US Patent 12136867 Differential drive

A differential drive for manipulating an elongated device includes a drive mechanism configured to provide rotational and linear movement to the elongated percutaneous device. The drive mechanism including a platform rotatably supported by a support and a linear drive operatively coupled to the platform. A first motor operatively rotates the platform relative to the support and moving a portion of the linear drive relative to the platform. A second motor operatively rotates the platform relative to the support and moving a portion of the linear drive relative to the platform.