Systems and methods for manipulating an elongate member
AssigneeHansen Medical, Inc.
InventorAlan L. Yu
Life of this patent
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Abstract
System and methods for manipulating and positioning elongated flexible members are described herein. In on variation, an elongate member manipulator includes an elongate member holder having first and second rotary members configured to hold an elongate member, wherein the rotary members are actuated in opposite rotational directions to generate a corresponding linear motion of the elongate member held by the rotary members along a longitudinal axis of the elongate member, and wherein the rotary members are actuated in opposite linear directions to generate a corresponding rotational motion of the elongate member held by the rotary members about the longitudinal axis of the elongate member.
Claims59
An elongate member manipulator, comprising:
- an elongate member holder having first and second rotary members configured to hold an elongate member;
- wherein the rotary members are actuated in opposite rotational directions to generate a corresponding linear motion of the elongate member held by the rotary members along a longitudinal axis of the elongate member;
- and
- wherein the rotary members are actuated in opposite linear directions to generate a corresponding rotational motion of the elongate member held by the rotary members about the longitudinal axis of the elongate member.
A robotic surgical system, comprising:
- a controller including a master input device;
- an instrument driver in communication with the controller, the instrument driver configured to interface with an inner tubular member and an outer tubular member that surrounds at least a portion of the inner tubular member;
- and
- an elongate member manipulator comprising a drive assembly responsive to control signals generated, at least in part, by the master input device, and an elongate member holder releasably coupled to the drive assembly, the elongate member holder having first and second rotary members configured to hold an elongate member;
- wherein the drive assembly is configured to actuate the rotary members in opposite rotational directions to generate a corresponding linear motion of the elongate member along a longitudinal axis of the elongate member;
- wherein the drive assembly is configured to actuate said rotary members in opposite linear directions to generate a corresponding rotational motion of the elongate member about the longitudinal axis of the elongate member;
- and
- wherein the elongate member manipulator is configured to feed the elongate member into the inner tubular member.
A method of manipulating an elongate member in two degrees of freedom, comprising:
- holding an elongate member between two rotary members;
- actuating the rotary members in opposite rotational directions to generate a corresponding linear motion of the elongate member along a longitudinal axis of the elongate member;
- and
- actuating the rotary members in opposite linear directions to generate a corresponding rotational motion of the elongate member about the longitudinal axis of the elongate member.
A method of manipulating an elongate member in two degrees of freedom, comprising:
- transferring rotational motion across a sterile barrier to generate a corresponding linear motion of the elongate member along a longitudinal axis of the elongate member;
- and
- transferring linear motion across the sterile barrier to generate a corresponding rotational motion of the elongate member about the longitudinal axis of the elongate member.
A method of manipulating an elongate member in two degrees of freedom, comprising:
- engaging a first continuous surface with the elongate member;
- engaging a second continuous surface with the elongate member;
- actuating the first surface and second surface in opposite linear directions to generate a rotational motion of the elongate member about the longitudinal axis of the elongate member;
- and
- actuating the first surface and second surface in opposite rotational directions to generate a linear motion of the elongate member along the longitudinal axis of the elongate member.
Dependencies are inferred from the claim text.