APPARATUS FOR MEASURING DISTAL FORCES ON A WORKING INSTRUMENT
First Claim
1. A robotic catheter manipulator comprising:
- a robotically operated guide catheter including proximal and distal ends and a lumen extending there through;
a flexible bellows having a first end and a second end, the first end being secured to the proximal end of the guide catheter;
a seal secured to the second end of the flexible bellows, the seal configured to receive a working catheter;
a ditherer operatively connected to the seal for dithering the working catheter relative to the guide catheter when placed therein; and
at least one force sensor for measuring the force applied to the working catheter by the ditherer.
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Accused Products
Abstract
A robotic catheter manipulator includes a guide catheter including proximal and distal ends and lumen extending there through. A flexible bellows is secured at one end to the proximal end of the guide catheter and at the other end to a seal configured to receive a working catheter. In a loaded state, the working catheter is fixed relative to the seal. A ditherer is operatively connected to the seal for dithering the working catheter relative to the guide catheter when placed therein. The robotic catheter manipulator includes at least one force sensor for measuring the force applied to the working catheter by the ditherer. Force measurements may be translated into an estimated force that is experienced at the distal end of the working catheter which may then be displayed to the physician via a monitor or display.
185 Citations
47 Claims
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1. A robotic catheter manipulator comprising:
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a robotically operated guide catheter including proximal and distal ends and a lumen extending there through;
a flexible bellows having a first end and a second end, the first end being secured to the proximal end of the guide catheter;
a seal secured to the second end of the flexible bellows, the seal configured to receive a working catheter;
a ditherer operatively connected to the seal for dithering the working catheter relative to the guide catheter when placed therein; and
at least one force sensor for measuring the force applied to the working catheter by the ditherer. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An apparatus for sensing the forces applied to the distal end of a robotically controlled working catheter comprising:
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a robotically controlled guide catheter configured for insertion into a body lumen of a patient, the robotically controlled guide catheter including a lumen extending from a proximal end to a distal end;
a working catheter disposed in the lumen of the robotically controlled guide catheter, the working catheter including a distal end that projects distally from the distal end of the robotically controlled guide catheter, the working catheter including a proximal region extending proximally from the robotically controlled guide catheter;
a ditherer operatively connected to the proximal region of the working catheter for dithering the working catheter relative to the guide catheter; and
at least one force sensor for measuring the force applied to the working catheter by the ditherer. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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35. A system for monitoring the estimated force experienced by a distal end of a working catheter comprising:
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a guide catheter mounted to a robotic catheter manipulator, the guide catheter including a lumen therein adapted to receive the working catheter;
a reciprocating ditherer disposed on the robotic catheter manipulator, the reciprocating ditherer being operatively connected to a proximal region of the working catheter so as to dither the working catheter with respect to the guide catheter;
a first force sensor for measuring the insertion forces applied to the working catheter by the reciprocating ditherer; and
a second force sensor for measuring the withdrawal forces applied to the working catheter by the reciprocating ditherer;
a processor for calculating an estimated force on the distal end of the working catheter based at least in part on the measured forces obtained by the first and second force sensors. - View Dependent Claims (36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47)
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Specification