PERISTALTIC PUMP

Certain aspects of the present disclosure provide a surgical cassette configured to engage a first plurality of rollers of a first roller head. The cassette comprises a face coupled to a first substrate, the face being at a first angle with respect to the first roller head's axis of rotation and a wall of first substrate being at a second angle with respect to the axis of rotation, wherein the first angle is different from the second angle. The cassette also comprises a first sheet positioned on the wall's surface, wherein the first sheet and the wall form first one or more pump segments configured to engage the first plurality of rollers in a position where force applied by each one of the first plurality of rollers on the first one or more pump segments has a direction that is not parallel to the first roller head's axis of rotation.

BACKGROUND

Aspects of the present disclosure generally relate to peristaltic pumps. Peristaltic pumps may be used in many different applications including aspiration and/or irrigation of material (e.g., fluids) during surgical operations, such as ophthalmic surgeries. Peristaltic pumps may operate by compressing a length of tubing to move a fluid in the tubing or squeezing a molded flow channel between an elastomeric sheet and a rigid substrate to move a fluid between the elastomeric sheet and the rigid substrate. Rotating roller heads applied against the tubing or elastomeric sheet may be used for compressing the tubing or elastomeric sheet.

BRIEF SUMMARY

The present disclosure relates to a surgical cassette having one or more peristaltic pumps. Certain aspects provide a surgical cassette configured to engage a first plurality of rollers of a first roller head. The surgical cassette comprises a face coupled to a first pump substrate, the face being at a first angle with respect to an axis of rotation of the first roller head and a wall of the first pump substrate being at a second angle with respect to the axis of rotation of the first plurality of rollers, wherein the first angle is different from the second angle. The cassette also comprises a first sheet positioned on a surface of the wall, wherein the first sheet and the wall form first one or more pump segments configured to engage the first plurality of rollers in a position where force applied by each one of the first plurality of rollers on the first one or more pump segments has a direction that is not parallel to the axis of rotation of the first roller head.

Certain aspects provide a surgical cassette configured to engage a first plurality of rollers of a first roller head and a second plurality of rollers of a second roller head, comprising first one or more pump segments configured to engage the first plurality of rollers, and second one or more pump segments configured to engage the second plurality of rollers.

Certain aspects provide a surgical system comprising a first motor configured to rotate a first plurality rollers of a first roller head, wherein the first plurality of rollers are engaged by first one or more pump segments of a surgical cassette and a second motor configured to rotate a second plurality of rollers of a second roller head, wherein the second plurality of rollers are engaged by second one or more pump segments of the surgical cassette.

DETAILED DESCRIPTION

Incorporation by Reference

U.S. Pat. No. 8,790,096 (“'096 patent”) entitled “Peristaltic Pump and Cassette.” by Gary P. Sorensen, filed Apr. 7, 2010 is hereby incorporated by reference in its entirety as though fully and completely set forth herein.

Aspects of the present disclosure relate generally to peristaltic pumps. Certain aspects provide a surgical cassette comprising a non-coplanar peristaltic pump. Certain aspects provide a dual pump surgical cassette. In certain aspects, a dual pump surgical cassette with one coplanar peristaltic pump and one non-coplanar peristaltic pump is provided. In certain aspects, a dual pump surgical cassette with two coplanar peristaltic pumps is provided. Also, certain aspects provide a surgical cassette having a non-coplanar pump with a rotary valve function.

FIG. 1Aillustrates exemplary pump111comprising a ring-shaped pump sheet117as well as a cup-shaped pump substrate115that are coupled together to form a pump with two non-coplanar pump segments113aand113b. More specifically, pump segments113are formed between sheet117and substrate115. Note thatFIG. 1Aonly partially shows pump segment113awhile pump segment113bis not shown but merely pointed to. However, pump segments113aand113bare shown and described in more detail in relation toFIGS. 1C-1E. Pump111is used as part of surgical cassette100ofFIG. 1B. More specifically, pump segments113of pump111are used by cassette100to provide aspiration (or suction) and/or infusion (or irrigation) of fluids for a surgical console. As further described below, pump segments113aand113bare non-coplanar with respect to the face105of cassette100, because, unlike the pump segments shown in the '096 patent, pump segments113are not on the same plane as face105.

Pump segments113aand113boperate similar to the pump segments described in the '096 patent in that a fluid can be pumped through pump segments113aand113bwhen rollers of a roller head engage pump segments113aand113b. The two pump segments113produce additional flow (e.g., approximately twice the flow for two segments as opposed to one) as compared to a cassette having only one pump segment engaging a roller head. Note that in aspects where there are two or more pump segments used, each pump segment forms separate fluid paths such that fluid entering one pump segment does not enter the second pump segment.

Ring-shaped sheet117may be bonded or mechanically attached to cup-shaped substrate115. For example, sheet117may be coupled to substrate115through the use of an adhesive, heat fusion, mechanical crimping, rivets, etc. Sheet117may be made of a flexible and moldable material, such as silicone rubber or thermoplastic elastomer. Substrate115may be made of a material that is rigid with respect to sheet117, such as a rigid thermoplastic, and may be made by any suitable method, such as machining or injection molding.

As shown, substrate115comprises ports122aand122b, one of which is an inlet port and the other is an outlet port. Although not shown, substrate115comprises two additional ports that are symmetrically located with respect to ports122a-b. Ports122are aligned with or fluidly connected to inlet/outlet ports of cassette100ofFIG. 1B.FIG. 1Aalso shows substrate115comprising an alignment guide119that is configured to be inserted into an opening of a roller head, as described in further detail below. Also, although two pump segments113aand113bare shown inFIG. 1A, in certain aspects, a sheet and a substrate may be coupled to form only one pump segment or more than two pump segments.

FIG. 1Billustrates surgical cassette100comprising a cassette face105as well as pump111. As described above, cassette100uses pump segments113aand113bto provide aspiration and/or infusion of fluids for a surgical console (e.g., an ophthalmic surgical console). Alignment guide119of substrate115is configured to be inserted into an opening of a roller head such that the rollers of the roller head are able to engage pump segments113for pumping a fluid through pump segments113and in and out of inlet/outlet ports122. As shown, the cylindrical wall of substrate117are at an angle (e.g., 0 degrees) with respect to the axis of rotation of the roller head that is different than an angle (e.g., 90 degree) face105makes with the axis of rotation. Accordingly, in certain aspects, pump segments113may be referred to as being non-coplanar with respect to face105of cassette100.

Note that, in certain aspects, cup-shaped substrate115and face105(or the body) of cassette100are manufactured as one piece. In certain other aspects, substrate115is manufactured separately but coupled to the body of cassette105. In both cases, however, substrate115and face105may be referred to as being coupled to each other.

FIG. 1Cillustrates example sheet117whileFIG. 1Dillustrates example substrate115, which may be bonded or mechanically attached to sheet117to provide pump111ofFIGS. 1A-1B. Sheet117includes pump segments113aand113bas well as transition regions125a-125d. Substrate115comprises transition channels157a-157d(although157c-157dare not shown but only pointed to) as well as active regions163a-163b(although163bis not shown but only pointed to).

Once sheet117is bonded or attached to substrate115, transition regions125a-125dare overlaid on top of transition channels157a-157d, respectively. Also, pump segments113a-113bare overlaid on top of active regions163a-163b, respectively. Substrate115also comprises ports122a-d(although ports122a-care not shown) which allow for fluid to circulate in the area between sheet117and substrate115.

FIGS. 1E and 1Fprovide views of sheet117ofFIG. 1Cand substrate115ofFIG. 1D, respectively, with a 90 degree counter clockwise rotation. As shown, sheet117comprises transition regions125band125d, which are overlaid on top of transition channels157band157d, respectively, as well as transition regions125aand125c, which are overlaid on top of transition channels157aand157c(not shown in this view), respectively. Pump segments113a-113bare also overlaid on top of active regions163a-163brespectively. Pump segments113a-113b, also referred to as active pump segments, are engaged by rollers of a roller head.

FIGS. 2A and 2Billustrate a roller head203having rollers201, which are configured to engage pump segments113of pump111when cassette100is received into a cassette receiving portion of a surgical console (not shown). In one example, roller head203may comprise seven rollers201, although a larger or smaller number of rollers may also be used. Each roller201is coupled to a roller arm207, which may be spring loaded in certain aspects. When cassette100is received into the cassette receiving portion of the surgical console, alignment guide119of pump111is inserted into an alignment guide opening205of roller head203. Also, as cassette100is received into the cassette receiving portion of the surgical console, rollers201press sheet117against substrate115. In areas where a roller201presses sheet117against substrate115, such as pump segments113, the space between sheet117and substrate115is reduced.

In certain aspects, the inner diameter of pump111is configured such that when alignment guide119is inserted into opening205, the inside wall of substrate115apply a force to rollers201that is directed radially towards the axis of rotation of roller head203. In such aspects, rollers201may be biased (e.g., spring-loaded) such that, in response to the force applied by the inside wall of substrate115, a bias force is applied to rollers201in the opposite direction (i.e., opposite direction of the force applied by the inside walls of substrate115). Accordingly, rollers201apply a force on sheet117resulting in a compression of sheet117against the inside wall of substrate115. Such a configuration ensures that enough force is applied by rollers201to sheet117for pumping the fluids within pump111.

In certain aspects, opening205is configured with a mechanism such that the insertion of alignment guide119causes rollers201to be radially expanded or pushed out against sheet117(e.g., pushed away from the axis of rotation of roller head203). The radial expansion of rollers201exerts additional force on sheet117. Similar to the configuration described above, this configuration also ensures that enough force is applied by rollers201to sheet117for pumping the fluids within pump111. In certain aspects, such a mechanism may include the use of a tapered center alignment pin where the gradual increase in the diameter of opening205would radially expand rollers201, which causes rollers201to press against sheet117. In certain other aspects, each roller201may be linked to a cam such that when the cam is engaged, it causes a lateral movement of rollers201. In such aspects, since rollers201are oriented radially, they all move radially outwards to apply pressure to sheet117.

As rollers201rotate, a bolus of fluid may be moved between adjacent rollers. For example, as rollers201roll over and away from an inlet port (e.g., inlet port122bor122c), a fluid bolus may be pulled into pump segment113bthrough the inlet port (because of a vacuum created by the roller pushing the fluid away from the inlet). As rollers201approach and roll over an exit or outlet port (e.g., outlet port122aor122d), a fluid bolus may travel through the outlet port. The operations of rollers201relating to how they engage pump segments113are similar to how the rollers in the '096 patent engage pump segments (e.g., as described in column 4, line 67 through column 6 line 2 of the '096 patent). As such, the details of such operations are only briefly discussed herein. For example, as rollers201engage pump segments113, each roller may first roll over a transition region125. As rollers201roll off of the transition region125, rollers201may form an internal seal within a corresponding pump segment113by pressing the sheet117against substrate115at a seal point. The internal seal may move as a roller rolls over a pump segment113. As the roller moves, fluid in front of the roller's motion may be pushed through the pump segment113resulting in fluid behind the roller's motion being pulled from the inlet (e.g., inlet112a). The flow of a fluid within pump segments113is shown inFIG. 3.

Note that, as compared to the '096 patent with a planar pump, using a non-coplanar pump111in cassette100may reduce the normal force applied on face105of cassette100when the pump's segments are engaged. In certain cases, applying too much normal force on face105results in vibrations to the cassette body, which in turn may negatively impact the functionality of one or more pressure sensors in cassette100. For example, one or more sensors may be used in cassette (e.g., on face105) for sensing, for example, the inlet vacuum pressure or the outlet pressure of fluids. The sensors, in certain cases, may provide more accurate pressure measurements when there is less normal force applied to cassette100while a fluid is pumped through the cassette.

Pump111may also be referred to as a coaxial pump because the axis of rotation of roller head203and an axis at the center of alignment guide119and parallel to the walls of pump111are concentric. In other words, roller head203's axis of rotation makes a 0 or 180 degree angle with the surface of the cylindrical wall of substrate115(e.g., the surface of the cylindrical wall of substrate115and roller head203's axis of rotation are parallel).

FIG. 3illustrates a fluid path within cassette100. As shown, cassette100comprises an inlet302, where a fluid enters cassette100and then is transported within an entry channel306that splits into two sub-entry channels, one for providing some of the fluid to inlet port122band another for providing the rest of the fluid to inlet port122d. As rollers201rotate within the pump, the fluid entering inlet ports122band122dis transported within the active pump segments113and subsequently ejected from outlet ports122aand122c. The fluid exiting from each of outlet ports122aand122cthen merge together in exit channel308and are ejected from surgical cassette100through outlet304.

Similar to the pump segments of the surgical cassette in the '096 patent, pump segments113of pump111described herein may be angularly spaced relative to the rollers201such that pulsations in the flow profile produced by the actions of the rollers201on one pump segment (e.g., segment113a) may be out of phase with pulsations in the flow profile produced by the other pump segment (e.g., segment113b).

FIG. 4illustrates a shaft442extending out of an assembly440, which may be coupled to an actuator or a motor for rotating shaft442around an axis of rotation parallel to shaft442. Shaft is inserted into the back of roller head203. As such, a rotation of shaft442causes a rotation of the rollers of roller head203.

FIG. 5Aillustrates an exemplary pump511, which operates similar to pump111with the exception that pump511is configured to also function as a rotary valve. Rotating pump511allows for pump511's inlet/outlet ports to be aligned with different fluidic inlets and outlets in different settings, as further described below.

As shown, pump511comprises a sheet517as well as a substrate515that are coupled together to define non-coplanar pump segments513aand513b, similar to pump segments113aand113bof pump111inFIG. 1A. Substrate515comprises notches516, which are configured to engage with an actuator for the rotation of pump511, as described in further detail below. As shown, substrate515also comprises ports522aand522b, one of which is an inlet port and the other is an outlet port. Gasket514ais used for hermetically sealing ports522aand522b. Although not shown, substrate515comprises another gasket as well as two additional ports that are symmetrically located with respect to gasket514aand ports522a-b(i.e., the ports are located below notch516b).FIG. 5Aalso shows substrate515comprising an alignment guide519that is configured to be inserted into an opening of roller head, such as roller head203. In addition substrate515comprises grooves532, which result in less surface contact between the outer wall of substrate515and the inner wall of a base (e.g., base521ofFIG. 5B) during pump511's rotation inside of the base.

FIG. 5Bshows an example cup-shaped base521of a surgical cassette500shown inFIG. 5C. Pump511is configured to be placed into and secured inside of base521. For example, pump511may be secured to base521using latches523. Base521comprises an alignment insert525that is inserted into the back of alignment guide519of substrate515.

In addition, base521comprises a number of inlet/outlet ports524that are configured to be aligned with ports122of substrate515. For example, ports524aand524bmay be aligned with ports522aand522bwhile ports524fand524hmay be aligned with the two additional ports of substrate515that are not shown inFIG. 5A. Ports524of base521are fluidly coupled to various fluidic inlets/outlets (e.g., fluidic inlet302, fluidic outlet304, etc.) of cassette500. For example, some of ports524may be coupled to fluidic inlets/outlets associated with an aspiration probe. Some other ports524may be coupled to fluid inlets/outlets associated with an irrigation probe. As described above, pump511is capable of functioning as a rotary valve, such that in different settings, ports522of pump511may be aligned with different ports524of base521. As a result, rotating pump511acts as a valve by selectively opening and closing different fluidic paths corresponding to the different ports524.

To illustrate this with an example, in one setting, as described above, ports522aand522bmay be aligned with ports524aand524b, which may be coupled to fluidic inlets/outlets associated with an aspiration probe. In another setting, a rotation of pump511by an actuator may align ports522aand522bwith ports524cand524d, which may be coupled to fluidic inlets/outlets associated with an irrigation probe. In certain aspects, ports524a-524dmay be coupled to the same fluidic inlets/outlets. In such cases, pump511may frequently switch from a first setting, in which ports522aand522bare aligned with ports524aand524b, to a second setting, in which ports522aand522bare aligned with ports524cand524d, and back, in order to reduce the pulsation associated with the operation of pump511.

FIG. 5Cillustrates base521as part of the body or face505of cassette500. Similar to in the '096 patent, cassette500uses pump segments to provide aspiration and/or infusion (i.e., irrigation) of a fluid for a surgical console (e.g., an ophthalmic surgical console). Alignment guide519of substrate515is configured to be inserted into an opening (e.g., opening205of roller head203) of a roller head such that the rollers of the roller head are able to engage the pump segments for pumping a fluid flowing through the inlet/outlet ports.

Note that, in certain aspects, base521and face505(or the body) of cassette500are manufactured as one piece. In certain other aspects, base521is manufactured separately but coupled to the body of cassette500. In both cases, however, base521and face505may be referred to as being coupled to each other.

FIG. 5Eillustrates a top view of pump511secured inside base521. As shown, latches523a-care configured to latch on to pump511to ensure that pump511is not separated from surgical cassette500.

FIG. 5Fillustrates a cross sectional view of pump511secured inside base521. As shown, alignment insert525of base521is inserted into the back of alignment guide519of pump511. In certain aspects, the outer diameter of alignment insert525and the inner diameter of alignment guide519are selected such that pump511is secured to base521based on the friction between alignment insert525and alignment guide519after alignment insert525is inserted into alignment guide519. As shown, pump511is further secured inside of base521by a number of latches, including latch523a. Fluids are able to be pumped through the space between sheet117and substrate515inside pump segment513aand513b. For example, fluids are transported in space528aunderneath pump segment513awhen pump segment513ais engaged by rollers201of roller head203. In areas where roller201presses sheet517against substrate515, space528ais reduced.

FIG. 6illustrates an example flow of fluid in and out of pump511, configured to function as a rotary valve. As shown, pump511is placed within base521such that ports522aand522bof pump511are aligned with ports524cand524d, respectively, of base521while ports522dand522cof pump511are aligned with ports524fand524h. As shown, pump511is configured to be rotated within base521, thereby, aligning ports522aand522bwith ports other than524cand524d. As shown, a fluid enters from the fluidic inlet of the surgical cassette and enters pump511from inlet ports524f/522cand inlet ports524d/522b. The fluid is then pumped by rollers201and exits from outlet ports124h/522dand outlet ports524a/522a. The fluid exiting from each of outlet ports124h/522dand outlet ports524c/522athen merge together to exit from the fluidic outlet of the surgical cassette.

FIG. 7illustrates another example flow of fluid in and out of pump511.FIG. 7is shown to illustrate that a port that is used as an inlet port in one use-case can be used as an outlet port in another use-case of pump511. For example,FIG. 7shows a fluid entering from the fluidic inlet of the surgical cassette and entering pump511from inlet ports524h/522dand inlet ports524c/522a. The fluid is then pumped by rollers201and exits from outlet ports524f/522cand outlet ports524d/522b. The fluid exiting from each of outlet ports524f/522cand outlet ports524d/522bthen merge together to exit from the fluidic outlet of the surgical cassette.

FIG. 8Aillustrates an example multi-pump sheet870as well as multi-pump substrate880. As shown, multi-pump sheet870is a combination of sheet817, similar to sheet817shown inFIGS. 2A-2C, as well as sheet807, which is configured to be coplanar with or placed on the face (e.g., face105/505) of a surgical cassette (e.g., cassette100/500). Sheet817comprises active pump segments813a-813bas well as transition regions825a-825b(the other two transition regions are not shown). Sheet807comprises active pump segments803a-803bas well as transition regions816a-816d,which are similar to and operate similar to the pump segments and transition regions described in the '096 patent. In certain aspects, multi-pump sheet870is manufactured as one piece and, in certain other aspects, sheet817and sheet807are manufactured as separate pieces.

Multi-pump substrate880is a combination of cup-shaped substrate815, similar to substrate115shown inFIGS. 2B-2D, as well as ring-shaped substrate805, which is configured to be coplanar with the face a surgical cassette. In other words, roller head203's axis of rotation makes a 90 degree angle with the surface of substrate805(e.g., the surface of substrate805is perpendicular to roller head203's axis of rotation).

Substrate815comprises transition channels857a-857b(857c-857dare not shown) as well as two active regions (e.g., not shown but similar to863a-863b). Substrate815also comprises an alignment guide819. Substrate805's surface comprises active regions863and865as well as transition channels857a-857d. Although not shown, the surface of substrate805also comprises inlet/outlet ports822a-822d. Multi-pump substrate880, in certain aspects, is part of the body of a surgical cassette. In other words, in such aspects, multi-pump substrate880is manufactured as part of the cassette body. In certain other aspects, multi-pump substrate880is a component that is separate from the body of the surgical cassette but it is configured to be coupled to the body of the cassette.

Multi-pump sheet870may be bonded or mechanically attached to multi-pump substrate880. For example, multi-pump sheet870may be coupled to multi-pump substrate880through the use of an adhesive, heat fusion, mechanical crimping, rivets, etc. Multi-pump sheet870may be made of a flexible and moldable material, such as silicone rubber or thermoplastic elastomer. Multi-pump substrate880may be made of a material that is rigid with respect to multi-pump sheet870, such as a rigid thermoplastic, and may be made by any suitable method, such as machining or injection molding.

FIG. 8Billustrates an example multi-pump890provided by coupling multi-pump sheet870and multi-pump substrate880together. In certain aspects, pump segments803aand803bare engaged by rollers of one roller head (e.g., roller head903ofFIG. 9) while pump segments813aand813bare engaged by rollers of another roller head (e.g., roller head203ofFIG. 9). In certain other aspects, pump segments803a-803band pump segments813a-813bare engaged by different sets of rollers of the same roller head.

In certain aspects, coupling multi-pump sheet870and multi-pump substrate880provides two separate and independent pumps, each having two pump segments. For example, the first pump comprises pump segments803aand803band the second pump comprises pump segments813aand813b. In certain aspects, the fluidic inlet and outlet associated with pump segments813aand813bare different than the fluidic inlet and outlet associated with pump segments803aand803b. In such aspects, for example, one fluid inlet of the cassette provides an inflow of fluids to the inlet ports associated with pump segments813aand813bwhile another fluid inlet of the cassette provides an inflow of fluids to the inlet ports associated with pump segments803aand803b. In such aspects, the first pump may be used for aspiration/suction while the second pump may be used for irrigation/infusion or vice versa.

In certain other aspects, the inlet/outlet ports as well as the fluidic inlet(s)/outlet(s) of the cassette may be configured such that bonding or attaching multi-pump sheet870and multi-pump substrate880provides a single pump with four pump segments813aand813band803aand803b. In such aspects, the fluidic inlet and outlet associated with pump segments813aand813bare the same as the fluidic inlet and outlet associated with pump segments803aand803b. For example, the inlet ports associated with pump segments813aand813band pump segments803aand803bare all connected to the same fluid inlet of the cassette. In such aspects, the pump may be used for aspiration/suction or irrigation/infusion.

FIG. 8Cillustrates an example cross sectional view of the multi-pump890ofFIG. 8B.FIG. 8Cshows pump segments803aand803bas well as transition regions815a-815bof the pump that is configure to be coplanar or parallel to the face of the cassette (e.g., “coplanar pump).FIG. 8Calso shows segments transition regions825a-825band pump segment813aof the pump that is configured to have an angle (e.g., 90 degrees) with the face of the cassette (e.g., non-coplanar pump).

FIG. 8Dillustrates another example cross sectional view of the multi-pump890ofFIG. 8Bbut with a 90 degree rotation with respect toFIG. 8C.FIG. 8Dshows transition regions815a-815cand pump segment803aof the coplanar pump.FIG. 8Dalso shows transition regions825cand825aof the non-coplanar pump.

FIG. 8Eillustrates a view of the bottom of multi-pump890. As shown, multi-pump890comprises inlet/outlet ports822a-822c(other ports are not shown) associated the coplanar pump and ports822a-822b(822c-822dare not shown) associated with the non-coplanar pump.

AlthoughFIGS. 8A-8Dillustrate an example multi-pump cassette having a non-coplanar pump and a coplanar pump, in certain aspects, a multi-pump cassette may comprise two coplanar pumps. More specifically, a surgical cassette may comprise a face with two coplanar pumps placed thereon. In certain aspects, one of the coplanar pumps, referred to as the outer pump, may have larger pump segments and cover a larger surface area than the other coplanar pump, referred to as the inner pump surround. In such aspects, the outer pump surrounds the inner pump. In certain aspects, the two coplanar pumps are independent such that each pump is coupled to different fluidic inlets and outlets. In certain aspects, each of the coplanar pumps comprises one or more pump segments that operate similar to pump segments803shown inFIGS. 8A-8D. Further, each coplanar pump is operated with different sets of rollers, which may be part of the same roller head or different roller heads.

FIG. 9illustrates two different roller heads203and903that are configured to be coupled to assembly740. Roller head903is configured to engage the coplanar pump of multi-pump890while roller head203is configured to engage the non-coplanar pump of multi-pump890. As shown, roller head903is rotated using gear944of assembly740. More specifically, gear944engages a gear946of roller head903to rotate roller head903. Roller head203, as described above, is rotated using shaft742. In certain aspects, shaft742and gear944are operated or rotated by different motors (e.g., actuators), each of which may have a different motor speed (e.g., different rotation per second (RPS)). Although, in certain aspects, the same motor is used for rotating roller heads203and903. Note thatFIG. 9only illustrates one example of how the coplanar and non-coplanar pumps may be engaged.

FIG. 10Aillustrates a cross sectional view of another example non-coplanar pump1011. Pump1011comprises substrate1015as well as sheet1017, which are and operate similar to substrate115and sheet117. Pump1011is engaged by one or more rollers of a roller head. For simplicity, only two rollers of the roller head are shown. As illustrated, the longitudinal axes of rollers1011are arranged such that rollers1011are able to contact pump1011's segments generally parallel with the surface of the segments (e.g., parallel to the wall of pump1011). The axis of rotation of rollers1001(or the corresponding roller head) makes an angle with substrate1015that is between1-89degrees (e.g., substrate1015and the axis of rotation of rollers1011are neither parallel nor perpendicular with respect to each other).

FIG. 10Billustrates a top view of non-coplanar pump1011ofFIG. 10A. As shown, pump1011comprises pump segments1003a-band transition regions1025a-1025d. In certain aspects, pump1011is used in a cassette as the only pump. In certain aspects, pump1011is used in combination with another pump, such as a coplanar pump having pump segments such as pump segments803of the coplanar pump inFIG. 8b.

The foregoing description is provided to enable any person skilled in the art to practice the various embodiments described herein. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments. Thus, the claims are not intended to be limited to the embodiments shown herein, but are to be accorded the full scope consistent with the language of the claims.