Elongate device drive systems

Abstract

A drive system for transferring motion from a motion source to an elongate medical device is disclosed. The drive system comprises a first body and a second body each arranged along a longitudinal axis. The second body comprises a clamping mechanism. The clamping mechanism comprises a first engagement surface and a second engagement surface for interacting with the elongate medical device therebetween. The first engagement surface is moveable between a first position and a second position. In the first position, the first engagement surface is spaced apart from the longitudinal axis by a first distance. In the second position, the first engagement surface is spaced apart from the longitudinal axis by a second distance. Rotation of the first body to the first rotational position moves the first engagement surface to the first position, and rotation of the first body to the second rotational position moves the first engagement surface to the second position.

Description

Elongate Device Drive SystemsTechnical Field

[0001] The present invention relates to drive systems for translating and rotating elongate medical devices.Background

[0002] Diseases of vascular systems, in which a lesion in a patient’s blood vessel leads to occlusion of the blood vessel, may be treated using minimally invasive procedures with the aim of restoring normal blood flow. These procedures include percutaneous coronary intervention (PCI), neurovascular intervention (NVI) and peripheral vascular intervention (PVI).

[0003] PCI, NVI and PVI procedures involve a physician inserting an access sheath into an artery or vein of the patient. For example, in PCI, the access sheath may be inserted into the patient’s right radial artery or femoral artery. The physician can then introduce a series of elongate medical devices including guide wires and catheters into the patient’s vascular system via the access sheath.

[0004] In a generalised example intervention procedure, the physician inserts a first guide wire into the access sheath and actuates the first guide wire to navigate a distal end of the first guide wire deeper into a patient’s vascular system towards a lesion. A proximal end of the first guide wire is inserted into a lumen of a guide catheter, and the physician feeds the guide catheter along the first guide wire into the patient’s vascular system until a distal end of the guide catheter reaches a desired position proximate the lesion. The physician then removes the first guide wire, leaving the guide catheter in place. The physician inserts a second guide wire, which has a thinner diameter than the first guide wire, into the guide catheter and actuates the second guide wire to navigate a distal end of the second guide wire beyond the distal end of the guide catheter to arrive at the lesion.

[0005] A proximal end of the second guide wire is inserted into a first lumen of a dual lumen balloon catheter, and the physician feeds the balloon catheter along the second guide wire until a balloon at a distal end of the balloon catheter arrives at the lesion. The balloon is then inflated with saline solution via a second lumen of balloon catheter. The inflation of the balloon dilates the blood vessel at the lesion. Once the blood vessel is dilated, the balloon is deflated, and the balloon catheter is removed from the guide catheter. Further elongate medical devices may be used to apply additional treatments to the lesion, for example, the physician may deliver and deploy a stent to the lesion. Once the lesion has been treated, the elongate medical devices and the access sheath are removed from the patient.

[0006] Robotic systems have been developed to support physicians to perform PCI, NVI and PVI procedures. In complex intervention procedures, such as to treat a bifurcation lesion, a plurality of elongate medical devices may need to be navigated through a patient’s vascular system in parallel with each other. To support such complex intervention procedures with a robotic system, each elongate medical device is typically controlled by its own drive system. Each drive system should securely engage its respective elongate medical device to accurately transfer desired movement to its respective elongate medical device. This requirement must be balanced with the need to be able to easily (i.e. with minimal user actions) remove the respective elongate medical device from the drive system in an event of an emergency.Summary

[0007] There is provided a drive system for transferring motion from a motion source to an elongate medical device. The drive system comprises a first body and a second body each arranged along a longitudinal axis. The second body comprises a clamping mechanism. The clamping mechanism comprises a first engagement surface and a second engagement surface for interacting with the elongate medical device therebetween. The first engagement surface is pivotably mounted about a pivot axis. The first engagement surface is moveable between a first position and a second position. In the first position, the first engagement surface is spaced apart from the longitudinal axis by a first distance. In the second position, the first engagement surface is spaced apart from the longitudinal axis by a second distance. The first distance is greater than the second distance. The first body is coupled to the clamping mechanism and is rotatable around the longitudinal axis between a first rotational position and a second rotational position relative to the second body. Rotation of the first body to the first rotational position moves the first engagement surface to the first position, and rotation of the first body to the second rotational position moves the first engagement surface to the second position.

[0008] Accordingly, when the first body is in the first rotational position, a space is defined between the first engagement surface and the second engagement surface for receiving an elongate medical device. When the first body is in the second rotational position, the received elongate medical device can be engaged between the first engagement surface and the second engagement surface. Accordingly, an elongate medical device may be inserted into the drive system when the first body is in the first rotational position, and the elongate medical device may be clamped between the first and second engagement surfaces when the first body is subsequently rotated to the second rotational position.

[0009] The first and second engagement surfaces may each be the outer surface of a roller, or the outer surface of a belt around two pulleys. A portion of a received elongate device inside the drive system may be substantially parallel with the longitudinal axis of the drive system. The transmission may transfer motion from the motion source (e.g. a motor) to linear motion of thereceived elongate medical device along its longitudinal axis by causing rotation of the first engagement surface and / or the second engagement surface. In other words, the transmission may be configured to transfer motion from the motion source to rotation of a roller or a pulley. To cause linear motion using the second engagement surface, the second engagement surface may be coupled (for example, by a gear train) to the motion source.

[0010] As discussed above, the first engagement surface is moveable between a first position and a second position. Therefore, to cause linear motion using the first engagement surface, a gear may be coupled to the first engagement surface. The gear may be coaxial with the pivot axis, and the gear may be arranged to transfer motion from the motion source to the first engagement surface. The first engagement surface may be coupled (for example, by a gear train) to the gear that is coaxial with the pivot axis.

[0011] The second body may be rotatable around the longitudinal axis independently from rotation of the first body. Alternatively to causing linear motion, the transmission may transfer motion from the motion source to rotational motion of the received elongate medical device about its longitudinal axis by causing rotation of the clamping mechanism that is within the second body. The drive system may comprise a linkage mechanism to switch the motion source from causing linear motion of the received elongate medical device to causing rotational motion. The motion source may be a first motion source arranged to cause linear motion of the received elongate medical device, and the drive system may comprise a second motion source arranged to cause rotational motion of the received elongate medical device, thereby enabling simultaneous and independent control of linear motion and rotational motion.

[0012] Since the first engagement surface is moveable between a first position and a second position, the distance between the first engagement surface and the longitudinal axis may not be the same as the distance between the second engagement surface and the longitudinal axis. An elongate medical device clamped between the first and second engagement surfaces is not required to be coaxial with the longitudinal axis of the drive system since rotation of the elongate medical device is still possible.

[0013] Optionally, the second engagement surface is moveable between a third position and a fourth position. In the third position, the second engagement surface is spaced apart from the longitudinal axis by a third distance. In the fourth position, the second engagement surface is spaced apart from the longitudinal axis by a fourth distance. The third distance may be greater than the fourth distance. Rotation of the first body to the first rotational position moves the second engagement surface into the third position, and rotation of the first body to the second rotational position moves the second engagement surface into the fourth position. When the second engagement surface is moveable between the third position and the fourth position, an elongate medical device may be clamped between the first and second engagement surfaces with a reduced offset between the longitudinal axis of the drive system and the portion of the longitudinal axis of the received elongate medical device that is between the first and second engagementsurfaces. The first distance may be the same as the third distance, and the second distance may be the same as the fourth distance. In other words, the longitudinal axis of the drive system may be substantially aligned with the portion of the longitudinal axis of the received elongate medical device that is between the first and second engagement surfaces.

[0014] The distance between the first and second engagement surfaces when the first body is in the second rotational position (i.e. with an elongate medical device clamped) may be predetermined to engage an elongate medical device with a known diameter. Alternatively, the first engagement surface and / or the second engagement surface may be biased towards the longitudinal axis. Advantageously, this enables different elongate medical devices with different diameters to be engaged, as well as flexibility in the clamping force applied to the received elongate medical device by the first and second engagement surfaces.

[0015] The first body may comprise an aperture that is substantially coaxial with the longitudinal axis of the device for an elongate medical device to be inserted into the drive system and for the elongate medical device to extend therethrough. The first body may comprise a slot extending from a perimeter of the first body to the longitudinal axis of the drive system for receiving the elongate medical device (i.e. from a radial direction). The slot may have a minimum width of between 1 millimetre and 10 millimetres.

[0016] As discussed above, the first body is coupled to the clamping mechanism. To couple the first body to the clamping mechanism, the first body may comprise a channel having a first region corresponding to the first rotational position, and a second region corresponding to the second rotational position. The clamping mechanism may comprise an arm coupled to the first engagement surface. The first body may be coupled to the clamping mechanism by a portion of the arm received in the channel such that movement of a portion of the arm (e.g. an end portion of the arm) is along the channel. Rotation of the first body to the first rotational position may move the portion of the arm to the first region of the channel, and rotation of the first body to the second rotational position may move the portion of the arm to the second region of the channel. The channel may be an arc shaped or a U-shaped channel. The first and second regions may correspond to opposite ends of the channel, for example to prevent rotation of the first body beyond the first and second rotational positions. The arm may be a first arm and the clamping mechanism may comprise a second arm coupled to the second engagement surface. Movement of the second arm may be interlocked with movement of the first arm. Alternatively, the channel may be a first channel and the first body may comprise a second channel for receiving a portion of the second arm.

[0017] Alternatively, to couple the first body to the clamping mechanism, the clamping mechanism may comprise an arm coupled to the first engagement surface and the first body. The first body may be arranged to be displaced relative to the second body in a direction parallel to the longitudinal axis between a first longitudinal position corresponding to the first rotational position, and a second longitudinal position corresponding to the second rotational position. In other words,rotation between the first and second rotational positions moves the body towards and away from the transmission. For example, the body may comprise a thread coupled to a corresponding thread on a housing for the transmission.

[0018] There is provided a drive system for transferring motion from a motion source to an elongate medical device. The drive system comprises a transmission comprising a first gear, and two engagement surfaces. At least one of the two engagement surfaces is coupled to the first gear, e.g. via a gear train. The two engagement surfaces are for interacting with the elongate medical device therebetween. The drive system further comprises a body arranged along a longitudinal axis. The body comprises a gear-toothed surface configured to mesh with the first gear, and a slot extending from a perimeter of the body for receiving the elongate medical device. The body is rotatable around the longitudinal axis. At least two adjacent teeth of the gear-toothed surface are each partially intersected by the slot.

[0019] The slot may have a minimum width of between 1 millimetre and 10 millimetres, and preferably 3 millimetres to 6 millimetres to enable an elongate medical device to be received in the slot e.g. with an end of its storage coil. The first and second engagement surfaces may each be the outer surface of a roller, or the outer surface of a belt around two pulleys. The first gear may cause rotation of at least one of the first or second engagement surfaces.

[0020] The gear-toothed surface may comprise a face width. The face width of a gear is the axial length of a gear tooth of the gear, i.e. the length of the gear teeth measured parallel to the gear's axis. A first portion of a first tooth of the at least two adjacent teeth may be partially intersected by the slot, and a second portion of a second tooth of the at least two adjacent teeth may be partially intersected by the slot. The first portion may be a different portion of the face width to that of the second portion. For example, the slot may comprise a sigmoid or S-shape curve which intersects the radially outer portion of a first tooth and the radially inner portion of an adjacent tooth.

[0021] The body may be configured to receive motion from the motion source. For example, the perimeter of the body may comprise gear teeth or be arranged to be rotated by a belt.

[0022] The gear-toothed surface may comprise a bevel gear, the first gear may comprise a bevel gear, and an axis of rotation of the first gear may be perpendicular to the longitudinal axis of the drive system.

[0023] There is provided a drive system for transferring motion from a motion source to an elongate medical device. The drive system comprises a first body, a second body, and a third body each arranged along a longitudinal axis. The second body comprises a clamping mechanism, the clamping mechanism comprising a first engagement surface and a second engagement surface for interacting with the elongate medical device therebetween. The first engagement surface is moveable between a first position and a second position. In the first position, the first engagement surface is spaced apart from the longitudinal axis by a first distance. In the second position, the first engagement surface is spaced apart from the longitudinal axis by a second distance. The first distance is greater than the second distance. The first body is coupled to the clamping mechanism,the first body being rotatable around the longitudinal axis between a first rotational position and a second rotational position relative to the second body. Rotation of the first body to the first rotational position moves the first engagement surface into the first position, and rotation of the first body to the second rotational position moves the first engagement surface into the second position. The transmission comprises a first gear coupled to the first engagement surface, e.g. via a gear train. The third body comprises a gear-toothed surface configured to mesh with the first gear, and a slot extending from a perimeter of the second body for receiving the elongate medical device, the second body being rotatable around the longitudinal axis. At least two adjacent teeth of the geartoothed surface are partially intersected by the slot. Optional features of the drive systems described above are analogously optionally applicable to this drive system.

[0024] Any of the drive systems described above may be sterile. The is provided a robotic system for use in a catheterisation laboratory, the robotic system comprising any of the drive systems described above.Brief Description of Figures

[0025] Specific embodiments are described in the following detailed description by way of example and with reference to the accompanying drawings, in which:Figure 1 is a block diagram of a catheter-based procedure system;Figure 2A is a perspective view of a first drive system which may be used in the catheterbased procedure system of Figure 1 ;Figure 2B is a perspective view of a clamping mechanism of the first drive system;Figure 2C is a perspective view of the first drive system;Figure 2D is a perspective view of a transmission of the first drive system;Figure 2E is a side view of the clamping mechanism of the first drive system in an open configuration;Figure 2F is a side view of the clamping mechanism of the first drive system in a clamping configuration;Figure 2G is a sectional view along a longitudinal axis of a body of the first drive system in a first rotational position;Figure 2H is a sectional view along the longitudinal axis of the body of Figure 2G in a second rotational position;Figure 2I is a side view of the clamping mechanism of the first drive system;Figure 2J is a perspective view of a transmission of the first drive system;Figure 2K is a side view along the longitudinal axis of a body of the first drive system;Figures 3Ato 3D are perspective views of a second drive system which may be used in the catheter-based procedure system of Figure 1 ;Figure 3E is a side view of a clamping mechanism of the second drive system in an open configuration;Figure 3F is a side view of the clamping mechanism of the second drive system in a clamping configuration;Figure 3G is a side view along a longitudinal axis of a body of the second drive system in a first rotational position;Figure 3H is a side view along the longitudinal axis of the body of Figure 3G in a second rotational position;Figure 4A is a perspective view of a third drive system which may be used in the catheterbased procedure system of Figure 1 ; andFigures 4B to 4D are views of a transmission of the third drive system.Detailed Description

[0026] Figure 1 illustrates a block diagram representing the catheter-based procedure system 100. The catheter-based procedure system 100 may be used to perform minimally invasive procedures such as angiography, percutaneous coronary intervention (PCI), neurovascular intervention (NVI), and peripheral vascular intervention (PVI). The catheter-based procedure system 100 comprises a patient table 102 for receiving a patient, a fluoroscope 104, a display device 106, a control system 108, medical devices 110, a robotic system 120, and an input device 140. The fluoroscope 104, the display device 106, the robotic system 120 and the input device 140 are each operatively connected to the control system 108. The patient table 102, the fluoroscope 104, the control system 108, the medical devices 110, and the robotic system 120 are each located in a catheterisation laboratory. The input device 140 and the display device 106 are each located in a control room which may be a different room to that of the catheterisation laboratory.Advantageously, locating the input device 140 away from the catheterisation laboratory enables increased distance and shielding for users of the input device 140 away from the X-ray source 112. In other catheter-based procedure systems, the input device 140 and the display device 106 may be located in same room as the catheterisation laboratory.

[0027] The fluoroscope 104 comprises a C-arm fluoroscopy system having an X-ray source 112 and a fluoroscopic screen 114 mounted on opposite ends of a C-arm. The C-arm may be mounted at an end of the patient table 102 (e.g. the end closest to the patient’s head), and may be moved and rotated to position the X-ray source 112 and the fluoroscopic screen 114 on opposite sides of a portion of the patient’s anatomy to be imaged. The X-ray source 112 is arranged to emit an X-ray beam through the patient’s body toward the fluoroscopic screen 114. The fluoroscopic screen 114 is arranged to capture images of X-rays that passed through the patient’s body and may include an image intensifier. Images from the fluoroscopic screen 114 are transmitted to the control system108 for display on the display device 106. The display device 106 may comprise one or more displays.

[0028] The input device 140 is arranged to control the robotic system 120. The input device 140 may comprise one or more of a mouse, a keyboard, a trackpad, a touchscreen, a joystick, a slider, a button, and a switch. The input device 140 may be arranged to provide force or haptic feedback to users. In the catheter-based procedure system 100, the robotic system 120 and the input device 140 are connected to the same control system 108 as the fluoroscope 104 and the display device 106. In other catheter-based procedure systems, the robotic system 120 and input device 140 may be connected to a first control system, and the fluoroscope 104 and the display device 106 may be connected to a second control system which is separate to the first control system. Other catheterisation laboratories may use a Magnetic Resonance Imaging (MRI) scanner as an alternative to an X-ray based fluoroscope.

[0029] The medical devices 110 include elongate medical devices 116 (e.g. guide catheters, diagnostic catheters, guide wires, balloon catheters, stent delivery systems, and microcatheters) and may include e.g. contrast injection devices, balloon catheter pumps, pumps, hemostasis valve adapters, syringes, and stopcocks. Each elongate medical device 116 extends along a respective length in a longitudinal axis between a distal end, which is the first part of the elongate medical device 116 and a proximal end. The medical devices 110 may be used to treat one or more lesions in the patient’s blood vessels. In use, an access sheath 118 is coupled to the patient to provide an entry site into the patient’s vascular system. The robotic system 120 is arranged to control application of the medical devices 110 to the patient’s vascular system via the access sheath 118 based on inputs received at the input device 140, pre-determined control sequences, and / or machine-vision guided control.

[0030] The robotic system 120 comprises a drive system 122 and one or more motion sources 124 which are each, for example, a motor. The drive system 122 may be sterile, and the motion sources 124 may be separated from each other by a sterile barrier 126. The drive system 122 is arranged to receive and engage an elongate medical device 116, and to transfer motion from the one or more motion sources 124 to the elongate medical device 116 in order to translate and rotate the elongate medical device 116 along and about its longitudinal axis. This enables the robotic system 120 to navigate a distal end of the elongate medical device 116 through the patient’s vascular system.

[0031] With reference to Figures 2Ato 2J, a drive system 200 is arranged to transfer motion from one or more motion sources (e.g. motion sources 124) to an elongate medical device 116. The drive system 200 comprises a transmission 204, a first body 206, a second body 208, and a third body 210.

[0032] Each of the first body 206, the second body 208, and the third body 210 is independently rotatable about a longitudinal axis 202. Rotation of the first body 206 causes engagement and disengagement of an elongate medical device. Rotation of the second body 208 causes anengaged elongate medical device to rotate about its longitudinal axis. Rotation of the third body 210 causes an engaged elongate medical device to move linearly in the direction of its longitudinal axis.

[0033] Each of the first body 206, the second body 208, and the third body 210 may be associated with a respective motion source to independently induce rotation of the respective body 206, 208, 210. Alternatively, each of the first, second and third bodies 206, 208, 210 may be coupled to the same motion source by a linkage arranged to transfer rotation to one body at a time. The first body 206 comprises a gear-toothed outer surface 242, the second body 208 comprises a gear-toothed outer surface 244, and the third body 210 comprises a gear-toothed outer surface 246. The geartoothed outer surfaces 242, 244, 246 are each arranged to receive motion from a motion source. Additionally or alternatively, each body may be coupled to its respective motion source by a belt drive arrangement.

[0034] The transmission 204 is housed within the second body 208 and comprises a gear train 212, and a clamping mechanism 214. The clamping mechanism 214 is configured to releasably engage an elongate medical device. The clamping mechanism 214 comprises a first arm 216, a second arm 218, a first roller 220 and a second roller 222. The first roller 220 is rotatably coupled to the first arm 216, and the second roller 222 is rotatably coupled to the second arm 218. The first roller 220 is mounted to a first roller shaft 248 and is rotatable about a first roller axis 224. The first roller 220 is coupled to the gear train 212. The second roller 222 freely rotates about a second roller axis 226. In other drive systems, the second roller may also be coupled to the gear train. The first roller 220 comprises a first engagement surface 228, being the outer surface of the first roller 220. The second roller 222 comprises a second engagement surface 230, being the outer surface of the second roller 222. An elongate medical device 116 may be engaged between the first and second engagement surfaces 228, 230. In other drive systems, the first and second engagement surfaces may be the outer surfaces of a plurality of pairs of rollers, or the surfaces of a pair of belts each around two pulleys.

[0035] The first body 206 comprises a first slot 270, the second body 208 comprises a second slot 272, and the third body comprises a third slot 274. Each of the slots 270, 272, 274 is for receiving an elongate medical device 116 substantially into the drive system 200 in line with the longitudinal axis 202. Each of the slots 270, 272, 274 extends from an outer surface of the respective body towards and beyond the longitudinal axis 202. Each slot may have a minimum width of between 1 millimetre and 10 millimetres.

[0036] The first arm 216 pivots about a first shaft 232 having a first pivot axis 234. The second arm 218 pivots about a second shaft 236 having a second pivot axis 238. The first arm 216 and the second arm 218 each comprise a gear-toothed portion 240 arranged to mesh together and interlock rotation of the arms in opposite directions about their respective pivot axes 234, 238. Accordingly, clockwise rotation of the first arm 216 about the first pivot axis 234 causes counterclockwise rotation of the second arm 218 about the second pivot axis 238, and vice versa.The first and second shafts 232, 236 are held by the second body 208. The clamping mechanism 214 is therefore held in a fixed position relative to the second body 208, and hence the second slot 272 is in a fixed position relative to the clamping mechanism 214.

[0037] With particular reference to Figures 2B, 2E, 2F and 2G, rotation of the first body 206 is configured to actuate the clamping mechanism 214 to cause engagement and disengagement of an elongate medical device 116 when the first body 206 is rotated about the longitudinal axis 202 relative to the second body 208. Figure 2E illustrates the clamping mechanism 214 in an open configuration in which each of the first and second engagement surfaces 228, 230 are spaced apart from each other and away from the longitudinal axis 202. An elongate medical device 116 may be received in the space between the first and second engagement surfaces 228, 230.

[0038] When the clamping mechanism 214 is in the open configuration, the first slot 270 is substantially in line with the second slot 272. Since the second slot 272 is in a fixed position relative to the clamping mechanism 214, alignment of the first and second slots 270, 272 in the open configuration enables the second body 208 to be rotated without rotating or engaging an elongate medical device, even if the elongate medical device is received in the drive system. This advantageously enables emergency removal of a received elongate medical device, for example, when a distal end of the received elongate medical device is within a patient’s vascular system, without causing movement of the distal end. The first and third slots 270, 274 may be aligned with each other when in the open configuration, although this is not required for emergency removal since rotation of the first body 206 relative to the third body 210 does not actuate the clamping mechanism 214. When the clamping mechanism 214 is in the open configuration, the sides of the first slot 270 are substantially parallel with the first and second engagement surfaces 228, 230 of the first and second rollers 220, 222.

[0039] Figure 2F illustrates the clamping mechanism 214 in a clamping configuration (i.e. closed configuration) in which the first and second engagement surfaces 228, 230 are closer together and closer to the longitudinal axis 202 than in the open configuration. When the clamping mechanism 214 is in the clamping configuration, an elongate medical device 116 received between the first and second engagement surfaces 228, 230 is engaged by the engagement surfaces. This enables the first and second engagement surfaces 228, 230 to interact with the engaged elongate medical device and impart translational and rotational movement from a motion source to the engaged elongate medical device.

[0040] The first body 206 is coupled to the clamping mechanism 214. Rotation of the first body 206 about the longitudinal axis 202 changes the minimum distance between both the first engagement surface 228 and the longitudinal axis 202, and between the second engagement surface 230 and the longitudinal axis 202 thereby causing the clamping mechanism 214 to engage and disengage an elongate medical device 116. Accordingly, the first roller 220 and hence the first engagement surface 228 is moveable between a first position, in which the first engagement surface 228 is spaced apart from the longitudinal axis 202 by a first distance, and a second position, in which thefirst engagement surface 228 is spaced apart from the longitudinal axis 202 by a second distance. The first distance is greater than the second distance. Similarly, the second roller 222 and hence the second engagement surface 230 is moveable between a third position, in which the second engagement surface 230 is spaced apart from the longitudinal axis 202 by a third distance, and a fourth position, in which the second engagement surface 230 is spaced apart from the longitudinal axis 202 by a fourth distance. The third distance is greater than the fourth distance. The second and fourth distances may be the same such that when an elongate medical device 116 is engaged between the first and second engagement surfaces 228, 230, the portion of the longitudinal axis of the elongate medical device 116 is substantially coaxial with the longitudinal axis 202 of the drive system 200.

[0041] In other drive systems, rotation of the first body about the longitudinal axis changes the minimum distance between one of the first engagement surface 224 and the longitudinal axis 202, or between the second engagement surface 226 and the longitudinal axis 202. Other drive systems may not include a clamping mechanism 212 or a first body 206 and the first and second engagement surfaces 224, 226 may instead be a predetermined distance apart from each other and the longitudinal axis 202.

[0042] With reference to Figure 2G, the first body 206 is in a first rotational position relative to the second body 208, corresponding to the open configuration. With reference to Figure 2H, the first body 206 is in a second rotational position relative to the second body 208, corresponding to the clamping configuration. The first body 206 comprises an arc shaped or U-shaped channel 260 arranged to receive an end 262 of the first arm 216, coupling the first body 206 to the clamping mechanism 214. The end 262 is spaced apart from the first pivot axis 234, and the first roller 220 is proximate the end 262. Rotation of the first body 206 about the longitudinal axis 202 relative to the second body 208 causes the first end 262 to move between a first region 264 of the channel 260 and a second region 266 of the channel 260 since first arm 216 pivots within the second body 208. As the end 262 of the first arm 216 moves along the channel 260, the first arm 216 pivots about the first pivot axis 234.

[0043] A first datum line 280 extends perpendicularly from the longitudinal axis 202 to the centre of the first slot 270 at the outer surface of the first body 206. A second datum line 282 extends perpendicularly from the longitudinal axis 202 to the centre of the second slot 272 at the outer surface of the second body 208. In the first rotational position, the first datum line 280 is coincident the second datum line 282 when viewed along the longitudinal axis 202. In the second rotational position, there is an angle 284 between the first datum line 280 and the second datum line 282 when viewed along the longitudinal axis 202. In Figure 2H, the angle 284 between the open and clamping configurations is 210 degrees but may be between 30 degrees and 270 degrees in other drive systems. In the first rotational position, the end 262 of the first arm 216 is in the first region 264. In the second rotational position, the end 262 is in the second region 266. The first and second datum lines 280, 282 are illustrated in Figures 2G and 2H for ease of reference only, andany other reference points or lines of the first and second bodies may be used to define the relative rotational positions between the first and second bodies.

[0044] When the first body 206 is in the first rotational position, the first engagement surface 228 is in the first position. When the first body 206 is in the second rotational position, the first engagement surface 228 is in the second position. Accordingly, rotation of the first body 206 about the longitudinal axis 202 between the first and second rotational positions changes the distance between first engagement surface 228 and the longitudinal axis 202, thereby enabling engagement of an elongate medical device between the first and second engagement surfaces 228, 230. An elongate device may also be received between the first and second engagement surfaces in intermediate configurations between the open and clamping configurations, depending on the diameter of the elongate medical device.

[0045] The clamping mechanism 214 comprises a biasing member (not illustrated), such as a torsion spring, arranged to bias the end of the first arm 216, and hence the first roller 220 and the first engagement surface 228, towards the longitudinal axis 202. The interlocked counter-rotation of the first arm 216 and the second arm 218 means that biasing of the first arm 216 causes the second arm 218, and hence the second roller 222 and the second engagement surface 230 to also be biased towards the longitudinal axis 202. Accordingly, the end 262 of the first arm 216 is biased to move towards the second region 266 of the channel 260.

[0046] The channel 260 may be configured to retain the end 262 in the first region 264 and overcome the biasing force when the first body 206 is in the first rotational position. Put another way, the clamping mechanism 214 is stable in the open configuration. In use, when the end 262 of the first arm 216 is in the second region 266 of the channel 260, i.e. in the clamping configuration, the biasing member biases the first and second engagement surfaces 228, 230 towards a received elongate medical device. When an elongate medical device is engaged in the clamping configuration, a clamping force applied to the elongate medical device by the first and second engagement surfaces 228, 230 may solely be caused by the biasing member. Advantageously, this enables a biasing member with a predetermined spring rate to be selected for the clamping mechanism 214, where the predetermined spring rate causes a clamping force which is less than a crush limit of the elongate medical device.

[0047] When an elongate medical device is engaged between the first and second engagement surfaces 228, 230, a portion of the longitudinal axis of a received elongate medical device is substantially coaxial with the longitudinal axis 202 of the drive system 200. In clamping mechanisms of other drive systems, neither the first nor second arms are biased towards the longitudinal axis of the drive system, and the first and second engagement surfaces may instead be a predetermined distance apart from each other and the longitudinal axis when the first body is in the second rotational position for engaging an elongate medical device.

[0048] As discussed above, the second body 208 is configured to impart rotation to an engaged elongate medical device 116 when the second body 208 is rotated about the longitudinal axis 202.The first and second shafts 232, 236 are held by the second body 208. Accordingly, when the second body 208 is rotated about the longitudinal axis 202, the first and second shafts 232, 236 and hence the first and second arms 216, 218 of the clamping mechanism 214 also rotate about the longitudinal axis 202. Consequently, an elongate medical device 116 received between the first and second engagement surfaces 228, 230 is rotated when the second body 208 is rotated about the longitudinal axis 202.

[0049] With particular reference to Figures 2D, 2I, 2J, and 2K the third body 210 is configured to impart linear movement to an engaged elongate medical device 116 in the direction of its longitudinal axis when the third body 210 is rotated about the longitudinal axis 202. The third body 210 is coupled by the gear train 212 to the first roller 220 and hence to the first engagement surface 228.

[0050] The gear train 212 of the transmission 204 comprises a compound gear 300 having a first gear 302 and a second gear 304 coaxially mounted to a compound gear shaft 306. The compound gear shaft 306 rotates about a compound gear shaft axis 308. The first gear 302 and the second gear 304 may be integrally formed. The third body 210 comprises a gear-toothed surface 310 configured to mesh with the first gear 302. The first gear 302 and the gear-toothed surface 310 form bevel gears.

[0051] The gear train 212 further comprises a third gear 312 and a fourth gear 314. The third gear 312 is coaxial with the first pivot axis 234. The fourth gear 314 is coaxial with the first roller axis 224 and is mounted to the first roller shaft 248. The second gear 304 is configured to mesh with the third gear 312. The third gear 312 is also configured to mesh with the fourth gear 314. Accordingly, when the third body 210 is rotated about the longitudinal axis 202, the rotation is transferred to the fourth gear 314 thereby causing the first roller 220 to rotate. The coaxial mounting of the third gear 312 with the first pivot axis 234 enables the first roller 220 to be rotated irrespective of its pivotal position about the first pivot axis 234.

[0052] The third slot 274 in the third body 210 comprises a sigmoid or S-shape to partially intersect two adjacent teeth 320 of the gear-toothed surface 310. Since the minimum width of the third slot 274 may be wider than the circular pitch of the teeth on the gear-toothed surface 310, the partial intersection of two adjacent teeth 320 enables the first gear 302 to mesh with the gear-toothed surface 310, even when the first gear 302 reaches the third slot 274. A different portion of the face width of the first tooth 322 is intersected by the third slot 274 compared to the portion of the face width of the second tooth 324 that is intersected by the third slot 274. Namely, the radially inner portion of the face width of the first tooth 322 is absent from the gear-toothed surface 310, and the radially outer portion of the face width of the second tooth 324 is absent from the gear-toothed surface 310. In other drive systems, the third slot may not have a sigmoid shape and instead intersect one or more entire teeth of the gear-toothed surface, as discussed with reference to Figure 4.

[0053] With reference to Figures 3Ato 3H, a drive system 400 is arranged to transfer motion from one or more motion sources (e.g. motion sources 124) to an elongate medical device 116. The drive system 400 comprises a transmission 404, a first body 406, and a second body 408.

[0054] Each of the first body 406, and the second body 408 is independently rotatable about a longitudinal axis 402. Rotation of the first body 406 causes engagement and disengagement of an elongate medical device. Rotation of the second body 408 causes an engaged elongate medical device to rotate about its longitudinal axis. Other drive systems include a third body which is rotatable to cause an engaged elongate medical device to move linearly in the direction of its longitudinal axis in substantially the same way as the third body 210.

[0055] Each of the first body 406, and the second body 408 are configured to receive motion, for example via a gear and / or belt arrangement, from respective motion source to independently induce rotation of the respective body 406, 408. Alternatively, each of the first and second bodies 406, 408 may be coupled to the same motion source by a linkage arranged to transfer rotation to one body at a time.

[0056] The transmission 404 is housed within the second body 408 and comprises a gear train (not illustrated), and a clamping mechanism 414. The clamping mechanism 414 is configured to releasably engage an elongate medical device. The clamping mechanism 414 comprises an arm 416, a first roller 420 and a second roller 422. The first roller 420 is rotatably coupled to the arm 416, and the second roller 422 is rotatably coupled inside the second body 408. The first roller 420 rotates about a first roller axis and is coupled to the gear train to transfer motion from a motion source to the first roller 420. The second roller 422 freely rotates about a second roller axis. In other drive systems, the second roller may also be coupled to the gear train. The first roller 420 comprises a first engagement surface 428, being the outer surface of the first roller 420. The second roller 422 comprises a second engagement surface 430, being the outer surface of the second roller 422. An elongate medical device 116 may be engaged between the first and second engagement surfaces 428, 430. The minimum distance between the second engagement surface 430 and the longitudinal axis 402 is predetermined. In other drive systems, the first and second engagement surfaces may be the outer surfaces of a plurality of pairs of rollers, or the surfaces of a pair of belts each around two pulleys.

[0057] The first body 406 comprises a first slot 470, and the second body 408 comprises a second slot 472. Each of the slots 470, 472 is for receiving an elongate medical device 116 substantially into the drive system 400 in line with the longitudinal axis 402. Each of the slots 470, 472 extends from a perimeter (i.e. an outer surface) of the respective body towards and beyond the longitudinal axis 402. Each slot may have a minimum width of between 1 millimetre and 10 millimetres.

[0058] The first body 406 comprises a male thread 442 and the second body 408 comprises a corresponding female thread 444, thereby enabling the first body 406 to screw into the second body 408 in the direction of the longitudinal axis 402. The arm 416 pivots about a shaft 432, moving the first roller 420 relative to the longitudinal axis 402. Rotation of the first body 406 isconfigured to actuate the clamping mechanism 414 to cause engagement and disengagement of an elongate medical device 116 when the first body 406 is rotated about the longitudinal axis 402 relative to the second body 408. Figure 3E illustrates the clamping mechanism 414 in an open configuration in which each of the first and second engagement surfaces 428, 430 are spaced apart from each other. An elongate medical device 116 may be received in the space between the first and second engagement surfaces 428, 430.

[0059] When the clamping mechanism 414 is in the open configuration, the first slot 470 is substantially in line with the second slot 472. Since the second slot 472 is in a fixed position relative to the clamping mechanism 414, alignment of the first and second slots 470, 472 in the open configuration enables the second body 408 to be rotated without rotating or engaging an elongate medical device, even if the elongate medical device is received in the drive system. This advantageously enables emergency removal of a received elongate medical device, for example, when a distal end of the received elongate medical device is within a patient’s vascular system, without causing movement of the distal end. When the clamping mechanism 414 is in the open configuration, the sides of the first slot 470 are substantially parallel with the first and second engagement surfaces 428, 430 of the first and second rollers 420, 422.

[0060] Figure 3F illustrates the clamping mechanism 414 in a clamping configuration (i.e. closed configuration) in which the minimum distance between the first engagement surface 428 and the longitudinal axis 402 is smaller than when in the open configuration. When the clamping mechanism 414 is in the clamping configuration, an elongate medical device 116 received between the first and second engagement surfaces 428, 430 is engaged by the engagement surfaces. This enables the first and second engagement surfaces 428, 430 to interact with the engaged elongate medical device and impart translational and rotational movement from a motion source to the engaged elongate medical device.

[0061] The first body 406 is coupled to the clamping mechanism 414. The clamping mechanism 414 comprises a biasing member (not illustrated), such as a spring, arranged to bias an end 462 of the first arm 416 against an inner surface 456 of the first body 406. The end 462 is spaced apart from the shaft 432 relative to the first roller 420. Rotation of the first body 406 about the longitudinal axis 402 changes the distance between the inner surface 456 and the shaft 432 as the first body 406 is threaded into the second body 408. Since the end 462 presses on the inner surface 456, this causes the arm 416 to pivot about the shaft 432, changing the minimum distance between the first engagement surface 428 and the longitudinal axis 402, thereby causing the clamping mechanism 414 to engage and disengage an elongate medical device 116. Accordingly, the first roller 420 and hence the first engagement surface 428 is moveable between a first position, in which the first engagement surface 428 is spaced apart from the longitudinal axis 402 by a first distance, and a second position, in which the first engagement surface 428 is spaced apart from the longitudinal axis 402 by a second distance. The first distance is greater than the seconddistance. In other drive systems, such as drive system 200, the second roller 422 may also be moveable relative to the longitudinal axis 402, for example by being mounted to a respective arm.

[0062] With reference to Figure 3G, the first body 406 is in a first rotational position relative to the second body 408, corresponding to the open configuration. With reference to Figure 3H, the first body 406 is in a second rotational position relative to the second body 408, corresponding to the clamping configuration. Afirst datum line 480 extends perpendicularly from the longitudinal axis 402 to the centre of the first slot 470 at the outer surface of the first body 406. A second datum line 482 extends perpendicularly from the longitudinal axis 402 to the centre of the second slot 472 at the outer surface of the second body 408. In the first rotational position, the first datum line 480 is coincident the second datum line 482 when viewed along the longitudinal axis 402. In the second rotational position, there is an angle 484 between the first datum line 480 and the second datum line 482 when viewed along the longitudinal axis 402. The first and second datum lines 480, 482 are illustrated in Figures 3G and 3H for ease of reference only, and any other reference points or lines of the first and second bodies may be used to define the relative rotational positions between the first and second bodies.

[0063] In the open configuration, the first body 406 is fully threaded into the second body 408 in a first longitudinal position. In the first longitudinal position, the first body 406 is in the first rotational position causing the first engagement surface 428 to be in the first position. When the first body 406 is in the second rotational position at a second longitudinal position relative to the second body 408, the first engagement surface 428 is in the second position. Accordingly, rotation of the first body 406 about the longitudinal axis 402 between the first and second rotational positions changes the distance between first engagement surface 428 and the longitudinal axis 402, thereby enabling engagement of an elongate medical device between the first and second engagement surfaces 428, 430. An elongate device may also be received between the first and second engagement surfaces in intermediate configurations between the open and clamping configurations, depending on the diameter of the elongate medical device. The portion of the longitudinal axis of elongate medical devices received and engaged in the drive system 400 may not be coincident with the longitudinal axis 402 since the second roller 422 is a predetermined distance from the longitudinal axis 402.

[0064] With reference to Figures 4Ato 4D, a drive system 500 is arranged to transfer motion from one or more motion sources (e.g. motion sources 124) to an elongate medical device 116. The drive system 500 comprises a transmission 504, a first body 506, and a second body 508. In Figures 4Ato 4D, all gears which are described are illustrated without gear teeth.

[0065] Each of the first body 506, the second body 508, and the third body 510 is independently rotatable about a longitudinal axis 502. Rotation of the first body 506 causes engagement and disengagement of an elongate medical device. Rotation of the second body 508 causes an engaged elongate medical device to rotate about its longitudinal axis. Rotation of the third body510 causes an engaged elongate medical device to move linearly in the direction of its longitudinal axis.

[0066] Each of the first body 506, the second body 508, and the third body 510 are configured to receive motion, for example via a gear and / or belt arrangement, from respective motion source to independently induce rotation of the respective body 506, 508, 510. Alternatively, each of the first, second and third bodies 506, 508, 510 may be coupled to the same motion source by a linkage arranged to transfer rotation to one body at a time.

[0067] The transmission 504 is housed within the second body 508 and comprises a gear train 512, and a clamping mechanism 514. The clamping mechanism 514 is configured to releasably engage an elongate medical device. The clamping mechanism 514 comprises a first arm 516, a second arm 518, a first roller 520 and a second roller 522. The first roller 520 is rotatably coupled to the first arm 516, and the second roller 522 is rotatably coupled to the second arm 518. The first roller 520 is mounted to a first roller shaft and is rotatable about a first roller axis. The first roller 520 is coupled to the gear train 512. The second roller 522 freely rotates about a second roller axis. In other drive systems, the second roller may also be coupled to the gear train. The first roller 520 comprises a first engagement surface 528, being the outer surface of the first roller 520. The second roller 522 comprises a second engagement surface 530, being the outer surface of the second roller 522. An elongate medical device 116 may be engaged between the first and second engagement surfaces 528, 530. In other drive systems, the first and second engagement surfaces may be the outer surfaces of a plurality of pairs of rollers, or the surfaces of a pair of belts each around two pulleys.

[0068] The first body 506 comprises a first slot 570, the second body 508 comprises a second slot 572, and the third body comprises a third slot 574. Each of the slots 570, 572, 574 is for receiving an elongate medical device 116 substantially into the drive system 500 in line with the longitudinal axis 502. Each of the slots 570, 572, 574 extends from an outer surface of the respective body towards and beyond the longitudinal axis 502. Each slot may have a minimum width of between 1 millimetre and 10 millimetres.

[0069] The first arm 516 pivots about a first shaft 532 having a first pivot axis. The second arm 518 pivots about a second shaft 536 having a second pivot axis. The first arm 516 and the second arm 518 each comprise a respective end 562, 568. Similar to drive system 200, rotation of the first body 506 is configured to actuate the clamping mechanism 514 to cause engagement and disengagement of an elongate medical device 116 when the first body 506 is rotated about the longitudinal axis 502 relative to the second body 508. The first body 506 comprises two channels, each similar to the channel 260, which receive a respective end 562, 568 of one the first or second arms 516, 518. The ends 562, 568 of the arms 516, 518 move along their respective channels from a first region of the channel (which corresponds to a first rotational position of the first body 506), and a second region of the channel (which corresponds to a second rotational position of the first body 506). Rotation of the first body 506 to the first rotational position moves the ends 562, 568 ofthe arms 516, 518 to the first region of their respective channels, and rotation of the first body 506 to the second rotational position moves the ends 562, 568 of the arms 516, 518 to the second region of their respective channels.

[0070] Similar to the drive systems 200, 300 the second body 508 is configured to impart rotation to an engaged elongate medical device 116 when the second body 508 is rotated about the longitudinal axis 502. The first and second shafts 532, 536 are held by the second body 508. Accordingly, when the second body 508 is rotated about the longitudinal axis 502, the first and second shafts 532, 536 and hence the first and second arms 516, 518 of the clamping mechanism 514 also rotate about the longitudinal axis 502. Consequently, an elongate medical device 116 received between the first and second engagement surfaces 528, 530 is rotated when the second body 508 is rotated about the longitudinal axis 502.

[0071] The third body 510 is configured to impart linear movement to an engaged elongate medical device 116 in the direction of its longitudinal axis when the third body 510 is rotated about the longitudinal axis 502. The third body 510 is coupled by the gear train 512 to the first roller 520 and hence to the first engagement surface 528.

[0072] The gear train 512 of the transmission 504 comprises a compound gear 600 having a first gear 602 and a second gear 604 coaxially mounted to a compound gear shaft. The compound gear shaft rotates about a compound gear shaft axis. The first gear 602 and the second gear 604 may be integrally formed. The gear train 512 further comprises a third gear 612 and a fourth gear 614. The third gear 612 and the fourth gear 614 may be substantially identical. The third body 510 comprises a gear-toothed surface 610 configured to mesh with each of the third gear 612 and the fourth gear 614. The third gear 612 and the fourth gear 614 also mesh with the first gear 602 (which does not mesh with the gear-toothed surface 610). The third gear 612, the fourth gear 614 and the gear-toothed surface 610 form bevel gears. As the minimum width of the third slot 574 in the third body 510 may be wider than the circular pitch of the teeth on the gear-toothed surface 610, the third gear 612 and the fourth gear 614 are spaced apart such that when one of the third gear 612 or the fourth gear 614 passes over the slot 574, the other of the third gear 612 or the fourth gear 614 maintains its meshing with the gear-toothed surface 610.

[0073] The gear train 512 further comprises a fifth gear 616. The fifth gear 616 is coaxial with the first roller axis and is mounted to the first roller shaft. When an elongate medical device is engaged between the first and second rollers 520, 522, the fifth gear 616 meshes with the second gear 604 of the compound gear 600. Accordingly, when the third body 510 is rotated about the longitudinal axis 502, the rotation is transferred to the third and / or fourth gears 612, 614 thereby causing the first roller 520 to rotate.

[0074] Those skilled in the art will appreciate that aspects of the first, second and third drive 200, 400, 500 systems may be implemented in other combinations in other drive systems. For example, a drive system may comprise the first and second bodies of the first drive system with the third body and gear train of the third drive system.

[0075] Exemplary embodiments have been disclosed for illustrative purposes only, and those skilled in the art will appreciate that various modifications, additions and substitutions are possible without departing from the scope of the accompanying claims. Each of the narrower species and subgeneric groupings falling within the generic disclosure also form part of the invention. This includes the generic description of the invention with a proviso or negative limitation removing any subject matter from the genus, regardless of whether or not the excised material is specifically recited herein.

[0076] It is also to be understood that as used herein and in the appended claims, the singular forms “a,” “an,” and “the” include plural reference unless the context clearly dictates otherwise, the term “X and / or Y” means “X” or “Y” or both “X” and “Y” and the letter “s” following a noun designates both the plural and singular forms of that noun.

[0077] It is to be understood that the terminology used herein is for the purpose of describing specific embodiments only and is not intended to be limiting. It is further to be understood that unless specifically defined herein, the terminology used herein is to be given its traditional meaning as known in the relevant art.

[0078] Reference throughout this specification to “one embodiment” or “an embodiment” and variations thereof means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0079] Unless the context requires otherwise, throughout the specification and claims that follow, the word “comprise” and synonyms and variants thereof such as “have” and “include,” as well as variations thereof such as “comprises” and “comprising” are to be construed in an open, inclusive sense, e.g., “including, but not limited to.” The term “consisting essentially of” limits the scope of a claim to the specified materials or steps, or to those that do not materially affect the basic and novel characteristics of the claimed invention.

[0080] Any headings used within this document are only being utilized to expedite its review by the reader and should not be construed as limiting the invention or claims in any manner. Thus, the headings and Abstract of the Disclosure provided herein are for convenience only and do not interpret the scope or meaning of the embodiments.

[0081] Where a range of values is provided herein, it is understood that each intervening value, to the tenth of the unit of the lower limit unless the context clearly dictates otherwise, between the upper and lower limit of that range and any other stated or intervening value in that stated range is encompassed within the invention. The upper and lower limits of these smaller ranges may independently be included in the smaller ranges are also encompassed within the invention, subject to any specifically excluded limit in the stated range. Where the stated range includes oneor both of the limits, ranges excluding either or both of those included limits are also included in the invention.

[0082] For example, any concentration range, percentage range, ratio range, or integer range provided herein is to be understood to include the value of any integer within the recited range and, when appropriate, fractions thereof (such as one tenth and one hundredth of an integer), unless otherwise indicated. Also, any number range recited herein relating to any physical feature, such as polymer subunits, size or thickness, are to be understood to include any integer within the recited range, unless otherwise indicated. As used herein, the term “about” means ±20% of the indicated range, value, or structure, unless otherwise indicated.

[0083] All of the U.S. patents, U.S. patent application publications, U.S. patent applications, foreign patents, foreign patent applications and non-patent publications referred to in this specification and / or listed in the Application Data Sheet, are incorporated herein by reference, in their entirety. Such documents may be incorporated by reference for the purpose of describing and disclosing, for example, materials and methodologies described in the publications, which might be used in connection with the presently described invention. The publications discussed above and throughout the text are provided solely for their disclosure prior to the filing date of the present application. Nothing herein is to be construed as an admission that the inventors are not entitled to antedate any referenced publication by virtue of prior invention.

[0084] All patents, publications, scientific articles, web sites, and other documents and materials referenced or mentioned herein are indicative of the levels of skill of those skilled in the art to which the invention pertains, and each such referenced document and material is hereby incorporated by reference to the same extent as if it had been incorporated by reference in its entirety individually or set forth herein in its entirety. Applicants reserve the right to physically incorporate into this specification any and all materials and information from any such patents, publications, scientific articles, web sites, electronically available information, and other referenced materials or documents.

[0085] In general, in the following claims, the terms used should not be construed to limit the claims to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which such claims are entitled. Accordingly, the claims are not limited by the disclosure. Furthermore, the written description portion of this patent includes all claims. Furthermore, all claims, including all original claims as well as all claims from any and all priority documents, are hereby incorporated by reference in their entirety into the written description portion of the specification, and Applicants reserve the right to physically incorporate into the written description or any other portion of the application, any and all such claims. Thus, for example, under no circumstances may the patent be interpreted as allegedly not providing a written description for a claim on the assertion that the precise wording of the claim is not set forth in haec verba in written description portion of the patent.

[0086] The claims will be interpreted according to law. However, and notwithstanding the alleged or perceived ease or difficulty of interpreting any claim or portion thereof, under no circumstances may any adjustment or amendment of a claim or any portion thereof during prosecution of the application or applications leading to this patent be interpreted as having forfeited any right to any and all equivalents thereof that do not form a part of the prior art.

[0087] Other nonlimiting embodiments are within the following claims. The patent may not be interpreted to be limited to the specific examples or nonlimiting embodiments or methods specifically and / or expressly disclosed herein. Under no circumstances may the patent be interpreted to be limited by any statement made by any Examiner or any other official or employee of the United States Patent and Trademark Office unless such statement is specifically and without qualification or reservation expressly adopted in a responsive writing by Applicants.

[0088] Further aspects are set out in the following numbered clauses:1 . A drive system for transferring motion from a motion source to an elongate medical device, the drive system comprising a first body and a second body each arranged along a longitudinal axis, wherein the second body comprises a clamping mechanism, the clamping mechanism comprising a first engagement surface and a second engagement surface for interacting with the elongate medical device therebetween, wherein the first engagement surface is pivotably mounted about a pivot axis, wherein the first engagement surface is moveable between a first position and a second position, wherein in the first position, the first engagement surface is spaced apart from the longitudinal axis by a first distance, wherein in the second position, the first engagement surface is spaced apart from the longitudinal axis by a second distance, and the first distance is greater than the second distance; and wherein the first body is coupled to the clamping mechanism and is rotatable around the longitudinal axis between a first rotational position and a second rotational position relative to the second body, wherein rotation of the first body to the first rotational position moves the first engagement surface to the first position, and rotation of the first body to the second rotational position moves the first engagement surface to the second position.2. The drive system of clause 1 , wherein the clamping mechanism further comprises a gear coupled to the first engagement surface, wherein the gear is coaxial with the pivot axis, and the gear is arranged to transfer motion from the motion source to the first engagement surface.3. The drive system of any of clauses 1 or 2, wherein: the second engagement surface is moveable between a third position and a fourth position, in the third position, the second engagement surface is spaced apart from the longitudinal axis by a third distance, in the fourth position, the second engagement surface is spaced apart from the longitudinal axis by a fourth distance,the third distance is greater than the fourth distance, rotation of the first body to the first rotational position moves the second engagement surface into the third position, and rotation of the first body to the second rotational position moves the second engagement surface into the fourth position.4. The drive system of clause 3, wherein the first distance is the same as the third distance, and the second distance is the same as the fourth distance.5. The drive system of any of clauses 1 to 4, wherein the first engagement surface and / or the second engagement surface is biased towards the longitudinal axis.6. The drive system of any of clauses 1 to 5, wherein: the first body comprises a channel having a first region corresponding to the first rotational position, and a second region corresponding to the second rotational position, the clamping mechanism comprises an arm coupled to the first engagement surface, the first body is coupled to the clamping mechanism by a portion of the arm received in the channel, rotation of the first body to the first rotational position moves the portion of the arm to the first region of the channel, and rotation of the first body to the second rotational position moves the portion of the arm to the second region of the channel.7. The drive system of clause 6, wherein the channel is U-shaped.8. The drive system of any of clauses 1 to 5, wherein: the clamping mechanism comprises an arm coupled to the first engagement surface and the body, and the first body is arranged to be displaced relative to the second body in a direction parallel to the longitudinal axis between a first longitudinal position corresponding to the first rotational position, and a second longitudinal position corresponding to the second rotational position.9. The drive system of any of clauses 1 to 8, wherein the second body is rotatable around the longitudinal axis independently from rotation of the first body.10. The drive system of any of clauses 1 to 9, wherein the first engagement surface is an outer surface of a first roller, and the second engagement surface is an outer surface of a second roller.11 . The drive system of clause 10, wherein the transmission is configured to transfer motion from the motion source to rotation of the first roller.12. The drive system of any of clauses 1 to 9, wherein the first engagement surface is an outer surface of a first belt arranged around a first pair of pulleys, and the second engagement surface is an outer surface of a second belt arranged around a second pair of pulleys.13. The drive system of clause 12, wherein the transmission is configured to transfer motion from the motion source to rotation of at least one pulley of the first pair of pulleys, thereby moving the first belt.14. The drive system of any of clauses 1 to 13, wherein the motion source is arranged to rotate the second body about the longitudinal axis.15. The drive system of any of clauses 1 to 14, wherein the first body comprises a slot extending from a perimeter of the first body to the longitudinal axis of the drive system for receiving the elongate medical device.16. The drive system of clause 15, wherein the slot has a minimum width of between 1 millimetre and 10 millimetres.17. The drive system of any of clauses 1 to 16, wherein the drive system is sterile.18. A robotic system for use in a catheterisation laboratory, the robotic system comprising the drive system of any of clauses 1 to 17.19. The robotic system of clause 18, comprising a sterile barrier and a motion source coupled to the first body, wherein the motion source is separated from the drive system by the sterile barrier.20. A drive system for transferring motion from a motion source to an elongate medical device, the drive system comprising: a transmission comprising a first gear, and two engagement surfaces, at least one of the two engagement surfaces being coupled to the first gear, the two engagement surfaces for interacting with the elongate medical device therebetween; and a body arranged along a longitudinal axis, the body comprising a gear-toothed surface configured to mesh with the first gear, and a slot extending from a perimeter of the body for receiving the elongate medical device, the body being rotatable around the longitudinal axis, wherein at least two adjacent teeth of the gear-toothed surface are each partially intersected by the slot.21. The drive system of clause 20, the gear-toothed surface comprising a face width, wherein a first portion of a first tooth of the at least two adjacent teeth is partially intersected by the slot, and a second portion of a second tooth of the at least two adjacent teeth is partially intersected by the slot, wherein the first portion is a different part of the face width from the second portion.22. The drive system of any of clauses 20 or 21 , wherein the body is configured to receive motion from the motion source.23. The drive system of any of clauses 20 to 22, wherein the body comprises a bevel gear surface, the first gear comprises a bevel gear, and an axis of rotation of the first gear is perpendicular to the longitudinal axis of the drive system.24. The drive system of any of clauses 20 to 23, wherein the slot has a minimum width of between 1 millimetre and 10 millimetres.25. The drive system of any of clauses 20 to 24, wherein the two engagement surfaces are outer surfaces of two rollers.26. The drive system of clause 25, wherein the transmission is configured to transfer motion from the motion source to rotation of at least one of the two rollers.27. The drive system of any of clauses 20 to 24, wherein the two engagement surfaces are outer surfaces of two belts each arranged around a respective pair of pulleys.28. The drive system of clause 27, wherein the transmission is configured to transfer motion from the motion source to rotation of at least one pulley of the one of the pairs of pulleys, thereby moving at least one of the two belts.29. The drive system of any of clauses 20 to 28, wherein the drive system is sterile.30. A robotic system for use in a catheterisation laboratory, the robotic system comprising the drive system of any of clauses 20 to 29.31. The robotic system of clause 30, comprising a sterile barrier and a motion source coupled to the body, wherein the motion source is separated from the drive system by the sterile barrier.32. A drive system for transferring motion from a motion source to an elongate medical device, the drive system comprising a first body, a second body, and a third body each arranged along a longitudinal axis, wherein the second body comprises a clamping mechanism, the clamping mechanism comprising a first engagement surface and a second engagement surface for interacting with the elongate medical device therebetween, wherein the first engagement surface is pivotably mounted about a pivot axis, wherein the first engagement surface is moveable between a first position and a second position, wherein in the first position, the first engagement surface is spaced apart from the longitudinal axis by a first distance, wherein in the second position, the first engagement surface is spaced apart from the longitudinal axis by a second distance, and the first distance is greater than the second distance, wherein the first body is coupled to the clamping mechanism and is rotatable around the longitudinal axis between a first rotational position and a second rotational position relative to the second body, wherein rotation of the first body to the first rotational position moves the first engagement surface to the first position, and rotation of the first body to the second rotational position moves the first engagement surface to the second position, and wherein the transmission comprises a first gear coupled to the first engagement surface, wherein the third body comprises a gear-toothed surface configured to mesh with the first gear, and a slot extending from a perimeter of the body for receiving the elongate medical device, the body being rotatable around the longitudinal axis, wherein at least two adjacent teeth of the gear-toothed surface are each partially intersected by the slot.

Claims

Claims1 . A drive system for transferring motion from a motion source to an elongate medical device, the drive system comprising a first body and a second body each arranged along a longitudinal axis, wherein the second body comprises a clamping mechanism, the clamping mechanism comprising a first engagement surface and a second engagement surface for interacting with the elongate medical device therebetween, wherein the first engagement surface is pivotably mounted about a pivot axis, wherein the first engagement surface is moveable between a first position and a second position, wherein in the first position, the first engagement surface is spaced apart from the longitudinal axis by a first distance, wherein in the second position, the first engagement surface is spaced apart from the longitudinal axis by a second distance, and the first distance is greater than the second distance, and wherein the first body is coupled to the clamping mechanism and is rotatable around the longitudinal axis between a first rotational position and a second rotational position relative to the second body, wherein rotation of the first body to the first rotational position moves the first engagement surface to the first position, and rotation of the first body to the second rotational position moves the first engagement surface to the second position.

2. The drive system of claim 1 , wherein the clamping mechanism further comprises a gear coupled to the first engagement surface, wherein the gear is coaxial with the pivot axis, and the gear is arranged to transfer motion from the motion source to the first engagement surface.

3. The drive system of any of claims 1 or 2, wherein: the second engagement surface is moveable between a third position and a fourth position, in the third position, the second engagement surface is spaced apart from the longitudinal axis by a third distance, in the fourth position, the second engagement surface is spaced apart from the longitudinal axis by a fourth distance, the third distance is greater than the fourth distance, rotation of the first body to the first rotational position moves the second engagement surface into the third position, and rotation of the first body to the second rotational position moves the second engagement surface into the fourth position.

4. The drive system of claim 3, wherein the first distance is the same as the third distance, and the second distance is the same as the fourth distance.

5. The drive system of any preceding claim, wherein the first engagement surface and / or the second engagement surface is biased towards the longitudinal axis.

6. The drive system of any preceding claim, wherein the first body comprises a slot extending from a perimeter of the first body to the longitudinal axis of the drive system for receiving the elongate medical device.

7. The drive system of claim 6, wherein the slot has a minimum width of between 1 millimetre and 10 millimetres.

8. The drive system of any preceding claim, wherein: the first body comprises a channel having a first region corresponding to the first rotational position, and a second region corresponding to the second rotational position, the clamping mechanism comprises an arm coupled to the first engagement surface, the first body is coupled to the clamping mechanism by a portion of the arm received in the channel, rotation of the first body to the first rotational position moves the portion of the arm to the first region of the channel, and rotation of the first body to the second rotational position moves the portion of the arm to the second region of the channel.

9. The drive system of any of claims 1 to 7, wherein: the clamping mechanism comprises an arm coupled to the first engagement surface and the body, and the first body is arranged to be displaced relative to the second body in a direction parallel to the longitudinal axis between a first longitudinal position corresponding to the first rotational position, and a second longitudinal position corresponding to the second rotational position.

10. The drive system of any preceding claim, wherein the second body is rotatable around the longitudinal axis independently from rotation of the first body.11 . The drive system of any of claims 1 to 10, wherein the first engagement surface is an outer surface of a first roller, and the second engagement surface is an outer surface of a second roller.

12. The drive system of claim 11 , wherein the transmission is configured to transfer motion from the motion source to rotation of the first roller.

13. A drive system for transferring motion from a motion source to an elongate medical device, the drive system comprising: a transmission comprising a first gear, and two engagement surfaces, at least one of the two engagement surfaces being coupled to the first gear, the two engagement surfaces for interacting with the elongate medical device therebetween; and a body arranged along a longitudinal axis, the body comprising a gear-toothed surface configured to mesh with the first gear, and a slot extending from a perimeter of the body for receiving the elongate medical device, the body being rotatable around the longitudinal axis, wherein at least two adjacent teeth of the gear-toothed surface are each partially intersected by the slot.

14. The drive system of claim 13, the gear-toothed surface comprising a face width, wherein a first portion of a first tooth of the at least two adjacent teeth is partially intersected by the slot, and a second portion of a second tooth of the at least two adjacent teeth is partially intersected by the slot, wherein the first portion is a different part of the face width from the second portion.

15. The drive system of any of claims 13 or 14, wherein the body is configured to receive motion from the motion source.

16. The drive system of any of claims 13 to 15, wherein the gear-toothed surface forms a bevel gear, the first gear comprises a bevel gear, and an axis of rotation of the first gear is perpendicular to the longitudinal axis of the drive system.

17. The drive system of any of claims 13 to 16, wherein the slot has a minimum width of between 1 millimetre and 10 millimetres.

18. The drive system of any of claims 13 to 17, wherein the two engagement surfaces are outer surfaces of two rollers, or outer surfaces of two belts each arranged around a respective pair of pulleys.

19. The drive system of any of claims 1 to 18, wherein the drive system is sterile.

20. A robotic system for use in a catheterisation laboratory, the robotic system comprising the drive system of any of claims 1 to 19.

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