Robotic Surgical System

A method of controlling a catheter, comprising:

• providing a robotic catheter control system, the robotic catheter control system comprising:
• a translatable catheter holding device including a catheter receiving portion;
• a translation mechanism adapted to control translation of the catheter holding device;
• a deflection mechanism adapted to control deflection of the catheter;
• a rotation mechanism adapted to control rotation of said catheter receiving portion;
• and
• a robotic controller operatively coupled to the translation mechanism, the deflection mechanism, and the rotation mechanism;
• receiving the catheter in the catheter receiving portion such that the catheter translates with the catheter holding device;
• operatively coupling the catheter to the deflection mechanism such that actuation of the deflection control mechanism causes deflection of the catheter;
• and
• robotically navigating the catheter by actuating, via the robotic controller, one or more of the deflection mechanism and the rotation mechanism to maintain a substantially constant deflection of a distal end of the catheter during rotation of the catheter.

A method of controlling a catheter, comprising:

• coupling a catheter to a robotic catheter control system, wherein the robotic catheter control system comprises:
• a rotation servo mechanism;
• a deflection servo mechanism;
• and
• a robotic controller operably coupled to the rotation servo mechanism and the deflection servo mechanism;
• and
• commanding the robotic controller to operate at least one of the rotation servo mechanism and the deflection servo mechanism to maintain a substantially constant deflection of a distal end of the catheter during rotation of the catheter.