METHOD OF SENSING FORCES ON A WORKING INSTRUMENT
First Claim
1. A method of estimating the force on a distal end of a working catheter passing through a robotically controlled guide catheter adapted for insertion into a body lumen comprising:
- positioning a portion of the robotically controlled guide catheter and working catheter into the body lumen, wherein the distal end of the working catheter projects distally from a distal end of the guide catheter;
dithering one of the working catheter and the guide catheter with respect to one another using a dithering device operatively connected to a proximal portion of the working catheter;
measuring the forces on a proximal region of the working catheter through at least one dithering cycle; and
estimating the force on the distal end of the working catheter based on the measured force over the at least one dithering cycle.
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Accused Products
Abstract
A method for estimating the force on a distal end of a working catheter includes positioning a portion of a robotically controlled guide catheter and working catheter into a body lumen wherein a distal end of the working catheter projects distally from a distal end of the guide catheter. The working catheter and guide catheter are dithered with respect to one another using a dithering device operatively connected to a proximal portion of the working catheter. The coupling may occur directly to the working catheter or via a seal such as a Touhy seal. The force experienced by the working catheter at a proximal region is measured through at least one dithering cycle. The force at the distal end of the working catheter is then estimated based on the measured force at the proximal region. The estimated force may be displayed to a physician on, for example, a monitor.
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Citations
64 Claims
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1. A method of estimating the force on a distal end of a working catheter passing through a robotically controlled guide catheter adapted for insertion into a body lumen comprising:
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positioning a portion of the robotically controlled guide catheter and working catheter into the body lumen, wherein the distal end of the working catheter projects distally from a distal end of the guide catheter;
dithering one of the working catheter and the guide catheter with respect to one another using a dithering device operatively connected to a proximal portion of the working catheter;
measuring the forces on a proximal region of the working catheter through at least one dithering cycle; and
estimating the force on the distal end of the working catheter based on the measured force over the at least one dithering cycle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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30. A method of sensing force on a distal end of a working catheter passing through a robotically controlled guide catheter adapted for insertion into a body lumen comprising:
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positioning a portion of the robotically controlled guide catheter and working catheter into the body lumen, wherein the distal end of the working catheter projects distally from a distal end of the guide catheter;
dithering the working catheter with respect to the guide catheter using a dithering device operatively connected to a proximal portion of the working catheter; and
measuring the force on the proximal portion of the guide catheter using at least one force sensor, the at least one force sensor measuring insertion and withdrawal forces between the dithering device and the proximal portion of the guide catheter. - View Dependent Claims (31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46)
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47. A method of sensing force on a distal end of a working catheter passing through a robotically controlled guide catheter adapted for insertion into a body lumen comprising:
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positioning a portion of the robotically controlled guide catheter and working catheter into the body lumen, wherein the distal end of the working catheter projects distally from a distal end of the guide catheter;
dithering the working catheter with respect to the guide catheter using a dithering device operatively connected to a sealing member disposed on a proximal portion of the guide catheter, the sealing member being fixedly secured to the working catheter; and
measuring the force on the sealing member of the guide catheter using at least one force sensor, the at least one force sensor measuring insertion and withdrawal forces between the dithering device and the sealing member. - View Dependent Claims (48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63)
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64-89. -89. (canceled)
Specification