On-axis drive systems and methods

An on-axis system for guiding movement of a tool, comprising:

• a frame;
• at least one instrument comprising an elongate catheter body at least a portion of which defines a catheter axis, a distal end, and a controller for controlling at least one degree of freedom of the distal end;
• and
• a rail comprising an elongate rail body having a proximal and distal end, the rail rotatably mated with the frame such that the rail rotates around the catheter axis, the controller movably mated with a portion of the rail to allow the controller to move longitudinally along an axis parallel to the catheter axis,
• wherein longitudinal movement of the controller controls longitudinal movement of the at least one instrument with respect to the rail and with respect to the frame, and wherein rotational movement of the rail around the catheter axis controls rotational movement of the at least one instrument with respect to the frame.

An on-axis system for guiding movement of a tool, comprising:

• a frame;
• at least one instrument comprising an elongate catheter body at least a portion of which defines a catheter axis, a distal end, and a controller for controlling at least one degree of freedom of the distal end;
• and
• a rail comprising an elongate rail body having a proximal and distal end, the rail locked in position with respect to a frame, the elongate rail body being movably mated with the controller such that the at least one instrument can move longitudinally with respect to the rail and the controller including an axis of rotation around which the controller can rotate, the controller axis of rotation being co-linear with at least a portion of the catheter axis.

An on-axis system for guiding movement of a tool, comprising:

• a frame;
• at least one instrument comprising an elongate catheter body at least a portion of which defines a catheter axis, a distal end, and a controller for controlling at least one degree of freedom of the distal end;
• and
• a rail comprising an elongate rail body having a proximal end and a distal end, the controller fixedly mated with the rail proximate to the distal end of the rail and the elongate catheter extending through at least a portion of the rail, the rail movably mated with the frame such the rail can rotate about a rail rotational axis with respect to the frame and the rail can move longitudinally with respect to the frame,
• wherein movement of the rail with respect to the frame provides the at least one instrument at least two degrees of freedom with respect to the frame.

An on-axis rail system for guiding movement of a tool, comprising:

• at least one instrument comprising a controller, an elongate catheter body, and a distal end, wherein the controller controls at least one degrees of freedom with respect to the distal end;
• an elongate rail having a mating surface for fixing the elongate rail relative to a site, the rail comprising an elongate rail body having a proximal and a distal end, the elongate rail being movably mated with the controller such that the at least one instrument has at least two degrees of freedom with respect to the elongate rail;
• and
• a catheter body holder through which the catheter body extends, the holder positioned on an axis defined by the elongate rail and the holder configured to inhibit radial movement of at least a portion of the catheter body with respect the holder at a location adjacent to the holder.

A method for guiding movement of a tool, the method comprising

• providing at least one instrument comprising a controller, an elongate catheter body at least a portion of which defines a catheter axis, and a distal end;
• rotating the controller around a rotational axis that is co-linear with at least a portion of the catheter axis;
• moving the controller longitudinally;
• and
• actuating at least one degree of freedom of the distal end of the catheter via the controller.