Patent ID: 8092397
Filing Date: 2012-01-10
Classification: A61B,A61M

Abstract:
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.