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SYSTEMS AND METHODS EMPLOYING FORCE SENSING FOR MAPPING INTRA-BODY TISSUE

  • US 20090076476A1
  • Filed: 08/15/2008
  • Published: 03/19/2009
  • Est. Priority Date: 08/15/2007
  • Status: Abandoned Application
First Claim
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1. A medical instrument system, comprising:

  • a controller;

    an instrument driver in communication with the controller;

    an elongate instrument coupled to the instrument driver, the instrument driver configured to manipulate a distal end portion of the instrument in response to control signals generated by the controller;

    a force sensor associated with the instrument, wherein the force sensor generates force signals responsive to a force applied to the distal end portion of the instrument;

    a position determining system which generates position data indicative of a position of the distal end portion of the instrument;

    a processor operatively coupled to the force sensor and position determining system, and configured to process the respective force signals and position data to generate a geometric rendering of an internal body tissue surface based at least in part upon sensed forces applied to the distal end of the instrument as it is maneuvered within an interior region of a body containing the body surface; and

    a display coupled to the processor for displaying the geometric rendering of an internal body tissue surface.

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