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Estimation of contact force by a medical device

  • US 20070021742A1
  • Filed: 07/11/2006
  • Published: 01/25/2007
  • Est. Priority Date: 07/18/2005
  • Status: Active Grant
First Claim
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1. A method for establishing controlled contact of a medical device against a tissue surface within a subject body, the method comprising:

  • input of discrete data indicative of the geometry of the distal portion of the medical device;

    computationally constructing a curve representative of the distal portion of the medical device from a pivot point to the tip of the medical device;

    estimating from this curve the local rotation rate of the flexible portion of the distal portion of the medical device; and

    estimating the contact force based on the rotation rate, a known bending stiffness and the estimated torque applied to the distal portion of the medical device.

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