Patent ID: 7850642

Claim:
A method using robotic catheter system to perform a procedure on a patient, comprising: generating a control signal corresponding to movement of a master input device; moving a plurality of drive elements of an instrument driver in response to the control signal, the drive elements operatively coupled to a corresponding plurality of control elements of an elongate guide instrument having a distal end inserted in an anatomical workspace in a patient, the control elements being secured to the distal end of the guide instrument and moveable axially relative to the guide instrument, such that movement of the drive elements causes a corresponding movement of the guide instrument distal end, wherein the control signal causes individual ones of the plurality of drive elements to move independently of one another in order to achieve a desired bending of the guide instrument distal end in the anatomical workspace; generating a further control signal using the master input device; and moving a further drive element of the instrument driver in response to the further control signal, the further drive element operatively coupled to a corresponding control element of an elongate sheath comprising a lumen through which the guide instrument is coaxially disposed, the sheath control element secured to a distal end of, and moveable axially relative to, the sheath, such that movement of the further drive element causes a corresponding movement of the sheath distal end.