Input device for robotic catheter and guide wire system

A system comprising:

• an actuator configured to manipulate a position and orientation of a catheter assembly having a catheter and a guide wire;
• and
• an input device having an inner member having a generally cylindrical shape and defining an axis and an outer member coaxially disposed on the inner member and configured to rotate about and move along the axis defined by the inner member to control the position and orientation of at least one of the catheter and the guide wire, and
• wherein rotating the outer member about the axis causes at least one of the catheter and the guide wire to rotate and wherein moving the outer member along the axis causes at least one of the catheter and the guide wire to advance or retract within the patient's body.

A robotic catheter system comprising:

• a catheter assembly including a catheter and a guide wire disposed within the catheter;
• an actuator configured to manipulate a position and orientation of the catheter assembly;
• and
• an input device having an inner member defining an axis and an outer member coaxially disposed on the inner member and configured to rotate about and move along the axis defined by the inner member to control the position and orientation of at least one of the catheter and the guide wire, wherein the inner member has a generally cylindrical shape, and wherein rotating the outer member about the axis causes at least one of the catheter and the guide wire to rotate and wherein moving the outer member along the axis causes at least one of the catheter and the guide wire to advance or retract relative to the patient's body,
• wherein the input device includes a position detector configured to determine a linear position of the outer member relative to the inner member and an angular position of the outer member relative to the inner member and output at least one position signal representing at least one of the linear position and angular position of the outer member relative to the inner member.