of the first and / or second gripper gear.

[0013] 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 motor via any suitable wired and / or wireless means. The signal output by the controller may, in some examples, relate to an instruction for the motor to undertake. The controller is activated, resulting in, in some examples, 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.

[0014] The motor is configured to receive the signal from the controller. The motor may be a stepper motor, but the skilled person understands that any suitable type of motor may be used. The motor is coupled to the first driving gear by any suitable means.

[0015] The driving gear may be any suitable type of gear which is rotatable. The driving gear may comprise a plastic and / or metallic material, in particular aluminum or stainless steel. The 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. UAB Inovatyvi medicina - 3 - 30A-168 160

[0016] The at least one gripping gear may be any suitable type of gear that is rotatable. In some examples, there is a first gripping gear and a second gripping gear. The at least one gripping gear preferably comprises a plastic material, but may additionally or alternatively comprise a metallic material. The at least one gripping 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. The teeth of at least one of these gears is configured to interact with the teeth of the driving gear. In some examples, at least one of these parameters is different for each of the gripping gears, should there be a plurality of gripping gears. Upon a rotation of the driving gear, at least one of the first and second gripping gears, in the case of a plurality of gripping gears, also rotates. In some examples, the at least one gripping gear is rotated via a coupling to the driving gear. The driving gear may have more teeth, the same number of teeth, or fewer teeth than the at least one gripping gear. A diameter of the driving gear may be larger, the same, or smaller than the at least one gripping gear.

[0017] Throughout the following, when the term "first and / or second gripper gear", or the equivalent, is used, it is to be understood that this also means "the at least one gripper gear", or the equivalent. Additionally, when the term "first and / or second gripper gear", or the equivalent, is used, it is to be understood that if there is a plurality of gripper gears, only a subset of the gripper gears may undertake the action described.

[0018] The gripper, which is couplable to the at least one gripping gear, is described in more detail below.

[0019] Upon a rotation of at least one of the gripping gears in a first direction, the rotatable component is configured to rotate in a first direction, and upon a rotation of at least one of the gripping gears in a second direction, the rotatable component is configured to rotate in a second direction. This rotation may allow for the elongated medical member, which may be situated within the rotatable component of the valve, to be rotated at the same time. In any of the examples outlined throughout the present disclosure, the rotatable and / or stationary component may act as a valve, in particular a hemostatic valve, or may act as a hemostatic valve, but the rotatable component may be, or may act as, any type of valve such as, for example, a gate valve, a needle valve or a pinch valve, that prevents liquid from flowing out of / into / through the rotatable component, stationary component, gripper or any other UAB Inovatyvi medicina - 4 - 30A-168 160 component of the system as described herein. In some examples, the system and / or second module may comprise a hemostatic valve comprising the rotatable and stationary components.

[0020] In some examples, the motor and the 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.

[0021] In some examples, the controller is configured to detect a rotational position of the at least one gripper gear. 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 rotational positions of the gripping gears and / or allow for the controller to know the rotational position of the rotatable component. This may, in turn, allow for the controller to output the signal to the motor in order to further rotate the first and / or second gripping gears. This may allow for a more accurate control of the rotation of the gripping gears, and the rotation of the elongated medical member.

[0022] In some examples, the at least one gripper gear comprises 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 (described below) and the first and / or second gripping gears. The magnet is preferably placed on one of the gripping gears proximate to the lumen of the gripper, and facing towards the center of the gripper, but the skilled person understands that it may be placed in any suitable location on, or within the gripper.

[0023] In some examples, the at least one gripper 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 rotation of the elongated medical member and / or rotatable component. In some examples, the at least one gripper gear 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 / rotatable component. There may be UAB Inovatyvi medicina - 5 - 30A-168 160 any suitable number of bearings comprised in the at least one gripper gear. In some examples, instead of a bearing, a slip ring is used.

[0024] In some examples, the controller is programmable based on the elongated medical member to be gripped. 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.

[0025] In some examples, a rotation of the at least one gripper gear is unlimited. This may allow for an unlimited rotation of the elongated medical member, thereby improving the maneuverability 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 the at least one gripper gear; 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 third direction, by the at least one gripper gear, the first and second threads are configured to interact with each other to increase a force being exerted on the gripping element and contract a lumen of the gripper; wherein, if the nut is rotated in a fourth direction, by the at least one gripper gear, 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 third and fourth directions are rotations in opposite directions; and 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] In some examples, when there is a plurality of gripper gears, the nut may be rotated by only a subset of the plurality of gripper gears.

[0028] 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 third and / or fourth direction. In particular, the gripping body may comprise a plastic and / or a metal that allows for the gripping body to flex, as described herein. 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 UAB Inovatyvi medicina - 6 - 30A-168 160 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).

[0029] 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. 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 third 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 third and fourth directions are opposite directions of rotation for the nut. In particular, the third and fourth 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 the lumen which the elongated medical member can pass through the gripping body. For example, the third direction may refer to a clockwise rotation of the nut, and the fourth direction may refer to an anti-clockwise rotation of the nut, or vice versa. In some examples, the third direction may be the same as the first or second rotational direction of the first and / or second gripper gear, and the fourth direction may be the same as the other of the first or second rotational directions of the first and / or second gripper gear.

[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 UAB Inovatyvi medicina - 7 - 30A-168 160 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 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, UAB Inovatyvi medicina - 8 - 30A-168 160 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 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 third 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 the third direction by the rotation of the at least one gripper 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 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. UAB Inovatyvi medicina - 9 - 30A-168 160

[0040] 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 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.

[0041] In some examples, the at least one gripper gear 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.

[0042] When the elements relating to the gripper are described herein, the gripper of the first and second modules may not comprise all of the same elements. That is to say, the grippers may not be identical.

[0043] 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.

[0044] In some examples, the rotatable component is configured to rotate upon a rotation of only the first gripper gear or only the second gripper gear. This may allow for a more accurate rotation of the rotatable component as it is no longer reliant on the rotation of two gripping gears.

[0045] In some examples, the rotatable component is couplable to the stationary component by a separation element. The separation element may be a plain bearing, a ball bearing, a fluid bearing, a rolling bearing, or any other suitable type of separation element. The separation element may allow for a smoother rotation of the respective gripping gear, and / or allow for a smoother rotation of the rotatable component / elongated medical member. In some examples, the at least one gripper gear may have different types of separation element. In some examples, the separation element does not interact with the gripper, and aids the rotation of the respective gripping gear. In some examples, instead of a bearing, a slip ring is used. UAB Inovatyvi medicina - 10 - 30A-168 160

[0046] In some examples, the motors of each of the modules are configured to be actuated simultaneously. This may allow for a stress and / or strain force being exerted on the elongated medical member by the rotation of the rotatable component to be reduced, thereby improving the lifespan of the elongated medical member. The motors may be actuated via communication between the controllers of the modules, or by a main controller to which the controller of each of the modules is coupled to. In some examples, there is no controller in at least one of the modules, and the signals are output from a main controller to the first and / or second module.

[0047] In some examples, the controller of the second module is configured to measure a frictional force of the rotation of the rotational component.

[0048] In some examples, the first and / or second module further comprises a sensor which may allow for the above measurement to occur. The sensor may comprise a first sensor, wherein a first portion of the first sensor is coupled to the rotational component in the case that the sensor is comprised in the second module, wherein the first sensor is configured to detect a linear movement of the rotational component within the sensor from a first linear position to a second linear position along a first axis; and a second sensor, wherein a first portion of the second sensor is coupled to the rotational component, wherein the second sensor is configured to detect a rotational movement of the rotational component within the sensor from a first rotational position to a second rotational position around the first axis.

[0049] The first and / or second sensors may be configured to detect movement of the elongated medical member and / or rotational component in their respective directions, i.e. linear and rotational directions. In some examples, the linear and / or rotational movement of the rotational component and / or elongated medical member is translated to the sensors. The sensors are preferably independent from one another. That is to say, a linear movement detected by the first sensor does not affect a measurement of the rotational movement by the second sensor, and vice versa. This may allow for a more accurate detection of the movement of the rotational component and / or elongated medical member.

[0050] In some examples, the first module further comprises a sensor, the sensor comprising: a first sensor, wherein a first portion of the first sensor is coupled to the gripper of the first module, wherein the first sensor is configured to detect a linear movement of the rotational component from a first linear position to a second linear UAB Inovatyvi medicina - 11 - 30A-168 160 position along a first axis; and a second sensor, wherein a first portion of the second sensor is coupled to the gripper of the first module, wherein the second sensor is configured to detect a rotational movement of the rotational component from a first rotational position to a second rotational position around the first axis. The sensors are preferably independent from one another. That is to say, a linear movement detected by the first sensor does not affect a measurement of the rotational movement by the second sensor, and vice versa. This may allow for a more accurate detection of the movement of the rotational component and / or elongated medical member.

[0051] In some examples, the first module further comprises the sensor, the sensor comprising: a first sensor, wherein a first portion of the first sensor is coupled to the gripper of the first module, wherein the first sensor is configured to detect a linear movement of the elongated medical member from a first linear position to a second linear position along a first axis; and a second sensor, wherein a first portion of the second sensor is coupled to the gripper of the first module, wherein the second sensor is configured to detect a rotational movement of the elongated medical member from a first rotational position to a second rotational position around the first axis. The sensors are preferably independent from one another. That is to say, a linear movement detected by the first sensor does not affect a measurement of the rotational movement by the second sensor, and vice versa. This may allow for a more accurate detection of the movement of the rotational component and / or elongated medical member.

[0052] In some examples, the first sensor is coupled to the rotational component via a bearing. This may allow for the rotational component to "float" within the sensor, thereby allowing for a more accurate detection of movement by the sensors. The bearing may be any suitable type of bearing such as, for example, a ball bearing, a roller bearing, a plain bearing, a fluid bearing, a magnetic bearing, or any other suitable type of bearing.

[0053] In some examples, the bearing is configured to translate a force, generated by the linear movement of the rotational component and / or elongated medical member, from the rotational component and / or elongated medical member to the first sensor. The cross-section of the bearing may be substantially circular in order to allow this to happen. The force may be transferred via the bearing rolling in a direction parallel to the first axis, thereby allowing for the force to be transferred. This may allow for the UAB Inovatyvi medicina - 12 - 30A-168 160 rotational component and / or elongated medical member to "float" within the sensor, thereby allowing for a more accurate detection of movement by the sensors.

[0054] In some examples, a first end of the first sensor is coupled to the rotational component and / or elongated medical member and is moveable forth and back along the first axis, and wherein a second end of the first sensor is fixed to a non-moveable part of the sensor, wherein the second end is opposite the first end. This may allow for the first sensor to flex, thereby allowing for the movement of the rotational component and / or elongated medical member in the linear direction to be sensed. The sensor may comprise a plurality of concentric circular elements, wherein the second end of the first sensor is fixed to a non-moveable outer element, "non- moveable" may mean that this part of the sensor does not flex and / or move in response to the movement of the rotational component and / or elongated medical member.

[0055] In some examples, the first end of the first sensor is coupled to the rotational component via the bearing. This may allow for the rotational component and / or elongated medical member to "float" within the sensor, thereby allowing for a more accurate detection of movement by the sensors.

[0056] In some examples, a first end of the second sensor is coupled to the rotational component and / or elongated medical member, and wherein a second end of the second sensor is a free end, wherein the second end is opposite the first end. This may allow for the second sensor to flex, thereby allowing for the movement of the rotational component and / or elongated medical member in the rotational direction to be sensed. The free end and / or movement of the second sensor may be limited, as described below.

[0057] In some examples, the free end of the second sensor is configured to allow the second sensor to move freely along the first axis and along a second axis perpendicular to the first axis. This may allow for the second sensor to be adaptable based on environmental conditions, resulting in a more accessible and versatile sensor. This may, additionally or alternatively, allow for independence of the sensor from environmental conditions. In some particularly preferred examples, strain of the second sensor is measured, which is affected during, for example, heating / cooling of the environment surrounding the second sensor. By having a free end as mentioned above, this may allow for this environmental factor to be cancelled out during measuring of the strain. Additionally or alternatively, the strain due to environmental UAB Inovatyvi medicina - 13 - 30A-168 160 factors may be measured when the second sensor is at a neutral position, i.e. no under rotational strain, and this measurement may be used to determine the strain acted upon the second sensor when the rotational component and / or elongated medical member is rotated as a form of calibration. This may allow for calibration of the second sensor before usage, and allow for the measurements to be independent of temperature change, thereby leading to a more accurate measurement of strain and so, the degree of rotation of the rotational component and / or elongated medical member.

[0058] In some examples, the first and / or second directional sensor comprises a strain gauge, wherein the strain gauge is configured to detect the linear and / or rotational movement of the rotational component and / or elongated medical member from the first linear position to the second linear position and / or the first rotational position to the second rotational position. Strain gauges and their functions are known to the skilled person. The strain gauge is preferably coupled to the first and / or second directional sensors by glue and / or any other suitable fixing. An output of the strain gauge may, in some examples, be amplified via an amplifier and transmitted, in a wired and / or wireless manner, to a microcontroller comprising an Analog to Digital Converter, ADC. This information may then be further transmitted to a medium which allows a user of the sensor to see and / or view the readings of the strain gauge. In some examples, the first and / or second sensors may have a plurality of strain gauges. This may mean that there is a strain gauge on each side of the respective sensor. This may allow for a more precise and accurate reading of strain and avoid failures of the risks of the strain not being measured and / or identify if one strain gauge is not working properly. This may minimize the risk of failure and increases sensor stability. Although strain and strain gauges are mentioned above and herein, the first and / or second sensors may additionally or alternatively use optical means and / or magnetic field means and / or any other suitable means to detect the linear and / or rotational movement of the rotational component and / or elongated medical member.

[0059] In some examples, if the second sensor comprises a respective strain gauge, said strain gauge is arranged on an arm of the second sensor extending generally in a direction perpendicular to the first axis. This may allow for the arm on which the strain gauge is placed on / coupled to flex when the rotational component and / or elongated medical member is rotated, thereby placing strain upon the arm and allowing for the strain gauge to detect / measure the rotational movement of the rotational component and / or elongated medical member. UAB Inovatyvi medicina - 14 - 30A-168 160

[0060] In some examples, if the second sensor comprises the respective strain gauge, said strain gauge is arranged on the arm of the second sensor extending generally in a direction parallel to the second axis. This may allow for the flexing of the arm on which the strain gauge is placed on / coupled to when the rotational component and / or elongated medical member is rotated, thereby placing strain upon the arm and allowing for the strain gauge to detect / measure the rotational movement of the rotational component and / or elongated medical member.

[0061] In some examples, if the first sensor comprises a respective strain gauge, said strain gauge is arranged on an arm of the first sensor extending generally in a direction perpendicular to the first axis. This may allow for the arm on which the strain gauge is placed on / coupled to flex when the rotational component and / or elongated medical member is moved in a linear direction, thereby placing strain upon the arm and allowing for the strain gauge to detect / measure the linear movement of the rotational component and / or elongated medical member.

[0062] In some examples, if the first sensor comprises the respective strain gauge, said strain gauge is arranged on the arm of the first sensor, wherein the arm is coupled to a moveable element of the sensor, and wherein the moveable element comprises an opening through which the gripper extends. This may allow for the arm on which the strain gauge is placed on / coupled to flex when the rotational component and / or elongated medical member is moved in a linear direction, thereby placing strain upon the arm and allowing for the strain gauge to detect / measure the linear movement of the rotational component and / or elongated medical member. This feature may be particularly advantageous when coupled with the feature of the gripper being moveable back and forth along the first axis, as this combination may allow for a particular accurate detection of movement of the rotational component and / or elongated medical member in the linear direction.

[0063] In some examples, if the first sensor comprises the respective strain gauge, said strain gauge is arranged on the arm of the first sensor, wherein the arm is arranged between concentric circular parts of the sensor, and wherein the rotational component and / or elongated medical member extends through inner circular part. This may allow for the strain gauge to be arranged substantially parallel with the direction of the strain force placed upon the sensor, thereby improving the strain force measurements. UAB Inovatyvi medicina - 15 - 30A-168 160

[0064] In some examples, the first and / or second directional sensor comprises an elastic element, and wherein the detection of the linear and / or rotational movement is dependent on a flexure of the elastic element. This may allow for the respective portions of the sensors to be flexible, thereby allowing for the sensors to more accurately determine and detect the movement of the rotational component and / or elongated medical member. The elastic element may comprise metal, plastic, or any other suitable flexible material.

[0065] In some examples, the strain gauge is configured to measure the flexure of the elastic element to detect the linear and / or rotational movement of the rotational component and / or elongated medical member. This may allow for a detection of the amount of movement of the rotational component and / or elongated medical member.

[0066] In some examples, the rotational component is configured to be biased towards the first linear position and / or the first rotational position. This may reduce the likelihood of damage to the sensor due to overrotation and / or overmovement of the rotational component and / or elongated medical member. The sensor may be of any suitable design to allow for the biasing. The first position may be defined as a neutral position, wherein there is no force being exerted on the rotational component and / or elongated medical member and / or at least one of the sensors and / or there is no strain being measured by the strain gauge(s). In some examples, the rotational component and / or elongated medical member is biased towards the second position.

[0067] In some examples, the first and second directional sensors are independent from one another. This may allow for a more accurate detection of the movement of the rotational component and / or elongated medical member as the, for example, rotational and longitudinal elements of the movement of the rotational component and / or elongated medical member can be separated from each other. In some examples, the sensor can detect movement of the device in both the linear and rotational directions simultaneously despite the sensors being independent from one another.

[0068] In some examples, the bearing is configured to keep the first and second directional sensors independent from one another. This may allow for, particularly in the case of a rotational bearing, the rotation of the rotational component and / or elongated medical member described herein to take place. Resultantly, the separation between the measurement axes is ensured via the (rotational) bearing. Alternatively, a linear UAB Inovatyvi medicina - 16 - 30A-168 160 bearing and a freely rotating mechanism can be used to achieve the same effect. Alternatively, any construction that allows for low friction motion in one or both of the axes may be used.

[0069] In some examples, the sensor further comprises a base, wherein the first portion of the first sensor is configured to be coupled to the base. The base may be of any suitable design that allows for the sensor described herein to undertake its functioning.

[0070] In some examples, a second portion of the first directional sensor is configured to be coupled to the movable element, wherein the first and second portions of the first directional sensor are different portions. This may allow for a smooth movement of the rotational component and / or elongated medical member in the, for example, linear direction within the sensor. This may improve the detection and determination of the movement of the rotational component.

[0071] In some examples, the moveable element is moveable with respect to the base. This may allow for a smooth movement of the rotational component and / or elongated medical member in the, for example, linear direction within the sensor. In some examples, the moveable element may comprise a buffer that prevents the moveable element from striking the base, thereby elongating the lifetime of the sensor.

[0072] In some examples, the sensor further comprises a first limiting element and a second limiting element, wherein the first limiting element is configured to limit the linear movement of the first sensor in a first axial direction and the second limiting element is configured to limit the linear movement of the first sensor in a second axial direction, wherein the first and second axial directions are opposite directions. This may reduce the likelihood of the first sensor being moved beyond its operational limits, thereby improving the lifetime of the sensor.

[0073] In some examples, the separation element is placed between the first and second limiting elements. The separation element (bearing) is preferably placed between the two limiting elements, so in, for example, the linear direction of motion, the separation element is fixed with the linear sensor to sense the linear force once the force is generated, while at the same time providing a force to the rotational direction of motion. If there would be no limiting element, parts of the sensor may not be steadily fixed and may be moved even without the separation element. UAB Inovatyvi medicina - 17 - 30A-168 160

[0074] Therefore, this feature leads to a more mechanically stable sensor that has a longer lifetime and can provide more accurate strain force measurements.

[0075] In some examples, the sensor further comprises a third limiting element and a fourth limiting element, wherein the third limiting element is configured to limit the rotational movement of the second portion of the second directional sensor in a first rotational direction and the fourth limiting element is configured to limit the rotational movement of the second portion of the second directional sensor in a second rotational direction, wherein the first and second rotational directions are opposite directions, and wherein the first and second portions are different portions. This may reduce the likelihood of the second sensor being moved beyond its operational limits, thereby improving the lifetime of the sensor.

[0076] In some examples, the second portion of the second directional sensor is a free end of the second directional sensor. This may allow for the second portion of the second directional sensor to flex between the third and fourth limiting elements, thereby allowing for a greater range of detection of motion of the device. Furthermore, as the second portion is not coupled to a fixed point, the overall tension applied onto the second directional sensor may be reduced, thereby extending the lifetime of the sensor.

[0077] In some examples, the first sensor and / or the second sensor are generally rectangular in shape. This may allow for a reduced construction cost of the sensor, as well as easy repairing of the sensor in case of a malfunction.

[0078] In some examples, a first longitudinal axis of the first sensor and a second longitudinal axis of the second sensor are generally parallel to one another. This may allow for the sensor to be more compact, thereby allowing it to be used in a larger number of devices and / or systems.

[0079] In some examples, a first lateral axis of the first sensor and a second lateral axis of the second sensor are generally perpendicular to one another. This may allow for the sensor to be integrated and / or placed into a cassette of a medical (endovascular) robotic system due to the circular nature of the sensor.

[0080] In some examples, the controller of the first module is configured to measure a frictional force of the rotation of the rotational component via a force sensor coupled to the controller of the first module. This may allow for this force to be measured by UAB Inovatyvi medicina - 18 - 30A-168 160 a sensor substantially similar to the above-described sensor. In some examples, this may occur when the rotatable component is being rotated by the motor of the second module and / or when the elongated medical member is being rotated. This may also allow for the system to measure the force being exerted on the rotational component, thereby reducing the chance for the rotational component to be subjected to forces outside its operational limit, and extending its lifetime.

[0081] In some examples, the system further comprises the controller of the first module being configured to measure a frictional force of the rotation of the said elongated medical member. The sensor may allow for this force to be measured by a sensor substantially similar to the above-described sensor. In some examples, this may occur when the rotatable component is being rotated by the motor of the second module.

[0082] In some examples, the system is configured to actuate the first motors of the first and second modules, via the signal output by their respective controllers, based on the measured frictional forces measured by the force sensor coupled to the controller of the first module. This may allow for the strain and / or stress forces exerted on the elongated medical member to be reduced, thereby allowing for a more accurate rotation of the elongated medical member.

[0083] In some examples, the system is configured to actuate the first motors of the first and second modules, via the signal output by their respective controllers, to equalize the frictional forces. This may allow for the strain and / or stress forces exerted on the elongated medical member to be reduced, thereby allowing for a more accurate rotation of the elongated medical member.

[0084] In some examples, the system is configured to actuate the first motors of the first and second modules, via the signal output by their respective controllers, to eliminate the frictional force caused by the rotation of the said elongated medical member. This may allow for the strain and / or stress forces exerted on the elongated medical member to be reduced, thereby allowing for a more accurate rotation of the elongated medical member.

[0085] In some examples, the controller of the first module is configured to not actuate the motor of the first module until the rotatable component has been rotated through a predetermined angle by the motor of the second module. For example, if there is a short distance between the sensor described herein and an HVA adapter, and there UAB Inovatyvi medicina - 19 - 30A-168 160 is non-elastic elongated medical member situated between these features, any small rotational motion of the elongated medical member would be measured by the sensor, as well as any linear motion. To avoid such a situation, the system described herein may have the ability to freely rotate and linearly move the elongated medical member through a predetermined angle and / or a predetermined linear distance without adding any initial load onto the sensor other than the load of the elongated medical member. If there was an initial load on the sensor, the system may try to compensate for this and may generated uncontrolled / unneeded motions that were not input into the system. Should there be a plurality of sensors, each sensor may have this same feature where no initial load is sensed. The term "non-elastic" above may be defined as an elongated medical member where it cannot be lengthened and / or rotated once it has been coupled to both modules.

[0086] In some examples, the rotatable component is directly coupled to the at least one gripping gear. This may allow for a more accurate rotation of the rotatable component and so, the elongated medical member.

[0087] In some examples, the rotatable component is moveable in a direction parallel to a longitudinal axis of the lumen of the gripper by a predetermined distance. The same principle may apply here regarding the initial load as it does above, as described in relation to the predetermined angle.

[0088] In some examples, the stationary component further comprises a flushing component and / or a back-bleeding valve. This may allow for blood to not exit the valve and system and / or allow for the stationary component and / or elongated medical member to be cleaned, thereby creating a more hygienic environment for the system, and protect the patient.

[0089] In some examples, the back-bleeding valve comprises a flexible membrane or a flexible O-ring. This may allow for blood to not exit the system, thereby creating a more hygienic environment for the system, and protect the patient.

[0090] In some examples, upon the rotation of the at least one gripper gear in the second module, the at least one gripper gear in the first module is configured to rotate, via the signal output by the controller, at the same time. This may allow for the strain and / or stress forces exerted on the elongated medical member to be reduced, thereby allowing for a more accurate rotation of the elongated medical member. UAB Inovatyvi medicina - 20 - 30A-168 160

[0091] In some examples, the back-bleeding valve comprises an O-ring, wherein the second module comprises a first and a second gripper gear, and wherein upon a rotation of at least one of the first and second gripper gears in one of the first and second rotational directions, the O-ring is configured to contract to create a fluid-tight seal around an external surface of the elongated medical member and to grip the elongated medical member, and wherein upon a rotation of at least one of the first and second gripper gears in the other of the first and second rotational directions, the O-ring is configured to expand. This may allow for the reduction of the likelihood of fluid exiting the system if a fluid line is coupled to the system, and allow for the secure gripping of the elongated medical member.

[0092] In some examples, the at least one gripper gear in the second module and the at least one gripper gear in the first module are rotated through the same rotational angle. This may allow for the strain and / or stress forces exerted on the elongated medical member to be reduced, thereby allowing for a more accurate rotation of the elongated medical member.

[0093] In some examples, the system further comprises an anti-buckling mechanism, wherein a first end of the anti-buckling mechanism is coupled to the first module, and a second end of the anti-buckling mechanism opposite the first end is coupled to the second module, and further comprises a plurality of openings for allowing said elongated medical member to pass through the anti-buckling mechanism. This may reduce the likelihood of unwanted twisting and / or buckling of the elongated medical member as it is being rotated / moved, thereby protecting the elongated medical member and the patient.

[0094] In some examples, the first and second ends of the anti-buckling mechanism are coupled to cassettes of the first and second modules, respectively, this may allow for a more secure coupling of the mechanism to the modules.

[0095] In some examples, the anti-buckling mechanism comprises an accordion design comprising a plurality of same shape parts, wherein the same shape parts are quadrilateral, preferably rectangular. This may allow for the mechanism to expand and contract as the modules move relative to one another. This may allow for the elongated medical member to be supported during movement of the modules and reduce the likelihood of unwanted twisting and / or buckling of the elongated medical member. UAB Inovatyvi medicina - 21 - 30A-168 160

[0096] In some examples, at least one of the modules comprises a tube configured to envelop at least a portion of said elongated medical member, and wherein the tube is arranged in a direction generally towards the other module. This may further decrease the chance of unwanted buckling of the elongated medical member as the member is supported for a greater proportion of its length.

[0097] In some examples, the tube is arranged to pass through at least a subset of the plurality of openings of the anti-buckling mechanism. This may further decrease the chance of unwanted buckling of the elongated medical member as the member is supported for a greater proportion of its length.

[0098] In some examples, the gripper comprises the elongated medical member. The elongated medical member is described in more detail below.

[0099] 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.

[0100] Even if some of the aspects described above have been described in reference to the system, these aspects may also apply to a method for rotating an elongated medical member, preferably within an endovascular robotic system.

[0101] BRIEF DESCRIPTION OF THE DRAWINGS

[0102] 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:

[0103] Figure 1 shows a perspective view of a module according to some example implementations as described herein;

[0104] Figure 2 shows a perspective view of a module according to some example implementations as described herein;

[0105] Figure 3 shows a perspective view of a module according to some example implementations as described herein UAB Inovatyvi medicina - 22 - 30A-168 160

[0106] Figure 4 shows a cross-sectional view of the second module with a first back-bleeding valve according to some example implementations as described herein;

[0107] Figure 5 shows a cross-sectional view of the second module with a second back-bleeding valve according to some example implementations as described herein;

[0108] Figure 6 shows a cross-sectional view of the second module with a second back-bleeding valve according to some example implementations as described herein;

[0109] Figure 7 shows a cross-sectional view of the second module with a second back-bleeding valve according to some example implementations as described herein;

[0110] Figure 8 shows a perspective view of the system when the elongated medical member is being rotated according to some example implementations as described herein;

[0111] Figure 9 shows a perspective view of the system according to some example implementations as described herein; and

[0112] Figures 10 to 13 show schematic illustrations of an anti-buckling mechanism according to some example implementations herein;

[0113] Figures 14 and 15 show schematic illustrations of an anti-buckling mechanism according to some example implementations herein; and

[0114] Figure 16 shows a schematic illustration of an anti-buckling mechanism according to some example implementations herein.

[0115] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0116] Figure 1 shows a perspective view of a module according to some example implementations as described herein. UAB Inovatyvi medicina - 23 - 30A-168 160

[0117] Figure 1 shows an elongated medical member 101 being thread through a cassette of a module as described herein. The cassette further comprises a gripper 305 and a sensor 306, as described throughout the present disclosure. This gripper 305 and sensor 306 is preferably comprised in the first module described herein, whereas the module described in relation to Figures 4 to 7 is preferably the second module.

[0118] Figures 2 and 3 show perspective views of a module according to some example implementations as described herein.

[0119] Figure 2 shows a module 201 of an endovascular robotic system, with the module 201 comprising a drive gear 204, a first and a second gripping gear 302, 304, along with a lumen 110 of the gripper.

[0120] Figure 3 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.

[0121] The controller 206 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.

[0122] 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.

[0123] 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.

[0124] The first and second gripping gears 302, 304 may be any suitable type of gear that is rotatable. The first and second gripping gears 302, 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 302, 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 UAB Inovatyvi medicina - 24 - 30A-168 160 gears 302, 304. Upon a rotation of one of the drive gears 202, 204, a respective gripping gears 302, 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 302 rotates. The drive gears 202, 204 may have more teeth, the same number of teeth, or fewer teeth than their respective gripping gears 302, 304. A diameter of the drive gears 202, 204 may be larger, the same, or smaller than their respective gripping gears 302, 304.

[0125] The controller 206 is configured to detect a rotational position of at least one of the first and second gripping gears 302, 304. This may allow for the controller 206 to detect the gripping force being applied to the elongated medical member 101, should it be currently gripped by the gripper 305, and / or allow the controller 206 to know the relative rotational positions of the gripping gears 303, 304 and / or the rotatable component (see figures 4 to 7). 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, or to rotate the first and / or second gripping gears 302, 304 and / or the rotatable component.

[0126] The controller 206 may be programmable based on the elongated medical member 101 to be gripped and / or rotated and / or be based the rotatable component. 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 101. The controller 206 may then calculate a diameter of the elongated medical member 101 based on this parameter, and then determine to which degree the lumen 110 should be contracted in order to grip the elongated medical member 101 within the gripper 305 and / or the degree to which the rotatable component and / or elongated medical member 101 should be rotated. The controller 206 may additionally determine the present relative rotational positions of the gripping gears 302, 304, via, for example, a positioning sensor, and then calculate how much the first and / or second gripping gear 302, 304 should be rotated with respect to the other gripping gear 303, 304 in order to grip the elongated medical member 101 within the gripper and / or rotate the rotatable component and / or elongated medical member 101.

[0127] The first and / or second gripping gear 302, 304, in some examples, further comprises a bearing, wherein the bearing is configured to interact with at least a first portion of the gripper 305. 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 302, 304, and / or allow for a UAB Inovatyvi medicina - 25 - 30A-168 160 smoother contraction / expansion of the lumen 110 of the gripper 305 and / or rotation of the rotatable component and / or elongated medical member 101. In some examples, the first and second gripping gears 302, 304 may have different types of bearing. The first portion of the gripper 305 may be any suitable part of the gripper such as, for example, the nut or the gripping body, as described herein. In some examples, the bearing does not interact with the gripper 305, and aids the rotation of the respective gripping gear 302, 304 and / or the rotatable component and / or elongated medical member 101. In some examples, instead of a bearing, a slip ring is used.

[0128] 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 / or rotation of the rotatable component and / or elongated medical member 101 and so, a more accurate detection of gripping of the elongated medical member 101 and / or rotation of the rotatable component and / or elongated medical member 101 by the system. In particular, the independent control may allow for both gripping gears 302, 304 to be rotated, but at different speeds to one another, allow for both gripping gears 302, 304 to be rotated in a synchronous manner, allow for the rotational directions of the gripping gears 302, 304 to be opposite to one another, and allow for one gripping gear 302, 304 to be stationary while the other rotates.

[0129] Figure 4 shows a cross-sectional view of the second module with a first back- bleeding valve according to some example implementations as described herein.

[0130] Figures 5 to 7 show cross-sectional views of the second module with a second back- bleeding valve according to some example implementations as described herein.

[0131] The cassette 400 of figure 4 shows a cassette 400 in the second module as described herein. The cassette 400 comprises an endovascular device end hub comprising a luer adapter 104, a luer connector within the rotational component 401 of the cassette 400, a rotation separation and bearing element 402 which may, in some examples, comprise a liquid sealing element and / or an O-ring, a stationary component 403 that is configured to not rotate, a side tube 404, also known as a flushing element, and a back-bleeding valve 405 in the form of a membrane.

[0132] The luer adapter 104 may be coupled to the luer connector 401 via the adapter 104 having a female luer lock and the connector 401 having a male luer lock which can UAB Inovatyvi medicina - 26 - 30A-168 160 be coupled to one another, or vice versa. The skilled person understands that such locks are standard components. The connector 401 may then be coupled to one of the gripping gears 302, 304, 409 (see Figure 5) in any suitable mechanical manner.

[0133] The membrane may comprise silicone and / or any other elastic plastic / gum suitable to prevent back-bleeding. In some examples, this back-bleeding valve 405 may be an O-ring and act as a form of gripper, as shown in, for example, figure 5.

[0134] The skilled person understands that the cassette of the first module comprises the gripper 305 and sensor 306 as described herein. It also comprises the elements described in relation to Figures 2 and 3 with respect to the controller 206, the drive gears 202, 204, the first and second gripping gears 302, 304, and the first and second motors 203, 205.

[0135] In some examples, the controller 206 of the first module is configured to measure a frictional force of the rotation of the said elongated medical member 101 when the rotatable component 401 within the cassette 400 is being rotated by the motor of the second module. The sensor then may allow for this force to be measured by be substantially similar to the sensor 306 as described herein.

[0136] In some examples, the system is configured to actuate the motors 203, 205 of the first and second modules, via the signal output by their respective controllers 206. That is to say, both the first and second modules 201 may comprise the motors 203, 205 and may be similar in construction in this aspect. Based on the measured frictional forces and / or the measured rotational position of the first and / or second gripping gears 302, 409, the motors 203, 205 of the modules 201 may be actuated, as described above. This may allow for the gripping gears 302, 409 of the first and second modules 201 to work in a synchronous manner, thereby largely negating the HVA adapter friction and the sensor load related to said friction. This may allow for the strain and / or stress forces exerted on the elongated medical member 101 to be reduced, thereby allowing for a more accurate rotation of the elongated medical member 101. This synchronous rotation may allow for the cassettes 300, 400 of both modules 201 to rotate in a synchronous manner, and so, allow for the whole elongated medical member 101 to be rotated and / or allow for the HVA adapter friction to be negated. In other words, the gripping gears 302, 304 of the first module 201 may control the gripper of the first module 201, whereas a gripper gear 302, 409 on both modules 201 may allow for the elongated medical member 101 to be rotated and / or allow for the HVA adapter friction to be negated. UAB Inovatyvi medicina - 27 - 30A-168 160

[0137] In some examples, the system is configured to actuate the motors 203, 205 of the first and second modules, via the signal output by their respective controllers 206, to equalize the frictional forces. This may allow for the strain and / or stress forces exerted on the elongated medical member 101 to be reduced, thereby allowing for a more accurate rotation of the elongated medical member 101. By equalizing the frictional forces, the skilled person understands that this may mean that if a, for example, frictional force of 20 Newtons is being exerted on the rotatable component 401 and / or the endovascular device end hub 104, a frictional force of 20 Newtons may be applied to the elongated medical member 101 by the first module.

[0138] In some examples, the system is configured to actuate the motors 203, 205 of the first and second modules, via the signal output by their respective controllers 206, to eliminate the frictional force caused by the rotation of the said elongated medical member 101. This may allow for the strain and / or stress forces exerted on the elongated medical member 101 to be reduced, thereby allowing for a more accurate rotation of the elongated medical member 101. The skilled person understands that this may mean that if a, for example, frictional force of 20 Newtons is being exerted on the elongated medical member 101 by the rotatable component 401 and / or the endovascular device end hub 104, the first module may actuate and rotate its respective gripper 305 so that the effective frictional force being exerted onto the elongated medical member 101 is zero.

[0139] In some examples, the controller 206 of the first module is configured to not actuate the motor 203, 205 of the first module until the rotatable component 401 and / or the endovascular device end hub 104 has been rotated through a predetermined angle by the motor 203, 205 of the second module. The endovascular device end hub 104 and / or the rotatable component 401 may be coupled to one of the gripper gears 302, 304 and have a + / - 45° free rotation. This angle may be measured from the angle of the component 401 and hub 104 at the point of coupling these elements to one another. This may mean that the rotatable component 401 can be rotated through 45° without rotating at least one, and preferably both, of the gripper gears 302, 409 used to rotate the elongated medical member 101. That is to say, the endovascular device end hub 104 and / or the rotatable component 401 can freely rotate with elongated medical member 101 through + / - 45°. This may allow for parasite loading on the rotational sensor 306 of the first module to not be added when the elongated medical member 101 is stiff. The term "stiff" may be defined herein as an elongated medical member which is made, at least partially, from UAB Inovatyvi medicina - 28 - 30A-168 160 plastic, and are generally soft, but cannot be lengthened and / or rotated in an elastic manner when a force is exerted upon them. Particular areas of said elongated medical members, particularly near the end hub 104, may have a "stiff" tubing, thereby reducing the chance that the elongated medical member will be able to bend between the modules it is coupled to. The first module with the sensor 306 may, in some examples, be able to sense this + / -45° rotational motion without having parasite load of the HVA adaptor. Although 45° is mentioned here, the skilled person understands that this may any suitable rotation. In some examples, the rotation on the + side and the - side may not be equal and may be, for example, +45° and - 30°.

[0140] Regarding the term "parasite load" as used herein may be defined as follows. For example, if there is a short distance between the sensor described herein and an HVA adapter, and there is non-elastic elongated medical member situated between these features, any small rotational motion of the elongated medical member would be measured by the sensor, as well as any linear motion. To avoid such a situation, the system described herein may have the ability to freely rotate and linearly move the elongated medical member through a predetermined angle and / or a predetermined linear distance without adding any initial load onto the sensor other than the load of the elongated medical member. If there was an initial load on the sensor, the system may try to compensate for this and may generated uncontrolled / unneeded motions that were not input into the system. Should there be a plurality of sensors, each sensor may have this same feature where no initial load is sensed. The term "non-elastic" above may be defined as an elongated medical member where it cannot be lengthened and / or rotated once it has been coupled to both modules.

[0141] In some examples, the rotatable component 401 is directly coupled to the first gripping gear 409, the second gripping gear 304 or the third gripping gear 302. This may allow for a more accurate rotation of the rotatable component 401 and so, the elongated medical member 101. In some examples, the endovascular device end hub 104 may additionally or alternatively be directly coupled to the first gripping gear 409, the second gripping gear 304 or the third gripping gear 302.

[0142] In some examples, the rotatable component 401 is moveable in a direction parallel to a longitudinal axis of the lumen 110 of the gripper 305 by a predetermined distance. The endovascular device end hub 104 and / or the rotatable component 401 may be coupled to one of the gripper gears 302, 409 used to rotate the elongated medical UAB Inovatyvi medicina - 29 - 30A-168 160 member 101 and have a limited free range of motion in the linear direction (~+ / - 3 mm). This distance may be measured from the linear position of the component 401 and hub 104 at the point of coupling these elements to one another. This may mean that the rotatable component 401 can be moved through 3mm linearly without linearly moving at least one, and preferably both, of the gripper gears 302, 409 used to rotate the elongated medical member 101. This linear motion may be the same as the linear motion of the sensor 306 in the first module. Additionally or alternatively, this distance may be a distance between the rotatable component 401 and the end hub 104 and / or the rotatable component 401 and any other suitable part of the module. This may allow for the parasite loading to not be added on the sensor 306 when elongated medical member 101 is stiff and / or when both modules are close to one another. The term "close" may be defined herein as between 0,1 and 5 cm. It may additionally or alternatively be described as an area in the vicinity of the end hub 104 where the elongated medical member is not functionally used. Although 3 mm is mentioned here, the skilled person understands that this may any suitable linear motion. In some examples, the motion on the + side and the - side may not be equal and may be, for example, +3 mm and -2 mm.

[0143] The main parts of the cassette 400 of the second module shown in Figures 5 to 7 are substantially the same as that shown in Figure 4. However, in Figures 5 to 7, the back-bleeding valve 405 is now in the form of an O-ring style valve comprising a valve nut 502, a nut insert 503, a gripping body and a gripping element. Furthermore, the valve is shown in an open position 505A in Figures 6 and 7, and in a closed position 505B in Figure 5. This may allow for the valve 405 to additionally have a gripping functionality, wherein the elongated medical member is gripped. This valve 405 may additionally or alternatively act as a hemostatic valve to seal and stop any fluid leakage when a fluid line is coupled via the side tubing 404 and the fluid should flow to the elongated medical member.

[0144] The gripper body may be of any suitable design that allows for the nut 502 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 502 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.

[0145] The second thread, on the nut 502, is configured to interact with the first thread and so, may have corresponding characteristics. Upon rotating the nut 502 by the first UAB Inovatyvi medicina - 30 - 30A-168 160

[0146] 409 and / or second 410 gripping gear of the cassette 400 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 (described in more detail below).

[0147] The nut 502 comprises any suitable number of protrusions. Such protrusions allow for a user and / or a machine, such as the system and / or cassette 400 described herein, to grip the nut 502. The protrusions may allow for easier tightening and / or loosening of the nut 502 and / or for easier rotation of the nut 502 in the first and / or second direction. The protrusion may be of any suitable design that allows for a user and / or a machine to rotate the nut 502. In some examples, the nut 502 may be rotated by a portion of an endovascular robotic system via, for example, a motor of the robotic system.

[0148] In some examples, the gripper further comprises a nut insert 503 placed within the gripping body. In particular, the nut insert 503 may be placed within the gripping body, which itself is surrounded, at least partially, by the nut 502. Upon rotation of the nut 502 in the first direction, the nut insert 503 may directly and / or indirectly apply the force on the gripping element leading to the gripping of the elongated medical member.

[0149] In some examples, the gripping element is inside the gripping body and is part of the overall gripper 305.

[0150] The gripping element is, in this example, an O-ring preferably comprising silicone. However, the skilled person understands that the gripping element may be any suitable shape, as long as there is an opening allowing for the elongated medical member 101 to pass through the gripping element and into the lumen 110. 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 101.

[0151] The force being exerted on the gripping element, as described herein, 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 101 being gripped by the gripping element once the force reaches a predetermined threshold. UAB Inovatyvi medicina - 31 - 30A-168 160

[0152] Additionally or alternatively, when the force is above the predetermined threshold, the gripping element is configured to not rotate. This may lead to an improved gripping of the elongated medical member 101 as there is a lower chance of the gripping element slipping.

[0153] Additionally or alternatively, as the nut 502 is rotated in the first direction, the gripping element is configured to be compressed by the nut 502 and the nut insert 503. 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.

[0154] Additionally or alternatively, when the force is above the predetermined threshold, the gripping element is configured to create a watertight seal around an exterior of the elongated medical member 101. 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.

[0155] In addition to the above, there is preferably at least one winding of thread around the gripping element. 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 so as to create a winding configured to contact the elongated medical member 101 when the force is above the predetermined threshold. The thread is wound around the gripping element in a direction substantially parallel to a longitudinal axis of the elongated medical member 101. The use of a thread increases the friction coefficient of the gripping element, thereby allowing for a more secure gripping of the elongated medical member 101 while it is being gripped. The thread may also reduce the chance of the elongated medical member 101 being damaged while it is being gripped.

[0156] Preferably, there is a plurality of windings of thread, wherein the windings are spaced equally around the gripping element. This may improve the friction coefficient of the gripping element and so, lead to a more secure gripping of the elongated medical member 101 while it is being gripped. The skilled person understands that alternatively, the windings may be unevenly spaced around at least a portion of the circumference of the gripping element. UAB Inovatyvi medicina - 32 - 30A-168 160

[0157] In some examples, the gripping element comprises a gripping layer between the gripping element and the thread. This gripping layer may increase the friction coefficient of the gripping element, leading to a more secure gripping of the elongated medical member 101. The gripping layer, in some examples, comprises a synthetic material and / or cotton in a fabric or mesh form.

[0158] In this example, the opening of the gripping element 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, 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. When the first diameter is smaller than the second diameter, this creates a chamber within the gripping element. 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.

[0159] In some examples, the gripper further comprises a limiting element configured to limit a rotation of the nut 502. This limiting element is preferably coupled to the gripping body, but may alternatively be coupled to the nut insert 503. This may lead to a rotation of the nut 502 in, for example, the first direction being limited. This may therefore limit the force being applied to the gripping element and so, the elongated medical member 101, preventing damage to, and extending the lifetime of, both elements. It may also lead to the nut 502 being prevented from overtightening, thereby extending the lifetime of the nut 502.

[0160] The elongated medical member 101, as described herein, is suitable for an endovascular procedure. This elongated medical member 101 is threaded through the aligned holes of the gripping body, nut 502, nut insert 503, gripping element and endovascular device end hub 104 and / or the rotatable component 401. Such alignment allows for a smooth movement of the elongated medical member 101 through the gripper 305 when the member 101 is not being gripped. The elongated medical member 101 may be, for example, a guidewire, a catheter, a stent, a PTA balloon catheter, a stent balloon, or any other suitable elongated medical member.

[0161] In some examples, the cassette 400 may further comprise a base 406 which is permanently coupled to the module. This may allow for a more secure coupling of the cassette 400 to the module. UAB Inovatyvi medicina - 33 - 30A-168 160

[0162] Figure 8 shows a perspective view of the system when the elongated medical member is being rotated according to some example implementations as described herein.

[0163] As can be seen in Figure 8, as the first gripping gear 409, of the second module 201 is rotated in the way described above, the first and / or second gripping gears 302, 304 of the first module 201 are rotated in the way described above. This allows for a rotation of the elongated medical member 101. In particular, the first and / or second gripping gears 302, 304 of the first module 201 are preferably rotated through the same angle, and at the same speed, as the first gripping gear 409 of the second module 201. This may be achieved via direct and / or indirect communication between the controllers 206 of the first and second modules 201.

[0164] Figure 9 shows a perspective view of the system according to some example implementations as described herein.

[0165] As can be seen in Figure 9, the first and second modules 201 are mostly the same, bar the contents of the cassettes 400 of the respective modules 201. Furthermore, the modules are placed on a base 100. This base may comprise a stepper motor, linear drive gear, or any other suitable motor that may allow for one or both of the modules 201 to move in a linear direction along the base 100. This may be particularly helpful in some scenarios where the elongated medical member 101 need to be moved in a linear direction.

[0166] Figures 10 to 13 show schematic illustrations of an anti-buckling mechanism according to some example implementations herein.

[0167] In accordance with any of the examples and implementations of the arrangement as disclosed above, there may be a plurality of modules 201 within an (endovascular) robotic system. In the example of figures 10 to 13, there are two modules 201.

[0168] The first module 3101 and the second module 3102 are preferably the same as the first and second modules 201 described above, and are mounted onto a base 3100 which may allow for at least one of the arrangements 3101, 3102 to move in at least one axis, in this case, a linear parallel to the longitudinal axis of the base 3100. The skilled person understands that any other suitable axis may be used and / or the arrangements 3101, 3102 may be moveable in more than one axis. The base 3100 UAB Inovatyvi medicina - 34 - 30A-168 160 preferably comprises a linear motor in order to allow for the at least one module 3101, 3102 to move in this axis.

[0169] The example further shows an elongated medical member 3103, same as the elongated member 201 mentioned above.

[0170] In between the modules 3101, 3102, there is an anti-buckling mechanism 3104. The anti-buckling mechanism 3104 extends between faces of the modules 3101, 3102 which face each other and comprises an accordion-style design. Each end of the antibuckling mechanism 3104 is preferably coupled to the cassette 300, 400 within each module 3101, 3012, but may be additionally or alternatively be coupled to the casing of each module 3101, 3102. The coupling may be made via screwing, molding, gluing, or any other suitable method. If a screw is used, there may be a bar comprising plastic and / or rubber coupled to a first screw which is then rotated to hold the mechanism 3104 in place, and then a second crew may be screwed into the other end of the bar, thereby fixing the mechanism 3104 in place.

[0171] As can be seen in figure 13, the cassette 300, 400 within one of the modules 3101, 3102 may have a tube that extends out of the module 3101, 3102 towards the other module 3101, 3102. This tube may extend through at least a subset of the openings of the mechanism 3104 and allow for the elongated medical member 101 to be passed through the tube. This may further decrease the chance of unwanted buckling of the elongated medical member 101 as the member 101 is supported for a greater proportion of its length.

[0172] Figures 14 and 15 show schematic illustrations of an anti-buckling mechanism according to some example implementations herein.

[0173] As can be seen in these figures, the mechanism 3104 is expandable and contractible. The mechanism 3104 preferably comprises plastic but may additionally or alternatively comprise rubber. Each section of the mechanism 3104 comprises an opening 3301 of a sufficient diameter to allow for the elongated medical member 101 to pass through the center of each section. Each section further comprises a connection section 3302 which comprises a material thicker than the first and second anti-buckling elements 3303, 3304. This connection section 3302 allows for a more secure holding of the elongated medical member 101 as well as for a reduced chance of the elongated medical member 101 twisting and / or buckling as the modules 3101, UAB Inovatyvi medicina - 35 - 30A-168 160

[0174] 3102 are moved relative to each other and / or as the elongated medical member 101 itself is moved.

[0175] Each part of the mechanism 3104 is preferable rectangular in shape, but any suitable quadrilateral may be used. The increased height of each part when compared to the width may allow for more stability, thereby reducing the chance of unwanted buckling of the elongated medical member 101. Furthermore, the number of parts in the mechanism 3104 may be increased or reduced as needed in order to allow for the mechanism 3104 to be transferred between different robotic systems and / or modules 3101, 3102. These parts may be added and / or taken away via any suitable coupling method. The mechanism 3104 may be 1 meter in length, 2 meters in length, comprises 10 parts, comprise 6 parts, or be of any other suitable length and / or comprise any suitable number of parts.

[0176] Figure 16 shows a schematic illustration of an anti-buckling mechanism according to some example implementations herein.

[0177] As can be seen, the parts of the mechanism 3104 extends as the modules 3101, 3102 are moved away from each other, while the mechanism 3104 still supports the elongated medical member 101. This reduces the likelihood of the elongated medical member 101 buckling during movement of the modules 3101, 3102 and / or during movement of the elongated medical member 101 itself.

[0178] 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 - 36 - 30A-168 160CLAIMS1. A system for rotating an elongated medical member, the system comprising: a first module and a second module, wherein each module comprises: a controller configured to output a signal to drive a motor; a driving gear, wherein the motor is coupled to the driving gear to rotate the driving gear; at least one gripper gear wherein a tooth of the driving gear is configured to interact with a tooth of the at least one gripper gear; wherein, upon a rotation of the driving gear, the gripping gear is configured to rotate based on the interaction of the teeth of the driving gear and the at least one gripping gear; wherein at least one of the modules comprises a gripper for gripping the elongated medical member; and wherein the second module further comprises: a rotatable component comprising a luer adapter configured to rotate upon a rotation of the at least one gripper gear, wherein, upon a rotation of the at least one gripper gear in a first rotational direction, the rotatable component is configured to rotate in a first rotational direction; wherein, upon a rotation of the at least one gripper gear in a second rotational direction, the rotatable component is configured to rotate in a second rotational direction; and wherein the first and second rotational directions are rotations in opposite directions; and a stationary component configured to not rotate upon a rotation of the first and / or second gripper gear.

2. The system of claim 1, wherein the at least one gripper gear comprises a first gripper gear and a second gripper gear.

3. The system of claim 1 or 2, wherein the controller is configured to detect a rotational position of the at least one gripper gear.

4. The system of any one of the preceding claims, wherein the controller is programmable based on the elongated medical member to be gripped.UAB Inovatyvi medicina - 37 - 30A-168 1605. The system of any one of the preceding claims, wherein a rotation of the at least one gripper gear is unlimited.

6. 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 the at least one gripper gear; 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 third direction, by the at least one gripper gear, the first and second threads are configured to interact with each other to increase a force being exerted on the gripping element and contract a lumen of the gripper; wherein, if the nut is rotated in a fourth direction, by the at least one gripper gear, 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 third and fourth directions are rotations in opposite directions; and 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.

7. The system of claim 6, further comprising a nut insert placed within the gripping body.

8. The system of claim 7, wherein, as the nut is rotated in the third direction by the rotation of the at least one gripper gear, the gripping element is configured to be compressed by the nut and the nut insert.

9. The system of any one of claims 6 to 8, 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.UAB Inovatyvi medicina - 38 - 30A-168 16010. The system of any one of the preceding claims, wherein the system is configured to be placeable within an endovascular robotic system.

11. The system of any one of the preceding claims, wherein the rotatable component is configured to rotate upon a rotation of only the first gripper gear or only the second gripper gear.

12. The system of any one of the preceding claims, wherein the rotatable component is couplable to the stationary component by a separation element.

13. The system of any one of the preceding claims, the motors of each of the modules are configured to be actuated simultaneously.

14. The system of any one of the preceding claims, wherein the controller of the first module is configured to measure a frictional force of the rotation of the rotational component via a force sensor coupled to the controller of the first module.

15. The system of any one of the preceding claims, wherein the controller of the first module is configured to measure a frictional force of the rotation of the said elongated medical member16. The system of claim 14 or 15, wherein the system is configured to actuate the first motors of the first and second modules, via the signal output by the controller of the first module, based on the frictional forces measured by the force sensor coupled to the controller of the first module.

17. The system of any one of claims 14 to 16, wherein the system is configured to actuate the first motors of the first and second modules, via the signal output by their respective controllers, to equalize the frictional forces.

18. The system of any one of the preceding claims 14 to 17, wherein the system is configured to actuate the first motors of the first and second modules, via the signal output by their respective controllers, to eliminate the frictional force caused by the rotation of the said elongated medical member.

19. The system of any one of the preceding claims, wherein the controller of the first module is configured to not actuate the motor of the first module until theUAB Inovatyvi medicina - 39 - 30A-168 160 rotatable component has been rotated through a predetermined angle by the motor of the second module.

20. The system of any one of the preceding claims, wherein the rotatable component is directly coupled to the at least one gripping gear21. The system of claim 20, wherein the rotatable component is moveable in a direction parallel to a longitudinal axis of the lumen of the gripper by a predetermined distance.

22. The system of any one of the preceding claims, wherein the stationary component further comprises a flushing component and / or a back-bleeding valve.

23. The system of claim 22, wherein the back-bleeding valve comprises a flexible membrane or a flexible O-ring.

24. The system of claim 23, wherein the back-bleeding valve comprises an O-ring, wherein the second module comprises a first and a second gripper gear, and wherein upon a rotation of at least one of the first and second gripper gears in one of the first and second rotational directions, the O-ring is configured to contract to create a fluid-tight seal around an external surface of the elongated medical member and to grip the elongated medical member, and wherein upon a rotation of at least one of the first and second gripper gears in the other of the first and second rotational directions, the O-ring is configured to expand.

25. The system of any one of the preceding claims, wherein upon the rotation of the at least one gripper gear in the second module, both the at least one gripper gear in the first module is configured to rotate, via the signal output by the controller, at the same time.

26. The system of claim 25, wherein the at least one gripper gear in the second module and the at least one gripper gear in the first module are rotated through the same rotational angle.

27. The system of any one of the preceding claims, wherein the first module further comprises a sensor, the sensor comprising: a first sensor, wherein a first portion of the first sensor is coupled to the gripper of the first module, wherein the first sensor is configured to detect a linearUAB Inovatyvi medicina - 40 - 30A-168 160 movement of the rotational component from a first linear position to a second linear position along a first axis; and a second sensor, wherein a first portion of the second sensor is coupled to the gripper of the first module, wherein the second sensor is configured to detect a rotational movement of the rotational component from a first rotational position to a second rotational position around the first axis.

28. The system of any one of the preceding claims, wherein the first module further comprises the sensor, the sensor comprising: a first sensor, wherein a first portion of the first sensor is coupled to the gripper of the first module, wherein the first sensor is configured to detect a linear movement of the elongated medical member from a first linear position to a second linear position along a first axis; and a second sensor, wherein a first portion of the second sensor is coupled to the gripper of the first module, wherein the second sensor is configured to detect a rotational movement of the elongated medical member from a first rotational position to a second rotational position around the first axis.

29. The system of claim 27 or 28, wherein a first end of the first sensor is coupled to the elongated medical member and is moveable forth and back along the first axis, and wherein a second end of the first sensor is fixed to a non-moveable part of the sensor, wherein the second end is opposite the first end.

30. The system of any one of claims 27 to 29, wherein a first end of the second sensor is coupled to the elongated medical member, and wherein a second end of the second sensor is a free end, wherein the second end is opposite first end.

31. The system of any one of claims 27 to 30, wherein the first and / or second directional sensor comprises a strain gauge, wherein the strain gauge is configured to detect the linear and / or rotational movement of the rotational component and / or elongated medical member from the first linear position to the second linear position and / or the first rotational position to the second rotational position.

32. The system of any one of the preceding claims, further comprising an antibuckling mechanism, wherein a first end of the anti-buckling mechanism is coupled to the first module, and a second end of the anti-buckling mechanism opposite the first end is coupled to the second module, and further comprises a plurality ofUAB Inovatyvi medicina - 41 - 30A-168 160 openings for allowing said elongated medical member to pass through the antibuckling mechanism.

33. The system of claim 32, wherein the first and second ends of the anti-buckling mechanism are coupled to cassettes of the first and second modules, respectively.

34. The system of claim 32 or 33, wherein the anti-buckling mechanism comprises an accordion design comprising a plurality of same shape parts, wherein the same shape parts are quadrilateral, preferably rectangular.

35. The system of any one of the proceeding claims, wherein at least one of the modules comprises a tube configured to envelop at least a portion of said elongated medical member, and wherein the tube is arranged in a direction generally towards the other module.

36. The system of claim 35, when dependent on any one of claims 32 to 34, wherein the tube is arranged to pass through at least a subset of the plurality of openings of the anti-buckling mechanism.

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

38. The system of claim 37, wherein the elongated medical member is suitable for an endovascular procedure.

39. The system of any one of the preceding claims, further comprising a hemostatic valve comprising the rotatable and stationary components.

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