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Method of sensing forces on a working instrument

  • US 8,388,556 B2
  • Filed: 10/03/2011
  • Issued: 03/05/2013
  • Est. Priority Date: 02/22/2006
  • Status: Active Grant
First Claim
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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, the method 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 extends distally from an open distal end of the guide catheter;

    reciprocating the working catheter with respect to the guide catheter using a dithering device operatively connected to a proximal portion of the working catheter;

    measuring an insertion force;

    measuring a withdrawal force; and

    estimating a force on the distal end of the working catheter based on the measured insertion force and the measured withdrawal force.

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