Patent ID: 8052621
Filing Date: 2011-11-08
Classification: A61B,A61M

Abstract:
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.