Wheel for robotic catheter system drive mechanism

Abstract

A drive mechanism for a robotic catheter system including a first engagement surface and a second engagement surface is provided. The first engagement surface and second engagement surface are configured to engage a catheter device to allow the drive mechanism to impart motion to the catheter device. The first engagement surface is textured to facilitate gripping between the first engagement surface and the catheter device.

What is claimed is: 
     
         1 . A drive mechanism for a robotic catheter system comprising:
 a first engagement surface; and   a second engagement surface;   wherein the first engagement surface and second engagement surface are configured to engage a catheter device to allow the drive mechanism to impart motion to the catheter device;   wherein the first engagement surface is textured to facilitate gripping between the first engagement surface and the catheter device.   
     
     
         2 . The drive mechanism of  claim 1 , further comprising a plurality of slits in the first engagement surface, the plurality of slits providing the texture of the first engagement surface. 
     
     
         3 . The drive mechanism of  claim 2 , wherein the first engagement surface is the outer surface of a wheel, and further wherein the plurality of slits are located at even intervals around the circumference of the wheel. 
     
     
         4 . The drive mechanism of  claim 3 , wherein the angle between the radial centerline of adjacent slits is between about 5 degrees and 20 degrees. 
     
     
         5 . The drive mechanism of  claim 3 , wherein the slits are substantially linear and are positioned substantially parallel to the axis of rotation of the wheel. 
     
     
         6 . The drive mechanism of  claim 5 , wherein the slits extend along the entire axial dimension of the engagement surface. 
     
     
         7 . The drive mechanism of  claim 1 , wherein the first engagement surface is the outer surface of a wheel, and further wherein the wheel is made from a polymer material. 
     
     
         8 . The drive mechanism of  claim 7 , wherein the polymer material is a thermoplastic polyurethane elastomer. 
     
     
         9 . The drive mechanism of  claim 7 , wherein the polymer material has a shore hardness of between about 50 A and 100 A. 
     
     
         10 . The drive mechanism of  claim 1 , wherein the first engagement surface is a circumferential surface of a first wheel and the second engagement surface is a circumferential surface of a second wheel, and further wherein the first wheel is coupled to a drive shaft and the second wheel is a roller wheel. 
     
     
         11 . The drive mechanism of  claim 10 , wherein the catheter device is positioned between the first wheel and the second wheel, wherein the first and second wheels are configured to move toward each other such that first and second wheels apply a force to the outer surface of the catheter device, and further wherein the force may be controlled by the user of the drive mechanism. 
     
     
         12 . The drive mechanism of  claim 10 , wherein the catheter device is a guide wire and wherein the drive mechanism is an axial drive mechanism configured to impart axial motion to the guide wire via rotation of the first wheel. 
     
     
         13 . The drive mechanism of  claim 12 , wherein the second engagement surface is textured to facilitate gripping between the second engagement surface and the guide wire. 
     
     
         14 . The drive mechanism of  claim 10 , wherein the catheter device is a working catheter and wherein the drive mechanism is an axial drive mechanism configured to impart axial motion to the working catheter via rotation of the first wheel. 
     
     
         15 . A cassette for use with a robotic catheter system configured to couple to a base, the cassette comprising:
 a housing;   a first actuating mechanism supported by the housing and configured to engage and to impart axial movement to a guide wire, the first actuating mechanism comprising:
 a drive shaft; 
 a drive wheel having a first engagement surface, the drive wheel coupled to the drive shaft, wherein the drive wheel includes a plurality of slits formed in the first engagement surface; and 
 a roller wheel having a second engagement surface; 
 wherein the guide wire is engaged between the drive wheel and the roller wheel, wherein rotation of the drive wheel imparts axial motion to the guide wire; and 
   a second actuating mechanism configured to engage and to impart rotational movement to the guide wire.   
     
     
         16 . The cassette of  claim 15 , wherein the plurality of slits are located at even intervals around the circumference of the drive wheel and further wherein the slits extend along the entire axial dimension of the first engagement surface. 
     
     
         17 . The cassette of  claim 15 , wherein the drive wheel is formed from a material having a shore hardness of between about 50 A and 100 A. 
     
     
         18 . A cassette for use with a robotic catheter system configured to couple to a base, the cassette comprising:
 a housing;   an actuating mechanism supported by the housing and configured to engage and to impart movement to a catheter device, the actuating mechanism comprising:
 a first engagement surface; and 
 a second engagement surface; 
 wherein the first engagement surface is moveable between a first position and a second position, wherein the distance between the first and second engagement surfaces decreases as the first engagement surface is moved from the first position to the second position, and further wherein the first and second engagement surfaces are configured to engage the catheter device in the second position; and 
   a structure coupled to the actuating mechanism, the structure holding the first engagement structure in the first position.   
     
     
         19 . The cassette of  claim 18 , wherein the first engagement surface is coupled to a pivoting body, wherein the actuating mechanism comprises a spring engaged between the housing and the pivoting body, the spring biasing the first engagement surface to the second position, and further wherein the structure is engaged between the pivoting body and the housing to resist the biasing force of the spring. 
     
     
         20 . The cassette of  claim 18 , wherein catheter device is a guide wire, and the actuating mechanism is a rotational actuating mechanism configured to impart rotational motion to the guide wire, and further wherein the first engagement surface is the outer surface of a first roller wheel and the second engagement surface is the outer surface of a second roller wheel. 
     
     
         21 . The drive mechanism of  claim 12 , wherein the texture of the first engagement surface is different than a texture of the second engagement surface. 
     
     
         22 . The drive mechanism of  claim 15 , wherein the second actuating mechanism includes at least one roller wheel having an engagement surface with a texture that is different than the texture of the first engagement surface. 
     
     
         23 . The drive mechanism of  claim 15 , wherein the second actuating mechanism includes a plurality of roller wheels having engagement surfaces, at least some of the roller wheel engagement surfaces having a texture different from at least some of the other roller wheel engagement surfaces.