Catheter insertion system and method of fabrication

Abstract

A robotic instrument driver for elongate members includes a first carriage positionable on a bed and beside a patient access site for manipulating a first elongate member, and a second carriage positionable proximate the bed, the second carriage configured to articulate the first elongate member, wherein the second carriage is movable independent from the first carriage.

1 - 20 . (canceled) 
     
     
         21 . A robotic instrument driver, comprising:
 (a) a first drive assembly, the first drive assembly being operable to: 
 (i) articulate one or more steering wires in a first elongate member, and 
 (ii) drive longitudinal translation of a second elongate member with respect to the first elongate member along a first dimension, 
 wherein the first drive assembly is configured to be movable along a second dimension, 
 wherein the first drive assembly is further configured to be rotatable about a first yaw axis; and 
   (b) a second drive assembly, the second drive assembly being operable to: 
 (i) articulate one or more steering wires in the second elongate member, and 
 (ii) drive longitudinal translation of a third elongate member with respect to the second elongate member along the first dimension, 
 wherein the second drive assembly is configured to be movable along the second dimension, 
 wherein the second drive assembly is further configured to be rotatable about a second yaw axis. 
   
     
     
         22 . The robotic instrument driver of  claim 21 , the first drive assembly comprising a pod. 
     
     
         23 . The robotic instrument driver of  claim 21 , the first drive assembly comprising a first manipulation mechanism configured to articulate the one or more steering wires in the first elongate member. 
     
     
         24 . The robotic instrument driver of  claim 23 , the first drive assembly further comprising a first active drive mechanism fixed relative to the first manipulation mechanism, the first active drive mechanism configured to insert or retract the second elongate member with respect to the first elongate member. 
     
     
         25 . The robotic instrument driver of  claim 24 , further comprising a second active drive mechanism, wherein the second active drive mechanism is configured to drive longitudinal translation of the first elongate member along the first dimension. 
     
     
         26 . The robotic instrument driver of  claim 21 , the second drive assembly comprising a pod. 
     
     
         27 . The robotic instrument driver of  claim 21 , the second drive assembly comprising a second manipulation mechanism configured to articulate the one or more steering wires in the second elongate member. 
     
     
         28 . The robotic instrument driver of  claim 27 , the second drive assembly further comprising a second active drive mechanism fixed relative to the second manipulation mechanism, the second active drive mechanism configured to insert or retract the third elongate member with respect to the first elongate member. 
     
     
         29 . The robotic instrument driver of  claim 21 , wherein the first drive assembly is of a type that is different from the second drive assembly. 
     
     
         30 . The robotic instrument driver of  claim 21 , wherein the first yaw axis is approximately orthogonal to the first dimension. 
     
     
         31 . The robotic instrument driver of  claim 21 , wherein the first drive assembly and the second drive assembly are both positioned on a rail. 
     
     
         32 . The robotic instrument driver of  claim 31 , wherein the rail is attached to a bed. 
     
     
         33 . The robotic instrument driver of  claim 21 , wherein the first and second drive assemblies are configured to be rotatable to align at least the first elongate member with an access site of a patient. 
     
     
         34 . The robotic instrument driver of  claim 21 , wherein the first and second drive assemblies are configured to be adjustable along the second dimension and about the respective first and second yaw axes to optimize an insertion angle of the first elongate member into a patient. 
     
     
         35 . The robotic instrument driver of  claim 21 , wherein the first and second drive assemblies are configured to be moveable along the second dimension or rotatable about the respective first and second yaw axes in unison. 
     
     
         36 . The robotic instrument driver of  claim 21 , wherein the second drive assembly is movable independently from the first drive assembly. 
     
     
         37 . The robotic instrument driver of  claim 21 , wherein the first yaw axis is positioned along the second dimension, wherein the second yaw axis is positioned along the second dimension. 
     
     
         38 . A system, comprising:
 (a) a first drive assembly configured to advance or retract a second elongate member relative to a first elongate member along a first dimension, wherein the first drive assembly is configured to be movable along a second dimension, wherein the first drive assembly is further configured to be rotatable about a first yaw axis; and   (b) a second drive assembly configured to advance or retract a third elongate member relative to the second elongate member along the first dimension, wherein the second drive assembly is configured to be movable along the second dimension, wherein the second drive assembly is further configured to be rotatable about a second yaw axis.   
     
     
         39 . The system of  claim 38 , wherein the first drive assembly is configured to be movable along the first yaw axis, wherein the second drive assembly is configured to be movable along the second yaw axis. 
     
     
         40 . A method, comprising:
 (a) articulating, via a first drive assembly, one or more steering wires in a first elongate member, the elongate member defining a longitudinal axis;   (b) articulating, via a drive assembly, one or more steering wires in a second elongate member, the second elongate member being disposed within the first elongate member; and   (c) moving the second drive assembly independently from the first drive assembly, wherein the first and second drive assembly are each configured to be movable along a dimension transverse to the longitudinal axis, wherein the first and second drive assembly are further each configured to be rotatable independently from each other to a respective yaw angle.