Patent ID: 8005537

Claim:
A robotic catheter system, comprising: a controller including a master input device; an instrument driver in communication with the controller, the instrument driver having a guide instrument interface including one or more motor-actuated guide instrument drive elements responsive to control signals generated, at least in part, by the master input device; an elongate flexible guide instrument having a base and a distal end portion, the guide instrument base operatively coupled to the guide instrument interface, the guide instrument comprising one or more guide instrument control elements mechanically coupled to the respective one or more guide instrument drive elements and secured to the distal end portion of the guide instrument, wherein the one or more guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end portion may be controlled by the master input device; a fluid injection needle carried by the guide instrument, wherein the needle may be advanced from, or retracted into, the distal end portion of the guide instrument; and a robotically controlled mechanical device operatively coupled to the master input device and mechanically coupled to the fluid injection needle at or near the guide instrument base for advancing or withdrawing the fluid injection needle relative to the guide instrument in response to respective user commands received via the master input device.