Remote Catheter Positioning System with Hoop Drive Assembly

摘要

Systems, methods, and devices of the various embodiments provide a hoop drive assembly. A hoop drive assembly according to the various embodiments may include one or more toothed rings and one or more motors coupled to the one or more toothed rings. In the various embodiments, rotation of the one or more toothed rings may change an orientation of a turret supported by the hoop drive assembly and/or move a control actuator of a catheter held in a modular plate coupled to the turret.

主权项

1. A hoop drive assembly for use with a catheter positioning system, comprising:
a first toothed ring having a first outer circumference including a first set of outer teeth and a first inner circumference including a first set of inner teeth, wherein the first toothed ring is configured to form a first internal opening surrounded by the first set of inner teeth; a second toothed ring having a second outer circumference including a second set of outer teeth, a second inner circumference, and a turret support, wherein the second toothed ring is configured to form a second internal opening defined between the second inner circumference and the turret support and wherein the second toothed ring is aligned with the first toothed ring such that the first toothed ring and the second toothed ring may rotate independently around a common axis of rotation; a first gear drive having a first drive shaft surrounded by a first set of drive teeth, wherein the first drive shaft is rotationally coupled to the turret support such that the first drive shaft extends through the first internal opening of the first toothed ring and the first set of drive teeth interlock with the first set of inner teeth of the first toothed ring such that a rotation of the first toothed ring rotates the first drive shaft, and wherein a rotation of the second toothed ring changes an orientation of the turret support relative to the common axis of rotation; a first motor coupled to the first set of outer teeth of the first toothed ring and configured to cause the rotation of the first toothed ring; and a second motor coupled to the second set of outer teeth of the second toothed ring and configured to cause the rotation of the second toothed ring.