Cardiac catheter robotic system

Abstract

A navigational catheter system including a catheter drive system configured to receive a catheter, the catheter drive system including at least one motor couplable to the catheter to articulate the catheter in at least one plane, a mount connected to the catheter drive system and configured to enable adjustment of an orientation of the catheter drive system, and a base, removably connectable to the mount, the base enabling adjustment of a position of the catheter drive system.

Description

A0012937W001CARDIAC CATHETER ROBOTIC SYSTEMCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 776,726, filed March 24, 2025, the entire content of which is incorporated herein by reference.FIELD

[0002] This disclosure relates to surgical systems and methods for catheter navigation. More particularly, the present disclosure relates to systems and methods for driving and controlling motor driven and robotic cardiac catheters.BACKGROUND

[0003] More and more surgeons are utilizing surgical robots to drive endoscopes, endoscopic instruments, and other catheter-based devices providing access to organs through natural orifices or small incisions. Traditionally, catheter systems have been manually navigated through, for example, the femoral artery or vein or another vein or artery to arrive at a desired location in or near the heart. Often these manually navigated systems require the use of guide wires to assist in the navigation. Further, where the manually navigated systems are articulable, effective articulation of the catheter in more than one plane to achieve a desired orientation and shape is challenging. While some robotically catheter systems have been developed, these are often dedicated to just a single type and size of catheter and often offer significant challenges in the set-up prior to the procedure. Still further, protection of the drive systems and maintaining sterility of the operating environment present additional challenges for robotic and powered catheter drive systems. This disclosure is directed at addressing the shortcomings of prior systems and overcoming these challenges.A0012937W001SUMMARY

[0004] A system of one or more computers can be configured to perform particular operations or actions by virtue of having software, firmware, hardware, or a combination of them installed on the system that in operation causes or cause the system to perform the actions. One or more computer programs can be configured to perform particular operations or actions by virtue of including instructions that, when executed by data processing apparatus, cause the apparatus to perform the actions. One general aspect of the disclosure is directed to a navigational catheter system. The navigational catheter system includes a catheter drive system configured to receive a catheter, the catheter drive system including at least one motor couplable to the catheter to articulate the catheter in at least one plane; a mount connected to the catheter drive system and configured to enable adjustment of an orientation of the catheter drive system; and a base, removably connectable to the mount, the base enabling adjustment of a position of the catheter drive system. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

[0005] Implementations may include one or more of the following features. The navigational catheter system may include a coupling mechanically connecting a shaft of the motor and a lead screw, where rotation of the shaft rotates the lead screw. Rotation of the lead screw causes the follower to move along the lead screw. The navigational catheter system may include a thrust bearing recess configured to receive a thrust bearing of the catheter. The navigational catheter system may include a linear drive to advance and retract the catheter drive system in relation to the base. The mount is configured to enable rotation of the catheter drive system around an axis relative to the base. The mountA0012937W001includes a slot configured to enable orientation adjustment of the catheter drive system relative to the base. The navigational catheter system may include a catheter configured for drop-in installation in the catheter drive system. The catheter drive system includes four motors, each motor being coupled to a lead screw, and each lead screw including a pair of followers, where for a given lead screw, rotation of the corresponding motor in a first direction causes the corresponding pair of followers to advance towards each other, and rotation of the corresponding motor in a second direction causes the corresponding pair of followers to advance away from each other along the lead screw. The catheter includes four pairs of tabs, each tab configured to be received by one of the followers. Each tab is connected to a pull-wire or a tendon. Movement of a first pair of followers articulates the catheter in a first plane. Movement of a second pair of followers articulates the catheter in a second plane. The catheter includes an inner catheter and an outer catheter, where each of the inner catheter and outer catheter includes two pairs of the tabs and is operably connectable to two pairs of the followers. The catheter includes a thrust bearing configured to be received in a thrust bearing recess, where the thrust bearing prevents movement of the catheter along a longitudinal axis of the catheter drive system. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.

[0006] Another general aspect of the disclosure includes a method for preparing a navigational catheter. The method includes inserting a catheter into a catheter drive system, the catheter drive system supported by a base; calibrating the catheter drive system, removing the catheter and catheter drive system from the base, placing the base on a procedure table, inserting the catheter into a patient, and reconnecting the catheter drive system to the base. Other embodiments of this aspect include corresponding computerA0012937W001systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

[0007] Implementations may include one or more of the following features. The method may include receiving signals from a steering interface, where the signals from the steering interface drive one or more motors of the catheter drive system to articulate the catheter in one or more planes. The received signals from the steering interface drive a linear drive to control advancement and retraction of the catheter within the patient.Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.

[0008] Yet a further general aspect of the disclosure includes a method for preparing a navigational catheter. The method also includes inserting a catheter into a catheter drive system, the catheter drive system supported by a base; calibrating the catheter drive system, removing the catheter from the catheter drive system, placing the catheter drive system and base on a procedure table, insert the catheter into a patient, and reinserting the catheter into the catheter drive system. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

[0009] Implementations may include one or more of the following features. The method may include receiving signals from a steering interface, where the signals from the steering interface drive one or more motors of the catheter drive system to articulate the catheter in one or more planes and a linear drive to control advancement and retraction of the catheter within the patient. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.A0012937W001BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Fig. 1 A depicts a top view of a catheter drive system and catheter in accordance with the disclosure;

[0011] FIG. IB depicts a side view of the catheter drive system and catheter of FIG. 1A;

[0012] FIG. 2A depicts a surgical drape of a catheter drive system in accordance with the disclosure;

[0013] FIG. 2B depicts a hot-swappable catheter in accordance with the disclosure; and

[0014] FIG. 2C depicts a perspective view of the hot-swappable catheter of FIG. 2B inserted into the catheter drive system of FIGs. 1A and IB;

[0015] FIG. 3 is a view of a disposable surgical drape in accordance with the disclosure;

[0016] FIG. 4 is a schematic representation of a patient prepared for a catheterization procedure utilizing the catheter drive system of FIGs. 1 A and IB;

[0017] FIG. 5 is a flow chart for a method of utilizing the catheters and catheter drive systems of this disclosure; and

[0018] FIG. 6 is a flow chart for a method of utilizing the catheters and catheter drive systems of this disclosure.DETAILED DESCRIPTION

[0019] This disclosure is directed to systems and methods for catheter navigation, and particularly the motorizing or robotizing a catheter-based system for cardiac navigation. In addition, the systems and methods of this disclosure enable finite control of the catheter system during navigation within a patient. The finite control of the catheter is enabled while at the same time allowing for drop-in set-up of the catheter while maintaining sterility of the catheter and drive systems during deployment. Still further, the system is capable of receiving a variety of different size catheters without modification of theA0012937W001catheters to fit the system described herein, making the system more widely and easily usable with a variety of catheters.

[0020] FIG. 1 is a top view of a catheter drive system 100 in accordance with the disclosure. The catheter drive system 100 is configured to have a catheter 102 dropped into the catheter drive system 100. The catheter drive system 100 includes a plurality of motors 104 (e.g., stepper motors). Each motor 104 is connected via a coupling 106 to transfer rotational motion from the motor 104 to oppositely threaded lead screws 108 (shown graphically here without their threads). A pair of followers 110, which include matching and mating threads to the lead screws 108, are mounted on the lead screws 108. The lead screws 108 have two separate sections of threads, which are oppositely threaded, thus by rotation of the shaft extending from the motor 104 in a first direction the followers 110 are drawn towards one another along the lead screws 108 and rotation of the shaft in a second direction causes the followers 110 to move away from one another. Each follower 110 mates to a tab 112 of the catheter 102. Though shown and described herein with four motors 104, the disclosure is not so limited and one or two motors 104 may be employed without departing from the scope of the disclosure.

[0021] Each tab 112 may connect to a pull wire or tendon (not shown) within the catheter 102. In accordance with one aspect of the disclosure, to effectuate articulation of the catheter 102 in one plane two pull-wires or tendons may be employed, with a first pull wire or tendon being retracted and a second opposing pull-wire or tendon being extended. Use of two pull wires or tendons promotes controlled articulation movements of the catheter 102. The tabs 112 connected to oppositely threaded portions of the lead screw 108 via the followers 110 move in tandem and in opposite directions with limited slop orA0012937W001backlash (e.g., limited a clearance or lost motion caused by gaps between the threads of the lead screw 108 and threads of the followers 110).

[0022] As will be appreciated, articulation in a single plane can be achieved with a single pull-wire or tendon being acted on by a single tab 112 and follower 110. To return to an unarticulated position, the pull wire may be driven by the tab 112 and follower 110 in the opposite direction as to articulate the catheter 102. In some instances, the material of the catheter 102 may assist in returning the catheter to an orientation that is unbiased by the pull wire. Though not described in great detail herein, such configurations may be employed without departing from the scope of the disclosure.

[0023] In accordance with one aspect of the disclosure, the catheter drive system 100 includes four motors 104, four lead screws 108, and four pairs of followers 110. The arrangement is configured to mate with a catheter 102 including an inner catheter and an outer catheter, each of the inner catheter and outer catheter include two pairs of tabs 112, such that each of the inner catheter and outer catheter can be articulated in two planes (e.g., X and Y) and can achieve nearly any angle of articulation between these planes by independent and coordinated actuation of the tabs 112 for articulation on the X plane and the tabs 112 for articulation in the Y plane.

[0024] The stiffness of the catheter 102, and its resistance to movement (e.g., from forces applied to the catheter 102 by the body) may be adjusted by the independent actuation of the motors 104. Still further, the lead screws 108 may be configured to prevent back-driving of the catheter and to have minimal backlash or slop in their connection to the followers 110 by selection of the thread patterns of the lead screws 108 and followers 110.

[0025] A thrust bearing 114 (or thrust surface) formed on the catheter 102 serves multiple purposes. First, the thrust bearing 114 is received in a bearing recess 115 of the catheterA0012937W001drive system 100, and thus prevents axial movement of the catheter 102 relative to the catheter drive system 100, while permitting the tabs 112 of the catheter 102 and their attendant pull wires or tendons to freely move within the catheter drive system 100. In addition, an optional fifth motor (not shown) operably connects to the thrust bearing 114 (e.g., via a gear, also not shown) and enables rotation of the catheter 102 within the catheter drive system 100. The tabs 112 and thrust bearing 114 encircle the catheter 102, thus despite rotation of the catheter, the tabs 112 remain operably connected to the followers 110 and the thrust bearing 114 remains operably connected to its motor.

[0026] Further aspects of the catheter dive system 100 are depicted in FIG. IB. As shown, the catheter drive system 100 includes a mount 116. The mount 116 includes linear drive 118 which operably connects to a rail 120. The combination of the linear drive 118 and rail 120 enable the advancement of the catheter 102 and the catheter drive system 100 along the axis defined by the rail 120 relative to the mount 116. A knob 122 formed on the mount 116 can be loosened to allow the catheter drive system 100 to be rotated about an axis A relative to the mount 116, retightening of the knob secures the catheter drive system 100 relative to the mount 116 at the desired angle of rotation about axis A.

[0027] A base 124, which as described below will be placed on a procedure table, is operably and releasably connected to the catheter drive system 100 via the mount 116. While the base 124 is depicted as a generally triangular structure, alternative shapes and designs for the base 124 may be employed. A knob 126 is part of a securing mechanism connecting the base 124 and the mount 116. Loosening of the knob 126 allows the mount 116 and the attached catheter drive system 100 to be moved along slot 128 formed in the base 124 to adjust the both the axial position, and the height, of the catheter drive systemA0012937W001100 relative to the procedure table on which the base 124 is placed. Loosening of the knob 126 also allows for the mount 116 and therewith the catheter drive system 100 to be rotated relative to the base 124 along the arc defined by slot 130 formed in the mount 116. Through the use of the knob 122, knob 126, and slots 128 and 130, the height, pitch, and the roll of the catheter drive system 100 (and therewith the catheter 102) relative to the procedure table and the patient can be adjusted.

[0028] The base 124 (e.g., via the knob 126) allows for the quick and easy connection and disconnection of the catheter drive system 100. By disconnecting the catheter drive system 100, the catheter 102 may be manually inserted into the patient and navigated to a desired location. After manual navigation, the catheter drive system 100 can be connected to the base 124, and the catheter 102 can be inserted into the catheter drive system 100. Once the catheter 102 is inserted into the catheter drive system 100, the catheter can be robotically navigated through subsequent portions of the patient’s anatomy (e.g., to positions and orientations within chambers of the heart). Further details of the use of the catheter 102 and catheter drive system 100 are described in greater detail below.

[0029] FIG. 2A depicts graphically a disposable surgical drape 200. The disposable surgical drape 200 is configured to be overlaid on the catheter 102 and the catheter drive system 100. The surgical drape 200 includes an opening 202 (FIG. 3) configured to allow the catheter 102 to pass through the surgical drape 200. The opening 202 may be a variable size opening, wherein openings of different diameters are able to be formed in the disposable surgical drape 200 to allow for the passage of different diameter catheters 102. In this manner, a common disposable surgical drape 200 can be used for different catheters 102.A0012937W001

[0030] The disposable surgical drape 200 maintains sterility of the surgical space and prevents contaminants (e.g., bodily fluids, other external debris) from reaching the catheter drive system 100. As a result, following a procedure, while the catheter 102 and drape 200 are disposed of, the catheter drive system 100 may be re-used with limited postprocedure sterilization. In this way, the catheter drive system 100 is similar to other reuseable capital equipment that does not come into direct contact with a patient.

[0031] As with the disposable surgical drape 200, the catheter drive system 100 may also be used with catheters of different sizes and having different articulation capabilities. Where, for example, a single catheter arrangement is employed, just two pairs of tabs 112, and thus just two pairs of followers 110 and two motors 104, may be utilized, and the structure of the catheter drive system 100 allows the catheter 102 to pass through the catheter drive system without interference from the unused followers 110 and motors 104. Further, different sizes can be accommodated by utilizing common diameter tabs 112 on all catheters, regardless of the diameter of the catheter 102. As noted above, even a single pull wire, single plane of articulation catheter 102 may be employed in catheter drive system 100 without departing from the scope of the disclosure.

[0032] A further aspect of the disclosure is directed at the drop-in nature of the catheter 102 in the catheter drive system 100. As shown in FIGs. 1 A and 2A-2C, the catheter 102 is configured such that the tabs 112 mate with and are received by the followers 110 of the catheter drive system 100. The thrust bearing 114 is also received in the bearing recess 115. In this manner the catheter 102 is quickly and easily insertable into the catheter drive system 100. Indeed, should the need arise, it is a simple procedure to perform a so called “hot swap” of the catheter 102. As will be appreciated, the catheter 102 may be supplied and removed from its packaging with the tabs 112 in a starting position, and the motorsA0012937W001104 can be driven such that the lead screws 108 move the followers 110 to a matching starting position. With the positioning of the followers 110 matching the positioning of the tabs of the catheter 102, the catheter 102 can be simply dropped into the catheter drive system 100 without requiring further manipulation of the catheter 102 or the catheter drive system 100. This is what may be referred to as a “hot swap.”

[0033] FIG. 4 depicts a patient P on a procedure table 302. Three different position options for placing the catheter drive system 100, coupled to the base 124, are depicted. A first position is located outside of the patient’s right leg. A second position is between the patient’s legs. Both of the first and second positions place the catheter 102 such that the catheter 102 can be inserted into the preferred entry point for accessing the heart (e.g., the femoral vein or saphenous vein). A third position is shown near the patient’s head, where the jugular vein in the patient’s neck can be accessed.

[0034] Regardless of where the catheter drive system 100 is placed relative to the patient, advancement and control of the catheter 102 is managed via a steering interface 304. As an example, the steering interface may be a gaming controller or the like where inputs from the clinician are received by the gaming controller and converted to signals for ultimately controlling the motors 104 and linear drive 118. The signals generated by the steering interface 304 are received by a computing system 306.

[0035] The computing system 306 includes a memory and a processor. The processor is configured to execute one or more applications stored in the memory. The computing system 306 may include a display to depict various aspects of the navigation in one or more user interfaces. For example, the user interface may depict a representation of the catheter 102 as it navigates the heart. This representation of the catheter 102 may beA0012937W001depicted within a three-dimensional model of a portion of the patient’s anatomy (e.g., the heart).

[0036] Though not shown, the catheter 102 may include one or more sensors to detect a position and orientation of a distal portion of the catheter (e.g., electromagnetic sensors, Fiber-Bragg sensors, ultrasound sensors). In addition, data from the drive motors (e.g., motor rotations, current, voltage, tab 112 relative positions) can be utilized to both sense a shape and orientation of a distal portion of the catheter 102. This data can be used to provide additional feedback regarding resistance to movement experienced by the catheter 102, effective articulation (e.g., by comparison with articulation measured via imaging), and other informative aspects useful for the surgeon during the procedure. In some instances, this feedback can be processed by the computing system 306, and signals can be sent to the steering interface 304 to generate one or more forms of haptic feedback or may present visual and audible feedback to clinician via the computing system 306.

[0037] FIG. 5 depicts a method 400 for utilization of the catheter drive system 100 and catheter 102 on a patient P. In method 400, the catheter drive system 100 and catheter 102 are connected prior to insertion of the catheter 102 into the patient. At step 402 the catheter 102 is inserted into a catheter drive system 100. The catheter drive system 100 is located on a sterile table and is draped under a disposable sterile drape 200. With the catheter 102 inserted into the catheter drive system 100 the catheter drive system 100 is calibrated to ensure that signals from the steering interface 304 are accurately transmitted to the catheter drive system 100 and act on the catheter 102 to advance and articulate the catheter 102 accurately in accordance with the inputs from the surgeon. At step 404 the draped catheter drive system 100 with the catheter 102 is removed from the base 124. At step 406 the base 124 is removed from the sterile table and is placed in one of theA0012937W001positions around the patient P on the procedure table 302. At step 408 the catheter 102 (already connected to the catheter drive system 100) is inserted into the patient (either manually or robotically) at an insertion site (e.g., into the femoral vein). At step 410, the catheter drive system 100 is reconnected with the base 124 and oriented in a desired position relative to the patient P. From this point, all further advancement and articulation of the catheter 102 is managed (e.g., robotically) via the steering interface 304 to reach the desired position and orientation within the patient’s anatomy.

[0038] As an alternative to method 400, FIG. 6 depicts a method 500 in which the catheter 102 is inserted into the patient, prior to final connection to the patient drive system 100. At step 502, on a sterile table, the catheter 102 is inserted into the catheter drive system 100. The catheter drive system 100 is positioned under a disposable sterile drape 200 and a calibration procedure is undertaken, as described above. At step 504, the catheter 102 is removed from the catheter drive system 100. At step 506, the catheter drive system 100 and base 124 are positioned on the procedure table 302 as a desired position for the insertion site. At step 508 the catheter 102 is manually inserted into the patient via the insertion site. As will be appreciated, the order of steps 506 and 508 may be reversed without departing from the scope of the disclosure. At step 510 with the catheter 102 inserted into the patient the catheter 102 is inserted into the catheter drive system 100. From this point, all further advancement and articulation of the catheter 102 is managed (e.g., robotically) via the steering interface 304 to reach the desired position and orientation within the patient’s anatomy.

[0039] Examples

[0040] This disclosure is further described in connection with the following examples, in which:A0012937W001

[0041] Example 1 - A navigational catheter system including a catheter drive system configured to receive a catheter, the catheter drive system including at least one motor couplable to the catheter to articulate the catheter in at least one plane; a mount connected to the catheter drive system and configured to enable adjustment of an orientation of the catheter drive system; and a base, removably connectable to the mount, the base enabling adjustment of a position of the catheter drive system.

[0042] Example 2 - The navigational catheter system of example 1, further comprising a coupling mechanically connecting a shaft of the motor and a lead screw, wherein rotation of the shaft rotates the lead screw.

[0043] Example 3 - The navigational catheter system of example 2, further comprising a follower connected to the lead screw, wherein rotation of the lead screw causes the follower to move along the lead screw.

[0044] Example 4 - The navigational catheter system of any of the preceding examples, further comprising a thrust bearing recess configured to receive a thrust bearing of the catheter.

[0045] Example 5 - The navigational catheter system of any of the preceding examples, further comprising a linear drive to advance and retract the catheter drive system in relation to the base.

[0046] Example 6 - The navigational catheter system of any of the preceding examples, wherein the mount is configured to enable rotation of the catheter drive system around an axis relative to the base.

[0047] Example 7 - The navigational catheter system of any of the preceding examples, wherein the mount includes a slot configured to enable orientation adjustment of the catheter drive system relative to the base.A0012937W001

[0048] Example 8 - The navigational catheter system of any of the preceding examples, further comprising a catheter configured for drop-in installation in the catheter drive system.

[0049] Example 9 - The navigational catheter system of example 1, wherein the catheter drive system includes four motors, each motor being coupled to a lead screw, and each lead screw including a pair of followers, wherein for a given lead screw, rotation of the corresponding motor in a first direction causes the corresponding pair of followers to advance towards each other, and rotation of the corresponding motor in a second direction causes the corresponding pair of followers to advance away from each other along the lead screw.

[0050] Example 10 - The navigational catheter system of example 9, further comprising a catheter configured for drop in installation in the catheter drive system, wherein the catheter includes four pairs of tabs, each tab configured to be received by one of the followers.

[0051] Example 11 - The navigational catheter system of example 10, wherein each tab is connected to a pull-wire or a tendon.

[0052] Example 12 - The navigational catheter system of example 11, wherein movement of a first pair of followers articulates the catheter in a first plane.

[0053] Example 13 - The navigational catheter system of example 12, wherein movement of a second pair of followers articulates the catheter in a second plane.

[0054] Example 14 - The navigational catheter system of example 13, wherein the catheter includes an inner catheter and an outer catheter, wherein each of the inner catheter and outer catheter includes two pairs of the tabs and is operably connectable to two pairs of the followers.A0012937W001

[0055] Example 15 - The navigational catheter system of example 14, wherein the catheter includes a thrust bearing configured to be received in a thrust bearing recess, wherein the thrust bearing prevents movement of the catheter along a longitudinal axis of the catheter drive system.

[0056] Example 16 - A method for preparing a navigational catheter system including inserting a catheter into a catheter drive system, the catheter drive system supported by a base; calibrating the catheter drive system; remove the catheter and catheter drive system from the base; placing the base on a procedure table; inserting the catheter into a patient; andreconnecting the catheter drive system to the base.

[0057] Example 17 - The method of example 16, further comprising receiving signals from a steering interface, wherein the signals from the steering interface drive one or more motors of the catheter drive system to articulate the catheter in one or more planes.

[0058] Example 18 - The method of example 17, wherein the received signals from the steering interface drive a linear drive to control advancement and retraction of the catheter within the patient.

[0059] Example 19 - A method for preparing a navigational catheter system including inserting a catheter into a catheter drive system, the catheter drive system supported by a base; calibrating the catheter drive system; remove the catheter from the catheter drive system; placing the catheter drive system and base on a procedure table; inserting the catheter into a patient; and reinserting the catheter into the catheter drive system.

[0060] Example 20 - The method of example 19, further comprising receiving signals from a steering interface, wherein the signals from the steering interface drive one or moreA0012937W001motors of the catheter drive system to articulate the catheter in one or more planes and a linear drive to control advancement and retraction of the catheter within the patient.

[0061] It should be understood that various aspects disclosed herein may be combined in different combinations than the combinations specifically presented in the description and accompanying drawings. It should also be understood that, depending on the example, certain acts or events of any of the processes or methods described herein may be performed in a different sequence, may be added, merged, or left out altogether (e.g., all described acts or events may not be necessary to carry out the techniques). In addition, while certain aspects of this disclosure are described as being performed by a single module or unit for purposes of clarity, it should be understood that the techniques of this disclosure may be performed by a combination of units or modules without departing from the scope of the disclosure.

Claims

A0012937W001We claim:

1. A navigational catheter system comprising:a catheter drive system configured to receive a catheter, the catheter drive system including at least one motor couplable to the catheter to articulate the catheter in at least one plane;a mount connected to the catheter drive system and configured to enable adjustment of an orientation of the catheter drive system; anda base, removably connectable to the mount, the base enabling adjustment of a position of the catheter drive system.

2. The navigational catheter system of claim 1, further comprising a coupling mechanically connecting a shaft of the motor and a lead screw, wherein rotation of the shaft rotates the lead screw.

3. The navigational catheter system of claim 2, further comprising a follower connected to the lead screw, wherein rotation of the lead screw causes the follower to move along the lead screw.

4. The navigational catheter system of any of the preceding claims, further comprising a thrust bearing receiver configured to receive a thrust bearing of the catheter.

5. The navigational catheter system of any of the preceding claims, further comprising a linear drive to advance and retract the catheter drive system in relation to the base.

6. The navigational catheter system of any of the preceding claims, wherein the mount is configured to enable rotation of the catheter drive system around an axis relative to the base.A0012937W0017. The navigational catheter system of any of the preceding claims, wherein the mount includes a slot configured to enable orientation adjustment of the catheter drive system relative to the base.

8. The navigational catheter system of any of the preceding claims, further comprising a catheter configured for drop-in installation in the catheter drive system.

9. The navigational catheter system of claim 1, wherein the catheter drive system includes four motors, each motor being coupled to a lead screw, and each lead screw including a pair of followers,wherein for a given lead screw, rotation of the corresponding motor in a first direction causes the corresponding pair of followers to advance towards each other, and rotation of the corresponding motor in a second direction causes the corresponding pair of followers to advance away from each other along the lead screw.

10. The navigational catheter system of claim 9, further comprising a catheter configured for drop in installation in the catheter drive system, wherein the catheter includes four pairs of tabs, each tab configured to be received by one of the followers.

11. The navigational catheter system of claim 10, wherein each tab is connected to a pull-wire or a tendon.

12. The navigational catheter system of claim 11, wherein movement of a first pair of followers articulates the catheter in a first plane.

13. The navigational catheter system of claim 12, wherein movement of a second pair of followers articulates the catheter in a second plane.A0012937W00114. The navigational catheter system of claim 13, wherein the catheter includes an inner catheter and an outer catheter, wherein each of the inner catheter and outer catheter includes two pairs of the tabs and is operably connectable to two pairs of the followers.

15. The navigational catheter system of claim 14, wherein the catheter includes a thrust bearing configured to be received in a thrust bearing recess, wherein the thrust bearing prevents movement of the catheter along a longitudinal axis of the catheter drive system.

Images