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 the working catheter with respect to the guide catheter using a dithering device operatively connected to a proximal portion of the working catheter, said dithering comprising longitudinal insertion of the working catheter relative to the guide catheter followed by longitudinal withdrawal of the working catheter relative to the guide catheter;
measuring an insertion force with a first force sensor, wherein the insertion force is obtained from a plurality of force measurements taken during a time interval when the insertion force exhibits a substantial plateau;
measuring a withdrawal force with a second force sensor, wherein the withdrawal force is obtained from a plurality of force measurements taken during a time interval when the withdrawal force exhibits a substantial plateau; and
estimating the force on the distal end of the working catheter based on the measured insertion force and the measured withdrawal 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
52 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 the working catheter with respect to the guide catheter using a dithering device operatively connected to a proximal portion of the working catheter, said dithering comprising longitudinal insertion of the working catheter relative to the guide catheter followed by longitudinal withdrawal of the working catheter relative to the guide catheter; measuring an insertion force with a first force sensor, wherein the insertion force is obtained from a plurality of force measurements taken during a time interval when the insertion force exhibits a substantial plateau; measuring a withdrawal force with a second force sensor, wherein the withdrawal force is obtained from a plurality of force measurements taken during a time interval when the withdrawal force exhibits a substantial plateau; and estimating the force on the distal end of the working catheter based on the measured insertion force and the measured withdrawal 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)
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21. 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 longitudinally with respect to the guide catheter using a dithering device operatively connected to a proximal portion of the working catheter, wherein the working catheter is not in contact with any tissue of the body lumen; measuring a baseline insertion force on the proximal portion of the working catheter using a first force sensor; measuring a baseline withdrawal force on the proximal portion of the working catheter using a second force sensor; dithering the working catheter longitudinally with respect to the guide catheter using the dithering device, wherein the working catheter is in contact with tissue of the body lumen; measuring an observed insertion force on the proximal portion of the working catheter using the first force sensor, wherein the working catheter is in contact with tissue of the body lumen; measuring an observed withdrawal force on the proximal portion of the working catheter using the second force sensor, wherein the working catheter is in contact with tissue of the body lumen; determining a differential between the observed insertion force and the baseline insertion force and a differential between the observed withdrawal force and the baseline withdrawal force; and estimating the force at the distal end of the working catheter based on the differential between the observed insertion force and the baseline insertion force and a differential between the observed withdrawal force and the baseline withdrawal force. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36)
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37. 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 longitudinally 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 via a moveable bellows, the sealing member being fixedly secured to the working catheter; measuring an insertion force on the sealing member using a first force sensor; measuring a withdrawal force on the sealing member using a second force sensor; and estimating the force at the distal end of the working catheter based at least in part on the measured insertion force and the measured withdrawal force. - View Dependent Claims (38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52)
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Specification