System and method for endoluminal and translumenal therapy

A catheter system for performing a medical procedure, comprising:

• a sheath instrument configured to be advanced within a patient, the sheath instrument comprising a proximal portion, a distal portion, and a sheath wall that surrounds and forms a guide insertion lumen;
• a guide instrument configured to be advanced through the guide insertion lumen, the guide instrument comprising a proximal portion, a distal portion, and a guide wall that surrounds and forms a pre-shaped instrument lumen;
• and
• a pre-shaped instrument configured to be advanced through the pre-shaped instrument lumen, the pre-shaped instrument comprising a curved proximal end and extending from the proximal portion of the guide instrument;
• and
• wherein, in use, the pre-shaped instrument is advanced to a target site via the pre-shaped instrument lumen to perform the medical procedure.

A method for performing a medical procedure using a robotic catheter system, the method comprising:

• advancing a sheath instrument within a patient, the sheath instrument comprising a proximal portion, a distal portion, and a sheath wall that surrounds and forms a guide insertion lumen;
• advancing a guide instrument through the guide insertion lumen, the guide instrument comprising a proximal portion, a distal portion, and a guide wall that surrounds and forms a pre-shaped instrument lumen, the guide instrument extending from the proximal portion of the sheath instrument;
• advancing a pre-shaped instrument through the pre-shaped instrument lumen, the pre-shaped instrument comprising a curved proximal end, the pre-shaped instrument extending from the proximal portion of the guide instrument;
• and
• advancing the pre-shaped instrument to a target site to perform a medical procedure.