Occlusion traversal robotic catheter system

A cassette for use with a robotic catheter system configured to couple to a base, the cassette comprising:

• a housing;
• a first percutaneous device having a linear longitudinal axis;
• a second percutaneous device;
• a first actuating mechanism configured to engage and to impart axial movement and rotational movement to the first percutaneous device;
• and
• a second actuating mechanism configured to engage and to impart axial movement to the second percutaneous device to advance the second percutaneous device;
• wherein the first actuating mechanism and the second actuating mechanism are configured to be operatively coupled to at least one actuator that provides energy to move the first percutaneous device and the second percutaneous device,
• the control system configured to provide movement of the first percutaneous device and the second percutaneous device by operation of a single input control,
• wherein operation of the single input control during advancement of the first percutaneous device through the lesion controls movement of both the first percutaneous device and the second percutaneous device such that the relative motion between the first percutaneous device and the second percutaneous device is substantially zero.

A robotic catheter procedure system for performing a procedure to treat a vascular lesion, comprising:

• a bedside system, the bedside system comprising:
• a first percutaneous device including an end section, the end section structured to allow the first percutaneous device to create a bore through the vascular calcified lesion;
• a second percutaneous device;
• a first actuating mechanism configured to engage and to impart movement to the first percutaneous device;
• and
• a second actuating mechanism configured to engage and to impart movement to the second percutaneous device;
• and
• a remote workstation, the remote workstation comprising:
• a user interface including a plurality of controls;
• and
• a control system operatively coupled to the user interface and to the bedside system, the control system controlling:
• the first actuating mechanism to cause movement of the first percutaneous device to create a bore through the calcified lesion;
• and
• the second actuating mechanism to cause movement of the second percutaneous device through the bore created by the first percutaneous device, wherein movement of a single control of the plurality of controls movement of both the first percutaneous device and the second percutaneous device such that the relative motion between the first percutaneous device and the second percutaneous device during lesion traversal is substantially zero.