A drive apparatus for an elongated member, comprising: a roller assembly comprising a first continuous surface (485a, 485b) and a second continuous surface, the first continuous surface being configured to impart axial motion to the elongate member along a longitudinal axis of the elongate member; and a roller support configured to rotate the roller assembly via the second continuous surface, thereby imparting rotational motion to the elongate member about the longitudinal axis of the elongate member; wherein the roller assembly and roller support are configured to impart axial and rotational motion independently of one another, such that a first one of the roller assembly and the roller support imparts their associated motion regardless of a presence or absence of motion by the other of the roller assembly and the roller support; wherein: the drive apparatus is configurable in an open configuration in which the first continuous surface does not engage the elongate member and the elongate member may be placed within the assembly, and is further configurable in a closed configuration in which the first continuous surface engages the elongate member characterized in that: the roller assembly further comprises a pair of clamps (401, 403) having the second continuous surface on its outer surface and one or more rollers having the first continuous surface (485a, 485b), and wherein the clamps selectively surround the rollers and selectively open to define a gap along an upper portion of the drive apparatus in the open configuration, allowing the elongate member to be received through the gap and within the rollers in a direction parallel to an axis of rotation of the rollers. a roller assembly comprising a first continuous surface (485a, 485b) and a second continuous surface, the first continuous surface being configured to impart axial motion to the elongate member along a longitudinal axis of the elongate member; and a roller support configured to rotate the roller assembly via the second continuous surface, thereby imparting rotational motion to the elongate member about the longitudinal axis of the elongate member; wherein the roller assembly and roller support are configured to impart axial and rotational motion independently of one another, such that a first one of the roller assembly and the roller support imparts their associated motion regardless of a presence or absence of motion by the other of the roller assembly and the roller support; wherein: the drive apparatus is configurable in an open configuration in which the first continuous surface does not engage the elongate member and the elongate member may be placed within the assembly, and is further configurable in a closed configuration in which the first continuous surface engages the elongate member characterized in that: the roller assembly further comprises a pair of clamps (401, 403) having the second continuous surface on its outer surface and one or more rollers having the first continuous surface (485a, 485b), and wherein the clamps selectively surround the rollers and selectively open to define a gap along an upper portion of the drive apparatus in the open configuration, allowing the elongate member to be received through the gap and within the rollers in a direction parallel to an axis of rotation of the rollers. the drive apparatus is configurable in an open configuration in which the first continuous surface does not engage the elongate member and the elongate member may be placed within the assembly, and is further configurable in a closed configuration in which the first continuous surface engages the elongate member characterized in that: the roller assembly further comprises a pair of clamps (401, 403) having the second continuous surface on its outer surface and one or more rollers having the first continuous surface (485a, 485b), and wherein the clamps selectively surround the rollers and selectively open to define a gap along an upper portion of the drive apparatus in the open configuration, allowing the elongate member to be received through the gap and within the rollers in a direction parallel to an axis of rotation of the rollers.