Patent ID: 7972298

Claim:
A robotic catheter system, comprising: a controller including a master input device; an instrument driver in communication with the controller, the instrument driver comprising a housing having a guide instrument interface movable relative to the housing, the guide instrument interface including a plurality of guide instrument drive elements coupled to respective motors located within the housing, the motors responsive to control signals generated, at least in part, by movement of the master input device for actuating the guide instrument drive elements and movement of the guide instrument interface relative to the housing; and an elongate flexible guide instrument having a base, distal end portion, and a working lumen, the guide instrument base operatively coupled to the guide instrument interface, the guide instrument comprising a plurality of guide instrument control elements operatively coupled to respective guide instrument drive elements and secured to the distal end portion of the guide instrument, the guide instrument control elements 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, wherein the instrument driver housing includes a slot formed therein, and wherein a drive component that operatively couples the guide instrument base with the guide instrument interface extends through the slot and is translatable within the slot to thereby allow the respective guide instrument interface and guide instrument base coupled thereto to move relative to the housing.