Robotic catheter system with variable speed control

A method for controlling movement of a first percutaneous device comprising:

• providing a workstation including a control and a display device;
• providing an actuating mechanism configured to engage and to impart movement to the first percutaneous device;
• displaying an image on the display device, the image showing a structure being traversed by the first percutaneous device;
• identifying a point on the structure;
• identifying a point on the first percutaneous device;
• operating the control to generate a control signal based at least partly on a user input indicating a guiding or steering of the first percutaneous device;
• moving the percutaneous device relative to the structure via the actuating mechanism in response to the control signal;
• and
• slowing movement of the first percutaneous device via the actuating mechanism as the identified point on the first percutaneous device approaches the identified point on the structure, wherein the control signal causes the actuating mechanism to slow movement by changing speed of the first percutaneous device based on the guiding the first percutaneous device indicated by the user input and as a function of a distance to the structure, the function being at least one of a linear function, a non-linear function or a step function,
• wherein the first percutaneous device is configured to guide a second percutaneous device to a desired position in a vasculature, wherein the second device is at least one of a guide wire, a guide catheter or a working catheter,
• wherein the movement of the first percutaneous device is controlled by actuators provided in the actuating mechanism, the actuators being provided at a proximal portion of the first percutaneous device.