Rotational apparatus system and method for a robotic instrument system

A medical instrument system, comprising:

• an elongate instrument;
• a rotatable apparatus coupled to the elongate instrument, the rotatable apparatus defining a lumen therethrough and a longitudinal axis;
• a guide catheter disposed within the lumen of the rotatable apparatus;
• a working instrument operatively coupled to the guide catheter;
• a control element operatively coupled to the rotatable apparatus, wherein respective rotation of the rotatable apparatus and working instrument are controllable by manipulation of the control element;
• and
• a guide channel through which the control element passes, said guide channel having a first portion extending axially along said longitudinal axis, and a second portion distal to said first portion, said second portion not rotatable with said rotatable apparatus, wherein the second portion of the guide channel extends in a substantially helical shape about said longitudinal axis.

A medical instrument system, comprising:

• an instrument defining a longitudinal axis;
• an adapter rotatably coupled to a distal end portion of the instrument;
• a control element extending from the instrument and coupled to the adapter such that the adapter is controllably rotatable about the longitudinal axis by axial movement of the control element relative to the instrument;
• and
• a guide channel through which the control element passes, said guide channel having a first portion extending axially along said longitudinal axis, and a second portion distal to said first portion, said second portion not rotatable with said adapter, wherein the second portion of the guide channel curves so to extend in a substantially helical shape about said longitudinal axis.

A medical instrument system, comprising:

• an instrument defining a longitudinal axis;
• a tool rotatably coupled to a distal end portion of the instrument;
• a control element extending from the instrument and coupled to the tool such that the tool is controllably rotatable about the instrument axis by axial movement of the control element relative to the instrument;
• and
• a guide channel through which the control element passes, said guide channel having a first portion extending axially along said longitudinal axis, and a second portion distal to said first portion, said second portion not rotatable with said tool relative to said instrument, wherein the second portion of the guide channel curves so as to extend at least partially transverse to said longitudinal axis;
• said tool comprising a distal surface having at least one tool guide channel through which said control element passes;
• and
• said at least one tool guide channel comprising four channels orthogonally arranged on said distal surface and defining a plane that is substantially parallel to a plane of rotation of said tool.