# US 11,114,918 B2 · Differential drive > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,114,918 B2 - Document ID: US11114918B2 - Status: Granted - Kind: B2 - Application number: 14/315,961 - Filed: 2014-06-26 - Published: 2015-01-01 - Granted: 2021-09-07 - Earliest claimed: 2013-06-26 - Assignees: Corindus, Inc. - Applicants: Corindus, Inc. - Inventors: Christopher Zirps - Web page: https://patentgrep.com/patent/US11114918B2 ## CPC - H02K 7/1004: {with pulleys} - H02K 7/116: with gears - H02K 7/14: Structural association with mechanical loads, e.g. with hand-held machine tools or fans (with fan or impeller for cooling the machine H02K9/06) - H02K 16/00: Machines with more than one rotor or stator {(machines for transmitting mechanical power from a driving shaft to a driven shaft and comprising structurally interrelated motor and generator parts H02K51/00; permanent magnet machines with multiple rotors or stators relatively rotated for vectorially combining the excitation fields or the armature voltages H02K21/029)} - H02K 2201/18: Machines moving with multiple degrees of freedom - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) ## Abstract A differential drive for manipulating an elongated device includes a drive mechanism configured to provide rotational and linear movement to the elongated percutaneous device. The drive mechanism including a platform rotatably supported by a support and a linear drive operatively coupled to the platform. A first motor operatively rotates the platform relative to the support and moving a portion of the linear drive relative to the platform. A second motor operatively rotates the platform relative to the support and moving a portion of the linear drive relative to the platform. ## Claims ### Claim 1 A differential drive for manipulating an elongated percutaneous device comprising: a drive mechanism configured to provide rotational and linear movement to the elongated percutaneous device, the drive mechanism including a unitary platform rotatably supported by a support and a linear drive operatively coupled to the unitary platform; a first motor operatively rotating the unitary platform relative to the support and moving a portion of the linear drive relative to the unitary platform; a second motor operatively rotating the unitary platform relative to the support and moving a portion of the linear drive relative to the unitary platform, wherein the unitary platform operatively rotated by the first motor is the same unitary platform operatively rotated by second motor; wherein the linear drive includes at least one drive member operatively connected to the first motor and the second motor; the linear drive includes at least one pair of a drive member and a driven member biased toward the drive member, where the elongated percutaneous device is positioned between the drive member and the driven member; and the drive member is a roller wheel operatively connected to a gear in a gear chain operatively coupled to the first motor and to the second motor. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the drive mechanism is a differential drive, a direction and speed of rotation of the elongated percutaneous device about its longitudinal axis is determined by a direction of rotation and speed of rotation of the first motor and a direction of rotation and speed of rotation of the second motor, and a speed of the elongated percutaneous device along its longitudinal axis is determined by the direction of rotation and speed of the first motor and the rotation direction and rotational speed of the second motor. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the elongated percutaneous device is moved in a first direction along the longitudinal axis of the percutaneous device when the direction of rotation of the first motor and the second motor are in a first direction and the speed of the first motor and the second motor are the same. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein the elongated percutaneous device is moved in a second direction opposite the first direction along the longitudinal axis of the percutaneous device when the direction of rotation of the output of the first motor and the second motor are in a second direction opposite the first direction and the speed of the first motor and the second motor are the same. ### Claim 5 (depends on 4) The apparatus of claim 4, wherein the elongated percutaneous device is rotated in a first direction about the longitudinal axis of the percutaneous device when the direction of rotation of the output of the first motor is in the first direction and the direction of rotation of the output of the second motor in in the second direction and the speed of the first motor and the speed of the second motor are the same. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the elongated percutaneous device is rotated in a second direction about the longitudinal axis of the percutaneous device when the direction of rotation of the output of the first motor is in the second direction and the direction of rotation of the output of the second motor in in the first direction and the speed of the first motor and the speed of the second motor are the same. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the elongated percutaneous device is both rotated about the longitudinal axis of the percutaneous device and moved in along the longitudinal axis of the percutaneous device when the speed of the first motor is different than the speed of the second motor. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the elongated percutaneous device is both rotated about the longitudinal axis of the percutaneous device and moved in along the longitudinal axis of the percutaneous device when the speed of the first motor is different than the speed of the second motor. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the drive mechanism includes a second drive member and a second corresponding driven member operatively biased toward the second driven member, the second drive member operatively connected to the first motor, the second motor and the first drive member. ### Claim 10 (depends on 9) The apparatus of claim 9, wherein the unitary platform includes a first side and an opposing second side, the driven member to be rotatably positioned on the first side and the gear chain operatively connecting the drive members with the first motor and the second motor operatively positioned adjacent the second side of the unitary platform. ### Claim 11 (depends on 1) The apparatus of claim 1, wherein the first motor is operatively connected to the gear chain proximate a first end portion of the unitary platform and the second motor is operatively connected to the gear chain proximate a second end portion of the unitary platform. ### Claim 12 (depends on 11) The apparatus of claim 11, wherein the support include a first journal and a second journal each having a slot provided in the longitudinal direction of the drive mechanism, the slots providing the elongated percutaneous device to lay in a straight line and to permit placement of the elongated percutaneous device within the drive mechanism in a direction perpendicular to an axis that is co-linear with an elongated axis of the elongated percutaneous device when the elongated percutaneous device is within the drive mechanism. ### Claim 13 (depends on 12) The apparatus of claim 12, wherein the elongated percutaneous device is a guide wire. ### Claim 14 (depends on 1) The apparatus of claim 1, wherein the elongated percutaneous device is an ablation catheter. ### Claim 15 (depends on 1) The apparatus of claim 1, wherein the elongated percutaneous device is a balloon stent catheter. ### Claim 16 (depends on 1) The apparatus of claim 1, further including a remote control station being positioned remote from the drive mechanism including a first user input device to provide linear movement of the elongated percutaneous device along the longitudinal axis of the elongated percutaneous device and a second user input to provide rotation movement of the elongated percutaneous device about the longitudinal axis of the elongated percutaneous device, the remote control station including a controller providing electronic instructions to the first motor to rotate at a first speed and a first direction and providing electronic instructions to the second motor to rotate at a second speed and a second direction.