Catheter system

A robotic catheter system comprising:

• a housing;
• a drive assembly supported by the housing configured to impart movement to a guide wire, the drive assembly comprising a channel running the length of the assembly, the channel configured to receive the guide wire;
• a cover movable from a closed position overlying the channel to an opened position exposing the channel;
• a tab extending from a lower surface of the cover, wherein at least a portion of the tab is positioned within the channel when the cover is in the closed position, wherein the tab restricts movement of the guide wire within the channel while allowing movement of the guide wire relative to the tab when the cover is moved to the closed position;
• and
• at least one magnet positioned adjacent to the channel to allow the magnet to interact with the guide wire to assist in the retention of the guide wire within the channel.

A robotic catheter system comprising:

• a housing;
• a first axial drive mechanism supported by the housing to releasably engage and drive a guide wire along a longitudinal axis of the guide wire;
• a second axial drive mechanism supported by the housing to releasably engage and drive a working catheter along a longitudinal axis of the working catheter;
• a top deck coupled to the housing and positioned above the first and second axial drive mechanisms;
• a first channel formed in the top deck, the first channel running the length of the top deck and positioned generally perpendicular to a top surface of the top deck;
• a rotational drive mechanism supported by the housing to rotate the guide wire about its longitudinal axis, the rotational drive mechanism including a chassis and an engagement structure to releasably engage the guide wire, the engagement structure configured to apply sufficient force to rotate the guide wire about a longitudinal axis of the guide wire while permitting the guide wire to be moved axially by the first drive mechanism;
• a second channel formed in the chassis, the second channel running the length of the chassis and positioned generally perpendicular to a top surface of the chassis, wherein the first channel is aligned with the second channel and the first and second channels are configured to receive the guide wire;
• a first magnet positioned beneath the first channel, wherein the first magnet interacts with the guide wire to draw the guide wire toward the bottom of the first channel;
• a second magnet positioned beneath the second channel, wherein the second magnet interacts with the guide wire to draw the guide wire toward the bottom of the second channel;
• a first cover movable from a closed position overlying the first channel to an opened position exposing the first channel;
• a first tab extending from a lower surface of the first cover wherein at least a portion of the first tab is positioned within the first channel to restrain movement of the guide wire in a direction perpendicular to the top surface of the top deck when the first cover is in the close position while permitting the guide wire to be moved longitudinally by the first axial drive mechanism;
• a second cover movable from a closed position overlying the second channel to an opened position exposing the second channel;
• and
• a second tab extending from a lower surface of the second cover wherein at least a portion of the second tab is positioned within the second channel to restrain movement of the guide wire in a direction perpendicular to the top surface of the chassis when the second cover is in the closed position while permitting the guide wire to be moved longitudinally by the first axial drive mechanism;
• wherein the chassis and the second channel of the rotational drive mechanism rotate relative to the housing as the guide wire rotates, wherein the second magnet and the second tab both rotate relative to the housing as the chassis and the second channel rotate, and further wherein the second magnet and the second tab act to maintain the guide wire within the second channel as the chassis and the second channel rotate;
• wherein the first and second magnets interact with portions of the guide wire within the first and second channels, respectively, prior to the portions of the guide wire passing into the working catheter;
• wherein the first axial drive mechanism, the second axial drive mechanism, and the rotational drive mechanism are configured to be operatively coupled to at least one actuator that provides energy to drive the guide wire, to drive the working catheter, and to rotate the guide wire;
• and
• wherein the first axial drive mechanism, the second axial drive mechanism, the rotational drive mechanism, the first magnet, and the second magnet are included in a cassette configured to attach to a base.