A bedside system

Abstract

A system comprising: at least two modules, wherein each module comprises a coupling for a disposable cassette configured to undertake a predetermined functionality in relation to an elongated medical member; a controller is configured to transmit a first signal to at least one of the at least two modules, wherein the first signal is configured to control the disposable cassette of the at least one module for the cassette to undertake its predetermined functionality; and a linear movement unit couplable to the controller, and wherein the linear movement unit is configured to move at least one of the at least two modules in a first direction and / or a second direction upon receipt, by the linear movement unit, of a second signal transmitted form the controller, wherein the first and second directions are opposite directions; wherein two of the at least two modules are dependently controllable.

Description

[0001] UAB Inovatyvi medicina - 1 - 30A-168902

[0002] A BEDSIDE SYSTEM

[0003] FIELD OF THE INVENTION

[0004] The present invention generally relates to a system located at a side of a bed comprising at least two modules, a controller, and a linear movement unit.

[0005] BACKGROUND TO THE INVENTION

[0006] Present bedside systems for use in (endovascular) surgery require a plurality of devices working as an interconnected system. Furthermore, each of these devices are independently controllable from one another. Resultantly, this makes it difficult to accurately set up the systems, as it requires precise measurement of distances between the devices in order to ensure patient safety, and the independent controlling of the devices increases workload on the controller(s) of the systems as it must send a plurality of signals to each device in order to ensure that they function together in a manner that ensures patient safety.

[0007] There is therefore a need for the improvement of bedside surgical systems.

[0008] SUMMARY OF THE INVENTION

[0009] The invention is set out in the independent claim. Preferred embodiments of the invention are set out in the dependent claims.

[0010] According to a first aspect, we describe a system comprising: at least two modules, wherein each module comprises a coupling for a disposable cassette configured to undertake a predetermined functionality in relation to an elongated medical member; a controller couplable to each of the at least two modules, wherein the controller is configured to transmit a first signal to at least one of the at least two modules, wherein the first signal is configured to control the disposable cassette of the at least one module for the cassette to undertake its predetermined functionality; and a linear movement unit couplable to the controller, wherein each of the at least two modules is couplable to the linear movement unit, and wherein the linear movement unit is configured to move at least one of the at least two modules in a first direction and / or a second direction upon receipt, by the linear movement unit, of a second signal transmitted from the controller, wherein the first and second directions areUAB Inovatyvi medicina - 2 - 30A-168902

[0011] opposite directions; wherein two of the at least two modules are dependently controllable to one another based on the first signal and / or the second signal.

[0012] The system is preferably located at the side of a surgical bed (where a patient may be positioned), but can be located at any suitable position.

[0013] The modules may be of any suitable design and / or form factor that allows for them to function, as described herein. The disposable cassettes coupled to each module each comprise components that allow for said cassette to undertake a predetermined functionality. In some examples, each cassette may have a different functionality and / or some cassettes may share a functionality. In some examples, a plurality of cassettes have the same functionality. These functionalities are described in more detail below, the first signal is configured to control the functionality of the cassette to which the first signal is transmitted.

[0014] The controller may be coupled to each of the at least two modules via wired and / or wireless means. Functions of the controller are described in more detail below. 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 remainder of the features of the system via any suitable wired and / or wireless means. The first signal output by the controller may, in some examples, relate to an instruction for the disposable cassette to undertake. The second signal output by the controller may, in some examples, relate to an instruction for the linear movement unit to undertake. The controller is activated, resulting in the functionalities and / or movement to be undertaken, as described herein. Additionally or alternatively, the first and / or second signal may be based on the actuation of a button, lever, switch, or other element on the system.

[0015] The linear movement unit may comprise any suitable movement means such as, for example, a linear motor and / or a linear gear. As long as the linear movement unit is suitable for moving at least one of the at least two modules in a first direction and / or a second direction upon receipt of a second signal transmitted form the controller, wherein the first and second directions are opposite directions along the same axis, any suitable means may be used.

[0016] The first and second directions may be directions relative to the at least two modules. For example, the first and second directions may be in relation to theUAB Inovatyvi medicina - 3 - 30A-168902

[0017] longitudinal or axial axes of the at least two modules. In some examples, the first and second directions may relate to the longitudinal or axial axes of the elongated medical member. The modules may, in some examples, move in the same first and second directions or alternatively, they may move in different first and second directions. For example, the movement of a first module may be in relation to the axial axis of the first module while a second module may move in relation to the longitudinal axis of the elongated medical member. This may allow for the elongated member to be manipulated in the wanted way.

[0018] The dependent controlling of two of the at least two of the modules may allow for more accurate controlling of the system as a whole, thereby improving patient safety. If there are more than two modules, any two of the modules may be dependently controllable, more than two of the modules may be dependently controllable, or all of the modules may be dependently controllable.

[0019] In some examples, the system comprises, for performing the predetermined functionality, a sensing unit and / or a gripping unit and / or a rotation unit and / or a friction reduction unit. This may allow for the system to undertake a wide range of different functionalities, thereby improving the versatility and customization of the system depending on which scenario the system is being used in.

[0020] In some examples, the predetermined functionality comprises:

[0021] a) a first functionality comprising the elongated medical member being gripped by the gripping unit of the said module upon receipt of the first signal and the linear movement unit moving said module in the first direction upon receipt of the second signal;

[0022] b) a second functionality comprising the elongated medical member being gripped by the gripping unit of the said module upon receipt of the first signal and the linear movement unit moving said module in the second direction upon receipt of the second signal;

[0023] c) a third functionality comprising the elongated medical member being gripped by the gripping unit of the said module upon receipt of the first signal and the rotation unit rotating the elongated medical member about a longitudinal axis of the elongated medical member upon receipt of the first signal; and

[0024] d) a fourth functionality comprising the first or second functionality executed simultaneously with the third functionality.UAB Inovatyvi medicina - 4 - 30A-168902

[0025] The gripping unit will be described in more detail below. In particular, in addition to the below description of the gripping unit, the gripping unit may be configured to grip the elongated medical member via reducing a size of the opening of the module, through which the elongated medical member is passed, comprising the gripping unit. In some examples, a size of only a portion of the opening is reduced.

[0026] The rotation unit is preferably coupled, either directly or indirectly, to the elongated medical member and is configured to rotate the first elongated medical member passing through the opening of the first and / or second module of the at least two modules. The rotation unit may comprise a set of gears and / or a timing pulley and belt coupled to a motor and / or a bearing and / or a shaft and / or any other suitable component that is configurable to rotate the elongated medical member. This may allow for the elongated member to be rotated in small increments, similar to as if the elongated member were being manipulated by a human hand. In some examples, the rotation unit comprises the gripping unit.

[0027] Additionally or alternatively, the first elongated medical member may be configured to be rotated in any other suitable direction by the rotation unit.

[0028] The four functionalities may allow for the elongated medical member to be rotated and / or moved in all directions needed to allow for the elongated medical member to be fully controlled. This may allow for the elongated member to be manipulated by the system in such a way that it is like being manipulated by a human hand. This may eliminate the need for the surgeon to be in the room where the system is during the function of the system. In some examples, the system is configured to perform only some functionalities, any combination of functionalities, or all of the above-mentioned functionalities.

[0029] In some examples, the gripping unit is configured to be part of the disposable cassette, wherein the cassette comprises an opening suitable for the elongated medical member. This may allow for the gripping unit and opening to be swapped out should the geometry of the elongated medical member within the opening change and allow for the cassette to be changed should the opening and / or gripping unit need to be repaired. This may allow for quick exchange of the gripping unit and / or opening and allow for the system to be used in conjunction with a wide range of elongated medical members. The cassette is preferably removeable and interchangeable with other cassettes comprising gripping unit and openings, or indeed any suitable functionality.UAB Inovatyvi medicina - 5 - 30A-168902

[0030] In some examples, the gripping unit is rotatable by the rotation unit of the same cassette, and wherein the elongated medical member is rotatable about its longitudinal axis as the elongated medical member is gripped by the gripping unit and the gripping unit is rotated by the rotation unit. The rotation unit may be directly or indirectly coupled to the gripping unit via a set of gears coupled to a motor and / or a bearing and / or a shaft and / or any other suitable component that is configurable to rotate the gripping unit such as, for example, a timing pulley and belt coupled to a motor. This may ensure that the elongated medical member does not slip / fall out of the opening during the rotation of the elongated medical member.

[0031] In some examples, the gripping unit comprises a first gripping component configured to contact at least a first portion of the elongated medical member on a first side of the elongated medical member; a second gripping component configured to contact at least the first portion of the elongated medical member on a second side of the elongated medical member, wherein the first side is different from the second side; a guide configured to guide, during a movement of the second gripping component, at least a first portion of the second gripping component; and an actuating component coupled to the second gripping component, wherein the second gripping component is moveable between a first position and a second position based on an actuating force provided to the second gripping component via the actuating component, and wherein at least the first portion of the second gripping component is guideable by the guide during movement of the second gripping component between the first position and the second position; wherein the first gripping component is configured to stay stationary or substantially stationary with respect to the guide, wherein the second gripping component comprises a first surface opposite to a first surface of the first gripping component, wherein, when the second gripping component is in the first position, the elongated medical member is grippable between the first surface of the first gripping component and the first surface of the second gripping component, and wherein, when the second gripping component is in the second position, the elongated medical member is not grippable between the first surface of the first gripping component and the first surface of the second gripping component.

[0032] The first gripping component is configured to contact at least a first portion of the elongated member on a first side of said elongated member and the second gripping component is configured to contact a second side of said elongated member, wherein the first side is different from the second side. This results in the elongated member being contacted by the gripping components on two different sides, therebyUAB Inovatyvi medicina - 6 - 30A-168902

[0033] allowing for the elongated member to be gripped by the two gripping components. The gripping components may be any suitable shape which allows for said gripping components to contact at least the first portion of the elongated member such as, for example, cuboidal, prismoidal or a bespoke design. The gripping components may comprise any suitable material that allows for the gripping of the elongated medical member.

[0034] The guide may be of any suitable design which allows for the movement of the second gripping component to be guided during movement of said second gripping component. The guide may be U-shaped, L-shaped, two substantially vertical pieces which allow for the second gripping component to be guided, or any other bespoke shape.

[0035] The actuating component coupled to the second gripping component allows for the second gripping component to be moved between a first and a second position via an actuating force. The actuating force may be a mechanical force, a resilient force, a gravitational force, a magnetic force or any other type of force, or a combination thereof.

[0036] The first gripping component is configured to stay stationary or substantially stationary with respect to the guide. This may allow for the first gripping component to be moved at the same time as the guide should the guide be moved and vice versa. The first gripping component may be directly or indirectly coupled to the guide via any suitable coupling means.

[0037] The second gripping component is, as described above, moveable between a first and a second position via an actuating force provided to the second gripping component via the actuating component. When the second gripping component is in the first position, the elongated medical member is grippable between a first surface of the first gripping component and a first surface of the second gripping component. This allows for the elongated medical member to be gripped in place should an endovascular specialist, or any person, be using said gripper. This allows for the elongated medical member to be secured in place. In the second position, the elongated medical member is not grippable between a first surface of the first gripping component and a first surface of the second gripping component. This allows for the elongated medical member to be moved within the gripper, for an elongated medical member to be removed from the gripper entirely or for an elongated medical member to be inserted into the gripper.UAB Inovatyvi medicina - 7 - 30A-168902

[0038] Furthermore, as the elongated medical member is grippable between a first surface of the first gripping component and a first surface of the second gripping component, this may mean that the elongated medical member is grippable via a compressive force. This may allow for a more secure gripping and / or securing of the elongated medical member and may allow for the lifetime of the elongated medical member to be increased, as it is not subjected to shear or tension forces.

[0039] In some examples, the first and second gripping components are at least partially located within an inner guide, wherein the inner guide is located within the guide, and wherein the inner guide is moveable with respect to the guide. The inner guide, when moving with respect to the guide, may act as a form of suspension and cushioning for the elongated medical member. This may in turn reduce the stress and shear forces experienced by the elongated medical member during use of said member, thereby elongating the lifetime of the elongated medical member.

[0040] In some examples, the first and second gripping components are offset from each other along a longitudinal axis of the elongated medical member, and when the second gripping component moves between the first position and the second position, the second gripping component does not contact the first gripping component. This may allow for the elongated medical member to be gripped in a particularly strong manner as it needs to snake its way through the gripper.

[0041] In some examples, the first and second gripping components are arranged in a zipper configuration. This may allow for the elongated medical member to be gripped in a particularly strong manner as it needs to snake its way through the gripper.

[0042] In some examples, the first signal is configured to drive a first motor of the said module; wherein the first motor is coupled to a first driving gear to rotate said first driving gear; wherein a tooth of the first driving gear is configured to interact with a tooth of at least one of a first and a second gripper gear located within the disposable cassette as at least part of the rotation unit; wherein upon a rotation of the first driving gear, the first and / or second gripping gear is configured to rotate based on the interaction of the teeth of the first driving gear and the first and / or second gripping gear; wherein upon a first relative rotation of the first gripping gear with respect to the second gripping gear, a lumen of the gripping unit is configured to contract; wherein upon a second relative rotation of the first gripping gear with respect to the second gripping gear, the lumen of the gripping unit is configured toUAB Inovatyvi medicina - 8 - 30A-168902

[0043] expand; and wherein the first and second relative rotations are relative rotations in opposite directions.

[0044] The first motor is configured to receive the first signal from the controller. The first motor may be a stepper motor, but the skilled person understands that any suitable type of motor may be used. The first motor is coupled to the first driving gear by any suitable means.

[0045] The first driving gear may be any suitable type of gear which is rotatable. The first driving gear may comprise a plastic and / or metallic material, in particular aluminum or stainless steel. The first driving gear may comprise any suitable number of teeth with any suitable parameters such as, for example, tooth profile, pitch circle, tooth thickness, depth, and so on.

[0046] The first and second gripping gears may be any suitable type of gear that is rotatable. The first and second gripping gears preferably comprise a plastic material, but may additionally or alternatively comprise a metallic material. The first and second gripping gears may comprise any suitable number of teeth with any suitable parameters such as, for example, tooth profile, pitch circle, tooth thickness, depth, and so on. The teeth of at least one of these gears is configured to interact with the teeth of the first driving gear. In some examples, at least one of these parameters is different for each of the gripping gears. Upon a rotation of the first driving gear, at least one of the first and second gripping gears also rotates. In some examples, both gripping gears are rotated via a coupling to the first driving gear. The first driving gear may have more teeth, the same number of teeth, or fewer teeth than the first and / or second gripping gear. A diameter of the first driving gear may be larger, the same, or smaller than the first and / or second gripping gear.

[0047] The gripper, which is couplable to the first and / or second gripping gear, is described in more detail below.

[0048] Upon a relative rotation of the gripping gears in a first direction, a lumen of the gripping unit is configured to retract and upon a relative rotation in a second direction, the lumen is configured to expand. This contraction and expansion may lead to the gripping and ungripping of the elongated medical member. That is to say, if the second gripping gear is stationary and the first gripping gear is rotated in a first direction, the lumen contracts, and when the first gripping gear is rotated in a second direction, opposite to the first direction, the lumen expands. The same mayUAB Inovatyvi medicina - 9 - 30A-168902

[0049] occur if the first gripping gear is stationary and the second gripping gear is rotatable, of if both gripping gears rotate, but the rotational speed of the gripping gears differ.

[0050] In some examples, the first and second gripping gears are rotatable in the same rotational direction, wherein the first gripping gear is rotatable at a first rotational speed, wherein the second gripping gear is rotatable at a second rotational speed different from the first rotational speed, wherein when the first rotational speed is greater than the second rotational speed, the lumen of the gripping unit is configured to contract, and wherein when the second rotational speed is greater than the first rotational speed, the lumen of the gripping unit is configured to expand. This contraction and expansion may lead to the gripping and ungripping of the elongated medical member.

[0051] In some examples, the gripping unit comprises: a gripper body comprising a first thread; a nut comprising a second thread configured to interact with the first thread and at least one of the first and second gripping gears; and a gripping element placed within the gripper body, wherein the gripping element is configured to grip the elongated medical member; wherein, if the nut is rotated in a first direction, by at least one of the first and second gripping gears, the first and second threads are configured to interact with each other to increase a force being exerted on the gripping element and contract the lumen of the gripping unit; wherein, if the nut is rotated in a second direction, by at least one of the first and second gripping gears, the first and second threads are configured to interact with each other to decrease the force being exerted on the gripping element and expand the lumen of the gripping unit; 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.

[0052] The gripper body may be of any suitable design that allows for the nut to be placed around the outside of the gripping body, and for the gripping element to be placed inside the gripping body. In some examples, the gripping body is at least partially comprised of a flexible material which flexes when the nut is rotated in the first and / or second direction. In particular, the gripping body may comprise a plastic and / or a metal that allows for the gripping body to flex, as described above. In some examples, the metallic material may not be able to flex. The gripping element may comprise silicone and / or rubber and / or an elastic material. Alternatively, a metal and / or plastic material may be used, which may not be elastic. The first thread mayUAB Inovatyvi medicina - 10 - 30A-168902

[0053] be of any suitable pitch and thread angle that allows for the gripper to function as described herein (e.g. a screw-type thread).

[0054] 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 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.

[0055] As described herein, the first and second directions are opposite directions of rotation for the nut. In particular, the first and second directions may be in relation to a rotation around a longitudinal axis of the elongated medical member and / or a longitudinal axis of the gripping body and / or a longitudinal axis along which the elongated medical member can pass through the gripping body. For example, the first direction may refer to a clockwise rotation of the nut, and the second direction may refer to an anti-clockwise rotation of the nut, or vice versa.

[0056] 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.

[0057] 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.UAB Inovatyvi medicina - 11 - 30A-168902

[0058] 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.

[0059] 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. In other words, once gripped, the elongated medical member may be kept steady in place if a particular amount of force is applied to liner / rotational direction. The predetermined threshold may additionally or alternatively be determined to be such a threshold that, the elongated medical member is not compressed and / or an outer surface of the elongated medical member is not damaged. The force may, in some examples, be applied to the gripping element via compression of the gripping element by the gripping body and / or the nut insert (as described below) upon rotation of the nut in the first direction.

[0060] In some examples, at least one of the modules comprises a driving gear, wherein a motor located within said module 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 at least one gripper gear located within the disposable cassette; wherein, upon a rotation of the driving gear upon transmission of the first signal, 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 said module further comprises, as at least part of the friction reduction unit: a rotatable component comprising a luer adapter configured to rotate upon a rotationUAB Inovatyvi medicina - 12 - 30A-168902

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] The gripper, which is couplable to the at least one gripping gear, is described in more detail below.UAB Inovatyvi medicina - 13 - 30A-168902

[0066] 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 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.

[0067] 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.

[0068] 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 metalUAB Inovatyvi medicina - 14 - 30A-168902

[0069] 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).

[0070] 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.

[0071] 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.

[0072] The gripping element is described in more detail below.

[0073] 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, theUAB Inovatyvi medicina - 15 - 30A-168902

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] In some examples, the controller is configured to measure a frictional force of the rotation of the rotatable component via a force sensor coupled to the controller of the first module. This may allow for this force to be measured by a sensorUAB Inovatyvi medicina - 16 - 30A-168902

[0079] substantially similar to the below-described sensor. In some examples, this may occur when the rotatable component is being rotated by the motor 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.

[0080] In some examples, the controller is 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 below-described sensor. In some examples, this may occur when the rotatable component is being rotated by the motor of the second module.

[0081] In some examples, the sensing unit comprises: a gripper for gripping the elongated medical member to be sensed by the sensing unit; a first sensor, wherein a first portion of the first sensor is coupled to the gripper, wherein the first sensor is configured to detect a linear movement of the elongated medical member within the sensing unit 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, wherein the second sensor is configured to detect a rotational movement of the elongated medical member within the sensing unit from a first rotational position to a second rotational position around the first axis.

[0082] The gripper may be of any suitable design configured to grip the elongated medical member. This may mean that a movement of the elongated medical member in one or more axes is limited / prohibited by the gripper. In some examples, the gripper is configured to be alterable within the sensor in order to accommodate and contain a plurality of different types of elongated medical members. In some examples, the gripper comprises a hole through which the elongated medical member is threaded. Alternatively, there may be an opening for the elongated medical member to be placed in within the gripper. That is to say, there may not be a through hole, but an opening with at least one blocked end which prevents the elongated medical member from extending out of both sides of the gripper, and therefore the sensor. In some examples, the elongated medical member may be part of the gripper. This may allow for a more accurate sensing of the movement of the elongated medical member. This may allow also for a more accurate detection of the movement of the elongated medical member, as the elongated medical member is fixed in relation to the gripper within the sensor. The gripper may comprise elastic O-rings, silicon,UAB Inovatyvi medicina - 17 - 30A-168902

[0083] metal, or any other material and / or method suitable to grip the elongated medical member.

[0084] The first and / or second sensors may be configured to detect movement of the device in their respective directions, i.e. linear and rotational directions. In some examples, the linear and / or rotational movement of the elongated medical member is translated to the sensors via the gripper. 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 elongated medical member.

[0085] In some examples, the first and / or second sensor comprises a strain gauge, wherein the strain gauge is configured to detect the linear and / or rotational movement of the 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 and / or the controller mentioned above. 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 elongated medical member.

[0086] In some examples, the first and second sensors are independent from one another in that the detection of the linear movement of the elongated medical member as the first sensor is independent from the detection of the rotational movement of the elongated medical member via the second sensor.UAB Inovatyvi medicina - 18 - 30A-168902

[0087] In some examples, the at least two modules are dependently controllable based on a physical coupling to one another and / or a logical coupling, via the controller, to one another. The dependent controlling of a subset of the at least two of the modules may allow for more accurate controlling of the system as a whole, thereby improving patient safety.

[0088] In some examples, a design of the cassette is based on a side of the bed on which the system is located. That is to say, the arrangement of the functionality may be altered depending on if the system is located on the left side or the right side of the bed. If the system is located on the left side of the bed, the components in the cassette that allow for the functionality to take place may be reversed if the system is located on the right side of the bed. This allows for the system to be placed where it is best for the patient / scenario, thereby leading to improved patient safety and a more versatile system.

[0089] In some examples, the linear movement unit is coupled to a base of the system, and wherein the base comprises the controller. The linear movement unit and the base may be coupled via a ball screw, a rack and roller, a rack and pinion, or any other type. This may allow for a secure coupling of the linear movement unit, thereby leading to improved patient safety.

[0090] In some examples, each of the at least two modules comprises a measurement unit configured to measure the movement of said module when said module is moved by the linear movement unit. This may allow for the controller to accurately determine the position of the modules in relation to each other and ensure that they do not come to close to each other. This may protect the modules and system, thereby leading to a longer lifetime.

[0091] In some examples, each of the at least two modules comprises a module controller configured to receive the first signal transmitted to the module from the controller, to monitor a state of said module, and to transmit a third signal to the controller comprising data relating to the state of the said module. This may allow for better controlling of the functionality of the modules, and allow for the module controllers to transmit any suitable information to the controller. For example, if there is an error detected by the module controller, this information may be transmitted to the controller, and as a result, the controller may stop all signals being sent to the affected module and / or send a further error signal to a user of the system.UAB Inovatyvi medicina - 19 - 30A-168902

[0092] In some examples, the base comprises a groove configured to accept a sterile drape. This improves patient safety as the sterile barrier between the sterile and non-sterile parts of the system is improved.

[0093] In some examples, the base comprises a flexible element between at least two of the at least two modules, and wherein the flexible element is configured to cover an opening between the at least two modules, wherein the flexible element is configured to flex during a relative movement of at least one of the at least two modules with respect to the remainder of the at least two modules. This may protect the inner components of the base and system, thereby leading to a longer lifetime of the inner components, base and system, the flexible element may comprise any suitable material such as, for example, plastic and / or polymer, that allows for the flexible element to flex during the relative movement of the modules.

[0094] In some examples, a further module is incorporated into the system by physically attaching the further module to the system and / or logically coupling the further module, via the controller, to the system. This may allow for further functionalities to be incorporated into the system and / or allow for more cassettes of the same functionality to be incorporated into the system. This improves the customizability and versatility of the system, allowing for the system to be used in more scenarios. It may also allow for the accurate manipulation of the elongated medical member.

[0095] In some examples, the system further comprises an anti-buckling mechanism, wherein a first end of the anti-buckling mechanism is coupled to a first module of the at least two modules, and a second end of the anti-buckling mechanism opposite the first end is coupled to a second module of the at least two modules, and further comprises a plurality of openings for allowing the 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.

[0096] 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. In some examples, the couplings are within the module, in particular proximal to the opening. This may allow for the elongated medical member to the fed at least partially through the opening, and then be coupled within the module. In the case of a proximal coupling, the coupling may be mounted to an outside casing of the module, preferablyUAB Inovatyvi medicina - 20 - 30A-168902

[0097] proximal to the opening of the module. This may allow for secure coupling of the member during the measurement process and, if the couplings are aligned with each other, this may allow for reduced stresses and forces to be exerted on the member during measurement.

[0098] 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.

[0099] In some examples, the first and / or second module 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 of the first or second 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.

[0100] 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.

[0101] In some examples, the system further comprises the elongated medical member. The elongated medical member is described in more detail below.

[0102] 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.

[0103] In some examples, the controller and / or linear movement unit are configured to transmit their respective signals only when at least two of the at least two modules are dependently controllable to one another, wherein at least a first module of the two modules is movable by the linear movement unit and / or is configured to rotate the elongated medical member and / or is configured to change a state of a gripper in the at least first module and / or is configured to change a state of a sensor in the atUAB Inovatyvi medicina - 21 - 30A-168902

[0104] least first module based on at least a second module of the at least two modules being moved by the linear movement unit and / or the elongated medical member being rotated by at least second module and / or a state of a gripper in the at least second module being changed and / or a state of a sensor in the at least second module being changed. The dependent controlling may allow for more accurate controlling of the system as a whole, thereby improving patient safety as the movement / functionality / controllability of one module may not be allowed depending on the movement / functionality / controllability of another module. This prevention may be physical i.e. via physical locks or contact between modules, and / or logical, i.e. the controller may prevent movement / functionality of one module depending on the state of another module. In particular, the state of a module may be transmitted to the controller via a module controller, as mentioned herein.

[0105] Even if some of the aspects described herein have been described in reference to the system, these aspects may also apply to a method for measuring a length of an elongated medical member, preferably within an endovascular robotic system.

[0106] In some examples, the system further comprises a human control unit for manipulating the elongated medical member, the human control unit comprising: a control unit comprising a transmitter; a local elongated member configured to be manipulated by a user of the human control unit; a gripping unit configured to grip the local elongated member; and a device configured to enable and disable the transmitter, wherein the at least two modules, the controller and the linear movement unit are located at a first location and the human control unit is located at a second location, wherein the first and second locations are different location, and wherein the transmitter is configured to transmit a fourth signal to the controller, wherein the fourth signal comprises information on the manipulation of the local elongated member.

[0107] The local and the elongated medical member may be the same, or of the same design and / or variety. The gripping unit may be the same, or the same design as, the gripping unit and / or gripping unit disclosed above. In some examples, the control unit comprises a transmitter and / or a receiver.

[0108] This may allow for the external device to receive important information about the manipulation of the local elongated member. The two locations being separate locations may eliminate the need for the surgeon to be in the room where the atUAB Inovatyvi medicina - 22 - 30A-168902

[0109] least two modules, the controller and the linear movement unit are during the function of the human control unit.

[0110] In some examples, the device is a button and / or a lever and / or a touchscreen, wherein upon a first touch of the device, the transmitter is enabled and upon a second touch of the device, the transmitter is disabled, wherein the first and second touches occur at two different temporal instances. The device may act as a "dead man's switch" and ensure that unintended movements of the elongated member is not transmitted to the apparatus. This may also allow for the human to easily realize if the touchable device has been touched once or twice. In some examples, the touchable device comprises a visual indicator. The touchable device is preferably within easy reach of the human so that the human does not need to let go of the local elongated medical members in order to touch the touchable device.

[0111] In some examples, the controller is configured to receive the fourth signal and the controller is configured to manipulate the elongated medical member based on the received fourth signal. This may allow for the remote manipulation of the elongated medical member via the manipulation, by a human, of the local elongated member at the human control unit.

[0112] In some examples, the control unit is configured to receive, via a receiver, a fifth signal, from the controller, wherein the fifth signal comprises information on the elongated medical member. This may allow for the human control unit to receive information on the status of the elongated medical member. In some examples, this status may be shown on a display. This may therefore improve the safety of the human control unit as the user can see, on the display, if the elongated medical member is malfunctioning and / or if the system in the first location is not receiving the fourth signal properly. The receiver may be part of the control unit, or may alternatively be located in a separate part of the human control unit. In some examples, the information may be transmitted using a cyclic redundancy check, CRC, to detect possible errors. Additionally or alternatively, any other error detection method can be used.

[0113] In some examples, the human control unit further comprises a haptic feedback unit configured to provide haptic feedback to the user of the human control unit based on the received fifth signal. This may allow user at the human control unit to feel what is happening at the system at the first location and realize if the movement of theUAB Inovatyvi medicina - 23 - 30A-168902

[0114] elongated medical member has been blocked, for example, as the haptic feedback may be suddenly greatly increased.

[0115] In some examples, the controller is configured to manipulate the elongated medical member in a manner proportional to the manipulation of the local elongated medical member, wherein the controller is configured to control the elongated medical member based on the received fourth signal from the control unit of the human control unit. This may allow for the remote manipulation of the elongated medical member via the manipulation, by a human, of the local elongated medical member.

[0116] In some examples, at least a first module of the two modules is movable by the linear movement unit and / or is configured to rotate the elongated medical member and / or is configured to change a state of a gripper in the at least first module and / or is configured to change a state of a sensor in the at least first module based on at least a second module of the at least two modules being moved by the linear movement unit and / or the elongated medical member being rotated by at least second module and / or a state of a gripper in the at least second module being changed and / or a state of a sensor in the at least second module being changed. The dependent controlling may allow for more accurate controlling of the system as a whole, thereby improving patient safety as the movement / functionality of one module may not be allowed depending on the movement / functionality of another module. This prevention may be physical i.e. via physical locks or contact between modules, and / or logical, i.e. the controller may prevent movement / functionality of one module depending on the state of another module. In particular, the state of a module may be transmitted to the controller via a module controller, as mentioned herein.

[0117] In some examples, the dependent controlling comprises at least a first module of the two modules being moved by the linear movement unit when at least a second module of the at least two modules is moved by the linear movement unit. The dependent controlling may allow for more accurate controlling of the system as a whole, thereby improving patient safety as the movement / functionality of one module may not be allowed depending on the movement / functionality of another module. This prevention may be physical i.e. via physical locks or contact between modules, and / or logical, i.e. the controller may prevent movement / functionality of one module depending on the state of another module. In particular, the state of a module may be transmitted to the controller via a module controller, as mentioned herein.UAB Inovatyvi medicina - 24 - 30A-168902

[0118] In some examples, the dependent controlling comprises at least a first module of the two modules being configured to change a state of a gripper in the at least first module based on a state of a gripper in the at least second module being changed. The dependent controlling may allow for more accurate controlling of the system as a whole, thereby improving patient safety as the movement / functionality of one module may not be allowed depending on the movement / functionality of another module. This prevention may be physical i.e. via physical locks or contact between modules, and / or logical, i.e. the controller may prevent movement / functionality of one module depending on the state of another module. In particular, the state of a module may be transmitted to the controller via a module controller, as mentioned herein.

[0119] In some examples, the predetermined functionality is changeable based upon the first signal received by at least one of the at least two modules from the controller. This may allow for a disposable cassette with multiple functionalities to change functionalities based on the first signal. For example, if a disposable cassette has a gripping functionality and a sensing functionality, upon a first type of a first signal being received, a state of the gripping functionality may change, upon a second type of a first signal being received, a state of the sensing functionality may change, and upon a third type of a first signal being received, a state of the gripping functionality and the sensing functionality may change. This may allow for individual functionalities to be controlled, and allow for a more customizable cassette / system that is able to undertake a plurality of functionalities simultaneously. This may also allow for a user of the system to control only a subset of a plurality of functionalities at any one time, thereby improving patient safety, and allowing the user to do exactly what they wish to do.

[0120] In some examples, each of the at least two modules comprise a respective disposable cassette. The disposable cassettes coupled to each module each comprise components that allow for said cassette to undertake a predetermined functionality. In some examples, each cassette may have a different functionality and / or some cassettes may share a functionality. In some examples, a plurality of cassettes have the same functionality.

[0121] In some examples, the linear movement unit comprises a ball screw and / or a rack and roller and / or a rack and pinion for moving at least one of the at least two modules in the first direction and / or the second direction. This may allow for aUAB Inovatyvi medicina - 25 - 30A-168902

[0122] secure coupling of the linear movement unit, thereby leading to improved patient safety

[0123] In some examples, the linear movement unit is comprised within at least one of the modules. This may allow for a more compact system. This may also allow for the movement unit to be altered based on the module, should the module be swapped in to / out of the system, thereby leading to a more customizable and versatile system.

[0124] In some examples, each module has a respective linear movement unit, wherein the respective linear movement units are comprised within the respective modules. This may allow for a more compact system. This may also allow for the movement unit to be altered based on the module, should the module be swapped in to / out of the system, thereby leading to a more customizable and versatile system.

[0125] In some examples, at least one of the modules further comprises at least one of: a) a speed sensor for measuring a speed of the movement of the at least one module by the linear movement unit;

[0126] b) an acceleration sensor for measuring a rate of acceleration when the at least one module is moved by the linear movement unit;

[0127] c) a torque sensor for measuring a torque being applied to the elongated medical member;

[0128] d) a rotational sensor for measuring a parameter relating to a rotation of the elongated medical member; and

[0129] e) a friction sensor for measuring friction being applied to the elongated medical member in the direction of the movement of the at least one module.

[0130] Such sensors and their functioning are known to the skilled person. In particular, the use of such sensors within the module may lead to a safer module, as there are more parameters being measured and so, a higher likelihood of a problem with the system being caught. In some examples, if such problem is sensed via a parameter falling outwith a suitable range of the sensor, the controller and / or the linear movement unit are configured to cease the transmission of their respective signals. Furthermore, an indication may be given to a user of the system that a parameter has fallen outwith the suitable range leading to the cessation of the transmission of the signals and, in particular, this indication may show which sensor has a parameter has fallen outwith the suitable range, and in which direction the parameter has fallen outwith the range, i.e. too high or too low with respect to the sensor. The parameter relating to the rotation of the elongated medical member may be, for example, howUAB Inovatyvi medicina - 26 - 30A-168902

[0131] far the elongated medical member has been rotated and / or a rate of rotation / angular velocity of the elongated medical member and / or a rate of acceleration / angular acceleration of the elongated medical member and / or any other suitable parameter.

[0132] In some examples, two modules of the at least two modules comprise a module pair, and wherein the two modules of the at least two modules are dependently controllable only to one another. The dependent controlling of two of the at least two of the modules may allow for more accurate controlling of the system as a whole, thereby improving patient safety.

[0133] In some examples, there is an even number of modules. This may be particularly advantageous in scenarios where the elongated medical member is long and / or wherein there is a plurality of elongated medical members within the system.

[0134] In some examples, there are six or eight modules. This may be particularly advantageous in scenarios where the elongated medical member is long and / or wherein there is a plurality of elongated medical members within the system.

[0135] In some examples, there are three pairs of modules in the case of six modules, or four pairs of modules in the case of eight modules. The dependent controlling of two of the at least two of the modules may allow for more accurate controlling of the system as a whole, thereby improving patient safety.

[0136] It is clear to a person skilled in the art that certain features of the system set forth herein may be implemented under use of hardware (circuits), software means, or a combination thereof. The software means can be related to programmed microprocessors or a general computer, an ASIC (Application Specific Integrated Circuit) and / or DSPs (Digital Signal Processors). For example, a processing unit may be implemented at least partially as a computer, a logical circuit, an FPGA (Field Programmable Gate Array), a processor (for example, a microprocessor, microcontroller (pC) or an array processor) / a core / a CPU (Central Processing Unit), an FPU (Floating Point Unit), NPU (Numeric Processing Unit), an ALU (Arithmetic Logical Unit), a Coprocessor (further microprocessor for supporting a main processor (CPU)), a GPGPU (General Purpose Computation on Graphics Processing Unit), a multi-core processor (for parallel computing, such as simultaneously performing arithmetic operations on multiple main processor(s) and / or graphical processor(s)) or a DSP.UAB Inovatyvi medicina - 27 - 30A-168902

[0137] Even if some of the aspects described above have been described in reference to the first aspect, these aspects may also apply to a method.

[0138] BRIEF DESCRIPTION OF THE DRAWINGS

[0139] 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:

[0140] Figures 1 to 5 show schematic views of a system according to some example implementations as described herein;

[0141] Figure 6 shows a perspective view of a schematic illustration of the gripper according to some example implementations as described herein;

[0142] Figure 7 shows a cross-sectional view of a schematic illustration of parts of the gripper according to some example implementations as described herein;

[0143] Figure 8 shows a cut-away view of a schematic illustration of the gripper according to some example implementations as described herein;

[0144] Figure 9 shows a cross-sectional view of a schematic illustration of parts of the gripper according to some example implementations as described herein;

[0145] Figure 10 shows a cross-sectional view of a schematic illustration of parts of the gripper according to some example implementations as described herein;

[0146] Figures 11a and b show a cross-sectional view of a schematic illustration of parts of the gripper according to some example implementations as described herein;

[0147] Figure 12 shows a cut-away view of a schematic illustration of the gripper according to some example implementations as described herein;UAB Inovatyvi medicina - 28 - 30A-168902

[0148] Figures 13 and 14 show perspective views of a system according to some example implementations as described herein;

[0149] Figures 15 to 17 show cut-away views of a portion of a system according to some example implementations as described herein;

[0150] Figures 18 to 21 show perspective and cross-sectional views of a gripper according to some example implementations herein;

[0151] Figures 22 to 25 show perspective and cross-sectional views of a gripper according to some example implementations herein;

[0152] Figure 26 shows a cross-sectional view of the second module with a first back-bleeding valve according to some example implementations as described herein.

[0153] Figure 27 shows a cross-sectional view of the second module with a second back-bleeding valve according to some example implementations as described herein.

[0154] Figure 28 shows a perspective view of a schematic illustration of the sensor according to example implementations as described herein;

[0155] Figure 29 shows a cut-away view of a schematic illustration of parts of the sensor according to example implementations as described herein;

[0156] Figures 30 and 31 show schematic illustrations of the sensor according to example implementations as described herein; and

[0157] Figure 32 to 34 show schematic illustrations of the directional sensors according to example implementations as described herein.

[0158] Figures 35 and 36 show top-down views of a system with a patient according to some example implementations as described herein;UAB Inovatyvi medicina - 29 - 30A-168902

[0159] Figure 37 shows a schematic view of a system according to some example implementations as described herein;

[0160] Figures 38 and 39 show schematic diagrams of a module according to some example implementations as described herein;

[0161] Figures 40 to 43 show schematic illustrations of an anti-buckling mechanism according to some example implementations herein;

[0162] Figure 44 shows a schematic illustration of module cording to some example implementations herein; and

[0163] Figures 45 and 46 shows schematic views of a human control unit according to some example implementations as described herein.

[0164] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0165] Figures 1 to 5 show schematic views of a system according to some example implementations as described herein.

[0166] Figure 1 generally shows a system according to some examples herein. In particular, the system comprises a bedside unit 100 configured to be positioned on a side of a (surgical) bed, or be coupled to said bed. Coupled to this unit 100 is a plurality of modules 110, in this case six modules 110. However, the skilled person understands that there may be any suitable number of modules 110 coupled to the bedside unit 100. Further modules 110 may be coupled to the unit 100 physically should more modules 110 need to be added. In such a case, the additional module 110 is coupled to a linear drive, as will be described below, wherein the linear drive is situated in the bedside unit 100. Additionally or alternatively, the additional module 110 may already be physically coupled to the controller and system, but is "electronically" added by a logical coupling to the controller. This may allow for functionalities to be added and taken away as needed.

[0167] The unit 100 further comprises a flexible element 120 between at least two of the plurality of modules 110. the flexible element 120 is configured to cover an opening between the at least two modules 110, wherein the flexible element 120 is configured to flex during a relative movement of at least one of the at least two modules 110 with respect to the remainder of the at least two modules 110. to theUAB Inovatyvi medicina - 30 - 30A-168902

[0168] flexible element 120 is preferably configured to cover and protect inner components of the unit 100 This may protect the system, thereby leading to a longer lifetime of the inner components and unit 100.

[0169] In addition, the unit 110 further has a linear and a curved section 121, 122 configured to accept a sterile drape, although it is to be understood by the skilled person that these sections can be of any suitable design. This improves patient safety as the sterile barrier between the sterile and non-sterile parts of the system is improved.

[0170] Figure 2 shows that each module further comprises a housing comprising a disposable cassette 202. These cassettes each have openings that are aligned along a single axis 206. This may allow for an elongated medical member that is thread through each of the cassettes 202 to have reduced bending and shear forces exerted upon it, thereby prolonging the lifetime of the elongated medical member.

[0171] The cassette 202 of each module 110 is configured to undertake a predetermined functionality in relation to an elongated medical member. The unit for performing the predetermined functionality may be a sensing unit and / or a gripping unit and / or a rotation unit and / or a friction reduction unit. These will be described in more detail below.

[0172] Figure 3 shows that there is an anti-buckling mechanism 204 coupled between some of the modules. This is described in more detail in relation to Figures 11 to 14.

[0173] Figure 4 shows that at least some of the modules 110 may have an elongated medical member 151 fed through said modules 110 via openings in the cassettes 202. Figure 5 shows a plurality of elongated medical members 151, 152, 153 thread through the cassettes 202 of the modules 110. This may allow for the system to manipulate a plurality of elongated medical members 151, 52, 153 simultaneously, thereby improving the versatility and customization of the system.

[0174] In each of the following, when the term "elongated medical member", or similar, is used, the skilled person understands that this may mean any of the aforementioned elongated medical members 151, 152, 153.

[0175] In addition, a controller is couplable to each of the plurality of modules 110, wherein the controller is configured to transmit a signal to at least one of the plurality ofUAB Inovatyvi medicina - 31 - 30A-168902

[0176] modules 110, wherein the signal is configured to control the disposable cassette 202 of the at least one module 101 for the cassette 202 to undertake its predetermined functionality.

[0177] The controller may be coupled to each of the plurality of modules 110 via wired and / or wireless means. Functions of the controller are described in more detail herein. 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 remainder of the features of the system via any suitable wired and / or wireless means. The signal output by the controller may, in some examples, relate to an instruction for the disposable cassette 202 to undertake. The controller is activated, resulting in the functionalities to be undertaken, as described herein. Additionally or alternatively, the first signal may be based on the actuation of a button, lever, switch, or other element on the system.

[0178] In some examples, each of the plurality of modules 110 comprises a module controller configured to receive the signal transmitted to the module 110 from the controller, to monitor a state of said module 100, and to transmit a signal to the controller comprising data relating to the state of the said module 110. This may allow for better controlling of the functionality of the modules 110, and allow for the module 110 controllers to transmit any suitable information to the controller. For example, if there is an error detected by the module controller, this information may be transmitted to the controller, and as a result, the controller may stop all signals being sent to the affected module 110 and / or send a further error signal to a user of the system.

[0179] The functionalities, as described herein, may allow for the elongated medical member 151, 152, 153 to be rotated and / or moved in all directions needed to allow for the elongated medical member 151, 152, 153 to be fully controlled. This may allow for the elongated member 151, 152, 153 to be manipulated by the system in such a way that it is like being manipulated by a human hand. This may eliminate the need for the surgeon to be in the room where the system is during the function of the system. In some examples, the system is configured to perform only some functionalities, any combination of functionalities, or all of the functionalities mentioned herein.UAB Inovatyvi medicina - 32 - 30A-168902

[0180] If the cassette 202 comprises gripping unit and / or rotation unit, the gripping and / or rotation unit may be at least one of the following:

[0181] First Gripping Unit

[0182] Figure 6 shows a perspective view of a schematic illustration of the gripper according to some example implementations as described herein.

[0183] The gripper 1000 comprises a guide 1001, a first gripping component 1002, a second gripping component 1003 and a plurality of assembly pins 1004.

[0184] The guide 1001 is configured to guide at least the second gripping component 1003, as will be described in more detail below. In this example, there are a plurality of assembly pins 1004, but there may be a single assembly pin or no assembly pins. The number of assembly pins 1004 may vary depending on the design of the gripper 1000. In some examples, the assembly pins 1004 are configured to couple the first gripping component 1002 to the guide 1001, thereby ensuring that the first gripping component 1002 is stationary with respect to the guide 1001. In some examples, the assembly pins 1004 are configured to couple the first gripping component 1002 and / or the guide 1001 to an external component (not shown). The external component may be a sensor, a housing, an actuator, a part of an endovascular system or any other suitable component.

[0185] The guide 1001 further comprises a first portion 1010 and a second portion 1011. The first portion 1010 is configured to guide at least a portion of the second gripping component 1002. The guide 1000 may also guide an elongated medical member, as described herein. The second portion 1011 of the guide 1001 is discrete from the first portion 1010 and extends outwardly from the first portion 1010 of the guide 1001. The second portion 1011 may also be configured to guide at least a portion of the elongated medical member, wherein the first and second portions 1010, 1011 of the guide 1001, guide different portions of the elongated medical member. The first and second portions 1010, 1011 of the guide 1001 are not limited to the aforementioned design but may be of any suitable design which allows for the guiding of the elongated medical member and, in the case of the first portion 1010, the guiding of at least the second gripping component 1003.

[0186] Figure 7 shows a cross-sectional view of a schematic illustration of parts of the gripper according to some example implementations as described herein.UAB Inovatyvi medicina - 33 - 30A-168902

[0187] Further, the second gripping component 1003 is coupled to a resilient member 1005, in this case a spring. The resilient member 1005 may alternatively be any suitable component which provides a resilient force. The guide 1001 further comprises a through hole 1012 configured to accommodate the elongated medical member and allow for the elongated medical member to travel through the gripper 1000. The second gripping component 1003 also comprises an opening 1013 which extends beyond the guide 1001. The opening 1013 may allow for a weight reduction of the gripper 1000. This may, in turn, result in an increase in performance as high inertia may reduce the performance of the gripper 1000.

[0188] Furthermore, in this example, the guide 1001 is configured to surround the spring 1005, the first gripping component 1002 and at least a portion of the second gripping component 1003. This may allow for parts of the gripper 1000 to be guided in a manner which reduces unwanted stress and shear forces during operation of the gripper 1000, thereby extending the lifetime of the gripper 1000. In some examples, the guide 1001 guides only the second gripping component 1003 and / or the spring 1005.

[0189] The spring 1005 coupled to the second gripping component 1003 allows for the second gripping component 1003 to be moveable with respect to the guide 1001. The resilient force provided by the spring 1005 preferably biases a first surface of the second gripping component towards a first surface of the first gripping component 1002, wherein the biasing results in the elongated medical member being gripped between the first and second gripping components 1002, 1003, as will be described in more detail below. In some examples, a force provided by a pneumatic cylinder and / or an electric motor and / or any other suitable component against the resilient force provided by the spring 1005 allows for the first surface of the second gripping component 1003 and the first surface of the first gripping component 1002 to be moved away from each other, thereby allowing for the elongated medical member to be ungripped (released) and allow for said elongated medical member to be moved within the gripper 1000 or removed from the gripper 1000 entirely. This may also allow for an elongated medical member to be inserted into the gripper 1000.

[0190] The through hole 1012 is of a size and dimension which allows for the elongated medical member to be guided through the guide 1001 and also allows for the elongated medical member to be inserted and / or removed from the guide 1001. InUAB Inovatyvi medicina - 34 - 30A-168902

[0191] some examples, there is only one hole in the guide 1001, i.e. the elongated medical member cannot extend through the guide 1001.

[0192] Figure 8 shows a cut-away view of a schematic illustration of the gripper according to some example implementations as described herein.

[0193] The elongated medical member 1006, as described throughout the present specification, extends though the guide 1001 of the gripper 1000 via the through holes 1012 mentioned above. This may allow for the elongated medical member 1006 to be of a length substantially longer than the distance between the through holes 1012 in the guide 1000. This may be particularly advantageous in some scenarios. In particular, if the elongated medical member 1006 is moved through the holes via a "shuffling" technique where the elongated medical member 1006 is fed through the holes in gradual steps, the elongated medical member 1006 being longer than the distance between the holes may allow for the elongated medical member 1006 to be fed in gradual steps through the said holes to achieve this technique.

[0194] The assembly pins 1004 are located within the first gripping component 1002 and that these assembly pins 1004 will allow for the first gripping component 1002 to be coupled to the guide 1001. In this example, the assembly pins 1004 are pins but they may additionally or alternatively be a nut and bolt, a screw, a hinge, a bayonet coupling, a welding or any other suitable type of coupling or any combination thereof.

[0195] The elongated medical member 1006 may be any elongated member which is preferably suitable for endovascular purposes, in particular a catheter or a guidewire. The elongated medical member 1006 is not limited to the endovascular purposes and may alternatively be any type of elongated member which requires to be gripped.

[0196] Furthermore, in this example, there are two springs 1005 coupled to the second gripping component 1003. There may be a single spring or any number of springs which allow for the functioning of the gripper 1000 as described in the present disclosure.

[0197] Figure 9 shows a cross-sectional view of a schematic illustration of parts of the gripper according to some example implementations as described herein.UAB Inovatyvi medicina - 35 - 30A-168902

[0198] Additionally, the first gripping component 1002 and second gripping component 1003 each comprise a respective recess 1014, 1015. The recesses 1014, 1015 are configured to accommodate at least a portion of the elongated medical member 1006 within the gripper 1000. In this example, both of the recesses 1014, 1015 are V-shaped but they may alternatively be any suitable shape such as, for example, cuboidal, semi-cylindrical or a bespoke shape.

[0199] In some examples, the first gripping component 1002 comprises a metallic portion, wherein the metallic portion is configured to contact at least a portion of the elongated medical member 1006. The metallic portion preferably comprises aluminum, and in particular 7075-t6 aluminum. The elongated medical member 1006 preferably comprises a plastic or polymer contactable with the metallic portion. This in turn may provide for a particularly strong gripping of the elongated medical member 1006, thereby reducing the likelihood of the elongated medical member 1006 moving while being gripped by the gripper 1000.

[0200] In this example, the first gripping component 1002 is partially housed by the second gripping component 1003. This may allow for the movement of the second gripping component 1003 to be limited as it may contact the first gripping component 1002. This may result in a reduction of unwanted forces being exerted on the second gripping component 1003, thereby extending the lifespan of the second gripping component 1003.

[0201] The second gripping component 1003 is configured to be slideable past both the guide 1001 and the first gripping component 1002. This may allow for the second gripping component 1003 to be limited to moving in a single axis, i.e. the axis of the exertion of the biasing force, thereby reducing unwanted movement by the second gripping component 1003 during movement of the second gripping component 1003 and while the elongated medical member is being gripped 1006. This may also result in a reduction of unwanted forces being exerted on the elongated medical member 1006, thereby also increasing the lifespan of the elongated medical member 1006.

[0202] When the gripper 1000 is in the gripping position, i.e. the elongated medical member 1006 is being gripped between the first and second gripping components 1002, 1003, the spring 1005 provides a biasing force which biases the second gripping component 1003 towards the first gripping component 1002, thereby keeping the elongated medical member 1006 gripped. In some examples, a force exerted by a pneumatic cylinder and / or an electric motor and / or any other suitable componentUAB Inovatyvi medicina - 36 - 30A-168902

[0203] against the biasing force allows for the elongated medical member 1006 to be moved, removed or inserted into the gripper 1000. Once this force has been removed, the biasing force biases the second gripping component 1003 and the elongated medical member 1006 is once again gripped by the gripper 1000. This also means that the elongated medical member 1006 is gripped via a compressive force. The use of compressive forces may allow for a more secure gripping and / or securing of the elongated medical member 10065 and may allow for the lifetime of the elongated medical memberl006 to be increased, as it is not subjected to shear or tension forces.

[0204] The V-shaped recesses 1014, 1015 allow for the elongated medical member 1006 to be contacted, along four contact lines, by said recesses 1014, 1015. The use of contact lines may allow for the compressive force to be exerted along the portion of the elongated medical member 1006 which is contacted by the recesses 1014, 1015, thereby reducing the force that is exerted on any single portion of the elongated medical member 1006. This may allow for the elongated medical member 1006 to have a longer lifespan, as the compressive force is not focused at a single point. It may also allow for a more secure gripping of the elongated medical member 1006, as the elongated medical member 1006 is contacted along a portion of said elongated medical member 1006 by the first and second gripping components 1002, 1003, thereby increasing the area of contact where the elongated medical member 1006 is contacted by the gripping components 1002, 1003.

[0205] Figure 10 shows a cross-sectional view of a schematic illustration of parts of the gripper according to some example implementations as described herein.

[0206] In some examples, the first gripping component 1002 comprises a recess 1014, as described above, but the second gripping component 1003 alternatively comprises a protrusion 1016. The protrusion 1016 may be formed via 3D printing but may additionally or alternatively be produced by milling and / or electrical discharge machining (EDM). In this example, the protrusion 1016 comprises a truncated V-shape, wherein the truncated V-shape is configured to contact the elongated medical member 1006. The sloped faces of the truncated V-shape are preferably angled at the same angle as the faces of the V-shaped recess. This may allow for a particularly secure gripping of the elongated medical member 1006 when the elongated medical member 1006 is being gripped. The protrusion 1016 may additionally (at one or more other portions) or alternatively comprise other shapes such as, for example, cuboidal, semi cylindrical, prismoidal or a bespoke shape.UAB Inovatyvi medicina - 37 - 30A-168902

[0207] The design of the gripper 1000, and in particular the first and second gripping components 1002, 1003 may be altered depending on a parameter of the elongated medical member 1006. The parameter may be, for example, a material of the elongated medical member 1006, a dimension of the elongated medical member 1006, a usage of the elongated medical member 1006, a resilience of the elongated medical member 1006 or any other suitable parameter (or, in case more parameters are taken into account, any combination thereof).

[0208] Furthermore, the biasing force provided by the spring 1005 coupled to the second gripping component 1003 may be altered depending on one of these parameters. In a non-limiting example, if the elongated medical member 1006 is a guidewire, a biasing force of up to 5 Newtons may be exerted by the spring 1005 on the second gripping component 1003 and if the elongated medical member 1006 is a catheter, the biasing force may be of up to 15 Newtons. The biasing force may be altered via a replacement of the gripper 1000 with a second gripper, wherein the springs 1005 of the second gripper provide a biasing force which is suitable for the elongated medical member 1006. Additionally or alternatively, the gripper 1000 may further comprise a force sensor configured to sense a compressive force being exerted on the elongated medical member 1006. The force sensor may then indicate, via audio, visual or haptic means to the user that the compressive force is too large for the elongated medical member 1006. In some examples, the force sensor may automatically ungrip (release) the elongated medical member 1006, i.e. provide a force against the biasing force and / or stop the gripper 1000 from exerting more force onto the elongated medical member 1006 by preventing a movement of the second gripping component 1003. A user may be able to indicate to the force sensor compressive force limit via an input display on the gripper 1000 and / or via a dial on the gripper 1000 and / or via any other suitable method. In some examples, the user may input a type of elongated medical member 1006, i.e. a catheter or a guidewire, and the force sensor may then automatically determine a compressive force limit based on a predetermined input to the force sensor.

[0209] Second Gripping Unit

[0210] Figures 11a and b show a cross-sectional view of a schematic illustration of parts of the gripper according to some example implementations as described herein.UAB Inovatyvi medicina - 38 - 30A-168902

[0211] Figure 12 shows a cut-away view of a schematic illustration of the gripper according to some example implementations as described herein.

[0212] In figures 11a, lib and 12, features which are substantially similar to the features of the first gripping unit are indicated by the same reference numeral, but with a after it. For example, the spring of figures 11a, lib and 12 are marked with 1005'. Any characteristics of these features mentioned in relation to the second gripping unit can also apply to the corresponding features of the first gripping unit, and vice versa.

[0213] In the gripper 1000' of figures 11a and lib, there is a guide 1001' configured to guide not only the first and second gipping components 1002', 1003', but also an internal guide 1020. This is described in more detail below. In the embodiments of figures 11a, lib and 12, both the first and second gripping components 1002', 1003' are coupled to springs 1005' and therefore, both the first and second gripping components 1002', 1003' are moveable in the same manner as the second gripping component 1003 of figures 5 to 10. As both the first and second gripping components 1002', 1003' are moveable, the inner guide 1020 is configured to guide at least a portion of the first gripping component 1002' and at least a portion of the second gripping component 1003'. The inner guide 1020 may also be configured to guide a least a portion of at least one of the springs 1005'. This may allow for parts of the gripper 1000' to be guided in a manner which reduces unwanted stress and shear forces during operation of the gripper 1000', thereby extending the lifetime of the gripper 1000'. In some examples, the inner guide 1020 guides only one, or some, of the first gripping component 1002', the second gripping component 1003' and at least one of the plurality of springs 1005'. The first and second gripping components 1002', 1003' may be at least partially located within the inner guide 1020, the inner guide 1020 may be located within the guide 1001', and the inner guide 1020 may be moveable with respect to the guide 1001'.

[0214] The inner guide 1020 may be moveable with respect to the guide 1001' in order to allow for fewer stress and shear forces to be experienced by the elongated member 1006'. In this case, the combination of the inner guide 1020 and the guide 1011' may act as a form of suspension and cushioning for the elongated member 1006' gripped by the gripper 1000'. Alternatively, the inner guide 1020 may be fixedly coupled to the guide 1001' via pins 1004 such as those described above. Additionally or alternatively, the first or second gripping component 1002', 1003' may be stationary,UAB Inovatyvi medicina - 39 - 30A-168902

[0215] or substantially stationary, with respect to the guide 1001'. This may be achieved via said pins 1004.

[0216] Additionally, the first and second gripping components 1002', 1003' have respective recesses 1014', 1015' that allow for the elongated member 1006' within the gripper 1000' to be gripped, similar to the recesses 1014, 1015 described above. In some examples, there may be a protrusion 1016 instead of a recess 1014, 1015, as described above.

[0217] Similar to the gripper 1000 of figures 5 to 10, the gripper 1000' of figures 11a, lib and 12 is configured to grip the elongated member 1006' via at least a portion of the first gripping component 1002' and a portion of the second gripping component 1003' when at least one of the springs 1005' coupled to the first or second gripping component 1002', 1003' is actuated on by the actuating component (not shown in these figures).

[0218] The first and second gripping components 1002', 1003' coupled to their respective springs 1005' may have substantially cuboidal or prismatic designs. That is to say, the first gripping component may have a substantially prismatic design whereas the second gripping component may have a substantially cuboidal design, and vice versa. However, any suitable design in any suitable combination may be used for the first and second gripping components 1002', 1003'. The recesses 1014', 1015' may be incorporated into such designs. In some examples, the first and second gripping components 1002', 1003' may be of the cuboidal or prismatic design, and be coupled to a secondary component that comprises the recess 1014', 1015'.

[0219] In the gripper 1000' of figure 12, most components are substantially the same when compared to the gripper of figures 11a and lib. the gripper 1000' of figure 12 further comprises a guide tube 1022. This guide tube 1022 may be of a suitable dimension to accept the elongated member 1006'. The elongated member 1006' can then be guided towards the center of the gripper 1000' comprising, for example, the first and second gripping components 1002', 1003'.

[0220] In the example of figure 12, the first and second gripping components 1002', 1003' are each coupled to a corresponding, respective block 1024, which in turn is coupled to a plurality of springs 1005'. In some examples, there may only be one spring 1005' coupled to at least one of the blocks 1024.UAB Inovatyvi medicina - 40 - 30A-168902

[0221] The first and second gripping components 1002', 1003' comprise a truncated V-shape, similar to the protrusion 1016 described above, but may have any suitable design. Indeed, at least one of the first and / or second gripping components 1002', 1003' may comprise a recess 1014', 1015' as described above. However, the first and second gripping components 1002', 1003' are offset from each other so that they do not directly contact each other. That is to say, when the first and second gripping components 1002', 1003' are moved towards each other, via extension of at least one of the springs 1005', the first and second gripping components 1002', 1003' slot between each other similar to teeth of two gears, or to a zip. This may allow for the elongated member 1006' within the gripper 1000' to be gripped in a particularly strong manner. That is to say, in this configuration, when gripped, the elongated member is crimped between the first and second gripping components 1002', 1003'. Alternatively, the elongated member 1006' may be gripped in such a way, that when viewed from the side, the elongated member 1006' has the form of a sine wave or generally a wave-like form. This may allow for the elongated member 1006' to be gripped in a particularly strong and stable manner. This may also allow for more contact points, thereby further securing the elongated member 1006' within the gripper 1000'. Alternatively, the first and second gripping components 1002', 1003' may contact each other.

[0222] The force of the grip may be influenced by the strength of the springs 1005' and / or the distance that the springs 1005' are allowed to be extended when acted upon by the actuating component. That is to say, if the springs were extended fully, and, when viewed from the side, the elongated member 1006' has the form similar to a square wave, the elongated member 1006' may be very secure. However, this could lead to damage to the elongated member 1006'. Therefore, the extension of the springs 1005' may be altered based on, for example, the material, fragility and diameter of the elongated member 1006' to be gripped.

[0223] Additionally, in figure 12, there are six gripping components 1002', 1003' with three gripping components 1002' being coupled to one of the blocks 1024 and the other three gripping components 1003' being coupled to the other block 1024. However, it will be realized by the skilled person that there may be any number of gripping components 1002', 1003' within the gripper 1000' and / or that the number of gripping components 1002', 1003' coupled to each respective block 1024 may not be equal. This is to say, in a non-limiting example, there may be two gripping componentsUAB Inovatyvi medicina - 41 - 30A-168902

[0224] 1002' coupled to one of the blocks 1024 and four gripping components 1003' being coupled to the other block 1024.

[0225] Third Gripping Unit and / or Rotation Unit

[0226] Figures 13 and 14 shows perspective views of a system according to some example implementations as described herein.

[0227] Figure 13 shows a module 2201 of an endovascular robotic system, with the module 2201 comprising a drive gear 2204, and a cassette (see Figure 14) comprising a first and a second gripping gear 2303, 2304, and a gripper comprising a gripping body 2101, a nut 2102 and a gripping element 2104 with a lumen 2110 extending through, in this example, the center of the gripper, although the lumen may not extend through the center of the gripper in some examples. The gripper is described in more detail with respect to Figures 18 to 25.

[0228] Figure 14 shows the module 2201 of the endovascular system from the other side, and here, it can be seen that the module 2201 comprises a controller 2206, a first and a second motor 2203, 2205, a second drive gear 2202, with a cassette 2300 coupled to the module 2201, and the lumen 2110 extending through the, in this example, center of the cassette 2300. The module 2201 described here is the same as the module 110 described in relation to, for example, figure 1. The cassette 2300 described here is the same as the cassette 202 described in relation to, for example, figure 1. The controller 2206 described here is the same as the controller described in relation to, for example, figure 3.

[0229] The controller 2201 is coupled to the first and second motors 2203, 2205 via any suitable wired and / or wireless means. The controller 2206 may output a first signal which relates to an instruction for the first motor 2203 to undertake, and output a second signal which relates to an instruction for the second motor 2205 to undertake.

[0230] The first motor 2205 is coupled to the first driving gear 2202 by any suitable means and, in this example, is coupled via a belt drive. The same applies to the second motor 2203 being coupled to the second drive gear 2202.UAB Inovatyvi medicina - 42 - 30A-168902

[0231] The drive gears 2202, 2204 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.

[0232] The first and second gripping gears 2303, 2304 may be any suitable type of gear that is rotatable. The first and second gripping gears 2303, 2304 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 2303, 2304 is configured to interact with the teeth of the drive gears 2202, 2204. In some examples, at least one of these parameters is different for each of the gripping gears 2303, 2304. Upon a rotation of one of the drive gears 2202, 2204, a respective gripping gears 2303, 2304 also rotates. That is to say, when the first drive gear 2204 rotates, the first gripping gear 2304 rotates, and when the second drive gear 2202 rotates, the second gripping gear 2303 rotates. The drive gears 2202, 2204 may have more teeth, the same number of teeth, or fewer teeth than their respective gripping gears 2303, 2304. A diameter of the drive gears 2202, 2204 may be larger, the same, or smaller than their respective gripping gears 2303, 2304.

[0233] The controller 2206 is configured to detect a rotational position of at least one of the first and second gripping gears 2303, 2304. This may allow for the controller 2206 to detect the gripping force being applied to the elongated medical member, should it be currently gripped by the gripper, and / or allow the controller 2206 to know the relative rotational positions of the gripping gears 2303, 2304. This may, in turn, allow for the controller 2206 to output the first and / or second signals to the first / second motor 2203, 2205 in order to further contract the lumen 2110, or to expand the lumen 2110.

[0234] The controller 2206 may be programmable based on the elongated medical member to be gripped. The controller 2206 may be couplable to an interface which may allow for a user of the system to input a parameter of the elongated medical member. The controller 2206 may then calculate a diameter of the elongated medical member based on this parameter, and then determine to which degree the lumen 2110 should be contracted in order to grip the elongated medical member within the gripper. The controller 2206 may additionally determine the present relative rotational positions of the gripping gears 2303, 2304, via, for example, a positioning sensor, and then calculate how much the first and / or second gripping gear 2303,UAB Inovatyvi medicina - 43 - 30A-168902

[0235] 2304 should be rotated with respect to the other gripping gear 2303, 2304 in order to grip the elongated medical member within the gripper.

[0236] The first and / or second gripping gear 2303, 2304, in some examples, further comprises a bearing, wherein the bearing is configured to interact with at least a first portion of the gripper. The bearing may be a plain bearing, a ball bearing, a fluid bearing, a rolling bearing, or any other suitable type of bearing, the bearing may allow for a smoother rotation of the respective gripping gear 2303, 2304, and / or allow for a smoother contraction / expansion of the lumen 2110 of the gripper. In some examples, the first and second gripping gears 2303, 2304 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 2303, 2304. In some examples, instead of a bearing, a slip ring is used.

[0237] In some examples, the first and second motors 2203, 2205 are independently controllable from one another by the first and second signals output by the controller 2206. This may allow for a more accurate control of the diameter of the lumen 2110 and so, a more accurate detection of gripping of the elongated medical member by the system. In particular, the independent control may allow for both gripping gears 2303, 2304 to be rotated, but at different speeds to one another, allow for both gripping gears 2303, 2304 to be rotated in a synchronous manner, allow for the rotational directions of the gripping gears 2303, 2304 to be opposite to one another, and allow for one gripping gear 2303, 2304 to be stationary while the other rotates.

[0238] Figures 15 to 17 show cut-away views of a portion of a system according to some example implementations as described herein.

[0239] Here, the gripping gears 2303, 2304 are shown along with a gripping body 2101, a nut 2102, with the lumen 2110 extending along the dashed line, and said line indicating an axis which the gripping gears 2303, 2304 rotate around.

[0240] Figure 16 shows that the first gripping gear 2304 can be rotated in either direction about the dashed line via the independent properties of the gripping gears 303, 304 supplied by the two motors 2203, 2205 and the first and second signals output by the controller 2206. In such a scenario, when the first gripping gear 2304 is rotated in a first direction, a dimeter of the lumen 2110 is contracted, thereby leading to aUAB Inovatyvi medicina - 44 - 30A-168902

[0241] gripping of the elongated medical member within the gripper. Upon rotation of the first gripping gear 2304 in the second direction, i.e. the other direction, the lumen 2110 is expanded, thereby leading to the ungripping of the elongated medical member.

[0242] Figure 17 shows that both gripping gears 2303, 2304 can be rotated simultaneously, but at different rotational speeds, with the first gripping gear 2304 being rotated faster than the second gripping gear 2303. In such a scenario, due to the relative positioning of the gripping gears 2303, 2304 with respect to one another being key for the contraction and expansion of the lumen, the rate of contraction and expansion of the lumen 2110 is dependent on the rotational speed differential between the gripping gears 2303, 2304.

[0243] Not shown within these figures is the option of the gripping gears 2303,2304 being able to be rotated is opposite directions, thereby increasing the rate at which the diameter of the lumen is contracted and expanded, although this is a further possible result of the system described herein.

[0244] Figures 18 to 21 show perspective and cross-sectional views of a gripper according to some example implementations herein.

[0245] Figure 18 shows the gripper having a gripper body 2101, a nut 2102 and a nut insert 2103.

[0246] The gripper body 2101 may be of any suitable design that allows for the nut 2102 to be placed around the outside of the gripping body 2101, and for the gripping element (see figure 19) to be placed inside the gripping body 2101. In some examples, the gripping body 2101 is at least partially comprised of a flexible material which flexes when the nut 2102 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.

[0247] The second thread, on the nut 2102, is configured to interact with the first thread and so, may have corresponding characteristics. Upon rotating the nut 2102 in the first direction, pressure may be applied to the gripping element via the interaction between the first and second threads. This pressure may then cause the gripping element to decrease its inner diameter, otherwise described as the lumen 2110UAB Inovatyvi medicina - 45 - 30A-168902

[0248] herein, thereby gripping the elongated medical member (described in more detail below).

[0249] The nut 2102, in the example of Figure 20, comprises four protrusions, but the skilled person understands that any number of protrusions may be used. Such protrusions allow for the first and / or second gripping gear 2303, 2304 to grip the nut 2102. The protrusions may allow for easier tightening and / or loosening of the nut 2102 and / or for easier rotation of the nut 2102 in the first and / or second direction based on the corresponding rotation of the first and / or second gripping gear 2303, 2304. The protrusion may be of any suitable design that allows for the first and / or second gripping gear 2303, 2304 to rotate the nut 2102. The nut 2102 may be fixedly coupled to the first and / or second gripping gear 2303, 2304. This may allow for a "one-to-one" rotation of the nut 2102 with respect to the gripping gear(s) 2303, 2304. This may, in turn, allow for a more precise and accurate rotation of the nut 2102 and so, a more precise contraction and expansion of the lumen 2110 and gripping and ungripping of the elongated medical member. Alternatively, at least one of the first and second gripping gears 2303, 2304 comprises a recess for receiving the nut 2102, and wherein the nut 2102 is rotatable within the recess through a predetermined angle before a portion of the nut 2102 contacts a portion of the recess. This may allow for the first and / or second gripping gear 2303, 2304 to rotate through a predetermined angle such as, for example, 30°, 45° or 60° without affecting the nut 2102 and so, affecting the diameter of the lumen 2110. This may allow for slight variations in the system to not affect the diameter of the lumen 2110 and so, the gripping of the elongated medical member.

[0250] In some examples, the gripper further comprises a nut insert 2103 placed within the gripping body 2101. In particular, the nut insert 2103 may be placed within the gripping body 2101 which itself is surrounded, at least partially, by the nut 2102. Upon rotation of the nut 2102 in the first direction, the nut insert 2103 may directly and / or indirectly apply the force on the gripping element leading to the gripping of the elongated medical member.

[0251] Figure 19 shows a cut-away view of a gripper according to some example implementations as described herein.

[0252] Here, it can be seen that the gripping element 2104 is inside the gripping body 2101 and is part of the overall gripper.UAB Inovatyvi medicina - 46 - 30A-168902

[0253] The gripping element 2104 is, in this example, a brass and / or silicone element that contacts the elongated medical member when the lumen 2110 is contracted to a sufficient degree to grip the elongated medical member. The skilled person understands that any suitable material may be used in order to construct the gripping element 2104. The gripping element 2104 may be any suitable shape, as long as there is an opening allowing for the elongated medical member to pass through the gripping element 2104. The use of silicone may mean that the gripping element 2104 is contractible when pressure / force is applied to it, leading to a gripping element 2104 that more securely grips the elongated medical member.

[0254] The gripper further comprises an (elastic) O-ring 2105 preferably comprising silicone. However, the skilled person understands that the O-ring 2105 may be any element of any suitable shape, as long as there is an opening allowing for the elongated medical member to pass through the O-ring 2105, and comprise any suitable material. The use of silicone may mean that the gripping element 2104 and / or O-ring 2105 is contractible when pressure / force is applied to it, leading to a gripping element 2104 and / or O-ring 2105 that more securely grips the elongated medical member. In particular, the O-ring 2105 may help create elasticity and adjust the gripping force applied to the elongated medical member. In another gripper configuration, which may be compatible with the configurations and embodiments described herein, this O-ring 2105 may help to create friction between the gripper body 2101 and the nut insert 2103, which may lead to the nut insert 2103 not moving during the rotation of the gripper, and lead to the elongated medical member not moving while the gripper is rotated.

[0255] The force being exerted on the gripping element 2104, as described herein, is preferably a force directed towards the center of the gripping element 2104, 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 2104 once the force reaches a predetermined threshold.

[0256] Additionally or alternatively, the gripping element 2104 is configured to not rotate. This may lead to an improved gripping of the elongated medical member as there is a lower chance of the gripping element 2104 slipping.

[0257] Additionally or alternatively, as the nut 2102 is rotated in the first direction by the first and / or second gripping gear 2303, 2304, the gripping element 2104 is configured to be compressed by the nut 2102 and the nut insert 2103. This may leadUAB Inovatyvi medicina - 47 - 30A-168902

[0258] to an improved application of force on the gripping element 2104 as the force may be more evenly spread across the gripping element 2104, leading to a longer lifespan of the gripping element 2104.

[0259] Additionally or alternatively, when the force is above the predetermined threshold, the gripping element 2104 is configured to create a watertight seal around an exterior of the elongated medical member. This may prevent liquids from flowing through the gripper, thereby improving patient safety. Preferably, this may cause the gripper to act as a hemostatic valve, which is particularly advantageous in medical procedures.

[0260] In addition to the above, there may be, in some examples, at least one winding of thread around the gripping element 2104. 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 2104 so as to create a winding configured to contact the elongated medical member when the force is above the predetermined threshold. The thread is wound around the gripping element 2104 in a direction substantially parallel to a longitudinal axis of the elongated medical member and lumen 2110. The use of a thread increases the friction coefficient of the gripping element 2104, 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.

[0261] Preferably, there is a plurality of windings of thread, wherein the windings are spaced equally around the gripping element 2104. This may improve the friction coefficient of the gripping element 2104 and so, lead to a more secure gripping of the elongated medical member 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 2104.

[0262] In some examples, the gripping element 2104 comprises a gripping layer between the gripping element 2104 and the thread. This gripping layer may increase the friction coefficient of the gripping element 2104, leading to a more secure gripping of the elongated medical member. The gripping layer, in some examples, comprises a synthetic material and / or cotton in a fabric or mesh form.UAB Inovatyvi medicina - 48 - 30A-168902

[0263] In some examples, the gripper further comprises a limiting element configured to limit a rotation of the nut 2102. This limiting element is preferably coupled to the gripping body 2101, but may alternatively be coupled to the nut insert 2103. This may lead to a rotation of the nut 2102 in, for example, the first direction being limited. This may therefore limit the force being applied to the gripping element 2104 and so, the elongated medical member, preventing damage to, and extending the lifetime of, both elements. It may also lead to the nut 2102 being prevented from overtightening, thereby extending the lifetime of the nut 2102. This limiting of rotation may be detecting by the positioning sensor and be communicated to the controller 2206, leading to the controller 2206 outputting a signal for at least one of the motors 2203, 2205 to cease its functions.

[0264] The elongated medical member is suitable for an endovascular procedure. This elongated medical member is threaded through the aligned holes of the gripping body 2101, nut 2102, nut insert 2103 and gripping element 2104. Such alignment allows for a smooth movement of the elongated medical member through the gripper when the member is not being gripped. The elongated medical member may be, for example, a guidewire, a catheter, a stent, a PTA balloon catheter, a stent balloon, or any other suitable elongated medical member.

[0265] Figures 20 and 21 show a further variation of the gripper. Elements with the same reference signs as those in Figures 18 and 19 function the same with respect to the embodiment of Figures 20 and 21. In Figures 20 and 21, the different body geometry may aid the gripping of the elongated medical member and / or the stability of the elongated medical member while it is being gripped by the gripper.

[0266] The embodiment of Figures 20 and 21, shown in more detail with respect to Figure 21, further comprises an (elastic) O-ring washer 2106 preferably comprising silicone. However, the skilled person understands that the washer 2106 may be any element of any suitable shape, as long as there is an opening allowing for the elongated medical member to pass through the washer 2106 and gripper, and comprise any suitable material. The use of silicone may mean that the gripping element 2104 and / or O-ring 2105 and / or washer 2106 is contractible when pressure / force is applied to it, leading to a gripping element 2104 and / or O-ring 2105 and / or washer 2106 that more securely grips the elongated medical member. This washer 2106 may be used to reduce the rotational friction between the O-ring and the nut 2102. This may lead to the elements of the gripper being kept in place during rotation of the gripper by the first and / or second gripping gears 2303, 2304.UAB Inovatyvi medicina - 49 - 30A-168902

[0267] Figures 22 to 25 show perspective and cross-sectional views of a gripper according to some example implementations herein. Elements with the same reference signs as those in Figures 18 to 21 function the same with respect to the embodiment of Figures 22 to 25.

[0268] In this embodiment, the opening of the gripping element 2104 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 2104, 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 2104. When the first diameter is smaller than the second diameter, this creates a chamber within the gripping element 2104. In some examples, the first diameter is greater than the second diameter, thereby creating an opening that closes and then opens along the length of said opening. This may result in an improved gripping of the elongated medical member.

[0269] Figure 24 differs to the embodiment of Figure 22 with respect to the extended nut insert. This may aid the gripping of the elongated medical member and / or the stability of the elongated medical member while it is being gripped by the gripper.

[0270] If the cassette 202 comprises friction reduction unit, the friction reduction unit may be as follows:

[0271] Elements described in relation to the above gripping units may be the same as the corresponding elements described below.

[0272] Figure 26 shows a cross-sectional view of the second module with a first back-bleeding valve according to some example implementations as described herein.

[0273] Figure 27 shows a cross-sectional view of the second module with a second back-bleeding valve according to some example implementations as described herein.

[0274] The cassette of figure 26 shows a cassette in the second module as described herein. The cassette 3400 comprises an endovascular device end hub comprising a luer adapter 3104, a luer connector within the rotational component 3401 of the cassette 3400, a rotation separation and bearing element 3402 which may, in some examples, comprise a liquid sealing element and / or an O-ring, a stationaryUAB Inovatyvi medicina - 50 - 30A-168902

[0275] component 3403 that is configured to not rotate, a side tube 3404, also known as a flushing element, and a back-bleeding valve 3405 in the form of a membrane.

[0276] The luer adapter 3104 may be coupled to the luer connector 3401 via the adapter 3104 having a female luer lock and the connector 3401 having a male luer lock which can be coupled to one another, or vice versa. The skilled person understands that such locks are standard components. The connector 3401 may then be coupled to one of the gripping gears 3409 (see Figure 27) in any suitable mechanical manner.

[0277] The membrane may comprise silicone and / or any other elastic plastic / gum suitable to prevent back-bleeding. In some examples, this back-bleeding valve 3405 may be an O-ring and act as a form of gripper, as shown in, for example, figure 27.

[0278] In some examples, the controller of at least one of the modules 110 is configured to measure a frictional force of the rotation of the said elongated medical member when the rotatable component 3401 within the cassette 3400 is being rotated by the motor of at least one of the modules 110. The sensor then may allow for this force to be measured.

[0279] In some examples, the system is configured to actuate the motors of at least one of the modules 110, via the signal output by their respective controllers. That is to say, at least one of the modules 110 may comprise motors and may be similar in construction in this aspect as the motors described herein. Based on the measured frictional forces and / or the measured rotational position of the first and / or second gripping gears 3409, the motors of at least one of the modules 110 may be actuated, as described above. This may allow for the gripping gears 3409 of at least two of the modules 110 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 to be reduced, thereby allowing for a more accurate rotation of the elongated medical member. This synchronous rotation may allow for the cassettes of at least two of the modules 110 to rotate in a synchronous manner, and so, allow for the whole elongated medical member to be rotated and / or allow for the HVA adapter friction to be negated. In other words, the gripping gears of at least one of the modules 110 may control the gripper of the said module 110, whereas a gripper gear 3409 of at least two of the modules 110 may allow for the elongated medical member to be rotated and / or allow for the HVA adapter friction to be negated.UAB Inovatyvi medicina - 51 - 30A-168902

[0280] In some examples, the system is configured to actuate the motors of at least one of the modules 110, 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. 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 3401 and / or the endovascular device end hub 3104, a frictional force of 20 Newtons may be applied to the elongated medical member by at least one of the modules 110.

[0281] In some examples, the system is configured to actuate the motors of at least two of the modules 110, 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. 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 by the rotatable component 3401 and / or the endovascular device end hub 3104, at least one of the modules 110 may actuate and rotate its respective gripper so that the effective frictional force being exerted onto the elongated medical member is zero.

[0282] In some examples, the controller of at least one of the modules 110 is configured to not actuate the motor of the said module 110 until the rotatable component 3401 and / or the endovascular device end hub 3104 has been rotated through a predetermined angle by the motor of at least one of the modules 110. The endovascular device end hub 3104 and / or the rotatable component 3401 may be coupled to one of the gripper gears and have a + / - 45° free rotation. This angle may be measured from the angle of the component 3401 and hub 3104 at the point of coupling these elements to one another. This may mean that the rotatable component 3401 can be rotated through 45° without rotating at least one, and preferably both, of the gripper gears 3409 used to rotate the elongated medical member. That is to say, the endovascular device end hub 3104 and / or the rotatable component 3401 can freely rotate with elongated medical member through + / - 45°. This may allow for parasite loading on the rotational sensor of at least one of the modules 110 to not be added when the elongated medical member is stiff. The term "stiff" may be defined herein as an elongated medical member which is made, at least partially, from plastic, and are generally soft, but cannot be lengthened and / orUAB Inovatyvi medicina - 52 - 30A-168902

[0283] rotated in an elastic manner when a force is exerted upon them. Particular areas of said elongated medical members, particularly near the end hub 3104, 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 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°.

[0284] 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.

[0285] In some examples, the rotatable component 3401 is directly coupled to the first gripping gear 3409. This may allow for a more accurate rotation of the rotatable component 3401 and so, the elongated medical member 101. In some examples, the endovascular device end hub 3104 may additionally or alternatively be directly coupled to the first gripping gear 3409.

[0286] In some examples, the rotatable component 3401 is moveable in a direction parallel to a longitudinal axis of the lumen of the gripper by a predetermined distance. The endovascular device end hub 3104 and / or the rotatable component 3401 may be coupled to one of the gripper gears 3409 used to rotate the elongated medical member 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 3401 andUAB Inovatyvi medicina - 53 - 30A-168902

[0287] hub 3104 at the point of coupling these elements to one another. This may mean that the rotatable component 3401 can be moved through 3mm linearly without linearly moving at least one, and preferably both, of the gripper gears 3409 used to rotate the elongated medical member. This linear motion may be the same as the linear motion of the sensor of at least one of the modules 110. Additionally or alternatively, this distance may be a distance between the rotatable component 3401 and the end hub 3104 and / or the rotatable component 3401 and any other suitable part of the module. This may allow for the parasite loading to not be added on the sensor when elongated medical member is stiff and / or when both modules 110 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 3104 where the elongated medical member is not functionally used.

[0288] 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.

[0289] The main parts of the cassette of at least one of the modules 110 is shown in Figures 27 are substantially the same as that shown in Figure 26. However, in Figure 27, the back-bleeding valve 3405 is now in the form of an O-ring style valve comprising a valve nut 3502, a nut insert 3503, a gripping body and a gripping element.

[0290] Furthermore, the valve is shown in a closed position 3505 in Figure 27. This may allow for the valve 3405 to additionally have a gripping functionality, wherein the elongated medical member is gripped. This valve 3405 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 3404 and the fluid should flow to the elongated medical member. This alternative valve is preferably the same as the valve described in relation to the third gripping unit.

[0291] If the cassette 202 comprises a sensing unit, the sensing unit may be as follows:

[0292] Elements described in relation to the above gripping units may be the same as the corresponding elements described below.

[0293] Figure 28 shows a perspective view of a schematic illustration of the sensor according to example implementations as described herein.UAB Inovatyvi medicina - 54 - 30A-168902

[0294] In figure 28, the sensor is shown comprising a base 5101, a first sensor 5102, a second sensor 5103, a gripper 5105, two strain gauges 5106, 5107, two limiting elements 5111, 5112 and a restriction element 5113.

[0295] The base 5101 of the sensor may comprise any suitable material, and may be of any suitable diameter. In particular, the base 5101 may be of such a diameter that is can be placed within a cassette, which is then placed within the endovascular robotic system. This may allow for easy insertion and removal of the sensor from the system.

[0296] The first and second sensors 5102, 5103 are, in this example, placed on perpendicular planes, but may be placed in any suitable plane. These sensors 5102, 5103 may be configured to detect motion of the elongated medical member mentioned herein in the longitudinal and rotational axes of the elongated medical member. The sensors 5102, 5103 are preferably flexible in order to allow for the strain gauges 5106, 5107 coupled to the directional sensors 5102, 5103 to detect how much flexure is being applied to the directional sensors 5102, 5103. One strain gauge 5106, 5107 per directional sensor 5102, 5103 is shown here, but the skilled person understands that either of the directional sensors 5102, 5103 may have a plurality of strain gauges 5106, 5107. Furthermore, the first and / or second sensors 5102, 5103 may be of such a construction to bias the elongated medical member towards a certain position such as, for example, a neutral position. This may allow for the device to spend less time under strain and tension, thereby extending the lifetime of the device.

[0297] The gripper 5105, which may be any of the first to third gripping units described above, allows for the elongated medical member, of which movement is to be sensed, to be guided and / or placed within the sensor. In some examples, the gripper 5105 is configured to grip the device, thereby leading to improved measurements of the movement of the elongated medical member. The elongated medical member may be a guide wire, stent, balloon, catheter, or any other suitable endovascular instrument.

[0298] The limiting elements 5111, 5112 may limit the rotation of the second sensor 5103 which, in this example, is configured to measure a movement of the elongated medical member in its rotational direction. This may reduce the likelihood of overbending of the second sensor 5103, thereby extending the lifetime of the sensor. Additionally, although the limiting elements 5111, 5112 are shown to be close to theUAB Inovatyvi medicina - 55 - 30A-168902

[0299] center of the sensor, the skilled person understands that they may be placed in any suitable position within the sensor which still allows for the movement of the second directional sensor 5103 to be limited. In some examples, only one of these limiting elements 5111, 5112 is within the sensor. The limiting elements 5111, 5112 may be of any suitable design that arrests the movement of the second directional sensor 5103.

[0300] It can further be seen that a free end of the second sensor 5103 is sandwiched between two elements, the restriction element 5113 mentioned above, thereby allowing for the second sensor 5103 to flex. These elements may be integral, or coupled to, the gripper 5105 and / or the element base 5108 as described herein. This may allow for the free end to be restricted, thereby allowing the flexure of the second sensor 5103. The restriction element 5113 may allow for the free end of the second sensor 5103 to move freely along a first axis, i.e. the axis of linear motion of the elongated medical member, and along a second axis perpendicular to the first axis.

[0301] Figure 29 shows a cut-away view of a schematic illustration of parts of the sensor according to example implementations as described herein.

[0302] In figure 29, a bearing 5104 is shown along with the base 5101, a moveable element 108, also known as an element base, and two further limiting elements 5109, 5110.

[0303] The bearing 5104 allows for the movement of the first and second sensors 5102, 5103 to be independent from one another, thereby meaning a movement, and measurement, associated with the first sensor 5102 does not affect the second sensor 5103, and vice versa. This may improve the measurements undertaken by the strain gauges 5106, 5107 of the respective sensors 5102, 5103.

[0304] The gripper 5105 is, in this example, coupled to the base 5101 via one end of the first directional sensor 5102. A second end of the first directional sensor 5102 is coupled to the element base 5108, which can be moved in a longitudinal direction of the device with respect to the base 5101. This may allow for a particularly smooth movement of the device within the sensor. This may also allow for the gripper 5105 to "float" within the sensor, thereby allowing for a more accurate detection of movement by the first and / or second sensors 5102, 5103.UAB Inovatyvi medicina - 56 - 30A-168902

[0305] The two further limiting elements 5109, 5110 may limit the movement of the first sensor 5102 which, in this example, is configured to measure a movement of the elongated medical member in the linear direction. This may reduce the likelihood of overbending of the first sensor 5102, thereby extending the lifetime of the sensor. Additionally, although the limiting elements 5111, 5112 are shown to be in two separate parts of the sensor, the skilled person understands that they may be placed in any suitable position within the sensor which still allows for the movement of the first sensor 5102 to be limited. In some examples, only one of these limiting elements 5109, 5110 is within the sensor. The limiting elements 5109, 5110 may be of any suitable design that arrests the movement of the first sensor 5102.

[0306] Additionally or alternately, a movement of the element base 5108, to which the first sensor 102 is coupled to, may be limited by the limiting elements 5109, 5110.

[0307] Figures 30 and 31 show schematic illustrations of the sensor according to example implementations as described herein.

[0308] Figure 30 shows that when the elongated medical member is moved in the linear direction 5122, the first sensor 5102 flexes in the direction of the arrow 5123 shown, thereby leading to the strain gauge 5106 being able to measure the degree of flexure of the first sensor 5102 and so, the amount the device has been moved in the linear direction.

[0309] Figure 31 shows that when the elongated medical member is moved in the rotational direction 5120, the second directional sensor 5103 flexes in the direction of the arrow 5121 shown, thereby leading to the strain gauge 5107 being able to measure the degree of flexure of the second sensor 5103 and so, the amount the elongated medical member has been moved in the rotational direction.

[0310] Figure 32 to 34 show schematic illustrations of the directional sensors according to example implementations as described herein.

[0311] Figures 32 and 33 show designs for the first sensor 5102. Although only a single strain gauge 5106 is shown on each of these designs, the skilled person understands that there may be a plurality of strain gauges 5106.

[0312] The design of figure 32 allows for a strain gauge 5106 to be placed on both sides of the first sensor 5102, i.e. the side on which a strain gauge 5106 can be seen in figure 32, as well as the opposite side which can't be seen, although there may onlyUAB Inovatyvi medicina - 57 - 30A-168902

[0313] be one strain gauge 5106 in some examples. 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 5106 is not working properly. This may minimize the risk of failure and increases sensor stability. The design of figure 32 may also be easy to manufacture, thereby reducing the complexity of the sensor, and increasing the ease of repairability.

[0314] The design of figure 33 allows for a strain gauge 5106 to be placed on each arm of the first sensor 5102. 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 5106 is not working properly. This may minimize the risk of failure and increases sensor stability. Although a design with three arms can be seen in figure 33, the skilled person understands that there may be any number of arms, and that there may be a strain gauge 106 on each arm.

[0315] Figure 34 shows a design for the second sensor 5103. Although only a single strain gauge 5107 is shown, the skilled person understands that there may be a plurality of strain gauges 5107.

[0316] The design of figure 34 may allow for a strain gauge 5107 to be placed on both sides of the second sensor 5103, i.e. the side on which a strain gauge 5107 can be seen in figure 32, as well as the opposite side which can't be seen, although there may only be one strain gauge 5107 in some examples. 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 5107 is not working properly. This may minimize the risk of failure and increases sensor stability. The design of figure 34 may also be easy to manufacture, thereby reducing the complexity of the sensor, and increasing the ease of repairability.

[0317] The first sensor 5102 and / or second sensor 5103 is preferably manufactured from a metal which is flexible, but is able to withstand the strain forces placed upon the first sensor 5102 and / or second sensor 5103 as described herein without breaking.

[0318] Figures 35 and 36 show top-down views of a system with a patient according to some example implementations as described herein.

[0319] In these figures, a patient 140 is shown lying on a bed 141, with a first variation 142 of the bedside unit being shown in figure 6, and a second variation 143 being shownUAB Inovatyvi medicina - 58 - 30A-168902

[0320] in figure 36. Here, the differences between the variations 142, 143 is that the bedside unit 100 is positioned on the left and right side of the bed. The construction of the bedside unit 100 is substantially the same for both variations 142, 143, but the cassettes 202 of each variation 142, 143 may be different. If the system is located on the left side of the bed 141, the components in the cassette 202 that allow for the functionality to take place may be reversed if the system is located on the right side of the bed 141. This allows for the system to be placed where it is best for the patient / scenario, thereby leading to improved patient safety and a more versatile system.

[0321] Figure 37 shows a schematic view of a system according to some example implementations as described herein.

[0322] Here, the straight and curved sections 121, 122 of the bedside unit 100 are shown, along with the flexible element 120. The design of the straight and curved sections 121, 122 is merely an example, and the skilled person understands that these sections 121, 122 may have any suitable design for a sterile drape to be inserted into the grooves of these sections 121, 122.

[0323] Figures 38 and 39 show schematic diagrams of a module according to some example implementations as described herein.

[0324] In figure 38, it can be seen that the bedside unit 100 comprises a base 101, a first and second linear guide rail 102, 103, a linear drive 104, a belt 105 and a motor gear 106. Additionally, although not shown here, the unit 100 may further comprise the controller, as described above, that is configured to output the first and second signals, wherein the first signal controls the functionalities of the cassettes 202, in some examples via module controllers which control the functionalities at each cassette 202 and monitor a state of the cassettes 202 / module 101 to which the module controller is coupled, and wherein the second signal is controls the linear drive 104 and / or motor gear 106 which, in turn, controls movement of at least one of the modules 110 in a linear direction along the bedside unit 100. The controller may be the same as any of the controllers described herein.

[0325] The base 101 is configured to support and hold the remainder of the components in the bedside unit 100. Although the base 101 is shown to be an L-shape here, the skilled person understands that the base 101 may be of any suitable form factor for supporting the remainder of the components. The base 101 may be coupled to theUAB Inovatyvi medicina - 59 - 30A-168902

[0326] remainder of the bedside unit 100 via a ball screw, rack and roller, a rack and pinion, or any other suitable type of coupling.

[0327] The first and second linear guide rails 102, 103 are configured to support the modules 110 are they are moved linearly along the bedside unit via the linear drive 104 and motor gear 106.

[0328] The linear drive 104 is coupled to the motor gear 106 via a belt drive 105 in this example, although the skilled person understands that any other suitable means may be used. These components, in combination, may allow for the modules 110 to move linearly along the bedside unit 100, improving the versatility of the system, in particular, in some examples, each module 110 may have its own motor gear 106, and sometimes also its own linear drive 104 and belt drive 105.

[0329] In addition to the above, a subset of the plurality of two modules 110 are dependently controllable to one another based on the first signal and / or the second signal output by the controller. The dependent controlling may allow for more accurate controlling of the system as a whole, thereby improving patient safety as the movement / functionality of one module 110 may not be allowed depending on the movement / functionality of another module 110. This prevention may be physical i.e. via physical locks or contact between modules 110, and / or logical, i.e. the controller may prevent movement / functionality of one module 110 depending on the state of another module 110. In particular, the state of a module 110 may be transmitted to the controller via a module controller, as mentioned above. The controller and / or module controller may be the same as any of the controllers described herein.

[0330] Additionally or alternatively, the bedside unit 100 and / or at least one of the modules 110 may comprise a measurement unit, in particular a linear encoder. This may allow for the controller to accurately determine the position of the modules 110 in relation to each other and ensure that they do not come to close to each other. This may protect the modules 110 and system, thereby leading to a longer lifetime.

[0331] Furthermore, the measurement unit may be coupled to the controller and / or the module controller, and be used in the logical decision of the controller in the dependent movement of the modules 110, as described above.

[0332] Figure 39 shows a cable chain 107 coupled to the first linear guide 102. This chain 107 allows for the movement of the modules 110 along the bedside unit 100.UAB Inovatyvi medicina - 60 - 30A-168902

[0333] Additionally, a cassette 202 coupled to the module 110 is shown, wherein the cassette 202 comprises a lumen 201 as described above in relation to the functionalities above.

[0334] Figures 40 to 43 show schematic illustrations of an anti-buckling mechanism according to some example implementations herein.

[0335] In accordance with any of the examples and implementations of the system as disclosed above, there may be a plurality of modules 110 within an (endovascular) robotic system. In the example of figures 40 to 43, there are two modules 110.

[0336] The modules 110 comprise cassettes 202 which are preferably the same as those described above, and are mounted onto the unit 100 which may allow for at least one of the modules 110 to move in at least one axis, in this case, a linear parallel to the longitudinal axis of the unit 100. The skilled person understands that any other suitable axis may be used and / or the modules 110 may be moveable in more than one axis. The base 100 preferably comprises a linear motor in order to allow for the at least one module 103, 109 to move in this axis.

[0337] The example further shows an elongated medical member 150, same as the elongated members 151, 152, 153 mentioned above.

[0338] In between the modules 110, there is an anti-buckling mechanism 204A, 204B shown in an extended form 204B and a contracted form 204A depending on the physical distance between the modules 110. The anti-buckling mechanism 204A, 204B extends between faces of the modules 110 which face each other and comprises an accordion-style design. Each end of the anti-buckling mechanism 204A, 204B is preferably coupled to the cassettes 202. but may be additionally or alternatively be coupled to the casing of each module 204A, 204B. 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 204A, 204B in place, and then a second screw may be screwed into the other end of the bar, thereby fixing the mechanism 204A, 204B in place.

[0339] The cassette 202 of at least one of the modules 110 may have a tube that extends out of the module 110 towards the other module 110. This tube may extend through at least a subset of the openings of the mechanism 204A, 204B and allow for theUAB Inovatyvi medicina - 61 - 30A-168902

[0340] elongated medical member 150 to be passed through the tube. This may further decrease the chance of unwanted buckling of the elongated medical member 150 as the member 150 is supported for a greater proportion of its length.

[0341] As can be seen in these figures, the mechanism 204A, 204B is expandable and contractible. The mechanism 204A, 204B preferably comprises plastic but may additionally or alternatively comprise rubber. Each section of the mechanism 204A, 204B comprises an opening 301 of a sufficient diameter to allow for the elongated medical member 150 to pass through the center of each section. Each section further comprises a connection section 302 which comprises a material thicker than the first and second anti-buckling elements 303, 304. This connection section 302 allows for a more secure holding of the elongated medical member 150 as well as for a reduced chance of the elongated medical member 150 twisting and / or buckling as the modules 110 are moved relative to each other and / or as the elongated medical member 150 itself is moved.

[0342] Each part of the mechanism 204A, 204B 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 150. Furthermore, the number of parts in the mechanism 204A, 204B may be increased or reduced as needed in order to allow for the mechanism 204A, 204B to be transferred between different robotic systems and / or modules 110. These parts may be added and / or taken away via any suitable coupling method. The mechanism 204A, 204B 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.

[0343] In addition, the parts of the mechanism 204A, 204B may extend as the modules 110 are moved away from each other, while the mechanism 204A, 204B still supports the elongated medical member 150. This reduces the likelihood of the elongated medical member 150 buckling during movement of the modules 110 and / or during movement of the elongated medical member 150 itself.

[0344] Figure 44 shows a schematic illustration of module according to some example implementations herein.

[0345] This part of the system comprises a module 110, which, in some examples, is couplable to the endovascular robotic system as described herein, and a casing forUAB Inovatyvi medicina - 62 - 30A-168902

[0346] the cassette 202, comprising a lumen 201. In some examples, the casing is slottable onto a protrusion of the module 110. When the rotatable protrusion 205 is in the position shown in figure 15, the casing 105 is securely coupled to the module 110.

[0347] When the rotatable protrusion 205 is in a second position, different to the first position, the casing is not coupled to the module 110 and so, can be slid onto, or off of, the module 110.

[0348] The skilled person understands that the design shown in figure 44 is merely an example, and that any suitable design can be used for both the module 110 and the casing to ensure a coupling between the two elements.

[0349] Further, when the rotatable protrusion 205 is in the second position, a fixation on the underside of the surface on which the rotatable protrusion 205 is located is also in the second position. This leads to the casing being not coupled to the module 110 and so, the casing can be slid onto, or off of, the module 110.

[0350] Additionally, when the rotatable protrusion 205 is in the first position, the fixation on the underside of the surface on which the rotatable protrusion 205 is located is also in the first position. This allows for the casing to be coupled to the module 110.

[0351] The coupling of the casing to the module 110 may be aided by a protrusion (not shown) which may act as a fixation mechanism / aid. During the coupling of the cassette casing to the module 110, when the rotatable protrusion 205 is in the second position, the casing may be placed onto the module 110 up to, or beyond, the protrusion. Once the casing is in place, i.e. when the casing cannot be moved any further and / or when the casing is in a suitable position on the module 110, a user of the arrangement can rotate the rotatable protrusion 205 so that it, and the fixation, is in the first position, thereby coupling the casing to the module 110. In some examples, the rotatable protrusion 205 may have a non-symmetrical design, which may aid coupling of the casing to the module 110 when the rotatable protrusion 205 is rotated by hooking / latching onto the protrusion.

[0352] Although a rotatable coupling in described herein, the skilled person understands that any other suitable coupling may be used such as, for example, a snap-fit coupling, a button, a level, a switch, or any other suitable method.UAB Inovatyvi medicina - 63 - 30A-168902

[0353] Figures 45 and 46 shows schematic views of a human control unit according to some example implementations as described herein.

[0354] In particular, figures 45 and 46 show a human control unit 401 that may be used in conjunction with the bedside unit 100 described above. The human control unit 401 may be located in the same room or location as the bedside unit 100, or may be located remote from the bedside unit 100 in a different room of the same building, or a different location altogether.

[0355] Furthermore, the human control unit 401 allows for remote manipulation of an elongated medical member 150, 151, 152, 153 and, in particular, an endovascular elongated medical member, although any type of elongated medical member can additionally, or alternatively, be used.

[0356] The human control unit 401 comprises a linear drive similar to the linear drive 104 mentioned above.

[0357] In this example, the human control unit 401 has modules to cooperate with the modules 110 of the bedside unit 100, with each module corresponding to a module 110 of the bedside unit 100. At least one of the modules comprises a gripping unit configured to grip an elongated member at the human control unit 401. In some examples, the gripping unit may ungrip the elongated medical member for repair and / or cleaning purposes, but grip the elongated medical member during use of the human control unit 401. This gripping unit may be the same, or similar to, any of the gripping unit s described above. In a preferable example, the elongated medical instruments 1590, 151, 152, 153 at the bedside unit 100 are the same as the elongated members at the human control unit 401. That is to say, if a guidewire 300 cm in length, 0.14 inches in diameter and made of a soft, flexible material suitable for insertion into a patient is used at the beside unit 100, an exact replica of the guidewire may be used at the human control unit 401. In an alternate example, the guidewire at the master human control unit 401 may only be 100 cm in length, 0.38 inches in diameter and made of a stiff material. In other words, corresponding elongated members at the bedside unit 100 and human control unit 401 may be identical, or may have different physical properties, such as, for example, stiffness, length, diameter and type of elongated member and / or different chemical properties such as, for example, stiffening materials, hydrophobic coatings and sterile coatings. The same principles apply to the other elongated members 425, 426, 427 shown in figure 17 and the elongated medical members 150, 151, 152, 153 of the bedside unitUAB Inovatyvi medicina - 64 - 30A-168902

[0358] 100. The area where the elongated members 425, 426, 427 at the human control unit 401 are located may be referred to as a user haptic interface 405. This may allow for the surgeon, or user, at the human control unit 401 to receive realistic haptic feedback, as will be described below. In the example shown here, three elongated members 425, 426, 427 are mentioned, but it is to be understood that there may be any number of elongated members 425, 426, 427 at the human control unit 401. In a preferred example, the number of elongated members 425, 426, 427 at the human control unit 401 and the number of elongated medical members 150, 151, 152, 153 of the bedside unit 100 are the same, and each elongated member 425, 426, 427 at the human control unit 401 is linked to one elongated medical member 150, 151, 152, 153 at the bedside unit 100. In some examples, there may be fewer elongated members 425, 426, 427 at the human control unit 401, and one elongated member 425, 426, 427 at the human control unit 401 is configured to manipulate a plurality of elongated medical members 150, 151, 152, 153 at the bedside unit 100. In some examples, there may be fewer elongated medical members 150, 151, 152, 153 at the bedside unit 100, and a plurality of elongated members 425, 426, 427 at the human control unit 401 are configured to manipulate one elongated medical member 150, 151, 152, 153 at the bedside unit 100. In some examples, the system may comprise one elongated member 425, 426, 427 at the human control unit 401 configured to manipulate a plurality of elongated medical members 150, 151, 152, 153 at the bedside unit 100 and a plurality of elongated members 425, 426, 427 at the human control unit 401 being configured to manipulate one elongated medical member 150, 151, 152, 153 at the bedside unit 100.

[0359] The haptic feedback, provided to the user at the human control unit 401 may be generated by a sensor comprised in at least one of the modules of the human control unit 401. In some examples, the sensor is comprised in a haptic feedback unit / module. The sensor may be the same, or similar to, the sensing unit described herein. The sensor may additionally or alternatively receive a control signal from the controller of the bedside unit 100 indicating the status of at least one of the elongated medical members 150, 151, 152, 153 / modules 110 at the bedside unit 100. The sensor of the module may measure the difference in axial and / or rotational force between the received control signal, and the axial and / or rotational force being applied by the user at the human control unit 401 and advance or retract the module and / or rotate the elongated member 425, 426, 427 in order to balance the measured forces between the bedside unit and the human control unit 401. That is to say, the modules of the human control unit 401 may have the same four functionalities asUAB Inovatyvi medicina - 65 - 30A-168902

[0360] described above in relation to the bedside unit 100. In some examples, at least one of the modules has at least one of the aforementioned functionalities. The above may allow for the user of the human control unit 401 to receive realistic haptic feedback from the bedside unit 100, may allow for the user to accurately feel what is happening at the bedside unit 100, and may allow for the user to receive the same haptic feedback as they would if they were bedside and manually manipulating the elongated medical members 150, 151, 152, 153. In a similar fashion, the sensor may send a control signal to the bedside unit 100, and the sensing unit / controller at the bedside unit 100 may perform a similar force balancing, as described above, in order to manipulate at least one of the elongated medical members 150, 151, 152, 153 at the bedside unit 100. The control signals may be transmitted and / or received by a connection with the bedside unit 100. This connection may be wired and / or wireless. In some examples, information gathered from the sensors may be transmitted to the bedside unit 100 via this connection. Additionally or alternatively, the human control unit 401 may receive instructions from the bedside unit 100 via this connection.

[0361] In the above, as an example, the user side, i.e. the side of the human control unit 401, the user may start to move the local, elongated medical member 303, 304, 305. The local elongated member 425, 426, 427 is preferably fixed with respect to its respective gripping unit, and the gripping unit 302, 306, 307 is coupled to a spring and / or a linear drive and / or a rotational drive (not shown) to allow for the movement and rotation of the gripping unit. To move the local elongated member 425, 426, 427, the user exerts a force sufficient to overcome the biasing force of the spring and move the local elongated member 425, 426, 427 a particular distance. For example, a IN force may cause a 1 mm movement until the force between the spring and the user's exerted force become equal. At the same time, at the bedside unit 100, the remote elongated medical member 150, 151, 152, 153 may be also moved 1 mm, and stops moving when the forces on the user side equalize.

[0362] As an additional example, a continuous, unbalanced force of IN is assumed at the bedside unit 100. In this example, the local elongated medical member 425, 426, 427 is moved in a similar manner as described above, but encounters a blockage and so, the readings of the patient side sensing unit / controller becomes IN. This may indicate to the user that there is a blockage at the bedside unit 100 of the system. If the user keeps increases the exerted force to, for example, 3N, the elongated members both the bedside unit 100 and the human control unit 401 translate until the forces balance, so until the force at the bedside unit 100 also reaches 3N.UAB Inovatyvi medicina - 66 - 30A-168902

[0363] At this moment, if the user releases the local elongated medical member 425, 426, 427, due to the spring coupled to the gripping unit, the local elongated medical member 425, 426, 427 moves back at its zero point with a balanced force of ON, i.e. its predetermined zero point. Resultantly, the remote elongated medical member 150, 151, 152, 153 also moves its predetermined zero point. This is to say that the user tries to exert a force on the local elongated medical member 425, 426, 427 and feels the resistive force from the spring. If a dead man's switch 404 is used, as described in the present application, the system stays in 3N=3N situation when the switch is in a first position, and when the switch 404 is moved to the second position, the first elongated medical member 425 and the second and / or third elongated medical member 426, 427 would revert to their respective zero points. In some examples, if the dead man's switch 404 is in the first position holding the elongated medical instruments 425, 426, 427 in place, this switch 404 could be overcome by the user exerting more force on the local elongated medical member 425, 426, 427 if the user wants to take the control of the member 425, 426, 427 from the system. This additional force may be altered depending on the situation the system is used in and / or user preference.

[0364] Additionally or alternatively, although the above example is described in relation to force being exerted on the local elongated medical member 425, 426, 427 at the human control unit 401, the same principles apply to a force being applied to the remote elongated medical member 150, 151, 152, 153 at the bedside unit 100.

[0365] In a preferred example, there is a system comprising the human control unit 401 and at least one bedside unit 100. The bedside unit 100 is preferably for manipulation of elongated medical members 150, 151, 152, 153 at a surgical area, in an area affected by X-rays, near a patient 140. Alternatively, the area may not be a surgical area, but an area where a patient 140 is undergoing a non-surgical procedure.

[0366] Additionally or alternatively, the area may be affected by an MRI machine and / or may be under the surveillance of a camera and / or any other suitable observation method. The human control unit 401 is for manipulation of elongated members 425, 426, 427 at remote location, wherein the remote location is a different location from the location where the bedside unit 100 is located. The bedside unit 100 and the human control unit 401 may be coupled via a wired connection, such as, for example, LAN and / or Internet / Ethernet cable and / or any other suitable wired means, and / or via wireless means such as, for example, Bluetooth and / or Wi-Fi and / or satellite, and / or any other suitable wireless means. The system combining the bedside unit 100 and the human control unit 401 may allow a manipulation of anUAB Inovatyvi medicina - 67 - 30A-168902

[0367] elongated member 425, 426, 427 at the human control unit 401 to be translated into the modules 110 and cassettes 202, and therefore a remote manipulation of an elongated medical member 150, 151, 152, 153 is produced in line with a user's manipulation of the elongated member 425, 426, 427 at the human control unit 401. This may allow for a user of the human control unit 401 to use two fingers to receive haptic feedback and to manipulate the elongated member 425, 426, 427. Usually, a surgeon / user, in manual manipulation, is able to manipulate up to two instruments by themselves, and three elongated medical members with the aid of a second user, such as a nurse. The present system allows for more than two elongated medical members by a single person, thereby improving the efficiency of the manipulation of said members, reducing the number of people needed during a manipulation of the elongated medical members, and increasing the safety of an operation as communication is not needed between multiple people, thereby reducing the chance of miscommunications.

[0368] The system allows for the simultaneous manipulation of up to three elongated medical members, in the present example, wherein the elongated medical members are telescopically arranged one inside the other. It may also allow for simultaneous haptic / tactile feedback being received from all three elongated medical members in the direction from the bedside unit 100 to the human control unit 401 (remote location) and vice versa. As mentioned above, although three elongated medical members are mentioned, it is to be understood that there may be any number of elongated medical members at the bedside unit 100 and any number of elongated members at the human control unit 401. The system, preferably, keeps the axial and / or rotational forces balanced at the bedside unit 100 and human control unit 401 via the haptic feedback unit / module described above. In some examples, the forces are balanced between a single module 110 at the bedside unit 100 configured to manipulate at least one of the elongated medical members 150, 151, 152, 153, and a corresponding module and elongated member 425, 426, 427 at the human control unit 401. For example, a user manipulates a first elongated member 425, 426, 427 at the human control unit 401 and resultantly, by measuring the axial and / or rotational forces caused by the manipulation, and by measuring the axial and / or rotational forces being experienced by the corresponding elongated medical member 150, 151, 152, 153 at the bedside unit 100, and balancing the resultant forces, the first elongated medical member 150, 151, 152, 153 at the bedside unit 100 can be remotely manipulated in the same way as the elongated member 425, 426, 427 at the human control unit 401 was manipulated by the user. If there is an obstacle in the way of the elongated medical member 150, 151, 152, 153 at the bedside unitUAB Inovatyvi medicina - 68 - 30A-168902

[0369] 100, the bedside unit 100, via the sensor / controller / module controller, senses this obstruction and, via the force balancing principle working in the opposite direction from that described above, haptic feedback is provided to the haptic feedback module / unit of the human control unit 401 and the elongated member 425, 426, 427 at the human control unit 401is manipulated in a similar way.

[0370] In a preferred example, as mentioned above, the user of the human control unit 401 has a replica of the elongated medical members 150, 151, 152, 153 at the bedside unit 100 in front of them, such as, for example, a catheter and a guidewire. This may allow for the surgeon to have a more realistic feel of the surgery that is taking place. In some examples, at least one of the modules 110 at the bedside unit 100 and / or at least one of the elongated medical members 150, 151, 152, 153 at the bedside unit 100 may comprise a sensor configured to sense the resistive force encountered by the elongated medical members 150, 151, 152, 153, in some examples, inside a patient 140. This force may then be transmitted to the human control unit 401 to give the user a realistic feel of the forces being experienced by the sensor, even if the bedside unit 100 and human control unit 401 are in different locations. However, this user interface is not limited to a replica of the elongated medical members at the bedside unit 100, but may be generic replacements that still allow for the user to receive the haptic feedback from the bedside unit 100.

[0371] In some examples, a scale factor may be applied between movements of the elongated members 425, 426, 427 at the human control unit 401 and the elongated medical members 150, 151, 152, 153 at the bedside unit 100. That is to say, that there may be a difference in the factor of the rotation and / or axial movements between the two apparatuses 100, 401. In one example, there may be a lOx scale factor in relation to the axial movement. Resultantly, in order to create an axial movement of 10mm at the bedside unit 100, the corresponding elongated member 425, 426, 427 at the human control unit 401 would need to be axially moved 100mm. This may allow for the precision of the manipulation of the members 150, 151, 152, 153 at the bedside unit 100 to be improved while maintaining the haptic feedback characteristics of the system, the above principle may be applied to the axial and / or rotational movements, and / or for only select elongated medical instruments 150, 151, 152, 153.

[0372] The human control unit 401, as mentioned above, has, preferably, a user interface of such a type so that the interface is similar to real use of elongated endovascular instruments. The interface preferably has the elongated members 425, 426, 427UAB Inovatyvi medicina - 69 - 30A-168902

[0373] placed in comfortable position for the user. In some examples, the initial position of at least one of the elongated members 425, 426, 427 is adjustable depending on the user's preference. The elongated members 425, 426, 427 can be the same as, or different than, the elongated medical members 150, 151, 152, 153 at the bedside unit 100. In some examples, the elongated members 425, 426, 427 at the human control unit 401 might be cut and / or mounted one inside the other to make them easier to use by the user.

[0374] Near the user interface, a touchscreen display 407 may be provided in such way to allow the user to, while manipulating of the elongated members 425, 426, 427, to initiate stop / freeze of a particular elongated member position by touching the touchscreen 407. The touchscreen 407 comprises, in this example, three sections, wherein the first section corresponds to a first elongated member 425, a second section corresponds to a second elongated member 426 and a third section corresponds to a third elongated member 427. The touchscreen 407 is preferably located on a surface, such as a table 402. It is to be understood that the number of sections may change depending on the number of elongated members 425, 426, 427 at the human control unit 401. Having such stop / freeze buttons, as mentioned above, may allow for the user to safely, and easily, manipulate any number of elongated members 425, 426, 427 simultaneously. As an example, if a user wants to keep the second instrument 426 at a stable position, the user can press the second section of the touchscreen 407 and continue manipulating only the first 425 and third 427 elongated members. Such a stop / freeze feature may be implemented in such a way that it physically stops the particular instrument tip, at the bedside unit 100, at its position when the second section of the touchscreen 407 was pressed, or it may virtually stop the particular position of paired instrument tip at the bedside unit 100, so that each of the other modules 110 at the bedside unit 100 and human control unit 401 modules to move while maintaining the frozen / stopped instrument end tip in a steady position.

[0375] The stopping / freezing feature may be realized in two ways. The first is that the human control unit 401 stops transmitting data relating to the state of the frozen / stopped elongated member 425, 426, 427 to the bedside unit 100. This may mean that the elongated member 425, 426, 427 is still rotatable and translatable, but this information is not transmitted. The second way is that the module, associated with the frozen / stopped elongated member 425, 426, 427 is frozen in place, thereby not allowing the frozen / stopped elongated member 425, 426, 427 to be manipulatedUAB Inovatyvi medicina - 70 - 30A-168902

[0376] in any way. In some examples, data regarding the frozen / stopped elongated member 425, 426, 427 is not transmitted and the module is frozen in place.

[0377] At least one of the sections of the touchscreen 407 may comprise information on a state of an elongated member 425, 426, 427 associated with said section.

[0378] Additionally or alternatively, this information may be shown on a dedicated user interface 406, 424 and / or a monitor 411, 412. The state of the local elongated member 425, 426, 427 may relate to a distance in a predetermined direction the elongated member 425, 426, 427 has been moved from a zero point and / or a rotation angle of the elongated member 425, 426, 427 from a predetermined zero point and / or a force being exerted on the elongated member 425, 426, 427 and / or a rate of change of speed and / or angle of the elongated member 425, 426, 427 and / or a name of the elongated member 425, 426, 427 and / or a diameter of the of the elongated member 425, 426, 427, as it is being rotated by the user and / or any other suitable state that can be displayed to the user. Additionally or alternatively, the same, or different, states of the elongated member 150, 151, 152, 153 at the bedside unit 100 can be displayed to the user. The axial translation can be measured, for example, by measuring an axial movement of the module at the human control unit 401 and / or a movement of a module 110 at the bedside unit 100. The same principle applies for the rotational movement. In some examples, should a total movement and / or a rate of change of movement approach a predetermined limit, a visual and / or audio and / or haptic warning may be emitted by the touchscreen 407, or a speaker, or any other suitable device 406, 411, 412, 424, indicating to the user that a limit is about to be breached. This may allow for the lifetime of the system to be extended as members 150, 151, 152, 153, 425, 426, 427 are not used beyond their limits, thereby reducing the stresses exerted on said members 150, 151, 152, 153, 425, 426, 427.

[0379] Additionally or alternatively, the dedicated user interface 406, 424 and / or a monitor 411, 412 may show a visualization of the elongated medical members 150, 151, 152, 153 located at the bedside unit, in particular the available lengths left of each of the said elongated medical members 150, 151, 152, 153 and / or the lengths of the elongated medical members 150, 151, 152, 153 in relation to one another, a video feed from one of the elongated medical members 150, 151, 152, 153 should it be a camera or something similar, an output from a sensing unit of the bedside unit 100, an output of a gripping unit of the bedside unit 100, an output of a friction reduction unit of the bedside unit 100, an output of a rotation unit of the bedside unit 100, anUAB Inovatyvi medicina - 71 - 30A-168902

[0380] output of a module controller of the bedside unit 100, an output of the controller of the bedside unit 100, or any other suitable output.

[0381] Additionally, in some examples, each of the elongated members 425, 426, 427 may be controlled individually. For example, the outer guidewire 427 may be "frozen" in place, i.e. not moveable, as described above, and only the inner catheter 425, 426 may be moved due to the manipulation mentioned in the present writ. Alternatively, the inner catheter 425, 426 may be "frozen" and the outer guidewire 427 may be manipulatable.

[0382] The length of the sections of the touchscreen 407 may alter based on the length of the elongated member 425, 426, 427 available to be manipulated by the user. This is to say that when the user manipulates the elongated member 425, 426, 427 stop / freeze button will always stay nearby. As an example, in the case of two elongated members 425, 426, 427, in an initial position, the first member 425 may take up 50% of the user interface and the second member 426 may take up the other 50%. Resultantly, the first and second section of the touchscreen 407 are split 50 / 50 between the two members 425, 426. Should the first member 425 be retracted, so that said member 425 takes up 70% of the interface, the first section of the touchscreen 407 automatically adjusts accordingly, and will take up 70% of the touchscreen 407. Consequently, during this movement of the first member 425, the area of the touchscreen 407 taken up by the second section gradually reduces to 30% of the area of the touchscreen 407. This same principle is applicable to any number of elongated members 425, 426, 427 and any number of sections of touchscreen 407.

[0383] Although a touchscreen 407 is mentioned above, at least one section of the touchscreen 407 may be replaced, or supplemented, with at least one of any other suitable type of button, lever, trigger, position sensor, position tracker, camera vision or any other suitable mechanism that allows for the user to freeze the position of an elongated member 425, 426, 427 located at the human control unit 401.

[0384] The human control unit 401 may comprise at least one of the following features:

[0385] 1. The described principle of the user interface to provide haptic feedback;

[0386] 2. Elongated member 425, 426, 427 stop / freeze to keep a tip of said member 425, 426, 427 in a fixed position while simultaneously allowing the manipulation of other elongated members 425, 426, 427;UAB Inovatyvi medicina - 72 - 30A-168902

[0387] 3. Elongated member 425, 426, 427 stop / freeze to keep a tip of said member 425, 426, 427 in a fixed position while simultaneously allowing the manipulation of at least one module; and

[0388] 4. A touchscreen, where sections of said touchscreen 407 are altered dependent on a state of an elongated member 425, 426, 427 assigned to said section.

[0389] 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

1. UAB Inovatyvi medicina - 73 - 30A-168902CLAIMS1. A system comprising:at least two modules, wherein each module comprises a coupling for a disposable cassette configured to undertake a predetermined functionality in relation to an elongated medical member;a controller couplable to each of the at least two modules, wherein the controller is configured to transmit a first signal to at least one of the at least two modules, wherein the first signal is configured to control the disposable cassette of the at least one module for the cassette to undertake its predetermined functionality; anda linear movement unit couplable to the controller, wherein each of the at least two modules is couplable to the linear movement unit, and wherein the linear movement unit is configured to move at least one of the at least two modules in a first direction and / or a second direction upon receipt, by the linear movement unit, of a second signal transmitted from the controller, wherein the first and second directions are opposite directions;wherein two of the at least two modules are dependently controllable to one another based on the first signal and / or the second signal.

2. The system of claim 1, wherein the system comprises, for performing the predetermined functionality, a sensing unit and / or a gripping unit and / or a rotation unit and / or a friction reduction unit.

3. The system of claim 1 or 2, wherein the predetermined functionality comprises:a) a first functionality comprising the elongated medical member being gripped by the gripping unit of the module upon receipt of the first signal and the linear movement unit moving the module in the first direction upon receipt of the second signal;b) a second functionality comprising the elongated medical member being gripped by the gripping unit of the module upon receipt of the first signal and the linear movement unit moving the module in the second direction upon receipt of the second signal;c) a third functionality comprising the elongated medical member being gripped by the gripping unit of the module upon receipt of the first signal and theUAB Inovatyvi medicina - 74 - 30A-168902rotation unit rotating the elongated medical member about a longitudinal axis of the elongated medical member upon receipt of the first signal; andd) a fourth functionality comprising the first or second functionality executed simultaneously with the third functionality.

4. The system of claim 2 or 3, wherein the gripping unit is configured to be part of the disposable cassette, wherein the cassette comprises an opening suitable for the elongated medical member.

5. The system of any one of claims 2 to 4, wherein the gripping unit is rotatable by the rotation unit of the same cassette, and wherein the elongated medical member is rotatable about its longitudinal axis as the elongated medical member is gripped by the gripping unit and the gripping unit is rotated by the rotation unit.

6. The system of any one of claims 2 to 5, wherein the gripping unit comprises a first gripping component configured to contact at least a first portion of the elongated medical member on a first side of the elongated medical member;a second gripping component configured to contact at least the first portion of the elongated medical member on a second side of the elongated medical member, wherein the first side is different from the second side;a guide configured to guide, during a movement of the second gripping component, at least a first portion of the second gripping component; andan actuating component coupled to the second gripping component, wherein the second gripping component is moveable between a first position and a second position based on an actuating force provided to the second gripping component via the actuating component, and wherein at least the first portion of the second gripping component is guideable by the guide during movement of the second gripping component between the first position and the second position;wherein the first gripping component is configured to stay stationary or substantially stationary with respect to the guide,wherein the second gripping component comprises a first surface opposite to a first surface of the first gripping component,wherein, when the second gripping component is in the first position, the elongated medical member is grippable between the first surface of the first gripping component and the first surface of the second gripping component, and wherein, when the second gripping component is in the second position, the elongated medical member is not grippable between the first surface of the first gripping component and the first surface of the second gripping component.UAB Inovatyvi medicina - 75 - 30A-1689027. The system of claim 6, wherein the first and second gripping components are at least partially located within an inner guide, wherein the inner guide is located within the guide, and wherein the inner guide is moveable with respect to the guide.

8. The system of claim 7, wherein the first and second gripping components are offset from each other along a longitudinal axis of the elongated medical member, and when the second gripping component moves between the first position and the second position, the second gripping component does not contact the first gripping component.

9. The system of claim 8, wherein the first and second gripping components are arranged in a zipper configuration.

10. The system of any one of claims 2 to 5, wherein the first signal is configured to drive a first motor of the module;wherein the first motor is coupled to a first driving gear to rotate the first driving gear;wherein a tooth of the first driving gear is configured to interact with a tooth of at least one of a first and a second gripper gear located within the disposable cassette as at least part of the rotation unit;wherein upon a rotation of the first driving gear, the first and / or second gripping gear is configured to rotate based on the interaction of the teeth of the first driving gear and the first and / or second gripping gear;wherein upon a first relative rotation of the first gripping gear with respect to the second gripping gear, a lumen of the gripping unit is configured to contract; wherein upon a second relative rotation of the first gripping gear with respect to the second gripping gear, the lumen of the gripping unit is configured to expand; andwherein the first and second relative rotations are relative rotations in opposite directions.

11. The system of claim 10, wherein the first and second gripping gears are rotatable in the same rotational direction, wherein the first gripping gear is rotatable at a first rotational speed, wherein the second gripping gear is rotatable at a second rotational speed different from the first rotational speed, wherein when the first rotational speed is greater than the second rotational speed, the lumen of the gripping unit is configured to contract, and wherein when the second rotationalUAB Inovatyvi medicina - 76 - 30A-168902speed is greater than the first rotational speed, the lumen of the gripping unit is configured to expand.

12. The system of claim 10 or 11, wherein the gripping unit comprises:a gripper body comprising a first thread;a nut comprising a second thread configured to interact with the first thread and at least one of the first and second gripping gears; anda gripping element placed within the gripper body, wherein the gripping element is configured to grip the elongated medical member;wherein, if the nut is rotated in a first direction, by at least one of the first and second gripping gears, the first and second threads are configured to interact with each other to increase a force being exerted on the gripping element and contract the lumen of the gripping unit;wherein, if the nut is rotated in a second direction, by at least one of the first and second gripping gears, the first and second threads are configured to interact with each other to decrease the force being exerted on the gripping element and expand the lumen of the gripping unit;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.

13. The system of any one of claims 2 to 12, wherein at least one of the modules comprises a driving gear, wherein a motor located within the module 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 at least one gripper gear located within the disposable cassette;wherein, upon a rotation of the driving gear upon transmission of the first signal, 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; andwherein the module further comprises, as at least part of the friction reduction unit: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;UAB Inovatyvi medicina - 77 - 30A-168902wherein, 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; andwherein the first and second rotational directions are rotations in opposite directions; anda stationary component configured to not rotate upon a rotation of the first and / or second gripper gear.

14. The system of claim 13, 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; anda 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; andwherein 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.

15. The system of claim 13 or 14, wherein the controller is configured to measure a frictional force of the rotation of the rotatable component via a force sensor coupled to the controller of the first module.

16. The system of any one of claims 13 to 15, wherein the controller is configured to measure a frictional force of the rotation of the elongated medical member.

17. The system of any one of claims 2 to 16, wherein the sensing unit comprises:UAB Inovatyvi medicina - 78 - 30A-168902a gripper for gripping the elongated medical member to be sensed by the sensing unit;a first sensor, wherein a first portion of the first sensor is coupled to the gripper, wherein the first sensor is configured to detect a linear movement of the elongated medical member within the sensing unit from a first linear position to a second linear position along a first axis; anda second sensor, wherein a first portion of the second sensor is coupled to the gripper, wherein the second sensor is configured to detect a rotational movement of the elongated medical member within the sensing unit from a first rotational position to a second rotational position around the first axis.

18. The system of claim 17, wherein the first and / or second sensor comprises a strain gauge, wherein the strain gauge is configured to detect the linear and / or rotational movement of the elongated medical member from the first linear position to the second linear position and / or the first rotational position to the second rotational position.

19. The system of claim 17 or 18, wherein the first and second sensors are independent from one another in that the detection of the linear movement of the elongated medical member via the first sensor is independent from the detection of the rotational movement of the elongated medical member via the second sensor.

20. The system of any one of the preceding claims, wherein the at least two modules are dependently controllable based on a physical coupling to one another and / or a logical coupling, via the controller, to one another.

21. The system of any one of the preceding claims, wherein a design of the cassette is based on a side of the bed on which the system is located.

22. The system of any one of the preceding claims, wherein the linear movement unit is coupled to a base of the system, and wherein the base comprises the controller.

23. The system of any one of the preceding claims, wherein each of the at least two modules comprises a measurement unit configured to measure the movement of the module when the module is moved by the linear movement unit.UAB Inovatyvi medicina - 79 - 30A-16890224. The system of any one of the preceding claims, wherein each of the at least two modules comprises a module controller configured to receive the first signal transmitted to the module from the controller, to monitor a state of the module, and to transmit a third signal to the controller comprising data relating to the state of the module.

25. The system of any one of the preceding claims, when dependent on claim 22, wherein the base comprises a groove configured to accept a sterile drape.

26. The system of any one of the preceding claims, when dependent on claim 22 or 25, wherein the base comprises a flexible element between at least two of the at least two modules, and wherein the flexible element is configured to cover an opening between the at least two modules, wherein the flexible element is configured to flex during a relative movement of at least one of the at least two modules with respect to the remainder of the at least two modules.

27. The system of any one of the preceding claims, wherein a further module is incorporated into the system by physically attaching the further module to the system and / or logically coupling the further module, via the controller, to the system.

28. 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 a first module of the at least two modules, and a second end of the anti-buckling mechanism opposite the first end is coupled to a second module of the at least two modules, and further comprises a plurality of openings for allowing the elongated medical member to pass through the anti-buckling mechanism.

29. The system of claim 28, 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.

30. The system of claim 28 or 29, wherein the first and / or second module comprises a tube configured to envelop at least a portion of the elongated medical member, and wherein the tube is arranged in a direction generally towards the other of the first or second module.

31. The system of claim 30, wherein the tube is arranged to pass through at least a subset of the plurality of openings of the anti-buckling mechanism.UAB Inovatyvi medicina - 80 - 30A-16890232. The system of any one of the preceding claims, further comprising the elongated medical member.

33. The system of claim 32, wherein the elongated medical member is suitable for an endovascular procedure.

34. The system of claim 31 or 32, wherein the controller and / or linear movement unit are configured to transmit their respective signals only when at least two of the at least two modules are dependently controllable to one another;wherein at least a first module of the two modules(i) is movable by the linear movement unit and / or (ii) is configured to rotate the elongated medical member and / or (iii) is configured to change a state of a gripper in the at least first module and / or (iv) is configured to change a state of a sensor in the at least first modulebased on(a) at least a second module of the at least two modules being moved by the linear movement unit and / or (b) the elongated medical member being rotated by at least second module and / or (c) a state of a gripper in the at least second module being changed and / or (d) a state of a sensor in the at least second module being changed.

35. The system of any one of the preceding claims, further comprising a human control unit for manipulating the elongated medical member, the human control unit comprising:a control unit comprising a transmitter;a local elongated member configured to be manipulated by a user of the human control unit;a gripping unit configured to grip the local elongated member; anda device configured to enable and disable the transmitter,wherein the at least two modules, the controller and the linear movement unit are located at a first location and the human control unit is located at a second location, wherein the first and second locations are different location, and wherein the transmitter is configured to transmit a fourth signal to the controller, wherein the fourth signal comprises information on the manipulation of the local elongated member.

36. The system of claim 35, wherein the device is a button and / or a lever and / or a touchscreen, wherein upon a first touch of the device, the transmitter is configuredUAB Inovatyvi medicina - 81 - 30A-168902to be enabled and upon a second touch of the device, the transmitter is configured to be disabled, wherein the first and second touches occur at two different temporal instances.

37. The system of claim 36, wherein the controller is configured to receive the fourth signal and the controller is configured to manipulate the elongated medical member based on the received fourth signal.

38. The system of any one of claims 35 to 37, wherein the control unit is configured to receive, via a receiver, a fifth signal from the controller, wherein the fifth signal comprises information on the elongated medical member.

39. The system of claim 38, wherein the human control unit further comprises a haptic feedback unit configured to provide haptic feedback to the user of the human control unit based on the received fifth signal.

40. The system of any one of claims 35 to 39, wherein the controller is configured to manipulate the elongated medical member in a manner proportional to the manipulation of the local elongated medical member, wherein the controller is configured to control the elongated medical member based on the received fourth signal from the control unit of the human control unit.

41. The system of any one of the preceding claims, whereinat least a first module of the two modules(i) is movable by the linear movement unit and / or (ii) is configured to rotate the elongated medical member and / or (iii) is configured to change a state of a gripper in the at least first module and / or (iv) is configured to change a state of a sensor in the at least first modulebased on(a) at least a second module of the at least two modules being moved by the linear movement unit and / or (b) the elongated medical member being rotated by at least second module and / or (c) a state of a gripper in the at least second module being changed and / or (d) a state of a sensor in the at least second module being changed.

42. The system of any one of the preceding claims, wherein the dependent controlling comprises at least a first module of the two modules being moved by theUAB Inovatyvi medicina - 82 - 30A-168902linear movement unit when at least a second module of the at least two modules is moved by the linear movement unit.

43. The system of any one of the preceding claims, wherein the dependent controlling comprises at least a first module of the two modules being configured to change a state of a gripper in the at least first module based on a state of a gripper in the at least second module being changed, in particular wherein the state of the gripper comprises whether or not the gripper is gripping the elongated medical member.

44. The system of any one of the preceding claims, wherein the predetermined functionality is changeable based upon the first signal received by at least one of the at least two modules from the controller.

45. The system of any one of the preceding claims, wherein each of the at least two modules comprise a respective disposable cassette.

46. The system of any one of the preceding claims, wherein the linear movement unit comprises a ball screw and / or a rack and roller and / or a rack and pinion for moving at least one of the at least two modules in the first direction and / or the second direction.

47. The system of anyone of the preceding claims, wherein the linear movement unit is comprised within at least one of the modules.

48. The system of any one of the preceding claims, wherein each module has a respective linear movement unit, wherein the respective linear movement units are comprised within the respective modules.

49. The system of any one of the preceding claims, wherein at least one of the modules further comprises at least one of:a) a speed sensor for measuring a speed of the movement of the at least one module by the linear movement unit;b) an acceleration sensor for measuring a rate of acceleration when the at least one module is moved by the linear movement unit;c) a torque sensor for measuring a torque being applied to the elongated medical member;UAB Inovatyvi medicina - 83 - 30A-168902d) a rotational sensor for measuring a parameter relating to a rotation of the elongated medical member; ande) a friction sensor for measuring friction being applied to the elongated medical member in the direction of the movement of the at least one module.

50. The system of any one of the preceding claims, wherein two modules of the at least two modules comprise a module pair, and wherein the two modules of the at least two modules are dependently controllable only to one another.

51. The system of any one of the preceding claims, wherein there is an even number of modules.

52. The system of any one of the preceding claims, wherein there are six or eight modules.

53. The system of claim 52, when dependent on claim 51, wherein there are three pairs of modules in the case of six modules, or four pairs of modules in the case of eight modules.

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