Device for automatically inserting and manipulating a medical tool into and within a bodily lumen

A compact robotic device for driving and manipulating movement of at least one elongate surgical tool, comprising:

• a housing comprising:
• at least one motor;
• a first tool-moving element driven by said at least one motor, said tool-moving element positioned and configured to operably contact an elongate surgical tool at least partially received in the robotic device to advance or retract said elongate surgical tool;
• and
• a second tool-moving element driven by said at least one motor and configured to roll said elongate surgical tool about the long axis of the elongate surgical tool.

A method of manipulating linear movement and roll movement of an elongate surgical tool, comprising:

• introducing said elongate surgical tool into a central lumen of an elongate shaft;
• moving a plurality of wheels into contact with said elongate surgical tool, said plurality of wheels at least partially extending into said central lumen;
• actuating rotation of said plurality of wheels for advancing or retracting said elongate surgical tool linearly;
• and/or
• actuating roll movement of said elongate shaft about a long axis of said shaft to roll said elongate surgical tool.

An assembly for driving linear movement and roll movement of an elongate surgical tool, comprising:

• an elongate shaft comprising a central lumen extending along the shaft long axis;
• said elongate shaft comprising a plurality of apertures extending across walls of said elongate shaft and into said central lumen;
• a set of wheels positioned opposing each other and aligned on two sides of said central lumen, said set of wheels at least partially extending through said apertures beyond said walls of said elongate shaft and into said central lumen to contact an elongate surgical tool received therein;
• said set of wheels being coupled to said elongate shaft and configured to rotate with said elongate shaft as a single unit when said elongate shaft is rotated about the shaft long axis;
• wherein both linear movement and roll movement of an elongate surgical tool received within said central lumen are carried out at a same contact point of said set of wheels with said elongate surgical tool.