Figure 3.

Classification schematic diagram of instruments’ driving mechanisms. Types of translational instrument mechanisms: (a) friction roller rotating along its axis to translate guidewires; (b) holder module clamp guidewire axial reciprocating motion on the sliding module. Types of rotational instrument mechanisms: (c) two bionic clamp fingers move linearly in the opposite direction to rub the guidewires; (d) holder module clamp guidewires rotated on the rotation module. Combined result: (ac), (ad), (bc), and (bd) are the result of permutation and a combination of translational instrument mechanisms with rotational mechanisms to realize the simultaneous advancement and rotation of guidewires.