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, 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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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
20 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, the method 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 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. - 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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Specification