Apparatus (22) for controlling motion of an invasive probe (30) relative to a sheath (24) enclosing the probe (30). The apparatus (22) includes an outer casing (102), configured for connection to the sheath (24). The apparatus (22) further includes a drive mechanism (100), fixedly connected to the outer casing (102). The drive mechanism (100) has a fixed unit (110) fixed to the outer casing; a movable unit (112) connected to the fixed unit; a first set of components, configured to translate the moveable unit (112) relative to the fixed unit (110) along a direction parallel to an axis of the probe, in order to advance and retract the probe (30) with respect to the sheath (24) in a translational stepwise manner. The drive mechanism (100) also includes a second set of components, configured to rotate the moveable unit (112) relative to the fixed unit (110) around the axis of the probe, in order to rotate the probe (30) clockwise and counter-clockwise, with respect to the sheath (24), in a rotational stepwise manner.
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