Apparatus for measuring distal forces on a working instrument
First Claim
1. An apparatus for sensing forces applied to a distal end of a robotically controlled flexible working catheter, comprising:
- a robotically controlled guide catheter configured for insertion into a body lumen of a patient, the robotically controlled guide catheter comprising a flexible, steerable catheter including a lumen extending from a proximal end to a distal end;
the robotically controlled flexible working catheter disposed in the lumen of the robotically controlled guide catheter, the robotically controlled flexible working catheter including a distal end that projects distally from the distal end of the robotically controlled guide catheter, the robotically controlled flexible working catheter including a proximal region extending proximally from the robotically controlled guide catheter;
a ditherer operatively connected to the proximal region of the robotically controlled flexible working catheter for moving the robotically controlled flexible working catheter in a relatively rapid, reciprocating or oscillatory motion relative to the robotically controlled guide catheter; and
at least one force sensor for measuring the forces applied to the robotically controlled flexible 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.
130 Citations
36 Claims
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1. An apparatus for sensing forces applied to a distal end of a robotically controlled flexible 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 comprising a flexible, steerable catheter including a lumen extending from a proximal end to a distal end; the robotically controlled flexible working catheter disposed in the lumen of the robotically controlled guide catheter, the robotically controlled flexible working catheter including a distal end that projects distally from the distal end of the robotically controlled guide catheter, the robotically controlled flexible working catheter including a proximal region extending proximally from the robotically controlled guide catheter; a ditherer operatively connected to the proximal region of the robotically controlled flexible working catheter for moving the robotically controlled flexible working catheter in a relatively rapid, reciprocating or oscillatory motion relative to the robotically controlled guide catheter; and at least one force sensor for measuring the forces applied to the robotically controlled flexible working catheter by the ditherer. - 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, 30, 31, 32, 33, 34, 35, 36)
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Specification