APPARATUS AND METHOD FOR SENSING FORCE
First Claim
1. A medical system, comprising:
- a medical probe including an elongated probe body having a proximal section , a distal section, and an axially translatable section disposed between the proximal and distal sections, a lumen axially extending within the probe body, and a push-pull rod slidably disposed within the lumen, the push-pull rod having a distal end that is affixed to distal section of the probe body and a proximal end extending from the proximal section of the probe body;
a dithering mechanism mechanically coupled to the proximal end of the push-pull rod, the dithering mechanism configured for cyclically displacing the push-pull rod axially back and forth within the lumen within the probe body, such that the proximal and distal sections of the probe body are axially displaced relative to each other via the axially translatable section of the probe body; and
at least one sensor configured for sensing an external force axially applied to a distal tip of the probe body.
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Accused Products
Abstract
A medical system comprises a medical probe including an elongated probe body, a lumen extending within the probe body, an axially flexible section, and a push-pull rod slidably disposed within the lumen. The system comprises a ditherer mechanically coupled to the rod for cyclically displacing it axially back and forth within the lumen, such that the ends of the probe body are axially displaced relative to each other via the axially flexible section. The system further comprises a sensor for sensing a force axially applied to the distal end of the probe body. A method comprises introducing a medical probe into a patient, axially dithering the distal end of the medical probe back and forth relative to the proximal end of the medical probe, and sensing a force applied between tissue of the patient and the distal end of the medical probe while the distal end is axially dithered.
84 Citations
20 Claims
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1. A medical system, comprising:
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a medical probe including an elongated probe body having a proximal section , a distal section, and an axially translatable section disposed between the proximal and distal sections, a lumen axially extending within the probe body, and a push-pull rod slidably disposed within the lumen, the push-pull rod having a distal end that is affixed to distal section of the probe body and a proximal end extending from the proximal section of the probe body; a dithering mechanism mechanically coupled to the proximal end of the push-pull rod, the dithering mechanism configured for cyclically displacing the push-pull rod axially back and forth within the lumen within the probe body, such that the proximal and distal sections of the probe body are axially displaced relative to each other via the axially translatable section of the probe body; and at least one sensor configured for sensing an external force axially applied to a distal tip of the probe body. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A medical method, comprising:
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introducing a medical probe into a patient, the medical probe having an elongated probe body; axially dithering a distal end of the probe body back and forth relative to a proximal end of the probe body; and sensing a force applied between tissue of the patient and the distal end of the probe body while the distal end of the probe body is axially dithered. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification