US 10,376,672 B2
Catheter insertion system and method of fabrication
Alan Yu, Union City, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Mar. 15, 2013, as Appl. No. 13/832,352.
Prior Publication US 2014/0276391 A1, Sep. 18, 2014
Int. Cl. A61M 25/01 (2006.01); A61B 1/00 (2006.01); A61B 34/30 (2016.01)
CPC A61M 25/0105 (2013.01) [A61B 1/0016 (2013.01); A61B 1/00133 (2013.01); A61B 34/30 (2016.02); A61B 2034/301 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A robotic instrument driver for elongate members, the robotic instrument driver comprising:
a first pod positionable proximate a bed at a first location, the first pod comprising a first articulation mechanism configured to articulate one or more steering wires in a first elongate member to articulate the first elongate member, and further comprising a first active drive mechanism fixed relative to the first articulation mechanism and configured to insert or retract a second elongate member with respect to the first elongate member; and
a second pod positionable proximate the bed at a second location further moved from a patient access site than the first location, the second pod comprising a second articulation mechanism configured to articulate one or more steering wires in the second elongate member to articulate the second elongate member, and further comprising a second active drive mechanism fixed relative to the second articulation mechanism and configured to insert or retract a third elongate member with respect to the second elongate member,
wherein the second pod with the second articulation mechanism and the second active drive mechanism is moveable independently from the first pod with the first articulation mechanism and the first active drive mechanism,
wherein the first active drive mechanism is of a type that is different from the second active drive mechanism.