Steerable surgical robotic system

A robotic controller for positioning a catheter comprising a sheath having a hollow interior, and a guidewire, within a patient body, comprising;

• a base;
• a sheath driver including a sheath advance and retract path extending therein and a sheath driver roller housing fixedly connected to the base and configured to advance and retract the sheath along the sheath advance and retract path extending therein, the sheath driver roller housing further comprising at least one pair of sheath rollers, the sheath rollers of the pair of sheath rollers disposed to face one another along the sheath advance and retract path, each sheath roller comprising an outer circumferential surface configured to grip the sheath when the sheath is positioned between the sheath rollers;
• a guidewire driver including a guidewire advance and retract path extending therein and a guidewire driver roller housing moveably connected to the base and configured to advance and retract the guidewire along the guidewire advance and retract path extending therein and to selectively move toward and away from the sheath driver, the guidewire driver roller housing further comprising at least one pair of guidewire rollers, the rollers of the pair of guidewire rollers disposed to face one another along the guidewire advance and retract path, each guidewire roller comprising an outer circumferential surface configured to grip a guidewire when a guidewire is positioned between the guidewire rollers, and the guidewire driver further including a driver mount and the guidewire driver roller housing being rotatably coupled to the driver mount operatively fixedly coupled to a slide bar moveably received in a slide bar recess;
• wherein
• each of the sheath advance and retract path within the sheath driver roller housing and the guidewire advance and retract path within the guidewire driver roller housing extend between pairs of sheath rollers and guidewire rollers in the respective sheath and roller drivers, and the sheath advance and retract path and the guidewire advance and retract paths are parallel to each another.