A catheter handle includes a handle body having a proximal end and a distal end and a passage extending between the proximal end and the distal end. The handle body comprises a plurality of shell parts that can be separated to access an interior of the handle body. The handle body further includes a connector mounted at the proximal end of the handle body and a strain relief arranged at the distal end, the strain relief and the connector being removably arranged relative to the handle body.

An instrument driver comprises a base and a jaw assembly coupled to the base. The jaw assembly includes a first jaw having a gripping surface and a second jaw having a gripping surface. The instrument driver further comprises a driver assembly operably coupled to the jaw assembly to advance an elongated member relative to the base by translating the first and second jaws toward each other, thereby closing the jaw assembly and gripping the member between the respective gripping surfaces of the first and second jaws, translating the jaw assembly in a first axial direction when the jaw assembly is closed, translating the first and second jaws away from each other, thereby opening the jaw assembly and releasing the member from between the respective gripping surfaces of the first and second jaws, and translating the jaw assembly in a second axial direction when the jaw assembly is opened.