System for measuring a length of an elongated medical member

Abstract

A system for measuring a length of an elongated medical member, the system comprising: a first module and a second module, each module comprising an opening for at least partially receiving the elongated medical member; a rail comprising a movement unit configured to move at least one of the first and second modules in a first and / or a second direction along a longitudinal axis of the rail, wherein the first and second directions are opposite to each other, and a controller for controlling the movement unit, wherein both the first and second modules are couplable to the rail; a measuring device coupled to the rail and couplable to the controller, wherein the measuring device is configured to measure the movement of the at least one module in the first and / or second direction along the rail, and wherein the measuring device is configured to measure the length of the elongated medical member based on a first distance between the first and the second module before movement of the first and / or second module, and a second distance comprising a distance of the movement of the at least one module in the first and / or second direction along the rail as measured by the measuring device; and a sensor couplable to at least one of the modules, wherein the sensor is configured to transmit a first signal to the controller when a force sensed by the sensor has exceeded a predetermined threshold, wherein upon receipt of the first signal, the controller is configured to transmit a second signal to the movement unit to cease movement of the first module and the second module, and wherein the controller is further configured to transmit a third signal to the measuring device indicating that the measurement of the movement of the at least one module in the first and / or second direction along the rail is to be taken and to determine the length of the elongated medical member.

Description

[0001] UAB Inovatyvi medicina - 1 - 30A-168948

[0002] SYSTEM FOR MEASURING A LENGTH OF AN ELONGATED MEDICAL MEMBER

[0003] FIELD OF THE INVENTION

[0004] The present invention generally relates to a system for measuring a length of an elongated medical member. The system comprises a first and a second module, a rail, a measuring device and a sensor.

[0005] BACKGROUND TO THE INVENTION

[0006] The measurement of the length of an elongated medical member is important, particularly in endovascular procedures. Indeed, the length of such a member is needed to be known so that the surgeon can accurately use the full length of the member to safely and successfully complete the endovascular procedure.

[0007] Furthermore, in the field of surgical robots, this is even more important as the robot must know how long the member is in order to undertake a given procedure. Additionally, should the robotic system be controllable from a remote location, the surgeon at the remote location must know the length of the member located at the location of the patient in order to successfully perform the endovascular procedure.

[0008] There is therefore a need for the improvement of measurement of lengths elongated medical members.

[0009] SUMMARY OF THE INVENTION

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

[0011] According to a first aspect, we describe a system for measuring a length of an elongated medical member, the system comprising: a first module and a second module, each module comprising an opening for at least partially receiving the elongated medical member; a rail comprising a movement unit configured to move at least one of the first and second modules in a first and / or a second direction along a longitudinal axis of the rail, wherein the first and second directions are opposite to each other, and a controller for controlling the movement unit, wherein both the first and second modules are couplable to the rail; a measuring device coupled to the rail and couplable to the controller, wherein the measuring device is configured to measureUAB Inovatyvi medicina - 2 - 30A-168948

[0012] the movement of the at least one module in the first and / or second direction along the rail, and wherein the measuring device is configured to measure the length of the elongated medical member based on a first distance between the first and the second module before movement of the first and / or second module, and a second distance comprising a distance of the movement of the at least one module in the first and / or second direction along the rail as measured by the measuring device; and a sensor couplable to at least one of the modules, wherein the sensor is configured to transmit a first signal to the controller when a force sensed by the sensor has exceeded a predetermined threshold, wherein upon receipt of the first signal, the controller is configured to transmit a second signal to the movement unit to cease movement of the first module and the second module, and wherein the controller is further configured to transmit a third signal to the measuring device indicating that the measurement of the movement of the at least one module in the first and / or second direction along the rail is to be taken and to determine the length of the elongated medical member.

[0013] The first and second modules may be any suitable module configured to undertake the tasks and procedures as described herein. These modules may be coupled to an endovascular robotic system configured to undertake (endovascular) procedures. The modules may be of any suitable design, shape, comprise any suitable materials, and comprise any suitable components which allow for the modules to be used as described herein.

[0014] The opening in each module is preferably of a suitable diameter to allow for the elongated medical member to pass, at least partially, through the modules. This may allow for the elongated medical member to be passed through these, and more, modules. In some examples, at least one of the modules comprises a mechanical barrier configured to arrest movement of the elongated medical member through said module. This may reduce the chance of the member being over-inserted into a patient and / or for the member to be protected from unwanted stresses and strains.

[0015] The controller may be any suitable controller that is configured to undertake the tasks and procedures as described herein.

[0016] The measuring device is, in some examples, configured to know the relative positions of the first and second modules before movement of at least one of these modules. Furthermore, the measuring device is configured to measure the difference between the distance of the modules before and after movement of at least one of theUAB Inovatyvi medicina - 3 - 30A-168948

[0017] modules. The measuring device may then use these two measurements in order to determine the length of the elongated medical member.

[0018] The sensor may be any suitable sensor configured to sense a force being, preferably, exerted upon the elongated medical member during the measuring process, but may be any other suitable force such as, for example, a force being exerted upon the first and / or second module, a force being exerted upon the movement unit, a force being exerted upon the measuring device, or any combination of the aforementioned forces. The sensor may comprise a transmitter or transceiver in order to transmit the first signal to the controller. The predetermined threshold may be based on a characteristic of the elongated medical member. In particular, if the elongated medical member comprises a softer, more flexible material, the threshold may be lower when compared to an elongated medical member that comprises a harder, stiffer material. Additionally or alternatively, the threshold may be a differential threshold, in that the threshold may relate to a relative force being exerted on the elongated medical member. This is due to when the elongated medical member has some slack, the force as sensed by the sensor is (far) lower, and in some cases magnitudes lower, than when the elongated medical member is taut. Resultantly, the threshold may make use of this relative difference in forces.

[0019] The movement unit and the measuring device may also comprise a receiver or transceiver in order to receive the second and third signals from the controller, respectively.

[0020] The components of the system as described herein may be coupled via wired and / or wireless means.

[0021] The invention according to the first aspect, and generally the invention as described herein, may allow for a safer use of an (endovascular robotic) system. As described herein, the invention may allow for misprints on the packaging of the elongated medical member, or if the wrong length of elongated medical member was delivered, to be accounted for. This ensures that a user of the system knows the length of the elongated medical member before beginning a procedure and may reduce the chance of overinserting the elongated medical member into a patient, thereby improving safety. The invention described herein may also allow for the measurement of the length of the elongated medical member if it has been removed from the packaging and the packaging has been disposed of. In such a scenario, the user of the system will not know how long the elongated medical member is and so, in orderUAB Inovatyvi medicina - 4 - 30A-168948

[0022] to improve safety, the length of the elongated medical member must be measured. Furthermore, this may further improve safety as untrained / less trained users of an elongated medical member in an (endovascular robotic) system may not measure the elongated medical member from the correct point, thereby leading to the user of the system not accurately knowing the length of the elongated medical member, which may lead to injuries to a patient. By measuring the length of the elongated medical member, the user of the system has precise knowledge of the length of the elongated medical member, thereby improving safety. In addition, some manufacturers of elongated medical members may measure the length that is displayed on the packaging from different points on the elongated medical member. The invention described herein allows for the length of the elongated medical member to be measured from the same point every time, thereby allowing for the user of the system to have precise knowledge of the length of the elongated medical member, thereby improving safety in (endovascular) procedures.

[0023] In some examples, the rail is a linear rail. This may allow for the movement of the modules to be restricted to a single axis, thereby allowing for greater accuracy of the measurement of the length of the elongated member, and reducing the bending forces being exerted onto the elongated medical member during the measurement process.

[0024] In some examples, the measuring device is a linear encoder. This may allow for an accurate measurement of the length of the elongated medical member. Additionally or alternatively one or more of an optical measurement device, a radio wave-based measurement device, a ruler, or a video-based measurement device may be used as the measuring device. The measurement device may be any device that allows for the movement of the at least one module in the first and / or second direction along the rail to be measured.

[0025] In some examples, at least one of the modules comprises a coupling for coupling the elongated medical member to said module. This may allow for the measurement of the length of the elongated medical member to be more accurate as the elongated medical member is fixed at a certain point. It may also allow for a reduced chance of the elongated medical member becoming dislodged / loose during the measurement process.UAB Inovatyvi medicina - 5 - 30A-168948

[0026] In some examples, the coupling of the first module is a first openable and closable mechanical coupling or an adapter. In some examples, this may comprise a luer coupling.

[0027] In some examples, the coupling of the second module is a second openable and closable mechanical coupling.

[0028] In some examples, the respective couplings are within, or proximal to, the respective modules.

[0029] The mechanical coupling may be any suitable coupling that allows for the elongated medical member to be mechanically coupled to the respective modules. In the case of an adapter or luer coupling, the elongated medical member may have one part of the adapter / luer coupling, and the coupling on the module may have the other part. In some examples, the couplings are within the respective 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, preferably proximal to the opening of the respective 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.

[0030] In some examples, the first and / or second openable and closable mechanical coupling is a gripper for gripping the elongated medical member. This may allow for a particularly secure coupling during the measurement process, thereby allowing for a more accurate measurement of the length of the elongated medical member.

[0031] In some examples, the elongated medical member is configured to be manually coupled to the coupling of the first and / or second module before movement of the first and / or second module by the movement unit. This may allow for the surgeon / other user to know that the elongated medical member is securely coupled before the measurement process, thereby allowing for a more accurate measurement of the length of the elongated medical member.

[0032] In some examples, the movement unit is a ball screw gear. This may be particularly advantageous in scenarios where precision is needed, thereby improving the measurement process, as well as where high thrust loads are applied to the movementUAB Inovatyvi medicina - 6 - 30A-168948

[0033] unit while allowing for the movement unit to move with low friction. Additionally or alternatively, the movement unit may be a linear gear, a rack and pinion, comprise a magnet for allowing the at least one of the first and second modules to be moved in the first and / or a second direction along the longitudinal axis of the rail, or any other suitable unit and / or device.

[0034] In some examples, the force sensed by the sensor is a force being exerted upon the elongated medical member. This may prevent the elongated medical member from undergoing excess strain and / or stress and / or tension forces, thereby prolonging the lifetime of the elongated medical member.

[0035] In some examples, the sensor is an optical sensor, and is configured to transmit the first signal when a predetermined portion of the elongated medical member is sensed by the sensor. The optical sensor may be a through beam photoelectric optical sensor, a retro-reflective photoelectric optical sensor, a diffuse photoelectric optical sensor, a fiber optic sensor, a fork optical sensor, a switching light curtain, or any other suitable optical sensor. The optical sensor may be able to detect a predetermined portion of the elongated medical member such as, for example a marked portion of the elongated medical member and / or a portion of the elongated medical member with a certain cross-section. Upon this portion being sensed, this may indicate that the elongated medical member is fully extended, thereby indicating that the length of the member can be measured and / or determined and / or calculated by the controller and / or measuring device.

[0036] In some examples, the sensor is configured to measure a tension of the elongated medical member, and when the tension has exceeded the predetermined threshold, the sensor is configured to transmit the first signal. When the tension of the elongated medical member has reached the threshold, this may indicate that the member is taut, i.e. has no slack. This, in turn, may indicate that the elongated medical member is fully extended, thereby indicated that the length of the member can be measured and / or determined and / or calculated by the controller and / or measuring device. The tension is preferably created by the first and second modules moving relatively away from each other. This may be achieved by moving one module away from the other, or by moving both modules away from each other at the same time.

[0037] In some examples, the system further comprises a display couplable to the measuring device, wherein upon the measuring device receiving the third signal, the measuring device is configured to transmit a fourth signal to the display, and the display isUAB Inovatyvi medicina - 7 - 30A-168948

[0038] configured to display the measurement of the movement of the at least one module in the first and / or second direction along the rail and / or the determined length of the elongated medical member. This may allow for the length of the elongated medical member to be displayed to, for example, a surgeon. This allows for the surgeon to know how long the member is.

[0039] In some examples, the controller is configured to transmit a plurality of third signals to the measuring device while the at least one module is being moved in the first and / or second direction along the rail. This may allow for the measuring device to constantly measure the second distance throughout the measuring process, thereby improving measurement of the length of the elongated medical member.

[0040] In some examples, the measuring device is configured to transmit a plurality of fourth signals to the display while the at least one module is being moved in the first and / or second direction along the rail. This may allow for the surgeon to monitor the process. As a result of this, if the surgeon has an idea of how long the elongated medical member should be, the surgeon can easily realize if there has been an error in the process, should the length be drastically over or under the expected length. This, in turn, improves patient safety as the surgeon can indicate to the robotic sys-tem / manufacturer that the system is malfunctioning.

[0041] In some examples, the system further comprises a third module, wherein the third module is couplable to the rail, wherein the third module comprises an opening for at least partially receiving the elongated medical member, wherein the third module is located on a first side of the second module, wherein the first module is located on a second side of the second module, and wherein the first and second sides are opposite sides of the second module. This layout may be particularly advantageous in the case that the elongated medical member / first module does not have a luer coupling. This then allows for the measurement of the length of the elongated medical member without the need for such a coupling. Furthermore, this layout may be advantageous should the elongated medical member be longer than the travelable distance of the second module along the rail. Resultantly, any length of elongated medical member can be measured, and not only ones that are shorter / the same length as the travelable distance of the second module.

[0042] In some examples, the third module comprises a coupling for coupling the elongated medical member to the third module. This may allow for the measurement of the length of the elongated medical member to be more accurate as the elongatedUAB Inovatyvi medicina - 8 - 30A-168948

[0043] medical member is fixed at a certain point. It may also allow for a reduced chance of the elongated medical member becoming dislodged / loose during the measurement process.

[0044] In some examples, the coupling of the third module is a third openable and closable mechanical coupling, in particular a gripper. The mechanical coupling may be any suitable coupling that allows for the elongated medical member to be mechanically coupled to the module.

[0045] In some examples, the system further comprises an anti-buckling mechanism, wherein a first end of the anti-buckling mechanism is coupled to the second module, and a second end of the anti-buckling mechanism opposite the first end is coupled to the third module, and further comprises a plurality of openings for allowing said elongated medical member to pass through the anti-buckling mechanism. This may reduce the likelihood of unwanted twisting and / or buckling of the elongated medical member as it is being rotated / moved, thereby protecting the elongated medical member and the patient.

[0046] In some examples, the first and second ends of the anti-buckling mechanism are coupled to the first and second modules, respectively. 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, preferably 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.

[0047] In some examples, the anti-buckling mechanism comprises an accordion design comprising a plurality of same shape parts, wherein the same shape parts are quadrilateral, preferably rectangular. This may allow for the mechanism to expand and contract as the modules move relative to one another. This may allow for the elongated medical member to be supported during movement of the modules and reduce the likelihood of unwanted twisting and / or buckling of the elongated medical member.UAB Inovatyvi medicina - 9 - 30A-168948

[0048] In some examples, the second and / or third 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 second or third 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.

[0049] 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.

[0050] In some examples, a first end of the elongated medical member is configured to be manually inserted into the coupling of the third module via the coupling of the second module, and wherein a second end of the elongated medical member, opposite the first end, is configured to be inserted into the coupling of the first module. This may allow for the surgeon / other user to know that the elongated medical member is securely coupled before the measurement process, thereby allowing for a more accurate measurement of the length of the elongated medical member.

[0051] In some examples, the coupling of the third module is configured to grip the elongated medical member when the coupling of the second module is not gripping the elongated medical member, and wherein the coupling of the third module is configured to not grip the elongated medical member when the coupling of the second module is gripping the elongated medical member. This may allow for movement of the second module without moving the elongated medical member, particularly if the third module does not move. This, in turn, may allow for the measurement of the length of a longer elongated medical member. In turn, if the third module does not grip the member while the second module is moving, this may allow for the member to be thread through the coupling / opening of the third module, thereby reducing the bending moments on the member during the measurement.

[0052] In some examples, when the second module is gripping the elongated medical member, the second module is configured to be moved by the movement unit in the first direction, and wherein when the second module is not gripping the elongated medical member, the second module is configured to be moved by the movement unit in the second direction. This may allow for movement of the second module without moving the elongated medical member, particularly if the third module does notUAB Inovatyvi medicina - 10 - 30A-168948

[0053] move. This, in turn, may allow for the measurement of the length of a longer elongated medical member.

[0054] In some examples, the measuring device is configured to only measure the movement of the second module in the first direction. The movement of the second module in the first direction may be the only movement that reduces slack in the elongated medical member. Thusly, this may be the only movement that contributes to the measurement of the length. That is to say, when the second module grips the member and moves in the first direction, the member's length is being measured. When the second module does not grip the member and moves in the second direction, this is a "resetting" of the position of the second module. Resultantly, this movement does not contribute to the length measurement as the second module is not gripping the elongated medical member, thereby meaning that no slack is being taken out of the member.

[0055] In some examples, the system further comprises a fourth module, wherein the fourth module is couplable to the rail, wherein the fourth module comprises an opening for at least partially receiving the elongated medical member, wherein the fourth module is located on a first side of the third module, wherein the second module is located on a second side of the third module, and wherein the first and second sides are opposite sides of the third module. This layout may be particularly advantageous in the case that the elongated medical member / first module does not have an adapter / luer coupling and / or for particular long elongated medical members. This then allows for the measurement of the length of the elongated medical member without the need for such a coupling. Furthermore, this layout may be advantageous should the elongated medical member be longer than the travelable distance of the second module along the rail. Resultantly, any length of elongated medical member can be measured, and not only ones that are shorter / the same length as the travelable distance of the second module.

[0056] In some examples, the fourth module comprises a coupling for coupling the elongated medical member to the fourth module. This may allow for the measurement of the length of the elongated medical member to be more accurate as the elongated medical member is fixed at a certain point. It may also allow for a reduced chance of the elongated medical member becoming dislodged / loose during the measurement process.UAB Inovatyvi medicina - 11 - 30A-168948

[0057] In some examples, at least one of the modules comprises a first and a second roller, wherein the elongated medical member is configured to be placed between the rollers, and wherein upon movement of at least one of the first and the second rollers, the elongated medical member is configured to be moved in a first or a second direction of a longitudinal axis of the elongated medical member without moving the at least one module comprising the first and second rollers, wherein the first and second directions are opposite directions, and wherein the measuring device is configured to measure a number of rotations of the first and / or the second roller to measure a movement of the elongated medical member in the first and / or second direction. This may be particularly advantageous in scenarios where the at least one module cannot be moved in the longitudinal axis of the rail and / or where only fine adjustments are needed to the movement of the elongated medical member. This may allow for a better length measurement determination. The rollers may be of any suitable diameter that allows for the elongated medical member to be moved in the longitudinal axis of the elongated medical member. The measuring device may use any suitable means such as, for example, optical means, encoding means, video means or the like, in order to track the number of rotations of the first and / or second roller, and use this measurement in the determination of the length of the elongated medical member.

[0058] In some examples, the system further comprises the elongated medical member. The elongated medical member is described in more detail below.

[0059] 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.

[0060] In some examples, the measuring device is configured to measure an entire length of the elongated medical member. This may allow for a safer use of the system, as this may allow for misprints on the packaging of the elongated medical member, or if the wrong length of elongated medical member was delivered, to be accounted for. This ensures that a user of the system knows the length of the elongated medical member and may reduce the chance of overinserting the elongated medical member into a patient, thereby improving safety. This may also allow for the measurement of the length of the elongated medical member if it has been removed from the packaging and the packaging has been disposed of. In such a scenario, the user of theUAB Inovatyvi medicina - 12 - 30A-168948

[0061] system will not know how long the elongated medical member is and so, in order to improve safety, the length of the elongated medical member must be measured. In some examples, the measuring device is configured to measure a usable length of the elongated medical member, wherein the usable length is an entire length of the elongated medical member minus a length between a patient and the module most proximal to the patient. This may allow for a safer use of the system, as this may allow for misprints on the packaging of the elongated medical member, or if the wrong length of elongated medical member was delivered, to be accounted for. This ensures that a user of the system knows the length of the elongated medical member and may reduce the chance of overinserting the elongated medical member into a patient, thereby improving safety. This may also allow for the measurement of the length of the elongated medical member if it has been removed from the packaging and the packaging has been disposed of. In such a scenario, the user of the system will not know how long the elongated medical member is and so, in order to improve safety, the length of the elongated medical member must be measured.

[0062] Even if some of the aspects described above have been described in reference to the system, these aspects may also apply to a method for measuring a length of an elongated medical member, preferably within an endovascular robotic system.

[0063] BRIEF DESCRIPTION OF THE DRAWINGS

[0064] 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:

[0065] Figures 1 and 2 show perspective views of a system comprising two modules according to some example implementations as described herein;

[0066] Figures 3 to 5 show perspective views of movement of at least one module according to some example implementations as described herein;

[0067] Figure 6 shows a perspective view of a gripper according to some example implementations as described herein;

[0068] Figure 7 shows a cut-away view of a gripper according to some example implementations as described herein;UAB Inovatyvi medicina - 13 - 30A-168948

[0069] Figure 8 shows a gripping element according to some example implementations as described herein;

[0070] Figure 9 shows a gripping element according to some example implementations as described herein;

[0071] Figure 10 shows a perspective view of a schematic illustration of the sensor according to example implementations as described herein;

[0072] Figure 11 shows a cut-away view of a schematic illustration of parts of the sensor according to example implementations as described herein;

[0073] Figures 12 and 13 show schematic illustrations of the sensor according to example implementations as described herein;

[0074] Figures 14 to 16 show schematic illustrations of the directional sensors according to example implementations as described herein.

[0075] Figures 17 and 18 show perspective views of a system comprising three modules according to some example implementations as described herein;

[0076] Figure 19 shows a perspective view of a system comprising four modules according to some example implementations as described herein;

[0077] Figures 20 to 23 show schematic illustrations of an anti-buckling mechanism according to some example implementations herein;

[0078] Figures 24 and 25 show schematic illustrations of an anti-buckling mechanism according to some example implementations herein;

[0079] Figure 26 shows a schematic illustration of an anti-buckling mechanism according to some example implementations herein; and

[0080] Figure 27 shows a block diagram of a part of a system according to some example implementations herein.UAB Inovatyvi medicina - 14 - 30A-168948

[0081] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0082] Figures 1 and 2 show perspective views of a system comprising two modules according to some example implementations as described herein.

[0083] Figure 1 shows a linear base 100 which comprises a measuring device (see Figure 27). Coupled to this base 100 is a first and a second module 102, 103 with an elongated medical member 101 fed through both of these modules 102, 103. These modules 102, 103 may be coupled to an endovascular robotic system configured to undertake (endovascular) procedures. The modules 102, 103 may be of any suitable design, shape, comprise any suitable materials, and comprise any suitable components which allow for the modules 102, 103 to be used as described herein.

[0084] Figure 2 shows a close up of the modules 102, 103.

[0085] The first module 102 comprises an adapter 106 for coupling the elongated medical member 101, via the distal end hub 105 of the first module 102, to the first module 102. This adapter may be a luer coupling wherein the adapter 106 comprises one part of the luer coupling and the elongated medical member 101 comprises the other part, which is preferably the distal end hub 105, or may be any other suitable type of adapter. This adapter 106 is optional. For elongated medical members 101 without an adapter / luer coupling such as, for example, guidewires, the first module 102 can be adapted by incorporating a gripper 104 similar to the second module 103. One end of the elongated medical member 101 would be inserted into the first module 103 following the same principle as the second module 103.

[0086] The second module 103 comprises a sensing and gripping unit 104 for sensing a tension of the elongated medical member 101 and gripping the elongated medical member 101, and a mechanical barrier 107. This mechanical barrier 107 may be a gripping element, a gripper, or any other suitable type of mechanical barrier that can be controllably opened. A particularly advantageous effect of this mechanical barrier 107 is that it is in a fixed position within the module 103. A tip of the elongated medical member 101 is, in some examples, inserted into the second module 103 (sometimes manually) until it reaches the mechanical barrier 107. The elongated medical member 101 may, in some examples, be fixed in place by the gripping unit 104 during the measuring process described herein. In some examples, once the elongated medical member 101 reaches the mechanical barrier 107, the gripping unitUAB Inovatyvi medicina - 15 - 30A-168948

[0087] 104 is activated, via a controller and / or manual means, in order to grip the elongated medical member 101. The user of the system may then repeat the same process at the first module 102 and / or couple the elongated medical member 101 to the first module 102. After the elongated medical member 101 has been attached and / or coupled to both modules 102, 103, the measuring process may begin. In some examples, the features of the first module 102 mentioned above may be present in the second module 103, and vice versa.

[0088] As a particular example of the above, and indeed the present disclosure as a whole, at, for example, a bedside unit of a robotic system, the two modules 102, 103, which may each be fitted with single-use cassette, are mounted on the linear rail 100 which comprises a measuring device, in particular a linear encoder. The modules 102, 103 may be, in this example, positioned approximately 80 cm apart, and at least one module 102, 103, can be moved to increase the distance between them to, for example, more than 100 cm. A goal of the present disclosure is to measure the length of an elongated medical member 101, that is, for example, 100 cm long.

[0089] Figures 3 to 5 show perspective views of movement of at least one module according to some example implementations as described herein.

[0090] In figures 3 and 4, it is show that the first and / or second module 102, 103 can be moved. In figure 5, it is shown that both modules 102, 103 can be moved.

[0091] Figure 3 further shows that the first module 102 can comprise a sensing and gripping unit 110 similar to that within the second module 103. This may be particularly advantageous in cases where the elongated medical member 101 does not have an adapter / luer coupling. It is also shown that, in some examples, the first module 102 can have a mechanical barrier 107.

[0092] In figures 3 and 4, it is also shown that when one module 102, 103 is moved via the linear base 100, the gripping and sensing unit 104, 110 of the other module 102, 103 is actuated. This may result in the elongated medical member 101 being gripped at the module 102, 103 that is not being moved, thereby leading to a more accurate determination of the length of the elongated medical member 101.

[0093] Figure 5 shows that in, for example, a starting position of the measurement process, the elongated medical member 101 has slack in it. This is in contrast to figures 3 andUAB Inovatyvi medicina - 16 - 30A-168948

[0094] 4 where the elongated medical member 101 is taut at the end of the measurement process.

[0095] The process for measuring the length of the elongated medical member 101 may be described as follows.

[0096] The user may insert a first end of the elongated medical member 101 until it reaches the mechanical barrier 107 of the respective module 102, 103, where the gripping action of the sensing and gripping unit 104 may be undertaken, securing the first end in place. The adapter / luer coupling of the elongated medical member 101 may then be attached to the adapter 106 of the first module 102, in cases where there is such an adapter. If there is no adapter, the same procedure may be undertaken at the first module 102 as at the second module 103. Afterward, the second module 103 is slowly moved away from the first module 102, while keeping the first module 102 stationary, by the linear base 100 until the elongated medical member 101 is stretched and has no slack. At this point, the elongated medical member 101 applies a load on the sensor of the sensing and gripping device 104 in the form of tension / a pull force, and once a specific threshold of this force, as sensed by the sensing and gripping device 104 is reached, the system stops the movement of the second module 103. Due to the measuring device, the positions of both modules 102, 103 is known. Given the fixed position of the mechanical barrier 107 and the adapter 106 relative to the measuring device, the length of the elongated medical member 101 can be calculated / measured.

[0097] The gripper of the sensing and griping unit 104, 110 is described below.

[0098] Figure 6 shows a perspective view of a gripper according to some example implementations as described herein.

[0099] Figure 6 shows the gripper having a gripper body 4101, a nut 4102 and a nut insert 4103.

[0100] The gripper body 4101 may be of any suitable design that allows for the nut 4102 to be placed around the outside of the gripping body 4101, and for the gripping element (see figure 7) to be placed inside the gripping body 4101. In some examples, the gripping body 4101 is at least partially comprised of a flexible material which flexes when the nut 4102 is rotated in the first and / or second direction. The firstUAB Inovatyvi medicina - 17 - 30A-168948

[0101] thread may be of any suitable pitch and thread angle that allows for the gripper to function as described herein.

[0102] The second thread, on the nut 4102, is configured to interact with the first thread and so, may have corresponding characteristics. Upon rotating the nut 4102 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 101.

[0103] The nut 4102, in this example, comprises four protrusions, but the skilled person understands that any number of protrusions may be used. Such protrusions allow for a user and / or a machine and / or a system to grip the nut 4102. The protrusions may allow for easier tightening and / or loosening of the nut 4102 and / or for easier rotation of the nut 4102 in the first and / or second direction. The protrusion may be of any suitable design that allows for a user and / or a machine and / or a system to rotate the nut 4102. In some examples, the nut 4102 may be rotated by a portion of an endovascular robotic system via, for example, a motor of the robotic system.

[0104] In some examples, the gripper further comprises a nut insert 4103 placed within the gripping body 4101. In particular, the nut insert4 103 may be placed within the gripping body 4101 which itself is surrounded, at least partially, by the nut 4102. Upon rotation of the nut 4102 in the first direction, the nut insert 4103 may directly and / or indirectly apply the force on the gripping element leading to the gripping of the elongated medical member.

[0105] Figure 7 shows a cut-away view of a gripper according to some example implementations as described herein.

[0106] Here, it can be seen that the gripping element 4104 is inside the gripping body 4101 and is part of the overall gripper.

[0107] The gripping element 4104 is, in this example, an O-ring preferably comprising silicone. This O-ring 4105 is shown in more detail in Figure 8. However, the skilled person understands that the gripping element 4104 may be any suitable shape, as long as there is an opening allowing for the elongated medical member 101 to pass through the gripping element 4104. The use of silicone may mean that the grippingUAB Inovatyvi medicina - 18 - 30A-168948

[0108] element 4104 is contractible when pressure / force is applied to it, leading to a gripping element 4104 that more securely grips the elongated medical member.

[0109] The force being exerted on the gripping element, as described herein, is preferably a force directed towards the center of the gripping element, 4104 but may additionally or alternatively be a force in any suitable direction that leads to the elongated medical member 101 being gripped by the gripping element 4104 once the force reaches a predetermined threshold.

[0110] Additionally or alternatively, when the force is above the predetermined threshold, the gripping element 4104 is configured to not rotate. This may lead to an improved gripping of the elongated medical member 101 as there is a lower chance of the gripping element 4104 slipping.

[0111] Additionally or alternatively, as the nut 4102 is rotated in the first direction, the gripping element 4104 is configured to be compressed by the nut 4102 and the nut insert 4103. This may lead to an improved application of force on the gripping element 4104 as the force may be more evenly spread across the gripping element 4104, leading to a longer lifespan of the gripping element 4104.

[0112] Additionally or alternatively, when the force is above the predetermined threshold, the gripping element 4104 is configured to create a watertight seal around an exterior of the elongated medical member 101. This may prevent liquids from flowing through the gripper, thereby improving patient safety. Preferably, this may cause the gripper to act as a hemostatic valve, which is particularly advantageous in medical procedures.

[0113] In addition to the above, there may be at least one winding of thread around the gripping element 4104. 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 4104 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 4104 in a direction substantially parallel to a longitudinal axis of the elongated medical member. The use of a thread increases the friction coefficient of the gripping element 4104, thereby allowing for a more secure gripping of the elongated medical member 101 while it is being gripped. The thread may also reduce theUAB Inovatyvi medicina - 19 - 30A-168948

[0114] chance of the elongated medical member 101 being damaged while it is being gripped.

[0115] Preferably, there is a plurality of windings of thread, wherein the windings are spaced equally around the gripping element 4104. This may improve the friction coefficient of the gripping element 4104 and so, lead to a more secure gripping of the elongated medical member 101 while it is being gripped. The skilled person understands that alternatively, the windings may be unevenly spaced around at least a portion of the circumference of the gripping element 4104.

[0116] This gripping element 4104 with an O-ring 4105 and windings 4106 is shown in more detail in Figure 9. Furthermore, the embodiment shown in Figure 4 shows the gripping layer, as described in more detail below.

[0117] In some examples, the gripping element 4104 comprises a gripping layer between the gripping element 4104 and the thread. This gripping layer may increase the friction coefficient of the gripping element 4104, leading to a more secure gripping of the elongated medical member 101. The gripping layer, in some examples, comprises a synthetic material and / or cotton in a fabric or mesh form.

[0118] In this example, the opening of the gripping element 4104 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 4104, 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 4104. When the first diameter is smaller than the second diameter, this creates a chamber within the gripping element 4104. 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.

[0119] In some examples, the gripper further comprises a limiting element configured to limit a rotation of the nut. This limiting element is preferably coupled to the gripping body 4101, but may alternatively be coupled to the nut insert 4103. This may lead to a rotation of the nut 4102 in, for example, the first direction being limited. This may therefore limit the force being applied to the gripping element 4104 and so, the elongated medical member 101, preventing damage to, and extending the lifetime of, both elements. It may also lead to the nut 4102 being prevented from overtightening, thereby extending the lifetime of the nut 4102.UAB Inovatyvi medicina - 20 - 30A-168948

[0120] The elongated medical member 101 is preferably threaded through the aligned holes of the gripping body 4101, nut 4102, nut insert 4103 and gripping element 4104. Such alignment allows for a smooth movement of the elongated medical member 101 through the gripper when the member is not being gripped.

[0121] The sensor of the sensing and griping unit 104, 110 is described below.

[0122] Figure 10 shows a perspective view of a schematic illustration of the sensor according to example implementations as described herein.

[0123] In figure 10, 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.

[0124] 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.

[0125] 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 101 mentioned herein in the longitudinal and rotational axes of the elongated medical member 101, although the longitudinal axis may be the only axis used in the present disclosure. 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 101 towards a certain position such as, for example, a neutral position. This may allow for the elongated medical member 101 and sensor to spend less time under strain and tension, thereby extending the lifetime of the elongated medical member 101 and sensor.UAB Inovatyvi medicina - 21 - 30A-168948

[0126] The gripper 5105 allows for the elongated medical member 101, 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 elongated medical member 101, thereby leading to improved measurements of the movement of the elongated medical member 101.

[0127] 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 the 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.

[0128] 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 101, and along a second axis perpendicular to the first axis.

[0129] Figure 11 shows a cut-away view of a schematic illustration of parts of the sensor according to example implementations as described herein.

[0130] In figure 11, a bearing 5104 is shown along with the base 5101, a moveable element 5108, also known as an element base, and two further limiting elements 5109, 5110.

[0131] 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.UAB Inovatyvi medicina - 22 - 30A-168948

[0132] 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 elongated medical member 101 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.

[0133] 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. Additionally or alternately, a movement of the element base 5108, to which the first sensor 5102 is coupled to, may be limited by the limiting elements 5109, 5110. The strain gauges 5106, 5107 associated with the first sensor 5102 may send a signal to the controller (see figure 27) to indicate that the elongated medical member 101 is no longer slack, thereby indicating that the elongated medical member 101 has been stretched. This may, in turn, allow for the calculation ad / or determination of the length of the elongated medial member 101.

[0134] Figures 12 and 13 show schematic illustrations of the sensor according to example implementations as described herein.

[0135] Figure 12 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.

[0136] Figure 13 shows that when the elongated medical member is moved in the rotational direction 5120, the second directional sensor 5103 flexes in the direction of theUAB Inovatyvi medicina - 23 - 30A-168948

[0137] 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.

[0138] Figures 14 to 16 show schematic illustrations of the directional sensors according to example implementations as described herein.

[0139] Figures 14 and 15 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.

[0140] The design of figure 14 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 14, as well as the opposite side which can't be seen, although there may only be one strain gauge5 106 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 14 may also be easy to manufacture, thereby reducing the complexity of the sensor, and increasing the ease of repairability.

[0141] The design of figure 15 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 15, the skilled person understands that there may be any number of arms, and that there may be a strain gauge 5106 on each arm.

[0142] Figure 16 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.

[0143] The design of figure 16 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 14, 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 beingUAB Inovatyvi medicina - 24 - 30A-168948

[0144] 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 7 may also be easy to manufacture, thereby reducing the complexity of the sensor, and increasing the ease of repairability.

[0145] 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.

[0146] Figures 17 and 18 show perspective views of a system comprising three modules according to some example implementations as described herein.

[0147] In some examples, there is not enough distance to fully stretch the elongated medical member 101 between only two modules 102, 103 as, for example, a catheter may be 130 cm long and / or the system have already preloaded bigger diameter catheter, so the distance between the two modules 102, 103 is limited to 80 cm. In this case the length of the elongated medical member 101 can still be measured via the use of a third module 109.

[0148] The third module 109 has substantially the same design as the first and second modules 102, 103. In this example of there being three modules 102, 103, 109, the first module 102 comprises an adapter 106, as described above, the second module 103 comprises a gripping and sensing unit 104, as described above, and the third module comprises a mechanical barrier 108, similar to those described above, and a gripping (and sensing) unit 108 similar to that described above.

[0149] There is also an anti-buckling mechanism 3104 coupled between the second and third modules 103, 109. This is described in more detail below, although the antibuckling mechanism 3104 is shown in this embodiment, the skilled person understands that this also may be applied to the embodiment comprising two modules, as described above.

[0150] In this setup, the user may insert a first end of the elongated medical member 101 through the second module 103 and anti-buckling mechanism 3104 until it reaches the mechanical barrier 108 located in the third module 109. For example, the distance between the second and third modules 103, 109 may be the same as the length of the anti-buckling mechanism 3104 when it is compressed such as, for example, 10 cm. During the movement of the modules 102, 103, 109, the anti-bucklingUAB Inovatyvi medicina - 25 - 30A-168948

[0151] mechanism 3104 may ensure that the elongated medical member 101 remains straight, so its measured length accurately corresponds to its actual length.

[0152] To secure the elongated medical member 101, the second module 103 may initiate a gripping action, and the system, via the measuring device, may record this position. The second end of the elongated medical member 101 is then attached to the adapter 106 of the first module 102. In this case, the sensor of the second module 103 has no load upon it. Resultantly, the controller opens mechanical barrier 108 of the third module 109 and while keeping the elongated medical member 101 gripped by the gripping and sensing unit 104 of the second module 103, the system and linear base 100 slowly moves the second module 103 towards the third module 109. Once the second module 103 reaches the third module 109, the gripper 108 of the third module 109 is activated, allowing the second module to release the elongated medical member 101 and move towards the first module 102 for a retake action.

[0153] The gripper 108 of the third module 109 releases its grip on the elongated medical member 101, and the second module 103 grips the elongated medical member 101 via the sensing and gripping unit 104. The linear base 100 then moves the second module 103 towards the third module 109 while no load is detected by the sensor of the second module 103. When the sensor detects a load, the system halts the movement of the second module 103. At this point, the length of the endovascular device can be calculated as the cumulative distance traveled by the second module 103 while gripping the elongated medical member 101 plus the initial distances between the sensing and gripping unit 104 of the second module 103 and the mechanical barrier 107 and / or the adapter 106 of the first module 102.

[0154] Figure 19 shows a perspective view of a system comprising four modules according to some example implementations as described herein.

[0155] For elongated medical members 101 without an adapter / luer coupling 106 and / or of a long length such as, for example, guidewires, the above method of measuring the length of the elongated medical member 101 can be adapted by using same principles plus a fourth module 111. In this scenario, the retake action, as described above in relation to the embodiment of three modules, may be performed on both the second and fourth modules 103, 111 until there is a load detected at the sensing and gripping unit 104 of the second module 103. In his way, the first and second modules 102, 103 and the third and fourth modules 109, 111 may act as module pairs,UAB Inovatyvi medicina - 26 - 30A-168948

[0156] similar to the embodiment described herein that comprises only two modules. This may allow for the length of any elongated medical member 101 to be measured.

[0157] Figures 20 to 23 show schematic illustrations of an anti-buckling mechanism according to some example implementations herein.

[0158] In accordance with any of the examples and implementations of the arrangement as disclosed above, there may be a plurality of modules within an (endovascular) robotic system. In the example of figures 20 to 23, there are two modules.

[0159] The second module 103 and the third module 109 are preferably the same as the second 103 and third 109 modules as described above, and are mounted onto a base 100 which may allow for at least one of the modules 103, 109 to move in at least one axis, in this case, a linear parallel to the longitudinal axis of the base 100. The skilled person understands that any other suitable axis may be used and / or the modules 103, 109 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.

[0160] The example further shows an elongated medical member 101, same as the elongated member 101 mentioned above.

[0161] In between the modules 103, 109, there is an anti-buckling mechanism 3104. The anti-buckling mechanism 3104 extends between faces of the modules 103, 109 which face each other and comprises an accordion-style design. Each end of the antibuckling mechanism 3104 is preferably coupled to a cassette within each module 103, 109, but may be additionally or alternatively be coupled to the casing of each module 103, 109. The coupling may be made via screwing, molding, gluing, or any other suitable method. If a screw is used, there may be a bar comprising plastic and / or rubber coupled to a first screw which is then rotated to hold the mechanism 3104 in place, and then a second screw may be screwed into the other end of the bar, thereby fixing the mechanism 3104 in place.

[0162] As can be seen in figure 23, the cassette within one of the modules 103, 109 may have a tube 120 that extends out of the module 103, 109 towards the other module 103, 109. This tube may extend through at least a subset of the openings of the mechanism 3104 and allow for the elongated medical member 101 to be passed through the tube. This may further decrease the chance of unwanted buckling of theUAB Inovatyvi medicina - 27 - 30A-168948

[0163] elongated medical member 101 as the member 101 is supported for a greater proportion of its length.

[0164] Figures 24 and 25 show schematic illustrations of an anti-buckling mechanism according to some example implementations herein.

[0165] As can be seen in these figures, the mechanism 3104 is expandable and contractible. The mechanism 3104 preferably comprises plastic but may additionally or alternatively comprise rubber. Each section of the mechanism 3104 comprises an opening 3301 of a sufficient diameter to allow for the elongated medical member 101 to pass through the center of each section. Each section further comprises a connection section 3302 which comprises a material thicker than the first and second anti-buckling elements 3303, 3304. This connection section 3302 allows for a more secure holding of the elongated medical member 101 as well as for a reduced chance of the elongated medical member 101 twisting and / or buckling as the modules 103, 109 are moved relative to each other and / or as the elongated medical member 101 itself is moved.

[0166] Each part of the mechanism 3104 is preferable rectangular in shape, but any suitable quadrilateral may be used. The increased height of each part when compared to the width may allow for more stability, thereby reducing the chance of unwanted buckling of the elongated medical member 101. Furthermore, the number of parts in the mechanism 3104 may be increased or reduced as needed in order to allow for the mechanism 3104 to be transferred between different robotic systems and / or modules 3101, 3102. These parts may be added and / or taken away via any suitable coupling method. The mechanism 3104 may be 1 meter in length, 2 meters in length, comprises 10 parts, comprise 6 parts, or be of any other suitable length and / or comprise any suitable number of parts.

[0167] Figure 26 shows a schematic illustration of an anti-buckling mechanism according to some example implementations herein.

[0168] As can be seen, the parts of the mechanism 3104 extends as the modules 103, 109 are moved away from each other, while the mechanism 3104 still supports the elongated medical member 101. This reduces the likelihood of the elongated medical member 101 buckling during movement of the modules 103, 109 and / or during movement of the elongated medical member 101 itself.UAB Inovatyvi medicina - 28 - 30A-168948

[0169] Figure 27 shows a block diagram of a part of a system according to some example implementations herein.

[0170] The system comprises a controller 500 which is coupled to the movement unit 502 and the measuring device 504, as described herein. The movement unit 502 comprises a receiver or a transceiver configured to receive the second signals from the controller 500 when the sensor reaches that the force has exceeded its predetermined threshold. The measuring device 504 comprises a transceiver configured to receive the third signals from the controller 500 and to transmit the fourth signals to the display 506. The display 506 comprises a receiver or a transceiver configured to receive the fourth signals, and is configured to display the measurement of the movement of the at least one module 102, 103, 109, 111 in the first and / or second direction along the rail 100 and / or the determined length of the elongated medical member 101.

[0171] No doubt many other effective alternatives will occur to the skilled person. It will be understood that the invention is not limited to the described embodiments and encompasses modifications apparent to those skilled in the art and lying within the scope of the claims appended hereto.

Claims

UAB Inovatyvi medicina - 29 - 30A-168948CLAIMS1. A system for measuring a length of an elongated medical member, the system comprising:a first module and a second module, each module comprising an opening for at least partially receiving the elongated medical member;a rail comprising a movement unit configured to move at least one of the first and second modules in a first and / or a second direction along a longitudinal axis of the rail, wherein the first and second directions are opposite to each other, and a controller for controlling the movement unit, wherein both the first and second modules are couplable to the rail;a measuring device coupled to the rail and couplable to the controller, wherein the measuring device is configured to measure the movement of the at least one module in the first and / or second direction along the rail, and wherein the measuring device is configured to measure the length of the elongated medical member based on a first distance between the first and the second module before movement of the first and / or second module, and a second distance comprising a distance of the movement of the at least one module in the first and / or second direction along the rail as measured by the measuring device; anda sensor couplable to at least one of the modules, wherein the sensor is configured to transmit a first signal to the controller when a force being sensed by the sensor has exceeded a predetermined threshold, wherein upon receipt of the first signal, the controller is configured to transmit a second signal to the movement unit to cease movement of the first module and the second module, and wherein the controller is further configured to transmit a third signal to the measuring device indicating that the measurement of the movement of the at least one module in the first and / or second direction along the rail is to be taken and to determine the length of the elongated medical member.

2. The system of claim 1, wherein the rail is a linear rail.

3. The system of claim 1 or 2, wherein the measuring device is a linear encoder.

4. The system of any one of the preceding claims, wherein at least one of the modules comprises a coupling for coupling the elongated medical member to said module.UAB Inovatyvi medicina - 30 - 30A-1689485. The system of claim 4, wherein the coupling of the first module is a first openable and closable mechanical coupling or an adapter.

6. The system of claim 4 or 5, wherein the coupling of the second module is a second openable and closable mechanical coupling.

7. The system of any one of claims 4 to 6, wherein the respective couplings are within, or proximal to, the respective modules.

8. The system of any one of claims 5 to 7, wherein the first and / or second openable and closable mechanical coupling is a gripper for gripping the elongated medical member.

9. The system of any one of claims 4 to 8, wherein the elongated medical member is configured to be manually coupled to the coupling of the first and / or second module before movement of the first and / or second module by the movement unit.

10. The system of any one of the preceding claims, wherein the movement unit is at least one of a ball screw gear, a linear gear, a rack and pinion gear, or comprises a magnet for allowing the at least one of the first and second modules to be moved in the first and / or a second direction along the longitudinal axis of the rail.

11. The system of any one of the preceding claims, wherein the force sensed by the sensor is a force being exerted upon the elongated medical member.

12. The system of any one of the preceding claims, wherein the sensor is an optical sensor which is configured to transmit the first signal when a predetermined portion of the elongated medical member is sensed by the sensor.

13. The system of any one of the preceding claims, wherein the sensor is configured to measure a tension of the elongated medical member, and when the tension has exceeded the predetermined threshold, the sensor is configured to transmit the first signal.

14. The system of any one of the preceding claims, further comprising a display couplable to the measuring device, wherein upon the measuring device receiving the third signal, the measuring device is configured to transmit a fourth signal to theUAB Inovatyvi medicina - 31 - 30A-168948display, and the display is configured to display the measurement of the movement of the at least one module in the first and / or second direction along the rail and / or the determined length of the elongated medical member.

15. The system of any one of the preceding claims, wherein the controller is configured to transmit a plurality of third signals to the measuring device while the at least one module is being moved in the first and / or second direction along the rail.

16. The system of claims 14 and 15, wherein the measuring device is configured to transmit a plurality of fourth signals to the display while the at least one module is being moved in the first and / or second direction along the rail.

17. The system of any one of the preceding claims, further comprising a third module, wherein the third module is couplable to the rail, wherein the third module comprises an opening for at least partially receiving the elongated medical member, wherein the third module is located on a first side of the second module, wherein the first module is located on a second side of the second module, and wherein the first and second sides are opposite sides of the second module.

18. The system of claim 17, wherein the third module comprises a coupling for coupling the elongated medical member to the third module.

19. The system of claim 18, wherein the coupling of the third module is a third openable and closable mechanical coupling, in particular a gripper.

20. The system of any one of claims 17 to 19, further comprising an anti-buckling mechanism, wherein a first end of the anti-buckling mechanism is coupled to the second module, and a second end of the anti-buckling mechanism opposite the first end is coupled to the third module, and the system further comprising a plurality of openings for allowing said elongated medical member to pass through the anti-buckling mechanism.

21. The system of claim 20, 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.

22. The system of claim 20 or 21, wherein the second and / or third module comprises a tube configured to envelop at least a portion of said elongated medicalUAB Inovatyvi medicina - 32 - 30A-168948member, and wherein the tube is arranged in a direction generally towards the other of the second or third module.

23. The system of claim 22, wherein the tube is arranged to pass through at least a subset of the plurality of openings of the anti-buckling mechanism.

24. The system of any one of claims 18 to 23, when dependent on any one of claims 4 to 9, wherein a first end of the elongated medical member is configured to be manually inserted into the coupling of the third module via the coupling of the second module, and wherein a second end of the elongated medical member, opposite the first end, is configured to be inserted into the coupling of the first module.

25. The system of any one of claims 18 to 24, when dependent on any one of claims 4 or 6 to 9, wherein the coupling of the third module is configured to grip the elongated medical member when the coupling of the second module is not gripping the elongated medical member, and wherein the coupling of the third module is configured to not grip the elongated medical member when the coupling of the second module is gripping the elongated medical member.

26. The system of claim 25, wherein when the second module is gripping the elongated medical member, the second module is configured to be moved by the movement unit in the first direction, and wherein when the second module is not gripping the elongated medical member, the second module is configured to be moved by the movement unit in the second direction.

27. The system of claim 26, wherein the measuring device is configured to measure the movement of the second module in the first direction.

28. The system of any one of claims 17 to 26, further comprising a fourth module, wherein the fourth module is couplable to the rail, wherein the fourth module comprises an opening for at least partially receiving the elongated medical member, wherein the fourth module is located on a first side of the third module, wherein the second module is located on a second side of the third module, and wherein the first and second sides are opposite sides of the third module.

29. The system of claim 28, wherein the fourth module comprises a coupling for coupling the elongated medical member to the fourth module.UAB Inovatyvi medicina - 33 - 30A-16894830. The system of any one of the preceding claims, wherein at least one of the modules comprises a first and a second roller, wherein the elongated medical member is configured to be placed between the rollers, and wherein upon movement of at least one of the first and the second rollers, the elongated medical member is configured to be moved in a first or a second direction of a longitudinal axis of the elongated medical member without moving the at least one module comprising the first and second rollers, wherein the first and second directions are opposite directions, and wherein the measuring device is configured to measure a number of rotations of the first and / or the second roller to measure a movement of the elongated medical member in the first and / or second direction.

31. The system of any one of the preceding claims, wherein the sensor comprises:a gripper for gripping the elongated medical member to be sensed by the sensor; anda 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 sensor from a first linear position to a second linear position along a first axis.

32. 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 any one of the preceding claims, wherein the measuring device is configured to measure an entire length of the elongated medical member.

35. The system of any one of the preceding claims, wherein the measuring device is configured to measure a usable length of the elongated medical member, wherein the usable length is an entire length of the elongated medical member minus a length between a patient and a module most proximal to the patient.

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